Control method for self-moving lawn mowing device

Abstract

The present application discloses a control method for a self-moving lawn mowing device, applied to cutting scenarios in dense grass areas. The method comprises: acquiring load information of a cutting motor; in response to the load information meeting a first preset condition, raising the height of a cutterhead relative to the ground; controlling the self-moving lawn mowing device to continue mowing operation at the raised cutterhead height; in response to the load information meeting a second preset condition, lowering the height of the cutterhead relative to the ground, and controlling a moving assembly to turn to a preset angle; and controlling the self-moving lawn mowing device to perform mowing operation on a first path at the lowered cutterhead height, the first path being a path traveled by the self-moving lawn mowing device at the raised cutterhead height. In this way, the processing coverage for dense grass areas is improved, and the cutting performance in dense grass conditions is consistent with that in normal conditions.

Description

Control method of self-propelled mowing equipment Technical Field

[0001] The present invention relates to the technical field of lawn mowing robots, and in particular to a control method for a self-propelled lawn mowing device. Background Art

[0002] When the mower robot is working in the working area, due to the influence of the cutter disc cutting height set by the user and the actual height of the grass, the mower robot may not be able to cut dense grass areas (also known as overloaded areas, such as lawn areas with high growth density or tall grass growth).

[0003] However, existing operation control methods will abandon cutting in dense grass areas, resulting in local grass leakage, thereby reducing the treatment coverage rate of dense grass areas. Summary of the Invention

[0004] Based on this, it is necessary to provide a control method for a self-propelled mowing device to address the above technical issues.

[0005] To achieve the above objectives:

[0006] In the first aspect, an embodiment of the present application provides a control method for a self-moving mowing device, the method comprising: obtaining load information of a cutting motor; raising the height of the blade disc above the ground in response to the load information satisfying a first preset condition; the first preset condition indicating that the self-moving mowing device has entered an overload area; controlling the self-moving mowing device to continue mowing at the raised blade disc height; lowering the height of the blade disc above the ground and controlling the moving component to turn to a preset angle in response to the load information satisfying a second preset condition; controlling the self-moving mowing device to mow a first path at the lowered blade disc height; wherein the first path refers to the path that the self-moving mowing device has moved at the raised blade disc height.

[0007] In a possible implementation, the second preset condition at least includes a condition indicating that the self-propelled mowing device passes through an overload area.

[0008] In a possible implementation, instructing the mowing device to pass through an overload area includes one of the following:

[0009] (1) The load is less than a first preset load;

[0010] (2) The load is less than the first preset load, and the continuous running time of the load less than the first preset load meets the preset time; or, the load is less than the first preset load, and the continuous running distance of the load less than the first preset load meets the preset length; or, the load is less than the first preset load, and the continuous running time of the load less than the first preset load meets the preset time and the running distance of the load less than the first preset load meets the preset distance;

[0011] (3) The mobile device moves to the end point of the target path.

[0012] In a possible implementation, the target path refers to a path that ends at a boundary of the working area.

[0013] In a possible implementation, the preset angle is 180 degrees or 90 degrees.

[0014] In a possible implementation, raising the height of the cutterhead above the ground includes one of the following:

[0015] (a) Control the cutter head to lift to the maximum height;

[0016] (b) controlling the cutter head to be lifted step by step according to a gradient lifting rule; wherein the gradient lifting rule includes a fixed height value lifting rule and a non-fixed height value lifting rule.

[0017] In a possible implementation, controlling the cutterhead to be lifted step by step according to a gradient lifting rule includes: controlling the cutterhead to be lifted according to a non-fixed height value.

[0018] In one possible implementation, controlling the cutterhead to rise according to a non-fixed height value includes:

[0019] The height value to be raised is determined according to the current height of the cutter disc and / or according to the difference between the current height and the target height, and the cutter disc is controlled to be raised from the current height to a corresponding height according to the height value to be raised.

[0020] In a possible implementation, the value of the height to be lifted is negatively correlated with the current height; or the value of the height to be lifted is positively correlated with the difference between the current height and the target height.

[0021] In a possible implementation, the method further includes:

[0022] Determine whether the corresponding height after lifting according to the gradient lifting rule is greater than the maximum height that the cutter head can lift. If so, control the cutter head to lift to the maximum height.

[0023] In a possible implementation, the method further includes:

[0024] Determining whether the first path is a re-cutting path; wherein the re-cutting path refers to the self-propelled mowing device mowing at least a portion of the first path with a lowered cutterhead height;

[0025] If so, the first path is marked and waits for post-processing; if not, the step of controlling the mowing equipment to mow the first path with the lowered cutter head height is executed.

[0026] In one possible implementation, in response to the load information satisfying a second preset condition, lowering the height of the cutterhead above the ground includes: determining whether a difference between a current cutterhead height and a user-set height satisfies a threshold condition, and if so, controlling the self-propelled mowing device to lower the cutterhead to the user-set height and continue working;

[0027] If not, the step of controlling the self-propelled mowing device to mow the first path at the lowered cutter head height is performed.

[0028] In a possible implementation, before the step of raising the height of the cutterhead above the ground, the method further includes: taking at least one of the following pre-measures to try to pass through the overload area;

[0029] A: reducing the moving speed of the self-propelled mowing device;

[0030] B: Control the self-propelled mowing device to retreat a preset distance or a preset time.

[0031] In one possible implementation, when the mowing equipment takes pre-measure B, the method further includes: controlling the self-moving device to continue moving forward after retreating a preset distance or a preset time; determining whether the forward distance is greater than the backward distance; if not, executing the step of raising the height of the cutter disc above the ground.

[0032] In a possible implementation, before raising the height of the cutter disc above the ground, the method further includes: controlling the cutter disc to stop working and the mowing equipment to stop moving.

[0033] In a possible implementation, reducing the moving speed of the mowing equipment includes:

[0034] The moving speed of the mowing device is gradually reduced according to a preset gradient speed reduction rule until the moving speed of the mowing device is reduced to a minimum speed.

[0035] In a possible implementation, the method further includes: in response to the load information satisfying a third preset condition, controlling the mowing device to reduce a moving speed;

[0036] In a possible implementation, the method further includes: in response to the load information satisfying a fourth preset condition, retreating a set distance d and then advancing.

[0037] In a possible implementation, the method further includes: controlling the self-moving mowing device to reduce a moving speed, including: controlling the self-moving mowing device to reduce a moving speed according to a preset relationship between the moving speed and the load of the self-moving mowing device.

[0038] A control method for a self-propelled mowing device provided in an embodiment of the present application is applied to cutting scenarios in dense grass areas. The method comprises: obtaining load information of a cutting motor; raising the height of a cutter disc above the ground in response to the load information satisfying a first preset condition; controlling the self-propelled mowing device to continue mowing at the raised cutter disc height; lowering the cutter disc height above the ground and controlling the moving component to turn to a preset angle in response to the load information satisfying a second preset condition; controlling the self-propelled mowing device to mow a first path at the lowered cutter disc height; the first path being the path that the self-propelled mowing device moves along at the raised cutter disc height. In this way, the coverage rate of dense grass areas is improved, and the cutting effect under dense grass conditions is consistent with that under normal conditions.

[0039] In a second aspect, an embodiment of the present application provides a method for controlling a self-propelled lawn mowing device, wherein the method includes:

[0040] Get the load information of the cutting motor;

[0041] In response to the load information satisfying a first preset condition, controlling the cutter deck to rise, wherein the first preset condition indicates that the self-propelled mowing device has entered an overload area;

[0042] Controlling the self-propelled mowing device to perform mowing operations on the overloaded area with the raised cutter head height;

[0043] In response to the load information satisfying a second preset condition, determining whether a difference between a cutter head height of the self-propelled mowing device after it is lowered and a user-set height is within a threshold range; wherein the second preset condition indicates that the self-propelled mowing device passes through an overload area with the cutter head raised;

[0044] If so, the self-mobile mowing device is controlled to control the cutter disc to descend to the target height, and continue to work at the lowered cutter disc height.

[0045] In a possible implementation, the method further includes:

[0046] If not, the mowing equipment is controlled to perform mowing operation on the overloaded area at the lowered cutter head height.

[0047] In a third aspect, an embodiment of the present application provides an operation control method for a self-propelled mowing device, wherein the self-propelled mowing device includes a cutter disc with adjustable ground height. In response to entering a dense grass cutting mode, the cutter disc is raised above the ground, and mowing operations are performed at the raised cutter disc height. The cutter disc height represents the height of the cutter disc relative to the ground.

[0048] detecting an operating parameter of the self-propelled mowing device, and if a cutting load represented by the operating parameter is less than a first preset load and satisfies a preset condition, controlling the self-propelled mowing device to turn to a preset angle and lowering the height of the cutter disc above the ground to perform a mowing operation;

[0049] When it is detected that the height of the cutter disc above the ground is equal to the preset expected cutting height or when it is detected that the difference between the height of the cutter disc above the ground and the expected cutting height is within a preset error range, the dense grass cutting mode is exited.

[0050] In a fourth aspect, an embodiment of the present application provides a self-propelled mowing device, comprising: a processor, a memory, and a computer program stored in the memory and executable by the processor, wherein when the computer program is executed by the processor, the steps of the above-mentioned operation control method are implemented.

[0051] In a possible implementation, the self-propelled mowing device further includes a mowing component and an adjustment component for adjusting the height of the mowing component above the ground;

[0052] The processor is used to control the mowing component and the regulating component.

[0053] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, in which a computer program is stored. The computer program is loaded and executed by a processor to implement the steps of the above-mentioned job control method.

[0054] The embodiments of the present application provide an operation control method, a self-propelled mowing device, and a storage medium. The method is applied to a self-propelled mowing device, which includes a cutter disc with adjustable ground height. The method includes: in response to entering a dense grass cutting mode, raising the ground height of the cutter disc, and performing mowing operations according to the raised ground height of the cutter disc; the ground height of the cutter disc represents the height of the cutter disc relative to the ground; detecting the working parameters of the self-propelled mowing device, and if the cutting load represented by the working parameters is less than a first preset load state that meets the preset conditions, controlling the self-propelled mowing device to turn to a preset angle, and lowering the ground height of the cutter disc to perform mowing operations; wherein, when it is detected that the ground height of the cutter disc is equal to a preset expected cutting height or when it is detected that the difference between the ground height of the cutter disc and the expected cutting height is within a preset error range, exiting the dense grass cutting mode. In this way, after entering the dense grass cutting mode, the height of the cutter disc above the ground is adaptively adjusted according to the working parameters of the self-moving mowing equipment, and then the self-moving mowing equipment is controlled to mow the dense grass area according to the adjusted cutter disc height above the ground. The dense grass area can be effectively cut without missing any area and no manual operation is required, thereby improving the processing coverage rate of the dense grass area. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] FIG1 is a schematic diagram of a self-propelled mowing device in the prior art operating within a working area;

[0056] FIG2 is a schematic structural diagram of a self-propelled mowing device according to an embodiment of the present invention;

[0057] FIG3 is a schematic flow chart of a job control method according to an embodiment of the present invention;

[0058] FIG4 is a first working diagram of the self-propelled mowing device according to an embodiment of the present invention;

[0059] FIG5 is a schematic diagram of a specific flow chart of a job control method provided by an embodiment of the present invention;

[0060] FIG6 is a flow chart of a control method for a self-propelled lawn mowing device according to an embodiment of the present invention;

[0061] 7 to 10 are schematic diagrams of supplementary mowing methods of a self-propelled mowing device according to an embodiment of the present invention;

[0062] FIG12 is a schematic diagram of a specific flow chart of a control method for a self-propelled lawn mowing device according to an embodiment of the present invention;

[0063] FIG13 is a schematic diagram of a feasible solution for gradient lifting of the cutterhead provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0064] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0065] It should be noted that, in this document, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element. In addition, components, features, and elements with the same name in different embodiments of the present application may have the same meaning or different meanings, and their specific meanings need to be determined by their explanation in the specific embodiment or further combined with the context of the specific embodiment.

[0066] It should be understood that although the terms first, second, third, etc. may be used herein to describe various information, such information should not be limited to these terms. These terms are merely used to distinguish information of the same type from one another. For example, without departing from the scope of this document, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the term "if" as used herein may be interpreted as "at the time of," "when," or "in response to a determination." Furthermore, as used herein, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context indicates otherwise. It should be further understood that the terms "comprising" and "including" indicate the presence of the described features, steps, operations, elements, components, items, types, and / or groups, but do not exclude the presence, occurrence, or addition of one or more other features, steps, operations, elements, components, items, types, and / or groups. The terms "or" and "and / or" as used herein are to be interpreted as inclusive, meaning any one or any combination. Thus, “A, B, or C” or “A, B, and / or C” means “any of: A; B; C; A and B; A and C; B and C; A, B, and C.” An exception to this definition occurs only when a combination of elements, functions, steps, or operations are inherently mutually exclusive in some manner.

