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

Abstract

The invention discloses a control method and device of mowing equipment, electronic equipment, mowing equipment and a medium, and is applied to the technical field of automatic control, the method comprises the steps that a mowing grassland map is acquired, and the mowing grassland map comprises a pattern area and a non-pattern area; the mowing device is controlled to mow a surrounding area according to a first mowing height and mow the non-pattern area according to a second mowing height, the second mowing height is smaller than the first mowing height, and the surrounding area is an area surrounding the pattern area. According to the lawn mowing device, the overall lawn mowing efficiency is improved, and meanwhile the presentation effect of small-area patterns is optimized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic control, and in particular relates to a control method and device of a mowing device, an electronic device, a mowing device and a medium. BACKGROUND

[0002] A mowing robot can autonomously perform mowing work in a working area. However, in the related art, the mowing robot is difficult to meet the requirements of users on lawn ornamental value. SUMMARY

[0003] To overcome the problems in the related art, the present application provides a control method and device of a mowing device, an electronic device, a mowing device and a medium.

[0004] In a first aspect, the present application discloses a control method of a mowing device, comprising:

[0005] obtaining a mowing map, the mowing map comprising a pattern area and a non-pattern area;

[0006] controlling the mowing device to mow a surrounding area according to a first mowing height, and to mow the non-pattern area according to a second mowing height, wherein the second mowing height is less than the first mowing height, and the surrounding area is an area surrounding the pattern area.

[0007] Optionally, the controlling the mowing device to mow the surrounding area according to the first mowing height, and to mow the non-pattern area according to the second mowing height comprises:

[0008] path planning for the surrounding area to obtain a first planning path;

[0009] path planning for the non-pattern area to obtain a second planning path;

[0010] controlling the mowing device to mow the surrounding area according to the first mowing height and the first planning path;

[0011] controlling the mowing device to mow the non-pattern area according to the second mowing height and the second planning path.

[0012] Optionally, the controlling the mowing device comprises controlling the mowing device to mow the surrounding area first, and then to mow the non-pattern area, or controlling the mowing device to mow the non-pattern area first, and then to mow the surrounding area.

[0013] Optionally, the method further comprises:

[0014] generating the surrounding area in the mowing map according to the pattern area.

[0015] Optionally, the boundary of the surrounding area is a circumscribed figure of the pattern area.

[0016] Optionally, the mowing map includes a plurality of pattern areas.

[0017] Correspondingly, the control of the mowing device to mow the surrounding area according to the first mowing height includes:

[0018] The control of the mowing device to mow the surrounding area according to the first mowing height includes:

[0019] Optionally, the method further includes:

[0020] When the mowing device receives the mowing instruction of the pattern area, the mowing device is controlled to mow the surrounding area according to the second mowing height.

[0021] Optionally, the method further includes:

[0022] When the mowing device receives the mowing instruction of the pattern area, the mowing device is controlled to mow the surrounding area according to the second mowing height.

[0023] In a second aspect, the present application further discloses a control device of a mowing device, including:

[0024] The acquisition module is configured to acquire a mowing map, the mowing map including a pattern area and a non-pattern area.

[0025] The first control module is configured to control the mowing device to mow a surrounding area according to a first mowing height, and to mow the non-pattern area according to a second mowing height, wherein the second mowing height is less than the first mowing height, and the surrounding area is an area surrounding the pattern area.

[0026] In a third aspect, the present application further discloses an electronic device, including:

[0027] The memory is configured to store a computer program.

[0028] The processor is configured to execute the computer program to implement the steps of the control method of the mowing device.

[0029] In a fourth aspect, the present application further discloses a mowing device, including the electronic device.

[0030] In a fifth aspect, the present application also discloses a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program is executed by a processor to implement the steps of any of the control methods of the lawn mowing device.

[0031] The present application provides a control method of a lawn mowing device, acquiring a mowing map, the mowing map comprising a pattern region and a non-pattern region; controlling the lawn mowing device to mow a surrounding region according to a first mowing height, and mow the non-pattern region according to a second mowing height, wherein the second mowing height is less than the first mowing height, and the surrounding region is a region surrounding the pattern region.

[0032] According to the technical solution provided by the present application, the surrounding region of the pattern region and the non-pattern region are sequentially mowed according to different mowing heights in a preset order, and only the height of the cutter head needs to be adjusted in the middle of mowing different regions, so that the height difference between the pattern region and the non-pattern region is presented, the overall lawn mowing is realized, the high-frequency and low-efficiency cutter head adjustment operation is avoided, and the overall lawn mowing efficiency is improved. In addition, the surrounding region of the pattern region is mowed as a whole according to the first mowing height, so that the lawn height of the pattern region is mowed to the first mowing height. Since the surrounding region is larger than the pattern region, the operation difficulty of mowing the large-area surrounding region is lower than that of mowing the small-area pattern region alone. The non-pattern region is mowed according to the second mowing height, and the second mowing height is less than the first mowing height, so that the height difference between the pattern region and the non-pattern region is formed after the surrounding region and the non-pattern region are sequentially mowed. It can be seen that in the present application, the lawn mowing device does not need to be limited to the small-area pattern region for fine operation, the operation difficulty is reduced, the boundary between the pattern region and the non-pattern region can be well handled, and the presentation effect of the small-area pattern is optimized.

