Control method and control apparatus for grass collecting apparatus, and electronic device

Abstract

The present application discloses a control method and control apparatus for a grass collecting apparatus, and an electronic device. The control method for the grass collecting apparatus comprises: acquiring a grass discharging instruction; on the basis of the grass discharging instruction, controlling a grass collecting box to be opened from a first position to a second position in a first direction, wherein the first position is a position where the grass collecting box is in a closed state, and the second position is a position where the grass collecting box reaches the maximum opening and closing angle; and controlling the grass collecting box to swing according to swing parameters, wherein the swing parameters comprise a swing angle, and the swing angle is less than the maximum opening and closing angle. By means of the control method for the grass collecting apparatus in the present application, most of grass clippings are dumped after the grass collecting box is lifted, and the grass collecting box can generate inertia force in different directions during swinging, so that a small fraction of residual grass clippings are removed by vibration, thereby avoiding incompleteness of grass discharging, improving the grass discharging efficiency, improving the grass discharging effect, and omitting a manual discharging operation.

Description

Control method, control device and electronic device for grass collecting device

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on December 9, 2023, with application number 202311692170.6, and invention name “Control method, control device and electronic device for grass collecting device”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of garden tools, and in particular to a control method, a control device, and an electronic device for a grass collecting device. Background Art

[0003] The grass collection box of a grass collector is used to temporarily store grass clippings cut by the mowing device. Existing technologies typically use a flipping mechanism to tilt the grass collection box to empty the grass clippings. However, during the unloading process, some grass clippings may still remain in the grass collection box, resulting in poor unloading efficiency and the need for manual unloading.

[0004] Summary of the Invention

[0005] In view of this, an object of the present invention is to provide a grass collecting device and a control method thereof, an electronic device and a computer-readable storage medium to solve at least one technical problem in the prior art of low grass unloading efficiency and poor grass unloading effect.

[0006] In a first aspect, an embodiment of the present application provides a method for controlling a grass collecting device, comprising the following steps: obtaining a grass unloading instruction;

[0007] According to the grass unloading instruction, the grass collecting box is controlled to open and move from a first position to a second position along a first direction; wherein, the first position is a position where the grass collecting box is in a closed state, and the second position is a position where the grass collecting box reaches a maximum opening and closing angle; and the grass collecting box is controlled to swing according to a swing parameter; wherein, the swing parameter includes a swing angle, and the swing angle is less than the maximum opening and closing angle.

[0008] In a second aspect, an embodiment of the present application provides a control device for a grass collecting device, comprising an acquisition unit and a control unit. The control unit is connected to the acquisition unit. The control unit is configured to: acquire a grass unloading instruction; and, based on the grass unloading instruction, control a grass collecting box to open and move from a first position toward a second position along a first direction; wherein the first position is a position where the grass collecting box is in a closed state, and the second position is a position where the grass collecting box reaches a maximum opening and closing angle. The control unit is further configured to control the grass collecting box to swing according to a swing parameter; wherein the swing parameter includes a swing angle, and the swing angle is less than the maximum opening and closing angle.

[0009] In a third aspect, an embodiment of the present application provides an electronic device comprising a processor and a memory, wherein the processor and the memory are connected to each other, wherein the memory is used to store a computer program, the computer program comprises program instructions, and the processor is configured to call the program instructions to execute the control method as described above.

[0010] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, wherein the computer program includes program instructions, and when the program instructions are executed by a processor, the processor executes the control method as described above.

[0011] The control method and control device, electronic device and computer-readable storage medium of the grass collecting device provided in the embodiments of the present application, on the one hand, trigger the opening movement of the grass collecting box of the grass collecting device based on the grass unloading instruction, so that most of the grass clippings in the grass collecting box are automatically dumped under the action of gravity; on the other hand, after the opening movement is completed, the grass collecting box is controlled to swing at a preset angle based on the swinging instruction, so that the grass collecting box generates inertial forces in different directions during the reciprocating rotation process, and the grass collecting box is shaken by the inertial force, so that the grass clippings attached to the grass collecting box can be quickly shaken off, thereby avoiding incomplete grass unloading, improving the grass unloading efficiency and effect, and saving manual unloading operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0013] FIG1 is a flow chart of a control method of a grass collecting device provided in one embodiment of the present application.

[0014] 2A to 2E are schematic diagrams of a grass collecting device unloading process according to different embodiments of the present application.

[0015] FIG3 is a schematic structural diagram of a grass collecting system provided in an embodiment of the present application.

[0016] FIG4 is a schematic diagram of a partial structure of a grass collecting device in a closed state provided in an embodiment of the present application.

[0017] FIG5 is a schematic diagram of a partial structure of a grass collecting device in an open state provided in an embodiment of the present application.

[0018] FIG6 is a block diagram of the unit composition of a control device of a grass collecting device provided in an embodiment of the present application.

[0019] FIG7 is a block diagram of the unit composition of an electronic device provided in an embodiment of the present application.

[0020] Explanation of main reference numerals: mowing system 1000; mowing device 100; machine body 11; grass collecting device 200; main body 10; accommodating chamber 12; rotating structure 14; grass collecting box 20; grass collecting mechanism 30; flipping mechanism 40; rotating shaft 41; push rod 42; pointer 43; driving mechanism 50; driving member 51; worm gear 52; worm 53; sensing component 80; first sensing member 810; second sensing member 820; first sensor 81; second sensor 82; third sensor 83; control device 300; acquisition unit 301; control unit 302; processing unit 303; electronic device 500; processor 510; memory 520; communication interface 530; bus 540.

[0021] The following specific implementation methods will further illustrate the present application in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0022] The following will be combined with the accompanying drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0023] It is understood that the terms in the specification and claims of this application and the above-mentioned drawings are only for describing specific embodiments and are not intended to limit this application. The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish different objects and are not used to describe a specific order. Unless the context clearly indicates otherwise, the singular forms "a", "an", and "the" are also intended to include the plural forms. The term "including" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or units that are inherent to these processes, methods, products or devices. In addition, the present application can be implemented in many different forms and is not limited to the embodiments described in this embodiment. The purpose of providing the following specific embodiments is to facilitate a clearer and more thorough understanding of the disclosure of this application, wherein words indicating directions such as up, down, left, and right refer only to the position of the structure shown in the corresponding drawings. In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connected," and "disposed on" should be understood broadly. For example, they may refer to fixed connection, detachable connection, or integral connection; they may refer to mechanical connection; they may refer to direct connection, indirect connection via an intermediate medium, or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0024] The following description is for the purpose of illustrating the general principles of the present invention and is not intended to limit the scope of the present invention. The scope of protection of the present invention shall be determined by the appended claims.

