Parking control method and related device

Abstract

Provided is a parking control method, which can be applied to a mower comprising a cutting deck. The method comprises: obtaining a shutdown instruction and controlling the cutting deck to descend according to the shutdown instruction; and controlling the mower to shut down according to the shutdown instruction after the completion of the descent of the cutting deck. Before the mower is shut down, the cutting deck of the mower can be controlled to descend to abut against the ground, such that the cutting deck can be kept on the ground. In this way, on ground with complex terrain such as slopes and hills, the contact area between the mower and the ground can be increased, thereby increasing the friction between the mower and the ground and preventing the mower from sliding down a slope.

Description

Parking control method and related device

[0001] Cross-reference to related applications

[0002] The present application claims priority to the Chinese patent application No. 202410991105.1, filed on July 23, 2024, and entitled "Parking control method and related device", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0003] The present application relates to the lawn mower technical field, and particularly relates to a parking control method and related device. BACKGROUND

[0004] With the rapid development of social intelligence, people's demand for automatic maintenance of lawns is increasing, and manual lawn mowers cannot meet the requirements of high efficiency and strong controllability of the era. In this situation, intelligent lawn mowers are constantly being improved. At present, most intelligent lawn mowers use electric control wheels to complete forward, backward and turning movements during driving.

[0005] Although such intelligent lawn mowers can achieve full coverage and no mowing blind area on flat ground, when the motor of the wheel is powered off on complex terrain such as slopes and hills, the wheel can still roll freely, which can easily cause the lawn mower to slide down the slope and cause serious safety accidents. SUMMARY

[0006] To solve the above problems, the present application provides a parking control method and related device, which can realize safe parking of the lawn mower.

[0007] In a first aspect, a parking control method is provided, applied to a lawn mower including a cutterhead, the method comprising: obtaining a shutdown instruction, and controlling the cutterhead to descend according to the shutdown instruction; and after completing the descent of the cutterhead, controlling the lawn mower to shut down according to the shutdown instruction. The shutdown instruction is used to instruct the lawn mower to shut down.

[0008] In the above scheme, before the lawn mower is shut down, the cutterhead of the lawn mower is controlled to descend to resist the ground, so that the cutterhead can be stuck to the ground. In this way, on complex terrain such as slopes and hills, the contact area between the lawn mower and the ground can be increased, and the friction between the lawn mower and the ground can be increased, so as to prevent the lawn mower from sliding down the slope.

[0009] In some possible implementations, the mower includes a first motor. The first motor is configured to drive the cutting deck to rise or fall. The controlling the cutting deck to fall according to the shutdown instruction includes: controlling the first motor to drive the cutting deck to fall until the first motor is blocked or the cutting deck falls to a target position. The target position is configured to indicate a lowest position to which the cutting deck can fall.

[0010] In some possible implementations, the mower includes a wheel. After the cutting deck is controlled to fall, before the mower is controlled to shut down according to the shutdown instruction, the method further includes: controlling the wheel to enter a freely rotatable state. The freely rotatable state is configured to indicate a state in which the wheel is not restricted to rotate by the mower.

[0011] The controlling the mower to shut down according to the shutdown instruction includes: if the wheel is in the freely rotatable state and the mower is stationary, controlling the mower to shut down according to the shutdown instruction.

[0012] In some possible implementations, after the wheel is controlled to enter the freely rotatable state, the method further includes: monitoring whether the wheel rotates in the freely rotatable state. If the wheel does not rotate, it is determined that the mower is stationary.

[0013] In some possible implementations, the mower includes a second motor. The second motor is configured to drive the wheel to rotate. The controlling the wheel to enter the freely rotatable state includes: controlling the second motor to be powered off, so that the wheel is switched to the freely rotatable state.

[0014] In some possible implementations, the method further includes: if the wheel is in the freely rotatable state and the mower moves, monitoring whether the mower stops moving. In a case where the mower stops moving, the mower is controlled to shut down according to the shutdown instruction.

[0015] In some possible implementations, the method further includes: in a case where the mower does not stop moving, performing a reminding operation.

[0016] In some possible implementations, the mower includes a second motor. The second motor is configured to drive the wheel to rotate. The method further includes: if the wheel is in the freely rotatable state and the mower moves, controlling the second motor to output power to the wheel. Monitoring whether the power is a first value. In a case where the power is the first value, the mower is controlled to shut down according to the shutdown instruction.

