WO2023050222A1 - 刀具的控制方法、割草控制方法、控制装置及割草机器人 - Google Patents

刀具的控制方法、割草控制方法、控制装置及割草机器人 Download PDF

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Publication number
WO2023050222A1
WO2023050222A1 PCT/CN2021/121938 CN2021121938W WO2023050222A1 WO 2023050222 A1 WO2023050222 A1 WO 2023050222A1 CN 2021121938 W CN2021121938 W CN 2021121938W WO 2023050222 A1 WO2023050222 A1 WO 2023050222A1
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Prior art keywords
mowing
information
target
height
robot
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PCT/CN2021/121938
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English (en)
French (fr)
Inventor
邹伟
王健
靳思宇
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广东美的白色家电技术创新中心有限公司
美的集团(上海)有限公司
美的集团股份有限公司
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Application filed by 广东美的白色家电技术创新中心有限公司, 美的集团(上海)有限公司, 美的集团股份有限公司 filed Critical 广东美的白色家电技术创新中心有限公司
Priority to CN202180102904.3A priority Critical patent/CN118076222A/zh
Priority to PCT/CN2021/121938 priority patent/WO2023050222A1/zh
Publication of WO2023050222A1 publication Critical patent/WO2023050222A1/zh

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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
    • A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
    • A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
    • A01D34/74—Cutting-height adjustment

Definitions

  • the present application relates to but not limited to the technical field of mowing equipment, and in particular relates to a control method of a knife, a control method of mowing, a control device and a mowing robot.
  • an adjustable mowing height is generally set according to user needs.
  • the current lawn mowing robot products on the market only support manual and mechanical adjustment of the cutterhead height.
  • some products can be operated through the mobile APP to adjust the height of the cutter head electrically.
  • the user needs to intervene to determine and adjust the mowing height through subjective operations, and the degree of intelligence is not high.
  • a control method for mowing knives comprising: determining a target mowing height, the target mowing height is determined at least according to the environmental information of the environment where the mowing robot is located; The mowing height is adjusted.
  • a mowing control method comprising: after the mowing robot is turned on or enters the mowing mode, the mowing height of the mowing cutter is adjusted according to the control method of the mowing cutter as described in the above embodiment; the mowing robot A mowing operation is performed according to the adjusted mowing height.
  • a mowing control method applied to a server includes: the server receives a request for environmental information or part of the environmental information sent by a mowing robot; the server inquires about the mowing After the environmental information or part of the environmental information of the environment where the grass robot is located, a response is returned to the mowing robot, and the response carries the queried environmental information or part of the environmental information; or , the server receives the request for the mowing height sent by the mowing robot; after the server inquires about the environment information of the mowing robot's environment, it calculates the target mowing height of the mowing robot; The server returns a response to the mowing robot, and the response carries the target mowing height; wherein, the environmental information includes at least one of season information, climate information, temperature information, and humidity information.
  • a control device for a lawn mowing robot comprising a processor, a memory, and a computer program stored in the memory and operable on the processor, when the computer program is executed by the processor, the above-mentioned embodiments can be realized The steps of the control method of the mowing cutter described in.
  • a lawn mowing robot comprising the control device of the lawn mowing robot described in the above embodiments.
  • Fig. 1 is a schematic flowchart of a method for controlling a mowing knife provided by an embodiment of the present disclosure
  • Fig. 2 is a partial flowchart of a control method of a mowing knife provided by an embodiment of the present disclosure
  • Fig. 3 is a partial flowchart of a method for controlling a mower provided by an embodiment of the present disclosure
  • Fig. 4 is a partial flowchart of a method for controlling a mower provided by an embodiment of the present disclosure
  • Fig. 5 is a partial flow diagram of a control method of a mower provided by an embodiment of the present disclosure
  • Fig. 6 is a partial flow diagram of a control method of a mowing knife provided by an embodiment of the present disclosure
  • Fig. 7 is a partial flowchart of a method for controlling a mower provided by an embodiment of the present disclosure
  • Fig. 8 is a partial flowchart of a control method of a mowing knife provided by an embodiment of the present disclosure
  • Fig. 9 is a schematic flowchart of a mowing control method provided by an embodiment of the present disclosure.
  • Fig. 10 is a schematic flowchart of a mowing control method provided by an embodiment of the present disclosure.
  • Fig. 11 is a schematic flowchart of a mowing control method provided by an embodiment of the present disclosure.
  • Fig. 12 is a schematic flowchart of a mowing control method provided by an embodiment of the present disclosure.
  • Fig. 13 is a schematic flowchart of a mowing control method provided by an embodiment of the present disclosure
  • Fig. 14 is a schematic flowchart of a mowing control method provided by an embodiment of the present disclosure.
  • Fig. 15 is a schematic block diagram of a control device of a mowing robot provided by an embodiment of the present disclosure
  • Fig. 16 is a schematic diagram of the workflow of the mowing robot provided by an embodiment of the present disclosure.
  • one embodiment of the present application provides a method for controlling a mower, including:
  • Step S102 Determine the target mowing height, the target mowing height is determined at least according to the environmental information of the environment where the mowing robot is located;
  • Step S104 Adjust the mowing height of the mowing cutter according to the target mowing height.
  • the control method of the mowing cutter provided by the embodiment of the present application can first determine the target mowing height, and then automatically adjust the mowing height of the mowing robot according to the target mowing height, without user intervention, and adjust the mowing height through subjective operation.
  • the height of the grass is high, so the degree of intelligence is high, which is conducive to improving the user experience.
  • the target mowing height is also closely related to the environmental information of the environment, so the environmental information of the mowing robot’s environment can be used as the basis for determining the target mowing height. At least one judgment basis. Therefore, the target mowing height is at least determined according to the environmental information of the environment where the mowing robot is located, which is conducive to determining a suitable target mowing height, which in turn is conducive to improving the maintenance effect on the lawn and improving the user experience.
  • the control method of the mowing cutter can be realized by the control device of the mowing robot.
  • the control method of the lawn mowing knife can also be implemented by a terminal device (such as a mobile phone), and the terminal device is connected to the lawn mowing robot through communication.
  • the control device of the mowing robot may automatically adjust the mowing height of the mowing knife after determining the target mowing height, or the terminal device may electrically adjust the mowing height after determining the mowing height of the mowing knife The cutting height of the cutter. In either case, there is no need for the user to intervene to subjectively determine the mowing tool, thus improving the intelligence of the mowing robot and improving user experience.
  • the mowing robot includes a mowing cutter, and the height of the mowing cutter from the ground is the mowing height of the mowing cutter.
  • the mowing robot of the present disclosure can also be a new category developed on the basis of traditional lawn mowers, which can autonomously complete the work of mowing the lawn without direct control and operation by humans.
  • the mowing robot can have functions such as automatic mowing, cleaning grass clippings, automatic rain shelter, automatic walking, automatic obstacle avoidance, electronic virtual fence, automatic return charging, network control, etc., suitable for home gardens, public green spaces and other places. Lawn mowing and maintenance. Therefore, the mowing robot not only has the advantages of simple operation and high mowing efficiency, but also can automatically complete the mowing task, reducing labor costs and time costs, and also has the advantages of safety, no noise, and high degree of intelligence. It has become the lawn mower industry. main direction of development.
  • determining the target mowing height includes:
  • Step S202 Networking to obtain environmental information
  • Step S204 Determine the target mowing height according to the environment information.
  • determining the target mowing height includes:
  • Step S302 Obtain part of the environmental information through networking
  • Step S304 Determine the target mowing height according to part of the environmental information acquired online and the rest of the environmental information acquired locally.
  • the lawnmowing robot can obtain all the required environmental information through the network, or obtain part of the required environmental information through the network, while other environmental information can be obtained locally. Then the mowing robot locally calculates the target mowing height by itself at least according to the above environmental information.
  • the solution obtains at least part of the environmental information through reasonable use of the network, which is beneficial to reduce the environmental information detection devices that the mowing robot needs to configure, thereby simplifying the structure of the mowing robot and reducing the cost of the mowing robot.
  • the mowing robot can pre-set some preset mowing heights that match the environmental information.
  • the environmental information of the environment where the mowing robot is located can be selected as the target mowing height which is preset and matches the current environmental information.
  • calculation in “calculating the target mowing height” refers to calculation in a broad sense, that is, the target mowing height is obtained by running a computer program.
  • acquiring environmental information or part of the environmental information online includes:
  • Step S402 Send a request to the server to obtain the environment information or part of the information in the environment information through the network;
  • Step S404 receiving the environment information or part of the environment information sent by the server in response to the request.
  • obtaining environmental information or part of the information in the environmental information online includes:
  • Step S502 Receive the environment information or part of the environment information automatically pushed by the server through the network.
  • the manner in which the mowing robot obtains at least part of the environmental information through the network may be to send a request to the server for obtaining the required environmental information through the network.
  • the mowing robot sends a request it also provides basic information (such as location information and identification information) to the server.
  • the location information facilitates the server to query the local environmental data through the network to obtain the required environmental information.
  • the identification information can indicate that the mowing robot is a legitimate terminal).
  • the server can obtain the environmental information of the mowing robot's environment through network query, or obtain the environmental information of the mowing robot's environment through its own database, and then send it to the mowing robot through the network.
  • the mowing robot may trigger the sending of the above request when starting work.
  • the mowing robot can also pre-subscribe to the corresponding push service of the server.
  • the server detects that the mowing robot is started, it automatically pushes at least part of the environmental information of its environment to the mowing robot.
  • the network may be the Internet of Things or a mobile network.
  • the server may be a network server, and mobile terminals such as mobile phones may also act as servers.
  • determining the target mowing height includes:
  • Step S600 Obtain the target mowing height determined by the server through networking.
  • the server obtains the environment information of the environment where the mowing robot is located and performs calculations for the target mowing height, and the mowing robot only needs to obtain the above-mentioned target mowing height through the Internet, and only performs the operation of adjusting the mowing height locally. Calculation of the target mowing height is not performed. Therefore, this scheme determines the target mowing height by reasonable use of network acquisition, and the mowing robot does not need to be equipped with an environmental information detection device, nor does it need to be configured with a target mowing height calculation program, which is conducive to simplifying the structure and power of the mowing robot. control program, which is beneficial to further reduce the cost of mowing robots.
  • the server can pre-set some preset mowing heights that match the environmental information.
  • the environmental information of the environment where the mowing robot is located can be selected as the target mowing height which is preset and matches the current environmental information.
  • the target mowing height determined by the server is obtained online, including:
  • Step S702 Send a request for obtaining the target mowing height to the server through the network;
  • Step S704 Receive the target mowing height sent by the server in response to the request.
  • the target mowing height determined by the server is obtained online, including:
  • Step S802 Receive the target mowing height automatically pushed by the server through the network.
  • the method for the mowing robot to obtain the target mowing height through the network may be to send a request to the server for obtaining the target mowing height through the network.
