Mowing control method and apparatus, mower, electronic device, computer-readable storage medium, and computer program product

Abstract

The present invention provides a mowing control method and apparatus, a mower, an electronic device, a computer-readable storage medium, and a computer program product. The method is applied to a terminal device and comprises: displaying a first interactive interface, wherein the first interactive interface is used for controlling a mower, and the first interactive interface is in a state in which the first interactive interface cannot respond to a start operation; and in response to an unlocking operation and a start operation of a user, sending a start instruction to a controller of the mower, so that a mowing component in the mower is started, wherein the unlocking operation is used for enabling the first interactive interface to be in a state in which the first interactive interface can respond to the start operation.

Description

Mowing control method and device, mower, electronic device, computer readable storage medium and computer program product

[0001] Cross-reference to related applications

[0002] The present application is based on the Chinese patent application No. 202411073979.5, filed on August 6, 2024, and claims the priority of the Chinese patent application, the whole content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0003] The present application relates to the technical field of electronic devices, and in particular to a mowing control method and device, a mower, an electronic device, a computer readable storage medium and a computer program product. BACKGROUND

[0004] The mower is a device for automatically mowing lawns, which can significantly improve the efficiency and convenience of lawn maintenance, save a large amount of labor cost, and greatly improve the user's life experience.

[0005] When the mower is mowing, there may be a missed mowing situation, therefore, the user can remotely control the mower to the missed mowing position and control the mower to mow through the terminal device in this case. The mower is provided with mowing components such as a cutterhead and an edge trimming accessory, which can mow through the mowing components. However, there is a certain risk when the user starts the mowing components through the terminal device, which may injure the user. SUMMARY

[0006] The present application provides a mowing control method and device, a mower, an electronic device, a computer readable storage medium and a computer program product.

[0007] The present application provides a mowing control method, which is applied to a terminal device, and the method comprises:

[0008] displaying a first interaction interface, the first interaction interface being used for controlling the mower, and the first interaction interface being in a state of being unable to respond to a start operation;

[0009] in response to a user's unlocking operation and start operation, sending a start instruction to a controller of the mower to start a mowing component in the mower; wherein the unlocking operation is used to make the first interaction interface in a state of being able to respond to the start operation.

[0010] The present application provides a mowing control method, which is applied to a controller in a mower, and the mower further comprises a mowing component; the method comprises:

[0011] When receiving the starting instruction sent by the terminal device, the control module controls the starting of the mowing component; the starting instruction is an instruction generated by the terminal device in response to a user's unlocking operation and starting operation on the first interactive interface; the first interactive interface is used for controlling the mower; the unlocking operation is used for changing the first interactive interface from a state of being unable to respond to the starting operation to a state of being able to respond to the starting operation.

[0012] The embodiment of the application provides a mower control device, which is applied to a terminal device and comprises the following components.

[0013] The display module is configured to display a first interactive interface, which is used for controlling the mower and is in a state of being unable to respond to a starting operation.

[0014] The sending module is configured to send a starting instruction to a controller of the mower in response to a user's unlocking operation and starting operation, so that the mowing component in the mower is started; wherein the unlocking operation is used for changing the first interactive interface to a state of being able to respond to the starting operation.

[0015] The embodiment of the application provides a mower control device, which is applied to a controller in a mower and further comprises a mowing component; the device comprises the following components.

[0016] The control module is configured to control the starting of the mowing component when receiving a starting instruction sent by a terminal device; the starting instruction is an instruction generated by the terminal device in response to a user's unlocking operation and starting operation on a first interactive interface; the first interactive interface is used for controlling the mower; the unlocking operation is used for changing the first interactive interface from a state of being unable to respond to the starting operation to a state of being able to respond to the starting operation.

[0017] The embodiment of the application provides a mower, which comprises a controller, a mowing component and a mower body; the controller is connected with the mowing component; the controller is configured to execute any one of the methods on the controller side.

[0018] The embodiment of the application provides an electronic device, which comprises at least one processor and a memory.

[0019] The memory stores computer execution instructions;

[0020] The at least one processor executes the computer execution instructions stored in the memory, so that the at least one processor executes any one of the methods on the terminal device side or the controller side.

[0021] The embodiment of the present application provides a computer readable storage medium, wherein the computer readable storage medium stores computer execution instructions, and when a processor executes the computer execution instructions, the method described in any one of the terminal device side or the controller side is implemented.

[0022] The embodiment of the present application provides a computer program product, comprising a computer program, and when the computer program is executed by a processor, the method described in any one of the terminal device side or the controller side is implemented.

[0023] The embodiment of the present application provides a mowing control method and device, a mower, an electronic device, a computer readable storage medium and a computer program product. The method is applied to a terminal device, and the method comprises the following steps: displaying a first interaction interface, the first interaction interface is used for controlling a mower, and the first interaction interface is in a state of being unable to respond to a starting operation; in response to a user's unlocking operation and starting operation, a starting instruction is sent to a controller of the mower, so that a mowing component in the mower is started; wherein the unlocking operation is used for making the first interaction interface in a state of being able to respond to the starting operation. By performing the unlocking operation before starting the mowing component, the mowing component is prevented from being started by the user unintentionally performing the starting operation, and the safety when starting the mowing component is improved. BRIEF DESCRIPTION OF DRAWINGS

[0024] The drawings incorporated into the specification and constituting a part of the specification show embodiments consistent with the present application and, together with the specification, serve to explain the principles of the present application.

[0025] Fig. 1 is a schematic view of a mower provided by the embodiment of the present application;

[0026] Fig. 2 is a flowchart of a mowing control method provided by the embodiment of the present application;

[0027] Fig. 3 is a first unlocking schematic view provided by the embodiment of the present application;

[0028] Fig. 4 is a second unlocking schematic view provided by the embodiment of the present application;

[0029] Fig. 5 is a third unlocking schematic view provided by the embodiment of the present application;

[0030] Fig. 6 is a fourth unlocking schematic view provided by the embodiment of the present application;

[0031] Fig. 7 is a first schematic view of starting a mowing component based on an unlocking starting control provided by the embodiment of the present application;

[0032] Fig. 8 is a second schematic view of starting a mowing component based on an unlocking starting control provided by the embodiment of the present application;

[0033] Fig. 9 is a schematic diagram of starting the mowing component based on the unlocking starting control according to an embodiment of the present application;

[0034] Fig. 10 is a schematic diagram of starting the mowing component based on the unlocking starting control according to an embodiment of the present application;

[0035] Fig. 11 is a schematic diagram of controlling the mowing component to start continuously according to an embodiment of the present application;

[0036] Fig. 12 is a schematic diagram of modifying the unlocking starting control to a stopping control according to an embodiment of the present application;

[0037] Fig. 13 is a schematic diagram of setting two virtual joysticks according to an embodiment of the present application;

[0038] Fig. 14 is a schematic diagram of setting one virtual joystick according to an embodiment of the present application;

[0039] Fig. 15 is a schematic diagram of setting a mistaken touch prevention area according to an embodiment of the present application;

[0040] Fig. 16 is a schematic diagram of setting an automatic moving control according to an embodiment of the present application;

[0041] Fig. 17 is a schematic diagram of setting an automatic moving control according to an embodiment of the present application;

[0042] Fig. 18 is a schematic diagram of an automatic mode control according to an embodiment of the present application;

[0043] Fig. 19 is a schematic diagram of an automatic mode control according to an embodiment of the present application;

[0044] Fig. 20 is a schematic diagram of an automatic mode control according to an embodiment of the present application;

[0045] Fig. 21 is a schematic diagram of an automatic mode control according to an embodiment of the present application;

[0046] Fig. 22 is a schematic diagram of another mowing control method according to an embodiment of the present application;

[0047] Fig. 23 is a schematic diagram of a mowing control device according to an embodiment of the present application;

[0048] Fig. 24 is a schematic diagram of another mowing control device according to an embodiment of the present application;

[0049] Fig. 25 is a schematic diagram of a hardware structure of an electronic device according to an embodiment of the present application.

[0050] The specific embodiments of the present application have been shown and described in the above drawings and the following description, in which the principles of the present application are further explained. These drawings and description are not meant to limit the scope of the inventive concept in any way, but merely to explain the inventive concept to those skilled in the art by reference to specific embodiments. DETAILED DESCRIPTION

[0051] The exemplary embodiments will be described in detail herein with reference to the accompanying drawings. In the following description, like reference numerals refer to like elements, unless the context clearly dictates otherwise. The following exemplary embodiments are described in the context of specific embodiments, which are not meant to represent all embodiments consistent with the present application.

[0052] The mower is provided with a cutter head, and the cutter head can be started to mow grass. An edge trimming accessory can also be provided in the mower to mow grass in areas that cannot be reached by the cutter head. Both the cutter head and the edge trimming accessory are mowing components.

[0053] When the mower is mowing grass, there can be missed mowing. At this time, the terminal device can be used to remotely control the mower to the missed mowing position and control the mowing component to mow grass. When the mowing component is started by the terminal device, the user can accidentally touch the terminal device, which can cause the mowing component to be started when the user does not want to start it, thus posing a certain risk during the starting process of the mowing component.

[0054] FIG. 1 is a schematic view of a mower according to an embodiment of the present application. As shown in FIG. 1, the mower is provided with a cutter head and an edge trimming accessory. The user can remotely control the mower by using a terminal device and control the mower to mow grass. Based on the above problem, in order to improve the safety when starting the mowing component, an unlocking operation can be performed before a starting operation. If the starting operation is directly performed, the terminal device does not respond to the starting operation. After the user performs the unlocking operation and then performs the starting operation, the mowing component can be started, thus avoiding the mowing component from being started due to accidental touch by the user and improving the safety when starting the mowing component.

[0055] FIG. 2 is a flowchart of a mowing control method according to an embodiment of the present application. The method is applied to a terminal device. As shown in FIG. 2, the method includes the following steps.

[0056] In step S201, a first interaction interface is displayed. The first interaction interface is used to control the mower, and the first interaction interface is in a state in which a starting operation is not responded to.

[0057] In some embodiments, an application program can be provided on the terminal device, and the mower is controlled based on the application program. Specifically, the first interaction interface can be displayed on the terminal device based on the application program, so that the user can control the mower.

[0058] The first interaction interface displayed is in a state of being unresponsive to the start operation, that is, when the first interaction interface is in the state of being unresponsive to the start operation, if the user triggers the start operation, the terminal device will not send a start instruction for starting the mowing component to the mower.

[0059] In step S202, in response to the unlocking operation and the start operation of the user, a start instruction is sent to the controller of the mower to start the mowing component in the mower; wherein the unlocking operation is used to make the first interaction interface in a state of being responsive to the start operation.

[0060] When the user performs the unlocking operation on the first interaction interface, the first interaction interface is in a state of being responsive to the start operation, that is, when the first interaction interface is in the state of being responsive to the start operation, if the user triggers the start operation, the terminal device will send a start instruction for starting the mowing component to the mower.

[0061] In some embodiments, the first interaction interface can also be used by the user to issue other instructions, and when the user issues other instructions, the user can not perform the unlocking operation first. That is, the terminal device does not respond to the user's operation of starting the mowing component when it does not receive the user's unlocking operation, but can respond to other operations performed by the user.

[0062] By having the user perform the unlocking operation first to make the first interaction interface in a state of being responsive to the start operation, and then responding to the start operation input by the user, the start of the mowing component is controlled. Compared with the way of starting the mowing component directly based on the start operation input by the user, the embodiment of the application needs the user to perform two steps, avoids the mowing component from being started unintentionally by the user inputting the start operation, and thus improves the safety when the mowing component is started.

[0063] The embodiment of the application provides a mowing control method, which is applied to a terminal device, and the method comprises the following steps: displaying a first interaction interface, the first interaction interface is used for controlling a mower, and the first interaction interface is in a state of being unresponsive to a start operation; in response to an unlocking operation and a start operation of a user, a start instruction is sent to a controller of the mower to start a mowing component in the mower; wherein the unlocking operation is used to make the first interaction interface in a state of being responsive to the start operation, and by performing the unlocking operation before starting the mowing component, the mowing component is prevented from being started unintentionally by the user performing the start operation, and the safety when the mowing component is started is improved.

[0064] In some embodiments, the first interaction interface is provided with an unlocking control and a start control; and the step of sending the start instruction to the controller of the mower in response to the unlocking operation and the start operation of the user comprises:

[0065] in response to a first target operation of the user on the unlocking control, controlling the first interaction interface to be in a state of being responsive to a start operation;

[0066] in response to the user triggering the start control, sending the start instruction to a controller of the mower.

[0067] To achieve the start of the mowing component according to the unlocking operation and the start operation input by the user, the unlocking control and the start control can be arranged on the first interaction interface. When starting the mowing component, the user can first perform the first target operation on the unlocking control to complete the unlocking operation, that is, the first interaction interface is in a state of being responsive to the start operation.

[0068] FIG. 3 is an unlocking schematic diagram one, FIG. 4 is an unlocking schematic diagram two, FIG. 5 is an unlocking schematic diagram three, and FIG. 6 is an unlocking schematic diagram four.