[0033] The control device of the lawn mowing device, the electronic device, the lawn mowing device and the computer readable storage medium provided by the present application also have the above technical effects, which will not be described here. BRIEF DESCRIPTION OF DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the prior art and the embodiments of the present application, the drawings used in the description of the prior art and the embodiments of the present application will be briefly introduced. Of course, the following description of the drawings of the embodiments of the present application is only a part of the embodiments of the present application, and those skilled in the art can obtain other drawings according to the provided drawings without creating any creative labor, and the obtained other drawings also belong to the protection scope of the present application.

[0035] Figure 1A flowchart of a control method of a grass cutting device provided in the present application;

[0036] Figure 2 A schematic view of a grass cutting map provided in the present application;

[0037] Figure 3 A schematic view of another grass cutting map provided in the present application;

[0038] Figure 4 A schematic view of a structure of a grass cutting device provided in the present application;

[0039] Figure 5 A flowchart of a control method of another grass cutting device provided in the present application;

[0040] Figure 6 A schematic view of a lawn map provided in an application embodiment of the present application;

[0041] Figure 7 A schematic view of a grass cutting map provided in an application embodiment of the present application;

[0042] Figure 8 A schematic view of a grass cutting path distribution in a pattern-enclosed area of a grass cutting map provided in an application embodiment of the present application;

[0043] Figure 9 A schematic view of a grass cutting map provided in an application embodiment of the present application;

[0044] Figure 10 A schematic view of a grass cutting path distribution in a non-pattern area of a grass cutting map provided in an application embodiment of the present application;

[0045] Figure 11 A schematic view of a grass cutting map provided in an application embodiment of the present application;

[0046] Figure 12 A schematic view of a control device of a grass cutting device provided in an application embodiment of the present application;

[0047] Figure 13 A schematic view of an electronic device provided in an application embodiment of the present application. DETAILED DESCRIPTION

[0048] In order to make the technical solutions in the embodiments of the present application more clearly and completely, the technical solutions in the embodiments of the present application will be introduced below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of the present application.

[0049] In the related art, the mowing device constructs a mowing map in advance before working, respectively determines the mowing heights corresponding to the pattern region and the non-pattern region in the mowing map, and then plans a path for the entire region to be mowed. In the working process, the mowing device moves autonomously according to the planned path, judges whether the current position belongs to the pattern region for each current position, adjusts the cutter height to the mowing height corresponding to the pattern region if the current position belongs to the pattern region, mows the current position, and adjusts the cutter height to the mowing height corresponding to the non-pattern region if the current position belongs to the non-pattern region. It can be seen that in the above scheme, the mowing device needs to frequently adjust the cutter height at the boundary between the pattern region and the non-pattern region, resulting in low overall lawn mowing efficiency.

[0050] Therefore, in the present application, the surrounding region of the pattern region and the non-pattern region are mowed according to different mowing heights in a preset order, and only the cutter height needs to be adjusted in the middle of mowing different regions, so as to present the height difference between the pattern region and the non-pattern region, realize overall lawn mowing, avoid high-frequency and low-efficiency cutter adjustment operation, and improve the overall lawn mowing efficiency.

[0051] Further, for a pattern region with a small area, if the pattern region is mowed alone, the mowing device needs to frequently turn in the pattern region with a small area, which is difficult to operate, and cannot well handle the boundary between the pattern region and the non-pattern region, which will result in poor presentation of the pattern with a small area.

[0052] Therefore, in the present application, the surrounding region of the pattern region is mowed according to the first mowing height to realize mowing the lawn height of the pattern region in the surrounding region to the first mowing height, and since the surrounding region is larger than the pattern region, the operation difficulty of mowing the large-area surrounding region is lower than that of mowing the small-area pattern region alone. The non-pattern region is mowed according to the second mowing height, and the second mowing height is smaller than the first mowing height, so that a height difference can be formed between the pattern region and the non-pattern region after mowing the surrounding region and the non-pattern region in order.

[0053] It can be seen that, in the scheme, the lawn mowing device does not need to be limited to a small area pattern region for fine operation, reducing the operation difficulty, and the boundary between the pattern region and the non-pattern region can be well handled, and the presentation effect of the small area pattern is optimized.

[0054] The hardware architecture applied in the present application is introduced below, including the lawn mowing device and the terminal device. The terminal device can display a lawn contour map, and the user can control the lawn mowing device to drive along the lawn boundary to record the lawn contour map, or the lawn mowing device can automatically identify the lawn boundary through a sensor to generate the lawn contour map. The area in the lawn contour map is the effective working range of the lawn mower.