  • the mowing robot sends a request, it also provides basic information (such as location information and identification information) to the server.
  • the location information facilitates the server to query the local environmental data through the network to obtain the required environmental information.
  • the identification information can indicate that the mowing robot is a legitimate terminal).
  • the server can obtain the environmental information of the environment where the mowing robot is located through network query, and then at least determine the target mowing height according to the above environmental information, and send it to the mowing robot through the network.
  • the mowing robot may trigger the sending of the above request when starting work.
  • the mowing robot can also pre-subscribe to the corresponding push service of the server.
  • the server detects that the mowing robot is started, it can get some basic information of the mowing robot (such as location information, which is convenient for the server to query local environmental data through the network or its own database to obtain the required environmental information), Then obtain the environmental information of the mowing robot's environment through network query or its own database, and then at least calculate the target mowing height based on the above environmental information, and automatically push the target mowing height to the mowing robot through the network.
  • some basic information of the mowing robot such as location information, which is convenient for the server to query local environmental data through the network or its own database to obtain the required environmental information
  • determining the target mowing height includes:
  • Step S902 Acquiring environmental information locally, the environmental information is stored in local configuration information and/or stored in historical data recorded locally;
  • Step S904 Determine the target mowing height according to the environment information.
  • the mowing robot can be configured with an environment information detection device, and the environment information can be saved in the locally recorded historical data through detection.
  • the local configuration information can also be set manually or through networking, and the environment information can be directly saved in the local configuration information.
  • environmental information can include season information, and the season can be recorded by the local clock module, just like the date is still recorded when the mobile phone is turned off. In this way, the mowing robot can obtain seasonal information even if it is not connected to the Internet.
  • Environmental information can also include climate conditions, and climate conditions can be configured once. For example, when you use the network for the first time, you can get the local climate category according to your location, and then update it if there is a cross-regional location change, otherwise you don’t need to update it.
  • Environmental information may also include temperature information and humidity information. Temperature and humidity can be recorded locally (mowing robots can be equipped with thermometers and hygrometers).
  • the environment information includes at least one of season information, climate information, temperature information, and humidity information.
  • the trimming height of the lawn is closely related to environmental conditions such as season, climate, temperature, and humidity. Therefore, environmental information may include, but not limited to, seasonal information, climate information, temperature information, and humidity information.
  • the mowing height of common lawns is generally lower in cool seasons (such as autumn and winter) than in high temperature seasons (such as summer). Therefore, seasonal information can be used as a basis for determining the target mowing height.
  • climate information can be used as a judgment basis for determining the target mowing height.
  • the trimming height of common lawns in high-temperature and high-humidity environments is higher than that in low-temperature and low-humidity environments. Therefore, temperature information and humidity information can also be used as a judgment basis for determining the target mowing height.
  • the season information includes at least one of the following: category, month, and date of the season.
  • Seasonal information may be categories of seasons, such as spring, summer, autumn, and winter. Since the month or the date has a corresponding relationship with the season, the seasonal information may also be the month or the date. Regardless of the category, month or date of the season, it can correspond to a suitable mowing height of the lawn, so the category, month or date of the season can be used as the basis for determining the target mowing height.
  • the season has the greatest influence on the target mowing height. Therefore, the reference mowing height to be mowed can be determined according to the season, and then according to the influence of climate, temperature, and humidity on the mowing height, the target mowing height can be determined by floating up and down on the basis of the reference mowing height.
  • the reference trimming height (unit: cm) of common lawn grasses is as follows:
  • Creeping bentgrass is 0.3-1.3 in cool season and 0.5-2.0 under high temperature stress;
  • Bentgrass slender is 0.76-2.0 in cool season, and 1.3-2.0 under high temperature stress;
  • Bentgrass tomentosa is 0.5-2.0 in cool season and 1.3-2.0 under high temperature stress
  • Bluegrass is 3.8-5.7 in cool season and 5.7-7.6 under high temperature stress
  • Perennial ryegrass is 3.8-5.1 in cool season and 5.1-7.6 under high temperature stress;
  • Reed fescue is 4.4-7.6 in cool season and 6.4-8.9 under high temperature stress;
  • Fescue is 1.3-5.1 in cool season and 3.8-7.6 under high temperature stress
  • Purple fescue is 3.5-6.3 in cool season and 3.8-7.6 under high temperature stress;
  • Hard fescue is 2.5-6.4 in cool season and 3.8-7.6 under high temperature stress;
  • Brome without awns is 7.6-15.2 in cool season and 6.4-8.9 under high temperature stress;
  • Agropyron is 3.8-6.4 in cool season and 6.4-8.9 under high temperature stress.
  • the climate information includes at least one of the following: a category of climate, and an influence value of climate on the target mowing height.
  • the climate information may be a category of climate, such as tropical monsoon climate, subtropical monsoon climate, temperate zone monsoon climate, temperate continental climate, alpine and plateau climate, and the like. Different climates have different characteristics of cold, warm, dry, and wet. In the same season, they will have different effects on the mowing height of the lawn. Therefore, the category of climate can be used as the judgment basis for determining the target mowing height. For example: the summer target mowing height is set to 5cm, and the winter target mowing height is set to 2cm.
  • the climate information may also be the influence value of the climate on the target mowing height.
  • the target mowing height can be estimated according to the seasonal information, and then combined with the influence value of the climate on the target mowing height to determine the target mowing height.
  • the influence value of climate on the target mowing height refers to the floating value of the target mowing height based on the reference mowing height of the season caused by different types of climate in the same season.
  • the reference mowing height in winter in China is set to 2cm
  • the influence value of tropical monsoon climate and subtropical monsoon climate on the target mowing height is 1cm to 2cm
  • the influence value of temperate monsoon climate on the target mowing height is 0. Therefore, in winter in Guangdong and other places in southern China, the target mowing height is set at 3cm-4cm, while in northern China (such as Beijing) the target mowing height in winter is still 2cm.
  • the temperature information includes at least one of the following: a temperature category, and an influence value of temperature on the target mowing height.
  • the temperature information may be a temperature category, and the temperature category may be divided into levels according to the average temperature of each day. For example, the average temperature between 0°C and 10°C is classified as a low temperature category, 11°C to 20°C is classified as a medium temperature category, and 21 to 30°C is classified as a high temperature category. In the same season, due to the difference in temperature, the mowing height of the lawn is different, and the target mowing height under different temperature categories can be appropriately increased with the increase of temperature.
  • the temperature information may also be an influence value of temperature on the target mowing height.
  • the influence value of temperature on the target mowing height refers to the floating value of the target mowing height based on the reference mowing height of the season caused by different types of temperature in the same season.
  • the reference pruning height in winter in China is set at 2cm.
  • the influence value of low temperature on the target mowing height is 0, then the target mowing height in winter in this area is 2cm.
  • the influence value of medium temperature on the target mowing height is 1cm, so the target mowing height in winter in this area is 3cm.
  • the effect value of high temperature on the target mowing height is 2cm, so the target mowing height in winter in this area is 4cm.
  • the humidity information includes at least one of the following: a humidity category, and an influence value of humidity on the target mowing height.
  • the humidity information may be a humidity category, and the humidity category may be classified into intervals according to rainfall. For example, the annual rainfall below 200 mm is classified as arid, the annual rainfall between 200 mm and 400 mm is classified as semi-arid, the annual rainfall between 400 mm and 800 mm is classified as semi-humid, and the annual rainfall above 800 mm is classified as semi-humid. wet category.
  • the mowing height of the lawn is different, and the target mowing height under different humidity categories can be appropriately increased with the increase of humidity.
  • the humidity information may also be an influence value of humidity on the target mowing height.
  • the influence value of humidity on the target mowing height refers to the floating value of the target mowing height based on the reference mowing height of the season caused by different types of humidity in the same season.
  • the reference pruning height in winter in China is set at 2cm.
  • the impact value of drought and semi-arid on the target mowing height is 0, then the target mowing height in winter in this area is 2cm.
  • the influence value of semi-humidity on the target mowing height is 1cm, so the target mowing height in winter in this area is 3cm.
  • the influence value of humidity on the target mowing height is 2cm, so the target mowing height in winter in this area is 4cm.
  • the environment information includes season information.
  • the way of obtaining seasonal information includes at least one of the following:
  • the seasonal information can be obtained through the network
  • the category of the current season can be obtained directly through the network
  • the current month or date can also be obtained through the network.
  • the season information can also be obtained through local query, that is, through the time recording device configured by the mowing robot, such as obtaining the current month or date through the time recording device, and then determining the category of the current season according to the current month or date.
  • seasonal information can also be obtained by receiving external input.
  • the user can input the category of the current season through voice, text, and other means.
  • the mowing robot provides seasonal information options, and the user can select the corresponding options.
  • the environmental information includes climate information.
  • the way to obtain climate information includes at least one of the following:
  • climate information determined by the server based on the geographic location of the environment where the mowing robot is located;
  • the climate information can be obtained through the network, the category of the current climate can be obtained directly through the network, and the influence value of the current climate on the target mowing height can also be obtained through the network.
  • the server can determine the climate information of the environment where the mowing robot is located through the network or its own database according to the geographic location of the environment where the mowing robot is located. Wherein, the geographic location can be obtained by querying the positioning server, or can be determined according to the base station through which the mowing robot sends the request.
  • climate information can also be obtained by receiving external input.
  • users can input the climate information of the environment where the mowing robot is located through voice, text, etc.
  • the mowing robot provides climate information options, and the user can select the corresponding options.
  • the environmental information includes temperature information.
  • the way of obtaining temperature information includes at least one of the following:
  • the temperature of the environment where the mowing robot is located can be detected and recorded by a temperature detection device (such as a temperature sensor), and then the average temperature can be calculated to obtain the temperature category.
  • a temperature detection device such as a temperature sensor
  • the network can update the temperature information in real time
  • the temperature of the environment where the mowing robot is located can also be obtained through networking. Therefore, the temperature information can also be obtained through networking, the category of the current temperature can be obtained directly through the network, and the influence value of the current temperature on the target mowing height can also be obtained through the network.
  • the temperature information can also be obtained by receiving an external input.
  • the user can input the temperature category of the environment where the mowing robot is located or the influence value of the temperature on the target mowing height through voice, text, etc.
  • the mowing robot provides temperature information options, and the user can select the corresponding option.
  • the environmental information includes humidity information.
  • the way of obtaining the humidity information includes at least one of the following:
  • the humidity of the environment where the mowing robot is located can be detected and recorded by a humidity detection device (such as a humidity sensor), and then the average humidity can be calculated to obtain the humidity category.
  • a humidity detection device such as a humidity sensor
  • the network can update the humidity or rainfall in real time
  • the humidity of the environment where the mowing robot is located can also be obtained through networking. Therefore, the humidity information can also be obtained through networking, the category of the current humidity can be obtained directly through the network, and the influence value of the current humidity on the target mowing height can also be obtained through the network.