[0069] For example, the first target operation can be a point or a long press on the unlocking control, as shown in FIG. 3. The first target operation can also be a horizontal / vertical / sloping / curved sliding on the unlocking control, as shown in FIG. 4, FIG. 5, and FIG. 6, respectively.

[0070] When the unlocking operation is completed, the user can trigger the start control, so that the terminal device generates a start instruction and sends the start instruction to the controller of the mower.

[0071] By arranging the unlocking control and the start control on the first interaction interface, the unlocking operation and the start operation of the user can be received, and the user can be facilitated to perform the operation of starting the mowing component.

[0072] In some embodiments, the method further includes:

[0073] in response to the user stopping triggering the start control, sending a stop instruction to the controller of the mower to make the mowing component stop.

[0074] When the start instruction is generated by the user triggering the start control, the mowing component can be controlled to be in a state of being responsive to the start operation by the user long pressing the start control. Specifically, when the user long presses the start control, the terminal device can continuously send the start instruction to the mower.

[0075] Correspondingly, when the user stops triggering the start control, a stop instruction can be generated and sent to the controller of the mower to control the mowing component to stop.

[0076] When the stop instruction is sent to the mower, the user can trigger the start control at any time to start the mowing component, that is, one unlocking operation can realize multiple start of the mowing component.

[0077] The stop instruction is generated by the user stopping triggering the start control, which can facilitate the user to control the start duration and improve the accuracy of controlling whether the mowing component is started.

[0078] In some embodiments, the method further comprises:

[0079] After the stop instruction is sent to the controller of the mower, if the user's re-triggering of the start control is not detected within a preset time period, the first interaction interface is controlled to be in a state of being unresponsive to the start operation.

[0080] To further improve the safety of starting the mowing component, after the stop instruction is sent to the controller of the mower, if the user's re-triggering of the start control is not detected within a preset time period, the first interaction interface is controlled to be in a state of being unresponsive to the start operation.

[0081] For example, after the user releases the start control, if the user fails to re-trigger the start control within a preset time period, the first interaction interface is controlled to be in a state of being unresponsive to the start operation, so that the user needs to perform the unlocking operation again and then perform the start operation to start the mowing component again.

[0082] In some embodiments, the preset time period can be set according to actual needs, and the application embodiments do not make specific limitations on the value of the preset time period.

[0083] By not detecting the user's triggering of the start control within the preset time period, the first interaction interface is controlled to be in a state of being unresponsive to the start operation, so as to avoid subsequent start of the mowing component due to the user's mis-touch operation.

[0084] In some embodiments, the first interaction interface is provided with an unlocking start control; and the sending of the start instruction to the controller of the mower in response to the user's unlocking operation and start operation comprises:

[0085] In response to a second target operation of the user on the unlocking start control, the first interaction interface is controlled to be in a state of being responsive to the start operation.

[0086] In response to continuous triggering of the user on the unlocking start control, the start instruction is continuously sent to the controller of the mower.

[0087] In order to realize the control of the starting of the mowing component according to the unlocking operation and the subsequent starting operation input by the user, the unlocking starting control can also be arranged on the first interaction interface. That is, the unlocking control and the starting control are combined into one control, the unlocking starting control. After the user performs the unlocking operation on the unlocking starting control, the user continues to perform the starting operation on the unlocking starting control.

[0088] In some embodiments, when the user performs the unlocking operation on the unlocking starting control, the user can perform a second target operation on the unlocking starting control and continuously trigger the unlocking starting control to continuously send the starting instruction to the controller of the mower.

[0089] For example, the second target operation can be long pressing the unlocking starting control, or sliding the unlocking starting control horizontally, vertically, diagonally, or in a curve. After the user performs the unlocking operation on the unlocking starting control, the user can long press the unlocking starting control to continuously send the starting instruction to the controller of the mower.

[0090] In some embodiments, the method further comprises:

[0091] In response to the user stopping the triggering of the unlocking starting control, a stopping instruction is sent to the controller of the mower to make the mowing component stop.

[0092] When the user releases the unlocking starting control, the mowing component stops. The user can press the unlocking starting control again at any time to start the mowing component again.

[0093] In some embodiments, the method further comprises:

[0094] After the stopping instruction is sent to the controller of the mower, if the re-triggering of the unlocking starting control by the user is not detected within a preset time period, the first interaction interface is controlled to be in a state of not responding to the starting operation.

[0095] In order to further improve the safety when starting the mowing component, by not detecting the re-triggering of the unlocking starting control by the user within a preset time period, the first interaction interface is controlled to be in a state of not responding to the starting operation, so as to avoid the situation that the mowing component is started due to the mistaken triggering of the user after one unlocking operation is performed.

[0096] By combining the unlocking control and the starting control into one control, the unlocking starting control, the development of the user interface is facilitated, the operation of the user is simplified, and the use experience of the user is improved.

[0097] In some embodiments, the first interaction interface is provided with the unlocking starting control; and the sending of the starting instruction to the controller of the mower in response to the unlocking operation and the starting operation of the user comprises:

[0098] In response to a second target operation of the user on the unlocking start control, the first interactive interface is controlled to be in a state of being responsive to a start operation, and then the start instruction is continuously sent to the controller of the mower;

[0099] Alternatively, in response to a second target operation of the user on the unlocking start control, the first interactive interface is controlled to be in a state of being responsive to a start operation;

[0100] In response to a third target operation of the user on the unlocking start control, the start instruction is continuously sent to the controller of the mower.

[0101] When the unlocking start control is used to control the start of the mowing component, the user can also start the mowing component after performing a second target operation on the unlocking start control. That is, after the user performs a second target operation on the unlocking start control, the first interactive interface can be controlled to be in a state of being responsive to a start operation, and then the start instruction can be continuously sent to the controller of the mower, so that the mowing component can be continuously started after the user performs the second target operation.

[0102] For example, the second target operation can be long pressing the unlocking start control, or sliding the unlocking start control horizontally / vertically / sideways / curvilinearly. FIG. 7 is a schematic diagram of starting the mowing component based on the unlocking start control according to an embodiment of the present application, FIG. 8 is a schematic diagram of starting the mowing component based on the unlocking start control according to an embodiment of the present application, FIG. 9 is a schematic diagram of starting the mowing component based on the unlocking start control according to an embodiment of the present application, and FIG. 10 is a schematic diagram of starting the mowing component based on the unlocking start control according to an embodiment of the present application, which can be used to start the mowing component after long pressing the unlocking start control or sliding the unlocking start control horizontally / vertically / sideways / curvilinearly.

[0103] In some embodiments, when the unlocking start control is used to control the start of the mowing component, the first interactive interface can also be controlled to be in a state of being responsive to a start operation after the user performs a second target operation on the unlocking start control. In order to continuously start the mowing component, the user can also perform a third target operation on the unlocking start control when the first interactive interface is in the state of being responsive to a start operation.

[0104] For example, the third target operation can be long pressing the unlocking start control, or dragging the unlocking start control horizontally / vertically / sideways to a specified position, so that the mowing component can be continuously started after the user performs the third target operation, and the user does not need to continuously press the unlocking start control to control the continuous start of the mowing component. FIG. 11 is a schematic diagram of controlling the continuous start of the mowing component according to an embodiment of the present application, which can be used to control the continuous start of the mowing component by dragging the unlocking start control to a specified position.

[0105] The user can directly continuously send the starting instruction after performing the second target operation on the unlocking starting control, or continuously send the starting instruction based on a third target operation performed by the user on the unlocking starting control, so that the user can control the continuous starting of the mowing component by pressing the unlocking starting control for a long time, thereby avoiding user hand fatigue and improving the user experience.

[0106] In some embodiments, the method further comprises:

[0107] The first interaction interface is provided with a stop control after the starting instruction is sent to the controller of the mower;

[0108] A stop instruction is sent to the controller of the mower in response to the user triggering the stop control.

[0109] The user can directly continuously send the starting instruction after performing the second target operation on the unlocking starting control, or continuously send the starting instruction based on a third target operation performed by the user on the unlocking starting control, so that the user can control the continuous starting of the mowing component by pressing the unlocking starting control for a long time, thereby avoiding user hand fatigue and improving the user experience.

[0110] For example, the stop control can be provided on the first interaction interface for the user to issue a stop instruction.

[0111] In some embodiments, the terminal device can add a stop control after sending the starting instruction to the controller of the mower, or can modify the unlocking starting control to a stop control to reduce the number of controls provided on the first interaction interface. FIG. 12 is a schematic diagram of modifying the unlocking starting control to a stop control according to an embodiment of the present application.

[0112] The user triggering the stop control can be any one of the following modes: tapping, long pressing, horizontal / vertical / sloping / curved sliding, etc.

[0113] The stop control is provided after the starting instruction is sent to the controller of the mower, which can facilitate the user to issue a stop instruction.

[0114] In some embodiments, the first interaction interface is provided with a virtual joystick; the starting instruction is a moving starting instruction; and the starting instruction is sent to the controller of the mower in response to the user performing an unlocking operation and a starting operation, including:

[0115] The first interaction interface is controlled to be in a state of being responsive to the starting operation in response to the user performing the unlocking operation;

[0116] The moving starting instruction is sent to the controller of the mower in response to the user performing a dragging operation on the virtual joystick, so that the mower starts the mowing component while moving.

[0117] The virtual joystick can be used to control the movement of the mower, such as forward movement, backward movement, left rotation, or right rotation, etc., so as to facilitate the user to control the movement of the mower. Therefore, it can be considered to combine the virtual joystick with the start of the mowing component. Combining the virtual joystick with the start of the mowing component can control the start of the mowing component when the remote control mower moves, so that the movement of the mower has the actual meaning of mowing.

[0118] In some embodiments, when the user performs the unlocking operation, the first interaction interface is in a state that can respond to the start operation, and if the user performs the dragging operation on the virtual joystick, a movement start instruction can be sent to the controller of the mower, so that the mower can start the mowing component while moving.

[0119] Specifically, before dragging the virtual joystick, the unlocking operation is performed first, and then the movement start instruction can be generated. If the unlocking operation is not performed, but the virtual joystick is directly dragged, only the movement of the mower can be controlled.

[0120] For example, an unlocking control can be set on the first interaction interface, and the method of performing the unlocking operation can be any one of point pressing, long pressing, horizontal / vertical / sloping / curved sliding, etc.

[0121] The user can start the mowing component in the process of moving the mower by performing the unlocking operation and then performing the dragging operation on the virtual joystick, so that the user can more conveniently control the mower to perform the mowing task, and the use experience of the user is improved.

[0122] In some embodiments, the method further includes:

[0123] When the number of virtual joysticks is two, the movement start instruction is sent to the controller of the mower in response to the dragging operation of the user on one or two virtual joysticks.

[0124] Correspondingly, the method further includes:

[0125] In response to the fact that neither of the two virtual joysticks is subjected to the dragging operation of the user, a movement stop instruction is sent to the controller of the mower, so that the mower stops moving while the mowing component is turned off.

[0126] Figure 13 is a schematic diagram of an embodiment of the present application providing two virtual joysticks, as shown in Figure 13, the number of virtual joysticks can be two, wherein one virtual joystick is used to control the forward or backward movement of the mower, and the other virtual joystick is used to control the left or right turning of the mower. When there are two virtual joysticks, after performing the unlocking operation, if one virtual joystick is dragged by the user, the terminal device can send a movement start instruction to the controller of the mower to control the start of the mowing component. By continuously dragging the virtual joystick, the mowing component is continuously started.

[0127] When neither of the two virtual joysticks is dragged by the user, the terminal device can send a movement stop instruction to the controller of the mower to turn off the mowing component while the mower stops moving.

[0128] When there are two virtual joysticks, by performing a dragging operation on at least one virtual joystick to control the start of the mowing component, the start of the mowing component can be triggered when the mower is moving.

[0129] In some embodiments, in response to the user's dragging operation on the virtual joystick, the movement start instruction is sent to the controller of the mower, comprising:

[0130] When the number of virtual joysticks is one, in response to the user's dragging operation on the virtual joystick, the movement start instruction is sent to the controller of the mower;

[0131] Correspondingly, the method further comprises:

[0132] In response to the virtual joystick not being dragged by the user, a movement stop instruction is sent to the controller of the mower to turn off the mowing component while the mower stops moving.

[0133] If two virtual joysticks are set, they will occupy a large area on the user interface, affecting the user's experience. Therefore, only one virtual joystick can be set on the first interaction interface to reduce the area occupied by the virtual joystick.

[0134] Figure 14 is a schematic diagram of an embodiment of the present application providing one virtual joystick, as shown in Figure 14, when one virtual joystick is set, by dragging the virtual joystick, the forward, backward, left or right turning of the mower can be controlled.

[0135] When there is one virtual joystick, after performing the unlocking operation, if the user performs a dragging operation on the virtual joystick, a movement start instruction can be generated. By continuously dragging the virtual joystick, the mower is continuously moved while the mowing component is started.

[0136] Correspondingly, when the user does not perform the dragging operation on the virtual rocker, a moving stop instruction can be generated.

[0137] By setting a virtual rocker and controlling the start or stop of the mowing component based on whether the user performs a dragging operation on the virtual rocker, the start or stop of the mowing component can be accurately controlled.