[0067] It should be understood that, although the various steps in the flowchart in the embodiment of the present application are shown in sequence according to the indication of the arrows, these steps are not necessarily performed in sequence in the order indicated by the arrows. Unless clearly stated herein, the execution of these steps is not strictly limited in order, and they can be performed in other orders. Moreover, at least a portion of the steps in the figure may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily performed at the same time, but can be performed at different times, and their execution order is not necessarily performed in sequence, but can be performed in turn or alternately with at least a portion of other steps or sub-steps or stages of other steps.

[0068] It should be noted that in this article, step codes such as S101 and S102 are used for the purpose of expressing the corresponding content more clearly and concisely, and do not constitute a substantial limitation on the order. When implementing the step, those skilled in the art may execute S102 first and then S101, etc., but these should all be within the scope of protection of this application.

[0069] It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application.

[0070] In the subsequent description, the use of suffixes such as "module", "component" or "unit" to represent elements is only for the purpose of facilitating the description of the present application and has no specific meaning. Therefore, "module", "component" or "unit" can be used interchangeably.

[0071] As shown in FIG1 , the self-propelled mowing device 1 in the embodiment of the present disclosure can move autonomously within a working area 2 to automatically perform mowing tasks. 2 , the self-propelled mowing device 1 may include a controller 10, a sensor 11, a cutting assembly (e.g., a blade disc 12), a height adjustment mechanism 13, a drive motor 14, a traveling device 15, and a power supply device 16. The sensor 11 is signal-connected to the blade disc 12 and the drive motor 14 for detecting loads such as the rotation speed of the blade disc 12 and the torque of the drive motor 14. The controller 10 is signal-connected to the sensor 11 and the height adjustment mechanism 13 for receiving load data detected by the sensor 11 and triggering the height adjustment mechanism 13 to adjust the height of the blade disc 12 relative to the ground. The height adjustment mechanism 13 is signal-connected to the blade disc 12 for raising or lowering the height of the blade disc 12 relative to the ground. The drive motor 14 is signal-connected to the blade disc 12 and the traveling device 15 for providing power for the rotation of the blade disc 12 and the movement of the traveling device 15. The power supply device 16 is used to provide the energy required for the controller 10, the sensor 11, the blade disc 12, the height adjustment mechanism 13, the drive motor 14, and the traveling device 15 to work.

[0072] It should be noted that the drive motor 14 may include a cutting motor for providing power for the rotation of the cutter disc 12 and a hub motor for providing power for the movement of the walking device 15; the cutting motor and the hub motor are two, that is, the rotation of the cutter disc 12 and the movement of the walking device 15 are respectively realized by two motors (or two motor groups); of course, in some embodiments, the cutting motor and the hub motor can also be one, that is, the rotation of the cutter disc 12 and the movement of the walking device 15 are realized by one motor (or one motor group); this embodiment does not limit this.

[0073] It is understandable that there may be dense grass areas within the working area 2, wherein the dense grass area refers to a working area where the load of the self-moving mowing device exceeds a pre-set load threshold because the density of the grass reaches a certain level and / or the height of the grass reaches a certain level. If the dense grass area is mowed according to the conventional working mode, when the height of the grass is higher than the cutter disc cutting height set by the user and / or the density of the grass reaches a certain level, the cutting load of the self-moving mowing device will exceed a pre-set load threshold, that is, an overload phenomenon will occur. In response to the above problem, the existing technical solution is: real-time detection of the cutter disc speed and torque, when a threshold is reached, the front area of ​​the self-moving mowing device is marked as a dense grass area, cutting is abandoned, and the cutting path is replanned. For example, referring to Figure 1, when the self-moving mowing device 1 works to the dense grass area 3, it will abandon cutting the dense grass area 3.

[0074] Therefore, the existing technology needs to solve the problem of how to cut the dense grass area to improve the treatment coverage rate of the dense grass area.

[0075] In view of this, the present application proposes a control method for a self-propelled lawn mowing device, as shown in Figure 6. It should be noted that although the present disclosure provides method operation steps as shown in the following embodiments or figures, the execution order of steps that do not logically have a necessary causal relationship is not limited to the execution order provided in the embodiments of the present disclosure.

[0076] Referring to FIG6 , a control method for a self-propelled lawn mower provided in an embodiment of the present application is shown. This method may be executed by an operation control device, which may be implemented using software and / or hardware. In this embodiment, the method is performed by a self-propelled lawn mower including a cutterhead with adjustable height above the ground. The method provided in this embodiment includes:

[0077] S602: Obtaining load information of the cutting motor;

[0078] The load information can be represented by a variety of parameters, such as mechanical parameters such as speed and torque, electrical parameters such as current and voltage, and image parameters. Therefore, in some embodiments, the load information of the cutting motor can be directly obtained, for example, by a sensor that monitors the working parameters of the cutting motor (such as mechanical parameters such as speed and torque, or electrical parameters such as voltage and current). Of course, in some embodiments, the load information of the cutting motor can also be obtained indirectly, for example, by identifying an overload area through a visual sensor.

[0079] It should be noted that there are many ways to obtain the load information of the cutting motor, including but not limited to the above-mentioned methods. As long as the load condition of the cutting motor can be obtained, this disclosure does not limit this.

[0080] S604: In response to the load information satisfying the first preset condition, raising the height of the cutterhead above the ground;

[0081] The first preset condition indicates that the self-propelled mowing device is overloaded. In other words, the first preset condition is used to indicate or indicate that the self-propelled mowing device has entered an overload area (also known as a dense grass area).

[0082] The height of the cutterhead relative to the ground.

[0083] In some embodiments, taking the cutter disc speed as an example of representing the load information, the first preset condition may be, for example, that the speed is less than a speed threshold. The speed threshold may be represented by a percentage of the speed value when no-loaded. The percentage may be set according to actual needs. For example, when the speed is less than 90% of the speed value when no-loaded, the load information meets the first preset condition, and the action of raising the cutter disc is triggered. For another example, when the speed is less than 60% of the speed value when no-loaded, the load information meets the first preset condition, and the action of raising the cutter disc is triggered. For another example, when the speed is less than 55% of the speed value when no-loaded, the load information meets the first preset condition, and the action of raising the cutter disc is triggered.

[0084] By raising the cutterhead to cope with the load, the resistance encountered by the self-moving device can be reduced so that the cutterhead rotation speed can be restored, allowing the self-moving mowing device to work without stopping, which is beneficial for passing through dense grass areas.

[0085] S606: Control the self-propelled mowing device to continue mowing at the raised cutter head height;

[0086] It can be understood that since the higher the grass height, the lower the density at the corresponding height is generally, when encountering an overload area, the self-propelled mowing equipment can raise the height of the cutter disc above the ground and perform mowing operations according to the raised height of the cutter disc above the ground to reduce the amount of grass cut, thereby reducing the cutting load to cope with overload conditions.

[0087] S608: In response to the load information satisfying the second preset condition, lowering the height of the cutter head relative to the ground and controlling the moving assembly to turn to a preset angle;

[0088] The second preset condition indicates that the self-propelled mowing device passes through an overload area. In other words, the second preset condition includes at least a condition indicating that the self-propelled mowing device passes through an overload area. In some embodiments, the second preset condition is used to indicate that the self-propelled mowing device passes through an overload area with a raised cutterhead.

[0089] In some embodiments, indicating that the self-propelled mowing equipment has passed through an overload area includes one of the following:

[0090] (1) The load (Nact) is less than the first preset load (N0);

[0091] In some embodiments, a sudden change in load can be used to indicate that the self-propelled mowing device has passed through an overload area; the sudden change in load can be characterized by a load less than a first preset load, wherein the first preset load can be set to a load close to no-load. For ease of understanding, the load is characterized by speed as an example, and the first preset load is characterized by a percentage of the speed at no-load, and the percentage can be set according to user needs; for example, if the speed is greater than 90% of the speed at idling, it is determined that the self-propelled mowing device has passed through the overload area.

[0092] At this time, immediately turn and lower the cutter disc to mow the dense grass area (re-cut).

[0093] (2) The load is less than the first preset load, and the continuous running time of the load less than the first preset load meets the preset time; or, the load is less than the first preset load, and the continuous running distance of the load less than the first preset load meets the preset length; or, the load is less than the first preset load, and the continuous running time of the load less than the first preset load meets the preset time and the running distance of the load less than the first preset load meets the preset distance;

[0094] Considering that dense grass areas may quickly become sparse areas, causing a sudden load change, if the load is only less than the first preset load, the self-propelled mower may immediately turn upon entering the overload area, affecting cutting efficiency and the user experience. Therefore, to improve the reliability of passing through dense grass areas, in some embodiments, a load less than the first preset load is used, combined with a continuous state of the load less than the first preset load, to determine that the overload area has been stably passed. If the load is less than the first preset load and the load is less than the first preset load for a period of time and / or for a certain distance, it indicates that the overload area has been passed.

[0095] The preset duration and the preset distance can be set according to the lawn conditions. In some embodiments, the preset duration can be set to 3 seconds, for example; the preset distance can be set to 1 meter, for example.

[0096] (3) The mobile device moves to the end point of the target path.

[0097] Considering that the overload area may extend to the end point on the boundary of the working area, in this case, the load may not change suddenly. At this time, the movement of the mobile device to the end point of the overload area indicates that the mobile device has passed the overload area.

[0098] In addition to the above-mentioned solution of the overload area continuing to the end point, the movement of the self-moving device to the end point of the target path may also include: the load is less than a first preset load, and the self-moving device moves to the end point of the target path under the state that the load is less than the first preset load.

[0099] In some embodiments, the target path refers to a path that ends at the boundary of the working area.

[0100] For example, the working area may be a path on the working area; in this case, the target path may be a path (i.e., the current path) along which the mowing equipment in the working area is currently performing cutting work; for another example, the working area may be a local area within the working area; in this case, the target path refers to the last path that completes the cutting work in the local area within the working area; for another example, the working area may be a global area (the entire working area) within the working area; in this case, the target path refers to the last path that completes the running path of the entire working area.

[0101] For ease of understanding, take the example of a self-propelled mowing device cutting the entire working area according to a planned bow-shaped path; the target path can be the current bow-shaped path of the self-propelled mowing device; it can also be the last bow-shaped path of a local area; it can also be the last bow-shaped path of the entire working area.

[0102] S610: Control the self-propelled mowing device to perform a mowing operation on the first path with the cutter head at the lowered height.

[0103] The first path refers to the path that the self-propelled mowing device moves along at the height of the raised cutter head.

[0104] At this time, controlling the self-propelled mowing equipment to mow the first path with the cutter head at the lowered height may also be referred to as supplementary mowing.

[0105] The present disclosure provides a control method, which, when encountering a dense grass area, first raises the cutter disc to pass through the dense grass area; and after completely passing through the dense grass area, turns and lowers the cutter disc to carry out a supplementary mowing of the dense grass area passed by the measure of raising the cutter disc, thereby achieving cutting the dense grass to a target height. The method of performing a supplementary mowing after completely passing through the dense grass area can be as follows: after moving to the end point of the boundary of the dense grass area as shown in FIG7 , lower the cutter disc and turn to immediately perform a supplementary mowing (abbreviated as immediate supplementary mowing); after moving to the end point of the self-moving device along the currently planned path as shown in FIG8 , lower the cutter disc and turn to return to the dense grass area for a supplementary mowing (abbreviated as, supplementary mowing after completing the current path; dotted line indicates supplementary mowing of dense grass); after moving to the end point of the local area as shown in FIG9 , lower the cutter disc and turn to return to the dense grass area for a supplementary mowing (abbreviated as, supplementary mowing after completing the local area; number 4 is the local area; dotted line is the supplementary mowing operation path); after moving to the end point of the entire global area as shown in FIG10 , lower the cutter disc and turn to return to the dense grass area for a supplementary mowing (abbreviated as, supplementary mowing after completing the entire global area; dotted line is the supplementary mowing path). In some embodiments, the preset angle ranges from greater than or equal to 90 degrees to less than or equal to 180 degrees.

[0106] In some embodiments, the preset angle is 180 degrees or 90 degrees.

[0107] Among them, the preset angle of 180 degrees is suitable for the solution of immediate re-cutting and re-cutting after completing the current path; the preset angle of 90 degrees is suitable for the solution of re-cutting after completing the local area and re-cutting after completing the entire area.