[0025] Please refer to Figure 1, which is a flow chart of a control method for a grass collecting device provided by an embodiment of the present application. The control method for the grass collecting device may include the following steps S101 to S105.

[0026] Step S101, obtaining a grass unloading instruction.

[0027] In one possible implementation, the unloading instruction is generated when the mowing device completes mowing. After completing the mowing task, the mowing device sends the unloading instruction to the control unit of the grass collector, thereby completing the unloading task. Completing the mowing task may include the mowing device ceasing mowing, completing mowing a designated area, or collecting grass clippings in the grass collector reaching a preset amount, etc., although this embodiment of the present application does not impose any limitations on this.

[0028] In one possible implementation, the unloading instruction is generated when a detector detects that the grass collection parameters of the grass collection box meet preset parameters. Detectors include, but are not limited to, visual detectors, pressure detectors, gravity sensors, and the like. Grass collection parameters include, but are not limited to, at least one of the following: grass collection volume, grass collection weight, and grass collection height. For example, if the detector is a visual detector, the visual detector can capture image data of the grass collection box and, based on the image data, determine whether the grass clippings collected by the grass collection box have reached a preset amount. Thus, when the grass clippings collected by the grass collection box reach the preset amount, the grass collection device is triggered to generate the unloading instruction.

[0029] In one possible implementation, the grass unloading instruction can also be triggered by the user. For example, the grass collecting device can generate the grass unloading instruction in response to the user turning on the grass unloading switch. This improves the flexibility of the grass unloading operation of the grass collecting device.

[0030] In one possible implementation, the grass collection device and the user can jointly determine the grass collection instruction. For example, after the grass collection device initially determines that the grass collection box needs to be unloaded according to the above method, it will send a prompt to the user, who then confirms whether to initiate the grass collection box unloading operation. The prompt information is used to prompt the user whether to initiate the grass collection box unloading operation. The prompt information may include at least one of an audio signal, a light signal, a text message, and a vibration message, which is not limited in this embodiment of the present application.

[0031] Step S103, according to the grass unloading instruction, controlling the grass collecting box to open and move from a first position toward a second position along a first direction; wherein the first position is a position where the grass collecting box is in a closed state, and the second position is a position where the grass collecting box reaches a maximum opening angle.

[0032] The grass collector device operates in two modes: a grass collecting mode and a grass unloading mode. In the grass collecting mode, the grass collecting box is closed, allowing it to temporarily store grass clippings cut by the mowing device. Upon receiving a grass unloading command, the grass collecting device triggers the grass collecting box to open, placing the grass collecting box in the grass unloading mode. In the grass unloading mode, the grass collecting box flips over and opens to dump the grass clippings collected in the box. Gravity allows the grass clippings to fall from the tilted box. It is understood that the larger the opening angle of the grass collecting box, the better the grass clipping dumping effect. The maximum opening angle of the grass collecting box ranges from 30° to 70°. The maximum opening angle of the grass collecting box can be, but is not limited to, 30°, 35°, 40°, 45°, 50°, 55°, 60°, 65°, 70°, and so on. For example, in this embodiment, the maximum opening angle of the grass collecting box is 60°. When the grass collecting box is rotated to the first position, the opening and closing angle of the grass collecting box is 0°; when the grass collecting box is rotated to the second position, the opening and closing angle of the grass collecting box is 60°. At this time, the grass collecting box is opened to the maximum angle, so that grass clippings can be more effectively poured out of the grass collecting box under the action of gravity.

[0033] In one possible implementation, controlling the grass collection box to open from the first position to the second position in a first direction specifically includes controlling the grass collection box to rotate from the first position to the second position in the first direction. This allows the grass collection box to open to its maximum angle, allowing grass clippings to be more efficiently dumped out of the grass collection box under the action of gravity, reducing the amount of subsequent swinging motion of the grass collection box and thus reducing power consumption. Furthermore, when the grass collection box flips to its extreme position, it impacts the grass collection box, causing vibration, thereby effectively shaking out grass clippings from the grass collection box.

[0034] In one possible implementation, controlling the grass collection box to open and move from a first position toward a second position along a first direction specifically includes controlling the grass collection box to rotate along the first direction from the first position to a third position; wherein the third position is between the first position and the second position and is different from the first position and the second position. Thus, the grass collection device can swing after the grass collection box is opened to a preset angle. This not only allows grass clippings to be effectively dumped out of the grass collection box under the effects of gravity and vibration, thereby improving the grass unloading effect and efficiency, but also facilitates the reasonable control of the grass collection box's swinging area below the second position, thereby preventing the grass collection box from exceeding the tipping limit position due to different inertial forces and damaging the grass collection box, the drive mechanism, or other components.

[0035] Step S105: controlling the grass collecting box to swing according to the swing parameters.

[0036] In a possible implementation, when it is determined that the grass collecting box is located at the swing starting position, the grass collecting box is controlled to swing according to the swing parameter. The swing starting position may be configured as the second position or the third position.

[0037] The grass collector can be controlled to rotate directly from the first position to the swing starting position after the grass collector device receives a grass unloading instruction. For example, when the swing starting position is configured as the second position, the grass collector device controls the grass collector to rotate in the first direction from the first position to the second position in accordance with the grass unloading instruction. When the swing starting position is configured as the third position, the grass collector device controls the grass collector to rotate in the first direction from the first position to the third position in accordance with the grass unloading instruction. Alternatively, the grass collector device controls the grass collector to rotate in the first direction from the first position to the second position, and then controls the grass collector to rotate in the second direction from the second position to the third position in accordance with the grass unloading instruction, wherein the second direction is opposite to the first direction.

[0038] It should be noted that the position of the grass collector can be detected by sensors or determined based on the rotational parameters of the grass collector. For example, this can be calculated based on parameters such as the operating speed and time of the drive mechanism. For example, in this embodiment, the sensor can be a Hall effect sensor, thereby simplifying the program instructions of the grass collector and reducing management difficulty. In some embodiments, the sensor may also include, but is not limited to, distance sensors, optical coupler sensors, pressure sensors, angle sensors, etc. Distance sensors include, but are not limited to, displacement sensors, proximity sensors, and ultrasonic sensors.

