Mowing control method, mowing setting method, mowing machine, mowing setting device and electronic equipment

Abstract

The invention provides a mowing control method, a mowing setting method, a mowing machine, a mowing setting device and electronic equipment. The mowing control method comprises the following steps: determining a pattern area and a non-pattern area in a to-be-mowed area according to received grassland pattern information; the grassland pattern information comprises a pattern and operation information of a user on the pattern; mowing the to-be-mowed area by adopting a mowing strategy corresponding to a mowing machine according to the mowing machine and the pattern area; wherein when the mowing machine is a mowing machine with the cutter head height manually adjusted, the mowing strategy is only mowing the non-pattern area, for the mowing machine with the cutter head height manually adjusted, mowing is only carried out on the non-pattern area, a user does not need to manually adjust the cutter head height, and the mowing efficiency is improved in the grassland pattern drawing process.

Description

Technical Field

[0001] This invention relates to the field of electronic equipment technology, and in particular to a lawn mowing control method, setting method, lawn mower, setting device, and electronic equipment. Background Technology

[0002] As people's living standards continue to improve, their requirements for the environment and greening are also gradually increasing. The increasingly intelligent lawn mowing equipment has brought convenience to people's lawn mowing.

[0003] In some cases, users want to mow a specific area of ​​their lawn in a particular pattern. Currently, there are two types of lawnmowers: those with manually adjustable blade height and those with automatically adjustable blade height. Both types of lawnmowers currently use the same control logic when creating patterns: they first mow the non-patterned areas, then the patterned areas. However, when mowing the patterned areas, the manually adjustable blade height requires manual adjustment, which can lead to lower mowing efficiency. Summary of the Invention

[0004] This invention provides a lawn mowing control method, a setting method, a lawn mower, a setting device, and an electronic device to solve the problem of low mowing efficiency in existing lawn mowing methods that involve manually adjusting the height of the cutter head.

[0005] In a first aspect, the present invention provides a lawn mowing control method, the method being applied to a controller of a lawnmower, the method comprising:

[0006] Based on the received grass pattern information, the patterned and non-patterned areas in the area to be mowed are determined; the grass pattern information includes the pattern and the user's operation information on the pattern;

[0007] Based on the lawnmower and the patterned area, a mowing strategy corresponding to the lawnmower is used to mow the area to be mowed.

[0008] When the lawnmower is a manually adjustable blade height lawnmower, the mowing strategy is to mow only the non-patterned areas.

[0009] Optionally, the target time difference is the time difference between the current time and the time corresponding to the set pattern deadline; based on the lawnmower and the pattern area, a mowing strategy corresponding to the lawnmower is used to mow the area to be mowed, including:

[0010] When it is determined that the target time difference is less than the pattern duration, the grass in the non-pattern area is mowed.

[0011] When the target time difference is determined to be equal to or greater than the pattern duration, the pattern area is deleted, and the deleted pattern area and the non-pattern area are mowed during the next mowing task; or, when the target time difference is determined to be equal to or greater than the pattern duration, the pattern area is mowed during the next mowing task, and the target time difference is reset.

[0012] Optionally, mowing the non-patterned areas includes:

[0013] Before or after mowing the non-patterned area, mowing is performed along the boundary of the patterned area.

[0014] Optionally, the step of mowing along the boundary of the patterned area includes:

[0015] The boundary of the patterned area is expanded into the non-patterned area to obtain at least one expanded patterned area boundary. A first mowing order is determined, and the grass is mowed sequentially according to the first mowing order for the boundary of the patterned area and each expanded patterned area boundary. The first mowing order is the order in which the grass is mowed for the boundary of the patterned area and each expanded patterned area boundary.

[0016] Optionally, when it is determined that the target time difference is equal to or greater than the pattern duration, the pattern region is deleted, including:

[0017] When the target time difference is determined to be equal to or greater than the pattern duration, if the lawnmower is performing a mowing task, the pattern area will be deleted after the mowing task is completed, or after receiving an instruction from the user indicating that the mowing task has been completed.

[0018] Optionally, mowing the non-patterned areas includes:

[0019] When the lawnmower is mowing the non-patterned area, if an obstacle is detected and it is impossible to bypass the obstacle from the non-patterned area, the lawnmower's blades are shut off and the lawnmower is controlled to pass through the patterned area.

[0020] Optionally, when the lawnmower is an automatically adjustable blade height lawnmower, the mowing strategy is to mow the area to be mowed according to a planned path; the path is a planned path for the area to be mowed; and the mowing strategy corresponding to the lawnmower is used to mow the area to be mowed according to the lawnmower and the pattern area, including:

[0021] The height of the mower's blade is adjusted according to a first target height and a second target height, and the grass is mowed in the area to be mowed; wherein, the first target height is higher or lower than the second target height; the first target height is the mowing height corresponding to the patterned area; and the second target height is the mowing height corresponding to the non-patterned area.

[0022] Before or after mowing the grass in the area to be mowed, mow along the boundary of the patterned area.

[0023] Optionally, adjusting the blade height of the lawnmower according to the first target height and the second target height, and mowing the area to be mowed, includes:

[0024] Path planning is performed on the area to be mowed;

[0025] When the lawnmower is mowing along the planned path, when it is determined that the lawnmower has reached the pattern area, the lawnmower is controlled to pause mowing, the height of the cutter head is adjusted to the first target height, and the lawnmower is controlled to continue mowing.

[0026] When the lawnmower is mowing along the planned path, if it is determined that the lawnmower has left the patterned area, the lawnmower is controlled to pause mowing, the height of the cutter head is adjusted to the second target height, and the lawnmower is controlled to continue mowing.

[0027] Optionally, when the lawnmower is an automatically adjustable blade height lawnmower, the mowing strategy involves planning paths for the patterned area and the non-patterned area separately and mowing based on the planned paths; according to the lawnmower and the patterned area, using a mowing strategy corresponding to the lawnmower to mow the area to be mowed includes:

[0028] The grass is mowed in the patterned area according to the path corresponding to the patterned area, and the grass is mowed in the non-patterned area according to the path corresponding to the non-patterned area.

[0029] Before or after mowing the target area, mowing is performed along the boundary of the patterned area; the target area is either a patterned area or a non-patterned area.

[0030] Optionally, the step of mowing along the boundary of the patterned area includes:

[0031] The pattern area boundary is expanded into the non-pattern area to obtain at least one expanded pattern area boundary. A second mowing order is determined, and the pattern area boundary and each expanded pattern area boundary are mowed sequentially according to the second mowing order. The second mowing order is the order in which the pattern area boundary and each expanded pattern area boundary are mowed.

[0032] Alternatively, the boundary of the pattern area is reduced to the pattern area to obtain at least one reduced pattern area boundary, a third mowing order is determined, and the grass is mowed sequentially according to the third mowing order; the third mowing order is the order in which the grass is mowed on the boundary of the pattern area and each reduced pattern area boundary.

[0033] Optionally, the distance between the position corresponding to the pattern area and the position corresponding to the first element attribute is greater than a preset distance; the first element attribute is a boundary or a restricted area; or, when the position corresponding to the pattern area intersects with the position corresponding to the first element attribute, the final pattern area is the pattern area remaining after cropping; wherein, the cropped area is the area in the pattern area that exceeds the boundary or intersects with the restricted area;

[0034] And / or, the position corresponding to the pattern area intersects with or encompasses the position corresponding to the second element attribute; the second element attribute is a visual failure area; the visual failure area is an area that the lawnmower perceives as a non-grass area and is passable based on the visual sensor.

[0035] Secondly, the present invention provides a setting method, the method being applied to a terminal device, the method comprising:

[0036] In response to the setting command for the pattern area, the area to be mowed and the added control are displayed on the display interface; the added control is used to set the pattern area on the area to be mowed.

[0037] In response to a trigger event for the added control, the added pattern area is displayed on the area to be mowed;

[0038] The lawn pattern information corresponding to the added patterned area is sent to the lawnmower, so that the lawnmower can determine the patterned area and non-patterned area in the area to be mowed based on the lawn pattern information, and mow the area to be mowed using a mowing strategy corresponding to the lawnmower based on the lawnmower and the patterned area; the lawn pattern information includes the pattern and the user's operation information on the pattern.

[0039] Wherein, when the lawnmower is a manually adjustable blade height lawnmower, the mowing strategy is to mow only the non-patterned areas; when the lawnmower is an automatically adjustable blade height lawnmower, the mowing strategy is to mow both the patterned areas and the non-patterned areas according to a planned path; the path is a path planned for the area to be mowed.

[0040] Optionally, the adding control includes a first adding control and / or a second adding control. In response to a trigger event for the adding control, an added pattern area is displayed on the area to be mowed, including:

[0041] In response to a trigger event for the first added control, selectable patterns are displayed on the display interface. In response to a trigger event for any of the selectable patterns, a corresponding selection box and a first completion control are displayed on the lawn area to be mowed. Alternatively, in response to a trigger event for the second added control, a blank area for the user to draw patterns and a second completion control are displayed on the display interface. In response to a trigger event for the second completion control, a selection box and a first completion control corresponding to the pattern drawn by the user are displayed on the lawn area to be mowed. The selection box is surrounded by operation controls. The selectable patterns are patterns saved locally on the terminal device or downloaded from a server.

[0042] In response to a preset trigger event for the operation control, the selection box is adjusted and the adjusted selection box is displayed;

[0043] In response to the trigger event for the first completion control, the area corresponding to the adjusted selection box is determined as the pattern area.

[0044] Optionally, when the lawnmower is a manually adjustable blade height lawnmower, a pattern duration setting control is also displayed when the corresponding selection box is displayed on the area to be mowed; the method further includes:

[0045] In response to a trigger event for the pattern duration setting control, a selection box for setting the duration and a first confirmation control are displayed; in response to a trigger event for the first confirmation control, the duration set by the user is determined as the pattern duration.

[0046] Optionally, when the lawnmower is an automatically adjustable blade height lawnmower, a mowing height setting control is also displayed when the corresponding selection box is displayed on the area to be mowed; the method further includes:

[0047] In response to a trigger event for the lawn mowing height setting control, a selection box for the user to set the height and a second confirmation control are displayed;

[0048] In response to a trigger event for the second confirmation control, the height set by the user is determined to be the mowing height corresponding to the pattern area.