  • the humidity information can also be obtained by receiving external input.
  • the user can input the humidity category of the environment where the mowing robot is located or the influence value of humidity on the target mowing height through voice, text, etc.
  • the mowing robot provides humidity information options, and the user can select the corresponding option.
  • the target mowing height increases as the ambient temperature increases.
  • the target mowing height increases as the ambient humidity increases.
  • control method further includes: acquiring the type of grass to be mowed.
  • the target mowing height is determined based on at least environmental information and the type of grass to be mowed.
  • the target mowing height can be determined according to the environmental information of the environment where the mowing robot is located, combined with the type of grass to be mowed, so that the lawn can be maintained more reasonably.
  • the mowing robot or server can pre-set some preset mowing heights that match the environmental information and the type of grass to be mowed.
  • the preset mowing height matching the current environmental information and the type of grass to be mowed can be selected as the target mowing height .
  • the pruning height of fescue in the cool season is 1.3cm to 5.1cm, while the pruning height of awnless brome is 7.6cm to 15.2cm in the cool season.
  • the method of obtaining the type of grass to be mowed includes at least one of the following:
  • This solution uses image recognition technology to obtain the type of grass to be mowed, with a high degree of automation.
  • the type of grass to be mowed can also be obtained by receiving external input.
  • the user can input the type of grass to be mowed by voice or text.
  • the lawn mowing robot provides options for types of grass to be mowed, and the user can select the corresponding option.
  • control method also includes: acquiring the usage of the grass to be mowed.
  • the target mowing height is determined based on at least environmental information and the use of the grass to be mowed.
  • the target mowing height can be determined according to the environmental information of the environment where the mowing robot is located and in combination with the use of the grass to be mowed, so that the lawn can be maintained more reasonably.
  • the mowing robot or server can pre-set some preset mowing heights that match the environmental information and the usage of the grass to be mowed.
  • the preset mowing height matching the current environmental information and the use of the lawn to be mowed can be selected as the target mowing height .
  • lawns used for landscaping generally have a higher mowing height than lawns used for football fields.
  • the use of the grass to be mowed can be acquired through user input, or can be acquired through the Internet.
  • an embodiment of the present application also provides a mowing control method applied to a mowing robot, and the mowing control method includes:
  • Step S1002 After the mowing robot is turned on or enters the mowing mode, adjust the mowing height of the mowing blade according to the control method of the mowing blade;
  • Step S1004 the mowing robot executes the mowing operation according to the adjusted mowing height.
  • control method of the mowing knife is the control method of the mowing knife as described in any one of the above-mentioned embodiments, so it has all the beneficial effects of any of the above-mentioned embodiments, and will not be repeated here.
  • An embodiment of the present application also provides a control device for a mowing robot, including:
  • the determination module is configured to determine the target mowing height, and the target mowing height is at least determined according to the environmental information of the environment where the mowing robot is located;
  • the adjustment module is configured to adjust the mowing height of the mowing cutter according to the target mowing height.
  • the control device of the mowing robot provided in the embodiment of the present application can first determine the target mowing height, and then automatically adjust the mowing height of the mowing cutter according to the target mowing height, without user intervention, and adjust the mowing height through subjective operation.
  • the height of the grass is high, so the degree of intelligence is high, which is conducive to improving the user experience.
  • the target mowing height is also closely related to the environmental information of the environment, so the environmental information of the mowing robot’s environment can be used as the basis for determining the target mowing height. At least one judgment basis. Therefore, the target mowing height is at least determined according to the environmental information of the environment where the mowing robot is located, which is conducive to determining a suitable target mowing height, which in turn is conducive to improving the maintenance effect on the lawn and improving the user experience.
  • the determination module includes: an online acquisition unit and a determination unit.
  • the network acquisition unit is configured to: acquire environment information through the network.
  • the determination unit is configured to: determine the target mowing height at least according to the environment information.
  • the determination module includes: a network acquisition unit, a local acquisition unit and a determination unit.
  • the network acquisition unit is configured to: acquire part of the environmental information through the network.
  • the local obtaining unit is set to: obtain the remaining information in the environment information locally.
  • the determination unit is configured to: determine the target mowing height according to part of the environmental information obtained from the Internet and the rest of the environmental information obtained locally.
  • the networking acquisition unit is configured to: send a request to acquire at least part of the environment information (ie, the environment information or part of the information in the environment information) to the server through the network, and receive at least a part of the environment information (ie, the environment information) sent by the server in response to the request. information or part of the information in the environmental information).
  • the network acquisition unit is configured to: receive at least part of the environment information (ie, the environment information or part of the information in the environment information) automatically pushed by the server through the network.
  • the determination module includes a network acquisition module; the network acquisition module is configured to: network obtain the target mowing height determined by the server.
  • the networking obtaining module is configured to: send a request for obtaining the target mowing height to the server through the network, and receive the target mowing height sent by the server in response to the request.
  • the network acquisition module is configured to: receive the target mowing height automatically pushed by the server through the network.
  • the determination module includes: a local acquisition unit and a determination unit.
  • the local acquisition unit is configured to: acquire the environment information locally, and the environment information is stored in the local configuration information and/or stored in the historical data of the local records.
  • the determination unit is set to: determine the target mowing height according to the environmental information.
  • the environment information includes at least one of season information, climate information, temperature information, and humidity information.
  • the season information includes at least one of the following: category, month, and date of the season.
  • the climate information includes at least one of the following: a category of climate, and an influence value of climate on the target mowing height.
  • the temperature information includes at least one of the following: a temperature category, and an influence value of temperature on the target mowing height.
  • the humidity information includes at least one of the following: a humidity category, and an influence value of humidity on the target mowing height.
  • the environment information includes season information.
  • the control device includes a season information acquisition module, and the season information acquisition module includes at least one of the following:
  • the network acquisition unit is configured to obtain seasonal information through the network
  • a local acquisition unit configured to acquire seasonal information through a time recording device
  • the receiving unit is configured to receive externally input seasonal information.
  • the environmental information includes climate information.
  • the control device includes a climate information acquisition module, and the climate information acquisition module includes at least one of the following:
  • the network acquisition unit is configured to network to obtain climate information determined by the server according to the geographic location of the environment where the mowing robot is located;
  • the receiving unit is configured to receive externally input climate information.
  • the environment information includes temperature information.
  • the control device includes a temperature information acquisition module, and the temperature information acquisition module includes at least one of the following:
  • a local acquisition unit configured to acquire temperature information detected by the temperature detection device
  • the network acquisition unit is configured to obtain temperature information through the network
  • the receiving unit is configured to receive temperature information input from the outside.
  • the environmental information includes humidity information.
  • the control device includes a humidity information acquisition module, and the humidity information acquisition module includes at least one of the following:
  • a local acquisition unit configured to acquire humidity information detected by the humidity detection device
  • the network acquisition unit is configured to obtain humidity information through the network
  • the receiving unit is configured to receive externally input humidity information.
  • control device further includes: a first acquisition module configured to acquire the type of grass to be mowed.
  • the target mowing height is determined based on at least environmental information and the type of grass to be mowed.
  • the first acquisition module includes: an acquisition unit, a comparison unit and a determination unit.
  • the acquisition unit is configured to acquire images of grass to be mowed.
  • the comparison unit is configured to compare the image to be mowed with the images in the preset image library.
  • the determination unit is configured to determine the image of the grass to be mowed according to the comparison result.
  • the first acquisition module includes: a receiving unit configured to receive an external input of the type of grass to be mowed.
  • control device further includes: a second acquisition module configured to acquire the usage of the grass to be mowed.
  • the target mowing height is determined based on at least environmental information and the use of the grass to be mowed.
  • the second acquiring module includes: a receiving unit configured to receive an externally input usage of the grass to be mowed.
  • the second obtaining module includes: a network obtaining unit configured to obtain the use of the grass to be mowed online.
  • an embodiment of the present application also provides a mowing control method applied to a server, and the mowing control method includes:
  • Step S1102 the server receives a request for environmental information or part of the environmental information sent by the mowing robot;
  • Step S1104 After the server inquires the environmental information or part of the environmental information of the environment where the mowing robot is located, it returns a response to the mowing robot, carrying the queried environmental information or part of the environmental information in the response.
  • the server may receive a request for acquiring at least part of the environment information (at least part of the environment information, that is, the environment information or part of the information in the environment information) sent by the mowing robot through the network.
  • some basic information such as location information and identification information is also obtained.
  • the location information is convenient for the server to query the local environmental data through the network or its own database to obtain the required environmental information.
  • the identification information can indicate that the Mowing robots are legal endpoints).
  • the server can obtain at least part of the environmental information of the mowing robot's environment through the network or its own database query, and then send it to the mowing robot through the network.
  • the mowing robot may trigger the sending of the above request when starting work.
  • an embodiment of the present application also provides a mowing control method, including:
  • Step S1202 Detecting that the mowing robot is started
  • Step S1204 Push at least part of the environmental information of the environment where the mowing robot is located to the mowing robot through the network.
  • the mowing robot may also pre-subscribe to the corresponding push service of the server.
  • the server detects that the mowing robot is started, it automatically pushes at least part of the environmental information of its environment to the mowing robot.
  • the lawn mowing robot acquires at least part of the environmental information by rationally using the network, which is beneficial to reduce the environmental information detection devices that the lawn mowing robot needs to configure, thereby helping to simplify the structure of the lawn mowing robot and reduce the environmental impact of the lawn mowing robot. the cost of.
  • the mowing robot can pre-set some preset mowing heights that match the environmental information.
  • the environmental information of the environment where the mowing robot is located can be selected as the target mowing height which is preset and matches the current environmental information.
  • an embodiment of the present application also provides a mowing control method applied to a server, and the mowing control method includes:
  • Step S1302 the server receives a request from the mowing robot to obtain the target mowing height
  • Step S1304 The server calculates the target mowing height of the mowing robot after querying the environment information of the mowing robot's environment;
  • Step S1306 the server returns a response to the mowing robot, and the response carries the target mowing height.
  • the environmental information includes at least one of seasonal information, climate information, temperature information, and humidity information.
  • the server may receive the request for obtaining the target mowing height sent by the mowing robot through the network.
  • the mowing robot sends a request, it also provides the server with basic information (such as location information and identification information.
  • the location information facilitates the server to query the local environmental data through the network or its own database to obtain the required environmental information.
  • the identification information can indicate The mowing robot is a legal terminal).
  • the server can obtain the environmental information of the environment where the mowing robot is located through the network or its own database query, and then at least determine the target mowing height based on the above environmental information, and send it to the mowing robot through the network.
  • the mowing robot may trigger the sending of the above request when starting work.
  • an embodiment of the present application also provides a server control method, including:
  • Step S1402 detecting that the mowing robot is started
  • Step S1404 Determine the target mowing height at least according to the environmental information of the environment where the mowing robot is located;
  • Step S1406 Push the target mowing height to the mowing robot through the network.
