Mowing control method for mower, mower, storage medium, and electronic device

Abstract

The present application provides a mowing control method for a mower, a mower, a storage medium, and an electronic device. The method comprises: before mowing a boundary area, configuring a cutting apparatus of a mower, such that the cutting apparatus has at least two effective cutting heights, or when mowing the boundary area, adjusting the cutting height of the cutting apparatus of the mower, such that the cutting apparatus has at least two effective cutting heights, wherein the boundary area is a lawn area located within a specific distance range from a physical boundary; and controlling the cutting apparatus to mow the boundary area, such that the effective cutting height of the cutting apparatus increases in a first direction, wherein the first direction is a direction perpendicular to the physical boundary and facing toward the physical boundary. By means of said method, the problem in the related art of low mowing efficiency in existing mowing control methods for a mower due to the need to manually clear areas near physical boundaries is solved, thereby achieving the effect of improving the mowing efficiency of mowers.

Description

Lawn mower control methods, lawn mowers, storage media, and electronic equipment

[0001] Cross-references to related applications

[0002] This application claims priority to Chinese Patent Application No. 202411687118.6, filed on November 22, 2024, entitled "Method for controlling lawn mowers, lawn mower, storage medium and electronic device", the entire contents of which are incorporated herein by reference. Technical Field

[0003] This application relates to the field of smart devices, and more specifically, to a lawnmower mowing control method, a lawnmower, a storage medium, and an electronic device. Background Technology

[0004] In related technologies, when a lawnmower is mowing, it needs to maintain a certain safety distance from obstacles such as walls, fences, barriers, and railings to avoid contact between the cutting device and the obstacle boundary (i.e., physical boundary). The lawn within this safety distance, outside the working area, cannot be cut. To maintain the lawn's appearance, the user needs to manually trim the uncut areas.

[0005] However, areas near physical boundaries are often located in the outer areas, requiring users to walk to different locations to clean them, which is time-consuming and laborious. In addition, areas near physical boundaries are relatively small, which limits the user's lawn mowing work and results in lower mowing efficiency.

[0006] It is evident that the mowing control methods of lawnmowers in related technologies suffer from low mowing efficiency due to the need for manual clearing of areas near physical boundaries. Summary of the Invention

[0007] This application provides a lawnmower mowing control method, a lawnmower, a storage medium, and an electronic device, to at least solve the technical problem of low mowing efficiency caused by the need to manually clean areas near physical boundaries in lawnmower mowing control methods in the related art.

[0008] According to one aspect of the embodiments of this application, a lawnmower mowing control method is provided, comprising: configuring the cutting device of the lawnmower to have at least two effective cutting heights before cutting a boundary area, or adjusting the cutting height of the cutting device of the lawnmower to have at least two effective cutting heights when cutting the boundary area, wherein the boundary area is a lawn area whose distance from a physical boundary is within a specified distance range; controlling the cutting device to cut the boundary area so that the effective cutting height of the cutting device increases in a first direction, wherein the first direction is a direction perpendicular to the physical boundary and toward the physical boundary.

[0009] According to another aspect of the embodiments of this application, a lawnmower mowing control method is also provided, comprising: configuring the cutting device of the lawnmower to have at least two effective cutting heights before cutting a boundary area, or adjusting the cutting height of the cutting device of the lawnmower to have at least two effective cutting heights when cutting the boundary area, wherein the boundary area is a lawn area whose distance from the physical boundary is within a specified distance range; controlling the cutting device to cut the boundary area so that the effective cutting height of the cutting device increases in a first direction, wherein when the lawnmower completes cutting the boundary area, the width of the changed area is greater than or equal to 20 mm and less than or equal to 100 mm, and the changed area is the lawn area corresponding to the other effective cutting heights other than the minimum effective cutting height among the at least two effective cutting heights.

[0010] According to another aspect of the embodiments of this application, a lawnmower is also provided, the lawnmower including a control component and a cutting device, wherein the control component is configured to have at least two effective cutting heights before cutting a boundary area, or to adjust the cutting height of the cutting device to have at least two effective cutting heights while cutting the boundary area, wherein the boundary area is a lawn area whose distance from a physical boundary is within a specified distance range; controlling the cutting device to cut the boundary area such that the effective cutting height of the cutting device increases in a first direction, wherein the first direction is a direction perpendicular to the physical boundary and toward the physical boundary; the cutting device is configured to cut the boundary area according to the configured cutting height.

[0011] According to another aspect of the embodiments of this application, a computer-readable storage medium is provided, wherein a computer program is stored in the computer program, which, when executed by a processor, implements the steps in any of the above method embodiments.

[0012] According to another aspect of the embodiments of this application, an electronic device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps in any of the above method embodiments.

[0013] According to another aspect of the embodiments of this application, a computer program product or computer program is provided, the computer program product or computer program including computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, causing the computer device to perform the steps in any of the method embodiments described above.

[0014] In this embodiment, the boundary area is the lawn area close to the physical boundary, that is, the lawn area within a specified distance from the physical boundary. By configuring the cutting device of the lawnmower before cutting the boundary area, or by adjusting the cutting height of the cutting device of the lawnmower when cutting the boundary area, the cutting device can form at least two effective cutting heights when cutting the boundary area. The effective cutting height formed by the cutting device on the boundary area increases in the direction perpendicular to and towards the physical boundary, which can cut a gently rising slope in the boundary area of ​​the lawn. Even if the part of the lawn close to the physical boundary is not cut, the slope buffer will not create an abrupt dividing line visually, which can improve the aesthetics of the lawn boundary area. The user does not need to manually clean the area close to the physical boundary, thereby improving the mowing efficiency and enhancing the user experience. This solves the technical problem of low mowing efficiency caused by the need to manually clean the area close to the physical boundary in the mowing control method of the related technology. Attached Figure Description

[0015] Figure 1 is a schematic diagram of an application scenario of an optional lawnmower mowing control method according to an embodiment of this application;

[0016] Figure 2 is a flowchart illustrating an optional lawnmower mowing control method according to an embodiment of this application;

[0017] Figure 3 is a schematic diagram of an optional lawnmower mowing control method according to an embodiment of this application;

[0018] Figure 4 is a schematic diagram of another optional lawnmower mowing control method according to an embodiment of this application;

[0019] Figure 5 is a schematic diagram of another optional lawnmower mowing control method according to an embodiment of this application;

[0020] Figure 6 is a schematic diagram of another optional lawnmower mowing control method according to an embodiment of this application;

[0021] Figure 7 is a schematic diagram of another optional lawnmower mowing control method according to an embodiment of this application;

[0022] Figure 8 is a schematic diagram of another optional lawnmower mowing control method according to an embodiment of this application;

[0023] Figure 9 is a schematic diagram of another optional lawnmower mowing control method according to an embodiment of this application;

[0024] Figure 10 is a schematic diagram of another optional lawnmower mowing control method according to an embodiment of this application;

[0025] Figure 11 is a schematic diagram of another optional lawnmower mowing control method according to an embodiment of this application;

[0026] Figure 12 is a schematic diagram of another optional lawnmower mowing control method according to an embodiment of this application;

[0027] Figure 13 is a schematic diagram of another optional lawnmower mowing control method according to an embodiment of this application;

[0028] Figure 14 is a schematic diagram of another optional lawnmower mowing control method according to an embodiment of this application;

[0029] Figure 15 is a schematic diagram of another optional lawnmower mowing control method according to an embodiment of this application;

[0030] Figure 16 is a schematic diagram of another optional lawnmower mowing control method according to an embodiment of this application;

[0031] Figure 17 is a structural block diagram of an optional lawnmower according to an embodiment of this application;

[0032] Figure 18 is a computer system architecture block diagram of an optional electronic device according to an embodiment of this application. Detailed Implementation

[0033] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present application.

[0034] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0035] According to one aspect of the embodiments of this application, a lawnmower mowing control method is provided. Optionally, in this embodiment, the above-mentioned lawnmower mowing control method can be applied to a hardware environment including a lawnmower 102 and a server 104 as shown in FIG1. ​​As shown in FIG1, the lawnmower 102 can be an intelligent lawnmower equipped with a cutting device. The server 104 is connected to the lawnmower 102 through a network and can be used to provide services to the lawnmower 102 (such as location services). Users can also use their terminal devices to send mowing commands to the lawnmower 102 via the server 104 or directly to control the lawnmower 102 to mow the grass.