[0108] Of course, in some embodiments, the preset angle can also be other angle values, such as turning to a preset angle after completing the local area mowing and the global area mowing scheme, so as to return to the dense grass area in a straight line toward the mowing point in the dense grass area for mowing.

[0109] Considering how to raise the cutterhead, in some embodiments, the method of raising the height of the cutterhead above the ground includes one of the following:

[0110] (a) Control the cutter head to lift to the maximum height;

[0111] By raising the cutting deck to its maximum height, the load can be lowered to a minimum.

[0112] (b) controlling the cutterhead to rise step by step according to the gradient lifting rule;

[0113] Among them, the gradient lifting rule includes a fixed height value lifting rule and a non-fixed height value lifting rule.

[0114] The fixed height value lifting rule means that the height of each lift (Δh) is fixed, that is, Δh is a fixed value; while the non-fixed height value lifting rule means that the height of each lift (Δh) is not fixed, that is, Δh is an indefinite value.

[0115] In some embodiments, controlling the cutterhead to rise step by step according to a gradient rise rule includes:

[0116] The cutter head is controlled to be lifted according to a non-fixed height value, that is, the cutter head is controlled to be lifted according to a non-fixed height value lifting rule.

[0117] In some embodiments, controlling the cutterhead to rise at a non-fixed height value includes:

[0118] The height value to be raised is determined according to the current height of the cutter disc and / or according to the difference between the current height and the target height, and the cutter disc is controlled to be raised from the current height to a corresponding height according to the height value to be raised.

[0119] In some embodiments, the value of the height to be ascended is inversely correlated with the current height; or, the value of the height to be ascended is positively correlated with the difference between the current height and the target height.

[0120] The value of the height to be lifted is inversely correlated with the current height, which means that the lower the current height is, the higher the height to be lifted (the value of the height to be lifted) will be.

[0121] The positive correlation between the height value to be lifted and the difference between the current height and the target height means that the greater the difference between the current height and the target height, the higher the height to be lifted in a single time (the height value to be lifted).

[0122] Refer to Figure 13:

[0123] Taking the initial height as the target height set by the user as an example, the positive correlation and negative correlation are briefly explained:

[0124] Among them, regarding "the greater the difference between the current height and the target height, the higher the single lift", take Plan 1 as an example: in the first row of data, the user sets the target height to x (any value in the range of 30-39) mm. When the trigger needs to increase the cutter head height, it is increased by 6mm (36-30=6mm), and adjusted to x+6mm (a value in the range of 36-41). At this time, if the trigger needs to increase the cutter head height, it is increased by 9mm (45-36=9mm), and so on. The next adjustment is to increase it by 15mm.

[0125] Among them, in solution 2, the maximum height is 52mm; for example, if the current height is 37, it is increased by 15mm to 52mm; if the current height is 39, it is increased by 15mm, but since the maximum height is 52, it is only adjusted to the maximum height of 52mm.

[0126] 2. Regarding "the lower the current height, the higher the single lift", the table shows a trend.

[0127] The initial height is the target height set by the user. It is understandable that the cutter head will first cut at the target height within the working area. Therefore, at the beginning, the current height is the target height.

[0128] Still taking solution 1 as an example, take the initial height of the list and adjustment 1 column data as an example:

[0129] Assume that the current height x is any value between 30-39, and increase it by 6mm;

[0130] Assume that the current height x is any value between 40 and 50, and increase it by 5mm;

[0131] Let’s take the two columns of data, Adjustment 1 and Adjustment 2:

[0132] The current height is between 36-45, increase by 9mm

[0133] The current height is between 45-55, increase by 5mm

[0134] Similarly, the above positive correlation and negative correlation relationship also applies to Option 2 and will not be repeated here.

[0135] Considering that the lifting space of the cutter head of the self-propelled mowing equipment is limited, in some embodiments, the method further includes:

[0136] Determine whether the corresponding height after lifting according to the gradient lifting rule is greater than the maximum height that the cutter head can lift. If so, control the cutter head to lift to the maximum height.

[0137] In some embodiments, if not, the step of raising the height of the cutter head above the ground in response to the load information satisfying the first preset condition is performed; or the step of acquiring the load information of the cutting motor is performed.

[0138] In some embodiments, the method further includes: determining whether the current height of the cutter disc is the maximum height; if so, determining whether the load information at the maximum height meets the second preset condition; if not, it means that the maximum height cannot pass through the dense grass area. At this time, the front of the self-moving device is marked as dense grass or the current position of the self-moving device is recorded, and the path is replanned; the purpose of marking or recording is to wait for post-processing, and the post-processing method includes but is not limited to prompting the user to use a mowing device with a cutting capacity greater than the cutting capacity of the current smart lawn mower (such as a handheld device, a device with a higher speed or torque) to cut the dense grass area.

[0139] That is, the cutterhead height is raised according to the gradient raising rule until it reaches the maximum height, and then it is determined whether the cutterhead can pass through the dense grass area when raised to the maximum height. If not, it is marked or recorded and waited for post-processing.

[0140] Further, if not, that is, the corresponding height after lifting according to the gradient lifting rule is not greater than the maximum height that the cutter disc can lift, then the step of raising the height of the cutter disc above the ground in response to the load information meeting the first preset condition is executed; or the step of obtaining the load information of the cutting motor is executed.

[0141] In some embodiments, the method further comprises:

[0142] Determining whether the first path is a re-cutting path; wherein the re-cutting path refers to a self-propelled mowing device mowing at least a portion of the first path with a lowered cutterhead height;

[0143] If so, the first path is marked for post-processing;

[0144] If not, the step of controlling the mowing equipment to mow the first path at the lowered cutter head height is executed.

[0145] That is to say, in order to improve the cutting efficiency of dense grass areas, the first path is usually re-cut, that is, the cutting of the same path does not exceed twice (one cutting by raising the cutter disc and one re-cutting by lowering the cutter disc); if the user's cutting requirements for the dense grass area cannot be met after one re-cutting, the dense grass path is marked, and / or the current position is recorded, and / or the uncut part is recorded, and wait for post-processing. The post-processing can be waiting for the last re-cut (for example, after completing the local area or the global area) or reminding the user to manually process it. Of course, in some embodiments, the post-processing can also adopt the above method, which will not be described in detail here.

[0146] In some embodiments, in response to the load information satisfying a second preset condition, lowering the height of the cutterhead above the ground includes:

[0147] Determine whether the difference between the current cutter head height and the user-set height meets the threshold condition,

[0148] If yes, controlling the self-propelled mowing device to lower the cutter disc to the user-set height and continue working;

[0149] If not, the step of controlling the self-propelled mowing device to mow the first path at the lowered cutterhead height is executed. For example, the cutterhead height is controlled to be lowered to a user-set height, and the self-propelled mowing device is controlled to mow the first path at the lowered cutterhead height.

[0150] Considering that raising the cutterhead requires additional mowing, which may affect the efficiency of cutting dense grass, before raising the cutterhead, some pre-measures may be taken, such as reducing speed, reversing, increasing torque, reversing the cutterhead, etc., to try to deal with the overload area. For example, in some embodiments, before raising the cutterhead above the ground, the step further includes: taking at least one of the following pre-measures to try to pass the overload area;

[0151] A: Reduce the speed of the self-propelled mowing equipment;

[0152] By reducing the speed, the resistance and load are reduced, so that the cutter disc speed is expected to recover.

[0153] B: Control the self-propelled mowing equipment to retreat a preset distance or a preset time.

[0154] Therefore, in some embodiments, in response to the load information satisfying the first preset condition, measure A or measure B or a combination of measures A and B can be first adopted as a pre-measure for lifting the cutter disc, wherein A and B can be combined in the form of A first and then B, that is, first adopt the speed reduction measure, and if the speed reduction cannot cope with the overload, then adopt the retreat measure; specifically, reduce the moving speed of the mowing equipment, and if it cannot cope with the overload area, control the mowing equipment to retreat a preset distance or a preset time, and then continue to move forward; A and B can also be combined in the form of B first and then A, that is, first adopt the retreat measure, and if retreat cannot cope with the overload, then adopt the speed reduction measure.

[0155] It should be noted that, in addition to the above measures A and B, the pre-emptive measures may also include measure C, where measure C includes but is not limited to one of the following:

[0156] C1. Make the cutter head rotate in the opposite direction to remove the tangled grass from the blades and reduce the load.

[0157] C2. Increase the rotational torque of the cutter head. By increasing the rotational torque, it is expected that the grass entangled in the blades will be cut off and the blade speed that has been reduced due to overload will be restored.

[0158] Considering that the time for increasing the torque cannot be too long, otherwise it will easily cause overheating and shutdown. Therefore, it is necessary to limit the time for increasing the torque. In some embodiments, the cutter head rotation torque is increased within the time t0. t0 can be set according to the overheating processing capacity of the self-moving device. For example, t0 is set to within 5s, such as t0=3s.

[0159] C3. Stop the cutterhead and allow the self-propelled device to rotate in place. This will move the cutterhead from a high-resistance position to a low-resistance position, reducing the load and hopefully restoring the speed.

[0160] C3. Reduce the vehicle speed to 0. If the mowing equipment is kept in place, the height of the grass may gradually decrease, so the load is expected to decrease. For example, if the load is represented by the speed, the speed is expected to recover.

[0161] C4. Back off t2. The mower returns to the area where it has already cut grass. The resistance of the grass is reduced, and the load is expected to decrease, for example, the speed is expected to recover. When the cutting blade interferes with an obstacle, the blade moves backward to move away from the obstacle, so the speed is expected to recover.

[0162] It is understandable that measure C can be combined with measure A or B to deal with overload; this disclosure does not limit this.

[0163] In some embodiments, a combination of measures A, B, and C are employed to handle the load.

[0164] Specifically, the order of the combination of measures A, B and C is A first, then B and then C. That is, if the load is heavy (indicating entering dense grass), reduce the speed first; if reducing the speed fails to cope with it, then retreat; if retreating still fails to cope with it, then take measure C to reduce the load and restore the speed.

[0165] It can be understood that after taking the above measures, the dense grass continues to be cut. For example, after taking the retreat measure, the self-moving mowing equipment is controlled to change to the forward direction and continue to work; for example, after reducing the vehicle speed to 0, the self-moving mowing equipment is controlled to restore the vehicle speed to the previous state and continue to work; for example, after stopping the rotation of the cutter disc and letting the self-moving equipment rotate in place, the cutter disc is controlled to start and continue to work.

[0166] In some embodiments, when the mowing device takes the pre-action B, the method further includes:

[0167] After retreating a preset distance or a preset time, control the mobile device to continue moving forward;

[0168] Determine whether the forward distance is greater than the backward distance;

[0169] If not, the step of raising the height of the cutterhead above the ground is performed.

[0170] In other words, after adopting the retreat measure in the preliminary measure, the self-moving equipment should be transformed into the previous forward state to continue cutting the dense grass area; and in the process of moving forward, it is judged whether the dense grass can be cut; whether the dense grass can be cut can be determined by: judging whether the forward distance is greater than the backward distance. If the forward distance is greater than the backward distance, it means that the dense grass can be cut, which proves that the retreat measure is effective in dealing with the dense grass; if the forward distance is not greater than the backward distance, it means that the dense grass cannot be cut. At this time, the measure of raising the knife disc is executed to deal with the dense grass.

[0171] Furthermore, after taking measures A or B or raising the height of the cutterhead above the ground, the method further includes:

[0172] Wait for a set action response time.

[0173] That is to say, there is a certain response time after taking measures. During this response time, the cutter head speed is expected to recover within the response time, and the mowing work is continued while waiting for the response time of the measures.

[0174] The response time should not be set too long, otherwise it will cause serious grass abrasion and affect cutting efficiency. The response time should not be set too short, otherwise the speed will not be able to increase. Considering the time required to prevent grass abrasion and increase the speed, in some embodiments, the response time is set to within 5 seconds, further, the response time is set to within 3 seconds, and further, the response time is set to 2 seconds.

[0175] It is understandable that after taking measures to lift the cutter disc and taking pre-measures A, B or C before lifting the cutter disc, response time for the measures can be reserved to wait for the effects of the measures (such as whether the speed can be smoothly increased).

[0176] Considering that resistance may still exist when the cutter disc rotates or the machine moves during the cutter disc raising process, which may affect the recovery of the rotation speed, in order to reduce the resistance, before the cutter disc is raised, the cutter disc may be controlled to stop rotating or the self-propelled mowing device may be controlled to stop moving to reduce the impact of the resistance. For example, in some embodiments, before raising the height of the cutter disc above the ground, the method further includes:

[0177] The control cutter head stops working and the mowing equipment stops moving.