  • the environmental information includes at least one of seasonal information, climate information, temperature information, and humidity information.
  • the mowing robot may also pre-subscribe to the corresponding push service of the server.
  • the server detects that the mowing robot is started, it can get some basic information of the mowing robot (such as location information, which is convenient for the server to query the local environmental data through the network to obtain the required environmental information), and then obtain the mowing robot through network query.
  • the environment information of the environment where the grass robot is located and then at least calculate the target mowing height based on the above environmental information, and automatically push the target mowing height to the mowing robot through the network.
  • the server obtains the environment information of the environment where the mowing robot is located and performs calculations for the target mowing height, while the mowing robot only needs to obtain the above-mentioned target mowing height through the Internet, and only executes the adjustment of the mowing height locally. operation instead of calculating the target mowing height. Therefore, this scheme determines the target mowing height by reasonable use of network acquisition, and the mowing robot does not need to be equipped with an environmental information detection device, nor does it need to be configured with a target mowing height calculation program, which is conducive to simplifying the structure and power of the mowing robot. control program, which is beneficial to further reduce the cost of mowing robots.
  • the server can pre-set some preset mowing heights that match the environmental information.
  • the environmental information of the environment where the mowing robot is located can be selected as the target mowing height which is preset and matches the current environmental information.
  • the environmental information requested by the mowing robot includes one or more of climate information, temperature information, and humidity information
  • the geographical location of the environment where the robot is located, and one or more information among the climate information, temperature information and humidity information of the environment where the mowing robot is located is obtained by querying the geographical location.
  • climate information, temperature information, and humidity information are closely related to the geographical location of the environment where the mowing robot is located, you can first query to obtain the geographical location of the environment where the mowing robot is located, and then obtain the location of the environment where the mowing robot is located.
  • climate information, temperature information, and humidity information One or more of climate information, temperature information, and humidity information.
  • an embodiment of the present application also provides a control device for a mowing robot, including a processor 1510, a memory 1520, and a computer program stored on the memory 1520 and operable on the processor 1510, the computer
  • the program When the program is executed by the processor, the steps of the method for controlling the lawnmowing robot in any one of the above embodiments are realized, thus having all the beneficial effects of any one of the above embodiments, which will not be repeated here.
  • An embodiment of the present application also provides a lawnmowing robot, including the above-mentioned control device for the lawnmowing robot, thus having all the beneficial effects of any of the above-mentioned embodiments, which will not be repeated here.
  • the lawn mowing robot also includes a lift drive mechanism and a cutter connected with the lift drive mechanism, and the cutter includes a cutter head and a blade connected with the cutter head.
  • the lifting drive mechanism is electrically connected with the control device, and drives the cutter to lift up and down under the control of the control device to adjust the mowing height of the mowing robot.
  • the height of the cutter from the ground is the mowing height of the mowing robot.
  • the lifting drive mechanism includes a lifting motor and a transmission mechanism.
  • the lifting motor can be a rotating motor.
  • the transmission mechanism includes a driving synchronous wheel, a synchronous belt, a driven synchronous wheel and a lifting screw.
  • the active synchronous wheel rotates synchronously with the output shaft of the lifting motor.
  • the synchronous belt is sheathed on the driving synchronous wheel and the driven synchronous wheel, and is used to drive the driven synchronous wheel to rotate under the drive of the driving synchronous wheel.
  • the driven synchronous wheel is sleeved on the lifting screw, and is connected with the lifting screw, and the lifting screw is connected with the cutting tool. When the driven synchronous wheel rotates, the lifting screw drives the cutting tool to go up and down, so as to realize the adjustment of the mowing height.
  • the lawn mowing robot also includes a driving device, which is connected with the cutter and is used to drive the cutter to rotate to realize the mowing operation.
  • the driving device may be a mowing motor.
  • the lifting motor is installed on the first support
  • the cutter motor is installed on the second support
  • the second support and the first support slide and cooperate along the up and down direction.
  • the second bracket is fixedly connected with the lifting nut, and the lifting nut is threadedly matched with the lifting screw.