[0049] Optionally, the method further includes:

[0050] In response to a trigger event that occurs after the selection box is moved and placed, the element attributes corresponding to the current placement position of the selection box are determined.

[0051] The final pattern area is determined based on the element attributes.

[0052] Optionally, the final pattern area is determined based on the element attributes, including:

[0053] When the element attribute is a boundary or restricted area, a first prompt message is displayed on the display interface to reset the final position of the selection box and determine the newly set final position as the final pattern area; the first prompt message is used to indicate that the pattern area overlaps with the boundary or restricted area or the distance is less than a preset distance.

[0054] When the element attribute is a visual failure zone, the current placement position of the selection box is determined as the final pattern area; the visual failure zone is the area that the lawnmower perceives as a non-grass area that is passable based on the visual sensor.

[0055] Optionally, the method further includes:

[0056] When the element attributes on the grass-to-be-mowed area change, it is determined whether the position of the changed element attributes and the position of the pattern area meet a preset condition; a change in element attributes indicates the existence of a new restricted area, or an adjustment of the existing boundary or restricted area; meeting the preset condition indicates that the position of the pattern area overlaps with the position of the changed element attributes or the distance between them is less than a preset distance.

[0057] When the preset conditions are met, a second prompt message, a first delete control, and a cancel control are displayed on the display interface; the second prompt message is used to indicate that the position of the pattern area overlaps with the position of the changed element attribute or the distance is less than a preset distance.

[0058] In response to a trigger event on the first delete control, the pattern area is deleted; or, in response to a trigger event on the cancel control, the change operation on the element attribute is canceled.

[0059] Optionally, the final pattern area is determined based on the element attributes, including:

[0060] When the element attribute is a boundary or restricted area, a third prompt message is displayed on the display interface, and the final pattern area is determined; the third prompt message is used to prompt that the part of the pattern area that exceeds the boundary or intersects with the restricted area be cropped, and the remaining pattern area is determined as the final pattern area;

[0061] When the element attribute is a visual failure zone, the current placement position of the selection box is determined as the final pattern area; the visual failure zone is the area that the lawnmower perceives as a non-grass area and is passable based on the visual sensor.

[0062] When the element attributes on the area to be mowed change, the updated pattern area is determined based on the position of the changed element attributes and the position of the pattern area.

[0063] Optionally, the method further includes:

[0064] When the lawnmower is a manually adjustable blade height lawnmower, after the area corresponding to the adjusted selection box is determined as the pattern area, in response to the trigger event of the pattern area and the trigger event of the editing control on the display interface, a second delete control and the pattern duration setting control are displayed on the display interface.

[0065] In response to a trigger event on the second delete control, the selected pattern area is deleted;

[0066] In response to a trigger event of the pattern duration setting control, the pattern duration is adjusted.

[0067] Optionally, the method further includes:

[0068] When the lawnmower is an automatic blade height adjustable lawnmower, after the area corresponding to the adjusted selection box is determined as the pattern area, in response to the trigger event of the pattern area and the trigger event of the editing control on the display interface, the second delete control and the lawn mowing height setting control are displayed on the display interface.

[0069] In response to a trigger event on the second delete control, the selected pattern area is deleted;

[0070] In response to a trigger event on the lawn mowing height setting control, the lawn mowing height is adjusted.

[0071] Optionally, the operation control includes: a third delete control; in response to a preset trigger event for the operation control, the selection box is adjusted, including:

[0072] In response to a trigger event for the third delete control, the selection box is deleted;

[0073] And / or, the operation control further includes a rotation control; in response to a preset trigger event for the operation control, the selection box is adjusted, including:

[0074] In response to a trigger event for the rotation control, the selection box is rotated according to a preset direction and angle;

[0075] And / or, the operation control further includes a movement control; in response to a preset trigger event for the operation control, the selection box is adjusted, including:

[0076] In response to a drag event on the moving control, the selection box is moved;

[0077] And / or, the operation control further includes a size adjustment control; in response to a preset trigger event for the operation control, the selection box is adjusted, including:

[0078] In response to a zoom-in event for the size adjustment control, the selection box is zoomed in; in response to a zoom-out event for the size adjustment control, the selection box is zoomed out.

[0079] Thirdly, the present invention provides a lawnmower, comprising: a mowing component and a control component; the control component is connected to the mowing component, and the control component is used to perform the method described in any one of the first aspects.

[0080] Fourthly, the present invention provides a setting device, the device being applied to a terminal device, the device comprising:

[0081] The first display module is used to display the area to be mowed and the added control on the display interface in response to the setting command of the pattern area; the added control is used to set the pattern area on the area to be mowed.

[0082] The second display module is used to display the added pattern area on the area to be mowed in response to a trigger event for the added control.

[0083] The sending module is used to send the grass pattern information corresponding to the added pattern area to the lawnmower, so that the lawnmower can determine the pattern area and non-pattern area in the area to be mowed based on the grass pattern information, and mow the area to be mowed using a mowing strategy corresponding to the lawnmower based on the lawnmower and the pattern area; the grass pattern information includes the pattern and the user's operation information on the pattern.

[0084] Wherein, when the lawnmower is a manually adjustable blade height lawnmower, the mowing strategy is to mow only the non-patterned areas; when the lawnmower is an automatically adjustable blade height lawnmower, the mowing strategy is to mow both the patterned areas and the non-patterned areas according to a planned path; the path is a path planned for the area to be mowed.

[0085] Fifthly, the present invention provides an electronic device, comprising: at least one processor and a memory;

[0086] The memory stores computer-executed instructions;

[0087] The at least one processor executes computer execution instructions stored in the memory, causing the at least one processor to perform the method as described in either the first or second aspect.

[0088] In a sixth aspect, the present invention provides a computer-readable storage medium storing computer-executable instructions that, when executed by a processor, implement the method as described in either the first or second aspect.

[0089] In a seventh aspect, the present invention provides a computer program product comprising a computer program that, when executed by a processor, implements the method as described in either the first or second aspect.

[0090] This invention provides a lawn mowing control method, setting method, lawnmower, setting device, and electronic device. The method determines patterned and non-patterned areas within a to-be-mown area based on received lawn pattern information. The lawn pattern information includes a pattern and user operation information on the pattern. Based on the lawnmower and the patterned areas, a mowing strategy corresponding to the lawnmower is used to mow the area to be mowed. When the lawnmower is a manually adjustable blade height lawnmower, the mowing strategy only mows the non-patterned areas. For lawnmowers with manually adjustable blade heights, mowing only the non-patterned areas eliminates the need for manual adjustment of the blade height by the user, thus improving mowing efficiency during the lawn pattern drawing process. Attached Figure Description

[0091] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0092] Figure 1 This is an application scenario diagram of a lawn mowing control method provided in an embodiment of the present invention;

[0093] Figure 2 A schematic flowchart of a lawn mowing control method provided in an embodiment of the present invention;

[0094] Figure 3 A flowchart illustrating a setting method provided in an embodiment of the present invention;

[0095] Figure 4 A schematic diagram of setting a pattern area provided in an embodiment of the present invention. Figure 1 ;

[0096] Figure 5 A schematic diagram of setting a pattern area provided in an embodiment of the present invention. Figure 2 ;

[0097] Figure 6 A schematic diagram of setting a pattern area provided in an embodiment of the present invention. Figure 3 ;

[0098] Figure 7 A schematic diagram of setting a pattern area provided in an embodiment of the present invention. Figure 4 ;

[0099] Figure 8 A schematic diagram of setting a pattern area provided in an embodiment of the present invention. Figure 5 ;

[0100] Figure 9 A schematic diagram of setting a pattern area provided in an embodiment of the present invention. Figure 6 ;

[0101] Figure 10 A schematic diagram of setting a pattern area provided in an embodiment of the present invention. Figure 7 ;

[0102] Figure 11 A schematic diagram of setting a pattern area provided in an embodiment of the present invention. Figure 8 ;

[0103] Figure 12 A schematic diagram of setting a pattern area provided in an embodiment of the present invention. Figure 9 ;

[0104] Figure 13 A schematic diagram of setting a pattern area provided in an embodiment of the present invention. Figure 10 ;

[0105] Figure 14 This is a schematic diagram of the structure of a setting device provided in an embodiment of the present invention;

[0106] Figure 15 This is a schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present invention.

[0107] The accompanying drawings have illustrated specific embodiments of the invention, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the invention in any way, but rather to illustrate the concept of the invention to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0108] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention.

[0109] Lawn mowers can create different elevation differences after mowing, thus achieving the effect of drawing patterns on the lawn. Figure 1 This is an application scenario diagram of a lawn mowing control method provided in an embodiment of the present invention, such as... Figure 1 As shown, if there are patterned areas (the areas corresponding to the five-pointed star pattern) and non-patterned areas in the area to be mowed, the lawnmower 101 will mow the entire area to be mowed to present the pattern corresponding to the patterned area.

[0110] Existing manually adjustable blade height lawnmowers require manual adjustment of the blade height. When drawing patterns on the lawn, the lawnmower is usually controlled to first cut the non-patterned areas, and then the blade height is manually adjusted to cut the patterned areas. This results in low mowing efficiency.

[0111] Based on the above problems, this application addresses a lawnmower with manually adjustable blade height that only mows non-patterned areas and not patterned areas, eliminating the need for users to manually adjust the blade height and thus improving the efficiency of the lawnmower in creating grass patterns.

[0112] Figure 2 This is a flowchart illustrating a lawn mowing control method according to an embodiment of the present invention. The method is applied to the controller of a lawnmower and includes steps S201 to S202:

[0113] Step S201: Determine the patterned area and non-patterned area in the area to be mowed based on the received grass pattern information; the grass pattern information includes the pattern and the user's operation information on the pattern.

[0114] The lawnmower can receive lawn pattern information sent by a terminal device. This lawn pattern information can be obtained through user interaction with the terminal device. Optionally, the lawn pattern information can include the pattern itself and user interaction information based on the pattern via the terminal device. Optionally, after selecting a pattern, the user can adjust its size, position, and rotate it.

[0115] For example, an application can be set up on the terminal device. Users can select a pre-set pattern based on the application, or they can draw their own pattern and set its location information on the area to be mowed. After the user sets the pattern, the terminal device can send the lawnmower the lawn pattern information. The lawnmower can then determine the points corresponding to the pattern. The area formed by the points corresponding to the pattern is the pattern area, and the other areas in the area to be mowed are non-pattern areas. After determining the points corresponding to the pattern area, the lawnmower can add the pattern area as a map element to the map file.