[0178] That is to say, when the cutter disc stops working and is shut down, the cutter disc is controlled to rise.

[0179] It is understandable that, under the premise that the cutter disc stops working, after controlling the cutter disc to be raised, it is necessary to restart the cutter disc rotation to continue working; similarly, under the premise that the self-moving mowing equipment stops moving, after controlling the cutter disc to be raised, it is necessary to control the self-moving equipment to continue moving forward to perform the cutting work.

[0180] Considering how to reduce the moving speed, in some embodiments, reducing the moving speed of the mowing equipment includes:

[0181] The moving speed of the mowing equipment is gradually reduced according to the preset gradient speed reduction rules until the moving speed of the mowing equipment is reduced to the minimum speed.

[0182] In other words, a strategy of gradually reducing speed is adopted to deal with dense grass areas.

[0183] Among them, the gradient speed reduction rule includes a fixed speed value speed reduction rule and a non-fixed speed value speed reduction rule; the fixed speed value speed reduction rule means that the speed of each reduction is fixed; the non-fixed speed value speed reduction rule means that the speed of each reduction is not fixed.

[0184] In some implementations, the gradient speed reduction rule adopts a non-fixed speed value speed reduction rule, for example, the gradient speed reduction rule dynamically adjusts the speed according to PID control logic.

[0185] Among them, the PID control logic is as follows:

[0186] PID Output=1.0-((SetRpm-offset-RealRpm) / (SetRpm-offset))*Kp.

[0187] Where, PID Output represents the output, SetRpm represents the set value of the moving wheel motor speed, and RealRpm represents the actual value of the driving wheel motor speed. Offset represents the deviation, which refers to the steady-state error of the control system, that is, the difference between the set point and the actual output value after the system reaches steady state. Kp represents the proportional gain.

[0188] Determine whether the output (PID Output) is less than or equal to 0. If so, reduce the driving wheel speed to the minimum speed. The minimum speed can be expressed as a numerical value or as a percentage of the maximum speed, for example, the minimum speed is 10% of the maximum speed.

[0189] If the output is greater than 0, determine whether the last PID output is greater than the current output. If so, set the drive wheel speed to (PID Output * MaxRpm) / 100, where MaxRpm is the maximum speed of the drive wheel. If the last output is not greater than the current output, set the drive wheel speed to (PID Output * MaxRpm) / 100 -, where - indicates a slow acceleration.

[0190] In some embodiments, the moving speed of the mowing equipment may be reduced according to a preset speed reduction rule; specifically, the reduced moving speed may be achieved by:

[0191] The target wheel speed after speed reduction is determined according to the wheel speed of the mowing equipment and the speed reduction coefficient; and the wheel speed of the mowing equipment is controlled to be reduced to the target wheel speed based on the set speed reduction slope.

[0192] Among them, the deceleration coefficient can be determined based on the set deceleration percentage of the wheel speed, the output torque and the set threshold value of the torque. Specifically, it can be obtained in the following way: determine the first difference between the output torque and the set threshold value of the torque; based on the maximum output torque of the cutting motor, determine the second difference between the maximum output torque and the set threshold value of the torque; obtain the ratio between the first difference and the second difference; calculate the product between the ratio and the set deceleration percentage, and determine the product as the deceleration coefficient of the wheel speed.

[0193] For ease of understanding, the specific implementation process of reducing the wheel speed of the intelligent lawn mower in the above embodiment is further explained below through a specific embodiment. In this embodiment, it is assumed that the maximum output torque of the mowing motor (cutting motor) is T, the set threshold value of the torque is 90% of T, and the set deceleration percentage of the wheel speed is 75%. If it is detected that the output torque of the mowing motor is 95% of T, the output torque of the mowing motor reaches the set threshold value of the torque. Therefore, the parameters are substituted and the wheel speed reduction coefficient A is calculated by the following formula: A = (95% × T-90% × T) / (T-90% × T) × 75%

[0194] The wheel speed reduction coefficient A obtained through calculation is 37.5%, which means that in this case, the wheel speed needs to be reduced by 37.5%.

[0195] If the wheel speed of a smart lawn mower (a self-propelled mowing device) during normal operation is 33 rpm, then based on the aforementioned deceleration factor of 37.5%, the required wheel speed reduction D can be calculated, with D = 33 × 37.5%. Therefore, the target wheel speed V after the smart lawn mower is decelerated is 33 - D. The smart lawn mower's wheel speed is then controlled to reduce to the target wheel speed. During the deceleration process, to improve the smart lawn mower's stability, the deceleration slope can be used to control the deceleration process.

[0196] It should be noted that, in some implementations, the non-fixed value speed reduction rule may also refer to the non-fixed value increase rule mentioned above, for example, the speed to be reduced is determined based on the current speed. In order to save space, it is not described here.

[0197] In some embodiments, the method further comprises:

[0198] In response to the load information satisfying a third preset condition, controlling the mowing device to reduce a moving speed;

[0199] In some embodiments, the method further comprises:

[0200] In response to the load information satisfying the fourth preset condition, the vehicle moves backward a set distance d and then moves forward.

[0201] In some embodiments, the method further comprises:

[0202] In response to the load information satisfying the fifth preset condition, the vehicle proceeds normally.

[0203] Among them, the third preset condition, the fourth preset condition, and the fifth preset condition are conditions different from the first preset condition. For example, the third preset condition is that N (load) is greater than N0 and less than N1; the fourth preset condition is that N is greater than N1 and less than N2; and the first preset condition is that N is greater than N2. The fifth preset condition is that N is less than N0. The second preset condition can be set to be the same as the fifth preset condition, that is, the load when passing through a dense grass area is consistent with the load (light load) of normal operation; for ease of understanding, the load N is represented by the cutter disc speed as an example; the first preset condition can be that the current cutter disc speed is 55% or less of the no-load speed; the third preset condition is that the current cutter disc speed is between 60% and 90% of the no-load speed; the fourth preset condition is that the current cutter disc speed is greater than 55% of the no-load speed and less than 60%; the second preset condition and the fifth preset condition are that the current cutter disc speed is more than 90% of the no-load speed.

[0204] It is understandable that when the third preset condition and the fourth preset condition are the same as the first preset condition, reducing the moving speed, moving backward, and raising the cutter disc are all measures to deal with dense grass areas.

[0205] In some embodiments, controlling the mowing device to reduce its moving speed includes: controlling the self-moving mowing device to reduce its moving speed according to a preset relationship between the moving speed and the load of the self-moving mowing device.

[0206] That is to say, the driving wheel speed is adjusted according to the cutter disc speed, taking into account the effect of hair pulling (the grass is partially cut, leaving a strand of it uncut).

[0207] The self-mobile device may store or obtain a preset relationship between the moving speed and the load, and then determine the corresponding moving speed according to the preset relationship.

[0208] The load of the third preset condition is further divided and the corresponding speed is determined. For ease of understanding, the load of the third preset condition is divided into three gears. Taking the cutter head speed as an example to represent the load, the preset relationship can be:

[0209] When the ratio of the cutter head speed to the no-load speed is in the range of [80%, 90%], the moving speed is reduced to 75% of the normal speed; when the ratio of the cutter head speed to the no-load speed is in the range of [70%, 80%], the moving speed is reduced to 50% of the normal speed; when the ratio of the cutter head speed to the no-load speed is in the range of [60%, 70%], the speed is reduced to the minimum speed. Considering the walking experience and motor control capabilities, the minimum speed can be set to 30%, 20%, or 10% of the normal speed.

[0210] As shown in FIG11 , the present disclosure further provides a method for controlling a self-propelled lawn mowing device, wherein the method includes:

[0211] Step S1102: Obtaining load information of the cutting motor;

[0212] Step S1104: In response to the load information satisfying the first preset condition, controlling the cutter head to rise;

[0213] The first preset condition is an indication that the self-propelled mowing device has entered an overload area;

[0214] Step S1106: controlling the self-propelled mowing device to mow the overloaded area with the raised cutter head height;

[0215] Step S1108: In response to the load information satisfying the second preset condition, determining whether the difference between the current cutter head height of the self-propelled mowing device and the height set by the user is within a threshold range;

[0216] The second preset condition is to instruct the self-propelled mowing device to pass through the overload area in a manner of raising the cutter disc;

[0217] If yes, execute step S1110;

[0218] Step S1110: Control the self-moving mowing equipment to lower the cutter disc to the target height, and continue working at the lowered cutter disc height.

[0219] Continuing to work means continuing to mow the work area according to the initial strategy, such as continuing to work along a pre-planned path. For example, the pre-planned path is a bow-shaped cutting path used to cut the work area. The mowing device cuts along the current bow-shaped path. In response to the load information meeting the first preset condition, the cutterhead is controlled to rise. The self-propelled mowing device is controlled to mow the overloaded area at the raised cutterhead height. In response to the load information meeting the second preset condition, the following explanations are provided based on the different settings of the second preset condition:

[0220] (1) When the second preset condition is set as the self-propelled mowing device just passing through a dense grass area (for example, the time point when the load suddenly changes, that is, the load is less than the first preset load), the self-propelled mowing device continues to work along the current bow path;

[0221] (2) When the second preset condition is set to that the self-moving mowing equipment reliably passes through the dense grass area (for example, the load is less than the first preset and the continuous operation time of the load is less than the first preset load meets the preset time, moves the preset distance and / or the preset time), it still continues to work along the current bow path; it should be noted that this strategy is suitable for the case where the path where the dense grass area is located is less than the length of the bow path, or in other words, the dense grass area does not extend to the boundary of the working area; continuing to work is to open the next bow path.

[0222] (3) When the second preset condition is set to that the self-mobile mowing equipment moves to the end point of the target path, taking the target path as the current bow-shaped path as an example, continuing to work means turning to open the next bow-shaped path to continue working; similarly, when the target path is the last bow-shaped path in the local area, continuing to work means opening another area (an area different from the local area) for cutting work, such as turning and moving to the starting point of the planned path of another area to work; it can be understood that if the target path is the last bow-shaped path in the global area (the entire working area), continuing to work means that if there is a new working area (different from the current working area) that needs to be cut, then continuing to cut the new working area; for example, if the cutting of the new working area has a new planned path, then moving to the starting point of the new working area to work; if there is no new working area that needs to be cut, continuing to work at this time can be understood as waiting to continue working, such as returning to the base station to wait.

[0223] If not, execute step S1112;

[0224] Step S1112: Control the self-propelled mowing equipment to perform mowing operations on the overloaded area at the lowered cutter head height.

[0225] The only difference between this embodiment and the above embodiment is that, considering that the difference between the cutting height of the raised blade disc for dense grass and the height set by the user is within the error range, for example, the cutting effect reaches a level that cannot be recognized by the naked eye; it also meets the user's cutting needs. At this time, there is no need to execute the strategy of supplementary cutting, and the blade disc can be lowered to the height set by the user, and continue to work at the lowered blade disc height.

[0226] It can be understood that the matters not described in this embodiment, such as the method of lifting the cutter disc (such as lifting it step by step), the pre-measures that can be taken (such as slowing down, retreating, etc.), the method of slowing down (such as slowing down step by step, slowing down according to the corresponding relationship), reserving a certain response time after taking measures, and the judgment of re-cutting when supplementary cutting is required, can all be referred to the previous text. In order to save space, they will not be described here.

[0227] It should be noted that in other embodiments, considering that the difference between the cutting height of dense grass when the blade disc is raised and the height set by the user is within the error range, for example, the cutting effect reaches a level that cannot be recognized by the naked eye; it also meets the user's cutting needs. At this time, there is no need to execute the strategy of supplementary cutting. Since the difference between the current height and the height set by the user is within the threshold range, it is also possible not to lower the blade disc and continue working directly.

[0228] Based on the same inventive concept as the above embodiments, the above embodiments are described in detail below by way of examples. In this example, the self-propelled mowing device is an automatic mower.

[0229] The job control method provided in this example mainly includes the following three processes:

[0230] (1) Dense grass perception

[0231] The automatic lawn mower uses a bow-shaped path to fully cover the working area, and detects the working parameters of the automatic lawn mower in real time, such as the rotation speed of the cutter disc and the torque of the cutting motor, as detection conditions for dense grass triggering. When it is detected that the load represented by the working parameter value (also called the dense grass detection value) meets the first preset condition (for example, the torque is greater than the first torque threshold, and / or the rotation speed is less than the first rotation speed threshold), the dense grass cutting stage is triggered; wherein the dense grass cutting stage includes measures to lift the cutter disc. During the dense grass cutting stage, if it is detected that the load represented by the working parameter value meets the second preset condition (for example, the torque is less than the second torque threshold, and the rotation speed is greater than the second rotation speed threshold), the dense grass supplementary cutting stage is triggered.