[0017] In some possible implementations, the method further includes: if the wheel is in the freely rotatable state and the mower moves, controlling the cutting deck to rise.

[0018] In a second aspect, a parking control device is provided, comprising: an acquisition unit, a first control unit and a second control unit. The acquisition unit is configured to acquire a shutdown instruction, the shutdown instruction being configured to instruct a mower to shut down. The first control unit is configured to control the mower to lower a cutterhead according to the shutdown instruction. The second control unit is configured to control the mower to shut down according to the shutdown instruction after the first control unit completes the lowering of the cutterhead.

[0019] In some possible implementation manners, the first control unit is specifically configured to control the first motor of the mower to drive the cutterhead to lower until the first motor is locked or the cutterhead is lowered to a target position. The target position is configured to indicate a lowest position to which the cutterhead can be lowered.

[0020] In some possible implementation manners, the second control unit is further configured to control the wheels of the mower to enter a freely rotatable state after the first control unit completes the lowering of the cutterhead. The freely rotatable state is configured to indicate a state in which the wheels are not restricted to rotate by the mower. The second control unit is further configured to control the mower to shut down according to the shutdown instruction when the mower remains stationary while the wheels are in the freely rotatable state.

[0021] In some possible implementation manners, the second control unit is further configured to monitor whether the wheels rotate in the freely rotatable state after the wheels enter the freely rotatable state. The second control unit is further configured to determine that the mower remains stationary when the wheels do not rotate.

[0022] In some possible implementation manners, the second control unit is specifically configured to control the second motor of the mower to be powered off, so that the wheels are switched to the freely rotatable state. The second motor is configured to drive the wheels to rotate.

[0023] In some possible implementation manners, the second control unit is further configured to monitor whether the mower stops moving when the mower moves while the wheels are in the freely rotatable state. The second control unit is further configured to control the mower to shut down according to the shutdown instruction when the mower stops moving.

[0024] In some possible implementation manners, the second control unit is further configured to perform a reminding operation when the mower does not stop moving.

[0025] In some possible implementation manners, the second control unit is further configured to: control the second motor of the mower to output power to the wheels when the mower moves while the wheels are in the freely rotatable state; monitor whether the power is a first value; and control the mower to shut down according to the shutdown instruction when the power is the first value. The second motor is configured to drive the wheels to rotate.

[0026] In a third aspect, a controller is provided, comprising a processor and a memory storing instructions for execution by the processor, the processor configured to implement the method of any of the first aspect when executing the instructions.

[0027] In a fourth aspect, a mobile device is provided, comprising a controller configured to implement the method of any of the first aspect and a cutterhead.

[0028] In a fifth aspect, a computer program product is provided, comprising instructions which, when executed by a computing device, cause the computing device to perform the method of any of the first aspect.

[0029] In a sixth aspect, a computer-readable storage medium is provided, comprising computer program instructions which, when executed by a computing device, cause the computing device to perform the method of any of the first aspect. BRIEF DESCRIPTION OF DRAWINGS

[0030] FIG. 1 is a flow diagram of a method of parking control according to an embodiment of the present application;

[0031] FIG. 2 is a diagram of a scenario in which a cutterhead of a mower is pressed against the ground according to an embodiment of the present application;

[0032] FIG. 3 is a diagram of a parking control device according to an embodiment of the present application;

[0033] FIG. 4 is a diagram of a controller according to an embodiment of the present application. DETAILED DESCRIPTION

[0034] The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0035] To facilitate understanding of the embodiments of the present application, a mower related to the present application will first be introduced.