[0036] In this embodiment, the network may include, but is not limited to, at least one of the following: a wired network and a wireless network. The wired network may include, but is not limited to, at least one of the following: a wide area network (WAN), a metropolitan area network (MAN), and a local area network (LAN). The wireless network may include, but is not limited to, at least one of the following: Wi-Fi (Wireless Fidelity) and Bluetooth.

[0037] The lawnmower mowing control method in this embodiment can be executed by the lawnmower 102 alone, or it can be executed jointly by the lawnmower 102 and the server 104. In this embodiment, the lawnmower 102 can execute the lawnmower mowing control method by an application running on it.

[0038] Taking the lawnmower mowing control method of this embodiment executed by lawnmower 102 as an example, Figure 2 is a schematic flowchart of an optional lawnmower mowing control method according to an embodiment of this application. As shown in Figure 2, the process of the above method may include the following steps:

[0039] Step S202: Before cutting the boundary area, configure the cutting device of the lawnmower to have at least two effective cutting heights, or when cutting the boundary area, adjust the cutting height of the cutting device of the lawnmower to have at least two effective cutting heights.

[0040] Step S204: Control the cutting device to cut the boundary area so that the effective cutting height of the cutting device increases in the first direction, wherein the first direction is the direction perpendicular to the physical boundary and toward the physical boundary.

[0041] The lawnmower control method in this embodiment can be applied to the field of smart devices, specifically to scenarios where the lawnmower performs mowing work on lawn areas. The lawnmower described above can be an intelligent lawnmower, which refers to a device that can autonomously complete lawn mowing without direct human control or operation. The lawnmower can be equipped with a cutting device, i.e., a cutting mechanism for cutting the lawn to complete the mowing task. The cutting device can include, but is not limited to, at least one of the following: rotary blade cutting device, roller blade cutting device, reciprocating toothed blade cutting device, swivel blade cutting device, and rope cutting device, etc., and can also be other cutting mechanisms capable of completing the mowing task. This embodiment does not limit the type of cutting device.

[0042] In related technologies, when a lawnmower is mowing, it needs to maintain a safe distance from obstacles such as walls, fences, barriers, and railings to avoid contact between the cutting device and the physical boundary. The lawn in the non-working area formed by this safe distance cannot be cut. To maintain the lawn's appearance, users manually trim the uncut areas. Because the height difference between the uncut and cut lawn is significant, a clear and abrupt boundary line forms at the junction of the non-working area and the mower-trimmed working area, affecting the lawn's aesthetics. For example, as shown in Figure 3, there is a safe area near the physical boundary where the lawn height difference is significant, resulting in a clear boundary line that detracts from the lawn's appearance.

[0043] To eliminate the abrupt boundary lines, users typically choose to manually trim the uncut areas. However, areas near the physical boundary are often located near the perimeter, requiring users to walk to different locations to trim, which is time-consuming and laborious. Furthermore, the limited space near the physical boundary restricts the user's mowing work, resulting in low mowing efficiency.

[0044] Furthermore, as shown in Figure 4, the wall has eaves, which effectively guide rainwater and prevent it from dripping directly onto the wall, thus reducing moisture damage. However, for walls with eaves, rainwater is diverted to the critical area—the part of the lawn adjacent to the non-working area—leading to increased rainwater accumulation in this section of the lawn. This results in higher humidity in the lawn, increasing the risk of pests and diseases and making lawn maintenance more difficult.

[0045] Furthermore, for aesthetic and space-saving purposes, users often install low fences, flower beds, stones, etc., near physical boundaries. These obstacles (low fences, flower beds, stones) are characterized by their low height and narrow width. When mowing at a single cutting height in boundary areas, the effective cutting height of the cutting device will be lower than or level with the height of the obstacle. The lawnmower's ability to detect and avoid these obstacles will result in missed cuts. In addition, the lower the effective cutting height of the cutting device when cutting at boundaries, the higher the probability that the cutting components (e.g., blades) will get stuck or come into contact with obstacles that the lawnmower cannot effectively detect, such as stones buried in the lawn. This will reduce the lifespan of the cutting components.

[0046] To at least partially solve the above problems, in this embodiment, for the boundary area, i.e., the lawn area within a specified distance from the physical boundary, the cutting device of the lawnmower is configured before cutting the boundary area, or the cutting height of the cutting device of the lawnmower is adjusted when cutting the boundary area, so that the cutting device can form at least two effective cutting heights when cutting the boundary area. The effective cutting height formed by the cutting device on the boundary area increases in the direction perpendicular to the physical boundary and towards the physical boundary, which can cut a gently rising slope in the boundary area of ​​the lawn. Even if the part of the lawn near the physical boundary is not cut, the slope buffer will not create an abrupt dividing line visually. Therefore, the user does not need to manually clean the area near the physical boundary, thereby reducing the difficulty of lawn maintenance in the area near the physical boundary and improving the mowing efficiency of the lawnmower.

[0047] In addition, for the boundary area, the effective cutting height of the cutting device is increased in the first direction. While improving the aesthetics of the lawn boundary area, it can also effectively improve the obstacle-crossing performance of the lawnmower, reduce the probability of the lawnmower hitting hidden obstacles in the lawn, thereby extending the service life of the cutting components of the cutting device and reducing the probability of missed cutting.

[0048] Here, the boundary region refers to the lawn area within a specified distance from the physical boundary, i.e., the lawn area close to the physical boundary. The length of the boundary region—the area parallel to the physical boundary—is determined by either the area of ​​the lawn area or the area of ​​the boundary region itself. The width of the boundary region—the area perpendicular to the physical boundary—is determined by the specified distance range. The specified distance range can be represented by the distance from the physical boundary. For example, the specified distance range can be a range less than or equal to 20 centimeters from the physical boundary; correspondingly, the boundary region refers to the area less than or equal to 20 centimeters from the physical boundary. As another example, the specified distance range can be a range less than or equal to 30 centimeters from the physical boundary; correspondingly, the boundary region refers to the area less than or equal to 30 centimeters from the physical boundary. This embodiment does not limit the specified distance range.

[0049] In this embodiment, the specified distance range can be set based on experience and can be adjusted as needed. Optionally, the specified distance range can be related to all or part of the following: the size of the lawnmower, the cutting accuracy of the cutting device, the original height of the lawn, and the height of the lawn mowed. The specified distance range can be determined based on all or part of the following: the size of the lawnmower, the cutting accuracy of the cutting device, the original height of the lawn, and the height of the lawn mowed, i.e., the boundary area can be determined.

[0050] Considering the different types of cutting devices, such as whether the lateral position is fixed and whether multiple positions can be cut simultaneously, in order to ensure that the cutting device can form at least two effective cutting heights in the boundary area, as an optional implementation, the cutting device of the lawnmower can be configured to have at least two effective cutting heights before cutting the boundary area. Here, the configuration can be the cutting height of the configured cutting device. If the cutting device itself can form multiple effective cutting heights at once, all the cutting heights of the cutting device can be configured at once so that it forms at least two effective cutting heights at once; if the cutting device itself can only form one effective cutting height at a time, all the cutting heights of the cutting device can also be configured at once, so that the cutting device can be controlled to form at least two effective cutting heights in multiple times through a single configuration.

[0051] As another optional implementation, in cases where the cutting device itself cannot form multiple effective cutting heights at once, where multiple effective cutting heights formed at once cannot meet the cutting requirements, or other situations where the cutting requirements cannot be met by a single cut, the cutting height of the cutting device can be adjusted to have at least two effective cutting heights when cutting the boundary area.

[0052] For a lawnmower, the cutting device can be controlled to cut the boundary area once or multiple times to create at least two effective cutting heights on the boundary area. The effective cutting height increases in a first direction, that is, in the direction perpendicular to and toward the physical boundary. Here, within the boundary area, the cut boundary area can be stepped, with different effective cutting heights for different steps, and the effective cutting height gradually increases along the direction closer to the physical boundary.

[0053] Figure 5 shows an example of the boundary area segmentation effect achieved by the above scheme. The lawn at the boundary area can form a smooth transition, avoiding abrupt dividing lines, which can improve the aesthetics of the lawn. It does not require secondary trimming by the user, thus improving the user experience.

[0054] As shown in Figure 6, when rainwater flows from the eaves to the critical area—which can be the boundary area or the part of the boundary area close to the physical boundary—the slope of the critical area guides the rainwater. Under the influence of the slope, the rainwater flows away from the physical boundary and does not accumulate in the critical area. This avoids the occurrence of pests and diseases in the lawn in the area due to the high humidity in the critical area.