[0116] Optionally, the grass pattern information may include an SVG image and operation information for the pattern, where the SVG image is the pattern selected or drawn by the user.

[0117] Step S202: Based on the lawnmower and the patterned area, use the mowing strategy corresponding to the lawnmower to mow the area to be mowed.

[0118] When the lawnmower is a manually adjustable blade height lawnmower, the mowing strategy is to mow only the non-patterned areas.

[0119] Once the pattern area is determined, the lawn can be mowed using a specific lawnmower to create the grass pattern. Different mowers can be used with different mowing strategies.

[0120] For lawnmowers with manually adjustable blade height, since this type of lawnmower cannot automatically adjust the blade height, it is not possible to perform different cutting actions at different heights in the patterned area to achieve a height difference. In order to improve the cutting efficiency, when the patterned area is located during the cutting action, the area is skipped, that is, only the non-patterned area is cut.

[0121] When mowing in non-patterned areas, path planning can be performed only for the non-patterned areas, and mowing can be performed in the non-patterned areas based on the planned path.

[0122] Optionally, when locating the pattern area, the pattern area can be determined by a combination of RTK (Real-time kinematic) positioning and SLAM (Simultaneous Localization and Mapping) positioning.

[0123] By skipping the patterned areas and only mowing the non-patterned areas, a height difference is created between the patterned and non-patterned areas, thus achieving the effect of drawing a grass pattern.

[0124] This invention provides a lawn mowing control method that determines patterned and non-patterned areas within a lawn to be mowed based on received lawn pattern information. The lawn pattern information includes a pattern and user operation information on the pattern. Based on the lawnmower and the patterned areas, a mowing strategy corresponding to the lawnmower is adopted to mow the lawn to be mowed. When the lawnmower is a manually adjustable blade height mower, the mowing strategy involves mowing only the non-patterned areas. For manually adjustable blade height mowers, by mowing only the non-patterned areas, the user does not need to manually adjust the blade height, thus improving mowing efficiency during the lawn pattern drawing process.

[0125] Optionally, the target time difference is the time difference between the current time and the time corresponding to the set pattern deadline; based on the lawnmower and the pattern area, a mowing strategy corresponding to the lawnmower is used to mow the area to be mowed, including:

[0126] When it is determined that the target time difference is less than the pattern duration, the grass in the non-pattern area is mowed.

[0127] When the target time difference is determined to be equal to or greater than the pattern duration, the pattern area is deleted, and the deleted pattern area and the non-pattern area are mowed during the next mowing task; or, when the target time difference is determined to be equal to or greater than the pattern duration, the pattern area is mowed during the next mowing task, and the target time difference is reset.

[0128] For lawnmowers with manually adjustable blade height, the grass in the patterned area will continue to grow if no pattern time is set. Once the grass exceeds the mower's maximum cutting height, the mower will be unable to cut the grass, or the cutting effect will be poor, requiring manual mowing. The maximum cutting height of a lawnmower is related to the grass type, density, and other lawn conditions, as well as the mower's parameters such as chassis height and blade speed.

[0129] To address the aforementioned issues, a pattern deadline is set, and the grass in the patterned area is mowed based on this deadline.

[0130] Optionally, based on the lawnmower and the patterned area, a mowing strategy corresponding to the lawnmower is adopted to mow the area to be mowed, including: determining whether to mow the patterned area based on the target time difference and the pattern duration.

[0131] The decision to mow the patterned area can be determined based on the relationship between the target time difference and the pattern's expiration date. The target time difference is the difference between the current time and the time corresponding to the set pattern expiration date. For example, if the pattern expiration date is 15 days and the set date is March 1st, the lawnmower will start timing after acquiring the expiration date. If the current time is March 10th, the target time difference is 9. Therefore, the decision to mow the area can be based on the target time difference and the pattern expiration date. Optionally, the target time difference can be verified each time the lawnmower is turned on. Timing also occurs during the time the lawnmower is turned off.

[0132] Optionally, the pattern duration can be set by the user for a specific pattern area via a terminal device. For example, when multiple pattern areas exist, the pattern duration can be set for each pattern area. The user can set the pattern duration when setting the lawn pattern on the terminal device and then send it to the lawnmower.

[0133] By setting a pattern deadline, the lawnmower can mow the grass in the patterned area, preventing the grass from becoming too tall and thus preventing the lawnmower from cutting it.

[0134] Optionally, when it is determined that the target time difference is less than the pattern duration, the grass in the non-pattern area is mowed.

[0135] When determining whether to mow the patterned area, if the target time difference is less than the pattern's expiration date, only the non-patterned areas are mowed, and the patterned areas are not. For example, if the target time difference is 9 days and the pattern's expiration date is 15 days, the patterned areas are not mowed. In this case, the grass height is also below the level that the lawnmower cannot reach, creating a height difference on the grass, thus forming a pattern.

[0136] For example, if the pattern period is 15 days, the lawnmower can perform a countdown operation after obtaining the lawn pattern information. When the lawnmower displays a number other than 0 days, it will not mow the patterned area.

[0137] Optionally, when it is determined that the target time difference is equal to or greater than the pattern duration, the pattern area is deleted, and the deleted pattern area and the non-pattern area are mowed during the next mowing task.

[0138] When determining whether to mow the grass in a patterned area, if the target time difference is greater than or equal to the pattern's duration, the grass in the patterned area needs to be mowed to prevent it from growing too tall.

[0139] For example, when the target time difference is 17 days and the pattern duration is 15 days, the patterned area can be mowed. For example, if the pattern duration is 15 days, the lawnmower can start a countdown after obtaining the grass pattern information. When the lawnmower displays 0 days, the patterned area can be mowed. When mowing the patterned area, the lawnmower can first delete the patterned area, so that in the next mowing task, both the deleted patterned area and the non-patterned area can be mowed.

[0140] In practice, once the lawnmower obtains the grass pattern information, which includes the pattern expiration date, it starts timing and continues timing even when the lawnmower is off. When the user turns the lawnmower on, it will obtain the target time difference and verify the relationship between the target time difference and the pattern expiration date to determine whether to delete the patterned area in the area to be mowed.

[0141] When the patterned area in the lawnmower is deleted, the terminal device can obtain the map from the lawnmower when the user operates the terminal device, thereby determining that the patterned area in the area to be mowed has been deleted, thus making the patterned area on the terminal device consistent with the patterned area in the lawnmower.

[0142] Optionally, after deleting the pattern area, in order to draw a pattern on the grass, the user can also set the grass pattern information again through the terminal device and send it to the lawnmower.

[0143] Optionally, when it is determined that the target time difference is equal to or greater than the pattern duration, the pattern area is mowed during the next mowing task, and the target time difference is reset.

[0144] When determining whether to mow the patterned area based on the target time difference and the patterned area, in addition to deleting the patterned area to mow the deleted patterned area, it is also possible to mow the patterned area without deleting it.

[0145] Optionally, when the target time difference is determined to be equal to or greater than the pattern duration, the pattern area can be mowed during the next mowing task. After mowing, the target time difference can be reset, and when the target time difference is equal to or greater than the pattern duration again, the mowing action on the pattern area can be performed again.

[0146] For example, when the target time difference is 17 days and the pattern period is 15 days, the lawnmower will mow the patterned area when it performs the next mowing task, and will also reset the target time difference to 0. When it is equal to or greater than the pattern period again, the lawnmower will mow the patterned area when it performs the next mowing task, thereby realizing the regular mowing of the lawn in the patterned area, thus periodically presenting the mowing pattern.

[0147] Optionally, the pattern duration is based on the application settings. Users can set it according to their actual situation. The application sets a maximum value for the pattern duration, and users can select a specific pattern duration within this maximum value range. For example, if the maximum value for the pattern duration is 20 days, then users cannot set a pattern duration that exceeds 20 days.

[0148] Optionally, the pattern duration selection can be presented based on a slider. When the user drags the slider to the end of the slider, it indicates that the set pattern duration is the maximum value.

[0149] By not mowing the patterned area when the target time difference is less than the pattern's expiration date, the grass height within the patterned area is kept from becoming too high while a lawn pattern is being formed. Conversely, by deleting the patterned area when the target time difference is greater than or equal to the pattern's expiration date, the grass in the deleted area can be mowed, preventing excessive grass growth. This method periodically mows the patterned area to prevent excessive grass growth, and since it eliminates the need to delete the patterned area, users no longer need to manually set the lawn pattern information on their devices, thus improving the user experience.

[0150] Optionally, mowing the non-patterned areas includes:

[0151] Before or after mowing the non-patterned area, mowing is performed along the boundary of the patterned area.

[0152] When mowing non-patterned areas, a path can be planned for these areas, and mowing can be performed based on the planned path. However, when using a zigzag path, the mower may turn or turn at the boundary of the patterned area, potentially resulting in incomplete mowing at that boundary. For example, the mower may not accurately position itself each time it turns around; if it turns too early at the boundary of the patterned area, some grass that needs to be cut will be missed, leading to a poor lawn pattern.

[0153] Based on the above issues, edge mowing can be performed along the boundary of the patterned area. Optionally, edge mowing can be performed before mowing the non-patterned area, or after mowing the non-patterned area, thereby avoiding missing any grass that needs to be cut.

[0154] Optionally, when performing edge mowing, the mowing height corresponding to the non-patterned area can be used for mowing.

[0155] For example, when the pattern area is heart-shaped, the edge of the heart shape is the boundary of the pattern area, and the grass is mowed along the boundary of the pattern area.

[0156] Optionally, there is no limit to the number of times the grass is mowed along the boundary of the patterned area; it can be done once or multiple times. Multiple mowing sessions will result in a better grass pattern effect. However, repeatedly mowing the same spot will trample the grass multiple times, thus damaging the lawn.

[0157] By mowing along the boundaries of the pattern area, the possibility of missing grass that needs to be cut can be reduced, thus improving the effect of the grass pattern.

[0158] Optionally, the step of mowing along the boundary of the patterned area includes:

[0159] The boundary of the patterned area is expanded into the non-patterned area to obtain at least one expanded patterned area boundary. A first mowing order is determined, and the grass is mowed sequentially according to the first mowing order for the boundary of the patterned area and each expanded patterned area boundary. The first mowing order is the order in which the grass is mowed for the boundary of the patterned area and each expanded patterned area boundary.