[0232] (2) Dense grass cutting

[0233] In addition to raising the cutterhead during dense grass cutting, other preemptive measures can be taken, such as slowing down or reversing. Slowing down can be done in stages, while raising the cutterhead can be done in stages. Allow for a certain amount of response time after taking these measures during dense grass cutting.

[0234] (3) Re-cutting of dense grass

[0235] Due to the lifting of the cutter disc, after the raised cutter disc passes through the dense grass area, if the height of the cutter disc after lifting is significantly different from the expected height (such as the height set by the user), the dense grass needs to be cut to the expected height. The methods of re-cutting include: immediate re-cutting, re-cutting after completing the current path, re-cutting after completing the local area, and re-cutting after the overall completion.

[0236] It is understandable that when the raised cutter disc passes through a dense grass area, if the height of the raised cutter disc is not much different from the expected height (such as the height set by the user), the user's cutting needs are met by default. At this time, there is no need to make up the cut and you can continue working.

[0237] 12 is a schematic diagram showing a specific process of the control method of the self-moving device provided in this embodiment, which includes the following steps:

[0238] Step S1202: tracking and monitoring the cutter head speed;

[0239] Step S1202: determining whether the cutter head rotation speed is less than a first threshold;

[0240] The first threshold value may be set to, for example, 90% of the no-load speed or the normal operating speed.

[0241] The purpose of step S1202 is to determine whether there is overload so as to take measures to deal with dense grass to deal with overload.

[0242] If yes, then execute step S1206: reduce vehicle speed; if no, then execute step S1206: normal speed tracking;

[0243] Among them, the purpose of reducing the vehicle speed is to reduce resistance to restore the cutter disc speed; considering that it takes a certain time to restore the cutter disc speed and to prevent grass from being worn, a time is given after reducing the vehicle speed to the target speed (continuously for 2 seconds).

[0244] It should be noted that the method of reducing the vehicle speed can refer to the previous article, such as using a PID control system to dynamically control the vehicle speed; until it is reduced to the minimum speed to cope with overload.

[0245] Step S1210: Determine whether the cutter head speed is restored within 2 seconds

[0246] If so, it indicates that the deceleration measure can cope with the overload situation, and the bow tracking is continued to determine whether the bow tracking is completed, that is, whether it can run to the end point of the current bow path;

[0247] If not, it means that the deceleration (reduction to the minimum vehicle speed) measure is not able to cope with the overload situation, and the retreat measure is taken to cope with it;

[0248] Step S1212: Back off a distance d, then forward.

[0249] The retreat distance cannot be set too large, otherwise it will not meet safety regulations. The retreat distance is preferably the distance of the cutting to reduce resistance, thereby restoring the cutter head speed and continuing to move forward; in some embodiments, the retreat distance is set to 20 cm.

[0250] Step S1214: Determine whether the forward distance is greater than the backward distance d;

[0251] The purpose of step S1214 is to determine whether the dense grass can be cut after the retreat measure; determining whether the dense grass can be cut can also be achieved by comparing the position of the machine's last retreat with the current position, which will not be repeated here.

[0252] If yes, continue the bow character tracking and determine whether the bow character tracking is completed.

[0253] If not, it means that the retreat measure cannot cope with the overload; at this time, the cutter head can be lifted to reduce the resistance and restore the cutter head speed.

[0254] Step S1216: Raise the cutter head. The result of raising the cutter head is verified in step S1218.

[0255] Among them, the cutter head is raised in a step-by-step manner, for example, the corresponding height is raised according to the current height, or the relationship between the current height and the user-set height, until the maximum height of the cutter head is adjusted to cope with it.

[0256] Here you can lift the cutter head height under the premise of stopping the machine and the cutter head, and then start the cutter head after lifting.

[0257] Step S1218: determining whether the cutter head rotation speed meets a second threshold;

[0258] The second threshold value is set to a value of a sudden change in the cutter disc speed, for example, it is set to a value close to the no-load speed or the normal working speed. The closeness can be represented by a percentage, for example, the second threshold value is set to 90% of the no-load speed or the normal working speed.

[0259] If yes, continue tracking;

[0260] If not, it indicates that raising the cutter head (to the maximum height) is not enough to deal with the overload situation, and step S1220 is executed: the dense grass in front of the machine is marked, the current position is disengaged, and a new bow starting point is recalculated. In other words, the marking and re-planning of the path are adopted to continue the work.

[0261] Step S1222: Determine whether the tracking of the bow character is completed.

[0262] If yes, then step S1224 is executed: whether re-cutting is required. If no, then step S1240 is executed: whether there is an abnormality.

[0263] One way to determine whether supplementary cutting is needed is to determine whether the current cutter head height and the user-set height are within an error range, where the error is set to 6 mm, for example.

[0264] If not, execute step S1228: lower the cutter head height to the user-set value and start the next bow; if yes, execute step S1226: lower the cutter head height to the user-set value and perform supplementary cutting.

[0265] It should be noted that before the cutter head height is lowered to the user-set value, the machine is controlled to stop, that is, the cutter head is lowered under the premise of stopping the machine.

[0266] Since the bow path is completed, it turns 180 degrees (turns around on the spot) to continue cutting the current bow; in order to improve efficiency, it is only repeated once. Therefore, when supplementing the cutting, step S1230 needs to be executed: determine whether the current bow needs to be cut again;

[0267] If so, execute step S1234: mark the current bow character and wait for the last re-cut; execute step S1238; start the next bow character and continue working.

[0268] If not, execute step S1232: turn around on the spot and continue cutting the current bow character.

[0269] It should be noted that when determining whether the bow tracking is complete, if the bow tracking is not completed, it may be due to an abnormality, so it is necessary to perform the judgment in step S1240. If there is an abnormality, it is handled, such as collision, stall, slip, low battery, drag, etc. The cutter head is then lowered to the user-set height and a new bow is generated for cutting.

[0270] As shown in FIG1 , the self-propelled mowing device 1 in the embodiment of the present disclosure can move autonomously within a working area 2 to automatically perform mowing tasks. 2 , the self-propelled mowing device 1 may include a controller 10, a sensor 11, a cutting assembly (e.g., a blade disc 12), a height adjustment mechanism 13, a drive motor 14, a traveling device 15, and a power supply device 16. The sensor 11 is signal-connected to the blade disc 12 and the drive motor 14 for detecting loads such as the rotation speed of the blade disc 12 and the torque of the drive motor 14. The controller 10 is signal-connected to the sensor 11 and the height adjustment mechanism 13 for receiving load data detected by the sensor 11 and triggering the height adjustment mechanism 13 to adjust the height of the blade disc 12 relative to the ground. The height adjustment mechanism 13 is signal-connected to the blade disc 12 for raising or lowering the height of the blade disc 12 relative to the ground. The drive motor 14 is signal-connected to the blade disc 12 and the traveling device 15 for providing power for the rotation of the blade disc 12 and the movement of the traveling device 15. The power supply device 16 is used to provide the energy required for the controller 10, the sensor 11, the blade disc 12, the height adjustment mechanism 13, the drive motor 14, and the traveling device 15 to work. It is understandable that there may be dense grass areas within the working area 2, wherein the dense grass area refers to a working area where the load of the self-moving mowing device exceeds a pre-set load threshold because the density of the grass reaches a certain level and / or the height of the grass reaches a certain level. If the dense grass area is mowed according to the conventional working mode, when the height of the grass is higher than the cutter disc cutting height set by the user and / or the density of the grass reaches a certain level, the cutting load of the self-moving mowing device will exceed a pre-set load threshold, that is, an overload phenomenon will occur. In response to the above problem, the existing technical solution is: real-time detection of the cutter disc speed and torque, when a threshold is reached, the front area of ​​the self-moving mowing device is marked as a dense grass area, cutting is abandoned, and the cutting path is replanned. For example, referring to Figure 1, when the self-moving mowing device 1 works to the dense grass area 3, it will abandon cutting the dense grass area 3.

[0271] Therefore, the prior art needs to address the problem of how to cut dense grass areas to improve the coverage rate of dense grass areas. Based on this, as shown in Figure 3, this application proposes a work control method. It should be noted that although this disclosure provides method operation steps as shown in the following embodiments or figures, the execution order of steps that do not logically have a necessary causal relationship is not limited to the execution order provided in the embodiments of this disclosure.

[0272] Referring to FIG. 3 , an operation control method provided in an embodiment of the present application is shown. This method may be executed by an operation control device, which may be implemented using software and / or hardware. In this embodiment, the method is performed by a self-propelled mowing device including a cutterhead with adjustable height above the ground. The method provided in this embodiment includes:

[0273] Step S101: In response to entering the dense grass cutting mode, the height of the cutter disc above the ground is raised, and mowing is performed according to the raised height of the cutter disc above the ground; the height of the cutter disc above the ground represents the height of the cutter disc relative to the ground.

[0274] Specifically, in response to entering the dense grass cutting mode, the controller of the self-propelled mowing equipment triggers the height adjustment mechanism to raise the height of the cutter disc above the ground, controls the cutter disc to perform mowing operations according to the raised height above the ground, and lowers the height of the cutter disc above the ground to a pre-set expected cutting height for mowing operations.

[0275] In one embodiment, the expected cutting height may be a height value set by a user (hereinafter referred to as a user set value) to meet the user's cutting requirements.

[0276] Taking into account the inevitable vibration of the self-propelled mowing equipment during the cutting process, the influence of factors such as the blade disc can be set to passive lifting (also known as floating) to improve passability, and the recognition ability of the naked eye, there may be an error in the height. In one embodiment, the expected cutting height can take the error into account. For example, the expected cutting height can be the sum of the height value set by the user and the preset error. At this time, when the height of the blade disc above the ground and the height value set by the user are within the preset error, it can also be considered that the user's cutting needs are met. Among them, the preset error can be based on at least one of the above factors; for example, the preset error is based on the most influential factor, such as the maximum error among the errors generated by the above factors; for example, the preset error is determined based on one or several major factors, and this is not limited. In one embodiment, the preset error takes the naked eye recognition ability factor as the main consideration, for example, the preset error is set to 6mm.

[0277] Among them, the triggering conditions of the dense grass cutting mode can be set according to the corresponding working parameter information when the self-propelled mowing device performs mowing operations on dense grass areas in history, so that the self-propelled mowing device is triggered to enter the dense grass cutting mode when the triggering conditions are met.

[0278] In one embodiment, the triggering condition of the dense grass cutting mode may also be a preset working parameter condition, such as the rotational speed being less than a first preset rotational speed threshold, and / or the torque being greater than a preset torque, etc.

[0279] In one embodiment, the preset torque may be a preset torque or a preset torque interval. When the preset torque is a preset torque interval, the torque is greater than the preset torque, which can be understood as the torque being greater than any value in the torque interval. Among them, any value in the preset torque interval represents the torque of the self-moving mowing device when it is working normally. The torque of the self-moving mowing device when it is working normally may be the torque when the cutter disc is idling (the height of the cutter disc above the ground is higher than the height of the grass). In one embodiment, the torque of the self-moving mowing device when it is working normally may be the torque when the height of the cutter disc above the ground is the same as the height of the grass, and the self-moving mowing device is cutting the grass. In one embodiment, the torque of the self-moving mowing device when it is working normally may be the torque when the height of the cutter disc above the ground and the height of the grass meet the preset height difference condition, and the self-moving mowing device is cutting the grass.

[0280] Among them, the dense grass cutting mode is used to characterize the working mode of the self-moving mowing equipment in which the cutter disc is first raised to cut the dense grass area, and then lowered to cut. The way of raising the cutter disc can be a wheel-by-wheel method to achieve layered cutting of the dense grass area; it can also be a method of raising it to a preset height (such as the maximum height that can be raised) to avoid the need to adjust the height of the cutter disc above the ground multiple times, thereby improving the working efficiency of the self-moving mowing equipment and facilitating rapid passage through the dense grass area; similarly, the way of lowering the cutter disc can be to lower it to the expected cutting height (such as the height value set by the user) to meet the user's cutting needs for the dense grass area; it can also be a method of lowering it wheel by wheel to achieve layered cutting of the dense grass area, so as to gradually approach the user's dense grass cutting needs.