[0039] In a possible implementation, determining that the grass collecting box is located at the swing starting position includes: judging whether the grass collecting box is rotated to the second position; and determining that the grass collecting box is located at the swing starting position when detecting that the grass collecting box is rotated to the second position.

[0040] In a possible implementation, determining that the grass collecting box is located at the swing starting position includes: judging whether the grass collecting box is rotated to the second position; when detecting that the grass collecting box is rotated to the second position, controlling the grass collecting box to rotate from the second position to the third position along the second direction; and when detecting that the grass collecting box is rotated to the third position, determining that the grass collecting box is located at the swing starting position.

[0041] In a possible implementation, determining that the grass collecting box is located at the swing starting position includes: judging whether the grass collecting box is rotated to the second position; and determining that the grass collecting box is located at the swing starting position when the grass collecting box is not detected to be rotated to the second position and the grass collecting box is detected to be rotated to the third position.

[0042] In a possible implementation, when an opening operation of the swing switch member is received by the user, it is determined that the grass collecting box is located at the swing starting position.

[0043] In one possible implementation, when the grass collector device is in the swing start position and in response to a user operating the swing switch, the grass collector is controlled to swing according to the swing parameter. This improves the flexibility of the grass collector device's grass unloading operation. For example, when the grass collector device preliminarily detects that the grass collector is in the swing start position according to the above method, a prompt message is sent to the user, who then confirms whether to initiate the swing operation of the grass collector. The prompt message prompts the user whether to initiate the swing operation of the grass collector. The prompt message may include at least one of an audio signal, a light signal, a text message, and a vibration message, which is not limited in this embodiment of the present application.

[0044] The controlling the grass collecting box to swing according to the swing parameter includes: determining the swing area according to the swing starting position and the swing angle; and controlling the grass collecting box to swing within the swing area.

[0045] The swing angle can be user-defined or factory-set by the grass collector. The swing angle range is 3°-45°. The swing angle can be, but is not limited to, 3°, 5°, 10°, 15°, 20°, 25°, 30°, 35°, 40°, or 45°. As will be appreciated, a swing angle that is too large increases the energy consumption of the grass collector, while a swing angle that is too small can easily damage the drive mechanism and grass collection box. For example, in this embodiment, the swing angle is 10°. This balances smooth swinging of the grass collection box and ensures that grass clippings can be ejected from the grass collection box due to inertial forces in different directions, while also saving energy for the drive mechanism and extending the service life of the drive mechanism and grass collection box. It should be noted that the swing angle is for illustrative purposes only and can be determined based on factors such as the maximum opening and closing angle of the grass collection box and the amount of grass clippings remaining in the grass collection box. In some embodiments, the swing range can also be preset by the user. User-defined methods include, but are not limited to, placing multiple sensors within the opening and closing area of ​​the grass collection device. The sensor senses the position of the grass collecting box to determine the swing area preset by the user. It is understandable that in some embodiments, the swing parameters may also include but are not limited to: swing speed, swing times, etc.

[0046] In one possible implementation, controlling the grass collection box to swing within the swinging range includes controlling the grass collection box to swing between the second position and the third position. This allows the grass collection box to open to its maximum angle. This allows grass clippings to be more efficiently discharged from the grass collection box under the influence of gravity and inertial forces in different directions within the grass collection box. Furthermore, the grass collection device can open, swing, and close between the first, second, and third positions, reducing the difficulty of grass collection device unloading management, simplifying the grass collection device's program instructions, reducing costs, and improving grass unloading efficiency and speed. Upon receiving a closing command, the grass collection device controls the grass collection box to rotate from the third position to the first position.

[0047] One of the boundaries of the swinging area coincides with the second position, and one of the boundaries of the swinging area is spaced apart from the first position. Specifically, referring to Figure 2A , upon receiving a grass unloading instruction, the grass collecting device controls the grass collecting box to rotate along the first direction from the first position P1 to the second position P2 in accordance with the grass unloading instruction. Upon detecting that the grass collecting box has rotated to the second position P2, the grass collecting device controls the grass collecting box to swing between the second position P2 and the third position P3. Referring to Figure 2B , upon receiving a grass unloading instruction, the grass collecting device controls the grass collecting box to rotate along the first direction from the first position P1 to the third position P3 in accordance with the grass unloading instruction. Upon detecting that the grass collecting box has rotated to the third position P3, the grass collecting device controls the grass collecting box to swing between the third position P3 and the second position P2. Finally, the grass collecting device controls the grass collecting box to perform a closing movement, i.e., rotate from the third position P3 to the first position P1; alternatively, the grass collecting box controls the grass collecting box to rotate from the second position P2 to the first position P1.

[0048] In one possible implementation, controlling the grass collection box to swing within the swing range includes controlling the grass collection box to swing between a third position and a fourth position; wherein the fourth position is between the second position and the third position or between the first position and the third position. Thus, the grass collection box is controlled to swing between the first position and the second position, thereby preventing the grass collection box from exceeding its tipping limit due to different inertial forces during its swinging process, thereby preventing damage to the grass collection box, the drive mechanism, or other components.

[0049] Both boundaries of the swinging area are located between a line connecting the first position and the swing center and a line connecting the second position and the swing center, and are spaced apart from the first position and the second position. Referring to Figure 2C , after the grass collecting device controls the grass collecting box to rotate from the first position P1 to the second position P2 along the first direction in response to the grass unloading instruction, it then controls the grass collecting box to rotate from the second position P2 to the third position P3 along the second direction. Upon determining that the grass collecting box has rotated to the third position P3, the grass collecting device controls the grass collecting box to swing between the third position P3 and the fourth position P4. Referring to Figure 2D , after the grass collecting device controls the grass collecting box to rotate from the first position P1 to the third position P3 in response to the grass unloading instruction, the grass collecting device controls the grass collecting box to swing between the third position P3 and the fourth position P4. Finally, the grass collecting device controls the grass collecting box to perform a closing movement, that is, controls the grass collecting box to rotate from the third position P3 to the first position P1; or controls the grass collecting box to rotate from the fourth position P4 to the first position P1.

