Method and apparatus for controlling mowing device, and electronic device, mowing device and medium

Abstract

The present application is applied to the technical field of automatic control. Disclosed are a method and apparatus for controlling a mowing device, and an electronic device, a mowing device and a medium. The method comprises: acquiring a mowing map, which comprises a pattern region and a non-pattern region; and controlling a mowing device to mow grass in a surrounding region according to a first mowing height, and mowing grass in the non-pattern region according to a second mowing height, wherein the second mowing height is less than the first mowing height, and the surrounding region is a region surrounding the pattern region. The present application improves the overall lawn trimming efficiency, and also optimizes the presentation effect of small-area patterns.

Description

Method and device for controlling mowing equipment, electronic device, mowing equipment and medium

[0001] The present application claims priority from the Chinese patent application No. 202411329484.4 filed on September 24, 2024, and entitled "Method and device for controlling mowing equipment, electronic device, mowing equipment and medium", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present application relates to the field of automatic control technology, and in particular, to a method and device for controlling mowing equipment, an electronic device, mowing equipment and a medium. BACKGROUND

[0003] A mowing robot can autonomously perform mowing work in a working area. However, in the related art, the mowing robot is difficult to meet the requirements of users for lawn ornamental value. SUMMARY

[0004] To overcome the problems in the related art, the present application provides a method and device for controlling mowing equipment, an electronic device, mowing equipment and a medium.

[0005] In a first aspect, the present application discloses a method for controlling mowing equipment, comprising: obtaining a mowing map, the mowing map comprising a pattern area and a non-pattern area; controlling the mowing equipment to mow a surrounding area at a first mowing height and to mow the non-pattern area at a second mowing height, wherein the second mowing height is less than the first mowing height, and the surrounding area is an area surrounding the pattern area.

[0006] Optionally, the controlling the mowing equipment to mow the surrounding area at the first mowing height and to mow the non-pattern area at the second mowing height comprises: path planning the surrounding area to obtain a first planning path, path planning the non-pattern area to obtain a second planning path, controlling the mowing equipment to mow the surrounding area at the first mowing height and the first planning path, and controlling the mowing equipment to mow the non-pattern area at the second mowing height and the second planning path.

[0007] Optionally, the controlling the mowing equipment comprises: controlling the mowing equipment to first mow the surrounding area and then to mow the non-pattern area; or controlling the mowing equipment to first mow the non-pattern area and then to mow the surrounding area.

[0008] Optionally, the method further comprises: generating the surrounding area in the mowing map according to the pattern area.

[0009] Optionally, the boundary of the surrounding region is a circumscribed figure of the pattern region.

[0010] Optionally, the mowing map includes a plurality of pattern regions, and correspondingly, the controlling the mowing device to mow the surrounding region at the first mowing height includes: controlling the mowing device to mow the surrounding regions corresponding to the plurality of pattern regions at the same or different first mowing heights, wherein the first mowing heights corresponding to the plurality of pattern regions are all greater than the second mowing height.

[0011] Optionally, the method further includes: when receiving the clear instruction of the pattern region, controlling the mowing device to mow the surrounding region at the second mowing height.

[0012] Optionally, the method further includes: when receiving the shortening instruction of the pattern region, controlling the mowing device to mow the surrounding region at a third mowing height.

[0013] In a second aspect, the present application further discloses a control device of a mowing device, including: an acquisition module, configured to acquire a mowing map, the mowing map including a pattern region and a non-pattern region; and a first control module, configured to control the mowing device to mow a surrounding region at a first mowing height and to mow the non-pattern region at a second mowing height, wherein the second mowing height is less than the first mowing height, and the surrounding region is a region surrounding the pattern region.

[0014] In a third aspect, the present application further discloses an electronic device, including: a memory, configured to store a computer program; and a processor, configured to execute the computer program to implement the steps of any of the control methods of the mowing device.

[0015] In a fourth aspect, the present application further discloses a mowing device, including the electronic device described above.

[0016] In a fifth aspect, the present application further discloses a computer readable storage medium, the computer readable storage medium storing a computer program, the computer program being executed by a processor to implement the steps of any of the control methods of the mowing device.

[0017] The present application provides a control method of a mowing device, including: acquiring a mowing map, the mowing map including a pattern region and a non-pattern region; controlling the mowing device to mow a surrounding region at a first mowing height and to mow the non-pattern region at a second mowing height, wherein the second mowing height is less than the first mowing height, and the surrounding region is a region surrounding the pattern region.

[0018] According to the technical scheme provided in the application, the surrounding area of the pattern area and the non-pattern area are mowed according to different mowing heights in a preset order, only the height of the cutter head in the middle of the different areas needs to be adjusted, and the height difference between the pattern area and the non-pattern area can be presented, the overall lawn mowing is realized, the high-frequency and low-efficiency cutter head adjustment operation is avoided, and the overall lawn mowing efficiency is improved. In addition, the surrounding area of the pattern area is mowed as a whole according to the first mowing height, so that the lawn height of the pattern area in the surrounding area is mowed to the first mowing height. Since the surrounding area is larger than the pattern area, the operation difficulty of mowing the large-area surrounding area is lower than that of mowing the small-area pattern area alone. The non-pattern area is mowed according to the second mowing height, and the second mowing height is smaller than the first mowing height, so that the height difference between the pattern area and the non-pattern area can be formed after the surrounding area and the non-pattern area are mowed in order. It can be seen that in the scheme of the application, the mowing device does not need to be limited to fine operation in the small-area pattern area, the operation difficulty is reduced, and the boundary between the pattern area and the non-pattern area can be well handled, and the presentation effect of the small-area pattern is optimized.