[0055] It should be noted that the above-mentioned boundary area cutting method can create a gentle slope in the lawn boundary area, improving the aesthetics of the lawn boundary area and eliminating the need for secondary manual mowing, thus improving the user experience. At the same time, the closer to the physical boundary, the higher the effective cutting height of the cutting device, which can improve the obstacle avoidance effect of the cutting device and prevent the cutting disc from touching low obstacles near the physical boundary. In addition, it can also improve the water conductivity of the lawn boundary area, prevent rainwater from accumulating in the critical area, reduce the probability of lawn diseases and pests, and reduce the difficulty of lawn management.

[0056] The embodiments provided in this application configure the cutting device of the lawnmower to have at least two effective cutting heights before cutting the boundary area, or adjust the cutting height of the cutting device of the lawnmower to have at least two effective cutting heights when cutting the boundary area. The boundary area is a lawn area within a specified distance range from the physical boundary. The cutting device is controlled to cut the boundary area so that the effective cutting height of the cutting device increases in a first direction, wherein the first direction is perpendicular to the physical boundary and toward the physical boundary. This solves the technical problem of low mowing efficiency caused by the need to manually clean the area near the physical boundary in the mowing control method of the lawnmower in the related art, thereby improving mowing efficiency and enhancing the user experience.

[0057] According to another aspect of the embodiments of this application, a lawnmower mowing control method is provided. Optionally, in this embodiment, the above-described lawnmower mowing control method can be applied to the hardware environment shown in FIG1, which has already been described and will not be repeated here.

[0058] The lawnmower mowing control method in this embodiment can be executed by the lawnmower 102 alone, or it can be executed jointly by the lawnmower 102 and the server 104. In this embodiment, the lawnmower 102 can execute the lawnmower mowing control method by an application running on it.

[0059] Taking the lawn mowing control method of the lawn mower in this embodiment executed by the lawn mower 102 as an example, the process of the lawn mowing control method of the above-mentioned lawn mower may include the following steps: before cutting the boundary area, configuring the cutting device of the lawn mower to have at least two effective cutting heights, or when cutting the boundary area, adjusting the cutting height of the cutting device of the lawn mower to have at least two effective cutting heights, wherein the boundary area is a lawn area whose distance from the physical boundary is within a specified distance range; controlling the cutting device to cut the boundary area so that the effective cutting height of the cutting device increases in a first direction, wherein the first direction is a direction perpendicular to the physical boundary and toward the physical boundary.

[0060] The lawnmower control method in this embodiment can be applied to the field of smart devices, specifically to scenarios where lawnmowers perform lawn mowing operations. The configuration of the lawnmower's cutting device to have at least two effective cutting heights, or the adjustment of the cutting height of the cutting device to have at least two effective cutting heights when cutting boundary areas, as well as the control of the cutting device to cut boundary areas, are the same or similar to those described in the previous embodiments and will not be repeated here.

[0061] In this embodiment, to ensure both the aesthetics of the lawn and the water-draining performance of the lawn slope, after the lawnmower has cut the boundary area, the width of the changing area is greater than or equal to 20 mm and less than or equal to 100 mm. The changing area is the lawn area corresponding to the maximum and minimum effective cutting heights, i.e., the area where the slope has been cut. Here, the wider the changing area, the more rainwater flowing from the eaves can be dispersed over the lawn area, resulting in better rainwater drainage and promoting lawn growth. The narrower the changing area, the less complex the cutting process and the less work is required. To balance rainwater drainage capacity and cutting convenience, the width of the changing area can be controlled within 20 mm to 100 mm.

[0062] The change zone is part of the boundary zone, which also includes the uncut area adjacent to the physical boundary. The maximum effective cutting height within the change zone can be the same as the height of the uncut area, or the absolute value of the height difference between the maximum effective cutting height within the change zone and the height of the uncut area can be less than or equal to a set height threshold, such as 1 cm, 2 cm, 3 cm, or other values. Optionally, the number of effective cutting heights and the height values ​​of the effective cutting heights can be determined based on the range of height differences between adjacent effective cutting heights (e.g., 1.5 cm to 2 cm, 0.5 cm to 1.5 cm, etc.; to improve the controllability and convenience of cutting, the allowed height difference values ​​can be discrete values, such as 0.5 cm, 1.5 cm, and 2 cm), the area height of the boundary zone (i.e., the height of the lawn), and the expected lawn cutting height (which can be the minimum effective cutting height or a value higher than the minimum cutting height).

[0063] For example, if the height difference between adjacent effective cutting heights ranges from {0.5 cm, 1 cm, 1.5 cm, 2 cm}, and the expected lawn cutting height is 4 cm, then the number of effective cutting heights can be 4 or 5. If the height difference between adjacent effective cutting heights is 1 cm, then the number of effective cutting heights is 4: 5 cm, 6 cm, 7 cm, and 8 cm. Alternatively, if the minimum effective cutting height is the expected lawn cutting height, then the number of effective cutting heights is 5: 4 cm, 5 cm, 6 cm, 7 cm, and 8 cm.

[0064] The embodiments provided in this application configure the cutting device of the lawnmower to have at least two effective cutting heights before cutting the boundary area, or adjust the cutting height of the cutting device of the lawnmower to have at least two effective cutting heights when cutting the boundary area. The boundary area is a lawn area within a specified distance range from the physical boundary. The cutting device is controlled to cut the boundary area so that the effective cutting height of the cutting device increases in a first direction, which is perpendicular to the physical boundary and toward the physical boundary. When the lawnmower completes cutting the boundary area, the width of the changed area is greater than or equal to 20 mm and less than or equal to 100 mm. The changed area is the lawn area corresponding to the other effective cutting heights besides the minimum effective cutting height among the at least two effective cutting heights. This solves the technical problem of low mowing efficiency caused by the need to manually clean the area near the physical boundary in the mowing control method of the related technology, improves mowing efficiency and enhances the user experience.

[0065] The width of the changing area affects the area of ​​missed mowing; the wider the changing area, the larger the missed area. For example, if obstacle A exists in the lawn, a wider changing area results in a smaller distance between the changing area and obstacle A. When mowing non-boundary areas, the lawnmower's setting for mowing height is equal to the minimum effective cutting height within the boundary areas. For example, as shown in Figure 7, the width of the changing area is 100 mm, and the distance between the changing area and obstacle A is less than a specified threshold (corresponding to the cutting diameter of the cutting device). When the lawnmower mows the lawn area between the changing area and obstacle A, attempting to avoid obstacle A while mowing would disrupt the slope effect of the changing area. To maintain the slope effect, the lawnmower will selectively avoid cutting the lawn between the changing area and obstacle A, resulting in missed mowing. For example, as shown in Figure 8, the width of the changing area in the scene is 40 millimeters, and the distance between the changing area and obstacle A is greater than a specified threshold. The lawnmower can mow the lawn area between the changing area and obstacle A without damaging the slope effect of the changing area, thus preventing missed mowing. Therefore, the wider the changing area, the higher the probability of missed mowing.

[0066] A lawn mowing experiment was conducted on 400 square meters of lawn using different numbers of effective cutting heights. Five randomly selected lawns were used as subjects. Except for variables such as the width of the variable area and the number of effective cutting heights, all other variables remained consistent. Each of the five target lawns was mowed (different time periods could be selected to ensure consistent grass growth). The experimental results are shown in Figure 9. Figure 9 shows that the wider the variable area, the larger the area of ​​unmowed lawn. Furthermore, when the width of the variable area exceeds 100 mm, the rate of increase in unmowed area increases significantly with the increase in the width of the variable area. One reason for the significant increase in unmowed area is that obstacles A in the lawn are not placed too close to the physical boundary. For example, swings and benches maintain a certain distance from the physical boundary to preserve usable space. When the width of the variable area exceeds 100 mm, the probability of the lawnmower's movement space being affected by these obstacles increases significantly.

[0067] Furthermore, as shown in Figure 9, the more effective cutting heights there are, the smaller the area of ​​missed mowing. One reason is that the effective cutting height gradually increases towards the physical boundary. A higher number of effective cutting heights results in better obstacle-crossing performance for the mower, thus reducing the area of ​​missed mowing. For example, when the height difference between adjacent effective cutting heights is 10 mm and the expected lawn cutting height is 4 cm, if there are 2 effective cutting heights, the effective cutting height of the changing area is 5 cm; if there are 3 effective cutting heights, the effective cutting heights are 5 cm and 6 cm; if there are 4 effective cutting heights, the effective cutting heights are 5 cm, 6 cm, and 7 cm; and if there are 5 effective cutting heights, the effective cutting heights are 5 cm, 6 cm, 7 cm, and 8 cm. Therefore, with the same width of the changing area, a higher number of effective cutting heights results in a greater average effective cutting height within the changing area, leading to better obstacle-crossing performance and a lower rate of missed mowing.