[0055] The user can add a pattern to be trimmed in the lawn contour map, and the terminal device can provide a drawing tool for the user to draw the pattern in the lawn contour map. The terminal device can also provide some pre-made patterns for the user, such as common graphics, characters, letters, etc. The user selects the pre-made pattern and then determines the position of the selected pattern to be placed in the lawn contour map. The terminal device generates a lawn mowing map according to the pattern added by the user, including a pattern region and a non-pattern region. Then, the terminal device sends the generated lawn mowing map to the lawn mowing device.

[0056] Further, the user can also set a first mowing height corresponding to the pattern region and a second mowing height corresponding to the non-pattern region in the terminal device. The terminal device sends the first mowing height and the second mowing height set by the user to the lawn mowing device.

[0057] The lawn mowing device includes an electronic device for controlling the lawn mowing device to perform a lawn mowing process. After the electronic device obtains the lawn mowing map, the first mowing height, and the second mowing height, it controls the lawn mowing device to mow the surrounding area of the pattern region according to the first mowing height and mow the non-pattern region according to the second mowing height.

[0058] The present application provides a control method of a lawn mowing device.

[0059] Please refer to Figure 1 , Figure 1 A flowchart of a control method of a lawn mowing device provided by the present application, which can include the following S101-S102.

[0060] S101: Obtain a lawn mowing map, which includes a pattern region and a non-pattern region.

[0061] This step aims to determine the mowing map, which is a map of the target lawn that needs to be mowed. It includes patterned areas and non-patterned areas. Patterned areas correspond to the areas of the target lawn that need to be mowed into a user-specific pattern, while non-patterned areas are the other areas in the mowing map besides the patterned areas.

[0062] It should be noted that the number of patterned areas in the lawn mowing map can be one or more, and their number does not affect the implementation of this technical solution; this application does not limit this. Furthermore, when there are multiple patterned areas, their shapes can be the same or different, and this embodiment also does not limit this. In addition, the patterned areas can be solid areas, meaning that the area enclosed by the closed boundary of the patterned area is the entire patterned area, for example... Figure 2 As shown, the shaded area represents the patterned area, and the blank area represents the non-patterned area. The patterned area can also be a hollow area, meaning that the area enclosed by the outermost closed boundary of the patterned area includes both the patterned and non-patterned areas. For example, as shown... Figure 3 As shown, the shaded areas are patterned areas, and the blank areas are non-patterned areas.

[0063] S102: Control the mowing device to mow the surrounding area at a first mowing height and the non-patterned area at a second mowing height, wherein the second mowing height is less than the first mowing height, and the surrounding area is the area surrounding the patterned area.

[0064] This step aims to mow the target lawn. In practice, the mowing equipment is controlled to mow the enclosed area and the non-patterned area at different mowing heights; that is, the enclosed area is mowed at a first mowing height, and the non-patterned area is mowed at a second mowing height. In this embodiment, the mowing height (including the first and second mowing heights) is the height of the mowing equipment's blade head relative to the common ground plane of the mowing equipment's multiple wheels; it can be understood as the blade head height. See [link to documentation]. Figure 4As shown in the diagram. The lawnmower can be a lawnmower robot, comprising a blade disc and wheels. The blade disc typically consists of a set of sharp blades used to cut grass, while the wheels are the mowing mechanism, allowing the lawnmower to move freely on the lawn. The lawnmower can also include a blade disc height adjuster, vision sensors, ultrasonic sensors, and a control device. The blade disc height adjuster adjusts the distance between the blade disc and the ground, thus adjusting the mowing height. The vision sensor, typically composed of cameras, captures image information of the surrounding environment to assist the lawnmower in path planning, navigation, and obstacle avoidance. The ultrasonic sensor measures distance by emitting ultrasonic pulses and receiving their echoes, assisting the lawnmower in obstacle detection and avoidance. The control device, the execution unit in this embodiment, is responsible for receiving sensor data and user-input commands, and controlling the movement and mowing operation of the lawnmower.

[0065] As one possible implementation, controlling the mowing device to mow the surrounding area at a first mowing height and the non-patterned area at a second mowing height includes: performing path planning on the surrounding area to obtain a first planned path; performing path planning on the non-patterned area to obtain a second planned path; controlling the mowing device to mow the surrounding area at the first mowing height and the first planned path; and controlling the mowing device to mow the non-patterned area at the second mowing height and the second planned path.

[0066] In practical implementation, path planning is performed separately for the enclosed area and the non-patterned area. This can be automatically achieved based on a general coverage path algorithm. Coverage path strategies can include "bow-shaped" paths, "loop-shaped" paths, and combinations of multiple paths. A first planned path is obtained by planning the path for the enclosed area, and a second planned path is obtained by planning the path for the non-patterned area. Furthermore, a safety check can be performed on the first and second planned paths to eliminate unsafe paths, including those with obstacles or those that deviate from the mowing map, ensuring efficiency and safety during lawn mowing. The generated planned paths can be stored in the mowing equipment for direct use during subsequent pattern removal or trimming. When controlling the mowing equipment to implement the mowing process, the equipment is controlled to adjust the blade height to the first mowing height and mow the enclosed area according to the first planned path, trimming the lawn height of the enclosed area, including the patterned area, to the first mowing height. The equipment is then controlled to adjust the blade height to the second mowing height and mow the non-patterned area according to the second planned path, trimming the lawn height of the non-patterned area to the second mowing height.