[0019] The control device of the mowing device, the electronic device, the mowing device and the computer readable storage medium provided in the application also have the above technical effects, which will not be described here again. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical schemes in the prior art and the embodiments of the application, the drawings used in the description of the prior art and the embodiments of the application will be briefly introduced below. Of course, the following description of the drawings of the embodiments of the application is only a part of the embodiments in the application, and those skilled in the art can obtain other drawings according to the provided drawings without creating any creative labor, and the obtained other drawings also belong to the protection scope of the application.

[0021] Fig. 1 is a flowchart of a control method of a mowing device provided in the application;

[0022] Fig. 2 is a schematic view of a mowing map provided in the application;

[0023] Fig. 3 is a schematic view of another mowing map provided in the application;

[0024] Fig. 4 is a schematic view of a structure of a mowing device provided in the application;

[0025] Fig. 5 is a flowchart of a control method of another mowing device provided in the application;

[0026] Fig. 6 is a schematic view of a lawn map provided in the application.

[0027] FIG. 7 is a schematic diagram of a mowing map provided in an embodiment of the application;

[0028] FIG. 8 is a schematic diagram of mowing path distribution in a pattern-enclosed region in a mowing map provided in an embodiment of the application;

[0029] FIG. 9 is a schematic diagram of a pattern-enclosed region in a mowing map after mowing provided in an embodiment of the application;

[0030] FIG. 10 is a schematic diagram of mowing path distribution in a non-pattern region in a mowing map provided in an embodiment of the application;

[0031] FIG. 11 is a schematic diagram of a mowing map after completing lawn printing provided in an embodiment of the application;

[0032] FIG. 12 is a schematic diagram of a structure of a control device of a mowing device provided in an embodiment of the application;

[0033] FIG. 13 is a schematic diagram of a structure of an electronic device provided in an embodiment of the application. DETAILED DESCRIPTION

[0034] In order to more clearly and completely describe the technical solutions in the embodiments of the present application, the technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative labor fall within the scope of protection of the present application.

[0035] In the related art, before working, a mowing device pre-constructs a mowing map, respectively determines mowing heights corresponding to a pattern region and a non-pattern region in the mowing map, and then performs path planning for the entire region to be mowed. In the working process, the mowing device moves autonomously according to the planned path, and for each current position, it is determined whether the current position belongs to the pattern region. If the current position belongs to the pattern region, the height of the cutter head is adjusted to the mowing height corresponding to the pattern region, and the current position is mowed. If the current position belongs to the non-pattern region, the height of the cutter head is adjusted to the mowing height corresponding to the non-pattern region, and the current position is mowed. It can be seen that in the above scheme, at the boundary between the pattern region and the non-pattern region, the mowing device needs to frequently adjust the height of the cutter head, resulting in low overall lawn mowing efficiency.

[0036] Therefore, in the present application, the surrounding area of the pattern area and the non-pattern area are mowed in sequence according to different mowing heights in a preset order, and only the height of the cutter head in the middle of mowing different areas needs to be adjusted, so that the height difference between the pattern area and the non-pattern area can be presented, the overall lawn mowing is realized, the high-frequency and low-efficiency cutter head adjustment operation is avoided, and the overall lawn mowing efficiency is improved.

[0037] Further, for a pattern area with a small area, if the pattern area is mowed alone, the mowing device needs to frequently turn in the pattern area with a small area, which is difficult to operate, and the boundary between the pattern area and the non-pattern area cannot be well handled, which will result in poor presentation of the pattern with a small area.

[0038] Therefore, in the present application, the surrounding area of the pattern area is mowed as a whole according to the first mowing height, so that the lawn height of the pattern area in the surrounding area is mowed to the first mowing height. Since the surrounding area is larger than the pattern area, the operation difficulty of mowing the large-area surrounding area is lower than that of mowing the small-area pattern area alone. The non-pattern area is mowed according to the second mowing height, and the second mowing height is smaller than the first mowing height. After the surrounding area and the non-pattern area are mowed in sequence, the height difference between the pattern area and the non-pattern area can be formed.

[0039] As can be seen, in the present application, the mowing device does not need to be limited to fine operation in the pattern area with a small area, the operation difficulty is reduced, and the boundary between the pattern area and the non-pattern area can be well handled, and the presentation effect of the pattern with a small area is optimized.

[0040] The hardware architecture applied in the present application is introduced below, including a mowing device and a terminal device. The terminal device can display a lawn contour map, and a user can control the mowing device to drive along the lawn boundary to record the lawn contour map, or the mowing device can automatically identify the lawn boundary through a sensor to generate the lawn contour map. The area in the lawn contour map is the effective working range of the mower.

[0041] The user can add a pattern to be mowed in the lawn contour map, and the terminal device can provide a drawing tool for the user to draw the pattern in the lawn contour map. The terminal device can also provide some prefabricated patterns for the user, such as common graphics, characters, letters, etc. The user selects the prefabricated pattern, and then determines the position where the selected pattern needs to be placed in the lawn contour map. The terminal device generates a mowing map according to the pattern added by the user, which includes a pattern area and a non-pattern area. Then, the terminal device sends the generated mowing map to the mowing device.