[0036] A lawn mower is a mechanical tool used for trimming lawns, vegetation, etc., such as a drum-type lawn mower, a rotary-type lawn mower, a wheel-type lawn mower, etc. The lawn mower is composed of a lawn mower motor, a circuit board, a cutterhead lifting motor, a cutterhead, wheels, a driving motor, etc. Among them, the driving motor is the power source of the lawn mower, which can be a hub motor. The driving motor provides power to the wheels to drive the lawn mower to run. The circuit board (including the driving board) is the control center of the lawn mower, which is used to send instructions to the cutterhead lifting motor, the driving motor and other electrical equipment, so that the cutterhead lifting motor, the driving motor and other electrical equipment operate according to the instructions. The circuit board is also used to receive signals from sensors on the lawn mower, monitor the state of the lawn mower, and perform corresponding control. The cutterhead lifting motor is used to drive the cutterhead to rise or fall, thereby determining the mowing height of the lawn mower. The cutterhead is a component on which blades are installed, which is used to realize the mowing operation. The wheels are the moving parts of the lawn mower, which are used to realize the movement of the lawn mower. Generally, the cutterhead is installed on the bottom of the lawn mower, and the lawn mower motor is used to drive the cutterhead to rotate to drive the blades on the cutterhead to rotate. When the blades rotate at high speed, the overgrown grass on the lawn can be cut off in a cutting manner, thereby completing the mowing task.

[0037] Compared with manual mowing, the lawn mower uses the high-speed rotation of the blades on the cutterhead to mow, so that the use of the lawn mower can improve the mowing efficiency, save the working time of the weeding workers, and also reduce a large amount of human resources. In addition, the use of the lawn mower can also reduce the seedling damage rate, improve the seedling cleaning rate, and make the lawn more tidy and beautiful. Therefore, the lawn mower is widely used in lawn maintenance in places such as families, parks, sports fields, etc.

[0038] Although the lawn mower can achieve full coverage and no mowing blind area on flat ground, on complex terrain such as slopes and hills, when the motor driving the wheels of the lawn mower is powered off, the wheels can still roll freely, so it is easy for the lawn mower to slide down the slope, causing serious safety accidents.

[0039] In order to solve the above problems, the embodiments of the present application provide a parking control method and related equipment, which can realize safe parking of the lawn mower.

[0040] Referring to FIG. 1, FIG. 1 is a flowchart of a parking control method provided by an embodiment of the present application. As shown in FIG. 1, the parking control method provided by the present application comprises:

[0041] S101: The lawn mower acquires a shutdown instruction.

[0042] The shutdown instruction is used to instruct the lawn mower to shut down.

[0043] In some possible application scenarios, the shutdown instruction can be generated by a user directly pressing a shutdown button on the mower or pressing a shutdown button on a remote controller of the mower. Alternatively, the shutdown instruction can be automatically generated by the mower when the mower needs to be automatically shut down due to insufficient power. Alternatively, the shutdown instruction can be generated by the user clicking "shutdown" through an application on a terminal device such as a personal computer, a smartphone, or a palm-held processing device. Therefore, the mower can receive the shutdown instruction or generate the shutdown instruction by itself.

[0044] S102: The mower controls the cutterhead to descend according to the shutdown instruction, so that the cutterhead abuts against the ground.

[0045] The cutterhead is a component in the mower for implementing the mowing operation.

[0046] In some possible implementation manners, the mower controls the cutterhead to descend according to the shutdown instruction, so that the cutterhead abuts against the ground, including: after the mower obtains the shutdown instruction, the mower controls a first motor in the mower to drive the cutterhead to descend until the first motor is locked or the cutterhead descends to a target position. The first motor is configured to drive the cutterhead to ascend or descend. The first motor can be the cutterhead lifting motor in the mower. The target position is configured to indicate a lowest height position to which the cutterhead can descend.

[0047] Specifically, after the mower obtains the shutdown instruction, the mower (for example, a circuit board in the mower) can generate a descending instruction for indicating the first motor to descend the cutterhead, and then send the descending instruction to the first motor. After the first motor receives the descending instruction, the first motor drives the cutterhead to descend.

[0048] If the cutterhead abuts against the ground during the descending process, it indicates that the cutterhead has not descended to the target position or has just descended to the target position, which causes the first motor to be locked. When the first motor is locked, the first motor should be stopped from driving the cutterhead to continue descending, so that the cutterhead is at a height position at which the cutterhead just abuts against the ground. Therefore, when the first motor is locked, the first motor generates a lock signal for indicating that the first motor is locked, and then sends the lock signal to the mower (for example, the circuit board in the mower). After the mower (for example, the circuit board in the mower) receives the lock signal, the mower generates a first stop instruction for indicating the first motor to stop running, and then sends the first stop instruction to the first motor. After the first motor receives the first stop instruction, the first motor stops running, so that the cutterhead stops descending. In this way, the mower completes the descending of the cutterhead.