[0067] It should be noted that this embodiment does not specifically limit the mowing order of the enclosed area and the non-patterned area. As long as one area is completely mowed before the other area is mowed, frequent adjustments to the blade height can be effectively avoided. As a feasible implementation, the mowing device is controlled to first mow the enclosed area and then the non-patterned area. In specific implementation, the mowing device is first controlled to adjust the blade height to a first mowing height and mow the enclosed area according to a first planned path. Then, the mowing device is controlled to adjust the blade height to a second mowing height and mow the non-patterned area according to a second planned path. In this embodiment, areas within the enclosed area other than the patterned area are first mowed to the first mowing height and then to the second mowing height.

[0068] As another feasible implementation, the mowing equipment is controlled to first mow the non-patterned area and then the surrounding area. In a specific implementation, the mowing equipment is first controlled to adjust the blade height to a second mowing height and mow the non-patterned area according to a second planned path. Then, the mowing equipment is controlled to adjust the blade height to a first mowing height and mow the surrounding area according to the first planned path. In this implementation, areas within the surrounding area other than the patterned area are directly mowed to the second mowing height. Although the planned first path passes through these other areas, since the lawn height in these other areas has already been trimmed to the second mowing height when mowing the non-patterned area, the lawn height in these other areas is not actually trimmed when mowing the surrounding area at the first mowing height.

[0069] As a possible implementation, this embodiment further includes: generating the surrounding region in the grass mowing map based on the pattern region. In a specific implementation, a surrounding region completely surrounding the pattern region is generated in the grass mowing map.

[0070] It should be noted that the shape of the enclosing area is not limited here; it can be a regular shape, such as a rectangle or a circle, or any irregular shape. When the enclosing area is a regular shape, compared to an irregular shape, a first planned path with fewer turns can be planned for the enclosing area.

[0071] In another feasible implementation, the boundary of the enclosing region is the circumscribed shape of the pattern region, such as the enclosing region being the circumscribed rectangle or circumscribed circle of the pattern region. In a specific implementation, the shape of the enclosing region can be preset, and then the smallest shape that can completely contain the pattern region can be planned according to this shape as the boundary of the enclosing region, i.e., the circumscribed shape of the pattern region. Using this implementation, for a preset enclosing region shape, the smallest enclosing region can be determined, thereby planning the shortest first planning path and improving the mowing efficiency of the enclosing region.

[0072] Furthermore, if the pattern area is small, setting the surrounding area to the smallest area conforming to the preset surrounding area shape will also result in a small surrounding area, making mowing difficult. Therefore, for small pattern areas, the surrounding area is set to a larger area conforming to the preset surrounding area shape, rather than the smallest area conforming to the preset surrounding area shape. In other words, as another feasible implementation, the boundary of the surrounding area is a non-circular shape of the pattern area. Using this implementation, a larger surrounding area can be set, reducing the difficulty of operating the mowing equipment within the surrounding area and optimizing the presentation effect of small patterns.

[0073] The control method for the lawn mowing equipment provided in this embodiment mows the surrounding area and the non-patterned area of ​​the patterned area sequentially at different mowing heights according to a preset sequence. Only the height of the blade disc needs to be adjusted in the middle of the mowing in different areas to create a height difference between the patterned and non-patterned areas, achieving overall lawn mowing. This avoids the high-frequency, inefficient blade disc adjustment operation and improves the overall lawn mowing efficiency. Furthermore, mowing the surrounding area of ​​the patterned area at a first mowing height ensures that the lawn height of the patterned area is trimmed to the first mowing height. Since the surrounding area is larger than the patterned area, mowing a large surrounding area is less difficult than mowing a small patterned area alone. Mowing the non-patterned area at a second mowing height, which is lower than the first mowing height, creates a height difference between the patterned and non-patterned areas after sequentially mowing the surrounding and non-patterned areas. Therefore, in this embodiment, the lawn mowing equipment is not limited to precise operation within a small patterned area, reducing operational difficulty. It also effectively handles the boundary between the patterned and non-patterned areas, optimizing the presentation effect of small-area patterns.

[0074] This application provides a control method for a lawn mowing device. Compared with the previous embodiment, this embodiment further explains and optimizes the technical solution.

[0075] Please refer to Figure 5 ,Figure 5 This is a flowchart illustrating another control method for a lawn mowing device provided in this application. The control method for the lawn mowing device may include the following steps S201 to S202.

[0076] S201: Obtain a lawn mowing map, which includes multiple patterned and non-patterned areas.

[0077] In this embodiment, the lawn mowing map includes multiple patterned areas, and the shapes of the patterned areas may be the same or different. This embodiment does not limit this.