[0042] Further, the user can also set a first mowing height corresponding to the pattern region and a second mowing height corresponding to the non-pattern region in the terminal device, and the terminal device sends the first mowing height and the second mowing height set by the user to the mowing device.

[0043] The mowing device comprises an electronic device for controlling the mowing device to perform a mowing process. After the electronic device acquires the mowing map, the first mowing height and the second mowing height, the electronic device controls the mowing device to mow the surrounding region of the pattern region according to the first mowing height and mow the non-pattern region according to the second mowing height.

[0044] The embodiment of the present application provides a control method of a mowing device.

[0045] Please refer to FIG. 1, which is a flowchart of a control method of a mowing device provided by the present application. The control method of the mowing device can comprise the following steps S101 to S102.

[0046] S101: Acquire a mowing map, the mowing map comprising a pattern region and a non-pattern region.

[0047] The present step aims to realize the determination of a mowing map, which is a map of a target lawn that needs to be mowed. The mowing map comprises a pattern region and a non-pattern region. The pattern region corresponds to a region in the target lawn that needs to be trimmed into a specific pattern of a user, and the non-pattern region is other regions in the mowing map except the pattern region.

[0048] It should be noted that the number of pattern regions in the mowing map can be one or multiple, and the number does not affect the implementation of the present technical solution, which is not limited in the present application. When the number of pattern regions is multiple, the shapes of the pattern regions can be the same or different, which is also not limited in the present embodiment. In addition, the pattern region can be a solid region, that is, for the closed boundary of the pattern region, the region surrounded by the closed boundary is the pattern region. For example, as shown in FIG. 2, the shaded part is the pattern region, and the blank area is the non-pattern region. The pattern region can also be a hollow region, that is, for the outermost closed boundary of the pattern region, the region surrounded by the closed boundary contains both the pattern region and the non-pattern region. For example, as shown in FIG. 3, the shaded part is the pattern region, and the blank area is the non-pattern region.

[0049] S102: Control the mowing device to mow the surrounding region according to the first mowing height and mow the non-pattern region according to the second mowing height, wherein the second mowing height is less than the first mowing height, and the surrounding region is a region surrounding the pattern region.

[0050] The step is to realize the mowing of the target lawn. In the specific implementation, the mowing device is controlled to mow the surrounding area and the non-pattern area at different mowing heights, i.e., the surrounding area is mowed at a first mowing height, and the non-pattern area is mowed at a second mowing height. The mowing height (including the first mowing height and the second mowing height) in this embodiment is the height of the cutter deck of the mowing device relative to the common ground contact plane of the wheels of the mowing device, which can be understood as the cutter deck height, as shown in FIG. 4. The mowing device can be a mower robot, which includes a cutter deck and wheels. The cutter deck is usually composed of a set of sharp blades for cutting grass leaves. The wheels are the moving device of the mowing device, allowing the mowing device to move freely on the lawn. Of course, the mowing device can also include a cutter deck height adjuster for adjusting the distance between the cutter deck and the ground, i.e., adjusting the mowing height, a visual sensor usually composed of a camera for capturing image information of the environment around the mowing device, assisting the mowing device in path planning, navigation, obstacle avoidance, etc., an ultrasonic sensor for measuring distance by emitting ultrasonic pulses and receiving their echoes, assisting the mowing device in obstacle detection and obstacle avoidance. The control device is the execution subject of this embodiment, responsible for receiving sensor data, user input instructions, and controlling the movement and mowing operation of the mowing device according to the sensor data and user input instructions.

[0051] As a feasible implementation, the control of the mowing device to mow the surrounding area at the first mowing height and the non-pattern area at the second mowing height includes: path planning for the surrounding area to obtain a first planning path; path planning for the non-pattern area to obtain a second planning path; controlling the mowing device to mow the surrounding area at the first mowing height and the first planning path; and controlling the mowing device to mow the non-pattern area at the second mowing height and the second planning path.

[0052] In a specific implementation, path planning is respectively performed on the surrounding region and the non-pattern region, which can be automatically implemented based on a general coverage path algorithm. The coverage path strategy can include a "bow-type" path, a "back-type" path, and combinations of multiple paths. The path planning on the surrounding region obtains a first planning path, and the path planning on the non-pattern region obtains a second planning path. In addition, the first planning path and the second planning path obtained by planning can be subjected to safety checking to eliminate non-safe paths in the planning path, where the non-safe paths include positions where obstacles exist or positions where the lawn map is penetrated, so as to ensure the efficiency and safety in the lawn mowing process. The generated planning path can be stored in the lawn mowing device, so as to be directly used in subsequent pattern removal or shortening. When the lawn mowing device is controlled to implement the lawn mowing process, the control of the lawn mowing device adjusts the cutter head height to a first mowing height, and mows the surrounding region according to the first planning path, so as to mow the lawn height of the surrounding region including the pattern region to the first mowing height. The control of the lawn mowing device adjusts the cutter head height to a second mowing height, and mows the non-pattern region according to the second planning path, so as to mow the lawn height of the non-pattern region to the second mowing height.

[0053] It should be noted that the order of mowing the surrounding region and the non-pattern region is not specifically limited in the embodiment, as long as one region is completely mowed before mowing the other region, so that frequent adjustment of the cutter head height can be effectively avoided.