[0068] Furthermore, as shown in Figure 9, when the area of ​​the variable region is the same and the number of effective cutting heights is the same, the area of ​​lawn missed when the blades are set to multiple layers is less than when the blades are set to a single layer. One reason for this is that when mowing lawns in non-boundary areas, setting the blades to multiple layers allows for cutting more complex lawn conditions compared to setting the blades to a single layer. For example, if the expected cutting height of the lawn is 4 cm, and there is an obstacle B 4 cm high in the lawn, for a lawnmower with a single blade, the cutting height is 4 cm. When the lawnmower detects obstacle B, it will execute an obstacle avoidance strategy, leaving uncut lawn around obstacle B. For a lawnmower with two blades, the cutting heights are 4 cm and 5 cm, and the cutting diameter corresponding to the 5 cm cutting height is greater than the cutting diameter corresponding to the 4 cm cutting height. When the lawnmower detects obstacle B, it will execute an obstacle avoidance strategy to prevent the blade with an effective cutting height of 4 cm from touching the obstacle. If the obstacle avoidance path is the same as the obstacle avoidance path for a single blade, the blade with an effective cutting height of 5 cm will trim part of the lawn around obstacle B. Therefore, increasing the number of blade layers can reduce the area of ​​missed lawn cutting.

[0069] The width of the changing zone also affects blade lifespan; the smaller the changing zone, the shorter the blade lifespan. For example, as shown in Figure 10, low obstacles, such as stones, may be buried in the lawn near the boundary. These buried stones may not be effectively detected by the lawnmower, causing the blade to accidentally hit them, resulting in blade damage and affecting its lifespan. Because the effective cutting height of the changing zone is greater than the expected cutting height of the lawn, the blade may pass over some stones within the changing zone, thus reducing the probability of blade damage. Therefore, the larger the changing zone, the larger the lawn area corresponding to the effective cutting height higher than the expected cutting height, the lower the probability of the blade hitting stones, and the longer the blade lifespan.

[0070] To verify the impact of the width of the variable area on blade life, a cutting experiment was conducted on 400 square meters of lawn with different numbers of effective cutting heights. Five randomly selected lawns were used as test subjects. Except for the width of the variable area and the number of effective cutting heights, other variables were kept constant. Each of the five target lawns was cut (different time periods could be selected to ensure consistent grass growth). The experimental results are shown in Figure 11. It should be noted that in this experiment, the number of blades corresponding to each layer of effective cutting height was three. The average blade life refers to the average life of these three blades, which is characterized by the number of notches and the area of ​​the notches. For cases with multiple layers of blades, the average blade life was calculated using the blade with the lowest effective cutting height. As shown in Figure 11, the wider the variable area, the longer the average blade life. When the width of the variable area is less than 20 mm, the rate of blade life decay increases significantly as the width of the variable area decreases. One reason for the significant decrease in blade life is the higher the probability of low obstacles such as stones near the physical boundary.

[0071] Furthermore, as shown in Figure 11, the more effective cutting heights there are, the longer the average blade lifespan. One reason is that the effective cutting height gradually increases towards the physical boundary. The more effective cutting heights there are, the higher the average cutting height of the lawnmower, and the lower the probability of the blade accidentally hitting obstacles such as stones. For example, when the height difference between adjacent effective cutting heights is 10 mm and the expected lawn cutting height is 4 cm, if there are 2 effective cutting heights, the effective cutting height of the changing area is 5 cm; if there are 3 effective cutting heights, the effective cutting heights of the changing area are 5 cm and 6 cm; if there are 4 effective cutting heights, the effective cutting heights of the changing area are 5 cm, 6 cm, and 7 cm; and if there are 5 effective cutting heights, the effective cutting heights of the changing area are 5 cm, 6 cm, 7 cm, and 8 cm. Therefore, with the same width of the changing area, the more effective cutting heights there are, the greater the average effective cutting height within the changing area, the lower the probability of the lawnmower hitting low obstacles such as stones when mowing in the changing area, and the longer the blade lifespan.

[0072] Furthermore, as shown in Figure 11, when the area of ​​the variable region is the same and the number of effective cutting heights is the same, the average lifespan of the blades is longer when the blades are set in multiple layers compared to when the blades are set in a single layer. One reason is that when the blades are set in multiple layers, the upper blades share the mowing load of the bottom blades, resulting in a longer lifespan for the bottom blades compared to when the blades are set in a single layer.

[0073] In summary, when the width of the variable area is greater than or equal to 20 mm and less than or equal to 100 mm, the blade's lifespan will not decrease too quickly, and the missed area will not be too large, thus ensuring the mowing efficiency of the lawnmower.

[0074] In one exemplary embodiment, at least two effective cutting heights are effective cutting heights of N levels, where N is a positive integer greater than or equal to 2, and the effective cutting heights of the N levels decrease sequentially in ascending order of the number of levels. To cut out a sloping area within the boundary region, the number of effective cutting heights (the value of N) should not be too small, while to reduce the complexity of region cutting, the number of effective cutting heights should not be too large. Therefore, in this embodiment, N is a positive integer greater than or equal to 2, that is, the number of effective cutting heights is at least 5. Here, the number of effective cutting heights can be set empirically, and can be 5, 6, or other values; this embodiment does not limit this.

[0075] Taking a scenario with five effective cutting heights as an example, as shown in Figure 12, within the aforementioned boundary area, the intelligent lawnmower has five different effective cutting heights when mowing, along the direction closest to the physical boundary. These include the first cutting height, the second cutting height, the third cutting height, the fourth cutting height, and the fifth cutting height. The first cutting height is greater than the second cutting height, the second cutting height is greater than the third cutting height, the third cutting height is greater than the fourth cutting height, and the fourth cutting height is greater than the fifth cutting height. The areas of variation are the lawn areas corresponding to the first, second, third, and fourth cutting heights.

[0076] In this embodiment, by controlling the cutting device to form at least 5 effective cutting heights in the boundary area, the water-conducting performance of the cut lawn slope can be guaranteed, and the complexity of area cutting can be reduced.

[0077] In one exemplary embodiment, to improve the ease of boundary area cutting, the height difference between adjacent effective cutting heights in the N levels can be the same. To ensure the boundary area's ability to drain rainwater, the height difference between adjacent effective cutting heights is less than or equal to 20 mm, for example, 20 mm, 15 mm, or other values.

[0078] For example, the effective cutting height of the j-th level out of N effective cutting heights is a. j Except for the minimum effective cutting height, the height difference 'a' between each effective cutting height and its adjacent, lower cutting height. j -a j+1 Less than or equal to 20 millimeters, j∈{1,...,N-1}.

[0079] By controlling the height difference between the effective cutting heights (d) of two adjacent layers to be less than or equal to 20 mm, the water-conducting performance of the cut lawn slope can be guaranteed.

[0080] In one exemplary embodiment, among the N effective cutting heights, the height difference between two adjacent effective cutting heights is greater than or equal to 5 mm and less than or equal to 15 mm.

[0081] Here, controlling the height difference between the effective cutting heights of two adjacent levels to between 5 mm and 15 mm makes the cut stepped slope closer to a continuous shape. This not only ensures the slope's ability to guide rainwater but also provides a better visual experience and enhances the slope's aesthetics.

[0082] Optionally, the height difference between the effective cutting heights of two adjacent levels may not be exactly the same. For example, the height difference between the first cutting height and the second cutting height may be 15 mm, the height difference between the second cutting height and the third cutting height may be 13 mm, the height difference between the third cutting height and the fourth cutting height may be 11 mm, and so on, to form a slope with a gradually increasing height, which facilitates the diversion of rainwater and avoids splashing of rainwater.

[0083] By controlling the height difference between the effective cutting heights of two adjacent layers to between 5 mm and 15 mm in this embodiment, the water-conducting performance of the cut lawn slope can be ensured, and the visual appeal of the cut lawn slope can be improved (the curvature is softer).

[0084] In one exemplary embodiment, each effective cutting height has a corresponding cutting area, and the cutting areas corresponding to different effective cutting heights are different. To ensure the aesthetics of the resulting stepped slope and to ensure the slope's ability to guide rainwater, the area width of the cutting area corresponding to the remaining effective cutting heights, except for the lowest effective cutting height, should not be too large. Therefore, in this embodiment, the area width of the cutting area configured for the j-th effective cutting height out of N levels is b. j Where, j∈{1,...,N-1}, b j ≤20 mm, meaning that, except for the minimum effective cutting height, the width of the area corresponding to the other effective cutting heights is less than or equal to 20 mm.