[0078] S202: Control the mowing device to mow the surrounding areas corresponding to multiple patterned areas at the same or different first mowing heights, and to mow the non-patterned areas at a second mowing height; wherein the first mowing heights corresponding to multiple patterned areas are all greater than the second mowing heights.

[0079] In this embodiment, the same first mowing height can be set for different pattern areas, or different first mowing heights can be set for different pattern areas. Alternatively, the same first mowing height can be set for different pattern areas of the same shape, or different first mowing heights can be set for pattern areas of different shapes. This embodiment does not limit this, as long as the first mowing height corresponding to each pattern area is greater than the second mowing height.

[0080] It should be noted that this embodiment does not impose specific restrictions on the mowing order of the enclosing areas and non-patterned areas corresponding to multiple patterned areas. As long as one area is completely mowed before another area is mowed, the number of times the blade height needs to be adjusted can be reduced. If multiple patterned areas correspond to the same first mowing height, the lawn in these patterned areas can be mowed according to the first mowing height first, and then the lawn in other patterned or non-patterned areas can be mowed, further reducing the number of times the blade height needs to be adjusted.

[0081] Therefore, the control method for the lawn mowing equipment provided in this embodiment can present multiple patterned areas in the lawn, satisfying users' requirements for lawn aesthetics while improving overall lawn mowing efficiency and optimizing the presentation effect of smaller patterns. Furthermore, this embodiment can make different patterns in the lawn appear at different heights, giving the overall pattern a sense of depth and enhancing the visual effect.

[0082] Based on the above embodiments, as an optional implementation, it further includes: when a clearing instruction for the patterned area is received, controlling the mowing device to mow the surrounding area according to the second mowing height.

[0083] During the process of controlling the lawnmower to trim the target lawn, the user can specify to clear one or more patterned areas; that is, the user can send a clearing command to the lawnmower via a terminal device. If the lawn mowing map contains only one patterned area, the user can control the lawnmower to mow the area surrounding the patterned area according to the second mowing height and the first planned path corresponding to the patterned area, thus clearing the patterned area. If the lawn mowing map contains multiple patterned areas, the clearing command can include the target patterned area to be cleared, and then the user can control the lawnmower to mow the area surrounding the target patterned area according to the second mowing height and the first planned path corresponding to the target patterned area, thus clearing the target patterned area.

[0084] As can be seen, in this embodiment, when it is necessary to remove the patterned area, the grass is cut by controlling the mowing equipment to cut the area surrounding the patterned area, thus avoiding the need to cut the patterned area separately. Even if the area of ​​the patterned area is small, the mowing equipment does not need to perform fine operations in the small area of ​​the patterned area, reducing the difficulty of removing the pattern.

[0085] Based on the above embodiments, as an optional implementation, it further includes: when a trimming instruction for the patterned area is received, controlling the mowing device to mow the surrounding area at a third mowing height.

[0086] In practice, when the grass in the patterned area grows too tall and needs to be trimmed, the user can set a third mowing height via the terminal device. The mowing device will then mow the surrounding area according to this third height. This third mowing height is greater than the current height of the lawn in the non-patterned area, ensuring that mowing the surrounding area at this height will not cut the lawn in areas other than the patterned area. This achieves the goal of shortening the lawn height in the patterned area without disrupting the height difference between the patterned and non-patterned areas, thus maintaining the prominence of the patterned area.

[0087] As can be seen, in this embodiment, when it is necessary to shorten the height of the lawn in the patterned area, the lawn mowing equipment is controlled to mow the area surrounding the patterned area, thus avoiding the need to mow the patterned area separately. Even if the area of ​​the patterned area is small, the lawn mowing equipment does not need to perform fine operations in the small area of ​​the patterned area, reducing the difficulty of shortening the height of the lawn in the patterned area.

[0088] Furthermore, when it is necessary to shorten the lawn height of the patterned area, the mowing height can be automatically set to the initial height of the patterned area, i.e., the first mowing height. Based on the above embodiments, as an optional implementation, it further includes: when a trimming instruction for the patterned area is received, determining whether the current lawn height of the non-patterned area is less than the first mowing height; if so, controlling the mowing device to mow the enclosed area according to the first mowing height; if not, controlling the mowing device to mow the enclosed area according to the first mowing height, and mowing the non-patterned area according to the second mowing height.

[0089] In practice, when the grass in the patterned area grows too tall and needs to be trimmed, the first step is to determine if the current lawn height in the non-patterned area is less than the first mowing height. If so, it means that the lawn height in other areas within the enclosed region (excluding the patterned area) is less than the first mowing height. In this case, the lawn in the enclosed region can be mowed only according to the first mowing height, without affecting the height of the lawn in other areas. This achieves the goal of shortening the lawn height in the patterned area without disrupting the height difference between the patterned and non-patterned areas, ensuring the prominence of the patterned area. If the current lawn height in the non-patterned area is greater than the first mowing height, then in addition to mowing the enclosed region according to the first mowing height, the non-patterned area also needs to be mowed according to the second mowing height to maintain the height difference between the patterned and non-patterned areas and ensure the prominence of the patterned area.