[0160] When mowing along the boundary of a patterned area, a zigzag pattern can also be used. Specifically, the zigzag pattern involves expanding the boundary of the patterned area into the non-patterned area to obtain at least one expanded patterned area boundary, and then mowing along the boundary of the patterned area and each expanded patterned area boundary in sequence.

[0161] After mowing along the boundaries of the patterned area, some grass that needs to be cut may still remain. Therefore, the boundaries of the patterned area can be expanded into the non-patterned area, and mowing can be performed on both the original patterned area boundary and the expanded patterned area boundary. For example, when the patterned area is a square with a side length of 5 meters, the center of the square can remain unchanged, and the square can be successively expanded to squares with side lengths of 5.2 meters and 5.5 meters, and then mowing can be performed on the boundaries of each square separately.

[0162] Optionally, the order of mowing the boundary of the pattern area and the boundaries of each expanded pattern area can be determined first. It can be from the inside to the outside (the pattern area boundaries increase in size) or from the outside to the inside (the pattern area boundaries decrease in size).

[0163] By using the above-mentioned circular mowing method, the possibility of missing any grass that needs to be cut can be further reduced, thus improving the effect of the lawn pattern.

[0164] Optionally, when it is determined that the target time difference is equal to or greater than the pattern duration, the pattern region is deleted, including:

[0165] When the target time difference is determined to be equal to or greater than the pattern duration, if the lawnmower is performing a mowing task, the pattern area will be deleted after the mowing task is completed, or after receiving an instruction from the user indicating that the mowing task has been completed.

[0166] When the target time difference is determined to be equal to or greater than the pattern deadline, the pattern area needs to be deleted. However, if the pattern area is deleted while the lawnmower is performing the mowing task, it may result in the pattern area being incomplete after the mowing task is completed. For example, some pattern areas may not have been mowed, while others may have been mowed.

[0167] To avoid the above problems, when deleting the pattern area, it can be determined whether the lawnmower is currently performing a mowing task. If it is performing a mowing task, the pattern area is not deleted; once it is determined that the mowing task has been completed, or the user indicates that the mowing task has been completed, the pattern area can be deleted.

[0168] If the lawnmower is performing a mowing task while the pattern area is being deleted, the pattern area will be deleted after the lawnmower finishes mowing, thus ensuring the integrity of the pattern area in this mowing task.

[0169] Optionally, mowing the non-patterned areas includes:

[0170] When the lawnmower is mowing the non-patterned area, if an obstacle is detected and it is impossible to bypass the obstacle from the non-patterned area, the lawnmower's blades are shut off and the lawnmower is controlled to pass through the patterned area.

[0171] When a lawnmower is mowing an unpatterned area, it can bypass an obstacle and continue mowing if that obstacle is present. However, the presence of a patterned area reduces the lawnmower's maneuverability. For example, the lawnmower typically bypasses the obstacle in the unpatterned area.

[0172] To address the aforementioned issues, when the lawnmower is mowing a non-patterned area, if an obstacle is detected, it can first bypass the obstacle by moving through the non-patterned area. If it is not possible to bypass the obstacle by moving through the non-patterned area, the lawnmower's blades can be shut off, thereby controlling the lawnmower to pass through the patterned area to bypass the obstacle.

[0173] In addition, this technology is not only applicable to scenarios where the lawnmower is mowing in non-patterned areas, but also to situations where the lawnmower is moving from one non-patterned area to another and encounters an obstacle that prevents it from passing, allowing it to pass through a patterned area with the blades closed.

[0174] By controlling the lawnmower to close the blades and pass through the patterned area to avoid obstacles, the lawnmower's maneuverability can be improved while ensuring the integrity of the lawn pattern.

[0175] Optionally, when the lawnmower is an automatically adjustable blade height lawnmower, the mowing strategy is to mow the patterned area and the non-patterned area according to a planned path; the path is a planned path for the area to be mowed; and the mowing strategy corresponding to the lawnmower is used to mow the area to be mowed according to the lawnmower and the patterned area, including:

[0176] The height of the mower's blade is adjusted according to a first target height and a second target height, and the grass is mowed in the area to be mowed; wherein, the first target height is higher or lower than the second target height; the first target height is the mowing height corresponding to the patterned area; and the second target height is the mowing height corresponding to the non-patterned area.

[0177] Before or after mowing the grass in the area to be mowed, mow along the boundary of the patterned area.

[0178] When the lawnmower is an automatically adjustable blade height lawnmower, it can mow the grass in the patterned area according to the mowing height corresponding to the patterned area, since the lawnmower can automatically adjust the blade height.

[0179] For lawnmowers with automatic blade height adjustment, the mowing strategy involves planning a path for the area to be mowed, including both patterned and non-patterned areas. The mower is then controlled based on the planned path, eliminating the need for frequent turning around during the mowing process.

[0180] In order to display a pattern on the grass, the mowing height of the patterned area can be set as a first target height based on the terminal device. This first target height can be higher or lower than the second mowing height of the non-patterned area.

[0181] Furthermore, for lawnmowers with automatic blade height adjustment, since they can mow the patterned area, there is no need to set a pattern deadline; only the first target height corresponding to the patterned area needs to be set.

[0182] The lawnmower can obtain the first target height set by the terminal device, and then adjust the height of the lawnmower's blade according to the first target height and the second target height to mow the grass in the area to be mowed.

[0183] Before or after mowing the entire area to be mowed, edge mowing can be performed along the boundaries of the patterned area. Because the lawnmower needs to adjust the blade height according to whether the area is a patterned or unpatterned zone, inaccurate positioning can lead to inconsistent mowing heights at the patterned zone boundaries, resulting in a poor lawn pattern. Edge mowing addresses this issue by reducing the possibility of inconsistent mowing heights at the patterned zone boundaries, thereby improving the lawn pattern effect.

[0184] By planning the path for the entire area to be mowed, the number of times the lawnmower turns around is reduced. By setting different mowing heights for patterned areas than for non-patterned areas to create a grass pattern, and by mowing along the edges, the effect of the grass pattern is improved.

[0185] Optionally, adjusting the blade height of the lawnmower according to the first target height and the second target height, and mowing the area to be mowed, includes:

[0186] Path planning is performed on the area to be mowed;

[0187] When the lawnmower is mowing along the planned path, when it is determined that the lawnmower has reached the pattern area, the lawnmower is controlled to pause mowing, the height of the cutter head is adjusted to the first target height, and the lawnmower is controlled to continue mowing.

[0188] When the lawnmower is mowing along the planned path, if it is determined that the lawnmower has left the patterned area, the lawnmower is controlled to pause mowing, the height of the cutter head is adjusted to the second target height, and the lawnmower is controlled to continue mowing.

[0189] When mowing an area, you can first plan the path for that area so that the mower can mow the grass along the planned path, thus completing the mowing of both non-patterned and patterned areas.

[0190] Optionally, when mowing along a planned path, the height of the blade can be adjusted according to the mower's position. For example, the mower can mow in a bow-shaped pattern. When the mower is determined to have reached the patterned area using RTK and SLAM joint positioning, it can be controlled to pause mowing and adjust the blade height to the first target height. When the mower is determined to have left the non-patterned area using RTK and SLAM joint positioning, it can be controlled to pause mowing and adjust the blade height to the second target height before resuming mowing.

[0191] By using the above method, the height of the blade can be adjusted according to whether the lawnmower is in a patterned or non-patterned area, thereby achieving accurate control of the lawnmower's blade height adjustment and improving the pattern effect.

[0192] Optionally, when the lawnmower is an automatically adjustable blade height lawnmower, the mowing strategy involves planning paths for the patterned area and the non-patterned area separately and mowing based on the planned paths; according to the lawnmower and the patterned area, using a mowing strategy corresponding to the lawnmower to mow the area to be mowed includes:

[0193] The grass is mowed in the patterned area according to the path corresponding to the patterned area, and the grass is mowed in the non-patterned area according to the path corresponding to the non-patterned area.

[0194] Before or after mowing the target area, mowing is performed along the boundary of the patterned area; the target area is either a patterned area or a non-patterned area.

[0195] When the lawnmower is an automatically adjustable blade height lawnmower, it can also plan separate paths for patterned and non-patterned areas, and mow the patterned and non-patterned areas separately. For example, the patterned area can be mowed first, and then the non-patterned area can be mowed; or, the non-patterned area can be mowed first, and then the patterned area can be mowed.

[0196] When mowing the area to be mowed, you can also perform edge mowing along the boundaries of the patterned area. There is no restriction on the order of edge mowing along the boundaries of the patterned area, mowing the non-patterned area, and mowing the patterned area.

[0197] By mowing the patterned and non-patterned areas separately, there is no need to frequently adjust the height of the mower's blades, nor is there a need to control the mower to pause and resume mowing, making the control process of the mower much simpler.

[0198] Optionally, the step of mowing along the boundary of the patterned area includes:

[0199] The pattern area boundary is expanded into the non-pattern area to obtain at least one expanded pattern area boundary. A second mowing order is determined, and the pattern area boundary and each expanded pattern area boundary are mowed sequentially according to the second mowing order. The second mowing order is the order in which the pattern area boundary and each expanded pattern area boundary are mowed.

[0200] Alternatively, the boundary of the pattern area is reduced to the pattern area to obtain at least one reduced pattern area boundary, a third mowing order is determined, and the grass is mowed sequentially according to the third mowing order; the third mowing order is the order in which the grass is mowed on the boundary of the pattern area and each reduced pattern area boundary.

[0201] This describes the implementation process of edge mowing using a U-shaped pattern, which can be referred to in the aforementioned embodiments. The difference from the aforementioned embodiments is that, for a lawnmower with automatically adjustable blade height, it can mow the patterned area. Therefore, the boundary of the patterned area can not only expand towards the non-patterned area but also shrink towards the patterned area. When shrinking towards the patterned area, edge mowing of both the patterned area and the shrunken boundary can be performed according to the mowing height corresponding to the patterned area.

[0202] By using two different zigzag mowing methods, the possibility of missing grass that needs to be cut can be further reduced, thus improving the effect of the lawn pattern.