[0054] As a feasible implementation, the control of the lawn mowing device mows the surrounding region first, and then mows the non-pattern region. In a specific implementation, the control of the lawn mowing device first adjusts the cutter head height to a first mowing height, and mows the surrounding region according to the first planning path, and then adjusts the cutter head height to a second mowing height, and mows the non-pattern region according to the second planning path. In this implementation, for the regions in the surrounding region other than the pattern region, they are first mowed to the first mowing height, and then mowed to the second mowing height.

[0055] As another possible implementation, the mowing device is controlled to mow the non-pattern region first and then mow the surrounding region. In a specific implementation, the mowing device is first controlled to adjust the cutter height to the second mowing height, and mow the non-pattern region according to the second planned path, and then the mowing device is controlled to adjust the cutter height to the first mowing height, and mow the surrounding region according to the first planned path. In this implementation, for the region in the surrounding region other than the pattern region, the lawn height is directly trimmed to the second mowing height, and the first planned path will pass through this region, but since the lawn height of this region has been trimmed to the second mowing height when mowing the non-pattern region, the lawn height of this region will not be actually trimmed when mowing the surrounding region at the first mowing height.

[0056] As a possible implementation, the embodiment further includes: generating the surrounding region in the mowing map according to the pattern region. In a specific implementation, the surrounding region that completely surrounds the pattern region is generated in the mowing map.

[0057] It should be noted that the shape of the surrounding region is not limited here, and can be a regular shape such as a rectangle or a circle, or an arbitrary irregular shape. When the surrounding region is a regular shape, the first planned path with fewer turns can be planned for the surrounding region relative to an irregular shape.

[0058] In addition, as a possible implementation, the boundary of the surrounding region is a circumscribed figure of the pattern region, for example, the surrounding region is a circumscribed rectangle or a circumscribed circle of the pattern region. In a specific implementation, the shape of the surrounding region can be preset, and then the smallest figure that can completely contain the pattern region is planned as the boundary of the surrounding region, i.e., the circumscribed figure of the pattern region. With this implementation, for the preset surrounding region shape, the smallest surrounding region can be determined, and thus the shortest first planned path is planned, improving the mowing efficiency of the surrounding region.

[0059] Further, if the area of the pattern region is small, the surrounding region is set to be the smallest region that meets the preset surrounding region shape, and at this time the area of the surrounding region is also small, and the operation of mowing the surrounding region with a small area is also difficult, so for a pattern region with a small area, the surrounding region is set to be a larger region that meets the preset surrounding region shape, rather than the smallest region that meets the preset surrounding region shape. That is, as another possible implementation, the boundary of the surrounding region is a non-circumscribed figure of the pattern region. With this implementation, a larger surrounding region can be set, reducing the difficulty of operation of the mowing device in the surrounding region and optimizing the presentation effect of the pattern region with a small area.

[0060] The control method of the lawn mowing device provided in the embodiment can mow the surrounding area of the pattern area and the non-pattern area according to different mowing heights in a preset order, only needs to adjust the height of the cutter head in the middle of mowing different areas, and can present the height difference between the pattern area and the non-pattern area, realizes overall lawn mowing, avoids high-frequency and low-efficiency cutter head adjustment operation, and improves the overall lawn mowing efficiency. In addition, the surrounding area of the pattern area is mowed as a whole according to the first mowing height, so as to mow the lawn height of the pattern area in the surrounding area to the first mowing height. Since the surrounding area is larger than the pattern area, the operation difficulty of mowing the large-area surrounding area is lower than that of mowing the small-area pattern area alone. The non-pattern area is mowed according to the second mowing height, and the second mowing height is smaller than the first mowing height, so that the height difference between the pattern area and the non-pattern area can be formed after the surrounding area and the non-pattern area are mowed in order. It can be seen that in the embodiment scheme of the application, the lawn mowing device does not need to be limited to fine operation in a small-area pattern area, the operation difficulty is reduced, the boundary between the pattern area and the non-pattern area can be well handled, and the presentation effect of the small-area pattern is optimized.

[0061] The embodiment of the application provides a control method of a lawn mowing device.

[0062] Please refer to FIG. 5, which is a flowchart of another control method of a lawn mowing device provided by the application. The control method of the lawn mowing device can include the following steps S201 to S202.

[0063] S201: Obtain a mowing map, and the mowing map includes a plurality of pattern areas and non-pattern areas.

[0064] In the embodiment, the mowing map includes a plurality of pattern areas, and the shapes of the pattern areas can be the same or different, which is not limited in the embodiment.

[0065] S202: Control the lawn mowing device to mow the surrounding areas corresponding to the plurality of pattern areas according to the same or different first mowing heights, and mow the non-pattern areas according to a second mowing height; wherein the first mowing height corresponding to each of the plurality of pattern areas is greater than the second mowing height.

[0066] In the embodiment, the same first mowing height can be set for different pattern areas, different first mowing heights can be set for different pattern areas, the same first mowing height can be set for different pattern areas with the same shape, and different first mowing heights can be set for pattern areas with different shapes, which is not limited in the embodiment, as long as the first mowing height corresponding to each pattern area is greater than the second mowing height.

[0067] It should be noted that the mowing sequence of the surrounding area corresponding to the plurality of pattern areas and the non-pattern area is not specifically limited in the embodiment, as long as one area is completely mowed before another area is mowed, so as to reduce the number of height adjustment of the cutter head. If there are a plurality of pattern areas corresponding to the same first mowing height, the lawn height of these pattern areas can be mowed first according to the first mowing height, and then the lawn height of other pattern areas or non-pattern areas is mowed, further reducing the number of height adjustment of the cutter head.