[0090] As can be seen, in this embodiment, when it is necessary to shorten the height of the lawn in the patterned area, there is no need to set an additional mowing height. The lawn height in the patterned area is set to the initial first mowing height. The mowing equipment automatically determines the mowing area based on the relationship between the current lawn height in the non-patterned area and the first mowing height. When the current lawn height in the non-patterned area is less than the first mowing height, only the surrounding area needs to be mowed, which improves the efficiency of shortening the lawn height in the patterned area.

[0091] The following describes an application embodiment provided by this application, including the following process:

[0092] 1. Determine the lawn map. The lawn's closed boundary is determined manually or using an automatic recognition algorithm. This closed boundary serves as the effective working area for lawn printing. No mowing or printing is performed outside this area. This results in the lawn map, as shown below. Figure 6 As shown.

[0093] 2. Select the lawn pattern to be printed, and set its size, position, and orientation. The lawn pattern can consist of one or more closed outlines, or be generated through calculations, such as... Figure 7 The dotted lines indicate the "star" and "heart" patterns.

[0094] 3. Select the desired lawn pattern and set the mowing height for its designated area. Here, the area encompassed by the lawn pattern is the entire lawn area enclosed by its circumscribed rectangle, circumscribed circle, or other custom closed outline (i.e., the enclosed area). Figure 7 The rectangles outside the "star" and "heart" patterns shown represent the areas to which the "star" and "heart" patterns belong, respectively. Different areas can be set with different cutter head heights.

[0095] 4. Generate the mowing path covering the area of ​​the lawn pattern, such as... Figure 8 The implementation process for generating the coverage paths for the "star" and "heart" pattern areas shown can include:

[0096] (1) Use a general coverage planning algorithm to generate initial coverage paths for the areas to which one or more lawn patterns belong, such as bow-shaped paths and / or zigzag paths;

[0097] (2) Perform a safety check on the initial coverage path, where unsafe paths include locations that pass through or enter obstacles, go out of the lawn outline, or go out of the outline of the area to which the lawn pattern belongs;

[0098] (3) Cut the unsafe paths within the initial coverage path to obtain the safe coverage path of the area to which the lawn pattern belongs, i.e. the coverage mowing path.

[0099] 5. Perform pre-mowing of the lawn in the area marked by the lawn pattern. The process may include:

[0100] (1) Determine the mowing path corresponding to the area to which the nth (n = 1, 2, 3 ...) lawn pattern belongs, where n represents the number of lawn patterns;

[0101] (2) Adjust the height of the cutter head to hn to meet the requirements of the nth lawn pattern;

[0102] (3) Start following the mowing path corresponding to the nth lawn pattern and perform mowing;

[0103] (4) Repeat steps (1) to (3) for n lawn patterns, set the corresponding blade height (h2, h3, h4, ..., hn) to mow the grass.

[0104] like Figure 9 As shown, Figure 9 This is a schematic diagram of the area enclosed by the pattern in the lawn mowing map provided in the application embodiment of this application. The different colors of the areas where the "star" pattern and the areas where the "heart" pattern belong represent different mowing heights. After performing this step of pre-mowing, the grass on the entire lawn has 3 heights.

[0105] 6. Perform pattern printing on the entire lawn by mowing, and the process is as follows:

[0106] (1) Perform a cover planning algorithm on the entire lawn to generate cover mowing paths. This process also includes non-safety checks, such as... Figure 10 As shown, Figure 10 This is a schematic diagram of the distribution of mowing paths in a non-patterned area of ​​a mowing map provided in an application embodiment of this application;

[0107] (2) Adjust the height of the cutter head to h, where h satisfies h < h1, h < h2, ..., h < hn;

[0108] (3) Begin mowing the grass by following the path generated in (1) of this step;

[0109] (4) The lawn printing pattern after mowing in step (3) is completed.

[0110] like Figure 11 As shown, Figure 11 This is a schematic diagram of a lawn map after it has been printed, provided in an application embodiment of this application. The "star" and "heart" patterns are printed well, and different colors indicate different grass heights.

[0111] 7. Clear the printed pattern. When you need to clear the lawn pattern, set the mowing height to h1 = h, h2 = h, ..., hn = h, and perform steps 1 to 5.

[0112] 8. Trim the printed pattern. When the lawn within the pattern area grows too tall and needs to be trimmed, repeat steps 1 to 5.

[0113] This application provides a control device for a lawn mowing machine.

[0114] Please refer to Figure 12 , Figure 12 This is a schematic diagram of the structure of a control device for a lawn mowing device provided in this application. The control device for the lawn mowing device may include:

[0115] The acquisition module is used to acquire a lawn mowing map, which includes patterned areas and non-patterned areas.

[0116] The first control module is used to control the mowing device to mow the surrounding area at a first mowing height and to mow the non-patterned area at a second mowing height, wherein the second mowing height is less than the first mowing height, and the surrounding area is the area surrounding the patterned area.