[0085] Taking five different effective cutting heights as an example, except for the fifth cutting height, the width of the cutting area corresponding to the other cutting heights is less than or equal to 20 mm, for example, 16 mm, 18 mm, or 20 mm. Here, the area widths corresponding to different effective cutting heights can be the same or different.

[0086] In this embodiment, except for the minimum effective cutting height, the area width of the cutting area corresponding to the other effective cutting heights is controlled within 20 mm, which can ensure the water-conducting performance and the aesthetics of the cut lawn slope.

[0087] In an exemplary embodiment, to improve the water-conducting performance of the lawn slope, the ratio of the area width corresponding to an effective cutting height to the height difference between that effective cutting height and the adjacent lower effective cutting height should not be too large or too small. In this embodiment, it can be controlled between 0.7 and 1.4, that is, 0.7 ≤ b j / (a j -a j+1 )≤1.4.

[0088] Here, the value of j ranges from j∈{1,...,N-1}. For example, taking 5 different effective cutting heights, j∈{1,2,3,4}, that is, the ratio of the width of the cutting area corresponding to the first, second, third, and fourth cutting heights to the height difference between them and the adjacent, lower cutting heights is between 0.7 and 1.4. Optionally, except for the minimum effective cutting height, the remaining effective cutting heights can be controlled to satisfy: 0.7≤b j / (a j -a j+1 )≤1, to ensure better water conductivity.

[0089] For example, the height difference between two adjacent cut heights (a j -a j+1 The width b of the cutting area corresponding to the first, second, third, and fourth cutting heights is less than or equal to 2 cm. j Less than or equal to 2 centimeters, where a and b satisfy the following relationship: 0.7 ≤ b j / (a j -a j+1 0.7 ≤ 1.4. To ensure better water conductivity, a and b satisfy the following relationship: 0.7 ≤ b j / (a j -a j+1 )≤1.

[0090] By controlling the ratio of the area width corresponding to an effective cutting height to the height difference between that effective cutting height and the adjacent lower effective cutting height between 0.7 and 1.4 in this embodiment, the water-conducting performance of the cut lawn slope can be improved.

[0091] In one exemplary embodiment, to prevent the cutting device from contacting the physical boundary, a non-working area can be reserved in the boundary region near the physical boundary; that is, the uncut lawn area within the boundary region (i.e., the uncut area), and the width of this area should not be too narrow. To improve the completeness of lawn cutting, the width of the uncut area should not be too wide. Therefore, in this embodiment, when the lawnmower has completed cutting the boundary region, the width of the uncut lawn area within the boundary region is greater than or equal to 40 mm and less than or equal to 150 mm; that is, the width of the uncut area is controlled between 40 mm and 150 mm.

[0092] Optionally, the width of the uncut lawn area within the boundary region can be set based on experience, such as 60 mm, 80 mm, or other values ​​that meet the above width requirements. This embodiment does not limit this value.

[0093] This embodiment controls the width of the uncut lawn area within the boundary region to between 40 mm and 150 mm, thus balancing the safety and integrity of lawn cutting.

[0094] In one exemplary embodiment, the control method of the cutting device may be one or more for different lawnmowers. For cases where the lateral position of the cutting device relative to the lawnmower is fixed (the cutting device is fixed in lateral position relative to the lawnmower and does not move laterally), when cutting the boundary area, adjusting the cutting height of the lawnmower's cutting device to have at least two effective cutting heights includes: when cutting the boundary area, sequentially adjusting the cutting height of the cutting device using each of the at least two effective cutting heights to have at least two effective cutting heights.

[0095] Here, each pass of the lawnmower creates an effective cutting height, which can be achieved by making one or more passes through the boundary area. To improve the convenience of area cutting, the cutting height of the cutting device is adjusted sequentially using each effective cutting height when cutting the boundary area. The order of using the effective cutting heights can be from high to low or from low to high; this embodiment does not limit this.

[0096] Correspondingly, after adjusting the cutting height of the cutting device according to each effective cutting height, controlling the cutting device to cut the boundary area includes: controlling the lawnmower to move along a travel path corresponding to each effective cutting height, so that the cutting device cuts the boundary area according to the configured cutting height. Here, since the lateral position of the cutting device relative to the lawnmower is fixed, and the cutting area corresponding to each effective cutting height has a certain width, and the effective cutting height increases in the direction perpendicular to and towards the physical boundary, at least two effective cutting heights correspond to at least two travel paths, and the travel paths corresponding to different effective cutting heights among the at least two effective cutting heights are all different. The height value of the effective cutting height among the at least two effective cutting heights and the distance between the corresponding travel path and the physical boundary are negatively correlated.

[0097] Optionally, in order to ensure that the area width of the cut region corresponding to each effective cutting height reaches the expected value, the distance between at least two adjacent walking paths is equal to the area width of the cut region configured for the effective cutting height corresponding to the previous walking path among the two adjacent walking paths.

[0098] As an optional implementation, when controlling the cutting device to cut the boundary area, the lawnmower's travel direction can be fixed, and the lawnmower's movement direction is the same on at least two different travel paths. This eliminates the need to consider the differences in control of the cutting device when cutting along different travel paths, thus improving the ease of control of the cutting device.

[0099] Taking five different effective cutting heights as an example, as shown in Figure 13, the first to fifth cutting heights correspond to the first to fifth walking paths, respectively, and the lawnmower moves in the same direction on each walking path. Within the boundary area, the intelligent lawnmower cuts grass in the order of the first, second, third, fourth, and fifth walking paths. The effective cutting height of the first walking path is configured as the first cutting height, the effective cutting height of the second walking path is configured as the second cutting height, the effective cutting height of the third walking path is configured as the third cutting height, the effective cutting height of the fourth walking path is configured as the fourth cutting height, and the effective cutting height of the fifth walking path is configured as the fifth cutting height. The distance between adjacent walking paths is configured as b. j The height difference between adjacent cutting heights is configured as (a j -a j+1 ).

[0100] As an alternative implementation, when the cutting device is located at the lateral center of the lawnmower, the lawnmower can perform reciprocating cutting while controlling the cutting device to cut the boundary area; that is, it can continuously cut during reciprocating movement. In this case, the lawnmower moves in the same or opposite directions on at least two different travel paths, and the lawnmower moves in opposite directions on adjacent travel paths. In this way, the lawnmower does not need to return to one side of the boundary area to continue the cutting task, thereby improving mowing efficiency.

[0101] Taking five different effective cutting heights as an example, as shown in Figure 14, the first to fifth cutting heights correspond to the first to fifth walking paths, respectively, and the lawnmower moves in opposite directions on adjacent walking paths. Within the boundary area, the intelligent lawnmower cuts grass in the order of the first, second, third, fourth, and fifth walking paths. The effective cutting height of the first walking path is configured as the first cutting height, the effective cutting height of the second walking path is configured as the second cutting height, the effective cutting height of the third walking path is configured as the third cutting height, the effective cutting height of the fourth walking path is configured as the fourth cutting height, and the effective cutting height of the fifth walking path is configured as the fifth cutting height. The distance between adjacent walking paths is configured as b.j The height difference between adjacent cutting heights is configured as (a j -a j+1 ).

[0102] Optionally, in this embodiment, the walking path corresponding to each effective cutting height is parallel to the length direction of the physical boundary. The length direction of the physical boundary refers to the extension direction of the physical boundary itself, such as a wall, fence, enclosure, or guardrail. For example, if the wall extends horizontally, the length direction of the physical boundary is horizontal. Using the physical boundary as a reference for lawnmower movement control ensures that the cut lawn steps are parallel to the length direction of the physical boundary, improving the aesthetics of the cut lawn slope and enhancing the convenience of mowing control.

[0103] In this embodiment, when the lateral position of the cutting device relative to the lawnmower is fixed, the cutting height of the cutting device is adjusted sequentially using each effective cutting height, and the lawnmower is controlled to cut areas along the corresponding travel path, which can ensure the accuracy and convenience of area cutting.

[0104] In one exemplary embodiment, adjusting the cutting height of the cutting device by sequentially using each of at least two effective cutting heights includes: adjusting the cutting height of the cutting device by sequentially using each effective cutting height in descending order of effective cutting height.

[0105] In this embodiment, the cutting height of the cutting device can be adjusted sequentially according to the effective cutting height from high to low. Taking five different levels of effective cutting height as an example, the cutting height of the cutting device can be adjusted sequentially from the first cutting height to the fifth cutting height. Through this method, when cutting a region according to a later effective cutting height, since the region has already been cut according to the previous effective cutting height, the height to be cut is smaller and easier to control compared to direct cutting. Therefore, the accuracy and convenience of region cutting can be improved.