[0049] Referring to FIG. 2, FIG. 2 is a schematic diagram of a scenario in which the cutter head of the lawn mower abuts against the ground. As shown in FIG. 2, when the lawn mower is on a slope, the lawn mower controls the cutter head to descend, so that the cutter head can abut against the ground. Compared with the case in which only the wheels of the lawn mower contact the ground, the wheels and the cutter head of the lawn mower contact the ground at the same time, which can increase the contact area between the lawn mower and the ground and increase the friction between the lawn mower and the ground, thereby preventing the lawn mower from sliding down the slope.

[0050] If the cutter head has descended to the target position and still does not abut against the ground, it indicates that the cutter head cannot abut against the ground, and the first motor cannot be controlled to continue to drive the cutter head to descend at this time. Therefore, when the cutter head descends to the target position, the first motor generates a first end signal for indicating that the descending of the cutter head is completed, and sends the first end signal to the lawn mower (e.g., a circuit board in the lawn mower). After receiving the first end signal, the lawn mower (e.g., the circuit board in the lawn mower) generates a first stop instruction for indicating that the first motor stops running, and sends the first stop instruction to the first motor. After receiving the first stop instruction, the first motor stops running, so that the cutter head stops descending. In this way, the lawn mower completes the descending of the cutter head.

[0051] S103: After completing the descending of the cutter head, the lawn mower controls the lawn mower to shut down according to the shutdown instruction.

[0052] In some possible implementation manners, after the lawn mower performs the step S102, the lawn mower controls the wheels to enter a freely rotatable state. That is, after completing the descending of the cutter head and before controlling the lawn mower to shut down according to the shutdown instruction, the lawn mower controls the wheels to enter the freely rotatable state. If the wheels are in the freely rotatable state and the lawn mower remains stationary, the lawn mower controls the lawn mower to shut down according to the shutdown instruction, that is, the lawn mower executes the shutdown instruction to make the lawn mower in a shutdown state. The freely rotatable state is used to indicate a state in which the wheels are not limited to rotate by the lawn mower.

[0053] In a specific implementation manner, the lawn mower controls the wheels to enter the freely rotatable state in the following manner: the lawn mower controls a second motor in the lawn mower to be powered off, so that the wheels are switched to the freely rotatable state. The second motor is used to drive the wheels to rotate. The second motor can be the driving motor in the lawn mower. Specifically, after completing the descending of the cutter head, the lawn mower can generate a second stop instruction for indicating that the second motor stops running, and send the second stop instruction to the second motor. After receiving the second stop instruction, the second motor stops running and is disconnected from the power supply, so that the wheels enter the freely rotatable state. Alternatively, after completing the descending of the cutter head, the lawn mower can generate a power-off instruction for indicating that the power supply of the second motor is cut off, and send the power-off instruction to the second motor. After receiving the power-off instruction, the second motor is disconnected from the power supply, so that the wheels enter the freely rotatable state.

[0054] In some possible implementation manners, after the wheel is controlled to enter the freely rotatable state, the lawn mower can determine whether the lawn mower remains stationary by monitoring whether the wheel rotates in the freely rotatable state. If the wheel does not rotate, it is determined that the lawn mower remains stationary. If the wheel rotates, it is determined that the lawn mower is not stationary, that is, the lawn mower moves.

[0055] In a specific implementation manner, the lawn mower monitors whether the wheel rotates in the freely rotatable state based on a wheel rotation speed. Specifically, the lawn mower obtains the wheel rotation speed through a sensor such as a magnetic encoder, an optical sensor, a Hall sensor, or the like in the lawn mower, to monitor whether the wheel rotates in the freely rotatable state. Taking the magnetic encoder as an example, if the lawn mower detects, multiple times within a preset time length, that the wheel rotation speed generated by the magnetic encoder is less than a first threshold value, or the lawn mower determines that an average value of the wheel rotation speed generated by the magnetic encoder within the preset time length is less than the first threshold value, it is considered that the wheel does not rotate in the freely rotatable state. If the lawn mower detects, multiple times within the preset time length, that the wheel rotation speed generated by the magnetic encoder is greater than or equal to the first threshold value, or the lawn mower determines that the average value of the wheel rotation speed generated by the magnetic encoder within the preset time length is greater than or equal to the first threshold value, it is considered that the wheel rotates in the freely rotatable state. For example, if the lawn mower detects, multiple times within 10 seconds, that the wheel rotation speed generated by the magnetic encoder is less than 0.01 (revolutions per minute, rpm), or the lawn mower determines that the average value of the wheel rotation speed generated by the magnetic encoder within 10 seconds is less than 0.01 rpm, it is considered that the wheel does not rotate in the freely rotatable state; otherwise, it is considered that the wheel rotates in the freely rotatable state.