[0050] In one possible implementation, controlling the grass collection box to oscillate within the oscillation range includes: counting the number of directional changes of the grass collection box within the oscillation range; and, based on the correspondence between the directional change number and the oscillation amplitude, controlling the grass collection box to oscillate within the oscillation range at a directional amplitude corresponding to the current number of directional changes. This increases the oscillation frequency of the grass collection box, thereby increasing the vibration force acting on the grass collection box and improving both grass unloading effectiveness and efficiency.

[0051] It should be noted that after the grass collector begins to swing in the first or second direction from the swing starting position, the number of reversals is counted as one. A greater number of reversals indicates a greater swing amplitude; conversely, a fewer number of reversals indicates a smaller swing amplitude. When the number of reversals is one, the swing amplitude is the angle between the two boundaries of the swing range.

[0052] In one possible implementation, controlling the grass collector to oscillate within the oscillation range according to the swing amplitude corresponding to the current number of commutations includes: upon determining whether the current swing amplitude is less than or equal to a preset swing amplitude, controlling the grass collector to oscillate within the oscillation range according to the current swing amplitude. This can avoid the problem of excessive oscillation frequency of the grass collector resulting from excessive commutation times, which could damage the motor or the grass collector.

[0053] Referring to Figure 2E , in this embodiment, the second position P2 is configured as the swing starting position. The swing range corresponds to the area between the second position P2, the third position P3, and the swing center O. The swing range also includes multiple intermediate positions between the second position P2 and the third position P3. For example, the multiple intermediate positions are a first intermediate position P11, a second intermediate position P12, a third intermediate position P13, and a fourth intermediate position P14. In response to the grass unloading command, the grass collecting device controls the grass collecting box to rotate along the first direction from the first position P1 to the second position P2. When the grass collecting device determines that the grass collecting box is in the second position P2, it controls the grass collecting box to rotate from the second position P2 to the third position P3 along the second direction. It then controls the grass collecting box to swing along the first direction between the third position P3 and the first intermediate position P11. It then controls the grass collecting box to swing along the second direction between the first intermediate position P11 and the second intermediate position P12. It then controls the grass collecting box to swing along the first direction between the second intermediate position P12 and the third intermediate position P13. It then controls the grass collecting box to swing along the second direction between the third intermediate position P13 and the fourth intermediate position P14. It will be appreciated that the swing amplitude of the grass collecting box decreases with the number of reversals. When the swing amplitude is less than or equal to a preset swing amplitude, for example, when the angle between the third intermediate position P13 and the fourth intermediate position P14 and the swing center O is less than or equal to the preset swing amplitude, the grass collecting box is controlled to swing back and forth between the third intermediate position P13 and the fourth intermediate position P14. Finally, the grass collecting device controls the grass collecting box to perform a closing movement, that is, controls the grass collecting box to rotate from the third intermediate position P13 or the fourth intermediate position P14 to the first position P1.

[0054] In a possible implementation, the swing parameter also includes a swing speed, which is equal to the opening movement speed of the grass collection box. Thus, on the one hand, the grass collection box can rotate alternately in the first direction and the second direction and generate inertial forces in different directions to shake the grass collection box, so that grass clippings attached to the grass collection box can be thrown out under the action of gravity and shaking force; on the other hand, there is no need to change the rotational speed of the driving mechanism, which reduces the control difficulty of the driving mechanism, simplifies the program instructions of the grass collection device, and reduces the management difficulty.

[0055] In one possible implementation, the swing parameter also includes a swing speed, and the swing speed is greater than the opening movement speed of the grass collecting box, so that the kinetic energy of the grass collecting box during swinging increases, and when the grass collecting box reverses, more work is done to overcome the inertial resistance, so that the grass collecting box is affected by inertial forces in different directions, thereby improving the shaking effect of the grass collecting box, thereby improving the grass unloading effect and efficiency.

[0056] In one possible implementation, the swing range includes a first boundary away from the second position and a second boundary closer to the second position. Controlling the grass collector to swing within the swing range includes: obtaining an angle between the second boundary and the second position; and, based on a predefined correspondence between the angle and the swing speed of the grass collector, controlling the grass collector to swing within the swing range at a speed corresponding to the angle between the second boundary's current position and the second position. The closer the second boundary is to the second position, the slower the swing speed; and the closer the second boundary is to the first position, the faster the swing speed. This ensures good grass unloading performance and efficiency for the grass collector while reducing energy consumption of the drive mechanism.

[0057] In one possible implementation, the swinging range includes a first boundary distal from the second position and a second boundary proximal to the second position. Controlling the grass collection box to swing within the swinging range includes: controlling the grass collection box to rotate at a first speed from the first boundary toward the second boundary; and controlling the grass collection box to rotate at a second speed from the second boundary toward the first boundary, wherein the first speed is less than the second speed. Thus, because the angle between the first boundary and the first position is greater than the angle between the second boundary and the second position, by controlling the first speed to be greater than the second speed, when the grass collection box moves downward at a high speed to the limit position, the kinetic energy and speed of the grass collection box can generate a greater shaking force, thereby improving grass unloading efficiency and effectiveness. Furthermore, the grass collection box is prevented from continuing to move upward at a high speed to the limit position, potentially damaging the grass collection box, the drive mechanism, and other components. For example, in this embodiment, the grass collection device can control the rotational speed of the grass collection box by controlling the rotational speed of the drive mechanism. In some embodiments, the grass collection device can also control the opening and swinging of the grass collection box using different drive mechanisms. In one possible implementation, the first speed is equal to the second speed, so there is no need to adjust the rotation speed of the driving mechanism, and it is only necessary to control the forward and reverse movement of the driving mechanism, which reduces the control difficulty of the driving mechanism and improves the reliability of the rotation of the grass collecting box.

[0058] In one possible implementation, before controlling the grass collecting box to swing according to the swing parameters, the control method includes: when determining that the grass collecting box is located at the swing starting position, obtaining distribution data of grass clippings in the grass collecting box, wherein the distribution data includes at least one of mass distribution parameters and morphological distribution data; and obtaining the swing parameters based on the distribution data and the swing starting position.