  • the transmission mechanism is not limited to the above-mentioned forms, for example, a rack and pinion transmission mechanism can also be used to convert the rotation of the rotating motor into the lifting motion of the tool; or a gear pair can also be used to replace the cooperation of the synchronous wheel and the synchronous belt.
  • the lifting drive mechanism is not limited to the cooperation form of the above-mentioned lifting motor and transmission mechanism, for example, a linear motor may also be used for the lifting drive mechanism.
  • Step S1602 Obtain environmental information such as season, climate, temperature, humidity, etc. through the Internet;
  • Step S1604 Determine the target mowing height
  • Step S1606 Send a signal to the lifting motor, so that the lifting motor adjusts the height of the tool from the ground to the above-mentioned target mowing height;
  • Step S1608 Send a signal to the mowing motor, so that the mowing motor drives the cutter to rotate, and starts mowing the grass.
  • An embodiment of the present application also provides a computer-readable storage medium, where a computer program that can run on a processor is stored on the computer-readable storage medium, and when the computer program is executed by the processor, the following The steps of the server control method described in any one of the above embodiments.
  • An embodiment of the present application also provides a control device for a server, including a processor, a memory, and a computer program stored in the memory and operable on the processor, the computer program being executed by the processor When executed, the steps of the method for controlling the server as described in the foregoing embodiments are realized.
  • An embodiment of the present application further provides a server, including the server control device as described in the foregoing embodiments.
  • the functional modules/units in the system, and the device can be implemented as software, firmware, hardware, and an appropriate combination thereof.
  • the division between functional modules/units mentioned in the above description does not necessarily correspond to the division of physical components; for example, one physical component may have multiple functions, or one function or step may be composed of several physical components. Components cooperate to execute.
  • Some or all of the components may be implemented as software executed by a processor, such as a digital signal processor or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit.
  • Such software may be distributed on computer readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media).
  • computer storage media includes both volatile and nonvolatile media implemented in any method or technology for storage of information, such as computer readable instructions, data structures, program modules, or other data. permanent, removable and non-removable media.
  • Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disk (DVD) or other optical disk storage, magnetic cartridges, tape, magnetic disk storage or other magnetic storage devices, or can Any other medium used to store desired information and which can be accessed by a computer.
  • communication media typically embodies computer readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media .

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Abstract

一种割草刀具的控制方法，包括：确定目标割草高度，目标割草高度至少根据割草机器人所处环境的环境信息确定；根据目标割草高度对割草刀具的割草高度进行调节。

Description

刀具的控制方法、割草控制方法、控制装置及割草机器人 技术领域
本申请涉及但不限于割草设备技术领域，尤其涉及一种刀具的控制方法、割草控制方法、控制装置及割草机器人。
背景技术
目前，割草机器人在进行割草作业时，根据用户需求，一般会设置可调节的割草高度。当前市面上的割草机器人产品仅支持手动机械式调节刀盘高度。或者，有些产品可以通过手机APP操作电动调节刀盘高度。无论是手动机械式，还是通过手机APP电动调节割草高度，均需要用户介入通过主观操作来确定并调节割草高度，智能化程度不高。
发明概述
以下是对本文详细描述的主题的概述。该概述并非是为了限制权利要求的保护范围。
一种割草刀具的控制方法，包括：确定目标割草高度，所述目标割草高度至少根据割草机器人所处环境的环境信息确定；根据所述目标割草高度对所述割草刀具的割草高度进行调节。
一种割草控制方法，包括：割草机器人开机后或者进入割草模式，按照如上述实施例所述的割草刀具的控制方法对割草刀具的割草高度进行调节；所述割草机器人根据调节后的所述割草高度执行割草操作。
一种割草控制方法，应用于服务器，所述割草控制方法包括：所述服务器接收到割草机器人发送的对环境信息或环境信息中的部分信息的请求；所述服务器查询到所述割草机器人所处环境的所述环境信息或环境信息中的部分信息后，向所述割草机器人返回响应，在所述响应中携带查询到的所述环境信息或环境信息中的部分信息；或者，所述服务器接收到割草机器人发送的对割草高度的请求；所述服务器查询到所述割草机器人所处环境的环境信 息后，计算出所述割草机器人的目标割草高度；所述服务器向所述割草机器人返回响应，在所述响应中携带所述目标割草高度；其中，所述环境信息包括季节信息、气候信息、温度信息、湿度信息中的至少一种。
一种割草机器人的控制装置，包括处理器、存储器以及存储在所述存储器上并可在所述处理器上运行的计算机程序，所述计算机程序被所述处理器执行时实现如上述实施例中所述的割草刀具的控制方法的步骤。
一种割草机器人，包括如上述实施例所述的割草机器人的控制装置。
在阅读并了解了附图和详细描述后，以明白其他方面。
附图概述
附图用来提供对本申请技术方案的理解，并且构成说明书的一部分，与本申请的实施例一起用于解释本申请的技术方案，并不构成对本申请技术方案的限制。
图1是本公开一个实施例提供的割草刀具的控制方法的流程示意图；
图2是本公开一个实施例提供的割草刀具的控制方法的部分流程示意图；
图3是本公开一个实施例提供的割草刀具的控制方法的部分流程示意图；
图4是本公开一个实施例提供的割草刀具的控制方法的部分流程示意图；
图5是本公开一个实施例提供的割草刀具的控制方法的部分流程示意图；
图6是本公开一个实施例提供的割草刀具的控制方法的部分流程示意图；
图7是本公开一个实施例提供的割草刀具的控制方法的部分流程示意图；
图8是本公开一个实施例提供的割草刀具的控制方法的部分流程示意图；
图9是本公开一个实施例提供的割草控制方法的流程示意图；
图10是本公开一个实施例提供的割草控制方法的流程示意图；
图11是本公开一个实施例提供的割草控制方法的流程示意图；
图12是本公开一个实施例提供的割草控制方法的流程示意图；
图13是本公开一个实施例提供的割草控制方法的流程示意图；
图14是本公开一个实施例提供的割草控制方法的流程示意图；
图15是本公开一个实施例提供的割草机器人的控制装置的示意框图；
图16是本公开一个实施例提供的割草机器人的工作流程示意图。
详述
本申请描述了多个实施例，但是该描述是示例性的，而不是限制性的，并且对于本领域的普通技术人员来说显而易见的是，在本申请所描述的实施例包含的范围内可以有更多的实施例和实现方案。尽管在附图中示出了许多可能的特征组合，并在具体实施方式中进行了讨论，但是所公开的特征的许多其它组合方式也是可能的。除非特意加以限制的情况以外，任何实施例的任何特征或元件可以与任何其它实施例中的任何其他特征或元件结合使用，或可以替代任何其它实施例中的任何其他特征或元件。
本申请包括并设想了与本领域普通技术人员已知的特征和元件的组合。本申请已经公开的实施例、特征和元件也可以与任何常规特征或元件组合，以形成由权利要求限定的独特的发明方案。任何实施例的任何特征或元件也可以与来自其它发明方案的特征或元件组合，以形成另一个由权利要求限定的独特的发明方案。因此，应当理解，在本申请中示出和/或讨论的任何特征可以单独地或以任何适当的组合来实现。因此，除了根据所附权利要求及其等同替换所做的限制以外，实施例不受其它限制。此外，可以在所附权利要求的保护范围内进行各种修改和改变。
此外，在描述具有代表性的实施例时，说明书可能已经将方法和/或过程呈现为特定的步骤序列。然而，在该方法或过程不依赖于本文所述步骤的特定顺序的程度上，该方法或过程不应限于所述的特定顺序的步骤。如本领域普通技术人员将理解的，其它的步骤顺序也是可能的。因此，说明书中阐述的步骤的特定顺序不应被解释为对权利要求的限制。此外，针对该方法和/或过程的权利要求不应限于按照所写顺序执行它们的步骤，本领域技术人员可以容易地理解，这些顺序可以变化，并且仍然保持在本申请实施例的精神和范围内。