[0106] In this embodiment, by adjusting the cutting height of the cutting device sequentially according to the effective cutting height from high to low, the accuracy and convenience of area cutting can be improved.

[0107] In one exemplary embodiment, when the lateral position of the cutting device relative to the lawnmower is adjustable (the lateral position of the cutting device relative to the lawnmower is adjustable, allowing for lateral movement), similar to the previous embodiments, when cutting the boundary area, adjusting the cutting height of the lawnmower's cutting device to have at least two effective cutting heights includes: sequentially adjusting the cutting height of the cutting device using each of the at least two effective cutting heights to have at least two effective cutting heights. Furthermore, the lateral position of the cutting device can also be adjusted to a lateral position corresponding to each effective cutting height to meet the width requirements of the cutting area corresponding to each effective cutting height.

[0108] Correspondingly, controlling the cutting device to cut the boundary area includes: controlling the lawnmower to move back and forth in different directions or repeatedly in the same direction along the same travel path, so that the cutting device can cut the boundary area according to the configured cutting height. Here, the cutting area corresponding to each effective cutting height has a certain width, and the effective cutting height increases in the direction perpendicular to the physical boundary and towards the physical boundary. Since the lateral position of the cutting device relative to the lawnmower can be adjusted, the cutting width requirement can be met by adjusting the lateral position of the cutting device relative to the lawnmower. Therefore, at least two effective cutting heights can correspond to the same travel path. Similar to the previous embodiment, the lawnmower can move back and forth in different directions or repeatedly in the same direction along the same travel path.

[0109] Optionally, in order to ensure that the area width of the cut area corresponding to each effective cutting height reaches the expected value, at least two effective cutting heights correspond to at least two lateral positions of the cutting device, and the lateral distance between two adjacent lateral positions is equal to the area width of the cut area configured for the effective cutting height corresponding to the previous lateral position among the two adjacent lateral positions.

[0110] Optionally, in this embodiment, the same walking path is parallel to the length direction of the physical boundary. Here, using the physical boundary as a reference for the lawnmower's walking control can ensure that the cut lawn steps are parallel to the length direction of the physical boundary, improving the aesthetics of the cut lawn slope and enhancing the convenience of lawnmower control.

[0111] Taking five different effective cutting height levels as an example, as shown in Figure 15, the cutting device has different cutting positions relative to the lawnmower's lateral position, which can include: a first cutting position, a second cutting position, a third cutting position, a fourth cutting position, and a fifth cutting position. When cutting the boundary area, the first cutting position is closest to the physical boundary, and the fifth cutting position is farthest from the physical boundary. The spacing between the different cutting positions is configured as b.j .

[0112] The lawnmower cuts five times along the same path within the boundary area. Different cutting heights can be configured within the boundary area by adjusting the height and lateral position of the cutting device. Here, the five cuts can be either a return to the starting point after completing the initial movement, adjusting the height and lateral position of the cutting device, and then cutting again—that is, repeated movement in the same direction; or a turnaround in place, adjusting the height and lateral position of the cutting device, and then moving back and forth to cut—that is, reciprocating movement.

[0113] In this embodiment, when the lateral position of the cutting device relative to the lawnmower can be adjusted, the cutting height of the cutting device is adjusted sequentially using each effective cutting height, and the lawnmower is controlled to cut areas along the same walking path, which can ensure the accuracy and convenience of area cutting.

[0114] In one exemplary embodiment, adjusting the cutting height of the cutting device by sequentially using each of at least two effective cutting heights includes: adjusting the cutting height of the cutting device by sequentially using each effective cutting height in descending order of effective cutting height.

[0115] In this embodiment, the cutting height of the cutting device can be adjusted sequentially according to the effective cutting height from high to low. Taking five different levels of effective cutting height as an example, the cutting height of the cutting device can be adjusted sequentially from the first cutting height to the fifth cutting height. Through this method, when cutting a region according to a later effective cutting height, since the region has already been cut according to the previous effective cutting height, the height to be cut is smaller and easier to control compared to direct cutting. Therefore, the accuracy and convenience of region cutting can be improved.

[0116] For example, the first cutting height is greater than the second cutting height, which is greater than the third cutting height, which is greater than the fourth cutting height, which is greater than the fifth cutting height. The lawnmower cuts grass in the order of the first cutting height, the second cutting height, the third cutting height, the fourth cutting height, and the fifth cutting height. Specifically, at the first cutting position, the lawnmower is configured to the first cutting height; at the second cutting position, the lawnmower is configured to the second cutting height; at the third cutting position, the lawnmower is configured to the third cutting height; at the fourth cutting position, the lawnmower is configured to the fourth cutting height; and at the fifth cutting position, the lawnmower is configured to the fifth cutting height. The height difference between adjacent cutting heights is configured as (a...). j -a j+1 ).

[0117] In this embodiment, by adjusting the cutting height of the cutting device sequentially according to the effective cutting height from high to low, the accuracy and convenience of area cutting can be improved.

[0118] In one exemplary embodiment, the cutting device includes at least two layers of blades, wherein the height difference between two adjacent layers of blades corresponds one-to-one with the height difference between two adjacent effective cutting heights. In this case, multiple effective cutting heights can be cut simultaneously. Therefore, before cutting the boundary area, configuring the lawnmower's cutting device to have at least two effective cutting heights includes adjusting the cutting heights of the at least two layers of blades according to the at least two effective cutting heights. Furthermore, the lateral positions of different layers to the blades can be configured to meet the width requirements of the cutting area corresponding to each effective cutting height.

[0119] Correspondingly, controlling the cutting device to cut the boundary area includes: controlling the lawnmower to move along a designated travel path so that the boundary area is cut by at least two layers of blades at a configured cutting height. Here, the cutting area corresponding to each effective cutting height has a certain width, and the effective cutting height increases in the direction perpendicular to and towards the physical boundary. Since at least two effective cutting heights can be cut simultaneously by two layers of blades, the boundary area can be cut in one pass. Optionally, to improve the cutting effect, the lawnmower can be controlled to move back and forth or repeatedly along the designated travel path.

[0120] Optionally, in order to simplify the cutting process while ensuring that the cutting effect meets expectations, no other cutting structures for cutting the boundary area are set between the cutting device and the physical boundary. Through the above design, the cutting effect of the cutting device will not be covered by other cutting devices.

[0121] Optionally, in order to ensure that the width of the cut area corresponding to each effective cutting height reaches the expected value, the lateral distance between two adjacent blade layers is equal to the width of the cut area configured for the first of the two adjacent effective cutting heights corresponding to the two adjacent blade layers.

[0122] Optionally, in this embodiment, the specified walking path is parallel to the length direction of the physical boundary. Here, using the physical boundary as a reference for the lawnmower's walking control can ensure that the cut lawn steps are parallel to the length direction of the physical boundary, improving the aesthetics of the cut lawn slope and enhancing the convenience of mowing control.

[0123] Taking five different effective cutting heights as an example, the cutting device is set with multiple blades, and this cutting device is configured as the effective cutting device at the boundary area, that is, the cutting effect of this cutting device will not be covered by other cutting devices. As shown in Figure 16, the cutting device includes multiple blades, which are arranged from top to bottom as a first cutting blade, a second cutting blade, a third cutting blade, a fourth cutting blade, and a fifth cutting blade. Along the direction from the first cutting blade to the fifth cutting blade, the cutting radius formed by the cutting blades decreases sequentially. The height difference between adjacent cutting blades is (a j -a j+1 The lateral distance between two adjacent layers of blades is b. j .

[0124] In this embodiment, by setting multiple layers of blades in the cutting device, the boundary area can be cut in one go along a designated travel path, which can improve the efficiency of mowing.

[0125] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the related technology, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a terminal device to execute the methods described in the various embodiments of this application. The storage medium can be ROM (Read-Only Memory) / RAM (Random Access Memory), magnetic disk, or optical disk, etc., and the terminal device can be a mobile phone, computer, server, or network device, etc.

[0126] According to another aspect of the embodiments of this application, a lawnmower is also provided, which can be used to implement the lawnmower control method provided in the above embodiments, and will not be repeated hereafter. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the apparatus described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0127] Figure 17 is a structural block diagram of an optional lawnmower according to an embodiment of the present application. As shown in Figure 17, the lawnmower includes a control unit 1702 and a cutting device 1704.