[0056] In another specific implementation manner, the lawn mower monitors whether the wheel rotates in the freely rotatable state based on a displacement of the lawn mower. Specifically, the lawn mower obtains the displacement of the lawn mower through a three-axis acceleration sensor in the lawn mower, to monitor whether the wheel rotates in the freely rotatable state. First, the three-axis acceleration sensor is used to obtain the acceleration of the lawn mower in three directions. Then, the acceleration in the three directions is integrated respectively to obtain the speed of the lawn mower in the three directions. Next, the speed in the three directions is integrated respectively to obtain the displacement of the lawn mower in the three directions. If the displacement of the lawn mower in the three directions is less than a second threshold value, it is considered that the wheel does not rotate in the freely rotatable state; if the displacement of the lawn mower in any direction is greater than or equal to the second threshold value, it is considered that the wheel rotates in the freely rotatable state.

[0057] In some possible implementation manners, if the mower monitors that the wheels rotate in the freely rotatable state, i.e., the mower moves in the freely rotatable state, the mower controls the cutterhead to be raised. Specifically, the mower controls the first motor to drive the cutterhead to be raised, so that the cutterhead is located at a height position higher than the target position and the cutterhead is not in contact with the ground. The process in which the mower controls the first motor to drive the cutterhead to be raised is similar to the process in which the mower controls the first motor to drive the cutterhead to be lowered, and is not described herein for the sake of brevity of the description.

[0058] In some possible implementation manners, if the mower monitors that the wheels rotate in the freely rotatable state, i.e., the mower moves in the freely rotatable state, the mower monitors whether the mower stops moving. If the mower is monitored to stop moving, the mower controls the mower to be powered off according to the power-off instruction. If the mower is monitored not to stop moving, the mower can further perform a reminding operation to make the mower stop moving faster. The reminding operation that the mower can perform is various. Alternatively, the mower can control the buzzer to sound, reminding the user to take measures on the mower to make the mower stop moving, for example, the user moves the mower to a flat ground and makes the mower be in a stationary state on the flat ground. When the mower is monitored to stop moving, the mower controls the buzzer to stop sounding. Alternatively, the mower can further send a short message to a terminal device of the user or send an application message to an application on the terminal device of the user, reminding the user to take measures on the mower to make the mower stop moving. When the mower is monitored to stop moving, the mower again sends a short message to the terminal device of the user or sends an application message to the application on the terminal device of the user, to inform the user that the mower has been in the stationary state.

[0059] In some possible implementation manners, if the mower monitors that the wheels rotate in the freely rotatable state, i.e., the mower moves in the freely rotatable state, the mower controls the second motor to output power to the wheels, so that the size of the output power is just enough to make the mower be in a stationary state, i.e., the mower takes stopping on a slope as a target, and controls the size of the output power of the second motor to the wheels. If the mower still moves, it indicates that the mower is sliding down the slope, and the mower continues to take stopping on the slope as a target, which is equivalent to continuing to take the stationary state as a target, and controls the second motor to output power to the wheels. In the process of controlling the second motor to output power to the wheels, the mower monitors whether the size of the power is a first value, where the first value tends to be 0 or the first value is 0. When the size of the power is the first value, it can be understood that the output power tends to be 0 and still can make the mower be in the stationary state, which indicates that the mower keeps the stationary state not because of the output power, but because the mower has been moved to a flat ground and the mower has stopped moving. In this case, the mower has realized safe parking, and therefore, the mower can control the mower to be powered off according to the power-off instruction.