[0203] Optionally, the distance between the position corresponding to the pattern area and the position corresponding to the first element attribute is greater than a preset distance; the first element attribute is a boundary or a restricted area; or, when the position corresponding to the pattern area intersects with the position corresponding to the first element attribute, the final pattern area is the pattern area remaining after cropping; wherein, the cropped area is the area in the pattern area that exceeds the boundary or intersects with the restricted area;

[0204] And / or, the position corresponding to the pattern area intersects with or encompasses the position corresponding to the second element attribute; the second element attribute is a visual failure area; the visual failure area is an area that the lawnmower perceives as a non-grass area and is passable based on the visual sensor.

[0205] To improve the effect of the pattern and reduce problems encountered during mowing, the position of the pattern area needs to take into account the position of the existing element properties in the area to be mowed.

[0206] Optionally, the area to be mowed can include a first element attribute and a second element attribute. The first element attribute can be a boundary or restricted area, and the second element attribute can be a visual failure zone.

[0207] Since the first element attribute is a boundary or restricted area, the lawnmower is usually not allowed to enter. Therefore, the distance between the set position of the pattern area and the position corresponding to the first element attribute can be greater than the preset distance. At the same time, the distance between the set position of one pattern area and the set position of another pattern area can also be greater than the preset distance. The preset distance can be set according to the actual scene to improve the pattern implementation effect.

[0208] In some special scenarios, for boundaries, one edge of the pattern area can overlap with the boundary; for restricted areas, the restricted area can be set inside the pattern area, meaning the pattern area can encompass or intersect with the restricted area. Therefore, when the position of the pattern area intersects with the position corresponding to the first element attribute, the pattern area can be cropped. Specifically, the area of ​​the pattern area that exceeds the boundary or intersects with the restricted area can be cropped, and the remaining pattern area is determined as the final pattern area.

[0209] Since the second element attribute is the visual failure zone, the setting position of the pattern area is intersecting or encompassing the position corresponding to the second element attribute. Since the lawnmower can pass through the visual failure zone, the set pattern area can intersect or encompass the visual failure zone.

[0210] By defining the relationship between the pattern area and the position corresponding to the first element attribute, and the relationship between the pattern area and the position corresponding to the second element attribute, the effect of the pattern is improved. When the pattern area intersects with the position corresponding to the first element attribute, the final pattern area can be accurately determined through the cropping operation.

[0211] Figure 3 This is a flowchart illustrating a setting method provided in an embodiment of the present invention, as shown below. Figure 3 As shown, the method is applied to a terminal device, and the method includes:

[0212] Step S301: In response to the setting instruction for the pattern area, the area to be mowed and the added control are displayed on the display interface; the added control is used to set the pattern area on the area to be mowed.

[0213] Users can set patterned areas based on their terminal devices. Optionally, after creating a map on their terminal device, users can click the "Add Element" control to add elements. These elements can be restricted areas, boundaries, or patterned areas, and corresponding controls can be set for each element. When a user selects the control corresponding to a patterned area, it indicates that the user has issued a command to set the patterned area.

[0214] After receiving the setting instruction for the pattern area, the terminal device can display the area to be mowed and add controls on the display interface. These controls are used to add patterns.

[0215] Step S302: In response to the trigger event for the added control, the added pattern area is displayed on the area to be mowed.

[0216] When a user clicks "Add Control" and sets a pattern, the added pattern area will be displayed on the area to be mowed. The process of setting a pattern can involve selecting an existing pattern, or the user drawing their own pattern and setting its information, such as size and position.

[0217] Step S303: Send the grass pattern information corresponding to the added pattern area to the lawnmower, so that the lawnmower can determine the pattern area and non-pattern area in the area to be mowed based on the grass pattern information, and mow the area to be mowed using a mowing strategy corresponding to the lawnmower based on the lawnmower and the pattern area; the grass pattern information includes the pattern and the user's operation information on the pattern.

[0218] Wherein, when the lawnmower is a manually adjustable blade height lawnmower, the mowing strategy is to mow only the non-patterned areas; when the lawnmower is an automatically adjustable blade height lawnmower, the mowing strategy is to mow both the patterned areas and the non-patterned areas according to a planned path; the path is a path planned for the area to be mowed.

[0219] Once a patterned area is set on the area to be mowed, the lawnmower can send the grass pattern information corresponding to that patterned area to the lawnmower. The lawnmower receives the grass pattern information as an SVG image and operation information for the pattern. The lawnmower can determine the points corresponding to the pattern based on the grass pattern information, thereby determining the patterned area and the non-patterned area. This allows the lawnmower to adopt the corresponding strategy for mowing based on the patterned area and whether the lawnmower can automatically adjust the blade height.

[0220] Different strategies can be employed depending on whether the lawnmower's blade height is automatically adjustable. For lawnmowers with manually adjustable blade height, only non-patterned areas can be mowed, creating a height difference between the patterned and non-patterned areas, eliminating the need for manual blade height adjustment. For lawnmowers with automatically adjustable blade height, both patterned and non-patterned areas can be mowed. A path can be planned for the entire area to be mowed beforehand, and mowing can proceed according to that path, eliminating the need for frequent turning and improving mowing efficiency.

[0221] The present invention provides a setting method in which, in response to a setting instruction for a pattern area, a lawn area to be mowed and an add control are displayed on the display interface. The add control is used to set a pattern area on the lawn area to be mowed. In response to a trigger event for the add control, the added pattern area is displayed on the lawn area to be mowed, and the lawn pattern information corresponding to the added pattern area is sent to the lawnmower. By setting the lawn pattern information on the terminal device, the lawnmower can determine the pattern area and the non-pattern area based on the lawn pattern information, thus realizing the setting of the pattern area through simple user operation.

[0222] Optionally, the adding control includes a first adding control and / or a second adding control. In response to a trigger event for the adding control, an added pattern area is displayed on the area to be mowed, including:

[0223] In response to a trigger event for the first added control, selectable patterns are displayed on the display interface. In response to a trigger event for any of the selectable patterns, a corresponding selection box and a first completion control are displayed on the lawn area to be mowed. Alternatively, in response to a trigger event for the second added control, a blank area for the user to draw patterns and a second completion control are displayed on the display interface. In response to a trigger event for the second completion control, a selection box and a first completion control corresponding to the pattern drawn by the user are displayed on the lawn area to be mowed. The selection box is surrounded by operation controls. The selectable patterns are patterns saved locally on the terminal device or downloaded from a server.

[0224] In response to a preset trigger event for the operation control, the selection box is adjusted and the adjusted selection box is displayed;

[0225] In response to the trigger event for the first completion control, the area corresponding to the adjusted selection box is determined as the pattern area.

[0226] When adding a pattern area to the area to be mowed, it can be done using two types of add controls: a first add control and a second add control. By triggering the first add control, the user can select a pre-set pattern; by triggering the second add control, the user can draw a pattern themselves.

[0227] Figure 4 A schematic diagram of setting a pattern area provided in an embodiment of the present invention. Figure 1 , Figure 5 A schematic diagram of setting a pattern area provided in an embodiment of the present invention. Figure 2For the first added control 102, after the user selects a pattern, a selection box (the outer square border of the five-pointed star pattern) can be displayed. Optionally, the selectable pattern can be a pattern saved locally on the terminal device, or it can be a pattern designed by the developer and uploaded to the server, which then pushes it to the application on the terminal device so that the user can obtain the latest pattern during operation.

[0228] For the second add control, after the user selects it, a blank area and a second completion control can be displayed. The user can draw a pattern on the blank area. When the user triggers the second completion control, it means that the pattern drawing is complete, and the selection box corresponding to the drawn pattern can be displayed.

[0229] Optionally, there are operation controls around the selection box. Users can also adjust the selection box based on the operation controls. After the adjustment is complete, they can click the first completion control to determine the pattern area based on the position, size and other information of the adjusted selection box.

[0230] By setting up two types of add controls, users can set the pattern area in different ways.

[0231] Optionally, the operation control includes: a third delete control; in response to a preset trigger event for the operation control, the selection box is adjusted, including:

[0232] In response to a trigger event for the third delete control, the selection box is deleted;

[0233] And / or, the operation control further includes a rotation control; in response to a preset trigger event for the operation control, the selection box is adjusted, including:

[0234] In response to a trigger event for the rotation control, the selection box is rotated according to a preset direction and angle;

[0235] And / or, the operation control further includes a movement control; in response to a preset trigger event for the operation control, the selection box is adjusted, including:

[0236] In response to a drag event on the moving control, the selection box is moved;

[0237] And / or, the operation control further includes a size adjustment control; in response to a preset trigger event for the operation control, the selection box is adjusted, including:

[0238] In response to a zoom-in event for the size adjustment control, the selection box is zoomed in; in response to a zoom-out event for the size adjustment control, the selection box is zoomed out.

[0239] Figure 6 A schematic diagram of setting a pattern area provided in an embodiment of the present invention. Figure 3 Various controls can be placed around the selection box, such as a third delete control used to delete the selection. A rotation control can also be set to rotate the pattern; a rotation strategy can be preset, such as rotating 90 degrees to the left each time the rotation control is triggered. Furthermore, a move control can be set, allowing the user to drag the selection box when triggered. Additionally, a size adjustment control can be set to enlarge or shrink the selection box. Correspondingly, the size information of the pattern area can also be displayed.

[0240] Optionally, a minimum scaling size can be configured individually for each pattern. Once the minimum size is reached, it cannot be scaled down further. At the same time, the minimum size can also be displayed on the display interface.

[0241] By setting the aforementioned operation space around the selection box, users can easily perform different operations on the selection box.

[0242] Optionally, when the lawnmower is a manually adjustable blade height lawnmower, a pattern duration setting control is also displayed when the corresponding selection box is displayed on the area to be mowed; the method further includes:

[0243] In response to a trigger event for the pattern duration setting control, a selection box for setting the duration and a first confirmation control are displayed; in response to a trigger event for the first confirmation control, the duration set by the user is determined as the pattern duration.

[0244] Figure 7 A schematic diagram of setting a pattern area provided in an embodiment of the present invention. Figure 4 For lawnmowers with manually adjustable blade height, a pattern duration can also be set. When the selection box is displayed, a pattern duration setting control can also be shown. The terminal device can trigger a pop-up window based on the user's activation of this control. For example, the pop-up window could take the form of... Figure 7 As shown, users can select or edit the duration. When a user clicks the first confirmation control (confirmation button), the current duration is set as the pattern duration.