[0128] Control unit 1702 is used to configure the cutting device to have at least two effective cutting heights before cutting the boundary area, or to adjust the cutting height of the cutting device to have at least two effective cutting heights while cutting the boundary area, wherein the boundary area is a lawn area within a specified distance range from the physical boundary; and to control the cutting device to cut the boundary area such that the effective cutting height of the cutting device increases in a first direction, wherein the first direction is perpendicular to the physical boundary and toward the physical boundary. Optionally, control unit 1702 can be used to perform steps S202 and S204 in the above embodiments.

[0129] The cutting device 1704 is used to cut the boundary area according to the configured cutting height.

[0130] The embodiments provided in this application configure the cutting device of the lawnmower to have at least two effective cutting heights before cutting the boundary area, or adjust the cutting height of the cutting device of the lawnmower to have at least two effective cutting heights when cutting the boundary area. The boundary area is a lawn area within a specified distance range from the physical boundary. The cutting device is controlled to cut the boundary area so that the effective cutting height of the cutting device increases in a first direction, wherein the first direction is perpendicular to the physical boundary and toward the physical boundary. This solves the technical problem of low mowing efficiency caused by the need to manually clean the area near the physical boundary in the mowing control method of the lawnmower in the related art, thereby improving mowing efficiency and enhancing the user experience.

[0131] In one exemplary embodiment, when the lawnmower completes cutting of the boundary area, the width of the variable area is greater than or equal to 20 mm and less than or equal to 100 mm, and the variable area is the lawn area corresponding to the maximum effective cutting height and the minimum effective cutting height.

[0132] In one exemplary embodiment, at least two effective cutting heights are effective cutting heights of N levels, where N is a positive integer greater than or equal to 5, and the effective cutting heights of the N levels decrease sequentially in ascending order of the number of levels.

[0133] In one exemplary embodiment, among the N effective cutting heights, the height difference between two adjacent effective cutting heights is less than or equal to 20 mm.

[0134] In one exemplary embodiment, among the N effective cutting heights, the height difference between two adjacent effective cutting heights is greater than or equal to 5 mm and less than or equal to 15 mm.

[0135] In one exemplary embodiment, the region width of the cutting area configured for the effective cutting height of the j-th level among the N effective cutting heights is b. j Where, j∈{1,...,N-1}, b j ≤20 mm.

[0136] In an exemplary embodiment, the effective cutting height of the j-th level among the N effective cutting heights is a. j Where 0.7≤b j / (a j -a j+1 )≤1.4.

[0137] In one exemplary embodiment, when the lawnmower has finished cutting the boundary area, the width of the uncut lawn area within the boundary area is greater than or equal to 40 mm and less than or equal to 150 mm.

[0138] In one exemplary embodiment, the control unit 1702 is further configured to, when cutting a boundary area, sequentially adjust the cutting height of the cutting device using each of at least two effective cutting heights, such that it has at least two effective cutting heights, when the lateral position of the cutting device relative to the lawnmower is fixed; control the lawnmower to move along a travel path corresponding to each effective cutting height, so that the cutting device cuts the boundary area according to the configured cutting height, wherein the travel paths corresponding to the different effective cutting heights among the at least two effective cutting heights are all different, and the height values ​​of the effective cutting heights among the at least two effective cutting heights and the distance between the corresponding travel paths and the physical boundary are negatively correlated.

[0139] In one exemplary embodiment, the control component 1702 is further configured to adjust the cutting height of the cutting device sequentially using each effective cutting height in descending order of effective cutting height.

[0140] In one exemplary embodiment, at least two effective cutting heights correspond to at least two walking paths, and the distance between two adjacent walking paths is equal to the area width of the cutting region configured for the effective cutting height corresponding to the previous walking path among the two adjacent walking paths.

[0141] In one exemplary embodiment, at least two effective cutting heights correspond to at least two walking paths, and the lawnmower moves in the same direction on different walking paths in the at least two walking paths.

[0142] In one exemplary embodiment, at least two effective cutting heights correspond to at least two walking paths. When the cutting device is located at the lateral center of the lawnmower, the lawnmower moves in the same or opposite directions on different walking paths in the at least two walking paths, and the lawnmower moves in opposite directions on adjacent walking paths.

[0143] In one exemplary embodiment, the walking path corresponding to each effective cutting height is parallel to the length direction of the physical boundary.

[0144] In one exemplary embodiment, the control unit 1702 is further configured to, when the lateral position of the cutting device relative to the lawnmower is adjustable, sequentially adjust the cutting height of the cutting device using each of at least two effective cutting heights, so that it has at least two effective cutting heights, and adjust the lateral position of the cutting device to a lateral position corresponding to each effective cutting height; control the lawnmower to reciprocate along the same travel path in different directions or repeat in the same direction, so that the cutting device can cut the boundary area according to the configured cutting height.

[0145] In one exemplary embodiment, the control component 1702 is further configured to adjust the cutting height of the cutting device sequentially using each effective cutting height in descending order of effective cutting height.

[0146] In one exemplary embodiment, at least two effective cutting heights correspond to at least two lateral positions of the cutting device, and the lateral distance between two adjacent lateral positions is equal to the area width of the cutting region configured for the effective cutting height corresponding to the previous lateral position among the two adjacent lateral positions.

[0147] In one exemplary embodiment, the same walking path is parallel to the length direction of the physical boundary.

[0148] In one exemplary embodiment, the cutting device includes at least two layers of blades, wherein the height difference between two adjacent layers of blades corresponds one-to-one with the height difference between two adjacent effective cutting heights. The control unit 1702 is further configured to adjust the cutting height of the at least two layers of blades according to the at least two effective cutting heights, thereby enabling it to have at least two effective cutting heights; and to control the lawnmower to move along a designated travel path so that the boundary area is cut by the at least two layers of blades at the configured cutting heights.

[0149] In one exemplary embodiment, no other cutting structure for cutting the boundary region is provided between the cutting device and the physical boundary.

[0150] In one exemplary embodiment, the lateral distance between two adjacent blade layers is equal to the area width of the cutting region configured for the first of the two adjacent effective cutting heights corresponding to the two adjacent blade layers.

[0151] In one exemplary embodiment, the walking path is specified to be parallel to the length direction of the physical boundary.

[0152] It should be noted that the above modules can be implemented by software or hardware. For the latter, they can be implemented in the following ways, but are not limited to: all the above modules are located in the same processor; or, the above modules are located in different processors in any combination.

[0153] According to another aspect of the embodiments of this application, a computer-readable storage medium is provided, the computer-readable storage medium including a stored program, wherein the program executes the steps in any of the above method embodiments when it is run.

[0154] In one exemplary embodiment, the aforementioned computer-readable storage medium may include, but is not limited to, various media capable of storing computer programs, such as USB flash drives, ROMs, RAMs, portable hard drives, magnetic disks, or optical disks.

[0155] According to another aspect of the embodiments of this application, an electronic device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor. The processor is configured to perform the steps of any of the method embodiments described above via the computer program. In an exemplary embodiment, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor, and the input / output device is connected to the processor.

[0156] Specific examples in this embodiment can be found in the examples described in the above embodiments and exemplary implementations, and will not be repeated here.

[0157] According to another aspect of the embodiments of this application, a computer program product is also provided, comprising a computer program / instructions containing program code for performing the methods shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via communication section 1809, and / or installed from removable medium 1811. When the computer program is executed by central processing unit 1801, it performs various functions provided in the embodiments of this application. The sequence numbers of the embodiments of this application above are merely descriptive and do not represent the superiority or inferiority of the embodiments.

[0158] Figure 18 schematically illustrates a computer system architecture block diagram for an electronic device implementing embodiments of the present application. As shown in Figure 18, the computer system 1800 includes a CPU (Central Processing Unit) 1801, which can perform various appropriate actions and processes according to a program stored in ROM 1802 or a program loaded from storage portion 1808 into RAM 1803. Various programs and data required for system operation are also stored in random access memory 1803. The CPU 1801, ROM 1802, and random access memory 1803 are interconnected via bus 1804. An I / O (Input / Output) interface 1805 is also connected to bus 1804.

[0159] The following components are connected to I / O interface 1805: input section 1806 including keyboard, mouse, etc.; output section 1807 including CRT (Cathode Ray Tube), LCD (Liquid Crystal Display), etc., and speakers, etc.; storage section 1808 including hard disk, etc.; and communication section 1809 including network interface card, modem, etc. Communication section 1809 performs communication processing via a network such as the Internet. Drive 1810 is also connected to I / O interface 1805 as needed. Removable media 1811, such as disk, optical disk, magneto-optical disk, semiconductor memory, etc., are installed on drive 1810 as needed so that computer programs read from them can be installed into storage section 1808 as needed.