如图1所示，本申请的一个实施例提供了一种割草刀具的控制方法，包括：
步骤S102：确定目标割草高度，目标割草高度至少根据割草机器人所处环境的环境信息确定；
步骤S104：根据目标割草高度对割草刀具的割草高度进行调节。
本申请实施例提供的割草刀具的控制方法，可以先确定目标割草高度，然后根据目标割草高度对割草机器人的割草高度进行自动调节，而无需用户介入，通过主观操作来调节割草高度，因而智能化程度高，有利于提高用户的使用体验。
其中，由于草的高度与所处环境的环境信息密切相关，因而目标割草高度也与所处环境的环境信息密切相关，故而割草机器人所处环境的环境信息可以作为确定目标割草高度的至少一个判断依据。因此，目标割草高度至少根据割草机器人所处环境的环境信息确定，有利于确定出合适的目标割草高度，进而有利于提高对草坪的维护效果，提高用户的使用体验。
其中，该割草刀具的控制方法可以由割草机器人的控制装置实现。该割草刀具的控制方法也可以由终端设备(如手机)实现，终端设备与割草机器人通讯连接。换言之，可以是割草机器人的控制装置确定目标割草高度后自动对割草刀具的割草高度进行调节，也可以是终端设备确定割草刀具的割草高度后以电动的方式来调节割草刀具的割草高度。无论哪种情况，均不需要用户介入主观确定割草刀具，因而提高了割草机器人的智能化程度，提高了用户的使用体验。
值得说明的是，在本公开中，能自动或半自动地执行割草操作的设备均属于本公开的割草机器人。割草机器人包括割草刀具，割草刀具的离地高度即为割草刀具的割草高度。
进一步，本公开的割草机器人还可以是在传统割草机的基础上进行发展的新品类，能够自主地完成修建草坪的工作，无需人为直接控制和操作。并且，割草机器人可以拥有自动割草、清理草屑、自动避雨、自动行走、自动躲避障碍物、电子虚拟篱笆、自动返回充电、网络控制等功能，适合于家庭 庭院、公共绿地等场所进行草坪修剪维护。因此，割草机器人不仅具有操作简单、割草效率高等优点，而且可以自动完成割草任务，减少人力成本和时间成本，还具有安全、无噪音、智能化程度高等优点，已经成为割草机行业的主要发展方向。
在一种示例性的实施例中，如图2所示，确定目标割草高度，包括：
步骤S202：联网获取环境信息；
步骤S204：根据环境信息确定目标割草高度。
在另一种示例性的实施例中，如图3所示，确定目标割草高度，包括：
步骤S302：联网获取环境信息中的部分信息；
步骤S304：根据联网获取的环境信息中的部分信息和从本地获取的环境信息中的其余信息确定目标割草高度。
其中，从本地获取的环境信息中的其余信息保存在本地配置信息中和/或保存在本地记录的历史数据中。
在上述实施例中，割草机器人可以联网获取所需的全部环境信息，也可以联网获取所需的部分环境信息，而其他环境信息则在本地获取。然后由割草机器人至少根据上述环境信息在本地自行计算目标割草高度。该方案通过合理利用网络来获取至少部分环境信息，有利于减少割草机器人需要配置的环境信息检测装置，从而有利于简化割草机器人的结构，降低割草机器人的成本。
由于草坪的修剪高度与环境信息紧密相关，因而割草机器人可以预先设定一些与环境信息相匹配的设定割草高度。当获取到割草机器人所处环境的环境信息时，就可以选择预先设定的与当前环境信息相匹配的设定割草高度作为目标割草高度。
可以理解的是，在本公开中，“计算目标割草高度”中的“计算”是广义的计算，即通过运行计算机程序得到目标割草高度。
在一个示例中，如图4所示，联网获取环境信息或环境信息中的部分信息(即：联网获取至少部分环境信息)，包括：
步骤S402：通过网络向服务器发送获取环境信息或环境信息中的部分信息的请求；
步骤S404：接收服务器响应于请求发送的环境信息或环境信息中的部分信息。
在另一个示例中，如图5所示，联网获取环境信息或环境信息中的部分信息(即：联网获取至少部分环境信息)，包括：
步骤S502：接收服务器通过网络自动推送的环境信息或环境信息中的部分信息。
割草机器人通过网络获取至少部分环境信息的方式，可以是通过网络向服务器发出获取所需环境信息的请求。割草机器人在发出请求时，也向服务器提供了基本信息(如位置信息和标识信息，位置信息便于服务器通过网络查询当地的环境数据进而得到所需的环境信息，标识信息可以表明该割草机器人是合法终端)。服务器接收到上述请求后，可以通过网络查询获取割草机器人所处环境的环境信息，也可以通过自带的数据库获取割草机器人所处环境的环境信息，然后通过网络发送给割草机器人。其中，割草机器人可以在启动工作时触发上述请求的发送。
或者，割草机器人也可以预先订阅服务器的相应推送服务。当服务器检测到割草机器人启动后，向割草机器人自动推送其所处环境的至少部分环境信息。
其中，本公开中，网络可以是物联网，也可以是移动网络。相应地，服务器可以是网络服务器，手机等移动终端也可以充当服务器。
在一种示例性的实施例中，如图6所示，确定目标割草高度，包括：
步骤S600：联网获取服务器确定的目标割草高度。
在该实施例中，目标割草高度由服务器获取割草机器人所处环境的环境信息并执行运算，而割草机器人只需联网获取上述目标割草高度，本地只执行调节割草高度的操作，而不执行计算目标割草高度的操作。因此，该方案通过合理利用网络获取的方式来确定目标割草高度，则割草机器人无需配置环境信息检测装置，也无需配置目标割草高度计算程序，因而有利于简化割 草机器人的结构和电控程序，从而有利于进一步降低割草机器人的成本。
由于草坪的修剪高度与环境信息紧密相关，因而服务器可以预先设定一些与环境信息相匹配的设定割草高度。当获取到割草机器人所处环境的环境信息时，就可以选择预先设定的与当前环境信息相匹配的设定割草高度作为目标割草高度。
在一个示例中，如图7所示，联网获取服务器确定的目标割草高度，包括：
步骤S702：通过网络向服务器发送获取目标割草高度的请求；
步骤S704：接收服务器响应于请求发送的目标割草高度。
在另一个示例中，如图8所示，联网获取服务器确定的目标割草高度，包括：
步骤S802：接收服务器通过网络自动推送的目标割草高度。
割草机器人通过网络获取目标割草高度的方式，可以是通过网络向服务器发出获取目标割草高度的请求。割草机器人在发出请求时，也向服务器提供了基本信息(如位置信息和标识信息，位置信息便于服务器通过网络查询当地的环境数据进而得到所需的环境信息，标识信息可以表明该割草机器人是合法终端)。服务器接收到上述请求后，可以通过网络查询获取割草机器人所处环境的环境信息，然后至少根据上述环境信息确定目标割草高度，并通过网络发送给割草机器人。其中，割草机器人可以在启动工作时触发上述请求的发送。
或者，割草机器人也可以预先订阅服务器的相应推送服务。当服务器检测到割草机器人启动后，可以得到割草机器人的一些基本信息(如位置信息，位置信息便于服务器通过网络或本身自带的数据库查询当地的环境数据进而得到所需的环境信息)，然后通过网络查询或本身自带的数据库获取割草机器人所处环境的环境信息，再至少根据上述环境信息计算得到目标割草高度，并通过网络自动将目标割草高度推送给割草机器人。
在一种示例性的实施例中，如图9所示，确定目标割草高度，包括：
步骤S902：在本地获取环境信息，该环境信息保存在本地配置信息中和 /或保存在本地记录的历史数据中；
步骤S904：根据环境信息确定目标割草高度。
在该实施例中，割草机器人可以配置环境信息检测装置，通过检测将环境信息保存在本地记录的历史数据中。也可以通过手动或联网的方式来设置本地配置信息，直接将环境信息保存在本地配置信息中。在本地获取环境信息，通过不联网的方式在本地计算目标割草高度。本方案可以使割草机器人摆脱对网络的需求，有利于割草机器人在网络信号差的地区或者在网络信号不稳定的情况下也能够正常使用，从而有利于扩大割草机器人的使用范围，有利于割草机器人的市场推广。
比如：环境信息可以包括季节信息，季节可由本地的时钟模块来记录，类似手机关机仍然在记录日期一样。这样，即使不联网，割草机器人也可以获取到季节信息。
环境信息也可以包括气候情况，气候情况可以作一次性的配置，例如初次使用时联网根据所在位置获取到当地气候类别，之后如有跨区域的位置变化时再进行更新，否则不用更新。
环境信息也可以包括温度信息、湿度信息。温湿度可以在本地记录(割草机器人可以配置温度计、湿度计)。
在一种示例性的实施例中，环境信息包括季节信息、气候信息、温度信息、湿度信息中的至少一种。
草坪的修剪高度与季节、气候、温度、湿度等环境条件息息相关。因此，环境信息可以包括但不局限于季节信息、气候信息、温度信息、湿度信息。
其中，常见草坪一般在凉爽季节(如秋冬季)的修剪高度要低于高温季节(如夏季)。因此，季节信息可以作为确定目标割草高度的判断依据。
常见草坪在热带气候、亚热带气候的修剪高度要高于温带气候的修剪高度。因此，气候信息可以作为确定目标割草高度的判断依据。
常见草坪在高温高湿环境下的修剪高度要高于低温低湿环境下的修剪高度。因此，温度信息、湿度信息也可以作为确定目标割草高度的判断依据。
示例地，季节信息包括以下至少一种：季节的类别、月份、日期。
季节信息可以是季节的类别，如春季、夏季、秋季、冬季。由于月份或者日期与季节具有对应关系，因而季节信息也可以是月份或者是日期。无论是季节的类别或者月份或者日期，均可以对应适合的草坪的修剪高度，因而可以将季节的类别、月份或者日期作为确定目标割草高度的判断依据。
其中，在上述各种环境信息中，季节对目标割草高度的影响最大。因此，可以通过季节确定待割草的参考修剪高度，然后根据气候、温度、湿度对割草高度的影响，在参考修建高度的基础上通过上下浮动，来确定目标割草高度。
比如，常见草坪草的参考修剪高度(单位为：cm)如下：
匍匐剪股颖在凉爽季节为0.3-1.3，在高温逆境胁迫下为0.5-2.0；
细弱剪股颖在凉爽季节为0.76-2.0，在高温逆境胁迫下为1.3-2.0；
绒毛剪股颖在凉爽季节为0.5-2.0，在高温逆境胁迫下为1.3-2.0；
草地早熟禾在凉爽季节为3.8-5.7，在高温逆境胁迫下为5.7-7.6；
普通早熟禾在凉爽季节为3.8-5.5，在高温逆境胁迫下为5.7-7.6；
多年生黑麦草在凉爽季节为3.8-5.1，在高温逆境胁迫下为5.1-7.6；
一年生黑麦草在凉爽季节为3.8-5.1，在高温逆境胁迫下为5.1-7.6；
苇状羊茅在凉爽季节为4.4-7.6，在高温逆境胁迫下为6.4-8.9；
羊茅在凉爽季节为1.3-5.1，在高温逆境胁迫下为3.8-7.6；
紫羊茅在凉爽季节为3.5-6.3，在高温逆境胁迫下为3.8-7.6；
硬羊茅在凉爽季节为2.5-6.4，在高温逆境胁迫下为3.8-7.6；
无芒雀麦在凉爽季节为7.6-15.2，在高温逆境胁迫下为6.4-8.9；
冰草在凉爽季节为3.8-6.4，在高温逆境胁迫下为6.4-8.9。
示例地，气候信息包括以下至少一种：气候的类别、气候对于目标割草高度的影响值。
气候信息可以是气候的类别，如热带季风气候、亚热带季风气候、温带季风气候、温带大陆性气候、高山高原气候等。不同的气候，具有不同的冷、暖、干、湿特点，在同样的季节里，会对草坪的修剪高度产生不同的影响。 因此，可以将气候的类别作为确定目标割草高度的判断依据。比如：夏季目标割草高度设定为5cm，冬季目标割草高度设定为2cm。
或者，气候信息也可以是气候对于目标割草高度的影响值，这样可以先根据季节信息估算目标割草高度，再结合气候对目标割草高度的影响值，来确定目标割草高度。其中，气候对于目标割草高度的影响值，指的是同一季节里不同类别的气候，导致目标割草高度在该季节的参考修剪高度基础上产生的浮动值。
比如：中国冬季的参考修剪高度设定为2cm，热带季风气候、亚热带季风气候对目标割草高度的影响值是上浮1cm至2cm，温带季风气候对目标割草高度的影响值是0。因此，中国南方广东等地的冬季，目标割草高度设定为3cm-4cm，而中国北方(如北京)冬季的目标割草高度仍然为2cm。
示例地，温度信息包括以下至少一种：温度类别、温度对于目标割草高度的影响值。
温度信息可以是温度类别，温度类别可以根据每天的平均温度按区间划分级别。比如平均温度在0℃至10℃划分为低温类别，11℃至20℃划分为中温类别，21至30℃划分为高温类别。同样的季节，由于温度的差别，草坪的修剪高度有所不同，可以将不同温度类别下的目标割草高度随着温度的增加而适当增加。
或者，温度信息也可以是温度对于目标割草高度的影响值。其中，温度对于目标割草高度的影响值，指的是同一季节里不同类别的温度，导致目标割草高度在该季节的参考修剪高度基础上产生的浮动值。比如，中国冬季的参考修剪高度设定为2cm。低温对目标割草高度的影响值是0，则该地区冬季的目标割草高度为2cm。中温对目标割草高度的影响值是上浮1cm，则该地区冬季的目标割草高度为3cm。高温对目标割草高度的影响值是上浮2cm，则该地区冬季的目标割草高度为4cm。
示例地，湿度信息包括以下至少一种：湿度类别、湿度对于目标割草高度的影响值。
湿度信息可以是湿度类别，湿度类别可以根据降雨量按区间划分级别。 比如年降雨量低于200mm划分为干旱类别，年降雨量在200毫米至400毫米划分为半干旱类别，年降雨量在400毫米至800毫米划分为半湿润类别，年降雨量在800毫米以上为湿润类别。同样的季节，由于湿度的差别，草坪的修剪高度有所不同，可以将不同湿度类别下的目标割草高度随着湿度的增加而适当增加。