[0281] Therefore, in one embodiment, the dense grass cutting mode is used to represent an operating mode in which the self-propelled mowing device first raises the cutterhead to cut dense grass areas, and then gradually lowers the cutterhead to cut in layers. It is understood that as the grass height increases, the density at the corresponding height generally decreases. Therefore, after determining that the dense grass cutting mode has been entered, the self-propelled mowing device may raise the cutterhead's height above the ground and mow at the height of the raised cutterhead to reduce the amount of grass cut per cut, thereby reducing the cutting load.

[0282] In one embodiment, the dense grass cutting mode is used to represent an operating mode in which the self-propelled mowing device first raises the cutterhead wheel wheel by wheel to cut through dense grass in layers, thereby passing through the dense grass area; then lowers the cutterhead wheel to a user-set height to continue cutting. It is understood that as the grass height increases, the density at the corresponding height decreases. Therefore, after entering the dense grass cutting mode, the self-propelled mowing device may raise the cutterhead wheel's height above the ground gradually and perform mowing operations at the raised cutterhead wheel's height above the ground, thereby reducing the amount of grass cut per cut, thereby reducing the cutting load and enabling smooth passage through dense grass areas.

[0283] In one embodiment, the dense grass cutting mode is used to represent a working mode in which the self-propelled mowing device first raises the cutter disc wheel by wheel to cut the dense grass area in layers, and then lowers the cutter disc wheel by wheel to cut the dense grass area in layers.

[0284] In one embodiment, the dense grass cutting mode is used to represent an operating mode in which the self-propelled mowing device first raises the cutter disc to a preset height (e.g., a maximum height) to cut dense grass areas; then lowers the cutter disc to a desired cutting height (e.g., a user-set height) to cut dense grass areas. In one embodiment, raising the cutter disc above the ground and performing the mowing operation at the raised cutter disc above the ground includes:

[0285] Raise the cutter head to the preset height above the ground and perform mowing operations at the preset cutting height.

[0286] Specifically, the controller can trigger the height adjustment mechanism to raise the height of the cutter disc above the ground to a preset height, and then control the cutter disc to perform mowing operations according to the preset cutting height.

[0287] When entering dense grass cutting mode and needing to raise the cutterhead's height above the ground, the cutterhead can be directly raised to a preset height above the ground and mowing can be performed at the preset cutting height, thereby avoiding the need to adjust the cutterhead's height above the ground multiple times and improving the efficiency of the self-propelled mowing device. The preset height can be a pre-set fixed value. In one embodiment, the preset height represents the maximum height to which the cutterhead can be raised.

[0288] In addition, the preset height can also be set based on the height of the grass. In one embodiment, before raising the height of the blade disc above the ground to the preset height, it also includes: obtaining the height of the grass to be cut; and determining the preset height based on the height of the grass to be cut. The height of the grass to be cut can be obtained based on image processing, lidar and other technologies. In one embodiment, obtaining the height of the grass to be cut includes: obtaining an image of the grass to be cut taken by an image acquisition device; and analyzing the image to determine the height of the grass to be cut. The self-propelled mowing equipment can be provided with an image acquisition device such as a camera. After entering the dense grass cutting mode, the image acquisition device can be triggered to take a picture of the grass to be cut to obtain a corresponding image, and then the height of the grass to be cut can be determined by analyzing the image, so as to achieve rapid and accurate acquisition of the height of the grass to be cut.

[0289] In one embodiment, raising the height of the cutter disc above the ground and performing a mowing operation at the raised height of the cutter disc above the ground includes:

[0290] Raise the cutterhead to a preset height above the ground, and perform mowing operations at the raised height above the ground.

[0291] Specifically, the controller can trigger the height adjustment mechanism to raise the height of the cutter disc above the ground by a preset height value, and then control the cutter disc to perform mowing operations at the raised height above the ground. The preset height value can be a pre-set fixed value, such as 5 mm.

[0292] In one embodiment, determining the preset height according to the height of the grass to be cut includes:

[0293] Determining a target ground height that matches the height of the grass to be cut based on the different adjustable heights of the cutterhead; the target ground height being less than the height of the grass to be cut and the absolute value of the difference between the target ground height and the height of the grass to be cut being greater than a preset first height threshold and less than or equal to a preset second height threshold;

[0294] The target altitude above the ground is determined as the preset altitude.

[0295] It can be understood that the difference between the adjacent adjustable ground heights of the cutter disc can generally be considered to be a fixed value, such as 0.5 cm, 2 cm, etc. In order to ensure that the grass can be effectively cut when the cutter disc is raised to a preset height and mowing is performed according to the preset cutting height, a target ground height that is less than the height of the grass to be cut and whose absolute value of the difference with the height of the grass to be cut is greater than a preset first height threshold and less than or equal to a preset second height threshold can be selected from the different adjustable ground heights of the cutter disc to be determined as the preset height. Among them, the preset first height threshold and the preset second height threshold can be set according to the difference between the adjacent adjustable ground heights of the cutter disc, for example, when the difference between the adjacent adjustable ground heights of the cutter disc is a, the preset first height threshold can be set to a, and the preset second height threshold can be set to 2a. For example, assuming the cutterhead's adjustable heights above the ground include 45mm, 50mm, 55mm, and 60mm, and the first and second height thresholds are preset to 5mm and 10mm, and if the height of the grass to be cut is 56mm, the cutterhead's height above the ground of 50mm can be determined as the preset height. In this way, based on the different adjustable heights above the ground of the cutterhead and the height of the grass to be cut, the preset height to which the cutterhead should be raised is determined. This ensures that grass can be effectively cut when mowing at the raised cutterhead height, thereby improving the efficiency of the self-propelled mowing device.

[0296] Step S102: Detecting the working parameters of the self-propelled mowing device. If the cutting load represented by the working parameters is less than a first preset load and meets the preset conditions, control the self-propelled mowing device to turn to a preset angle and lower the height of the cutter head above the ground to perform mowing operations.

[0297] Specifically, the controller detects the working parameters of the self-moving mowing equipment in real time, irregularly or periodically through sensors, and determines whether the cutting load represented by the working parameters is less than a first preset load. If it is detected that the cutting load represented by the working parameters is less than the first preset load, the controller continues to determine whether the state in which the cutting load represented by the working parameters is less than the first preset load meets the preset conditions. When the state in which the cutting load represented by the working parameters is less than the first preset load meets the preset conditions, the controller controls the walking device to turn to a preset angle, that is, controls the self-moving mowing equipment to turn to a preset angle, and after the self-moving mowing equipment turns to the preset angle, lowers the height of the cutter disc above the ground to perform mowing operations, so as to cut the grass in layers.

[0298] It should be noted that the operating parameters of the self-propelled mowing device can be understood as the operating parameters corresponding to the cutter head of the self-propelled mowing device. The operating parameters include at least one of rotational speed and torque. The preset conditions can be set based on actual needs. In one embodiment, the state where the cutting load represented by the operating parameters is less than a first preset load satisfies the preset condition, and the state where the cutting load represented by the operating parameters is less than the first preset load can be satisfied for a duration greater than or equal to a preset duration.

[0299] In one embodiment, the state in which the cutting load represented by the working parameters is less than the first preset load satisfies the preset conditions, which may be that the state in which the cutting load represented by the working parameters is less than the first preset load lasts for a period greater than or equal to a preset period, and the distance traveled by the self-propelled mowing equipment in the corresponding state is greater than or equal to a preset distance threshold.

[0300] In one embodiment, the state in which the cutting load represented by the working parameters is less than the first preset load satisfies the preset condition, which may be that in the state in which the cutting load represented by the working parameters is less than the first preset load, the traveled distance of the self-propelled mowing equipment is greater than or equal to the preset distance threshold.

[0301] Among them, the preset time length and the preset distance threshold can be set according to actual needs, for example, the preset time length can be set to 3 seconds, and the preset distance threshold can be set to 0.5 meters.

[0302] Among them, if the cutting load characterized by the working parameter is less than the first preset load state that meets the preset conditions, it means that the self-moving mowing device may have traveled out of the dense grass area. Therefore, at this time, the self-moving mowing device can be controlled to turn to a preset angle and lower the height of the cutter disc to the ground to perform mowing operations on the dense grass area again (called re-cutting). It should be noted that the preset angle is an angle that can ensure that the self-moving mowing device completes the turn, which can be greater than 90 degrees and less than or equal to 180 degrees. In one embodiment, the preset angle is 180 degrees to improve the working efficiency of the self-moving mowing device. In addition, when the height of the cutter disc is lowered for mowing operations, the height of the cutter disc can be lowered to the preset minimum height value after each turn of the self-moving mowing device according to the preset minimum height value that the cutter disc can adjust. In one embodiment, when the height of the cutter disc is lowered for mowing operations, the height of the cutter disc can be lowered to the user-set height value after each turn of the self-moving mowing device according to the height value set by the user.

[0303] In one embodiment, if the state in which the cutting load represented by the working parameters is less than the first preset load satisfies the preset conditions, the self-moving mowing device is controlled to turn to a preset angle, including: if the state in which the cutting load represented by the working parameters is less than the first preset load lasts for a period greater than or equal to the preset period, and the distance traveled by the self-moving mowing device in the corresponding state is greater than or equal to a preset distance threshold, the self-moving mowing device is controlled to turn to a preset angle.

[0304] When the cutting load represented by the operating parameters is less than a first preset load, the cutting height of the self-propelled mower in the current working area can be reduced, that is, the height of the cutter disc above the ground can be lowered. However, when the cutter disc is raised to a height above the grass and the self-propelled mower is cutting at this height, if the self-propelled mower only determines that a turn is necessary when the cutting load represented by the operating parameters is less than the first preset load, the self-propelled mower may immediately turn upon entering a dense grass area, affecting the user experience.

[0305] The reason is that when the height of the cutter disc is higher than the grass, a light load phenomenon will occur, that is, the cutting load represented by the working parameters is less than the first preset load, and based on the light load, it is impossible to determine whether the dense grass area has been completed.

[0306] It is understandable that from the perspective of work efficiency and user experience, users hope that the self-mobile mowing device can cut a path in the dense grass area in one pass along the path, that is, to complete the dense grass area. Therefore, in this embodiment, the need to turn is determined based on the distance or time the self-mobile mowing device moves forward, combined with the duration of the load state. For example, the following is an example of a preset time length of 3s, a preset distance threshold of 1m, and a height of the cutter disc above the ground higher than the height of the grass. Referring to Figure 4(a), if the length of the dense grass area 3 is 1 meter, then when the cutting load represented by the working parameters of the self-mobile mowing device 1 is less than the first preset load for at least 3s and at least 1m has been traveled in the corresponding state, the self-mobile mowing device 1 can be controlled to turn, so that the self-mobile mowing device 1 can turn after just cutting the dense grass area 3 once. Referring to FIG4(b), if the length of the dense grass area 3 is 0.8 meters, then when the cutting load represented by the operating parameters of the self-mobile mowing device 1 is less than the first preset load for at least 3 seconds and the self-mobile mowing device 1 has traveled at least 1 meter in this state, the self-mobile mowing device 1 can be controlled to turn, so that the self-mobile mowing device 1 turns after cutting the dense grass area once and exceeding a certain distance. Referring to FIG4(c), if the length of the dense grass area 3 is 1.5 meters, if the cutting load represented by the operating parameters of the self-mobile mowing device 1 is less than the first preset load for at least 3 seconds and the self-mobile mowing device 1 has traveled at least 1 meter in this state, the self-mobile mowing device 1 can be controlled to turn, so that the self-mobile mowing device 1 turns before completing cutting the dense grass area. Here, continuing to refer to Figure 4(c), if the height of the cutter disc above the ground is lower than the height of the grass, although the self-mobile mowing device 1 has traveled 1 meter, the cutting load represented by the working parameters of the self-mobile mowing device 1 is less than the first preset load for less than 3 seconds, then it is determined that the self-mobile mowing device 1 has not yet left the dense grass area 3, and the self-mobile mowing device 1 will be controlled to continue moving forward until the cutting load represented by the working parameters is less than the first preset load for at least 3 seconds and it has traveled at least 1 meter in the corresponding state.

[0307] Step S103: when it is detected that the height of the cutter disc above the ground is equal to the preset expected cutting height, the dense grass cutting mode is exited.

[0308] It can be understood that when it is detected that the height of the blade disc above the ground is equal to the pre-set expected cutting height, it means that it is only necessary to perform mowing operations on the dense grass area again according to the height of the blade disc above the ground. The height of the grass in the dense grass area will be cut to the expected cutting height, and the dense grass cutting mode can be exited at this time.

[0309] In summary, in the method provided in the above embodiment, after entering the dense grass cutting mode, the height of the cutter disc above the ground is adaptively adjusted according to the working parameters of the self-moving mowing equipment, and then the self-moving mowing equipment is controlled to mow the dense grass area according to the adjusted height of the cutter disc above the ground. The dense grass area can be effectively cut without missing any areas and without manual operation, thereby improving the processing coverage rate of the dense grass area.