[0068] It can be seen that the control method of the mowing device provided in the embodiment can present a plurality of pattern areas in the lawn, meet the user's requirement for the ornamental nature of the lawn, improve the overall lawn mowing efficiency, and optimize the presentation effect of the pattern with a small area. In addition, the embodiment can make different patterns in the lawn present different heights, so that the overall pattern composed of each pattern has a sense of hierarchy, and the visual effect is improved.

[0069] On the basis of the above embodiment, as an optional implementation, it further includes: when the mowing instruction of the pattern area is received, controlling the mowing device to mow the surrounding area according to the second mowing height.

[0070] In the process of controlling the mowing device to mow the target lawn, the user can specify to clear one or more pattern areas, that is, the user can send a clearing instruction to the mowing device through the terminal device. If the mowing map only contains one pattern area, the mowing device is controlled to mow the surrounding area of the pattern area according to the second mowing height and the first planning path corresponding to the pattern area, so as to realize the clearing of the pattern area. If the mowing map contains a plurality of pattern areas, the target pattern area to be cleared can be included in the clearing instruction, and then the mowing device is controlled to mow the surrounding area of the target pattern area along the first planning path corresponding to the target pattern area according to the second mowing height, so as to realize the clearing of the target pattern area.

[0071] It can be seen that in the embodiment, when the pattern area needs to be cleared, the surrounding area of the pattern area is mowed by controlling the mowing device, which avoids mowing the pattern area alone, that is, even if the area of the pattern area is small, the mowing device does not need to perform fine operation in the pattern area with a small area, and the operation difficulty of clearing the pattern is reduced.

[0072] On the basis of the above embodiment, as an optional implementation, it further includes: when the mowing instruction of the pattern area is received, controlling the mowing device to mow the surrounding area according to the second mowing height.

[0073] In a specific implementation, when the grass in the pattern region grows too high and needs to be cut short, the user can set a third mowing height through the terminal device, and the mowing device mows the surrounding region according to the third mowing height. The third mowing height is greater than the current lawn height of the non-pattern region, so that mowing the surrounding region according to the third mowing height will not trim the lawn height of the other regions in the surrounding region except the pattern region, which can both achieve the purpose of cutting short the lawn height of the pattern region and will not damage the height difference between the pattern region and the non-pattern region, ensuring the highlighting effect of the pattern region.

[0074] As can be seen, in the embodiment, when the lawn height of the pattern region needs to be cut short, the surrounding region of the pattern region is mowed by controlling the mowing device, which avoids mowing the pattern region alone. Even if the area of the pattern region is small, the mowing device does not need to perform fine operation in the small area, which reduces the operation difficulty of cutting short the lawn height of the pattern region.

[0075] Further, when the lawn height of the pattern region needs to be cut short, the mowing height can also be automatically set to the initial height of the pattern region, that is, the first mowing height. Based on the above embodiment, as an optional implementation, the method further includes: when receiving the instruction to cut short the pattern region, determining whether the current lawn height of the non-pattern region is less than the first mowing height; if yes, controlling the mowing device to mow the surrounding region according to the first mowing height; and if no, controlling the mowing device to mow the surrounding region according to the first mowing height and mow the non-pattern region according to the second mowing height.

[0076] In a specific implementation, when the grass in the pattern region grows too high and needs to be cut short, first, it is determined whether the current lawn height of the non-pattern region is less than the first mowing height. If yes, it indicates that the lawn height of the other regions in the surrounding region except the pattern region is less than the first mowing height, and at this time, the surrounding region can be mowed according to the first mowing height only, which will not trim the lawn height of the other regions, which can both achieve the purpose of cutting short the lawn height of the pattern region and will not damage the height difference between the pattern region and the non-pattern region, ensuring the highlighting effect of the pattern region. If the current lawn height of the non-pattern region is greater than the first mowing height, the surrounding region needs to be mowed according to the first mowing height and the non-pattern region needs to be mowed according to the second mowing height, in order to ensure the height difference between the pattern region and the non-pattern region and ensure the highlighting effect of the pattern region.

[0077] It can be seen that in the embodiment, when the lawn height of the pattern area needs to be cut short, the additional cutting height is not needed, the lawn height of the pattern area is built to the initial first cutting height, and the cutting area is automatically determined by the cutting device according to the size relationship between the current lawn height of the non-pattern area and the first cutting height, and only the surrounding area needs to be cut when the current lawn height of the non-pattern area is less than the first cutting height, thereby improving the efficiency of cutting the lawn height of the pattern area.

[0078] An application embodiment provided by the present application is introduced below, including the following processes:

[0079] 1. Determine the lawn map. The closed boundary of the lawn is determined by manual recording or automatic recognition algorithm as the effective working range of lawn printing, and no cutting and printing is performed outside the range, thereby obtaining the lawn map, as shown in FIG. 6.

[0080] 2. Select the lawn pattern to be printed, and set the size, position, orientation, etc. of the lawn pattern. The lawn pattern can be composed of one or more closed contours or one or more closed contours generated by calculation, such as the “star” pattern and “heart” pattern shown by the dashed lines in FIG. 7.