[0059] The morphological distribution data may include, but is not limited to, the total area of ​​grass clippings distributed within the grass collection box and the location of grass clippings. The amount of grass remaining in the grass collection box is estimated based on the grass clipping distribution data, and various swing parameters are determined based on the amount of grass remaining, thereby ensuring effective and efficient grass unloading and reducing energy consumption during the swinging of the grass collection device. In some embodiments, the grass collection device can pre-establish a correspondence between distribution parameters and swing parameters. When the grass collection device is unloading grass, it obtains the swing parameters corresponding to the current distribution data of the grass collection box at the starting swing position and swings according to these swing parameters. For example, when the amount of grass remaining in the grass collection box is relatively large, parameters such as the swing speed and number of swings can be increased and / or the swing angle can be decreased. When the amount of grass remaining in the grass collection box is relatively small, parameters such as the swing speed and number of swings can be decreased and / or the swing angle can be increased. It is understood that a smaller swing angle increases the frequency of the grass collection box's switching, thereby increasing the frequency of the grass collection box's shaking and improving effective and efficient grass unloading.

[0060] In one possible implementation, the swing parameter setting method can be, but is not limited to, a specific parameter value manually input or voice input by the user, or the user slides or clicks to select a parameter value option preset by the system, etc. This application does not make specific limitations.

[0061] In one possible implementation, controlling the grass collecting box to oscillate according to the oscillation parameter includes controlling the grass collecting box to oscillate back and forth according to the oscillation parameter, thereby simplifying the algorithm and improving oscillation stability. It is understood that the reciprocating oscillation refers to back-and-forth motion between a first boundary and a second boundary of the oscillation region, with the displacement of the reciprocating motion being zero.

[0062] In one possible implementation, the grass collecting device is connected to the rear of the mowing device, and controlling the grass collecting box to swing according to the swing parameter includes controlling the mowing device and the grass collecting device to move in the rearward direction of the mowing device. In this way, the rearward movement of the mowing device and the swing of the grass collecting box coordinate to increase the shaking force generated by the grass collecting box due to inertia, thereby improving the efficiency and effectiveness of grass unloading and reducing manual unloading operations.

[0063] In one possible implementation, the control method further includes: obtaining a closing instruction; and controlling the grass collection box to rotate in a second direction to the first position according to the closing instruction. This enables the grass collection device to perform the next grass collection and unloading operation and reduces the risk of the grass collection box being scratched by external objects.

[0064] Understandably, the shutdown command is generated when the mowing device completes its unloading operation. After the mowing device completes its unloading operation, a shutdown command is sent to the control unit of the grass collector to shut down the grass collector. Completing the unloading operation may include the mowing device ceasing unloading, or the grass collector completing an unloading operation with preset swing parameters, or the amount of grass clippings remaining in the grass collector being less than or equal to a preset threshold, etc., which are not limited in this embodiment of the present application. This achieves the intelligent unloading function of the grass collector.

[0065] In a possible implementation, the control method further includes: generating the closing instruction when the grass collecting box swings a preset number of times. Thus, the grass collecting device realizes intelligent grass unloading operation and improves grass unloading efficiency.

[0066] In one possible implementation, the control method further includes acquiring image data of a designated area of ​​the grass collector, and generating the closing instruction based on the image data. The grass collector may include a video sensor configured to acquire image data within the grass collector, analyze and identify the amount of grass clippings remaining within the grass collector based on the image data, thereby improving the grass collection effect and efficiency of the grass collector.

[0067] In one possible implementation, the control method further includes generating the shutdown instruction in response to a user releasing the swinging motion of the grass collector. Thus, the grass collector device does not require additional video sensors or other sensors, simplifying the overall structural design and program instructions of the grass collector device, thereby reducing production costs. Furthermore, the swinging motion of the grass collector device ensures the grass unloading effect and efficiency of the grass collector device.

[0068] In a possible implementation, before obtaining the closing instruction, the control method further includes: generating the closing instruction in response to a user's closing operation on the grass collecting box.

[0069] In one possible implementation, the closing instruction can also be jointly determined by the grass collector device and the user. For example, after the grass collector device preliminarily determines that the grass collection box needs to be closed according to the above method, it sends a prompt message to the user, and the user then confirms whether to execute the closing operation on the grass collection box. The prompt message is used to prompt the user whether to initiate the closing operation of the grass collection box. The prompt message may include at least one of an audio signal, a light signal, a text message, and a vibration message. This embodiment of the present application does not impose any restrictions on this. If the user finds that there are still grass clippings remaining in the grass collection box after swinging, the user can trigger the grass collector device to swing again to get rid of the grass clippings in the grass collection box, thereby increasing the flexibility of the grass collection device.

[0070] In a possible implementation, controlling the grass collecting box to swing according to a swing parameter includes: controlling the grass collecting box to swing according to the swing parameter, and controlling a vibrator to shake the grass collecting box.

[0071] It is understandable that the shaking operation of the vibrator on the grass collecting box and the swinging of the grass collecting box can be performed synchronously, so as to more effectively shake off the grass clippings attached to the grass collecting box. In some embodiments, the shaking operation of the vibrator on the grass collecting box can also be staggered with the swinging of the grass collecting box.

[0072] The control method of the grass collecting device provided in the embodiment of the present application, on the one hand, triggers the opening movement of the grass collecting box of the grass collecting device based on the grass unloading instruction, so that most of the grass clippings in the grass collecting box are automatically dumped under the action of gravity; on the other hand, after the opening movement is completed, the grass collecting box is controlled to swing at a preset angle based on the swinging instruction, so that the grass collecting box generates inertial forces in different directions during the reciprocating rotation process, and the grass collecting box is shaken by the inertial force, so that the grass clippings attached to the grass collecting box can be quickly shaken off, thereby avoiding the situation of incomplete grass unloading, improving the grass unloading efficiency and effect, and thus saving manual unloading operations.

[0073] The following describes the device involved in the embodiments of the present application with reference to the accompanying drawings.

[0074] Please refer to Figure 3, which is a schematic diagram of the structure of a mowing system 1000 provided in an embodiment of the present application. The mowing system 1000 includes a mowing device 100 and a grass collecting device 200. For example, in this embodiment, the grass collecting device 200 is mounted on the rear end of the mowing device 100. The grass collecting device 200 can be detachably connected to the mowing device 100 using screws, snaps, or other structures. The grass collecting device 200 and the mowing device 100 can also be permanently connected using welding, adhesive bonding, or other methods. The mowing device 100 may include, but is not limited to, walk-behind, ride-on, and fully automatic intelligent mowing devices 100, and this application is not limited thereto. The mowing device 100 is movable on the ground. For example, the mowing device 100 can be moved on the ground by a user's push. In another example, the mowing device 100 can be inherently movable and can be automatically moved on the ground by a drive mechanism 50. The mowing device 100 includes, but is not limited to, a body 11, a cutting mechanism, and a lifting mechanism. The grass collecting device 200 is arranged at the rear of the machine body 11. The cutting mechanism and the lifting mechanism are arranged on the machine body 11. The lifting mechanism is used to drive the cutting mechanism to move along the height direction of the mowing device 100. The cutting mechanism is used to cut the lawn.