或者，湿度信息也可以是湿度对于目标割草高度的影响值。其中，湿度对于目标割草高度的影响值，指的是同一季节里不同类别的湿度，导致目标割草高度在该季节的参考修剪高度基础上产生的浮动值。比如，中国冬季的参考修剪高度设定为2cm。干旱、半干旱对目标割草高度的影响值是0，则该地区冬季的目标割草高度为2cm。半湿润对目标割草高度的影响值是上浮1cm，则该地区冬季的目标割草高度为3cm。湿润对目标割草高度的影响值是上浮2cm，则该地区冬季的目标割草高度为4cm。
在一种示例性的实施例中，环境信息包括季节信息。
其中，季节信息的获取方式包括以下至少一种：
联网获取季节信息；
通过时间记录装置获取季节信息；
接收外部输入的季节信息。
当环境信息包括季节信息时，季节信息可以通过联网的方式获得，可以直接通过网络获取当前季节的类别，也可以通过网络获取当前月份或日期。
或者，季节信息也可以通过本地查询的方式获得，即通过割草机器人配置的时间记录装置获取，比如通过时间记录装置获取当前月份或日期，然后根据当前月份或日期确定当前季节的类别。
或者，季节信息也可以通过接收外部输入的方式获得。比如用户可以通过语音、文字等方式输入当前季节的类别。或者割草机器人提供季节信息选项，用户选择对应的选项即可。
在一种示例性的实施例中，环境信息包括气候信息。
其中，气候信息的获取方式包括以下至少一种：
联网获取服务器根据割草机器人所处环境的地理位置确定的气候信息；
接收外部输入的气候信息。
当环境信息包括气候信息时，气候信息可以通过联网的方式获得，可以直接通过网络获取当前气候的类别，也可以通过网络获取当前气候对目标割草高度的影响值。由于不同地域具有不同的气候条件，因此服务器可以根据割草机器人所处环境的地理位置通过网络或自带的数据库确定割草机器人所处环境的气候信息。其中，地理位置可以通过定位服务器查询得到，也可以根据割草机器人发送请求时途径的基站来确定。
或者，气候信息也可以通过接收外部输入的方式获得。比如用户可以通过语音、文字等方式输入割草机器人所处环境的气候信息。或者割草机器人提供有气候信息选项，用户选择对应的选项即可。
在一种示例性的实施例中，环境信息包括温度信息。
其中，温度信息的获取方式包括以下至少一种：
通过温度检测装置检测温度信息；
联网获取温度信息；
接收外部输入的温度信息。
当环境信息包括温度信息时，可以通过温度检测装置(如温度传感器)来检测割草机器人所处环境的温度并记录下来，然后计算得到平均温度，进而得到温度类别。
或者，由于网络可以对温度信息进行实时更新，因此也可以通过联网的方式获取割草机器人所处环境的温度。因此，温度信息也可以通过联网的方式获得，可以直接通过网络获取当前温度的类别，也可以通过网络获取当前温度对目标割草高度的影响值。
或者，温度信息也可以通过接收外部输入的方式获得。比如用户可以通过语音、文字等方式输入割草机器人所处环境的温度类别或温度对目标割草高度的影响值。或者割草机器人提供有温度信息选项，用户选择对应的选项即可。
在一种示例性的实施例中，环境信息包括湿度信息。
其中，湿度信息的获取方式包括以下至少一种：
根据湿度检测装置检测湿度信息；
联网获取湿度信息；
接收外部输入的湿度信息。
当环境信息包括湿度信息时，可以通过湿度检测装置(如湿度传感器)来检测割草机器人所处环境的湿度并记录下来，然后计算得到平均湿度，进而得到湿度类别。
或者，由于网络可以对湿度或降雨量进行实时更新，因此也可以通过联网的方式获取割草机器人所处环境的湿度情况。因此，湿度信息也可以通过联网的方式获得，可以直接通过网络获取当前湿度的类别，也可以通过网络获取当前湿度对目标割草高度的影响值。
或者，湿度信息也可以通过接收外部输入的方式获得。比如用户可以通过语音、文字等方式输入割草机器人所处环境的湿度类别或湿度对目标割草高度的影响值。或者割草机器人提供有湿度信息选项，用户选择对应的选项即可。
在一种示例性的实施例中，所述目标割草高度随环境温度的升高而增大。
在一种示例性的实施例中，所述目标割草高度随环境湿度的升高而增大。
值得说明的是，这只是常见草坪的割草高度的一般规律。本公开并不局限于上述规律，在实际应用过程中可以根据用户的需求、习惯、喜好等因素合理设置目标割草高度与环境信息的对应关系。
在一种示例性的实施例中，控制方法还包括：获取待割草的种类。目标割草高度至少根据环境信息以及待割草的种类确定。
由于不同种类的草坪，在同样的环境条件下，也可以具有不同的修剪高度。因此，根据割草机器人所处环境的环境信息，结合待割草的种类，来确定目标割草高度，可以对草坪进行更合理的维护。
由于草坪的修剪高度与环境信息及待割草的种类紧密相关，因而割草机 器人或服务器可以预先设定一些与环境信息及待割草的种类相匹配的设定割草高度。当获取到割草机器人所处环境的环境信息及待割草的种类时，就可以选择预先设定的与当前环境信息及待割草的种类相匹配的设定割草高度作为目标割草高度。
比如：羊茅在凉爽季节的修剪高度为1.3cm至5.1cm，而无芒雀麦在凉爽季节的修剪高度为7.6cm至15.2cm。
进一步，待割草的种类的获取方式，包括以下至少一种：
获取待割草的图像，将待割草的图像与预设图片库里的图像比对，根据比对结果确定待割草的图像；
接收外部输入的待割草的种类。
先获取待割草的图像，然后将获取到的图像与预设图片库的图像比对，根据比对结果即可确定待割草的种类。该方案利用图像识别技术来获取待割草的种类，自动化程度高。
或者，待割草的种类也可以通过接收外部输入的方式获得。比如用户可以通过语音、文字等方式输入待割草的种类。或者割草机器人提供有待割草的种类选项，用户选择对应的选项即可。
进一步，控制方法还包括：获取待割草的用途。目标割草高度至少根据环境信息以及待割草的用途确定。
由于不同用途的草坪，在同样的环境条件下，也可以具有不同的修剪高度。因此，根据割草机器人所处环境的环境信息，结合待割草的用途，来确定目标割草高度，可以对草坪进行更合理的维护。
由于草坪的修剪高度与环境信息及待割草的用途紧密相关，因而割草机器人或服务器可以预先设定一些与环境信息及待割草的用途相匹配的设定割草高度。当获取到割草机器人所处环境的环境信息及待割草的用途时，就可以选择预先设定的与当前环境信息及待割草的用途相匹配的设定割草高度作为目标割草高度。
比如：用于景观的草坪的修剪高度一般大于用于足球场的草坪的修剪高度。
其中，待割草的用途可以通过用户输入的方式获取，也可以通过联网获取。
如图10所示，本申请的一个实施例还提供了一种割草控制方法，应用于割草机器人，该割草控制方法包括：
步骤S1002：割草机器人开机后或者进入割草模式，按照割草刀具的控制方法对割草刀具的割草高度进行调节；
步骤S1004：割草机器人根据调节后的割草高度执行割草操作。
其中，割草刀具的控制方法为如上述任一实施例所述的割草刀具的控制方法，因而具有上述任一实施例所具有的一切有益效果，在此不再赘述。
本申请的一个实施例还提供了一种割草机器人的控制装置，包括：
确定模块，设置为确定目标割草高度，目标割草高度至少根据割草机器人所处环境的环境信息确定；
调节模块，设置为根据目标割草高度对割草刀具的割草高度进行调节。
本申请实施例提供的割草机器人的控制装置，可以先确定目标割草高度，然后根据目标割草高度对割草刀具的割草高度进行自动调节，而无需用户介入，通过主观操作来调节割草高度，因而智能化程度高，有利于提高用户的使用体验。
其中，由于草的高度与所处环境的环境信息密切相关，因而目标割草高度也与所处环境的环境信息密切相关，故而割草机器人所处环境的环境信息可以作为确定目标割草高度的至少一个判断依据。因此，目标割草高度至少根据割草机器人所处环境的环境信息确定，有利于确定出合适的目标割草高度，进而有利于提高对草坪的维护效果，提高用户的使用体验。
在一种示例性的实施例中，确定模块包括：联网获取单元和确定单元。联网获取单元设置为：联网获取环境信息。确定单元设置为：至少根据环境信息确定目标割草高度。
在另一种示例性的实施例中，确定模块包括：联网获取单元、本地获取单元和确定单元。联网获取单元设置为：联网获取环境信息中的部分信息。本地获取单元设置为：从本地获取环境信息中的其余信息。确定单元设置为： 根据联网获取的环境信息中的部分信息和从本地获取的环境信息中的其余信息确定目标割草高度。
在一个示例中，联网获取单元设置为：通过网络向服务器发送获取至少部分环境信息(即环境信息或环境信息中的部分信息)的请求，接收服务器响应于请求发送的至少部分环境信息(即环境信息或环境信息中的部分信息)。
在另一个示例中，联网获取单元设置为：接收服务器通过网络自动推送的至少部分环境信息(即环境信息或环境信息中的部分信息)。
在一种示例性的实施例中，确定模块包括联网获取模块；联网获取模块设置为：联网获取服务器确定的目标割草高度。
在一个示例中，联网获取模块设置为：通过网络向服务器发送获取目标割草高度的请求，接收服务器响应于请求发送的目标割草高度。
在另一个示例中，联网获取模块设置为：接收服务器通过网络自动推送的目标割草高度。
在一种示例性的实施例中，确定模块包括：本地获取单元和确定单元。本地获取单元设置为：在本地获取环境信息，所述环境信息保存在本地配置信息中和/或保存在本地记录的历史数据中。确定单元设置为：根据环境信息确定目标割草高度。
在一种示例性的实施例中，环境信息包括季节信息、气候信息、温度信息、湿度信息中的至少一种。
示例地，季节信息包括以下至少一种：季节的类别、月份、日期。
示例地，气候信息包括以下至少一种：气候的类别、气候对于目标割草高度的影响值。
示例地，温度信息包括以下至少一种：温度类别、温度对于目标割草高度的影响值。
示例地，湿度信息包括以下至少一种：湿度类别、湿度对于目标割草高度的影响值。
在一种示例性的实施例中，环境信息包括季节信息。控制装置包括季节 信息获取模块，季节信息获取模块包括以下至少一种：
联网获取单元，设置为联网获取季节信息；
本地获取单元，设置为通过时间记录装置获取季节信息；
接收单元，设置为接收外部输入的季节信息。
在一种示例性的实施例中，环境信息包括气候信息。控制装置包括气候信息获取模块，气候信息获取模块包括以下至少一种：
联网获取单元，设置为联网获取服务器根据割草机器人所处环境的地理位置确定的气候信息；
接收单元，设置为接收外部输入的气候信息。
在一种示例性的实施例中，环境信息包括温度信息。控制装置包括温度信息获取模块，温度信息获取模块包括以下至少一种：
本地获取单元，设置为获取温度检测装置检测的温度信息；
联网获取单元，设置为联网获取温度信息；
接收单元，设置为接收外部输入的温度信息。
在一种示例性的实施例中，环境信息包括湿度信息。控制装置包括湿度信息获取模块，湿度信息获取模块包括以下至少一种：
本地获取单元，设置为获取湿度检测装置检测的湿度信息；
联网获取单元，设置为联网获取湿度信息；
接收单元，设置为接收外部输入的湿度信息。
在一种示例性的实施例中，控制装置还包括：第一获取模块，设置为获取待割草的种类。目标割草高度至少根据环境信息以及待割草的种类确定。
在一个示例中，第一获取模块包括：获取单元、比对单元和确定单元。获取单元设置为获取待割草的图像。比对单元设置为将待割草的图像与预设图片库里的图像比对。确定单元设置为根据比对结果确定待割草的图像。
在另一个示例中，第一获取模块包括：接收单元，设置为接收外部输入的待割草的种类。
在一种示例性的实施例中，控制装置还包括：第二获取模块，设置为获取待割草的用途。目标割草高度至少根据环境信息以及待割草的用途确定。
在一个示例中，第二获取模块包括：接收单元，设置为接收外部输入的待割草的用途。
在另一个示例中，第二获取模块包括：联网获取单元，设置为联网获取待割草的用途。
如图11所示，本申请的一个实施例还提供了一种割草控制方法，应用于服务器，该割草控制方法包括：
步骤S1102：服务器接收到割草机器人发送的对环境信息或环境信息中的部分信息的请求；
步骤S1104：服务器查询到割草机器人所处环境的环境信息或环境信息中的部分信息后，向割草机器人返回响应，在响应中携带查询到的环境信息或环境信息中的部分信息。
在该实施例中，服务器可以接收割草机器人通过网络发送的获取至少部分环境信息(至少部分环境信息，即：环境信息或环境信息中的部分信息)的请求。在接收该请求时，也获得了一些基本信息(如位置信息和标识信息，位置信息便于服务器通过网络或本身自带的数据库查询当地的环境数据进而得到所需的环境信息，标识信息可以表明该割草机器人是合法终端)。服务器接收到上述请求后，可以通过网络或本身自带的数据库查询获取割草机器人所处环境的至少部分环境信息，然后通过网络发送给割草机器人。其中，割草机器人可以在启动工作时触发上述请求的发送。
如图12所示，本申请的一个实施例还提供了一种割草控制方法，包括：
步骤S1202：检测到割草机器人启动；
步骤S1204：通过网络向割草机器人推送割草机器人所处环境的至少部分环境信息。
在该实施例中，割草机器人也可以预先订阅服务器的相应推送服务。当服务器检测到割草机器人启动后，向割草机器人自动推送其所处环境的至少部分环境信息。
在上述两个实施例中，割草机器人通过合理利用网络来获取至少部分环境信息，有利于减少割草机器人需要配置的环境信息检测装置，从而有利于简化割草机器人的结构，降低割草机器人的成本。