[0245] Optionally, a slider can be used to set the pattern duration. The length of the slider is the maximum settable duration of the pattern, and the user can set the pattern duration within this maximum duration.

[0246] By setting a pattern duration control, users can set an appropriate pattern duration according to their needs, thus improving the user experience.

[0247] Optionally, when the lawnmower is an automatically adjustable blade height lawnmower, a mowing height setting control is also displayed when the corresponding selection box is displayed on the area to be mowed; the method further includes:

[0248] In response to a trigger event for the lawn mowing height setting control, a selection box for the user to set the height and a second confirmation control are displayed;

[0249] In response to a trigger event for the second confirmation control, the height set by the user is determined to be the mowing height corresponding to the pattern area.

[0250] Figure 8 A schematic diagram of setting a pattern area provided in an embodiment of the present invention. Figure 5 For lawnmowers with automatic blade height adjustment, a mowing height setting control can also be displayed when the selection box is shown. Users can trigger the mowing height setting control to bring up a pop-up window, where they can set the mowing height. A second confirmation control can also be set to confirm the height set by the user as the mowing height corresponding to the pattern area.

[0251] By setting a lawn mowing height control, users can customize the mowing height to their needs, thus improving the user experience.

[0252] Optionally, the method further includes:

[0253] In response to a trigger event that occurs after the selection box is moved and placed, the element attributes corresponding to the current placement position of the selection box are determined.

[0254] The final pattern area is determined based on the element attributes.

[0255] When dragging and placing a selection box, the position of the selection box may conflict with the position of other element attributes. Therefore, after placing the selection box, you can obtain the element attribute of the selection box's placement position and determine the final pattern area based on that element attribute.

[0256] By determining the final pattern area based on the element attributes corresponding to the current position of the selection box, the effectiveness of the pattern and the accuracy of the determined final pattern area can be guaranteed.

[0257] Optionally, the final pattern area is determined based on the element attributes, including:

[0258] When the element attribute is a boundary or restricted area, a first prompt message is displayed on the display interface to reset the final position of the selection box and determine the newly set final position as the final pattern area; the first prompt message is used to indicate that the pattern area overlaps with the boundary or restricted area or the distance is less than a preset distance.

[0259] When the element attribute is a visual failure zone, the current placement position of the selection box is determined as the final pattern area; the visual failure zone is the area that the lawnmower perceives as a non-grass area that is passable based on the visual sensor.

[0260] When an element's attribute is a boundary or restricted area, the selection box can be positioned at a certain distance from the position of that element's attribute. Therefore, a prompt can be given to the user, allowing them to reset the selection box's position.

[0261] Figure 9 A schematic diagram of setting a pattern area provided in an embodiment of the present invention. Figure 6 For example, the prompt message could be that the pattern is outside the boundary / too close, or that the pattern overlaps with / too close to the restricted area.

[0262] When the element attribute is a visual failure zone, the lawnmower can pass through this area. The selection box position can intersect with or contain the position of the visual failure zone. Therefore, the position of the selection box does not need to be moved again.

[0263] By setting the position of the selection box for two different types of element attributes, the effect of the pattern can be improved.

[0264] Optionally, the method further includes:

[0265] When the element attributes on the grass-to-be-mowed area change, it is determined whether the position of the changed element attributes and the position of the pattern area meet a preset condition; a change in element attributes indicates the existence of a new restricted area, or an adjustment of the existing boundary or restricted area; meeting the preset condition indicates that the position of the pattern area overlaps with the position of the changed element attributes or the distance between them is less than a preset distance.

[0266] When the preset conditions are met, a second prompt message, a first delete control, and a cancel control are displayed on the display interface; the second prompt message is used to indicate that the position of the pattern area overlaps with the position of the changed element attribute or the distance is less than a preset distance.

[0267] In response to a trigger event on the first delete control, the pattern area is deleted; or, in response to a trigger event on the cancel control, the change operation on the element attribute is canceled.

[0268] Furthermore, when the attributes of elements in the area to be mowed change, it is necessary to determine whether the relationship between the position of the changed element attribute and the position of the pattern area meets preset conditions. When the preset conditions are met—that is, the position of the pattern area overlaps with the position of the changed element attribute or the distance is less than a preset distance—a prompt message can be sent to the user. Simultaneously, a first delete control and a cancel control can be displayed. The first delete control deletes the pattern area, thus saving the current operation on the element attribute; the cancel control cancels the user's operation on the element attribute, thus saving the pattern area.

[0269] By performing the above operations, conflicts between the element attributes and the pattern area can be avoided, thus improving the pattern's overall effect.

[0270] Optionally, the final pattern area is determined based on the element attributes, including:

[0271] When the element attribute is a boundary or restricted area, a third prompt message is displayed on the display interface, and the final pattern area is determined; the third prompt message is used to prompt that the part of the pattern area that exceeds the boundary or intersects with the restricted area be cropped, and the remaining pattern area is determined as the final pattern area;

[0272] When the element attribute is a visual failure zone, the current placement position of the selection box is determined as the final pattern area; the visual failure zone is the area that the lawnmower perceives as a non-grass area and is passable based on the visual sensor.

[0273] When the element attributes on the area to be mowed change, the updated pattern area is determined based on the position of the changed element attributes and the position of the pattern area.

[0274] When an element attribute is a boundary or restricted area, the position of the pattern area can intersect with the position of the aforementioned element attribute. When they intersect, the final pattern area can be redefined.

[0275] Optionally, when the pattern area intersects with the boundary, that is, when the pattern area exceeds the boundary, a third prompt message can be displayed on the display interface. The third prompt message is to crop the part of the pattern area that exceeds the boundary and determine the remaining pattern area as the final pattern area.

[0276] Optionally, when the pattern area intersects with the restricted area, a third prompt message can be displayed on the display interface. The third prompt message is to crop the part of the pattern area that intersects with the restricted area and determine the remaining pattern area as the final pattern area.

[0277] Optionally, the user can determine whether to change the position of the pattern area based on this third prompt.

[0278] By cropping the pattern area when it intersects with the boundary or restricted area, the final pattern area can be determined, thus satisfying the user's need for the pattern area to intersect with the boundary or restricted area when setting the pattern area.

[0279] Optionally, the method further includes:

[0280] When the lawnmower is a manually adjustable blade height lawnmower, after the area corresponding to the adjusted selection box is determined as the pattern area, in response to the trigger event of the pattern area and the trigger event of the editing control on the display interface, a second delete control and the pattern duration setting control are displayed on the display interface.

[0281] In response to a trigger event on the second delete control, the selected pattern area is deleted;

[0282] In response to a trigger event of the pattern duration setting control, the pattern duration is adjusted.

[0283] When a user clicks on an added pattern area and triggers the edit control, they can perform operations on that pattern area. Optionally, the pattern area can be deleted. Figure 10 A schematic diagram of setting a pattern area provided in an embodiment of the present invention. Figure 7 , Figure 11 A schematic diagram of setting a pattern area provided in an embodiment of the present invention. Figure 8 , Figure 10 The 103 control in the image is an edit control. When the user clicks the edit control, it displays... Figure 11 The pop-up message displays the delete control.

[0284] Figure 12 A schematic diagram of setting a pattern area provided in an embodiment of the present invention. Figure 9 For lawnmowers with manually adjustable blade height, users can also modify the set pattern duration. Optionally, triggering the pattern area or the editing control will display the pattern duration setting control, allowing modification of the pattern duration. For example, the initial pattern duration is set to 10 days; if this time is found to be too short or too long, it can be set again.

[0285] By configuring the editing controls, you can delete pattern areas and re-edit pattern durations.

[0286] Optionally, the method further includes:

[0287] When the lawnmower is an automatic blade height adjustable lawnmower, after the area corresponding to the adjusted selection box is determined as the pattern area, in response to the trigger event of the pattern area and the trigger event of the editing control on the display interface, the second delete control and the lawn mowing height setting control are displayed on the display interface.

[0288] In response to a trigger event on the second delete control, the selected pattern area is deleted;

[0289] In response to a trigger event on the lawn mowing height setting control, the lawn mowing height is adjusted.

[0290] When a user clicks on an added pattern area and triggers the edit control, they can perform operations on that pattern area. Optionally, the pattern area can be deleted.

[0291] Figure 13 A schematic diagram of setting a pattern area provided in an embodiment of the present invention. Figure 10 For lawnmowers with automatically adjustable blade height, users can modify the set mowing height. Optionally, triggering the pattern area or the editing control will display the mowing height setting control, allowing modification of the mowing height in the pattern area. For example, the initial mowing height is set to 2cm; if this height is found to be unsuitable, it can be modified again.

[0292] By adjusting the settings of the editing controls, you can delete the pattern area and re-edit the mowing height of the pattern area.

[0293] Figure 14 This is a schematic diagram of a setting device provided in an embodiment of the present invention. The device is applied to a terminal device; the device 140 includes:

[0294] The first display module 1401 is used to display the area to be mowed and the added control on the display interface in response to the setting command of the pattern area; the added control is used to set the pattern area on the area to be mowed.

[0295] The second display module 1402 is configured to display the added pattern area on the area to be mowed in response to a trigger event for the added control.

[0296] The sending module 1403 is used to send the grass pattern information corresponding to the added pattern area to the lawnmower, so that the lawnmower can determine the pattern area and non-pattern area in the area to be mowed according to the grass pattern information, and mow the area to be mowed according to the lawnmower and the pattern area, using a mowing strategy corresponding to the lawnmower; the grass pattern information includes the pattern and the user's operation information on the pattern.

[0297] Wherein, when the lawnmower is a manually adjustable blade height lawnmower, the mowing strategy is to mow only the non-patterned areas; when the lawnmower is an automatically adjustable blade height lawnmower, the mowing strategy is to mow both the patterned areas and the non-patterned areas according to a planned path; the path is a path planned for the area to be mowed.

[0298] Optionally, the added control includes a first added control and / or a second added control, and the second display module 1402 is specifically used for:

[0299] In response to a trigger event for the first added control, selectable patterns are displayed on the display interface. In response to a trigger event for any of the selectable patterns, a corresponding selection box and a first completion control are displayed on the lawn area to be mowed. Alternatively, in response to a trigger event for the second added control, a blank area for the user to draw patterns and a second completion control are displayed on the display interface. In response to a trigger event for the second completion control, a selection box and a first completion control corresponding to the pattern drawn by the user are displayed on the lawn area to be mowed. The selection box is surrounded by operation controls. The selectable patterns are patterns saved locally on the terminal device or downloaded from a server.