[0081] 3. Select the specified lawn pattern and set the cutting height of the area to which the lawn pattern belongs. Here, the area to which the lawn pattern belongs is the lawn area surrounded by the circumscribed rectangle or circumscribed circle or other self-defined closed contour that completely contains the lawn pattern on the lawn (i.e. the above-mentioned surrounding area), such as the rectangles outside the “star” and “heart” patterns shown in FIG. 7, which are the areas to which the “star” and “heart” patterns belong. Different areas can be set to different cutter heights.

[0082] 4. Generate the covering cutting path of the area to which the lawn pattern belongs, such as the covering paths generated by the “star” and “heart” pattern areas shown in FIG. 8, and the implementation process can include:

[0083] (1) Use a general covering planning algorithm to generate an initial covering path for one or more areas to which the lawn pattern belongs, such as the arch-shaped path and / or the back-shaped path;

[0084] (2) Perform safety checks on the initial covering path, wherein the unsafe paths include positions that pass through or enter obstacles, pass out of the lawn contour, and pass out of the contour of the area to which the lawn pattern belongs, etc.

[0085] (3) Perform cutting processing on the unsafe paths in the initial covering path to obtain the safe covering path of the area to which the lawn pattern belongs, i.e. the covering cutting path.

[0086] 5. Perform pre-cutting of the area to which the lawn pattern belongs, and the implementation process can include:

[0087] (1) Determine the coverage mowing path corresponding to the area to which the nth (n = 1, 2, 3,...) lawn pattern belongs, n represents the number of lawn patterns;

[0088] (2) Adjust the cutter height required by the nth lawn pattern to hn;

[0089] (3) Start tracing the coverage mowing path corresponding to the nth lawn pattern, and execute mowing;

[0090] (4) Loop steps (1) to (3), and set the corresponding cutter height (h2, h3, h4, …, hn) for mowing for the n lawn patterns.

[0091] As shown in FIG. 9, FIG. 9 is a schematic diagram of mowing after the pattern surrounding area in the mowing map according to an embodiment of the application. The area to which the "star" pattern belongs and the area to which the "heart" pattern belongs are different in color, representing different mowing heights. After pre-mowing in this step, the grass in the entire lawn has three heights.

[0092] 6. Perform print mowing on the entire lawn to complete pattern printing, and the implementation process is as follows:

[0093] (1) Perform coverage planning algorithm on the entire lawn to generate coverage mowing path. This process also includes a non-safety check process. As shown in FIG. 10, FIG. 10 is a schematic diagram of mowing path distribution in a non-pattern area in the mowing map according to an embodiment of the application;

[0094] (2) Adjust the cutter height to h, h satisfies h < h1, and h < h2, …, and h < hn;

[0095] (3) Start tracing mowing according to the coverage mowing path generated in (1) in this step;

[0096] (4) After completing the mowing in (3) in this step, the lawn pattern printing is completed.

[0097] As shown in FIG. 11, FIG. 11 is a schematic diagram of the mowing map after completing lawn printing according to an embodiment of the application. The "star" and "heart" patterns are well printed, and different colors represent different grass heights.

[0098] 7. Clear the printed pattern. When it is necessary to clear the lawn pattern, set the mowing height to h1 = h, h2 = h, …, hn = h, and execute steps 1 to 5.

[0099] 8. Trim the printed pattern. When the lawn in the pattern area grows too high and needs to be trimmed, repeat steps 1 to 5.

[0100] The embodiment of the present application provides a control device of a grass cutting device.

[0101] Please refer to Fig. 12, which is a structural schematic diagram of a control device of a grass cutting device provided by the present application. The control device of the grass cutting device can comprise:

[0102] The acquisition module is configured to acquire a grass cutting map, wherein the grass cutting map comprises a pattern region and a non-pattern region.

[0103] The first control module is configured to control the grass cutting device to cut the surrounding region at a first grass cutting height and cut the non-pattern region at a second grass cutting height, wherein the second grass cutting height is less than the first grass cutting height, and the surrounding region is a region surrounding the pattern region.

[0104] The acquisition module can be a radio frequency circuit, a Bluetooth chip, a wireless fidelity (Wi-Fi) chip or the like. The first control module can be a processor. Of course, referring to Fig. 12, the lawn mower robot can further be provided with a visual sensor, an ultrasonic sensor or the like. The visual sensor is usually composed of a camera and is configured to capture image information of the environment around the grass cutting device, to assist the grass cutting device in path planning, navigation, obstacle avoidance and the like. The ultrasonic sensor is configured to measure distance by emitting ultrasonic pulses and receiving echoes thereof, to assist the grass cutting device in obstacle detection and obstacle avoidance.

[0105] The control device of the grass cutting device provided by the embodiment can cut the surrounding region of the pattern region and the non-pattern region at different grass cutting heights in a preset order, only needs to adjust the height of the cutter head in the middle of cutting different regions, and can present the height difference between the pattern region and the non-pattern region, so that the overall lawn mowing is realized, the high-frequency and low-efficiency cutter head adjustment operation is avoided, and the overall lawn mowing efficiency is improved. In addition, the surrounding region of the pattern region is cut at the first grass cutting height, so that the lawn height of the pattern region is mowed to the first grass cutting height. Since the surrounding region is larger than the pattern region, the operation difficulty of cutting the large-area surrounding region is lower than that of cutting the small-area pattern region. The non-pattern region is cut at the second grass cutting height, and the second grass cutting height is less than the first grass cutting height. After the surrounding region and the non-pattern region are cut in sequence, the height difference between the pattern region and the non-pattern region is formed. It can be seen that, in the embodiment of the present application, the grass cutting device does not need to be limited to the small-area pattern region for fine operation, the operation difficulty is reduced, the boundary between the pattern region and the non-pattern region can be well handled, and the presentation effect of the small-area pattern is optimized.