[0075] Please refer to Figures 3 to 5 together. The grass collecting device 200 includes a main body 10, a grass collecting box 20, a grass collecting mechanism 30, a flipping mechanism 40 and a driving mechanism 50. The main body 10 is connected to the body 11 of the mowing device 100. The main body 10 is provided with a accommodating chamber 12. The top of the grass collecting box 20 is rotatably connected to the rear of the main body 10. The top of the grass collecting box 20 can be rotatably connected to the rear of the main body 10 via a rotating structure 14. The rotating structure 14 may include but is not limited to a hinge, a rotating shaft 41, etc. The grass collecting mechanism 30 is provided in the accommodating chamber 12 and is used to collect grass clippings cut by the mowing device into the grass collecting box 20. The grass collecting mechanism 30 is, for example, but not limited to, a roller brush. The grass collecting device 200 has a grass collecting mode and a grass unloading mode. In the grass collecting mode, the grass collecting box 20 covers the main body 10 and temporarily stores grass clippings cut by the mowing device 100. In the grass unloading mode, the grass collecting box 20 flips relative to the main body 10 to dump the collected grass clippings. A flipping mechanism 40 is located on the side wall of the main body 10 and is used to flip the grass collecting box 20 to dump the collected grass clippings, thereby realizing the automatic unloading function of the grass collecting device 200 and improving unloading efficiency. In this embodiment, the flipping mechanism 40 is located at the rear of the main body 10, facilitating the alignment of the flipping mechanism 40 with the grass collecting box 20 and improving its flipping performance. A driving mechanism 50 is located on the side wall of the main body 10 and is used to drive the flipping mechanism 40 and the grass collecting box 20 to rotate synchronously, thereby enabling the grass collecting box 20 to open, swing, and close.

[0076] The drive mechanism 50 includes a drive member 51 and a transmission mechanism. The drive member 51 is used to drive the transmission mechanism to rotate and drive the flipping mechanism 40 and the grass collection box 20 to flip. For example, in this embodiment, the transmission mechanism includes a worm 53 and a worm wheel 52 meshing with the worm 53. The worm 53 is in driving connection with the drive member 51 and the worm wheel 52. One end of the flipping mechanism 40 is fixed to the worm wheel 52, and the other end of the flipping mechanism 40 contacts the grass collection box 20. The flipping mechanism 40 is used to drive the grass collection box 20 to flip. In some embodiments, the transmission mechanism includes multiple gears.

[0077] The tilting mechanism 40 includes a rotating shaft 41 drivingly connected to a worm gear 52 and a push rod 42 fixed to the rotating shaft 41. The rotating shaft 41 rotates synchronously with the worm gear 52, driving the push rod 42 and the grass collection box 20 to tilt. The tilting mechanism 40 also includes a pointer 43 fixed to the rotating shaft 41. The pointer 43 and push rod 42 rotate synchronously to indicate the tilt angle of the grass collection box 20. The pointer 43 and push rod 42 are located at opposite ends of the rotating shaft 41, thereby optimizing the overall structural design.

[0078] In some embodiments, the grass collecting device 200 further includes a sensing component 80. The sensing component 80 is used to sense the rotational position of the pointer 43 relative to the main body 10 and generate a sensing signal to control the driving operation of the driving member 51, thereby achieving precise control of the opening angle of the grass collecting box 20, avoiding transmission failure or transmission backlash in the transmission mechanism that would reduce the user experience, and preventing damage to the grass collecting box 20 and the transmission mechanism, thereby improving the reliability and safety of the automatic flipping of the grass collecting box 20.

[0079] The sensing component 80 includes a first sensing element 810 and a second sensing element 820. The first sensing element 810 is located on the pointer 43, and the second sensing element 820 is located on the main body 10. It should be noted that the opening and closing angle of the pointer 43 relative to the main body 10 is equal to the tilting angle of the grass collection box 20 relative to the main body 10. One of the first sensing element 810 and the second sensing element 820 is configured as a sensing body, and the other is configured as a sensor for sensing the sensing body. For example, in this embodiment, the first sensing element 810 is configured as a sensing body, and the second sensing element 820 is configured as a sensor. Sensors may include, but are not limited to, a first sensor 81, a second sensor 82, and a third sensor 83. The first sensor 81 is configured to sense the grass collection box 20 rotating to the first position and generate a first position signal. The second sensor 82 is configured to sense the grass collection box 20 rotating to the second position and generate a second position signal. The third sensor 83 is configured to sense the grass collection box 20 rotating to the third position and generate a third position signal. The third position is spaced apart from the first position and the second position, and is located between the first position and the second position. In this embodiment, the first sensor 81, the second sensor 82, and the third sensor 83 are all configured as Hall sensors. In other embodiments, the sensors may also include, but are not limited to, distance sensors, optical coupling sensors, pressure sensors, etc. Distance sensors include, but are not limited to, displacement sensors, proximity sensors, and ultrasonic sensors.

[0080] It is understood that in some embodiments, the sensor may further include a fourth sensor. The fourth sensor is configured to sense the grass collection box 20 rotating to a fourth position and generate a fourth position signal. The fourth position is located between the third position and the second position, or between the first position and the third position. The number of sensors can be designed based on actual conditions and is not specifically limited in this application. The sensors can be used to sense the position of the grass collection box 20 to determine the rotation angle of the grass collection box 20.