[0117] The acquisition module can be a communication device such as a radio frequency circuit, Bluetooth chip, or Wi-Fi (Wireless Fidelity) chip. The first control module can be a processor. (See also...) Figure 12 The lawnmower robot can also be equipped with visual sensors, ultrasonic sensors, etc. The visual sensors are usually composed of cameras, which are used to capture image information of the environment around the lawnmower to assist the lawnmower in path planning, navigation, obstacle avoidance and other operations. The ultrasonic sensors measure distance by emitting ultrasonic pulses and receiving their echoes, which assists the lawnmower in obstacle detection and obstacle avoidance.

[0118] The control device of the lawn mowing equipment provided in this embodiment mows the surrounding area and the non-patterned area of ​​the patterned area sequentially at different mowing heights according to a preset sequence. Only the height of the blade disc needs to be adjusted in the middle of the mowing in different areas to create a height difference between the patterned and non-patterned areas, achieving overall lawn mowing. This avoids the high-frequency, inefficient blade disc adjustment operation and improves the overall lawn mowing efficiency. Furthermore, mowing the surrounding area of ​​the patterned area at the first mowing height ensures that the lawn height of the patterned area is trimmed to the first mowing height. Since the surrounding area is larger than the patterned area, mowing a large surrounding area is less difficult than mowing a small patterned area alone. Mowing the non-patterned area at the second mowing height, which is lower than the first mowing height, creates a height difference between the patterned and non-patterned areas after sequentially mowing the surrounding and non-patterned areas. Therefore, in this embodiment, the lawn mowing equipment is not limited to precise operation within a small patterned area, reducing operational difficulty. It also effectively handles the boundary between the patterned and non-patterned areas, optimizing the presentation effect of small patterns.

[0119] Based on the above embodiments, as an optional implementation, the first control module 200 is specifically used for: performing path planning on the enclosed area to obtain a first planned path; performing path planning on the non-patterned area to obtain a second planned path; controlling the mowing device to mow the enclosed area according to the first mowing height and the first planned path; and controlling the mowing device to mow the non-patterned area according to the second mowing height and the second planned path.

[0120] Based on the above embodiments, as an optional implementation, the first control module 200 controls the mowing device to first mow the surrounding area and then mow the non-patterned area; or, controls the mowing device to first mow the non-patterned area and then mow the surrounding area.

[0121] Based on the above embodiments, as an optional implementation, the device further includes:

[0122] A generation module is used to generate the enclosing region in the mowing map based on the pattern region.

[0123] Based on the above embodiments, as an optional implementation, the boundary of the enclosing region is the outer graph of the pattern region.

[0124] Based on the above embodiments, as an optional implementation, the lawn mowing map includes multiple patterned areas;

[0125] Accordingly, the first control module 200 is specifically used to: control the mowing device to mow the surrounding areas corresponding to multiple pattern areas at the same or different first mowing heights; wherein the first mowing heights corresponding to multiple pattern areas are all greater than the second mowing heights.

[0126] Based on the above embodiments, as an optional implementation, the device further includes:

[0127] The second control module is used to control the mowing device to mow the surrounding area according to the second mowing height when it receives the clearing instruction of the pattern area.

[0128] Based on the above embodiments, as an optional implementation, the device further includes:

[0129] The judgment module is used to determine whether the current lawn height of the non-patterned area is less than the first mowing height when the trimming instruction of the patterned area is received; if yes, the workflow of the third control module is started; if no, the workflow of the first control module 200 is started.

[0130] The third control module is used to control the mowing equipment to mow the surrounding area according to the first mowing height.

[0131] This application provides an electronic device.

[0132] Please refer to Figure 13 , Figure 13 This application provides a schematic diagram of the structure of an electronic device, which may include:

[0133] Memory 11 is used to store computer programs;

[0134] The processor 10 is used to execute computer programs to implement the steps of any of the above-described control methods for lawn mowing equipment.

[0135] like Figure 13The diagram shows the structural composition of an electronic device, which may include a processor 10, a memory 11, a communication interface 12, and a communication bus 13. The processor 10, memory 11, and communication interface 12 all communicate with each other through the communication bus 13.

[0136] In this embodiment, the processor 10 may be a central processing unit (CPU), an application-specific integrated circuit, a digital signal processor, a field-programmable gate array, or other programmable logic devices.

[0137] The processor 10 can call programs stored in the memory 11. Specifically, the processor 10 can execute operations in the embodiments of the control method for the lawn mowing device.

[0138] The memory 11 is used to store one or more programs. The programs may include program code, which includes computer operation instructions. In this embodiment, the memory 11 stores at least a program for implementing the control method of the lawn mowing equipment provided in the above embodiments.

[0139] In one possible implementation, the memory 11 may include a program storage area and a data storage area, wherein the program storage area may store the operating system and applications required for at least one function; and the data storage area may store data created during use.