[0106] On the basis of the above-mentioned embodiments, as an optional implementation, the first control module 200 is specifically configured to: perform path planning on the surrounding area to obtain a first planning path; perform path planning on the non-pattern area to obtain a second planning path; control the mowing device to mow the surrounding area according to the first mowing height and the first planning path; and control the mowing device to mow the non-pattern area according to the second mowing height and the second planning path.

[0107] On the basis of the above-mentioned embodiments, as an optional implementation, the first control module 200 controls the mowing device to mow the surrounding area first, and then mow the non-pattern area; or controls the mowing device to mow the non-pattern area first, and then mow the surrounding area.

[0108] On the basis of the above-mentioned embodiments, as an optional implementation, the control device further comprises:

[0109] The generation module is configured to generate the surrounding area in the mowing map according to the pattern area.

[0110] On the basis of the above-mentioned embodiments, as an optional implementation, the boundary of the surrounding area is a circumscribed figure of the pattern area.

[0111] On the basis of the above-mentioned embodiments, as an optional implementation, the mowing map comprises a plurality of pattern areas.

[0112] Correspondingly, the first control module 200 is specifically configured to: control the mowing device to mow the surrounding areas corresponding to the plurality of pattern areas according to the same or different first mowing height; and wherein the first mowing height corresponding to the plurality of pattern areas is greater than the second mowing height.

[0113] On the basis of the above-mentioned embodiments, as an optional implementation, the control device further comprises:

[0114] The second control module is configured to control the mowing device to mow the surrounding area according to the second mowing height when receiving the mowing instruction of the pattern area.

[0115] On the basis of the above-mentioned embodiments, as an optional implementation, the device further comprises:

[0116] The judgment module is configured to, when receiving the shortening instruction of the pattern area, judge whether the current lawn height of the non-pattern area is less than the first mowing height; if yes, start the working process of the third control module; and if no, start the working process of the first control module 200.

[0117] The third control module is configured to control the mowing device to mow the surrounding area according to the first mowing height.

[0118] The embodiment of the present application provides an electronic device.

[0119] Referring to FIG. 13, FIG. 13 is a structural schematic diagram of an electronic device provided by the present application, and the electronic device can include:

[0120] The memory 11 is used for storing a computer program.

[0121] The processor 10 is used for implementing steps of the control method of any one of the above-described lawn mowers when executing the computer program.

[0122] As shown in FIG. 13, it is a structural schematic diagram of an electronic device, and the electronic device can include a processor 10, a memory 11, a communication interface 12 and a communication bus 13. The processor 10, the memory 11 and the communication interface 12 all complete mutual communication through the communication bus 13.

[0123] In the embodiment of the present application, the processor 10 can be a central processing unit (CPU), an application specific integrated circuit, a digital signal processor, a field programmable gate array or other programmable logic devices, etc.

[0124] The processor 10 can call the program stored in the memory 11, and specifically, the processor 10 can execute the operation in the embodiment of the control method of the lawn mower.

[0125] The memory 11 is used for storing one or more programs, and the program can include program code including computer operation instructions. In the embodiment of the present application, the memory 11 at least stores a program for implementing the control method of the lawn mower provided by the above-described embodiment.

[0126] In a possible implementation manner, the memory 11 can include a program storage area and a data storage area, wherein the program storage area can store an operating system and at least one application required by a function, etc.; and the data storage area can store data created in a use process.

[0127] In addition, the memory 11 can include a high-speed random access memory, and can also include a non-volatile memory, for example, at least one magnetic disk storage device or other volatile solid-state storage device.

[0128] The communication interface 12 can be an interface of a communication module, and is used for connecting with other devices or systems.

[0129] Of course, it needs to be explained that the structure shown in FIG. 13 does not constitute a limitation on the electronic device in the embodiment of the present application, and the electronic device can include more or fewer components than those shown in FIG. 13, or combine certain components in actual application.

[0130] The embodiment of the present application provides a mowing device, which can be a mowing robot, and the mowing device comprises the electronic device provided in the above embodiment, which is used for controlling the movement and mowing operation of the mowing device. Of course, referring to FIG. 4, the mowing device is further provided with a cutter head, wheels and the like, the cutter head is usually composed of a group of sharp blades and is used for cutting grass leaves, and the wheels are the movement device of the mowing device and allow the mowing device to freely move on the lawn. Of course, the mowing device can further comprise a cutter head height adjuster, a visual sensor and an ultrasonic sensor, the cutter head height adjuster is used for adjusting the distance between the cutter head and the ground, that is, adjusting the mowing height, the visual sensor is usually composed of a camera and is used for capturing image information of the environment around the mowing device, assisting the mowing device to perform path planning, navigation, obstacle avoidance and the like, and the ultrasonic sensor measures the distance by emitting ultrasonic pulses and receiving the echoes thereof, and assists the mowing device to detect and avoid obstacles.

[0131] The embodiment of the present application provides a computer readable storage medium.