[0060] In summary, by implementing the embodiment of the application, before the mower is powered off, the cutterhead of the mower is controlled to descend to abut against the ground, so that the cutterhead can be clamped to the ground. Thus, on the ground with complex terrain such as slopes and hills, the contact area between the mower and the ground can be increased, and the friction between the mower and the ground can be increased, to prevent the mower from sliding down the slope. In addition, in the technical solution, after the cutterhead is lowered, whether the mower is moving is determined by monitoring whether the wheels of the mower are rotating in a freely rotatable state, that is, whether the mower is sliding down the slope is determined. In this way, it can be confirmed that the mower is indeed in a stationary state before being powered off, which helps to improve the safety of the parking process of the mower. Moreover, in the case where the mower is determined to be moving, the mower is further moved to the flat ground and kept in a stationary state on the flat ground, so that the safe parking of the mower is realized.

[0061] Referring to FIG. 3, FIG. 3 is a structural schematic diagram of a parking control device provided by an embodiment of the application. The parking control device 200 can be used to implement the parking control method of FIG. 1. As shown in FIG. 3, the parking control device 200 includes an acquisition unit 201, a first control unit 202, and a second control unit 203.

[0062] The acquisition unit 201 is configured to acquire a power-off instruction, the power-off instruction being used to instruct the mower to be powered off.

[0063] The first control unit 202 is configured to control the cutterhead of the mower to descend according to the power-off instruction.

[0064] The second control unit 203 is configured to control the mower to be powered off according to the power-off instruction after the first control unit 202 completes the cutterhead descent.

[0065] In some possible implementation manners, the first control unit 202 is specifically configured to control a first motor of the mower to drive the cutterhead to descend until the first motor is blocked or the cutterhead is lowered to a target position. The first motor is used to drive the cutterhead to ascend or descend. The target position is used to indicate a lowest height position to which the cutterhead can be lowered.

[0066] In some possible implementation manners, the second control unit 203 is further configured to control the wheels of the mower to enter a freely rotatable state after the first control unit 202 completes the cutterhead descent. The freely rotatable state is used to indicate a state in which the wheels are not limited to rotate by the mower. The second control unit 203 is further configured to control the mower to be powered off according to the power-off instruction when the mower remains stationary while the wheels are in the freely rotatable state.

[0067] In some possible implementation manners, the second control unit 203 is further configured to monitor whether the wheel rotates in the freely rotatable state after the wheel is controlled to enter the freely rotatable state. The second control unit 203 is further configured to determine that the mower remains stationary in a case where the wheel does not rotate.

[0068] In some possible implementation manners, the second control unit 203 is specifically configured to control a second motor of the mower to be powered off, so as to switch the wheel to the freely rotatable state. The second motor is configured to drive the wheel to rotate.

[0069] In some possible implementation manners, the second control unit 203 is further configured to monitor whether the mower stops moving when the mower moves in the freely rotatable state. The second control unit 203 is further configured to control the mower to be powered off according to the power-off instruction in a case where the mower stops moving.

[0070] In some possible implementation manners, the second control unit 203 is further configured to perform a reminding operation in a case where the mower does not stop moving.

[0071] In some possible implementation manners, the second control unit 203 is further configured to control the second motor of the mower to output power to the wheel when the mower moves in the freely rotatable state, monitor whether the size of the power is a first value, and control the mower to be powered off according to the power-off instruction in a case where the size of the power is the first value. The second motor is configured to drive the wheel to rotate.

[0072] In the foregoing implementation manners, the acquisition unit 201, the first control unit 202, and the second control unit 203 can be implemented by software or by hardware.

[0073] As an example of a software functional unit, the first control unit 202 can include code running on a compute instance. The compute instance can include at least one of a physical host (computing device), a virtual machine, a container. Further, the compute instance can be one or more. For example, the first control unit 202 can include code running on multiple hosts / virtual machines / containers. It should be noted that the multiple hosts / virtual machines / containers running the code can be distributed in the same region, or in different regions. Further, the multiple hosts / virtual machines / containers running the code can be distributed in the same availability zone (AZ), or in different AZs, each of which includes one data center or multiple data centers in close geographical proximity. Generally, one region can include multiple AZs.

[0074] Similarly, the multiple hosts / virtual machines / containers running the code can be distributed in the same virtual private cloud (VPC), or in multiple VPCs. Generally, one VPC is set up in one region, and communication between two VPCs in the same region, or between VPCs in different regions, needs to be set up in each VPC to set up a communication gateway, and the interconnection between VPCs is realized through the communication gateway.