[0310] In one embodiment, the cutting load characterized by the working parameters is less than the first preset load, including: the rotational speed is greater than the first preset rotational speed threshold, and / or the torque is less than the preset torque. The first preset rotational speed threshold and the preset torque can be set according to actual needs. For example, the first preset rotational speed threshold can be set to 90% of the normal rotational speed, and the preset torque can be set to 80, etc. In one embodiment, the normal rotational speed can be the rotational speed of the cutter disc when it is idling (the height of the cutter disc above the ground is higher than the height of the grass). In one embodiment, the normal rotational speed can be the rotational speed of the cutter disc when the self-moving mowing device is cutting the grass when the height of the cutter disc above the ground is the same as the height of the grass. In one embodiment, the normal rotational speed can be the rotational speed of the cutter disc when the self-moving mowing device is cutting the grass when the height of the cutter disc above the ground and the height of the grass meet the preset height difference condition.

[0311] In one embodiment, after raising the height of the cutter disc above the ground and performing mowing at the raised height of the cutter disc above the ground, the method further comprises:

[0312] Detecting the working parameters of self-propelled mowing equipment;

[0313] When the cutting load represented by the working parameter is less than the first preset load for a duration less than the preset duration, if the height of the cutter disc above the ground is not the highest height of the cutter disc above the ground, controlling the height of the cutter disc above the ground to be raised;

[0314] Repeat the above steps, and when the cutting load represented by the working parameter after the cutter disc is raised is greater than or equal to the first preset load, mowing operation is performed according to the height of the cutter disc above the ground after the cutter disc is raised.

[0315] Among them, after raising the height of the cutter disc above the ground and mowing according to the raised height of the cutter disc above the ground, the working parameters of the self-moving mowing equipment can be detected in real time or at irregular intervals. When the cutting load represented by the working parameters is less than the first preset load for a duration less than the preset duration, it means that based on the current height of the cutter disc above the ground, the cutting load of the self-moving mowing equipment is still large at this time. If the current height of the cutter disc above the ground is not the highest height of the cutter disc above the ground, the height of the cutter disc above the ground is controlled to be raised, and after raising the height of the cutter disc above the ground, the working parameters of the self-moving mowing equipment are continued to be detected; if the cutting load represented by the working parameters is less than the first preset load for a duration less than the preset duration after the cutter disc is raised, the height of the cutter disc above the ground is continued to be controlled to be raised, that is, the above steps are repeated; if the cutting load represented by the working parameters is greater than or equal to the first preset load after the cutter disc is raised, it means that the self-moving mowing equipment can cut the grass normally at this time, that is, the cutting load of the self-moving mowing equipment is normal, and mowing operations are performed according to the raised height of the cutter disc above the ground.

[0316] Here, the cutting load represented by the operating parameters is greater than or equal to a first preset load, including: the rotational speed is less than a first preset rotational speed threshold, and / or the torque is greater than a preset torque. In this manner, the height of the cutterhead above the ground is gradually raised based on the cutting load represented by the operating parameters of the self-propelled mowing device, thereby improving the operating efficiency of the self-propelled mowing device.

[0317] In one embodiment, after lowering the height of the cutter disc above the ground to perform mowing operations, the method further includes:

[0318] detecting operating parameters of the self-propelled mowing device when it is detected that the height of the cutter disc above the ground is higher than the expected cutting height;

[0319] If the cutting load represented by the working parameter is less than the first preset load for a duration less than the preset duration, the self-moving mowing device is controlled to turn to a preset angle and lower the height of the cutter disc above the ground to perform mowing operations.

[0320] Among them, when the self-moving mowing device is mowing with the lowered height of the cutter disc above the ground, and the height of the cutter disc above the ground is higher than the expected cutting height, the working parameters of the self-moving mowing device can be detected in real time or irregularly. If the cutting load represented by the working parameters is less than the first preset load and the duration is less than the preset time, it means that the self-moving mowing device may have driven out of the dense grass area at this time, then the self-moving mowing device is controlled to turn to the preset angle and lower the height of the cutter disc above the ground to perform mowing operations according to the lowered height of the cutter disc above the ground. It should be noted that, based on the different preset angles, after the self-moving mowing device is controlled to turn to the preset angle, the working path of the self-moving mowing device may be the same as the previous working path, or it may partially overlap with the previous working path. In this way, the dense grass area can be effectively cut, and the cutting efficiency of the dense grass area is improved.

[0321] In one embodiment, the method further comprises:

[0322] In the dense grass cutting mode, when the cutting load represented by the working parameter is less than the first preset load for a duration less than the preset duration, the dense grass cutting mode is exited.

[0323] It can be understood that when the cutting load represented by the working parameters is less than the first preset load and the duration is less than the preset time, it means that the self-propelled mowing equipment may have completed the cutting operation of the dense grass area, and the dense grass cutting mode can be exited so that the self-propelled mowing equipment can cut the working area in normal mode.

[0324] In one embodiment, in the dense grass cutting mode, when the cutting load represented by the working parameter is less than the first preset load for a duration less than the preset duration, after exiting the dense grass cutting mode, the method further includes:

[0325] replanning a working path in the working area based on the position of the self-propelled mowing device in the working area;

[0326] The self-propelled mowing device is controlled to leave the dense grass area according to the working path; wherein the working path is used to control the movement and / or operation of the self-propelled mowing device in the non-dense grass area.

[0327] Among them, after exiting the dense grass cutting mode, it means that the cutting of the current dense grass area in the working area has been completed. Based on the position of the self-moving mowing equipment in the working area, the working path of the working area is re-planned, and the self-moving mowing equipment is controlled to leave the current dense grass area according to the working path, and then the self-moving mowing equipment is controlled to move and / or work in the non-dense grass area according to the working path, thereby realizing rapid cutting of the working area and further improving work efficiency.

[0328] In one embodiment, before entering the dense grass cutting mode, the method further includes:

[0329] When the cutting load represented by the working parameter is greater than a first preset load, the self-propelled mowing equipment is controlled to reduce a travel speed.

[0330] The cutting load represented by the operating parameters being greater than a first preset load includes: a rotational speed being less than a first preset rotational speed threshold, and / or a torque being greater than a preset torque. When the cutting load represented by the operating parameters is greater than the first preset load, it indicates that the cutting load of the self-propelled mowing device may be heavy. To ensure that the self-propelled mowing device can cut the grass as cleanly as possible, the self-propelled mowing device may be controlled to reduce its speed, for example, to 80% of its normal speed.

[0331] In one embodiment, before entering the dense grass cutting mode, the method further includes:

[0332] When the cutting load represented by the working parameter is greater than the second preset load, the dense grass cutting mode is entered; wherein the second preset load is greater than the first preset load.

[0333] The operating parameters include the rotational speed; the cutting load represented by the operating parameters is greater than the second preset load, including: the rotational speed is less than the second preset rotational speed threshold. Here, the second preset rotational speed threshold is less than the first preset rotational speed threshold. It can be understood that when the cutting load represented by the operating parameters is greater than the second preset load, and the second preset load is greater than the first preset load, it means that the cutting load of the self-propelled mowing device is large at this time, and the self-propelled mowing device cannot cut the grass cleanly or the cutting speed is slow after reducing the driving speed, which triggers the self-propelled mowing device to enter the dense grass cutting mode to perform layered cutting in the dense grass area.

[0334] In one embodiment, before or after entering the dense grass cutting mode, the method further comprises:

[0335] When the cutting load represented by the working parameter is greater than the third preset load and the cutting load is less than the second preset load, controlling the self-propelled mowing device to stop and wait;

[0336] When the cutting load represented by the working parameter is less than or equal to the third preset load, the self-propelled mowing device is controlled to continue the mowing operation.

[0337] The cutting load represented by the working parameters is greater than the third preset load, and the cutting load is less than the second preset load, and the rotational speed may be less than the third preset rotational speed threshold and greater than the second preset rotational speed threshold. When the cutting load represented by the working parameters is greater than the third preset load, and the cutting load is less than the second preset load, it indicates that the rotational speed of the cutter disc is low at this time, and the self-propelled mowing device can be controlled to stop and wait for the rotational speed of the cutter disc to return to normal. And when the cutting load represented by the working parameters is less than or equal to the third preset load, that is, the rotational speed is greater than or equal to the third preset rotational speed threshold, it indicates that the rotational speed of the cutter disc has recovered at this time, and the self-propelled mowing device can be controlled to continue the mowing operation. In this way, the self-propelled mowing device is controlled accordingly according to the cutting load represented by the working parameters, so as to maximize the working efficiency of the self-propelled mowing device while protecting the self-propelled mowing device.

[0338] In one embodiment, when it is detected that the height of the cutter disc above the ground is equal to a preset expected cutting height, after exiting the dense grass cutting mode, the method further includes:

[0339] Planning a working path for an unoperated area in the working area based on the position of the self-propelled mowing device in the working area;

[0340] The self-propelled mowing device is controlled to move and / or work in a work area according to a work path.

[0341] Among them, after exiting the dense grass cutting mode, it means that the cutting of the current dense grass area has been completed. Based on the position of the self-moving mowing equipment in the working area, a working path is planned for the non-operated area in the working area, and the self-moving mowing equipment is controlled to move and / or work in the working area according to the working path, thereby realizing rapid cutting of the non-operated area in the working area and further improving work efficiency.

[0342] In one embodiment, the operating parameter includes a motor temperature; and the method further includes:

[0343] When the motor temperature is greater than a preset temperature threshold, replanning a working path of the working area based on the position of the self-propelled mowing device in the working area;

[0344] The self-propelled mowing device is controlled to leave the dense grass area according to the working path; wherein the working path is used to control the movement and / or operation of the self-propelled mowing device in the non-dense grass area.

[0345] When the motor temperature exceeds a preset temperature threshold, indicating that the cutterhead is overheating, the system can re-plan its working path based on the position of the self-propelled mower within the work area to protect the cutterhead. The system can then control the self-propelled mower to move away from dense grass areas according to the working path, thereby controlling its movement and / or operation in areas with less dense grass. This effectively extends the life of the self-propelled mower.

[0346] Based on the same inventive concept as the above embodiments, the above embodiments are described in detail below through a specific example. In this example, the self-propelled mowing device is an automatic mower.

[0347] The job control method provided in this example mainly includes the following three processes:

[0348] (1) Dense grass perception

[0349] The automatic lawn mower uses a bow-shaped path to fully cover the working area and detects the working parameters of the automatic lawn mower in real time, such as the rotation speed of the cutter disc and the torque of the cutting motor, as detection conditions for dense grass triggering. When it is detected that the working parameter value (also called the dense grass detection value) meets the first threshold condition (for example, the torque is greater than the first torque threshold, and / or the rotation speed is less than the first rotation speed threshold), the dense grass speed reduction cutting stage is triggered. During the dense grass speed reduction cutting stage, if it is detected that the working parameter value meets the second threshold condition (for example, the torque is greater than the second torque threshold, and the rotation speed is less than the second rotation speed threshold), the dense grass layered cutting stage is triggered.

[0350] When it is detected that the operating parameter value meets the first threshold condition, the drive wheel speed can be controlled to slow down to achieve reduced-speed cutting. During the reduced-speed cutting process, if it is detected that the operating parameter value does not meet the first threshold (for example, the torque is less than or equal to the first torque threshold, and the speed is greater than or equal to the first speed threshold), the drive wheel speed will be restored to normal; if it is detected that the operating parameter value meets the second threshold condition, the layered dense grass cutting logic can be triggered.

[0351] Where the speed is less than the first speed threshold, it can mean that the cutter head speed is less than 90% of the normal speed. Where the torque is greater than the first torque threshold, it can mean that the torque is greater than 80. If either of the two thresholds reaches the corresponding threshold, dynamic speed reduction processing is performed (the minimum speed can be reduced to 70% of the normal speed). Where the operating parameter value satisfies the second threshold, it can mean that the cutter head speed is less than 55% of the normal speed.

[0352] (2) Dense grass cutting

[0353] 1. Dense grass speed reduction cutting stage

[0354] When the grass density detection value meets the first threshold, the system enters the reduced-speed cutting phase, reducing the drive wheel speed by 20%. If the cutter motor overheats during this cutting process, the machine can be stopped and waited. If the grass density detection value does not meet the first threshold during reduced-speed cutting, the drive wheel speed can be restored to normal. If the grass density detection value meets the second threshold, the system enters the dense-grass layered cutting phase.