[0138] In some embodiments, the first interaction interface is further provided with an unlocking control. In response to an unlocking operation of the user, the first interaction interface is controlled to be in a state of being responsive to a start operation, including:

[0139] In response to a first target operation of the user on the unlocking control, the first interaction interface is controlled to be in a state of being responsive to a start operation.

[0140] Correspondingly, the method further includes:

[0141] The unlocking control is modified to a locking control. In response to a triggering of the user on the locking control, the first interaction interface is controlled to be in a state of being unresponsive to a start operation.

[0142] Alternatively, if no dragging operation of the user on the virtual rocker is detected within a preset time length, the first interaction interface is controlled to be in a state of being unresponsive to a start operation.

[0143] In order to improve the safety of the user each time the mowing component is started, after the first interaction interface is in a state of being responsive to a start operation, the first interaction interface can be re-controlled to be in a state of being unresponsive to a start operation, so as to avoid the mowing component being started due to a mistaken touch operation of the user.

[0144] The unlocking control and the virtual rocker can be set on the first interaction interface. Through a first target operation of the user on the unlocking control, the first interaction interface is controlled to be in a state of being responsive to a start operation. Then, a moving start instruction is generated based on a dragging operation of the user on the virtual rocker.

[0145] After the first interaction interface is in a state of being responsive to a start operation, the unlocking control can be modified to a locking control. If the user triggers the locking control, the first interaction interface will be re-controlled to be in a state of being unresponsive to a start operation. Therefore, the user needs to perform an unlocking operation again when starting the mowing component next time, so as to avoid the danger of directly starting the mowing component by triggering the virtual rocker.

[0146] In some embodiments, when no dragging operation of the user on the virtual rocker is detected for a preset time length, the first interaction interface can be re-controlled to be in a state of being unresponsive to a start operation. For example, the preset time length can be 3 seconds.

[0147] In some embodiments, the preset time length can be set according to actual needs, which is not limited here.

[0148] In some embodiments, when the dragging operation is dragging the virtual joystick to the positive Y-axis interval and the positive X-axis interval, the movement starting instruction is used to control the lawn mower to move forward and rotate right while starting the mowing component.

[0149] And / or, when the dragging operation is dragging the virtual joystick to the positive Y-axis interval and the negative X-axis interval, the movement starting instruction is used to control the lawn mower to move forward and rotate left while starting the mowing component.

[0150] And / or, when the dragging operation is dragging the virtual joystick to the negative Y-axis interval and the negative X-axis interval, the movement starting instruction is used to control the lawn mower to move backward and rotate left while starting the mowing component.

[0151] And / or, when the dragging operation is dragging the virtual joystick to the negative Y-axis interval and the positive X-axis interval, the movement starting instruction is used to control the lawn mower to move backward and rotate right while starting the mowing component.

[0152] Wherein, moving forward means driving straight to the front of the body of the lawn mower; moving backward means retreating to the back of the body of the lawn mower; rotating right means rotating to the right side of the front of the body of the lawn mower; rotating left means rotating to the left side of the front of the body of the lawn mower; the speed of moving forward and / or the speed of moving backward is related to the amplitude of the Y-axis; the speed of rotating right and / or the speed of rotating left is related to the amplitude of the X-axis.

[0153] When controlling the movement of the lawn mower based on the user's dragging operation on the virtual joystick, the center position of the circle can be defined, and the X-axis is obtained by extending the center position to the left and right, and the Y-axis is obtained by extending the center position to the top and bottom. When a single virtual joystick is used to control the lawn mower to mow or trim, the movement behavior can include advancing, retreating, turning left in place, turning right in place, advancing to the left front, advancing to the right front, retreating to the left back, and retreating to the right back.

[0154] In some embodiments, when the dragging operation is dragging the virtual joystick to the positive Y-axis interval, the movement starting instruction is used to control the lawn mower to move forward while starting the mowing component; the moving forward means driving straight to the front of the body of the lawn mower.

[0155] And / or, when the dragging operation is dragging the virtual joystick to the negative Y-axis interval, the movement starting instruction is used to control the lawn mower to move backward while starting the mowing component; the moving backward means retreating to the back of the body of the lawn mower.

[0156] and / or, when the drag operation is dragging the virtual joystick to the positive X-axis interval, the movement starting instruction is used to control the mower to rotate right while starting the mowing component; the rotating right means rotating to the right side of the front of the body of the mower.

[0157] and / or, when the drag operation is dragging the virtual joystick to the negative X-axis interval, the movement starting instruction is used to control the mower to rotate left while starting the mowing component; the rotating left means rotating to the left side of the front of the body of the mower.

[0158] In some embodiments, the movement speed also changes according to the size of the drag amplitude, for example, the larger the drag amplitude, the greater the movement speed.

[0159] In some embodiments, the mower can also be controlled to move forward left, move forward right, move backward left, and move backward right based on the drag operation on the virtual joystick.

[0160] For example, when the virtual joystick is dragged to the positive Y-axis interval and the positive X-axis interval, the terminal device will send forward and right turn instructions to the mower at the same time, and the mower will make a clockwise right turn while moving forward, so as to continuously move forward right, and if the drag posture remains unchanged, the mower will draw a circle clockwise on the ground.

[0161] For example, when the virtual joystick is dragged to the positive Y-axis interval and the negative X-axis interval, the terminal device will send forward and left turn instructions to the mower at the same time, and the mower will make a counterclockwise left turn while moving forward, so as to continuously move forward left, and if the drag posture remains unchanged, the mower will draw a circle counterclockwise on the ground.

[0162] For example, when the virtual joystick is dragged to the negative Y-axis interval and the positive X-axis interval, the user may wish the mower to move backward right, and if the mower is controlled to move backward while turning right at this time, the mower will move backward left, which deviates from the user's drag operation on the virtual joystick. In order to improve the user experience, when the user drags the virtual joystick to the negative Y-axis interval and the positive X-axis interval, the mower is controlled to move backward while making a clockwise right turn, so as to continuously move backward right, and if the drag posture remains unchanged, the mower will draw a circle clockwise on the ground.

[0163] For example, when the virtual joystick is dragged to the negative Y-axis and negative X-axis interval, the user may wish to retreat the mower to the left rear, and if the mower is controlled to retreat while turning left at this time, the mower will retreat to the right rear, deviating from the user's dragging operation of the virtual joystick. In order to improve the user's experience, when the user drags the virtual joystick to the negative Y-axis and negative X-axis interval, the mower is controlled to retreat while making a counterclockwise left turn, thereby continuously moving to the left rear, and if the dragging posture remains unchanged, the mower will draw a counterclockwise circle on the ground.

[0164] In some embodiments, when the mower turns while advancing or retreating, the speeds of advancing, retreating, and left and right turning can still be determined according to the magnitudes of the Y-axis and X-axis. That is, when the Y-axis magnitude is large and the X-axis magnitude is small, the advancing / retreating speed of the mower is large and the turning speed is small, that is, the turning amplitude is small; when the Y-axis magnitude is small and the X-axis magnitude is large, the advancing / retreating speed of the mower is small and the turning speed is large, that is, the turning amplitude is large.

[0165] By controlling the mower to move in various directions based on the user's dragging operation of the single virtual joystick, and by correcting the corresponding control logic when the virtual joystick is dragged to the negative Y-axis and positive X-axis interval or the negative Y-axis and negative X-axis interval, the actual moving direction of the mower can be made consistent with the direction of the user's dragging operation of the virtual joystick, thereby improving the user's experience.

[0166] In some embodiments, the sending of the movement start instruction to the controller of the mower in response to the user's dragging operation of the virtual joystick includes:

[0167] In response to the dragging operation being dragging of the virtual joystick to the anti-mis-touch region, the movement start instruction is sent to the controller of the mower; the movement start instruction is used to control the mower to start the mowing component while rotating in place.

[0168] The anti-mis-touch region includes a first anti-mis-touch region and a second anti-mis-touch region, the first anti-mis-touch region is a region swept when the X positive half-axis is rotated upward by a first angle and downward by a second angle, respectively; the in-place rotation corresponding to the first anti-mis-touch region is a right in-place rotation.

[0169] The second anti-mis-touch region is a region swept when the X negative half-axis is rotated upward by a third angle and downward by a fourth angle, respectively; the in-place rotation corresponding to the second anti-mis-touch region is a left in-place rotation.

[0170] In some scenarios, the user wants the mower to turn left or right in place, but only when the Y-axis amplitude corresponding to the position after dragging the virtual joystick is 0 and the X-axis amplitude has a value, the mower can turn in place. However, the above operation is difficult because the virtual joystick has 360 degrees of direction, and it is difficult to control the Y-axis amplitude corresponding to the position after dragging the virtual joystick to be 0. At the same time, when the X-axis amplitude is unchanged and the Y-axis amplitude is positive or negative, the mower will turn in the opposite direction. For example, when the X-axis amplitude is positive, if the Y-axis amplitude is positive, the mower will turn right and move forward, and if the Y-axis amplitude is negative, the mower will turn left and move backward, so the mower will frequently switch between forward and backward movements, and the mower will frequently turn left and right.

[0171] Based on the above problems, by setting the anti-mis touch area, when the virtual joystick is in the coordinates within the anti-mis touch area, the mower can rotate in place.

[0172] FIG. 15 is a schematic diagram of an anti-mis touch area provided by an embodiment of the present application. As shown in FIG. 15, the first anti-mis touch area includes a region swept by rotating the X positive half-axis upward by a first angle and a region swept by rotating the X positive half-axis downward by a second angle. Specifically, taking (0, 0) as the vertex of the angle, the X positive axis as one side of the angle, and then rotating n degrees upward and m degrees downward, respectively, two angles are formed. When the virtual joystick is in the interval formed by the two angles, it means that the mower only performs right turn in place. In some embodiments, the moving direction of the mower can also be controlled to be unchanged, such as moving forward to the right or moving backward to the right.

[0173] Similarly, the second anti-mis touch area includes a region swept by rotating the X negative half-axis upward by a third angle and a region swept by rotating the X negative half-axis downward by a fourth angle. Specifically, taking (0, 0) as the vertex of the angle, the X negative axis as one side of the angle, and then rotating n degrees upward and m degrees downward, respectively, two angles are formed. When the virtual joystick is in the interval formed by the two angles, it means that the mower only performs left turn in place.

[0174] The present application does not limit the specific values of the first angle, the second angle, the third angle and the fourth angle.

[0175] By setting the anti-mis touch area, the problem of the mower turning in place caused by the shaking operation of the user operating the virtual joystick can be avoided, and the user experience can be improved.

[0176] In some embodiments, the method further comprises:

[0177] displaying a second interaction interface; the second interaction interface is used for the user to select a target speed gear from a plurality of pre-set speed gears; the target speed gear is used to indicate the maximum speed.

[0178] determining a maximum speed in response to the target speed gear selected by the user; the maximum speed being a speed corresponding to a maximum value of a Y-axis amplitude of a position of the virtual joystick; and the second interaction interface further configured to receive the maximum speed input by the user.

[0179] Correspondingly, the sending of the movement starting instruction to the controller of the mower in response to the dragging operation of the virtual joystick includes:

[0180] The sending of the movement starting instruction to the controller of the mower in response to the dragging operation of the virtual joystick and the maximum speed.

[0181] In the process of controlling the movement of the mower by the virtual joystick, the speed of the movement of the mower is related to the position after the dragging operation, and is further related to the maximum speed, which can be input by the user or determined based on a target speed gear selected by the user from a plurality of pre-set speed gears.

[0182] For example, a plurality of speed gears can be set on the second interaction interface, each speed gear corresponding to a different value, and the value corresponding to the target speed gear selected by the user is determined as the maximum speed. The maximum speed is a speed corresponding to a maximum value of a Y-axis amplitude of a position after the dragging operation.

[0183] In some embodiments, the speed gear can be switched when the movement of the mower is controlled, so as to control the movement speed of the mower by adjusting the maximum speed.

[0184] In some embodiments, a control for inputting a value by the user can be further set on the second interaction interface, and the maximum speed can be determined by the user inputting the value, so as to set the maximum speed according to the demand of the user, and the flexibility is higher.

[0185] When the terminal device sends the movement starting instruction to the controller, the speed of the movement of the mower is actually included, and therefore, the movement starting instruction can be generated according to the maximum speed and the dragging operation of the virtual joystick, so as to accurately control the movement speed of the mower.

[0186] By setting the maximum speed, the speed of the movement of the mower can be flexibly controlled.

[0187] In some embodiments, the determining of the maximum speed in response to the target speed gear selected by the user includes:

[0188] The determining of the maximum speed in response to the target speed gear selected by the user includes:

[0189] The moving mode includes a first mode and a second mode, the first mode represents a mode that the mower only moves without starting the mowing component, and the second mode represents a mode that the mower moves while mowing through the mowing component; the first mode and the second mode correspond to different maximum speeds.

[0190] Since the mower can be in different moving modes, including the first mode that only moves without starting the mowing component, and the second mode that moves while mowing through the mowing component, different moving speeds can be set for the two different moving modes. For example, when the mower is in the first mode, a first maximum speed can be set; when the mower is in the second mode, a second maximum speed can be set, and the first maximum speed is greater than the second maximum speed, so as to reduce the probability of missed mowing.