[0075] As an example of a hardware functional unit, the first control unit 202 can include at least one computing device, such as a server, etc. Alternatively, the first control unit 202 can also be a device implemented by an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), etc. The PLD can be implemented by a complex programmable logical device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL), or any combination thereof.

[0076] The plurality of computing devices included in the first control unit 202 can be distributed in the same region or in different regions. The plurality of computing devices included in the first control unit 202 can be distributed in the same AZ or in different AZs. Similarly, the plurality of computing devices included in the first control unit 202 can be distributed in the same VPC or in multiple VPCs. The plurality of computing devices can be any combination of servers, ASICs, PLDs, CPLDs, FPGAs, and GALs.

[0077] It should be noted that in other embodiments, the acquisition unit 201 can be configured to perform any step of the parking control method, the first control unit 202 can be configured to perform any step of the parking control method, and the second control unit 203 can be configured to perform any step of the parking control method. The steps implemented by the acquisition unit 201, the first control unit 202, and the second control unit 203 can be specified as needed, and the acquisition unit 201, the first control unit 202, and the second control unit 203 respectively implement different steps of the parking control method to realize the entire function of the parking control device 200.

[0078] Referring to FIG. 4, FIG. 4 is a structural schematic diagram of a controller provided in an embodiment of the present application. As shown in FIG. 4, the controller 300 provided in the present application includes a bus 301, a processor 302, a memory 303, and a communication interface 304. The processor 302, the memory 303, and the communication interface 304 communicate through the bus 301. It should be understood that the present application does not limit the number of processors and memories in the controller 300.

[0079] The bus 301 can be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one line is shown in FIG. 4, but it does not mean that there is only one bus or only one type of bus. The bus 301 can include a path for transmitting information between the components (e.g., the memory 303, the processor 302, the communication interface 304) of the controller 300.

[0080] The processor 302 can include any one or more of a central processing unit (CPU), a graphics processing unit (GPU), a microprocessor (MP), or a digital signal processor (DSP), among other processors.

[0081] The memory 303 can include a volatile memory, such as a random access memory (RAM) including a DRAM, SRAM, or the like. The memory 303 can also include a non-volatile memory, such as a read-only memory (ROM), a flash memory, a hard disk drive (HDD), or a solid-state drive (SSD).

[0082] The memory 303 stores executable program codes, and the processor 302 executes the executable program codes to implement the functions of the aforementioned acquisition unit 201, the first control unit 202, and the second control unit 203, respectively, thereby implementing the aforementioned parking control method in FIG. 1. That is, the memory 303 stores instructions for executing the parking control method.

[0083] The communication interface 304 uses a transceiver module, such as but not limited to a network interface card or a transceiver, to implement the communication between the controller 300 and other devices or communication networks.

[0084] The embodiments of the present application also provide a mobile device including a controller and a cutter head. The controller is configured to implement the aforementioned parking control method in FIG. 1.

[0085] The embodiments of the present application also provide a computer program product including instructions. The computer program product can be a software or program product including instructions, which can be run on a computing device or stored in any available medium. When the computer program product is run on the computing device, the computing device is caused to perform the aforementioned parking control method.

[0086] The embodiments of the present application further provide a computer readable storage medium. The computer readable storage medium can be any available medium or data storage device that can be accessed by a computing device and includes one or more available media or data storage devices. The available medium can be a magnetic medium (e.g., a floppy diskette, a hard disk drive, a magnetic tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid state hard drive) and the like. The computer readable storage medium includes instructions that are indicative of a set of operations that can be performed on a computing device and includes an implementation of the parking control method described above.

[0087] It should be understood that, in the embodiments of the present application, "when", "if" and "when" all refer to the device making corresponding processing under certain objective conditions, and are not limited in time, and do not require the device to have a judgment action when implemented, nor does it mean that there are other limitations.

[0088] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and are not limited thereto; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the protection scope of the technical solutions of the embodiments of the present application.

Claims

1. A parking control method characterized by, The method is applied to a mower, the mower comprising a cutter head, and the method comprising: obtaining a shutdown instruction, the shutdown instruction being used to instruct the mower to shut down; controlling the cutter head to descend according to the shutdown instruction; controlling the mower to shut down according to the shutdown instruction after the cutter head is completed to descend.