[0081] Please refer to Figure 6, which is a block diagram of the unit composition of a control device 300 of a grass collecting device 200 provided in an embodiment of the present application. The control device 300 of the grass collecting device 200 may include an acquisition unit 301 and a control unit 302. The acquisition unit 301 is used to acquire a grass unloading instruction and a swing instruction. The control unit 302 is used to trigger the opening movement of the grass collecting box 20 of the grass collecting device 200 according to the grass unloading instruction, and control the grass collecting box 20 to rotate from a first position to a second position along a first direction; wherein, the first position is the position where the grass collecting box 20 is in a closed state, and the second position is the position where the grass collecting box 20 reaches the maximum opening and closing angle; the control unit 302 is also used to control the grass collecting box 20 to swing at a preset angle according to the swing instruction; wherein, the preset angle is less than the maximum opening and closing angle.

[0082] The control unit 302 is further configured to complete the opening, swinging and closing movements of the grass collecting box 20 according to the control method corresponding to FIG. 1 .

[0083] It should be noted that the specific functional implementation of the grass collecting device 200 can refer to the corresponding method steps in Figure 1, and will not be repeated here.

[0084] Please refer to Figure 7, which is a block diagram of the unit composition of an electronic device 500 provided in an embodiment of the present application. The electronic device 500 may include, but is not limited to, a processor 510 and a memory 520. The processor 510 and the memory 520 are connected to each other. In some embodiments, the electronic device 500 also includes a communication interface 530. The processor 510, the memory 520, and the communication interface 530 are connected via a bus 540, and the memory 520 is used to store a computer program. The computer program includes program instructions. The processor 510 is used to call the program instructions stored in the memory 520 to execute the various steps of the control method corresponding to Figure 1.

[0085] The processor 510 is used to execute instructions stored in the memory 520 to control the communication interface 530 to receive and send signals and complete the steps in the above method. The memory 520 can be integrated into the processor 510 or set separately from the processor 510.

[0086] As an implementation method, the functions of the communication interface 530 may be implemented by a transceiver circuit or a dedicated transceiver chip. The processor 510 may be implemented by a dedicated processing chip, a processing circuit, the processor 510 or a general-purpose chip.

[0087] As another implementation, it is possible to use a general-purpose computer to implement the electronic device 500 provided in the embodiment of the present application. The program code that implements the functions of the processor 510 and the communication interface 530 is stored in the memory 520, and the general-purpose processor 510 implements the functions of the processor 510 and the communication interface 530 by executing the code in the memory 520.

[0088] For the concepts, explanations, detailed descriptions and other steps related to the technical solutions provided in the embodiments of the present application involved in the electronic device 500, please refer to the description of the method steps executed by the device in the aforementioned method or other embodiments, which will not be repeated here.

[0089] As another implementation of this embodiment, a computer-readable storage medium is provided. The computer-readable storage medium stores a computer program. The computer program includes program instructions. When executed by the processor 510, the program instructions cause the processor 510 to perform the control method in the above method embodiment.

[0090] As another implementation of this embodiment, a computer program product including instructions is provided, and when the instructions are executed, the method in the above method embodiment is performed.

[0091] Those skilled in the art will appreciate that, for ease of explanation, FIG7 shows only one memory 520 and processor 510. In an actual terminal or server, there may be multiple processors 510 and memories 520. The memory 520 may also be referred to as a storage medium or storage device, etc., which is not limited in this embodiment of the present application.

[0092] It is understandable that in the embodiment of the present application, the processor 510 can be a central processing unit (CPU), and the processor 510 can also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or the processor 510 can also be any conventional processor, etc. The processor 510 is the control center of the electronic device 500, and uses various interfaces and lines to connect various parts of the entire electronic device 500.

[0093] Those skilled in the art should understand that FIG7 is merely an example of the electronic device 500 and does not constitute a limitation on the electronic device 500. The electronic device 500 may include more or fewer components than those shown in FIG7 , or a combination of certain components, or different components. For example, the electronic device 500 may also include input and output devices, network access devices, etc.

[0094] The memory 520 mentioned in the embodiments of the present application can be a volatile memory or a non-volatile memory, or can include both volatile and non-volatile memories. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory can be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct RAMbus RAM (DR RAM).

[0095] It should be noted that when the processor 510 is a general-purpose processor, DSP, ASIC, FPGA or other programmable logic device, discrete gate or transistor logic device, discrete hardware component, the memory 520 (storage module) is integrated into the processor 510.

[0096] It should be noted that memory 520 described herein is intended to comprise, but is not limited to, these and any other suitable types of memory.

[0097] In addition to the data bus, the bus 540 may also include a power bus, a control bus, a status signal bus, etc. However, for the sake of clarity, various buses are labeled as the bus 540 in the figure.

[0098] During implementation, each step of the above method can be completed by an integrated logic circuit of the hardware in the processor 510 or by instructions in the form of software. The steps of the method disclosed in conjunction with the embodiments of the present application can be directly embodied as being executed by the hardware processor 510, or can be executed by a combination of hardware and software modules in the processor 510. The software module can be located in a mature storage medium in the art, such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory 520, and the processor 510 reads the information in the memory 520 and completes the steps of the above control method in combination with its hardware. To avoid repetition, it will not be described in detail here.

[0099] In various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0100] Those skilled in the art will appreciate that the various illustrative logical blocks (ILBs) and steps described in conjunction with the embodiments disclosed herein can be implemented using electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this application.

[0101] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0102] Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0103] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0104] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When software is used for implementation, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function according to the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website, computer, server or data center to another website, computer, server or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line) or wireless (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrations. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state hard disk).

[0105] The above is a detailed introduction to the embodiments of the present application. Specific examples are used herein to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method and core idea of ​​the present application. At the same time, for those skilled in the art, based on the ideas of the present application, there may be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A method for controlling a grass collecting device, wherein: include: Get the instructions for unloading grass; According to the grass unloading instruction, the grass collecting box is controlled to open and move from a first position to a second position along a first direction; wherein the first position is a position where the grass collecting box is in a closed state, and the second position is a position where the grass collecting box reaches a maximum opening angle; The grass collecting box is controlled to swing according to a swing parameter; wherein the swing parameter includes a swing angle, and the swing angle is smaller than the maximum opening and closing angle.

2. The control method according to claim 1, wherein: The method of controlling the grass collecting box to open and move from a first position to a second position along a first direction comprises: controlling the grass collecting box to rotate from the first position to the second position along the first direction; or, The grass collecting box is controlled to rotate from the first position to a third position along the first direction; wherein the third position is located between the first position and the second position and is different from the first position and the second position.

3. The control method according to claim 1, wherein: The controlling the grass collecting box to swing according to the swing parameter comprises: When it is determined that the grass collecting box is located at the swing starting position, the grass collecting box is controlled to swing according to the swing parameter.