[0191] For example, there are three speed gears, when the user selects the speed gear 1, the maximum speed is speed 1 when the mower is in the first mode, and the maximum speed is speed 2 when the mower is in the second mode.

[0192] By setting different maximum speeds for the same speed gear according to different moving modes of the mower, the user can control the mower to move at different speeds in different modes without changing his own operation habit, thereby improving the operation experience of the user.

[0193] In some embodiments, the moving start instruction includes a current pushing ratio; and the sending of the moving start instruction to the controller of the mower in response to the user's dragging operation on the virtual joystick and the maximum speed includes:

[0194] After determining the maximum speed, the maximum speed is sent to the controller of the mower;

[0195] In response to the user's dragging operation on the virtual joystick, the current pushing ratio is determined, and the current pushing ratio is continuously sent to the controller of the mower through a polling interface, so that the controller of the mower determines a walking speed according to the maximum speed and the current pushing ratio, and moves while starting the mowing component according to the walking speed.

[0196] After determining the maximum speed, the terminal device can send the maximum speed to the controller of the mower, so that the controller of the mower controls its own walking speed based on the maximum speed.

[0197] Specifically, when the user drags the virtual joystick, the terminal device can determine a current pushing ratio based on the dragging operation, so that the terminal device can continuously send the current pushing ratio to the controller of the mower based on the polling interface, so that the controller of the mower can determine a walking speed according to the maximum speed and the current pushing ratio, and move based on the walking speed, and the mowing component can be started while moving.

[0198] By sending the maximum speed to the controller and continuously sending the current pushing ratio to the controller, the controller can perform the calculation of the walking speed and control its own movement, reducing the calculation process of the terminal device.

[0199] In some embodiments, the movement starting instruction includes the current pushing ratio; and the sending of the movement starting instruction to the controller of the mower in response to the dragging operation of the user on the virtual joystick and the maximum speed includes:

[0200] After determining the maximum speed, the current pushing ratio is determined in response to the dragging operation of the user on the virtual joystick;

[0201] The walking speed is determined according to the maximum speed and the current pushing ratio, and the walking speed is continuously sent to the controller of the mower through the polling interface, so that the controller of the mower moves according to the walking speed while starting the mowing component.

[0202] The operation of determining the walking speed of the mower can also be performed by the terminal device. In some embodiments, after the terminal device determines the maximum speed, the current pushing ratio can also be determined based on the dragging operation of the user on the virtual joystick, so that the walking speed is determined according to the maximum speed and the current pushing ratio, and the walking speed calculated according to different current pushing ratios is different. The walking speed calculated is continuously sent to the controller of the mower through the polling interface, so that the controller of the mower controls its own movement according to the received walking speed, and the mowing component is started while moving.

[0203] By calculating the walking speed by the terminal device and sending it to the controller of the mower, the controller of the mower can not need to perform the calculation operation, reducing the complexity of the control logic of the mower.

[0204] In some embodiments, the method further includes:

[0205] In response to receiving the first prompt information sent by the controller of the mower, displaying an automatic movement control on the first interaction interface;

[0206] In response to the user triggering the automatic movement control, an automatic movement instruction is sent to a controller of the mower to make the mower enter an automatic mode in which the mower controls its own movement; the first prompt information is information sent by a sensor in the mower when the sensor detects that the mower is currently at a target position; and the target position is a position that meets a condition for the mower to enter the automatic mode.

[0207] The mower is also provided with a sensor, based on which the surrounding environment can be identified, and based on the identification result, it can be determined whether the mower can enter the automatic mode, and in the automatic mode, the controller can take over the remote control and move by itself.

[0208] In some embodiments, a plurality of target positions can be pre-set, and when the mower is at these target positions, it means that the mower can enter the automatic mode. For example, the target position can be a position at which the boundary of the grassland is identified.

[0209] When it is determined that the mower can enter the automatic mode, the controller of the mower can send first prompt information to the terminal device, and the terminal device can display the automatic movement control on the first interaction interface when receiving the first prompt information, so that the user can trigger the automatic movement control, thereby making the mower enter the automatic mode.

[0210] When the user triggers the automatic movement control, it means that the terminal device determines that the mower can enter the automatic mode.

[0211] In some embodiments, the terminal device can determine whether the mower can enter the automatic mode based on the actual position of the mower. When it is determined that the mower can enter the automatic mode based on the actual position of the mower, the user can trigger the automatic movement control; and when it is determined that the mower cannot enter the automatic mode based on the actual position of the mower, the user does not trigger the automatic movement control.

[0212] FIG. 16 is a schematic diagram of an automatically set movement control according to an embodiment of the present application, and FIG. 17 is another schematic diagram of an automatically set movement control according to an embodiment of the present application. A new automatic movement control can be set, and a virtual joystick can also be modified into an automatic movement control.

[0213] By determining whether the mower can enter the automatic mode through the user triggering the automatic movement control, it can be ensured that the mower enters the automatic mode when it meets the condition for entering the automatic mode, thereby improving the accuracy of the mower entering the automatic mode.

[0214] In some embodiments, the method further includes:

[0215] After the automatic moving instruction is sent to the controller of the mower, a third interaction interface is displayed; the third interaction interface comprises an automatic mode control; the automatic mode control is configured to receive an adjustment information input by a user;

[0216] In response to a user triggering the automatic mode control, an adjustment instruction is sent to the controller of the mower, so that the mower adjusts the position or the moving speed based on the user's triggering when the mower is in the automatic mode.

[0217] When the terminal device sends the automatic moving instruction to the controller, the automatic mode control can also be displayed on the third interaction interface, so that when the mower is in the automatic mode, the user can fine-tune the position or the moving speed of the mower, so as to better control the movement of the mower.

[0218] Through the automatic mode control, the operation information of the user can be received, so as to fine-tune the position or the moving speed of the mower.

[0219] By setting the automatic mode control, the user can fine-tune the position or the moving speed of the mower in the automatic mode, and the accuracy of controlling the mower in the automatic mode is further improved.

[0220] FIG. 18 is a schematic diagram of an automatic mode control according to an embodiment of the present application, FIG. 19 is a schematic diagram of an automatic mode control according to an embodiment of the present application, FIG. 20 is a schematic diagram of an automatic mode control according to an embodiment of the present application, and FIG. 21 is a schematic diagram of an automatic mode control according to an embodiment of the present application, which respectively correspond to the following several setting forms of the automatic mode control.

[0221] As shown in FIG. 18, for example, the automatic mode control comprises a left upper control, a right upper control, a lower control and a middle control; the left upper control is configured to generate an adjustment instruction for controlling the mower to move left or rotate left based on the user's triggering; the right upper control is configured to generate an adjustment instruction for controlling the mower to move right or rotate right based on the user's triggering; the lower control is configured to generate an adjustment instruction for controlling the mower to retreat along the original path or retreat to the back based on the user's triggering; and the middle control is configured to generate an adjustment instruction for controlling the mower to exit the automatic mode based on the user's triggering.

[0222] As shown in FIG. 19, for example, the automatic mode control includes a left control, a right control, a down control and an up control; the left control is used to generate an adjustment instruction for controlling the mower to move left or rotate left based on the user's trigger; the right control is used to generate an adjustment instruction for controlling the mower to move right or rotate right based on the user's trigger; the down control is used to generate an adjustment instruction for controlling the mower to back up along the original path or back up straight behind based on the user's trigger; and the up control is used to generate an adjustment instruction for controlling the mower to exit the automatic mode based on the user's trigger.

[0223] As shown in FIG. 20, for example, the automatic mode control includes a left control, a right control, a down control and an up control; the left control is used to generate an adjustment instruction for controlling the mower to move left or rotate left based on the user's trigger; the right control is used to generate an adjustment instruction for controlling the mower to move right or rotate right based on the user's trigger; the down control is used to generate an adjustment instruction for controlling the mower to slow down based on the user's trigger; and the up control is used to generate an adjustment instruction for controlling the mower to speed up based on the user's trigger.

[0224] As shown in FIG. 21, for example, the automatic mode control includes a left control, a right control, a down control, an up control and a middle control; the left control is used to generate an adjustment instruction for controlling the mower to move left or rotate left based on the user's trigger; the right control is used to generate an adjustment instruction for controlling the mower to move right or rotate right based on the user's trigger; the down control is used to generate an adjustment instruction for controlling the mower to slow down based on the user's trigger; the up control is used to generate an adjustment instruction for controlling the mower to speed up based on the user's trigger; and the middle control is used to generate an adjustment instruction for controlling the mower to exit the automatic mode based on the user's trigger.

[0225] Through the above-mentioned several different automatic mode control setting modes, the mower can be moved in various directions, or rotated, or accelerated or decelerated, or exited from the automatic mode, which can facilitate the user to control the mower in all directions.

[0226] In some embodiments, the method further includes:

[0227] receiving second prompt information sent by the controller of the mower; the second prompt information is information sent by the mower when a preset condition is met; and the second prompt information is used to indicate the reason why the mower fails to start the mower component based on the start instruction;

[0228] displaying the second prompt information;

[0229] The preset condition comprises one or more of the following: the front wheel of the mower is lifted, the mower is in an error reporting state, and the connection between the mower and the terminal device is disconnected.

[0230] In order to ensure the safety of the mower when starting the mowing component, when the mower is in some special situations, the starting instruction sent by the terminal device cannot be responded to, that is, the mowing component cannot be started.

[0231] For example, when the front wheel of the mower is lifted, the mower cannot move normally and there is a possibility of falling, at this time if the mowing component is started, it may cause harm to the user. The front wheel is lifted, which means that the front wheel cannot contact the ground for a certain period of time.

[0232] For example, when the mower is in an error reporting state, the mower may have some faults, such as abnormal operation, smoke emission, uneven mowing effect, etc. At this time, if the mowing component is started, the mowing process may be abnormal, and further, it may cause the fault to escalate. Therefore, when the mower is in an error reporting state, the starting instruction sent by the terminal device will not be executed.

[0233] For example, the connection between the mower and the terminal device is wireless, when the connection between the mower and the terminal device is disconnected, the starting instruction will not be executed, avoiding the collision of the mower out of control of the user, and ensuring the safety of the mower.

[0234] For example, when the mower is locked, the starting instruction cannot be executed.

[0235] When the mower is in the above-mentioned special situation, the starting instruction of the terminal device cannot be responded to, thereby improving the safety of the mower and reducing the risk of damage to the mower. By displaying the second prompt information by the terminal device, the user can know the reason why the mower cannot respond to the starting instruction.

[0236] FIG. 22 is a flowchart of another mowing control method provided by an embodiment of the application, as shown in FIG. 22, the method is applied to a controller in a mower, and the mower further comprises a mowing component; the method comprises:

[0237] Step S2201, when receiving the starting instruction sent by the terminal device, control the mowing component to start; the starting instruction is an instruction generated by the terminal device in response to the user's unlocking operation and starting operation on the first interaction interface; the first interaction interface is used to control the mower; the unlocking operation is used to convert the first interaction interface from a state that cannot respond to the starting operation to a state that can respond to the starting operation.

[0238] In some embodiments, the terminal device can perform wireless communication with the mower. Exemplary wireless communication can be Bluetooth communication, 4G communication, 5G communication, or WIreless Fidelity (WIFI) communication.

[0239] For the mower, when the start instruction is received, the mowing component can be controlled to start. The start instruction can be generated after the user performs an unlocking operation and then a start operation on the terminal device.

[0240] By performing the unlocking operation before the start operation, the danger of starting the mowing component due to the user unintentionally triggering the start operation can be avoided.

[0241] The embodiment of the application provides a mowing control method. The method is applied to a controller in a mower, and the method comprises the following steps: when a start instruction sent by a terminal device is received, the mowing component is controlled to start; the start instruction is an instruction generated by the terminal device in response to a user's unlocking operation and start operation on a first interactive interface; the first interactive interface is used to control the mower; the unlocking operation is used to change the first interactive interface from a state in which the start operation cannot be responded to a state in which the start operation can be responded to. By performing the unlocking operation before starting the mowing component, the mowing component is prevented from being started due to the user unintentionally performing the start operation, and the safety when the mowing component is started is improved.

[0242] In some embodiments, the method further comprises:

[0243] When a stop instruction sent by the terminal device is received, the mowing component is controlled to stop.

[0244] When the controller in the mower controls the mowing component to start, the terminal device can further send a stop instruction to the controller, so that the controller controls the mowing component to stop based on the stop instruction. The generation mode of the stop instruction can refer to the execution process on the terminal device side, which will not be described here.

[0245] By receiving the stop instruction sent by the terminal device, the mowing component can be controlled to stop, so that the user can control the starting time of the mowing component.

[0246] In some embodiments, the first interactive interface is provided with a virtual joystick; the start instruction comprises a movement start instruction; and the step of controlling the mowing component to start when the start instruction sent by the terminal device is received comprises the following steps:

[0247] The controller of the mower receives a start instruction, which is a movement start instruction generated by the terminal device in response to the user performing the unlocking operation on the first interactive interface and the user performing the dragging operation on the virtual joystick.

[0248] The start instruction received by the controller of the mower can be a movement start instruction generated by the user performing the dragging operation on the virtual joystick after performing the unlocking operation.