[0140] In addition, memory 11 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device or other volatile solid-state storage device.

[0141] Communication interface 12 can be an interface for the communication module, used to connect with other devices or systems.

[0142] Of course, it should be noted that, Figure 13 The structure shown does not constitute a limitation on the electronic device in the embodiments of this application. In practical applications, the electronic device may include more than Figure 13 More or fewer components as shown, or combinations of certain components.

[0143] This application provides a lawn mowing device, which can be a lawnmower robot. The lawn mowing device includes the electronic equipment provided in the above embodiments, which is used to control the movement and mowing operation of the lawn mowing device. Of course, see also... Figure 4Lawn mowers also include a blade disc and wheels. The blade disc typically consists of a set of sharp blades used to cut grass, while the wheels are the mower's movement mechanism, allowing it to move freely across the lawn. Of course, lawn mowers may also include a blade disc height adjuster, vision sensors, and ultrasonic sensors. The blade disc height adjuster adjusts the distance between the blade disc and the ground, thus adjusting the mowing height. Vision sensors, usually composed of cameras, capture images of the surrounding environment to assist the mower in path planning, navigation, and obstacle avoidance. Ultrasonic sensors measure distance by emitting ultrasonic pulses and receiving their echoes, assisting the mower in obstacle detection and avoidance.

[0144] This application provides a computer-readable storage medium.

[0145] The computer-readable storage medium provided in this application embodiment stores a computer program, which, when executed by a processor, can implement the steps of the control method for the lawn mowing equipment provided in the above embodiment.

[0146] The computer-readable storage medium may include various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0147] For a description of the computer-readable storage medium provided in the embodiments of this application, please refer to the above method embodiments; further details will not be repeated here.

[0148] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to in the method section.

[0149] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0150] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented directly by hardware, a software module executed by a processor, or a combination of both. The software module can be located in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0151] The technical solutions provided in this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the embodiments above are only for the purpose of helping to understand the methods and core ideas of this application. It should be noted that those skilled in the art can make several improvements and modifications to this application without departing from the principles of this application, and these improvements and modifications also fall within the protection scope of this application.

Claims

1. A control method for a lawn mowing device, characterized in that, include: Obtain a lawn mowing map, which includes patterned and non-patterned areas; The lawn mowing device is controlled to mow the surrounding area at a first mowing height and the non-patterned area at a second mowing height, wherein the second mowing height is less than the first mowing height, and the surrounding area is the area surrounding the patterned area.

2. The control method for the lawn mowing equipment according to claim 1, characterized in that, The control of the mowing device to mow the surrounding area at a first mowing height and the non-patterned area at a second mowing height includes: A first planned path is obtained by performing path planning on the enclosed area; A second planned path is obtained by performing path planning on the non-patterned region; The lawn mowing equipment is controlled to mow the enclosed area according to the first mowing height and the first planned path; The lawn mowing equipment is controlled to mow the non-patterned area according to the second mowing height and the second planned path.

3. The control method for the lawn mowing equipment according to claim 2, characterized in that, The lawn mowing device is controlled to first mow the enclosed area and then mow the non-patterned area; or, the lawn mowing device is controlled to first mow the non-patterned area and then mow the enclosed area.

4. The control method for the lawn mowing equipment according to claim 1, characterized in that, The method further includes: The enclosing region is generated in the mowing map based on the pattern area.

5. The control method for the lawn mowing equipment according to claim 4, characterized in that, The boundary of the enclosed area is the outer graph of the pattern area.

6. The control method for the lawn mowing equipment according to claim 1, characterized in that, The lawn mowing map includes multiple patterned areas; Accordingly, controlling the mowing device to mow the surrounding area according to the first mowing height includes: The mowing device is controlled to mow the surrounding areas corresponding to multiple patterned areas at the same or different first mowing heights; wherein the first mowing heights corresponding to multiple patterned areas are all greater than the second mowing heights.

7. The control method for the lawn mowing equipment according to claim 1, characterized in that, The method further includes: When a clearing instruction is received for the patterned area, the mowing device is controlled to mow the surrounding area at the second mowing height.

8. The control method for the lawn mowing equipment according to claim 1, characterized in that, The method further includes: When a trimming instruction is received for the patterned area, the mowing device is controlled to mow the surrounding area at a third mowing height.

9. A control device for a lawn mowing machine, characterized in that, include: An acquisition module is used to acquire a lawn mowing map, which includes patterned areas and non-patterned areas. The first control module is used to control the mowing device to mow the surrounding area at a first mowing height and to mow the non-patterned area at a second mowing height, wherein the second mowing height is less than the first mowing height, and the surrounding area is the area surrounding the patterned area.

10. An electronic device, characterized in that, include: Memory, used to store computer programs; A processor for executing the computer program to implement the steps of the control method for the lawn mowing equipment as described in any one of claims 1 to 8.

11. A lawn mowing device, characterized in that, Including the electronic device as described in claim 10.

12. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the control method for the lawn mowing equipment as described in any one of claims 1 to 8.

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