4. The control method according to claim 3, wherein: The step of determining that the grass collecting box is located at the swing starting position comprises: When receiving the user's opening operation on the swing switch member, determining that the grass collecting box is located at the swing starting position; or, When it is detected that the grass collecting box rotates to the second position, determining that the grass collecting box is located at the swing starting position; or, When it is detected that the grass collecting box rotates to the second position, the grass collecting box is controlled to rotate from the second position to a third position along a second direction; and when it is detected that the grass collecting box rotates to the third position, it is determined that the grass collecting box is located at the swing starting position; wherein the second direction is opposite to the first direction, and the third position is between the first position and the second position, and is different from the first position and the second position; or, When it is not detected that the grass collecting box rotates to the second position, and it is detected that the grass collecting box rotates to the third position, it is determined that the grass collecting box is located at the swing starting position.

5. The control method according to claim 3, wherein: The step of controlling the grass collecting box to swing according to the swing parameter comprises: Determining the swing area according to the swing starting position and the swing angle; The grass collecting box is controlled to swing within the swing area.

6. The control method according to claim 5, wherein: The controlling the grass collecting box to swing within the swinging area comprises: controlling the grass collecting box to swing between the second position and the third position; or, Controlling the grass collecting box to swing between a third position and a fourth position; The third position is located between the first position and the second position and is different from the first position and the second position, and the fourth position is located between the second position and the third position or between the first position and the third position.

7. The control method according to claim 5, wherein: The controlling the grass collecting box to swing within the swinging area comprises: Counting the number of reversals of the grass collecting box in the swinging area; According to the corresponding relationship between the number of reversing times and the swing amplitude, the grass collecting box is controlled to swing within the swing area according to the swing amplitude corresponding to the current number of reversing times.

8. The control method according to claim 7, wherein: The step of controlling the grass collecting box to swing within the swing area according to the swing amplitude corresponding to the current number of reversing times includes: When it is determined whether the current swing amplitude is less than or equal to the preset swing amplitude, the grass collecting box is controlled to swing within the swing area according to the current swing amplitude.

9. The control method according to any one of claims 1 to 8, wherein: The swing angle range is 3°-45°.

10. The control method according to claim 9, wherein: The swing angle is 10°.

11. The control method according to any one of claims 1 to 8, wherein: The swing parameter further includes a swing speed, and the swing speed is greater than or equal to an opening movement speed of the grass collecting box.

12. The control method according to claim 6, wherein: The swinging area includes a first boundary away from the second position and a second boundary close to the second position, and controlling the grass collecting box to swing within the swinging area includes: Obtaining an angle between the second boundary and the second position; According to the correspondence between the predefined angle and the swing speed of the grass collecting box, the grass collecting box is controlled to swing within the swing area at a swing speed corresponding to the angle between the current position of the second boundary and the second position.

13. The control method according to claim 6, wherein: The swinging area includes a first boundary away from the second position and a second boundary close to the second position, and controlling the grass collecting box to swing within the swinging area includes: Controlling the grass collecting box to rotate from the first boundary toward the second boundary at a first speed; The grass collecting box is controlled to rotate from the second boundary toward the first boundary at a second speed, wherein the first speed is equal to or less than the second speed.

14. The control method according to claim 3, wherein: Before controlling the grass collecting box to swing according to the swing parameter, the control method includes: When it is determined that the grass collecting box is located at the swing starting position, obtaining distribution data of grass clippings in the grass collecting box, wherein the distribution data includes at least one of a mass distribution parameter and a morphological distribution data; The swing parameter is obtained according to the distribution data and the swing starting position.

15. The control method according to any one of claims 1 to 8, wherein: The step of controlling the grass collecting box to swing according to the swing parameter comprises: The grass collecting box is controlled to swing back and forth according to the swing parameters.

16. The control method according to any one of claims 1 to 8, wherein: The grass collecting device is connected to the tail of the grass cutting device, and the grass collecting box is controlled to swing according to the swing parameter, including: The mowing device and the grass collecting device are controlled to move in a backward direction of the mowing device.

17. The control method according to any one of claims 1 to 8, wherein: The control method further comprises: Get the shutdown command; According to the closing instruction, the grass collecting box is controlled to rotate along the second direction to the first position.

18. The control method according to claim 17, wherein: The control method further comprises: When the grass collecting box swings a preset number of times, the closing instruction is generated; or, Acquire image data of a designated area of ​​the grass collecting box, and generate the closing instruction according to the image data; or, The closing instruction is generated in response to a user's operation of releasing the swing of the grass collecting box.

19. The control method according to any one of claims 1 to 8, wherein: Before obtaining the grass unloading instruction, the control method further includes: When the mowing device completes the mowing task, the unloading instruction is generated; or, When the detector detects that the grass collecting parameters of the grass collecting box meet the preset parameters, the grass unloading instruction is generated; or, The grass unloading instruction is generated in response to a user's turning on operation of the grass unloading switch member.

20. The control method according to any one of claims 1 to 8, wherein: According to the swing instruction, controlling the grass collecting box to swing at a preset angle includes: According to the swing instruction, the grass collecting box is controlled to swing according to the swing parameter, and the vibrator is controlled to shake the grass collecting box.

21. A control device for a grass collecting device, wherein: include: An acquisition unit, the acquisition unit is used to acquire a grass unloading instruction; A control unit, the control unit is connected to the acquisition unit; The control unit is used to: according to the grass unloading instruction, control the grass collecting box to open and move from a first position to a second position along a first direction; wherein the first position is a position where the grass collecting box is in a closed state, and the second position is a position where the grass collecting box reaches a maximum opening and closing angle; The control unit is further used to control the grass collecting box to swing according to a swing parameter; wherein the swing parameter includes a swing angle, and the swing angle is smaller than the maximum opening and closing angle.

22. An electronic device, wherein: It includes a processor and a memory, the processor and the memory are connected to each other, wherein the memory is used to store a computer program, the computer program includes program instructions, and the processor is configured to call the program instructions to execute the control method according to any one of claims 1-20.

23. A computer-readable storage medium, wherein: The computer-readable storage medium stores a computer program, wherein the computer program includes program instructions, and when the program instructions are executed by a processor, the processor executes the control method according to any one of claims 1 to 20.

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