[0249] The virtual joystick is usually used to control the movement of the mower. Here, the dragging operation on the virtual joystick is used to control the movement of the mower and start the mowing component, which can achieve starting the mowing component when the mower is moving.

[0250] Starting the mowing component during the movement of the mower through the dragging operation on the virtual joystick makes it more convenient for the user to control the mower to perform the mowing task, improving the user experience.

[0251] In some embodiments, the controller controls the mowing component to close when receiving a stop instruction sent by the terminal device, including:

[0252] The controller controls the mower to stop moving while closing the mowing component when receiving a movement stop instruction sent by the terminal device.

[0253] When the number of virtual joysticks is one, the movement stop instruction is an instruction generated by the terminal device in response to the virtual joystick not being subjected to the dragging operation of the user. When the number of virtual joysticks is two, the movement stop instruction is an instruction generated by the terminal device in response to both virtual joysticks not being subjected to the dragging operation of the user.

[0254] When the virtual joystick is used to control the start of the mowing component, the virtual joystick can also be used to control the closing of the mowing component. For example, the number of virtual joysticks can be one or two. When the number of virtual joysticks is one, if the user does not perform the dragging operation on the virtual joystick, the terminal device can generate a movement stop instruction, and the mower can receive the movement stop instruction sent by the terminal device. When the number of virtual joysticks is two, if both virtual joysticks are not subjected to the dragging operation of the user, the terminal device can generate a movement stop instruction.

[0255] Determining whether to generate a movement stop instruction based on whether the user performs a dragging operation on the virtual joystick can accurately control the closing of the mowing component.

[0256] In some embodiments, the first interaction interface is provided with a virtual joystick; the starting instruction comprises a movement starting instruction; and the control of the starting of the mowing component when the terminal device sends the starting instruction comprises:

[0257] the control of the starting of the mowing component when the terminal device sends the movement starting instruction comprises the control of the starting of the mowing component while the mower rotates in place; the movement starting instruction is generated when the terminal device responds to the drag operation of dragging the virtual joystick to an anti-mis-touch area; the anti-mis-touch area comprises a first anti-mis-touch area and a second anti-mis-touch area; the first anti-mis-touch area is an area swept when the X positive half-axis is rotated upward by a first angle and downward by a second angle, respectively; the in-place rotation corresponding to the first anti-mis-touch area is a right in-place rotation;

[0258] the second anti-mis-touch area is an area swept when the X negative half-axis is rotated upward by a third angle and downward by a fourth angle, respectively; the in-place rotation corresponding to the second anti-mis-touch area is a left in-place rotation.

[0259] When the movement starting instruction sent by the terminal device is generated based on the drag operation of dragging the virtual joystick to the anti-mis-touch area, the mower can be controlled to start the mowing component while rotating in place. By setting the anti-mis-touch area, the frequent switching of the forward and backward movements of the mower and the in-place left and right head movements caused by the shaking operation of the user when dragging the virtual joystick can be avoided.

[0260] The first anti-mis-touch area and the second anti-mis-touch area can be referred to the detailed description of the side of the terminal device, which will not be described here.

[0261] By setting the anti-mis-touch area, the problem of the in-place head movement of the mower caused by the shaking operation of the user when operating the virtual joystick can be avoided, and the user experience can be improved.

[0262] In some embodiments, the control of the starting of the mowing component while the mower moves when the terminal device sends the movement starting instruction comprises:

[0263] receiving the maximum speed sent by the terminal device;

[0264] receiving the current pushing ratio continuously sent by the terminal device through the polling interface, determining the walking speed according to the maximum speed and the current pushing ratio, and controlling the starting of the mowing component while the mower moves according to the walking speed.

[0265] When the user sets the maximum speed, the controller of the mower can receive the maximum speed sent by the terminal device. When the user drags the virtual joystick, the controller of the mower can continuously receive the current pushing ratio sent by the terminal device through the polling interface, so as to calculate the walking speed, and control the movement of the mower based on the walking speed, while controlling the start of the mowing component.

[0266] By sending the maximum speed to the controller, and continuously sending the current pushing ratio to the controller, the controller is enabled to perform the calculation of the walking speed, and control the movement of itself, so as to reduce the calculation process of the terminal device.

[0267] In some embodiments, the control of the start of the mowing component while the mower is moving upon receiving the movement start instruction sent by the terminal device comprises:

[0268] Receiving the walking speed continuously sent by the terminal device through the polling interface, and controlling the start of the mowing component while the mower is moving according to the walking speed; the walking speed is determined by the terminal device according to the current pushing ratio and the maximum speed after determining the maximum speed; the current pushing ratio is determined by the terminal device in response to the dragging operation of the user on the virtual joystick.

[0269] The process of calculating the walking speed can also be performed by the terminal device, which can determine the current pushing ratio based on the dragging operation, determine the walking speed based on the maximum speed and the current pushing ratio, and continuously send the walking speed to the controller of the mower through the polling interface.

[0270] By calculating the walking speed by the terminal device and sending it to the controller of the mower, the controller of the mower can be enabled to perform no calculation operation, so as to reduce the complexity of the control logic of the mower.

[0271] In some embodiments, the method further comprises:

[0272] When the sensor in the mower detects that the current position is the target position, a first prompt information is generated; the target position is a position that meets the entry of the mower into the automatic mode; the automatic mode is a mode in which the mower controls its own movement by itself;

[0273] The first prompt information is sent to the terminal device to display an automatic movement control on the first interaction interface; the automatic movement control is used for triggering by the user to generate an automatic movement instruction; the automatic movement instruction is used to make the mower enter the automatic mode.

[0274] The mower can determine whether it can enter the automatic mode based on the information detected by the sensor, and if so, generate first prompt information and send it to the terminal device, so that the mower can move without relying on remote control of the terminal device. The first prompt information is displayed on the terminal device, and an automatic movement control displayed by the terminal device is used to trigger the generation of an automatic movement instruction by the user, so as to determine whether the mower can enter the automatic mode based on whether the user triggers the automatic movement control.

[0275] Determination of whether the mower can enter the automatic mode based on whether the user triggers the automatic movement control can improve the accuracy of the mower entering the automatic mode.

[0276] In some embodiments, the method further comprises:

[0277] receiving an adjustment instruction sent by the terminal device;

[0278] controlling the mower to adjust the position or the speed of movement based on the user's trigger when in the automatic mode according to the adjustment instruction; the adjustment instruction is an instruction generated by the terminal device in response to the user's trigger of the automatic mode control; the automatic mode control is a control displayed on the third interaction interface after the terminal device sends the automatic movement instruction to the controller of the mower, and the automatic mode control is used for the user to input adjustment information.

[0279] When the mower is in the automatic mode, it can move without the user's remote control, but the position or speed of the mower may need to be fine-tuned when moving, at which point the adjustment instruction sent by the user can be used.

[0280] Specifically, the automatic mode control can be set on the terminal device to enable the user to issue an adjustment instruction, and the adjustment instruction can be used to adjust the position and movement speed of the mower.

[0281] The controller can receive the adjustment instruction, which can facilitate the user to fine-tune the position or movement speed of the mower in the automatic mode, and further improve the accuracy of the control of the mower in the automatic mode.

[0282] In some embodiments, the method further comprises:

[0283] Upon receiving the start instruction, if the mower meets a preset condition, a second prompt information is generated; the second prompt information is used to indicate the reason why the mower fails to start the mowing component based on the start instruction;

[0284] sending the second prompt information to the terminal device; the preset condition comprises one or more of the following: the front wheel of the mower is lifted, the mower is in an error reporting state, and the connection between the mower and the terminal device is disconnected.

[0285] When the mower receives the start instruction, it can be determined whether the mower meets the preset condition, which refers to the condition that the mower does not respond to the start instruction. If the mower meets the preset condition, the second prompt information can be generated and sent to the terminal device, so that the terminal device displays the second prompt information.

[0286] The specific content corresponding to the above-mentioned preset condition can refer to the corresponding content on the terminal device side, which will not be described here.

[0287] When the mower has the above-mentioned special situation, it cannot respond to the start instruction of the terminal device, thereby improving the safety of the mower and reducing the risk of damage to the mower. Through the display of the second prompt information by the terminal device, the user can know the reason why the mower fails to respond to the start instruction.

[0288] FIG. 23 is a structural schematic diagram of a mower control device provided by an embodiment of the application, which is applied to a terminal device. As shown in FIG. 23, the device comprises:

[0289] a display module 2301 configured to display a first interactive interface, the first interactive interface being used for controlling the mower, and the first interactive interface being in a state of being unable to respond to a start operation;

[0290] a sending module 2302 configured to, in response to a user's unlocking operation and start operation, send a start instruction to a controller of the mower, so that a mowing component in the mower is started; wherein the unlocking operation is used to make the first interactive interface in a state of being able to respond to the start operation.

[0291] In some embodiments, the first interactive interface is provided with an unlocking control and a start control; and the sending module 2302, in response to the user's unlocking operation and start operation, is configured to:

[0292] in response to a first target operation of the user on the unlocking control, control the first interactive interface to be in a state of being able to respond to the start operation;

[0293] in response to triggering of the start control by the user, send the start instruction to the controller of the mower.

[0294] In some embodiments, the device further comprises a first processing module configured to:

[0295] In response to the user stopping triggering the starting control, a stop instruction is sent to a controller of the mower to make the mowing component turn off.

[0296] In some embodiments, the apparatus further comprises a second processing module configured to:

[0297] After sending the stop instruction to the controller of the mower, if no re-triggering of the starting control by the user is detected within a preset time period, the first interaction interface is controlled to be in a state of being unresponsive to starting operation.

[0298] In some embodiments, the first interaction interface is provided with an unlocking starting control; and the sending module 2302, when sending the starting instruction to the controller of the mower in response to the unlocking operation and the starting operation of the user, is configured to:

[0299] In response to a second target operation of the user on the unlocking starting control, the first interaction interface is controlled to be in a state of being responsive to starting operation.

[0300] In response to continuous triggering of the unlocking starting control by the user, the starting instruction is continuously sent to the controller of the mower.

[0301] In some embodiments, the first interaction interface is provided with an unlocking starting control; and the sending module 2302, when sending the starting instruction to the controller of the mower in response to the unlocking operation and the starting operation of the user, is configured to:

[0302] In response to a second target operation of the user on the unlocking starting control, the first interaction interface is controlled to be in a state of being responsive to starting operation, and the starting instruction is then continuously sent to the controller of the mower.

[0303] Alternatively, in response to a second target operation of the user on the unlocking starting control, the first interaction interface is controlled to be in a state of being responsive to starting operation.

[0304] In response to a third target operation of the user on the unlocking starting control, the starting instruction is continuously sent to the controller of the mower.

[0305] In some embodiments, the apparatus further comprises a third processing module configured to:

[0306] After sending the starting instruction to the controller of the mower, the first interaction interface is provided with a stop control.

[0307] In response to triggering of the stop control by the user, a stop instruction is sent to the controller of the mower.

[0308] In some embodiments, the first interaction interface is provided with a virtual joystick; the starting instruction is a moving starting instruction; and the sending module 2302, in response to the user's unlocking operation and starting operation, is configured to:

[0309] in response to the user's unlocking operation, control the first interaction interface to be in a state that can respond to the starting operation;

[0310] in response to the user's dragging operation on the virtual joystick, send the moving starting instruction to the controller of the mower, so that the mower starts the mowing component while moving.

[0311] In some embodiments, the sending module 2302, in response to the user's operation on the virtual joystick, is configured to:

[0312] when the number of virtual joysticks is two, in response to the user's dragging operation on one or two virtual joysticks, send the moving starting instruction to the controller of the mower;

[0313] Correspondingly, the device further comprises a fourth processing module configured to:

[0314] in response to the fact that neither of the two virtual joysticks is subjected to the user's dragging operation, send a moving stopping instruction to the controller of the mower, so that the mower stops the mowing component while stopping moving.

[0315] In some embodiments, the sending module 2302, in response to the user's dragging operation on the virtual joystick, is configured to:

[0316] when the number of virtual joysticks is one, in response to the user's dragging operation on the virtual joystick, send the moving starting instruction to the controller of the mower;

[0317] Correspondingly, the device further comprises a fifth processing module configured to:

[0318] in response to the fact that the virtual joystick is not subjected to the user's dragging operation, send a moving stopping instruction to the controller of the mower, so that the mower stops the mowing component while stopping moving.

[0319] In some embodiments, the first interaction interface is further provided with an unlocking control, and the sending module 2302, in response to the user's unlocking operation, is configured to control the first interaction interface to be in a state that can respond to the starting operation:

[0320] in response to a first target operation of the user on the unlocking control, control the first interaction interface to be in a state of being responsive to a start operation;

[0321] Correspondingly, the apparatus further includes a sixth processing module configured to:

[0322] modify the unlocking control to a locking control, in response to a trigger of the user on the locking control, control the first interaction interface to be in a state of being unresponsive to a start operation;

[0323] Alternatively, if no drag operation of the user on the virtual joystick is detected within a preset time length, control the first interaction interface to be in a state of being unresponsive to a start operation.