[0160] Specifically, according to embodiments of this application, the processes described in the various method flowcharts can be implemented as computer software programs. For example, embodiments of this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 1809, and / or installed from removable medium 1811. When the computer program is executed by central processing unit 1801, it performs various functions defined in the system of this application.

[0161] It should be noted that the computer system 1800 of the electronic device shown in Figure 18 is only an example and should not impose any limitations on the functionality and scope of use of the embodiments of this application.

[0162] Obviously, those skilled in the art should understand that the modules or steps of this application described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. They can be implemented using computer-executable program code, and thus can be stored in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those presented here, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, this application is not limited to any particular combination of hardware and software.

[0163] The above are merely preferred embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the principles of this application should be included within the protection scope of this application.

Claims

1. A method for controlling the mowing of a lawnmower, wherein, The method includes: Before cutting the boundary area, the cutting device of the lawnmower is configured to have at least two effective cutting heights, or when cutting the boundary area, the cutting height of the cutting device of the lawnmower is adjusted to have at least two effective cutting heights, wherein the boundary area is a lawn area whose distance from the physical boundary is within a specified distance range; The cutting device is controlled to cut the boundary region so that the effective cutting height of the cutting device increases in a first direction, wherein the first direction is perpendicular to the physical boundary and toward the physical boundary.

2. A method for controlling the mowing of a lawnmower, wherein, The method includes: Before cutting the boundary area, the cutting device of the lawnmower is configured to have at least two effective cutting heights, or when cutting the boundary area, the cutting height of the cutting device of the lawnmower is adjusted to have at least two effective cutting heights, wherein the boundary area is a lawn area whose distance from the physical boundary is within a specified distance range; The cutting device is controlled to cut the boundary region so that the effective cutting height of the cutting device increases in a first direction, wherein the first direction is perpendicular to the physical boundary and toward the physical boundary; Wherein, when the lawnmower completes cutting of the boundary area, the width of the changed area is greater than or equal to 20 mm and less than or equal to 100 mm, and the changed area is the lawn area corresponding to the other effective cutting heights among the at least two effective cutting heights, excluding the minimum effective cutting height.

3. The method according to claim 1 or 2, wherein, The at least two effective cutting heights are the effective cutting heights of N levels, where N is a positive integer greater than or equal to 5, and the effective cutting heights of the N levels decrease sequentially in ascending order of the number of levels.

4. The method according to claim 3, wherein, Among the effective cutting heights of the N levels, the height difference between the effective cutting heights of two adjacent levels is less than or equal to 20 mm.

5. The method according to claim 4, wherein, Among the effective cutting heights of the N levels, the height difference between the effective cutting heights of two adjacent levels is greater than or equal to 5 mm and less than or equal to 15 mm.

6. The method according to claim 3, wherein, The width of the cutting region configured for the effective cutting height of the j-th level among the N levels is b. j Where, j∈{1,...,N-1}, b j ≤20 mm.

7. The method according to claim 6, wherein, The effective cutting height of the j-th level among the N levels is a. j Where 0.7≤b j / (a j -a j+1 )≤1.

4.

8. The method according to claim 6, wherein, When the lawnmower completes cutting of the boundary area, the width of the uncut lawn area within the boundary area is greater than or equal to 40 mm and less than or equal to 150 mm.

9. The method according to any one of claims 1 to 8, wherein, The step of adjusting the cutting height of the lawnmower's cutting device to have at least two effective cutting heights when cutting the boundary area includes: when the lateral position of the cutting device relative to the lawnmower is fixed, when cutting the boundary area, adjusting the cutting height of the cutting device sequentially using each of the at least two effective cutting heights to have the at least two effective cutting heights; The method of controlling the cutting device to cut the boundary area includes: controlling the lawnmower to move along a travel path corresponding to each effective cutting height, so that the cutting device cuts the boundary area according to the configured cutting height, wherein the travel paths corresponding to different effective cutting heights among the at least two effective cutting heights are all different, and the height value of the effective cutting height among the at least two effective cutting heights and the corresponding travel path are negatively correlated with the distance between the physical boundary.

10. The method according to claim 9, wherein, The step of sequentially adjusting the cutting height of the cutting device using each of the at least two effective cutting heights includes: The cutting height of the cutting device is adjusted sequentially using each effective cutting height in descending order of effective cutting height.

11. The method according to claim 9, wherein, The at least two effective cutting heights correspond to at least two walking paths, and the distance between two adjacent walking paths is equal to the area width of the cutting region configured with the effective cutting height corresponding to the previous walking path among the two adjacent walking paths.

12. The method according to claim 9, wherein, The at least two effective cutting heights correspond to at least two walking paths, and the lawnmower moves in the same direction on different walking paths of the at least two walking paths.

13. The method according to claim 9, wherein, The at least two effective cutting heights correspond to at least two walking paths. When the cutting device is located at the lateral center of the lawnmower, the lawnmower moves in the same or opposite directions on different walking paths of the at least two walking paths, and the lawnmower moves in opposite directions on adjacent walking paths.

14. The method according to claim 9, wherein, The walking path corresponding to each effective cutting height is parallel to the length direction of the physical boundary.

15. The method according to any one of claims 1 to 8, wherein, When cutting the boundary area, adjusting the cutting height of the cutting device of the lawnmower to have at least two effective cutting heights includes: when the lateral position of the cutting device relative to the lawnmower can be adjusted, sequentially adjusting the cutting height of the cutting device using each of the at least two effective cutting heights to have the at least two effective cutting heights, and adjusting the lateral position of the cutting device to a lateral position corresponding to each effective cutting height; The control of the cutting device to cut the boundary area includes: controlling the lawnmower to move back and forth in different directions or repeatedly in the same direction along the same travel path, so that the cutting device can cut the boundary area according to the configured cutting height.

16. The method according to claim 15, wherein, The step of sequentially adjusting the cutting height of the cutting device using each of the at least two effective cutting heights includes: The cutting height of the cutting device is adjusted sequentially using each effective cutting height in descending order of effective cutting height.

17. The method according to claim 15, wherein, The at least two effective cutting heights correspond to at least two lateral positions of the cutting device, and the lateral distance between two adjacent lateral positions is equal to the area width of the cutting region configured for the effective cutting height corresponding to the previous lateral position among the two adjacent lateral positions.

18. The method according to claim 15, wherein, The same walking path is parallel to the length direction of the physical boundary.

19. The method according to any one of claims 1 to 8, wherein, The cutting device includes at least two layers of blades, and the height difference between two adjacent layers of blades corresponds one-to-one with the height difference between two adjacent effective cutting heights in the at least two effective cutting heights. Before cutting the boundary area, configuring the cutting device of the lawnmower to have at least two effective cutting heights includes: adjusting the cutting height of the at least two layers of blades according to the at least two effective cutting heights to have the at least two effective cutting heights; The control of the cutting device to cut the boundary area includes: controlling the lawnmower to move along a specified travel path so that the boundary area is cut by the at least two layers of blades at a configured cutting height.

20. The method according to claim 19, wherein, No other cutting structures for cutting the boundary region are provided between the cutting device and the physical boundary.

21. The method according to claim 19, wherein, The lateral distance between two adjacent blade layers is equal to the area width of the cutting region configured for the first of the two adjacent effective cutting heights corresponding to the two adjacent blade layers.

22. The method according to claim 19, wherein, The specified walking path is parallel to the length direction of the physical boundary.

23. A lawnmower, wherein, The lawnmower includes control components and a cutting device, wherein... The control component is configured to, before cutting the boundary area, have at least two effective cutting heights, or to adjust the cutting height of the cutting device to have at least two effective cutting heights while cutting the boundary area, wherein the boundary area is a lawn area within a specified distance range from the physical boundary; and to control the cutting device to cut the boundary area such that the effective cutting height of the cutting device increases in a first direction, wherein the first direction is perpendicular to the physical boundary and toward the physical boundary. The cutting device is used to cut the boundary area according to a configured cutting height.

24. A computer-readable storage medium, wherein, The computer-readable storage medium includes a stored program, wherein the program, when executed, performs the method of any one of claims 1 to 22.

25. A computer program product comprising a computer program / instructions, wherein, When the computer program / instructions are executed by the processor, they implement the method of any one of claims 1 to 22.

26. An electronic device comprising a memory and a processor, wherein, The memory stores a computer program, and the processor is configured to execute the method of any one of claims 1 to 22 through the computer program.

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