[0355] 2. Dense grass layer cutting stage

[0356] After entering the dense grass layered cutting stage, first control the automatic lawn mower to stop, and lift the cutter disc to the highest gear (that is, the maximum height that the cutter disc can be lifted), and then start the cutter disc to reduce the speed of cutting. At the same time, the dense grass detection value is detected in real time. If the dense grass detection value does not meet the second threshold condition, and it is judged that the distance traveled after entering the dense grass layered cutting stage is greater than 1m, then stop, turn 180 degrees, lower the cutter disc (the minimum accuracy that the cutter disc can be lowered is 5mm), and start the cutter disc again for reciprocating cutting until the current cutter disc height is the cutter disc height set by the user, and then resume normal cutting. If the dense grass detection value meets the second threshold condition during the dense grass layered cutting stage, then exit the dense grass cutting mode.

[0357] Furthermore, during the cutting process (including dense grass cutting and reduced speed cutting), if the cutter disc speed is detected to be less than 60% of the normal speed, the robot will stop and wait for the cutter disc speed to recover before continuing cutting. Furthermore, if the cutter disc is detected to be overheated (0-100% of the acceptable temperature threshold), for example, greater than 80% of the temperature threshold, the robot will initiate an escape process, i.e., re-plan the path and exit the current dense grass area.

[0358] 7, which is a schematic diagram of the specific process of the job control method provided in this embodiment, including the following steps:

[0359] Step S201: Cut according to normal bow character.

[0360] Step S202: When dense grass is detected, the cutting speed is reduced by 20%.

[0361] Here, detecting dense grass may be detecting that a torque is greater than a first torque threshold, and / or that a rotation speed of the cutter disc is less than a first rotation speed threshold.

[0362] Step S203: Detect that the rotation speed of the cutter disc is lower than 60%, and stop to wait for the rotation speed to recover.

[0363] Step S204: Detecting that the rotation speed of the cutter disc is lower than 55%, entering the dense grass cutting mode.

[0364] Here, when it is detected that the rotation speed of the cutter disc is lower than 55%, the dense grass cutting mode is entered to perform dense grass layered cutting.

[0365] Step S205: Raise the cutter head to the highest gear.

[0366] Step S206: monitor the rotation speed of the cutter disc in real time.

[0367] Step S207: If it is detected that the rotation speed is greater than 55% for a duration greater than 3 seconds and the moving distance is greater than 1 meter, the cutter head is turned and lowered.

[0368] Specifically, when it is detected that the rotation speed of the cutter disc is greater than 55% for a duration greater than 3 seconds and the moving distance of the automatic lawn mower in this state is greater than 1 meter, it turns 180 degrees and lowers the height of the cutter disc above the ground.

[0369] Step S208: Determine whether the height of the cutter head above the ground is the expected cutting height. If so, execute step S20; otherwise, execute step S206.

[0370] Step S209: exit the dense grass cutting mode.

[0371] In summary, in the method provided by the above embodiment, the actual rotation speed and torque of the cutter disc are detected in real time as the detection conditions for dense grass triggering (i.e., detecting the load), but when it is detected that the actual value of the load meets the first threshold condition, the drive wheel is slowed down for cutting. During the process of slowing down and cutting, if the actual value of the detected load does not meet the first threshold condition, the normal drive wheel speed is restored; if the actual value of the detected load meets the second threshold condition (the load corresponding to the second threshold condition is greater than the load corresponding to the first threshold condition), the layered dense grass cutting logic is triggered (i.e., the cutter disc is lifted and the dense grass area is cut in layers in sequence), ensuring that the automatic lawn mower can effectively cut the dense grass area without missing grass, that is, it can effectively cut the grass that was missed due to dense grass, thereby improving the processing coverage rate of the dense grass area and reducing the cost of mowing operations.

[0372] Based on the same inventive concept as the aforementioned embodiment, an embodiment of the present invention provides a self-propelled lawn mowing device. As shown in FIG8 , the self-propelled lawn mowing device includes: a processor 310 and a memory 311 storing a computer program. The processor 310 illustrated in FIG8 does not indicate that there is one processor 310, but rather indicates the positional relationship of the processor 310 relative to other components. In actual applications, there may be one or more processors 310. Similarly, the memory 311 illustrated in FIG8 has the same meaning, indicating the positional relationship of the memory 311 relative to other components. In actual applications, there may be one or more memories 311. When the processor 310 executes the computer program, the operation control method applied to the aforementioned self-propelled lawn mowing device is implemented.

[0373] The self-propelled lawn mowing device may also include at least one network interface 312. The various components of the self-propelled lawn mowing device are coupled together via a bus system 313. It will be appreciated that bus system 313 is used to enable communication between these components. In addition to a data bus, bus system 313 also includes a power bus, a control bus, and a status signal bus. However, for clarity, in FIG8 , all of these buses are labeled as bus system 313.

[0374] Memory 311 may be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. Non-volatile memory may include read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), ferromagnetic random access memory (FRAM), flash memory, magnetic surface memory, optical disk, or compact disc read-only memory (CD-ROM); magnetic surface memory may include magnetic disk memory or magnetic tape memory. Volatile memory may include 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), synchronous static random access memory (SSRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct rambus random access memory (DRRAM).The memory 311 described in the embodiments of the present invention is intended to include, but is not limited to, these and any other suitable types of memories.

[0375] The memory 311 in the embodiment of the present invention is used to store various types of data to support the operation of the self-moving lawn mowing device. Examples of such data include: any computer program used to operate on the self-moving lawn mowing device, such as an operating system and an application; contact data; phone book data; messages; pictures; videos, etc. Among them, the operating system includes various system programs, such as a framework layer, a core library layer, a driver layer, etc., which are used to implement various basic services and process hardware-based tasks. The application program can include various application programs, such as a media player (Media Player), a browser (Browser), etc., which are used to implement various application services. Here, the program that implements the method of the embodiment of the present invention can be included in the application program.

[0376] In addition, the self-propelled mowing device further comprises a mowing component and an adjusting component for adjusting the height of the mowing component above the ground; the processor is used to control the mowing component and the adjusting component.

[0377] Based on the same inventive concept as the aforementioned embodiment, this embodiment further provides a computer storage medium storing a computer program. The computer storage medium may be a memory device such as a ferromagnetic random access memory (FRAM), 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), a flash memory, a magnetic surface mount device, an optical disc, or a compact disc read-only memory (CD-ROM). Alternatively, the computer storage medium may be a device including one or any combination of the aforementioned memories, such as a mobile phone, a computer, a tablet device, a personal digital assistant, etc. When the computer program stored in the computer storage medium is executed by a processor, the computer program implements the operation control method applied to the aforementioned self-propelled mowing device. For the specific steps implemented when the computer program is executed by the processor, please refer to the description of the embodiment shown in FIG. 2 , which will not be repeated here.

[0378] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0379] As used herein, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion of elements other than the listed elements and may also include additional elements not specifically listed.

[0380] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A control method for a self - moving mowing device, wherein, The method includes: Obtaining the load information of the cutting motor; In response to the load information satisfying a first preset condition, raising the ground height of the cutter head; the first preset condition indicates that the self-propelled mowing device enters an overload area; Controlling the self-propelled mowing device to continue mowing operations at the raised cutter head height; In response to the load information satisfying a second preset condition, lowering the ground height of the cutter head and controlling the moving component to turn by a preset angle; Controlling the self-propelled mowing device to mow a first path at the lowered cutter head height; wherein, the first path refers to the path that the self-propelled mowing device has moved through at the raised cutter head height.

2. The method according to claim 1, wherein, The second preset condition at least includes a condition indicating that the self-propelled mowing device passes through the overload area.

3. The method according to any one of claims 1-2, wherein Indicating that the mowing device passes through the overload area includes one of the following: (1) The load is less than a first preset load; (2) The load is less than a first preset load, and the continuous operation duration of the load being less than the first preset load meets a preset time; Or, the load is less than a first preset load, and the continuous operation distance of the state where the load is less than the first preset load meets a preset length; or, the load is less than a first preset load, and the continuous operation duration of the state where the load is less than the first preset load meets a preset duration and the operation distance of the load being less than the first preset load meets a preset distance; (3) The self-propelled device moves to the end point of the target path.

4. The method according to any one of claims 1 to 3, wherein, The target path refers to a path with the boundary of the working area as the end point.

5. The method according to any one of claims 1-4, wherein The preset angle is 180 degrees or 90 degrees.

6. The method according to any one of claims 1-5, wherein Raising the ground height of the cutter head includes one of the following: (a) Controlling the cutter head to be raised to the maximum height; (b) Controlling the cutter head to be raised step by step according to a gradient raising rule; wherein the gradient raising rule includes a fixed height value raising rule and a non-fixed height value raising rule.

7. The method according to any one of claims 1-6, wherein, Controlling the cutter head to be raised step by step according to the gradient raising rule includes: Controlling the cutter head to be raised by a non-fixed height value.

8. The method according to any one of claims 1-7, wherein, Controlling the cutter head to be raised by a non-fixed height value includes: Determining the height value to be raised according to the current height of the cutter head, and / or according to the difference between the current height and the target height, and controlling the cutter head to be raised from the current height to the corresponding height according to the height value to be raised.

9. The method according to any one of claims 1-8, wherein, The height value to be raised is inversely related to the current height; or, the height value to be raised is positively related to the difference between the current height and the target height.

10. The method according to any one of claims 1-9, wherein, The method further includes: Judging whether the corresponding height after being raised according to the gradient raising rule is greater than the maximum height that the cutter head can be raised to, and if so, controlling the cutter head to be raised to the maximum height.

11. According to the method according to any one of claims 1-10, wherein, The method further includes: Judging whether the first path is a re-mowing path; wherein, the re-mowing path refers to a path where the self-propelled mowing device has mowed at least a part of the first path at the lowered cutter head height; If so, marking the first path for subsequent processing; If not, performing the step of controlling the mowing device to mow the first path at the lowered cutter head height.

12. The method according to any one of claims 1-11, wherein, In response to the load information satisfying the second preset condition, lowering the ground height of the cutter head includes: Judge whether the difference between the current cutter head height and the height set by the user meets the threshold condition. If so, control the self-propelled mowing device to lower the cutter head to the height set by the user and continue to work. If not, execute the step of controlling the self-propelled mowing device to mow the first path at the lowered cutter head height.

13. The method according to any one of claims 1-12, wherein, Before the step of raising the ground height of the cutter head, it further includes: taking at least one of the following pre-measures to try to pass through the overload area. A: Reduce the moving speed of the self-propelled mowing device. B: Control the self-propelled mowing device to retreat a preset distance or for a preset time.

14. The method according to any one of claims 1-13, wherein, When the mowing device takes the pre-measure B, the method further includes: After retreating a preset distance or for a preset time, control the self-propelled device to continue moving forward. Judge whether the forward distance is greater than the backward distance. If not, execute the step of raising the ground height of the cutter head.

15. The method according to any one of claims 1-14, wherein, Before raising the ground height of the cutter head, the method further includes: Control the cutter head to stop working and the mowing device to stop moving.

16. The method according to any one of claims 1-15, wherein The reducing the moving speed of the mowing device includes: Gradually reduce the moving speed of the mowing device according to a preset gradient speed reduction rule until the moving speed of the mowing device is reduced to the minimum speed.

17. The method according to any one of claims 1-16, wherein, The method further includes: In response to the load information meeting the third preset condition, control the mowing device to reduce the moving speed.

18. The method according to any one of claims 1-17, wherein, The method further includes: In response to the load information meeting the fourth preset condition, retreat a set distance d and then move forward.

19. The method according to any one of claims 1-18, wherein, Controlling the self-propelled mowing device to reduce the moving speed includes: controlling the self-propelled mowing device to reduce the moving speed according to a preset relationship between the moving speed of the self-propelled mowing device and the load.

20. A control method for a self - moving mowing device, wherein, The method includes: Obtain the load information of the cutting motor. In response to the load information meeting the first preset condition, control the cutter head to lift, where the first preset condition is to indicate that the self-propelled mowing device enters the overload area. Control the self-propelled mowing device to mow the overload area at the lifted cutter head height. In response to the load information meeting the second preset condition, judge whether the difference between the lowered cutter head height of the self-propelled mowing device and the height set by the user is within the threshold range; where the second preset condition is to indicate that the self-propelled mowing device passes through the overload area by lifting the cutter head. If so, control the self-propelled mowing device to lower the cutter head to the target height and continue to work at the lowered cutter head height.

21. The method according to claim 20, wherein, The method further includes: If not, control the mowing device to mow the overload area at the lowered cutter head height.

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