2. The method of claim 1, wherein, The mower comprises a first motor, the first motor being used to drive the cutter head to ascend or descend, and the controlling the cutter head to descend according to the shutdown instruction comprises: controlling the first motor to drive the cutter head to descend until the first motor is stalled or the cutter head is descended to a target position, wherein the target position is used to indicate a position of a lowest height to which the cutter head can be descended.

3. The method according to claim 1 or 2, characterized in that, The mower comprises wheels, and after the cutter head is completed to descend, before the controlling the mower to shut down according to the shutdown instruction, the method further comprises: controlling the wheels to enter a freely rotatable state, wherein the freely rotatable state is used to indicate a state in which the wheels are not restricted to rotate by the mower; The controlling the mower to shut down according to the shutdown instruction comprises: if the mower remains stationary in the freely rotatable state of the wheels, controlling the mower to shut down according to the shutdown instruction.

4. The method of claim 3, wherein, After the controlling the wheels to enter the freely rotatable state, the method further comprises: monitoring whether the wheels rotate in the freely rotatable state, and if the wheels do not rotate, determining that the mower remains stationary.

5. The method of claim 3, wherein, The mower comprises a second motor, the second motor being used to drive the wheels to rotate, and the controlling the wheels to enter the freely rotatable state comprises: controlling the second motor to be powered off, so that the wheels are switched to the freely rotatable state.

6. The method according to any one of claims 3 to 5, characterized in that, The method further comprises: if the mower moves in the freely rotatable state of the wheels, monitoring whether the mower stops moving; in the case that the mower stops moving, controlling the mower to shut down according to the shutdown instruction.

7. The method of claim 6, wherein, The method further comprises: in the case that the mower does not stop moving, performing a reminding operation.

8. The method according to any one of claims 3 to 5, characterized in that, The mower comprises a second motor, the second motor being used to drive the wheels to rotate, and the method further comprises: if the mower moves in the freely rotatable state of the wheels, controlling the second motor to output power to the wheels; monitoring whether the size of the power is a first value; in the case that the size of the power is the first value, controlling the mower to shut down according to the shutdown instruction.

9. The method of claim 8, wherein, The method further comprises: if the mower moves in the freely rotatable state of the wheels, controlling the cutter head to ascend.

10. A controller characterized by comprising: The controller comprises a memory and a processor, the memory stores computer program instructions, and the processor executes the computer program instructions to enable the controller to perform the method according to any one of claims 1 to 9.

11. A mobile device, comprising: The mobile device comprises a controller and a cutter head, and the controller is used to implement the method according to any one of claims 1 to 9.

12. A computer program product comprising instructions, characterized in that, When the instructions are executed by a computing device, the computing device is caused to perform the method of any one of claims 1-9.

13. A computer-readable storage medium, characterized in that, Computer program instructions, when executed by a computing device, cause the computing device to perform the method of any one of claims 1-9.

14. A lawnmower characterised in that, Comprising: a wheel; a drive motor for providing power to the wheel; a cutterhead for mounting blades to perform a mowing operation; a mowing motor for driving the cutterhead to rotate to bring the blades on the cutterhead to rotate; a cutterhead lifting motor for driving the cutterhead to rise or fall; a circuit board configured to, after the mower obtains a shutdown instruction, send a falling instruction to the cutterhead lifting motor to drive the cutterhead lifting motor to drive the cutterhead to fall until the cutterhead lifting motor stalls or the cutterhead falls to a target position, wherein after the action of falling the cutterhead is completed, the mower executes the shutdown instruction to place the mower in a shutdown state.

15. The lawn mower of claim 14, wherein, After the action of falling the cutterhead is completed, the circuit board controls the drive motor to stop running to make the wheel enter a freely rotatable state; The mower further comprises a sensor for monitoring whether the wheel rotates in the freely rotatable state; In the case where the wheel does not rotate in the freely rotatable state, the mower executes the shutdown instruction to place the mower in a shutdown state.

16. The lawn mower of claim 15, wherein, The sensor is a magnetic encoder, a photoelectric sensor, a Hall sensor, or a three-dimensional acceleration sensor.

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