[0300] In response to a preset trigger event for the operation control, the selection box is adjusted and the adjusted selection box is displayed;

[0301] In response to the trigger event for the first completion control, the area corresponding to the adjusted selection box is determined as the pattern area.

[0302] Optionally, when the lawnmower is a manually adjustable blade height lawnmower, a pattern duration setting control is also displayed when the corresponding selection box is shown on the area to be mowed; the device further includes: a pattern setting module, specifically used for:

[0303] In response to a trigger event for the pattern duration setting control, a selection box for setting the duration and a first confirmation control are displayed; in response to a trigger event for the first confirmation control, the duration set by the user is determined as the pattern duration.

[0304] Optionally, when the lawnmower is an automatically adjustable blade height lawnmower, a mowing height setting control is also displayed when the corresponding selection box is shown on the area to be mowed; the device further includes: a mowing height setting module, specifically used for:

[0305] In response to a trigger event for the lawn mowing height setting control, a selection box for the user to set the height and a second confirmation control are displayed;

[0306] In response to a trigger event for the second confirmation control, the height set by the user is determined to be the mowing height corresponding to the pattern area.

[0307] Optionally, the device further includes: a determination module, specifically used for:

[0308] In response to a trigger event that occurs after the selection box is moved and placed, the element attributes corresponding to the current placement position of the selection box are determined.

[0309] The final pattern area is determined based on the element attributes.

[0310] Optionally, when determining the final pattern area based on the element attributes, the determination module is specifically used for:

[0311] When the element attribute is a boundary or restricted area, a first prompt message is displayed on the display interface to reset the final position of the selection box and determine the newly set final position as the final pattern area; the first prompt message is used to indicate that the pattern area overlaps with the boundary or restricted area or the distance is less than a preset distance.

[0312] When the element attribute is a visual failure zone, the current placement position of the selection box is determined as the final pattern area; the visual failure zone is the area that the lawnmower perceives as a non-grass area that is passable based on the visual sensor.

[0313] Optionally, the device further includes: an editing module, used for:

[0314] When the element attributes on the grass-to-be-mowed area change, it is determined whether the position of the changed element attributes and the position of the pattern area meet a preset condition; a change in element attributes indicates the existence of a new restricted area, or an adjustment of the existing boundary or restricted area; meeting the preset condition indicates that the position of the pattern area overlaps with the position of the changed element attributes or the distance between them is less than a preset distance.

[0315] When the preset conditions are met, a second prompt message, a first delete control, and a cancel control are displayed on the display interface; the second prompt message is used to indicate that the position of the pattern area overlaps with the position of the changed element attribute or the distance is less than a preset distance.

[0316] In response to a trigger event on the first delete control, the pattern area is deleted; or, in response to a trigger event on the cancel control, the change operation on the element attribute is canceled.

[0317] Optionally, when determining the final pattern area based on the element attributes, the determination module is specifically used for:

[0318] When the element attribute is a boundary or restricted area, a third prompt message is displayed on the display interface, and the final pattern area is determined; the third prompt message is used to prompt that the part of the pattern area that exceeds the boundary or intersects with the restricted area be cropped, and the remaining pattern area is determined as the final pattern area;

[0319] When the element attribute is a visual failure zone, the current placement position of the selection box is determined as the final pattern area; the visual failure zone is the area that the lawnmower perceives as a non-grass area and is passable based on the visual sensor.

[0320] When the element attributes on the area to be mowed change, the updated pattern area is determined based on the position of the changed element attributes and the position of the pattern area.

[0321] Optionally, the device further includes: a first editing module, used for:

[0322] When the lawnmower is a manually adjustable blade height lawnmower, after the area corresponding to the adjusted selection box is determined as the pattern area, in response to the trigger event of the pattern area and the trigger event of the editing control on the display interface, a second delete control and the pattern duration setting control are displayed on the display interface.

[0323] In response to a trigger event on the second delete control, the selected pattern area is deleted;

[0324] In response to a trigger event of the pattern duration setting control, the pattern duration is adjusted.

[0325] Optionally, the method further includes: a second editing module, used for:

[0326] When the lawnmower is an automatic blade height adjustable lawnmower, after the area corresponding to the adjusted selection box is determined as the pattern area, in response to the trigger event of the pattern area and the trigger event of the editing control on the display interface, the second delete control and the lawn mowing height setting control are displayed on the display interface.

[0327] In response to a trigger event on the second delete control, the selected pattern area is deleted;

[0328] In response to a trigger event on the lawn mowing height setting control, the lawn mowing height is adjusted.

[0329] Optionally, the operation control includes: a third delete control; when the second display module 1402 adjusts the selection box in response to a preset trigger event for the operation control, it is specifically used for:

[0330] In response to a trigger event for the third delete control, the selection box is deleted;

[0331] And / or, the operation control further includes a rotation control; when the second display module 1402 adjusts the selection box in response to a preset trigger event for the operation control, it is specifically used for:

[0332] In response to a trigger event for the rotation control, the selection box is rotated according to a preset direction and angle;

[0333] And / or, the operation control further includes a movement control; when the second display module 1402 adjusts the selection box in response to a preset trigger event for the operation control, it is specifically used for:

[0334] In response to a drag event on the moving control, the selection box is moved;

[0335] And / or, the operation control further includes a size adjustment control; when the second display module 1402 adjusts the selection box in response to a preset trigger event for the operation control, it is specifically used for:

[0336] In response to a zoom-in event for the size adjustment control, the selection box is zoomed in; in response to a zoom-out event for the size adjustment control, the selection box is zoomed out.

[0337] The setting device provided in this embodiment of the invention can achieve the above-mentioned... Figure 3 The setup method of the illustrated embodiment is similar in principle and technical effect, and will not be described again here.

[0338] Figure 15 This is a schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present invention. Figure 15 As shown, the electronic device provided in this embodiment includes at least one processor 1501 and a memory 1502. The processor 1501 and the memory 1502 are connected via a bus 1503.

[0339] In a specific implementation, at least one processor 1501 executes computer execution instructions stored in memory 1502, causing at least one processor 1501 to execute the method in the above method embodiment.

[0340] The specific implementation process of processor 1501 can be found in the above method embodiments, and its implementation principle and technical effect are similar. It will not be repeated here.

[0341] In the above Figure 15 In the illustrated embodiments, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor.

[0342] The memory may include a high-speed RAM memory, and may also include a non-volatile storage NVM, such as at least one disk storage.

[0343] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0344] This invention also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the method described in the above embodiments.

[0345] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the method described in the above method embodiments.

[0346] The aforementioned computer-readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0347] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components in the device.

[0348] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0349] The serial numbers of the above embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0350] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0351] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A method for controlling lawn mowing, characterized in that, The method is applied to the controller of a lawnmower, and the method includes: Based on the received grass pattern information, the patterned and non-patterned areas in the area to be mowed are determined; the grass pattern information includes the pattern and the user's operation information on the pattern; Based on the lawnmower and the patterned area, a mowing strategy corresponding to the lawnmower is used to mow the area to be mowed. When the lawnmower is a manually adjustable blade height lawnmower, the mowing strategy is to mow only the non-patterned areas.

2. The method according to claim 1, characterized in that, The target time difference is the time difference between the current time and the time corresponding to the set pattern deadline; based on the lawnmower and the pattern area, a mowing strategy corresponding to the lawnmower is used to mow the area to be mowed, including: When it is determined that the target time difference is less than the pattern duration, the grass in the non-pattern area is mowed. When the target time difference is determined to be equal to or greater than the pattern duration, the pattern area is deleted, and the deleted pattern area and the non-pattern area are mowed during the next mowing task; or, when the target time difference is determined to be equal to or greater than the pattern duration, the pattern area is mowed during the next mowing task, and the target time difference is reset.

3. The method according to claim 2, characterized in that, Mowing the non-patterned areas includes: Before or after mowing the non-patterned area, mowing is performed along the boundary of the patterned area.

4. The method according to claim 3, characterized in that, The process of mowing along the boundary of the patterned area includes: The boundary of the patterned area is expanded into the non-patterned area to obtain at least one expanded patterned area boundary. A first mowing order is determined, and the grass is mowed sequentially according to the first mowing order for the boundary of the patterned area and each expanded patterned area boundary. The first mowing order is the order in which the grass is mowed for the boundary of the patterned area and each expanded patterned area boundary.

5. The method according to claim 2, characterized in that, When it is determined that the target time difference is equal to or greater than the pattern duration, the pattern region is deleted, including: When the target time difference is determined to be equal to or greater than the pattern duration, if the lawnmower is performing a mowing task, the pattern area will be deleted after the mowing task is completed, or after receiving an instruction from the user indicating that the mowing task has been completed.

6. The method according to claim 2, characterized in that, Mowing the non-patterned areas includes: When the lawnmower is mowing the non-patterned area, if an obstacle is detected and it is impossible to bypass the obstacle from the non-patterned area, the lawnmower's blades are shut off and the lawnmower is controlled to pass through the patterned area.

7. The method according to claim 1, characterized in that, When the lawnmower is an automatic blade height adjustable lawnmower, the mowing strategy is to mow the area to be mowed according to a planned path; the path is a path planned for the area to be mowed. Based on the lawnmower and the patterned area, a mowing strategy corresponding to the lawnmower is used to mow the area to be mowed, including: The height of the mower's blade is adjusted according to a first target height and a second target height, and the grass is mowed in the area to be mowed; wherein, the first target height is higher or lower than the second target height; the first target height is the mowing height corresponding to the patterned area; and the second target height is the mowing height corresponding to the non-patterned area. Before or after mowing the grass in the area to be mowed, mow along the boundary of the patterned area.

8. The method according to claim 7, characterized in that, The step of adjusting the blade height of the lawnmower according to the first target height and the second target height, and mowing the area to be mowed, includes: Path planning is performed on the area to be mowed; When the lawnmower is mowing along the planned path, when it is determined that the lawnmower has reached the pattern area, the lawnmower is controlled to pause mowing, the height of the cutter head is adjusted to the first target height, and the lawnmower is controlled to continue mowing. When the lawnmower is mowing along the planned path, if it is determined that the lawnmower has left the patterned area, the lawnmower is controlled to pause mowing, the height of the cutter head is adjusted to the second target height, and the lawnmower is controlled to continue mowing.