[0324] In some embodiments, when the drag operation is to drag the virtual joystick to the positive Y-axis interval and the positive X-axis interval, the movement start instruction is used to control the lawn mower to move forward and rotate right while starting the mowing component;

[0325] and / or, when the drag operation is to drag the virtual joystick to the positive Y-axis interval and the negative X-axis interval, the movement start instruction is used to control the lawn mower to move forward and rotate left while starting the mowing component;

[0326] and / or, when the drag operation is to drag the virtual joystick to the negative Y-axis interval and the negative X-axis interval, the movement start instruction is used to control the lawn mower to move backward and rotate left while starting the mowing component;

[0327] and / or, when the drag operation is to drag the virtual joystick to the negative Y-axis interval and the positive X-axis interval, the movement start instruction is used to control the lawn mower to move backward and rotate right while starting the mowing component;

[0328] wherein, moving forward means driving straight to the front of the body of the lawn mower; moving backward means retreating to the back of the body of the lawn mower; rotating right means rotating to the right side of the front of the body of the lawn mower; rotating left means rotating to the left side of the front of the body of the lawn mower; the speed of moving forward and / or the speed of moving backward is related to the amplitude of the Y-axis; the speed of rotating right and / or the speed of rotating left is related to the amplitude of the X-axis.

[0329] In some embodiments, the sending module 2302, when sending the movement start instruction to the controller of the lawn mower in response to the drag operation of the user on the virtual joystick, is configured to:

[0330] in response to the drag operation being to drag the virtual joystick to the anti-mis-touch region, send the movement start instruction to the controller of the lawn mower; the movement start instruction is used to control the lawn mower to rotate in place while starting the mowing component;

[0331] The anti-mis-touch area includes a first anti-mis-touch area and a second anti-mis-touch area, the first anti-mis-touch area is an area swept when the X positive half-axis is rotated upward by a first angle and downward by a second angle, respectively; the corresponding original rotation of the first anti-mis-touch area is rightward original rotation;

[0332] The second anti-mis-touch area is an area swept when the X negative half-axis is rotated upward by a third angle and downward by a fourth angle, respectively; the corresponding original rotation of the second anti-mis-touch area is leftward original rotation.

[0333] In some embodiments, the device further comprises a seventh processing module configured to:

[0334] display a second interaction interface; the second interaction interface is used for a user to select a target speed gear from a plurality of speed gears set in advance; the target speed gear is used to indicate a maximum speed;

[0335] determine the maximum speed in response to the target speed gear selected by the user; the maximum speed is a speed corresponding to a Y-axis amplitude of a position of the virtual joystick being an amplitude maximum value; the second interaction interface is further used for a user to input the maximum speed;

[0336] Correspondingly, the sending module 2302, in response to the user's drag operation on the virtual joystick, is configured to:

[0337] send the movement start instruction to the controller of the mower in response to the user's drag operation on the virtual joystick and the maximum speed.

[0338] In some embodiments, the seventh processing module, in response to the target speed gear selected by the user, is configured to determine the maximum speed:

[0339] determine the maximum speed according to the movement mode of the mower in response to the target speed gear selected by the user;

[0340] The movement mode includes a first mode and a second mode, the first mode represents a mode in which the mower only moves without starting the mowing component, and the second mode represents a mode in which the mower moves while mowing through the mowing component; the maximum speeds corresponding to the first mode and the second mode are different.

[0341] In some embodiments, the movement start instruction includes a current pushing ratio; the sending module 2302, in response to the user's drag operation on the virtual joystick and the maximum speed, is configured to:

[0342] determining the maximum speed, sending the maximum speed to a controller of the mower;

[0343] determining the current pushing ratio in response to the user's drag operation on the virtual joystick, continuously sending the current pushing ratio to the controller of the mower through the polling interface, so that the controller of the mower determines a walking speed according to the maximum speed and the current pushing ratio, and starts the mowing component while moving according to the walking speed.

[0344] In some embodiments, the movement starting instruction includes a current pushing ratio; the sending module 2302, when sending the movement starting instruction to the controller of the mower in response to the user's drag operation on the virtual joystick and the maximum speed, is configured to:

[0345] determining the current pushing ratio in response to the user's drag operation on the virtual joystick after determining the maximum speed;

[0346] determining a walking speed according to the maximum speed and the current pushing ratio, continuously sending the walking speed to the controller of the mower through the polling interface, so that the controller of the mower starts the mowing component while moving according to the walking speed.

[0347] In some embodiments, the device further includes an eighth processing module configured to:

[0348] displaying an automatic movement control on the first interaction interface in response to receiving the first prompt information sent by the controller of the mower;

[0349] sending an automatic movement instruction to the controller of the mower to make the mower enter an automatic mode of self-controlling movement in response to the user's triggering of the automatic movement control; the first prompt information is information sent by a sensor in the mower when the sensor detects that the current position is a target position; the target position is a position that meets the requirement of the mower entering the automatic mode.

[0350] In some embodiments, the device further includes a ninth processing module configured to:

[0351] displaying a third interaction interface after sending the automatic movement instruction to the controller of the mower; the third interaction interface includes an automatic mode control; the automatic mode control is used for the user to input adjustment information;

[0352] sending an adjustment instruction to the controller of the mower to make the mower adjust the position or the moving speed when in the automatic mode based on the user's triggering in response to the user's triggering of the automatic mode control.

[0353] In some embodiments, the automatic mode control includes a top-left control, a top-right control, a bottom control, and a middle control; the top-left control is configured to generate an adjustment instruction to control the mower to move left or rotate left based on a user's trigger; the top-right control is configured to generate an adjustment instruction to control the mower to move right or rotate right based on a user's trigger; the bottom control is configured to generate an adjustment instruction to control the mower to back up along the original path or back up straight behind based on a user's trigger; and the middle control is configured to generate an adjustment instruction to control the mower to exit the automatic mode based on a user's trigger.

[0354] In some embodiments, the automatic mode control includes a left control, a right control, a bottom control, and a top control; the left control is configured to generate an adjustment instruction to control the mower to move left or rotate left based on a user's trigger; the right control is configured to generate an adjustment instruction to control the mower to move right or rotate right based on a user's trigger; the bottom control is configured to generate an adjustment instruction to control the mower to back up along the original path or back up straight behind based on a user's trigger; and the top control is configured to generate an adjustment instruction to control the mower to exit the automatic mode based on a user's trigger.

[0355] In some embodiments, the automatic mode control includes a left control, a right control, a bottom control, and a top control; the left control is configured to generate an adjustment instruction to control the mower to move left or rotate left based on a user's trigger; the right control is configured to generate an adjustment instruction to control the mower to move right or rotate right based on a user's trigger; the bottom control is configured to generate an adjustment instruction to control the mower to slow down based on a user's trigger; and the top control is configured to generate an adjustment instruction to control the mower to speed up based on a user's trigger.

[0356] In some embodiments, the automatic mode control includes a left control, a right control, a bottom control, a top control, and a middle control; the left control is configured to generate an adjustment instruction to control the mower to move left or rotate left based on a user's trigger; the right control is configured to generate an adjustment instruction to control the mower to move right or rotate right based on a user's trigger; the bottom control is configured to generate an adjustment instruction to control the mower to slow down based on a user's trigger; the top control is configured to generate an adjustment instruction to control the mower to speed up based on a user's trigger; and the middle control is configured to generate an adjustment instruction to control the mower to exit the automatic mode based on a user's trigger.

[0357] In some embodiments, the apparatus further includes a tenth processing module configured to:

[0358] receive second prompt information sent by a controller of the mower; the second prompt information is information sent by the mower when a preset condition is met; the second prompt information is used to indicate a reason why the mower fails to start the mowing component based on the start instruction;

[0359] display the second prompt information;

[0360] The preset condition comprises one or more of the following: the front wheel of the mower is lifted, the mower is in an error reporting state, and a connection between the mower and the terminal device is disconnected.

[0361] The mowing control device provided in the embodiments of the present application can implement the mowing control method of the embodiment shown in FIG. 2, and has similar implementation principles and technical effects, which will not be described here again.

[0362] FIG. 24 is a structural schematic diagram of another mowing control device provided in the embodiments of the present application, which is applied to a controller in a mower, and the mower further comprises a mowing component; as shown in FIG. 24, the device comprises:

[0363] a control module 2401 configured to control the mowing component to start when a start instruction sent by a terminal device is received; the start instruction is an instruction generated by the terminal device in response to a user's unlocking operation and start operation on a first interactive interface; the first interactive interface is used to control the mower; and the unlocking operation is used to convert the first interactive interface from a state in which the start operation cannot be responded to a state in which the start operation can be responded to.

[0364] In some embodiments, the device further comprises an eleventh processing module configured to:

[0365] control the mowing component to be closed when a stop instruction sent by the terminal device is received.

[0366] In some embodiments, the first interactive interface is provided with a virtual joystick; the start instruction comprises a movement start instruction; and the control module 2401, when controlling the mowing component to start when the start instruction sent by the terminal device is received, is configured to:

[0367] control the mower to start the mowing component while moving when the movement start instruction sent by the terminal device is received; the movement start instruction is an instruction generated by the terminal device in response to a user's unlocking operation on the first interactive interface and a user's dragging operation on the virtual joystick.

[0368] In some embodiments, the eleventh processing module, when controlling the mowing component to be closed when the stop instruction sent by the terminal device is received, is configured to:

[0369] when the terminal device sends a movement stop instruction, control the mower to stop moving and turn off the mowing component;

[0370] When the number of virtual joysticks is one, the movement stop instruction is an instruction generated by the terminal device in response to the virtual joystick not being subjected to a drag operation by the user. When the number of virtual joysticks is two, the movement stop instruction is an instruction generated by the terminal device in response to neither of the two virtual joysticks being subjected to a drag operation by the user.

[0371] In some embodiments, the first interaction interface is provided with a virtual joystick; the start instruction includes a movement start instruction; and the control module 2401, when receiving the start instruction sent by the terminal device, controls the mowing component to start, is configured to:

[0372] when receiving the movement start instruction sent by the terminal device, control the mower to start while rotating in place; the movement start instruction is generated by the terminal device in response to the drag operation being a drag of the virtual joystick to a mistaken touch prevention area; the mistaken touch prevention area includes a first mistaken touch prevention area and a second mistaken touch prevention area, the first mistaken touch prevention area is an area swept when the X positive half-axis is respectively rotated by a first angle upward and a second angle downward; the in-place rotation corresponding to the first mistaken touch prevention area is a right in-place rotation;

[0373] the second mistaken touch prevention area is an area swept when the X negative half-axis is respectively rotated by a third angle upward and a fourth angle downward; the in-place rotation corresponding to the second mistaken touch prevention area is a left in-place rotation.

[0374] In some embodiments, the control module 2401, when receiving the movement start instruction sent by the terminal device, controls the mower to start while moving, is configured to:

[0375] receive a maximum speed sent by the terminal device;

[0376] receive a current pushing ratio continuously sent by the terminal device through a polling interface, determine a walking speed according to the maximum speed and the current pushing ratio, and control the mower to start the mowing component while moving according to the walking speed.

[0377] In some embodiments, the control module 2401, when receiving the movement start instruction sent by the terminal device, controls the mower to start while moving, is configured to:

[0378] receive a walking speed continuously sent by the terminal device through a polling interface, and control the mower to start the mowing component while moving according to the walking speed; the walking speed is determined by the terminal device according to a current pushing ratio and a maximum speed after determining the maximum speed; the current pushing ratio is determined by the terminal device in response to a drag operation of the user on the virtual joystick.

[0379] In some embodiments, the apparatus further includes a twelfth processing module configured to:

[0380] generate first prompt information when a sensor in the mower detects that the mower is currently at a target position; the target position is a position that meets a condition for the mower to enter an automatic mode; the automatic mode is a mode in which the mower controls its own movement by itself;

[0381] send the first prompt information to the terminal device to display an automatic movement control on the first interactive interface; the automatic movement control is used to trigger an automatic movement instruction generated by the user; the automatic movement instruction is used to make the mower enter the automatic mode.

[0382] In some embodiments, the apparatus further includes a thirteenth processing module configured to:

[0383] receive an adjustment instruction sent by the terminal device;

[0384] control the mower to adjust the position or the speed when moving in the automatic mode based on the trigger of the user according to the adjustment instruction; the adjustment instruction is an instruction generated by the terminal device in response to the trigger of the user on an automatic mode control; the automatic mode control is a control displayed on a third interactive interface after the terminal device sends the automatic movement instruction to the controller of the mower, and the automatic mode control is used to input adjustment information by the user.

[0385] In some embodiments, the apparatus further includes a fourteenth processing module configured to:

[0386] generate second prompt information when the start instruction is received and the mower meets a preset condition; the second prompt information is used to indicate the reason why the mower fails to start the mowing component based on the start instruction;

[0387] send the second prompt information to the terminal device; the preset condition includes one or more of the following: the front wheel of the mower is lifted, the mower is in an error state, and the connection between the mower and the terminal device is disconnected.

[0388] The mowing control device provided by the embodiment of the present application can implement the mowing control method of the embodiment shown in FIG. 22, and the implementation principle and technical effects are similar, and thus will not be described here again.