[0132] The computer readable storage medium provided by the embodiment of the present application stores a computer program, and the computer program is executed by a processor to implement the steps of the control method of the mowing device provided in the above embodiment.

[0133] The computer readable storage medium can include a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk and various storage program codes.

[0134] The computer readable storage medium provided by the embodiment of the present application is introduced in the above method embodiment, and the present application will not be repeated here.

[0135] The embodiments in the specification are described in a progressive manner, and each embodiment focuses on the difference from other embodiments, and the same or similar parts of each embodiment can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the related parts can be referred to the method part.

[0136] Those skilled in the art will further realize that the mere conception of the examples described herein is not inducing the patentable subject matter recited in each of the claims. Accordingly, those skilled in the art will recognize that the examples described herein in connection with what is described herein as the preferred embodiment can be implemented as a process, an apparatus, or a system, which can consist of several means for accomplishing the described functionality. The several means can consist of electronic hardware, computer software, or combinations of both. To clearly illustrate this interchangeability of means, various components have been described above generally in terms of their functionality while the specific manner in which such components are implemented can be determined in light of the description above as each of the several means noted above can be implemented in several ways as will be apparent to those skilled in the art. The terms "a" or "an", as used herein, mean "one or more" unless the context clearly dictates otherwise.

[0137] The steps of a method or algorithm described in connection with the embodiments disclosed herein can be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module can reside in RAM, flash memory, ROM, electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. The storage medium can be coupled to the processor such that the processor can read information from, and write information to, the storage medium. In the alternative, the storage medium can be integral to the processor. The processor and the storage medium can reside in an ASIC.

[0138] The above detailed description has set forth various examples of the technology described herein. The description is presented solely for the purpose of illustrating the examples of the technology described herein and should not be construed as a limitation to the scope of the technology described herein. Those skilled in the art will recognize that modifications and variations can be made to the described examples without departing from the spirit of the described technology. It is therefore intended that the described technology not be limited, but include all such modifications and variations as falling within the scope of the described technology.

Claims

1. A control method of a mowing device, wherein, The method comprises: acquiring a mowing map, the mowing map comprising a pattern region and a non-pattern region; controlling the mowing device to mow a surrounding region at a first mowing height and to mow the non-pattern region at a second mowing height, wherein the second mowing height is less than the first mowing height, and the surrounding region is a region surrounding the pattern region.

2. The control method of the mowing apparatus according to claim 1, wherein The controlling the mowing device to mow the surrounding region at the first mowing height and to mow the non-pattern region at the second mowing height comprises: path planning the surrounding region to obtain a first planned path; path planning the non-pattern region to obtain a second planned path; controlling the mowing device to mow the surrounding region at the first mowing height and according to the first planned path; controlling the mowing device to mow the non-pattern region at the second mowing height and according to the second planned path.

3. The control method of the mowing apparatus according to claim 2, wherein The method further comprises:

4. The control method of the mowing apparatus according to claim 1, wherein generating the surrounding region in the mowing map according to the pattern region. The boundary of the surrounding region is a circumscribed figure of the pattern region.

5. The control method of the mowing apparatus according to claim 4, wherein The mowing map comprises a plurality of pattern regions; correspondingly, the controlling the mowing device to mow the surrounding region at the first mowing height comprises:

6. The control method of the mowing apparatus according to claim 1, wherein controlling the mowing device to mow the surrounding regions corresponding to the plurality of pattern regions at the same or different first mowing heights; wherein the first mowing heights corresponding to the plurality of pattern regions are all greater than the second mowing height. The method further comprises:

7. The control method of the mowing apparatus according to claim 1, wherein when receiving a clearing instruction of the pattern region, controlling the mowing device to mow the surrounding region at the second mowing height. The method further comprises:

8. The control method of the mowing apparatus according to claim 1, wherein when receiving a shortening instruction of the pattern region, controlling the mowing device to mow the surrounding region at a third mowing height. The method further comprises:

9. The control method of the mowing apparatus according to claim 1, wherein when receiving the shortening instruction of the pattern region, judging whether the current lawn height of the non-pattern region is less than the first mowing height; if the current lawn height of the non-pattern region is less than the first mowing height, controlling the mowing device to mow the surrounding region at the first mowing height; if the current lawn height of the non-pattern region is greater than or equal to the first mowing height, controlling the mowing device to mow the surrounding region at the first mowing height and to mow the non-pattern region at the second mowing height. The boundary of the surrounding region is a regular figure.

10. The control method of the mowing apparatus according to any one of claims 1 to 9, wherein The method comprises:

11. A control device of a mowing apparatus, wherein, an acquiring module configured to acquire a mowing map, the mowing map comprising a pattern region and a non-pattern region; ​ The first control module is configured to control the mowing device to mow the surrounding area according to a first mowing height, and to mow the non-pattern area according to a second mowing height, wherein the second mowing height is less than the first mowing height, and the surrounding area is an area surrounding the pattern area.

12. An electronic device, comprising: The electronic device comprises: a memory configured to store a computer program; a processor configured to execute the computer program to implement the steps of the control method of the mowing device according to any one of claims 1 to 10.

13. A grass cutting apparatus wherein, The electronic device according to claim 12.

14. A computer readable storage medium, wherein, The computer readable storage medium stores a computer program, and the computer program is executed by the processor to implement the steps of the control method of the mowing device according to any one of claims 1 to 10.

Images