9. The method according to claim 1, characterized in that, When the lawnmower is an automatic blade height adjustable lawnmower, the mowing strategy is to plan paths for the patterned area and the non-patterned area respectively and mow the grass based on the planned paths; Based on the lawnmower and the patterned area, a mowing strategy corresponding to the lawnmower is used to mow the area to be mowed, including: The grass is mowed in the patterned area according to the path corresponding to the patterned area, and the grass is mowed in the non-patterned area according to the path corresponding to the non-patterned area. Before or after mowing the target area, mowing is performed along the boundary of the patterned area; the target area is either a patterned area or a non-patterned area.

10. The method according to claim 7 or 9, characterized in that, The process of mowing along the boundary of the patterned area includes: The pattern area boundary is expanded into the non-pattern area to obtain at least one expanded pattern area boundary. A second mowing order is determined, and the pattern area boundary and each expanded pattern area boundary are mowed sequentially according to the second mowing order. The second mowing order is the order in which the pattern area boundary and each expanded pattern area boundary are mowed. Alternatively, the boundary of the pattern area is reduced to the pattern area to obtain at least one reduced pattern area boundary, a third mowing order is determined, and the grass is mowed sequentially according to the third mowing order; the third mowing order is the order in which the grass is mowed on the boundary of the pattern area and each reduced pattern area boundary.

11. The method according to claim 1, characterized in that, The distance between the position corresponding to the pattern area and the position corresponding to the first element attribute is greater than a preset distance; the first element attribute is a boundary or a restricted area; or, when the position corresponding to the pattern area intersects with the position corresponding to the first element attribute, the final pattern area is the pattern area remaining after cropping; wherein, the cropped area is the area in the pattern area that exceeds the boundary or intersects with the restricted area; And / or, the position corresponding to the pattern area intersects with or encompasses the position corresponding to the second element attribute; the second element attribute is a visual failure area; the visual failure area is an area that the lawnmower perceives as a non-grass area and is passable based on the visual sensor.

12. A setting method, characterized in that, The method is applied to a terminal device, and the method includes: In response to the setting command for the pattern area, the area to be mowed and the added control are displayed on the display interface; the added control is used to set the pattern area on the area to be mowed. In response to a trigger event for the added control, the added pattern area is displayed on the area to be mowed; The lawn pattern information corresponding to the added patterned area is sent to the lawnmower, so that the lawnmower can determine the patterned area and non-patterned area in the area to be mowed based on the lawn pattern information, and mow the area to be mowed using a mowing strategy corresponding to the lawnmower based on the lawnmower and the patterned area; the lawn pattern information includes the pattern and the user's operation information on the pattern. Wherein, when the lawnmower is a manually adjustable blade height lawnmower, the mowing strategy is to mow only the non-patterned areas; when the lawnmower is an automatically adjustable blade height lawnmower, the mowing strategy is to mow both the patterned areas and the non-patterned areas according to a planned path; the path is a path planned for the area to be mowed.

13. The method according to claim 12, characterized in that, The added control includes a first added control and / or a second added control. In response to a trigger event for the added control, an added pattern area is displayed on the area to be mowed, including: In response to a trigger event for the first added control, selectable patterns are displayed on the display interface. In response to a trigger event for any of the selectable patterns, a corresponding selection box and a first completion control are displayed on the lawn area to be mowed. Alternatively, in response to a trigger event for the second added control, a blank area for the user to draw patterns and a second completion control are displayed on the display interface. In response to a trigger event for the second completion control, a selection box and a first completion control corresponding to the pattern drawn by the user are displayed on the lawn area to be mowed. The selection box is surrounded by operation controls. The selectable patterns are patterns saved locally on the terminal device or downloaded from a server. In response to a preset trigger event for the operation control, the selection box is adjusted and the adjusted selection box is displayed; In response to the trigger event for the first completion control, the area corresponding to the adjusted selection box is determined as the pattern area.

14. The method according to claim 13, characterized in that, When the lawnmower is a manually adjustable blade height lawnmower, a pattern duration setting control is also displayed when a corresponding selection box is shown on the area to be mowed; the method further includes: In response to a trigger event for the pattern duration setting control, a selection box for setting the duration and a first confirmation control are displayed; in response to a trigger event for the first confirmation control, the duration set by the user is determined as the pattern duration.

15. The method according to claim 13, characterized in that, When the lawnmower is an automatic blade height adjustable lawnmower, in addition to displaying a corresponding selection box on the area to be mowed, a mowing height setting control is also displayed; the method further includes: In response to a trigger event for the lawn mowing height setting control, a selection box for the user to set the height and a second confirmation control are displayed; In response to a trigger event for the second confirmation control, the height set by the user is determined to be the mowing height corresponding to the pattern area.

16. The method according to claim 13, characterized in that, The method further includes: In response to a trigger event that occurs after the selection box is moved and placed, the element attributes corresponding to the current placement position of the selection box are determined. The final pattern area is determined based on the element attributes.

17. The method according to claim 16, characterized in that, The final pattern area is determined based on the element attributes, including: When the element attribute is a boundary or restricted area, a first prompt message is displayed on the display interface to reset the final position of the selection box and determine the newly set final position as the final pattern area; the first prompt message is used to indicate that the pattern area overlaps with the boundary or restricted area or the distance is less than a preset distance. When the element attribute is a visual failure zone, the current placement position of the selection box is determined as the final pattern area; the visual failure zone is the area that the lawnmower perceives as a non-grass area that is passable based on the visual sensor.

18. The method according to claim 17, characterized in that, The method further includes: When the element attributes on the grass-to-be-mowed area change, it is determined whether the position of the changed element attributes and the position of the pattern area meet a preset condition; a change in element attributes indicates the existence of a new restricted area, or an adjustment of the existing boundary or restricted area; meeting the preset condition indicates that the position of the pattern area overlaps with the position of the changed element attributes or the distance between them is less than a preset distance. When the preset conditions are met, a second prompt message, a first delete control, and a cancel control are displayed on the display interface; the second prompt message is used to indicate that the position of the pattern area overlaps with the position of the changed element attribute or the distance is less than a preset distance. In response to a trigger event on the first delete control, the pattern area is deleted; or, in response to a trigger event on the cancel control, the change operation on the element attribute is canceled.

19. The method according to claim 16, characterized in that, The final pattern area is determined based on the element attributes, including: When the element attribute is a boundary or restricted area, a third prompt message is displayed on the display interface, and the final pattern area is determined; the third prompt message is used to prompt that the part of the pattern area that exceeds the boundary or intersects with the restricted area be cropped, and the remaining pattern area is determined as the final pattern area; When the element attribute is a visual failure zone, the current placement position of the selection box is determined as the final pattern area; the visual failure zone is the area that the lawnmower perceives as a non-grass area and is passable based on the visual sensor. When the element attributes on the area to be mowed change, the updated pattern area is determined based on the position of the changed element attributes and the position of the pattern area.

20. The method according to claim 14, characterized in that, The method further includes: When the lawnmower is a manually adjustable blade height lawnmower, after the area corresponding to the adjusted selection box is determined as the pattern area, in response to the trigger event of the pattern area and the trigger event of the editing control on the display interface, a second delete control and the pattern duration setting control are displayed on the display interface. In response to a trigger event on the second delete control, the selected pattern area is deleted; In response to a trigger event of the pattern duration setting control, the pattern duration is adjusted.

21. The method according to claim 15, characterized in that, The method further includes: When the lawnmower is an automatic blade height adjustable lawnmower, after the area corresponding to the adjusted selection box is determined as the pattern area, in response to the trigger event of the pattern area and the trigger event of the editing control on the display interface, the second delete control and the lawn mowing height setting control are displayed on the display interface. In response to a trigger event on the second delete control, the selected pattern area is deleted; In response to a trigger event on the lawn mowing height setting control, the lawn mowing height is adjusted.

22. The method according to any one of claims 13-21, characterized in that, The operation control includes: a third delete control; in response to a preset trigger event for the operation control, the selection box is adjusted, including: In response to a trigger event for the third delete control, the selection box is deleted; And / or, the operation control further includes a rotation control; in response to a preset trigger event for the operation control, the selection box is adjusted, including: In response to a trigger event for the rotation control, the selection box is rotated according to a preset direction and angle; And / or, the operation control further includes a movement control; in response to a preset trigger event for the operation control, the selection box is adjusted, including: In response to a drag event on the moving control, the selection box is moved; And / or, the operation control further includes a size adjustment control; in response to a preset trigger event for the operation control, the selection box is adjusted, including: In response to a zoom-in event for the size adjustment control, the selection box is zoomed in; in response to a zoom-out event for the size adjustment control, the selection box is zoomed out.

23. A lawnmower, characterized in that, include: A lawn mowing assembly and a control assembly; the control assembly is connected to the lawn mowing assembly and is used to perform the method according to any one of claims 1-11.

24. A setting device, said device being applied to a terminal device, characterized in that, The device includes: The first display module is used to display the area to be mowed and the added control on the display interface in response to the setting command of the pattern area; the added control is used to set the pattern area on the area to be mowed. The second display module is used to display the added pattern area on the area to be mowed in response to a trigger event for the added control. The sending module is used to send the grass pattern information corresponding to the added pattern area to the lawnmower, so that the lawnmower can determine the pattern area and non-pattern area in the area to be mowed based on the grass pattern information, and mow the area to be mowed using a mowing strategy corresponding to the lawnmower based on the lawnmower and the pattern area; the grass pattern information includes the pattern and the user's operation information on the pattern. Wherein, when the lawnmower is a manually adjustable blade height lawnmower, the mowing strategy is to mow only the non-patterned areas; when the lawnmower is an automatically adjustable blade height lawnmower, the mowing strategy is to mow both the patterned areas and the non-patterned areas according to a planned path; the path is a path planned for the area to be mowed.

25. An electronic device, characterized in that, include: At least one processor and memory; The memory stores computer-executed instructions; The at least one processor executes computer execution instructions stored in the memory, causing the at least one processor to perform the method as described in any one of claims 1 to 22.

26. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, implement the method as described in any one of claims 1 to 22.

27. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 1 to 22.

Images