[0389] The embodiment of the present application provides a mower, comprising a controller, a mowing component and a mower body; the controller is connected with the mowing component, and the controller is configured to execute the mowing control method of the controller applied to the mower.

[0390] FIG. 25 is a schematic diagram of a hardware structure of an electronic device provided by the embodiment of the present application. As shown in FIG. 25, the electronic device provided by the embodiment of the present application comprises at least one processor 2501 and a memory 2502. The at least one processor 2501 and the memory 2502 are connected through a bus 2503.

[0391] In the specific implementation process, the at least one processor 2501 executes the computer execution instructions stored in the memory 2502, so that the at least one processor 2501 executes the method in the above method embodiments.

[0392] The specific implementation process of the at least one processor 2501 can refer to the above method embodiments, and the implementation principle and technical effects are similar, and thus will not be described here again.

[0393] In the above embodiment shown in FIG. 25, it should be understood that the at least one processor 2501 can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC) and the like. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor and the like. The steps of the method disclosed in combination with the embodiment of the present application can be directly embodied as execution completed by a hardware processor, or executed by a combination of hardware and software modules in the processor.

[0394] The memory 2502 can comprise a high-speed random access memory (RAM), and can also comprise a non-volatile storage (NVM), for example, at least one disk memory.

[0395] The bus 2503 can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The bus can be divided into an address bus, a data bus, a control bus, and the like. For ease of representation, the bus in the drawings of the embodiments of the present application is not limited to only one bus or one type of bus.

[0396] The embodiments of the present application also provide a computer readable storage medium, which stores computer execution instructions, and when a processor executes the computer execution instructions, the method in the method embodiments described above is implemented.

[0397] The embodiments of the present application also provide a computer program product, which includes a computer program, and when the computer program is executed by a processor, the method in the method embodiments described above is implemented.

[0398] The computer readable storage medium described above can be implemented by any type of volatile or nonvolatile storage devices or a combination thereof, such as a Static Random Access Memory (SRAM), an Electrically Erasable Programmable Read-Only Memory (EEPROM), an Erasable Programmable Read-Only Memory (EPROM), a Programmable Read-Only Memory (PROM), a Read Only Memory (ROM), a magnetic storage, a flash memory, a magnetic disk or an optical disk. The computer readable storage medium can be any available medium that can be accessed by a general or special purpose computer.

[0399] For example, the computer readable storage medium is coupled to the processor, so that the processor can read information from the computer readable storage medium and write information to the computer readable storage medium. Of course, the computer readable storage medium can also be an integral part of the processor. The processor and the computer readable storage medium can be located in an ASIC. Of course, the processor and the computer readable storage medium can also exist as discrete components in the device.

[0400] It should be noted that, in this document, the terms "comprises", "comprising", or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises a" does not, without more constraints, exclude the presence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0401] The above-mentioned sequence numbers of embodiments of the present application are only for description, and do not represent advantages or disadvantages of the embodiments.

[0402] Those skilled in the art can clearly understand the above-mentioned embodiment methods from the description of the above embodiments, which can be realized by means of software and general hardware platform, and of course, can also be realized by hardware, but in many cases, the former is a better embodiment. Based on such understanding, the technical solutions of the present application can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, or optical disk) and includes a plurality of instructions for making a terminal device (which can be a mobile phone, computer, server, air conditioner, or network device) execute the methods described in the embodiments of the present application.

[0403] The above is only the preferred embodiment of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation, or direct or indirect application in other related technical fields, which is made by using the content of the specification and drawings of the present application, is also included in the patent protection scope of the present application.

Claims

1. A mower control method, applied to a terminal device, comprising: displaying a first interactive interface, the first interactive interface being used for controlling a mower, the first interactive interface being in a state of being unresponsive to a start operation; in response to a user's unlocking operation and start operation, sending a start instruction to a controller of the mower to start a mowing component in the mower; wherein the unlocking operation is used to make the first interactive interface in a state of being responsive to the start operation.

2. The method of claim 1, wherein, The first interactive interface is provided with an unlocking control and a start control; and the response to the user's unlocking operation and start operation, sending a start instruction to the controller of the mower, comprises: in response to the user's first target operation on the unlocking control, controlling the first interactive interface in a state of being responsive to the start operation; in response to the user's triggering of the start control, sending the start instruction to the controller of the mower.

3. The method of claim 2, wherein, The method further comprises: in response to the user's stopping of the triggering of the start control, sending a stop instruction to the controller of the mower to close the mowing component.

4. The method of claim 3, wherein, The method further comprises: after sending the stop instruction to the controller of the mower, if no re-triggering of the start control by the user is detected within a preset time period, controlling the first interactive interface in a state of being unresponsive to the start operation.

5. The method of claim 1, wherein, The first interactive interface is provided with an unlocking start control; and the response to the user's unlocking operation and start operation, sending a start instruction to the controller of the mower, comprises: in response to the user's second target operation on the unlocking start control, controlling the first interactive interface in a state of being responsive to the start operation; in response to the user's continuous triggering of the unlocking start control, continuously sending the start instruction to the controller of the mower.

6. The method of claim 1, wherein, The first interactive interface is provided with an unlocking start control; and the response to the user's unlocking operation and start operation, sending a start instruction to the controller of the mower, comprises: in response to the user's second target operation on the unlocking start control, controlling the first interactive interface in a state of being responsive to the start operation, and then continuously sending the start instruction to the controller of the mower; or, in response to the user's second target operation on the unlocking start control, controlling the first interactive interface in a state of being responsive to the start operation; in response to the user's third target operation on the unlocking start control, continuously sending the start instruction to the controller of the mower.

7. The method of claim 6, wherein, The method further comprises: after sending the start instruction to the controller of the mower, the first interactive interface is provided with a stop control; in response to the user's triggering of the stop control, sending a stop instruction to the controller of the mower.

8. The method of claim 1, wherein, The first interactive interface is provided with a virtual joystick; and the start instruction is a movement start instruction; The response to the user's unlocking operation and start operation, sending a start instruction to the controller of the mower, comprises: in response to the user's unlocking operation, controlling the first interactive interface in a state of being responsive to the start operation; in response to the user's drag operation on the virtual joystick, sending the movement start instruction to the controller of the mower to start the mowing component while moving the mower.

9. The method of claim 8, wherein, The method further comprises: when the number of virtual joysticks is two, in response to a user's drag operation on one or two virtual joysticks, sending the movement start instruction to the controller of the mower; Correspondingly, the method further comprises: in response to neither of the two virtual joysticks being subjected to a user's drag operation, sending a movement stop instruction to the controller of the mower, so that the mower stops moving while the mowing component is turned off.

10. The method of claim 8, wherein, The method further comprises: when the number of virtual joysticks is one, in response to a user's drag operation on the virtual joystick, sending the movement start instruction to the controller of the mower; Correspondingly, the method further comprises: in response to the virtual joystick not being subjected to a user's drag operation, sending a movement stop instruction to the controller of the mower, so that the mower stops moving while the mowing component is turned off.

11. The method of claim 8, wherein, The first interaction interface is further provided with an unlocking control, and the method of controlling the first interaction interface to be in a state of being responsive to a start operation in response to a user's unlocking operation comprises: in response to a user's first target operation on the unlocking control, controlling the first interaction interface to be in a state of being responsive to a start operation; Correspondingly, the method further comprises: modifying the unlocking control to a locking control, and in response to a user's triggering of the locking control, controlling the first interaction interface to be in a state of being unresponsive to a start operation; or, if no user's drag operation on the virtual joystick is detected within a preset time length, controlling the first interaction interface to be in a state of being unresponsive to a start operation.

12. The method of claim 10, wherein, when the drag operation is dragging the virtual joystick to the positive Y-axis interval and the positive X-axis interval, the movement start instruction is used to control the mower to move forward and rotate right while starting the mowing component; and / or, when the drag operation is dragging the virtual joystick to the positive Y-axis interval and the negative X-axis interval, the movement start instruction is used to control the mower to move forward and rotate left while starting the mowing component; and / or, when the drag operation is dragging the virtual joystick to the negative Y-axis interval and the negative X-axis interval, the movement start instruction is used to control the mower to move backward and rotate left while starting the mowing component; and / or, when the drag operation is dragging the virtual joystick to the negative Y-axis interval and the positive X-axis interval, the movement start instruction is used to control the mower to move backward and rotate right while starting the mowing component; wherein, moving forward means driving straight ahead of the body of the mower; moving backward means reversing straight behind the body of the mower; rotating right means rotating to the right of the front of the body of the mower; rotating left means rotating to the left of the front of the body of the mower; the speed of moving forward and / or the speed of moving backward is related to the amplitude of the Y-axis; the speed of rotating right and / or the speed of rotating left is related to the amplitude of the X-axis.

13. The method of claim 12, wherein, The method further comprises: displaying a second interaction interface; the second interaction interface is used for a user to select a target speed gear from a plurality of pre-set speed gears; the target speed gear is used to indicate a maximum speed; in response to the target speed gear selected by the user, determining a maximum speed; the maximum speed is a speed corresponding to a maximum value of a Y-axis amplitude of a position of the virtual joystick; the second interaction interface is further used for a user to input the maximum speed; correspondingly, the method further comprises:

14. The method of claim 12, wherein, in response to the target speed gear selected by the user, determining a maximum speed; the maximum speed is a speed corresponding to a maximum value of a Y-axis amplitude of a position of the virtual joystick; the second interaction interface is further used for a user to input the maximum speed; correspondingly, the method further comprises: in response to the target speed gear selected by the user, determining a maximum speed; the maximum speed is a speed corresponding to a maximum value of a Y-axis amplitude of a position of the virtual joystick; the second interaction interface is further used for a user to input the maximum speed; correspondingly, the method further comprises: in response to the target speed gear selected by the user, determining a maximum speed; the maximum speed is a speed corresponding to a maximum value of a Y-axis amplitude of a position of the virtual joystick; the second interaction interface is further used for a user to input the maximum speed; 15. The method of claim 14, wherein, correspondingly, the method further comprises: in response to the target speed gear selected by the user, determining a maximum speed; the maximum speed is a speed corresponding to a maximum value of a Y-axis amplitude of a position of the virtual joystick; the second interaction interface is further used for a user to input the maximum speed; correspondingly, the method further comprises:

16. The method of claim 14, wherein, in response to the target speed gear selected by the user, determining a maximum speed; the maximum speed is a speed corresponding to a maximum value of a Y-axis amplitude of a position of the virtual joystick; the second interaction interface is further used for a user to input the maximum speed; correspondingly, the method further comprises: in response to the target speed gear selected by the user, determining a maximum speed; the maximum speed is a speed corresponding to a maximum value of a Y-axis amplitude of a position of the virtual joystick; the second interaction interface is further used for a user to input the maximum speed; 17. The method of claim 14, wherein, correspondingly, the method further comprises: in response to the target speed gear selected by the user, determining a maximum speed; the maximum speed is a speed corresponding to a maximum value of a Y-axis amplitude of a position of the virtual joystick; the second interaction interface is further used for a user to input the maximum speed; correspondingly, the method further comprises: in response to the target speed gear selected by the user, determining a maximum speed; the maximum speed is a speed corresponding to a maximum value of a Y-axis amplitude of a position of the virtual joystick; the second interaction interface is further used for a user to input the maximum speed; correspondingly, the method further comprises: in response to the target speed gear selected by the user, determining a maximum speed; the maximum speed is a speed corresponding to a maximum value of a Y-axis amplitude of a position of the virtual joystick; the second interaction interface is further used for a user to input the maximum speed; correspondingly, the method further comprises: in response to the target speed gear selected by the user, determining a maximum speed; the maximum speed is a speed corresponding to a maximum value of a Y-axis amplitude of a position of the virtual joystick; the second interaction interface is further used for a user to input the maximum speed; correspondingly, the method further comprises: in response to the target speed gear selected by the user, determining a maximum speed; the maximum speed is a speed corresponding to a maximum value of a Y-axis amplitude of a position of the virtual joystick; the second interaction interface is further used for a user to input the maximum speed; correspondingly, the method further comprises: in response to the target speed gear selected by the user, determining a maximum speed; the maximum speed is a speed corresponding to a maximum value of a Y-axis amplitude of a position of the virtual joystick; the second interaction interface is further used for a user to input the maximum speed; correspondingly, the method further comprises: in response to the target speed gear selected by the user, determining a maximum speed; the maximum speed is a speed corresponding to a maximum value of a Y-axis amplitude of a position of the virtual joystick; the second interaction interface is further used for a user to input the maximum speed; correspondingly, the method further comprises: in response to the target speed gear selected by the user, determining a maximum speed; the maximum speed is a speed corresponding to a maximum value of a Y-axis amplitude of a position of the virtual joystick; the second interaction interface is further used for a user to input the maximum speed; correspondingly, the method further comprises: in response to the target speed gear selected by the user, determining a maximum speed; the maximum speed is a speed corresponding to a maximum value of a Y-axis amplitude of a position of the virtual joystick; the second interaction interface is further used for a user to input the maximum speed; correspondingly, the method further comprises: in response to the target speed gear selected by the user, determining a maximum speed; the maximum speed is a speed corresponding to a maximum value of a Y-axis amplitude of a position of the virtual joystick; the second interaction interface is further used for a user to input the maximum speed; correspondingly, the method further comprises: in response to the target speed gear selected by the user, determining a maximum speed; the maximum speed is a speed corresponding to a maximum value of a Y-axis amplitude of a position of the virtual joystick; the second interaction interface is further used for a user to input the maximum speed; correspondingly, the method further comprises: in response to the target speed gear selected by the user, determining a maximum speed; the maximum speed is a speed corresponding to a maximum value of a Y-axis amplitude of a position of the virtual joystick; the second interaction interface is further used for a user to input the maximum speed; correspondingly, the method further comprises: in response to the target speed gear selected by the user, determining a maximum speed; the maximum speed is a speed corresponding to a maximum value of a Y-axis amplitude of a position of the virtual joystick; the second interaction interface is further used for a user to input the maximum speed; correspondingly, the method further comprises: in response to the target speed gear selected by the user, determining a maximum speed; the maximum speed is a speed corresponding to a maximum value of a Y-axis amplitude of a position of the virtual joystick; the second interaction interface is further used for a user to input the maximum speed; correspondingly, the method further comprises: in response to the target speed gear selected by the user, determining a maximum speed; the maximum speed is a speed corresponding to a maximum value of a Y-axis amplitude of a position of the virtual joystick; the second interaction interface is further used for a user to input the maximum speed; correspondingly, the method further comprises: in response to the target speed gear selected by the user, determining a maximum speed; the maximum speed is a speed corresponding to a maximum value of a Y-axis amplitude of a position of the virtual joystick; the second interaction interface is further used for a user to input the maximum speed; correspondingly, the method further comprises: in response to the target speed gear selected by the user, determining a maximum speed; the maximum speed is a speed corresponding to a maximum value of a Y-axis amplitude of a position of the virtual joystick; the second interaction interface is further used for a user to input the maximum speed; correspondingly, the method further comprises: in response to the target speed gear selected by the user, determining a maximum speed; the maximum speed is a speed corresponding to a maximum value of a Y-axis amplitude of a position of the virtual joystick; the second interaction interface is further used for a user to input the maximum speed; correspondingly, the method further comprises: in response to the target speed gear selected by the user, determining a maximum speed; the maximum speed is a speed corresponding to a maximum value of a Y-axis amplitude of a position of the virtual joystick; the second interaction interface is further used for a user to input the maximum speed; correspondingly, the method further comprises: in response to the target speed gear selected by the user, determining a maximum speed; the maximum speed is a speed corresponding to a maximum value of a Y-axis amplitude of a position of the virtual joystick; the second interaction interface is further used for a user to input the maximum speed; correspondingly, the method further comprises: in response to the target speed gear selected by the user, determining a maximum speed; the maximum speed is a speed corresponding to a maximum value of a Y-axis amplitude of a position of the virtual joystick; the second interaction interface is further used for a user to input the maximum speed; correspondingly, the method further comprises: in response to the target speed gear selected by the user, determining a maximum speed; the maximum speed is a speed corresponding to a maximum value of a Y-axis amplitude of a position of the virtual joystick; the second interaction interface is further used for a user to input the maximum speed; correspondingly, the method further comprises: in response to the target speed gear selected by the user, determining a maximum speed; the maximum speed is a speed corresponding to a maximum value of a Y-axis amplitude of a position of the virtual joystick; the second interaction interface is further used for a user to input the maximum speed; correspondingly, the method further comprises: in response to the target speed gear selected by the user, determining a maximum speed; the maximum speed determining a walking speed according to the maximum speed and the current pushing ratio, continuously sending the walking speed to a controller of the mower through a polling interface, so that the controller of the mower moves according to the walking speed while starting the mowing component.

18. The method of claim 8, wherein, The method further comprises: displaying an automatic moving control on the first interaction interface in response to receiving a first prompt information sent by the controller of the mower; sending an automatic moving instruction to the controller of the mower in response to a user triggering the automatic moving control, so that the mower enters an automatic mode of self-controlling movement; the first prompt information is information sent by a sensor in the mower when the sensor detects that the mower is currently at a target position; the target position is a position that meets a condition for the mower to enter the automatic mode.

19. The method of claim 18, wherein, The method further comprises: displaying a third interaction interface after sending the automatic moving instruction to the controller of the mower; the third interaction interface comprises an automatic mode control; the automatic mode control is used for a user to input adjustment information; sending an adjustment instruction to the controller of the mower in response to a user triggering the automatic mode control, so that the mower adjusts a position or adjusts a speed of movement when the mower is in the automatic mode based on the user's triggering.

20. The method of claim 19, wherein, The automatic mode control comprises a left upper control, a right upper control, a lower control and a middle control; the left upper control is used for generating an adjustment instruction for controlling the mower to move left or rotate left based on a user's triggering; the right upper control is used for generating an adjustment instruction for controlling the mower to move right or rotate right based on a user's triggering; the lower control is used for generating an adjustment instruction for controlling the mower to retreat along an original path or retreat to a straight back direction based on a user's triggering; and the middle control is used for generating an adjustment instruction for controlling the mower to exit the automatic mode based on a user's triggering.

21. The method of claim 19, wherein, The automatic mode control comprises a left control, a right control, a lower control and an upper control; the left control is used for generating an adjustment instruction for controlling the mower to move left or rotate left based on a user's triggering; the right control is used for generating an adjustment instruction for controlling the mower to move right or rotate right based on a user's triggering; the lower control is used for generating an adjustment instruction for controlling the mower to retreat along an original path or retreat to a straight back direction based on a user's triggering; and the upper control is used for generating an adjustment instruction for controlling the mower to exit the automatic mode based on a user's triggering.

22. The method of claim 19, wherein, The automatic mode control comprises a left control, a right control, a lower control and an upper control; the left control is used for generating an adjustment instruction for controlling the mower to move left or rotate left based on a user's triggering; the right control is used for generating an adjustment instruction for controlling the mower to move right or rotate right based on a user's triggering; the lower control is used for generating an adjustment instruction for controlling the mower to slow down based on a user's triggering; and the upper control is used for generating an adjustment instruction for controlling the mower to speed up based on a user's triggering.

23. The method of claim 19, wherein, The automatic mode control includes a left control, a right control, a lower control, an upper control and a middle control; the left control is used to generate an adjustment instruction for controlling the mower to move left or rotate left based on a trigger of a user; the right control is used to generate an adjustment instruction for controlling the mower to move right or rotate right based on a trigger of a user; the lower control is used to generate an adjustment instruction for controlling the mower to slow down based on a trigger of a user; the upper control is used to generate an adjustment instruction for controlling the mower to speed up based on a trigger of a user; and the middle control is used to generate an adjustment instruction for controlling the mower to exit the automatic mode based on a trigger of a user.

24. The method of any one of claims 1 to 23, wherein, The method further comprises: receiving second prompt information sent by a controller of the mower; the second prompt information is information sent by the mower when a preset condition is met; and the second prompt information is used to indicate a reason why the mower fails to start the mowing component based on the start instruction; displaying the second prompt information; wherein the preset condition includes one or more of the following: the front wheel of the mower is lifted, the mower is in an error reporting state, and the connection between the mower and the terminal device is disconnected.

25. A mowing control method, applied to a controller in a mower, the mower further comprising a mowing component; the method comprising: controlling the mowing component to start when a start instruction sent by a terminal device is received; the start instruction is an instruction generated by the terminal device in response to a user's unlocking operation and a start operation on a first interactive interface; the first interactive interface is used to control the mower; and the unlocking operation is used to switch the first interactive interface from a state in which the start operation is not responded to to a state in which the start operation is responded to.

26. The method of claim 25, wherein, The method further comprises: controlling the mowing component to close when a stop instruction sent by a terminal device is received.

27. The method of claim 26, wherein, The first interactive interface is provided with a virtual joystick; the start instruction includes a moving start instruction; and the controlling the mowing component to start when the start instruction sent by the terminal device is received comprises: controlling the mower to start while moving when the moving start instruction sent by the terminal device is received; the moving start instruction is an instruction generated by the terminal device in response to a user's unlocking operation on the first interactive interface and a user's drag operation on the virtual joystick.

28. The method of claim 27, wherein, The controlling the mowing component to close when the stop instruction sent by the terminal device is received comprises: controlling the mower to close the mowing component while stopping moving when a moving stop instruction sent by the terminal device is received; wherein, when the number of virtual joysticks is one, the moving stop instruction is an instruction generated by the terminal device in response to the virtual joystick not being subjected to a user's drag operation; and when the number of virtual joysticks is two, the moving stop instruction is an instruction generated by the terminal device in response to both virtual joysticks not being subjected to a user's drag operation.

29. The method of claim 26, wherein, The first interaction interface is provided with a virtual rocker; the starting instruction comprises a movement starting instruction; when the terminal device sends the starting instruction, the control of starting the mowing component comprises: When the terminal device sends the movement starting instruction, the control of starting the mowing component while the mower rotates in place comprises: The movement starting instruction is generated by the terminal device in response to the drag operation of dragging the virtual rocker to the anti-mistouch area; the anti-mistouch area comprises a first anti-mistouch area and a second anti-mistouch area, the first anti-mistouch area is an area swept by rotating the X positive half-axis upward by a first angle and downward by a second angle; the in-place rotation corresponding to the first anti-mistouch area is a right in-place rotation; 30. The method of claim 27, wherein, The second anti-mistouch area is an area swept by rotating the X negative half-axis upward by a third angle and downward by a fourth angle; the in-place rotation corresponding to the second anti-mistouch area is a left in-place rotation. When the terminal device sends the movement starting instruction, the control of starting the mowing component while the mower moves comprises: Receiving the maximum speed sent by the terminal device; 31. The method of claim 27, wherein, Receiving the current pushing ratio sent by the terminal device through the polling interface, determining the walking speed according to the maximum speed and the current pushing ratio, and controlling the mower to start the mowing component while moving according to the walking speed. When the terminal device sends the movement starting instruction, the control of starting the mowing component while the mower moves comprises:

32. The method of claim 27, wherein, Receiving the walking speed sent by the terminal device through the polling interface, and controlling the mower to start the mowing component while moving according to the walking speed; the walking speed is determined by the terminal device according to the current pushing ratio and the maximum speed after determining the maximum speed; the current pushing ratio is determined by the terminal device in response to the user's drag operation on the virtual rocker. The method further comprises: When the sensor in the mower detects that the current position is a target position, a first prompt information is generated; the target position is a position that meets the requirement of the mower entering an automatic mode; the automatic mode is a mode in which the mower controls its own movement; 33. The method of claim 32, wherein, Sending the first prompt information to the terminal device to display an automatic movement control on the first interaction interface; the automatic movement control is used for triggering by the user to generate an automatic movement instruction; the automatic movement instruction is used to make the mower enter the automatic mode. The method further comprises: Receiving an adjustment instruction sent by the terminal device; 34. The method of any one of claims 25 to 33, wherein, According to the adjustment instruction, the control of the mower to adjust the position or the speed when moving based on the user's triggering while in the automatic mode; the adjustment instruction is an instruction generated by the terminal device in response to the user's triggering of the automatic mode control; the automatic mode control is a control displayed on the third interaction interface after the terminal device sends the automatic movement instruction to the controller of the mower, and the automatic mode control is used for the user to input adjustment information. The method further comprises: generate a second prompt information if the mower meets a preset condition upon receiving the start instruction; the second prompt information is used to indicate a reason why the mower fails to start the mowing component based on the start instruction; send the second prompt information to the terminal device; the preset condition includes one or more of the following: the front wheel of the mower is lifted, the mower is in an error state, and a connection between the mower and the terminal device is disconnected. 35.A mower control apparatus, applied to a terminal device, comprising: a display module configured to display a first interactive interface, the first interactive interface being used to control the mower, and the first interactive interface being in a state that is not responsive to a start operation; a sending module configured to, in response to a user's unlocking operation and start operation, send a start instruction to a controller of the mower, so as to start a mowing component in the mower; wherein the unlocking operation is used to make the first interactive interface in a state that is responsive to the start operation. 36.A mower control apparatus, applied to a controller in a mower, the mower further comprising a mowing component; the apparatus comprising: a control module configured to, upon receiving a start instruction sent by a terminal device, control the mowing component to start; the start instruction being an instruction generated by the terminal device in response to a user's unlocking operation and start operation on a first interactive interface; the first interactive interface being used to control the mower; and the unlocking operation being used to make the first interactive interface change from a state that is not responsive to the start operation to a state that is responsive to the start operation.

37. A lawnmower comprising: a controller, a mowing component, and a mower body; the controller being connected with the mowing component, and the controller being configured to execute the method in any one of claims 25 to 34.

38. An electronic device, comprising: at least one processor and a memory; the memory storing computer-executable instructions; the at least one processor executing the computer-executable instructions stored in the memory, so that the at least one processor executes the method in any one of claims 1 to 34. 39.A computer-readable storage medium, storing computer-executable instructions, when a processor executes the computer-executable instructions, the method in any one of claims 1 to 34 is implemented. 40.A computer program product, comprising a computer program, when a processor executes the computer program, the method in any one of claims 1 to 34 is implemented.

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