由于草坪的修剪高度与环境信息紧密相关，因而割草机器人可以预先设定一些与环境信息相匹配的设定割草高度。当获取到割草机器人所处环境的环境信息时，就可以选择预先设定的与当前环境信息相匹配的设定割草高度作为目标割草高度。
如图13所示，本申请的一个实施例还提供了一种割草控制方法，应用于服务器，该割草控制方法包括：
步骤S1302：服务器接收到割草机器人发送的获取目标割草高度的请求；
步骤S1304：服务器查询到割草机器人所处环境的环境信息后，计算出割草机器人的目标割草高度；
步骤S1306：服务器向割草机器人返回响应，在响应中携带目标割草高度。
其中，所述环境信息包括季节信息、气候信息、温度信息、湿度信息中的至少一种。
在该实施例中，服务器可以接收割草机器人通过网路发送的获取目标割草高度的请求。割草机器人在发出请求时，也向服务器提供了基本信息(如位置信息和标识信息，位置信息便于服务器通过网络或本身的数据库查询当地的环境数据进而得到所需的环境信息，标识信息可以表明该割草机器人是合法终端)。服务器接收到上述请求后，可以通过网络或本身的数据库查询获取割草机器人所处环境的环境信息，然后至少根据上述环境信息确定目标割草高度，并通过网络发送给割草机器人。其中，割草机器人可以在启动工作时触发上述请求的发送。
如图14所示，本申请的一个实施例还提供了一种服务器的控制方法，包括：
步骤S1402：检测到割草机器人启动；
步骤S1404：至少根据割草机器人所处环境的环境信息确定目标割草高 度；
步骤S1406：通过网络向割草机器人推送目标割草高度。
其中，所述环境信息包括季节信息、气候信息、温度信息、湿度信息中的至少一种。
在该实施例中，割草机器人也可以预先订阅服务器的相应推送服务。当服务器检测到割草机器人启动后，可以得到割草机器人的一些基本信息(如位置信息，位置信息便于服务器通过网络查询当地的环境数据进而得到所需的环境信息)，然后通过网络查询获取割草机器人所处环境的环境信息，再至少根据上述环境信息计算得到目标割草高度，并通过网络自动将目标割草高度推送给割草机器人。
在上述两个实施例中，目标割草高度由服务器获取割草机器人所处环境的环境信息并执行运算，而割草机器人只需联网获取上述目标割草高度，本地只执行调节割草高度的操作，而不执行计算目标割草高度的操作。因此，该方案通过合理利用网络获取的方式来确定目标割草高度，则割草机器人无需配置环境信息检测装置，也无需配置目标割草高度计算程序，因而有利于简化割草机器人的结构和电控程序，从而有利于进一步降低割草机器人的成本。
由于草坪的修剪高度与环境信息紧密相关，因而服务器可以预先设定一些与环境信息相匹配的设定割草高度。当获取到割草机器人所处环境的环境信息时，就可以选择预先设定的与当前环境信息相匹配的设定割草高度作为目标割草高度。
在一种示例性的实施例中，基于所述割草机器人请求的环境信息包括气候信息、温度信息和湿度信息中的一种或多种信息，所述服务器从定位服务器查询到所述割草机器人所处环境的地理位置，根据所述地理位置查询得到所述割草机器人所处环境的所述气候信息、温度信息和湿度信息中的一种或多种信息。
由于气候信息、温度信息、湿度信息与割草机器人所处环境的地理位置密切相关，因此可以先查询得到割草机器人所处环境的地理位置，然后根据 地理位置查询得到割草机器人所处环境的气候信息、温度信息、湿度信息中的一种或多种信息。
如图15所示，本申请的一个实施例还提供了一种割草机器人的控制装置，包括处理器1510、存储器1520以及存储在存储器1520上并可在处理器1510上运行的计算机程序，计算机程序被处理器执行时实现如上述实施例任一项的割草机器人的控制方法的步骤，因而具有上述任一实施例所具有的一切有益效果，在此不再赘述。
本申请的一个实施例还提供了一种割草机器人，包括上述割草机器人的控制装置，因而具有上述任一实施例所具有的一切有益效果，在此不再赘述。
其中，割草机器人还包括升降驱动机构以及与升降驱动机构相连的刀具，刀具包括刀盘和与刀盘相连的刀片。升降驱动机构与控制装置电连接，在控制装置的控制下驱动刀具升降，以调节割草机器人的割草高度。其中，刀具的离地高度，即为割草机器人的割草高度。
示例地，升降驱动机构包括升降电机和传动机构。升降电机可以为旋转电机。传动机构包括主动同步轮、同步带、从动同步轮和升降丝杠。主动同步轮与升降电机的输出轴同步转动。同步带套设在主动同步轮和从动同步轮上，用于在主动同步轮的带动下带动从动同步轮转动。从动同步轮套设在升降丝杠上，并与升降丝杠传动连接，升降丝杠与刀具相连。当从动同步轮转动时，升降丝杠带动刀具升降，实现割草高度的调节。
进一步，割草机器人还包括驱动装置，驱动装置与刀具相连，用于驱动刀具转动，实现割草操作。驱动装置可以为割草电机。升降电机安装在第一支架上，割刀电机安装在第二支架上，第二支架与第一支架沿上下方向滑动配合。第二支架与升降螺母固定连接，升降螺母与升降丝杠螺纹配合。当从动同步轮带动升降丝杠转动时，升降螺母沿着升降丝杠上下运动，进而带动第二支架、割草电机及刀具上下运动，实现割草高度的调节。
其中，传动机构不局限于上述形式，比如也可以采用齿轮齿条传动机构，将旋转电机的转动转化为刀具的升降运动；或者也可以采用齿轮副来取代同步轮与同步带的配合。或者，升降驱动机构不局限于上述升降电机与传动机构的配合形式，比如升降驱动机构也可以采用直线电机。
如图16所示，该割草机器人的工作流程如下：
步骤S1602：联网获取季节、气候、温度、湿度等环境信息；
步骤S1604：确定目标割草高度；
步骤S1606：给升降电机发送信号，使升降电机将刀具的离地高度调节至上述目标割草高度；
步骤S1608：给割草电机发送信号，使割草电机驱动刀具转动，开始割草工作。
本申请的一个实施例还提供了一种计算机可读存储介质，所述计算机可读存储介质上存储有可在处理器上运行的计算机程序，所述计算机程序被所述处理器执行时实现如上述实施例中任一项所述的服务器的控制方法的步骤。
本申请的一个实施例还提供了一种服务器的控制装置，包括处理器、存储器以及存储在所述存储器上并可在所述处理器上运行的计算机程序，所述计算机程序被所述处理器执行时实现如上述实施例中所述的服务器的控制方法的步骤。
本申请的一个实施例还提供了一种服务器，包括如上述实施例所述的服务器的控制装置。
本领域普通技术人员可以理解，上文中所公开方法中的全部或某些步骤、系统、装置中的功能模块/单元可以被实施为软件、固件、硬件及其适当的组合。在硬件实施方式中，在以上描述中提及的功能模块/单元之间的划分不一定对应于物理组件的划分；例如，一个物理组件可以具有多个功能，或者一个功能或步骤可以由若干物理组件合作执行。某些组件或所有组件可以被实施为由处理器，如数字信号处理器或微处理器执行的软件，或者被实施为硬件，或者被实施为集成电路，如专用集成电路。这样的软件可以分布在计算机可读介质上，计算机可读介质可以包括计算机存储介质(或非暂时性介质)和通信介质(或暂时性介质)。如本领域普通技术人员公知的，术语计算机存储介质包括在用于存储信息(诸如计算机可读指令、数据结构、程序模块或其他数据)的任何方法或技术中实施的易失性和非易失性、可移除和不可移除介质。计算机存储介质包括但不限于RAM、ROM、EEPROM、闪存或 其他存储器技术、CD-ROM、数字多功能盘(DVD)或其他光盘存储、磁盒、磁带、磁盘存储或其他磁存储装置、或者可以用于存储期望的信息并且可以被计算机访问的任何其他的介质。此外，本领域普通技术人员公知的是，通信介质通常包含计算机可读指令、数据结构、程序模块或者诸如载波或其他传输机制之类的调制数据信号中的其他数据，并且可包括任何信息递送介质。

Claims (20)

  1. 一种割草刀具的控制方法，包括：
    确定目标割草高度，所述目标割草高度至少根据割草机器人所处环境的环境信息确定；
    根据所述目标割草高度对所述割草刀具的割草高度进行调节。
  2. 根据权利要求1所述的割草刀具的控制方法，其中，
    所述环境信息包括季节信息、气候信息、温度信息、湿度信息中的至少一种。
  3. 根据权利要求1或2所述的割草刀具的控制方法，其中，所述确定目标割草高度，包括：
    联网获取所述环境信息，根据所述环境信息确定所述目标割草高度；或者
    联网获取所述环境信息中的部分信息，根据联网获取的所述环境信息中的部分信息和从本地获取的所述环境信息中的其余信息确定所述目标割草高度。
  4. 根据权利要求3所述的割草刀具的控制方法，其中，所述联网获取所述环境信息或所述环境信息中的部分信息，包括：
    通过网络向服务器发送对所述环境信息或所述环境信息中的部分信息的请求，接收服务器响应于所述请求发送的所述环境信息或所述环境信息中的部分信息；或者
    接收服务器通过网络自动推送的所述环境信息或所述环境信息中的部分信息。
  5. 根据权利要求1或2所述的割草刀具的控制方法，其中，所述确定目标割草高度，包括：
    联网获取服务器确定的所述目标割草高度。
  6. 根据权利要求5所述的割草刀具的控制方法，其中，所述联网获取服务器确定的所述目标割草高度，包括：
    通过网络向服务器发送获取所述目标割草高度的请求，接收服务器响应于所述请求发送的所述目标割草高度；或者
    接收服务器通过网络自动推送的所述目标割草高度。
  7. 根据权利要求1或2所述的割草刀具的控制方法，其中，所述确定目标割草高度，包括：
    在本地获取所述环境信息，所述环境信息保存在本地配置信息中和/或保存在本地记录的历史数据中；
    根据所述环境信息确定所述目标割草高度。
  8. 根据权利要求2所述的割草刀具的控制方法，其中，
    所述季节信息包括以下至少一种：季节的类别、月份、日期；
    所述气候信息包括以下至少一种：气候的类别、气候对于目标割草高度的影响值；
    所述温度信息包括以下至少一种：温度类别、温度对于目标割草高度的影响值；
    所述湿度信息包括以下至少一种：湿度类别、湿度对于目标割草高度的影响值。
  9. 根据权利要求2所述的割草刀具的控制方法，其中，
    所述环境信息包括季节信息；
    所述季节信息的获取方式包括以下至少一种：
    联网获取所述季节信息；
    通过时间记录装置获取所述季节信息；
    接收外部输入的所述季节信息。
  10. 根据权利要求2所述的割草刀具的控制方法，其中，
    所述环境信息包括气候信息；
    所述气候信息的获取方式包括以下至少一种：
    联网获取服务器根据所述割草机器人所处环境的地理位置确定的所述气 候信息；
    接收外部输入的所述气候信息。
  11. 根据权利要求2所述的割草刀具的控制方法，其中，
    所述环境信息包括温度信息；
    所述温度信息的获取方式包括以下至少一种：
    通过温度检测装置检测所述温度信息；
    联网获取所述温度信息；
    接收外部输入的所述温度信息。
  12. 根据权利要求2所述的割草刀具的控制方法，其中，
    所述环境信息包括湿度信息；
    所述湿度信息的获取方式包括以下至少一种：
    根据湿度检测装置检测所述湿度信息；
    联网获取所述湿度信息；
    接收外部输入的所述湿度信息。
  13. 根据权利要求1或2所述的割草刀具的控制方法，其中，
    所述目标割草高度随环境温度的升高而增大；和/或
    所述目标割草高度随环境湿度的升高而增大。
  14. 根据权利要求1或2所述的割草刀具的控制方法，其中，
    所述控制方法还包括：获取待割草的种类；
    所述目标割草高度至少根据所述环境信息以及所述待割草的种类确定。
  15. 根据权利要求1或2所述的割草刀具的控制方法，其中，
    所述控制方法还包括：获取待割草的用途；
    所述目标割草高度至少根据所述环境信息以及所述待割草的用途确定。
  16. 一种割草控制方法，包括：
    割草机器人开机后或者进入割草模式，按照如权利要求1至15中任一项 所述的割草刀具的控制方法对割草刀具的割草高度进行调节；
    所述割草机器人根据调节后的所述割草高度执行割草操作。
  17. 一种割草控制方法，应用于服务器，所述割草控制方法包括：
    所述服务器接收到割草机器人发送的对环境信息或环境信息中的部分信息的请求；所述服务器查询到所述割草机器人所处环境的所述环境信息或环境信息中的部分信息后，向所述割草机器人返回响应，在所述响应中携带查询到的所述环境信息或环境信息中的部分信息；或者
    所述服务器接收到割草机器人发送的对割草高度的请求；所述服务器查询到所述割草机器人所处环境的环境信息后，计算出所述割草机器人的目标割草高度；所述服务器向所述割草机器人返回响应，在所述响应中携带所述目标割草高度；
    其中，所述环境信息包括季节信息、气候信息、温度信息、湿度信息中的至少一种。
  18. 根据权利要求17所述的割草控制方法，其中，
    基于所述割草机器人请求的环境信息包括气候信息、温度信息和湿度信息中的一种或多种信息，所述服务器从定位服务器查询到所述割草机器人所处环境的地理位置，根据所述地理位置查询得到所述割草机器人所处环境的所述气候信息、温度信息和湿度信息中的一种或多种信息。
  19. 一种割草机器人的控制装置，包括处理器、存储器以及存储在所述存储器上并可在所述处理器上运行的计算机程序，所述计算机程序被所述处理器执行时实现如权利要求1至15中任一项所述的割草机器人的控制方法的步骤。
  20. 一种割草机器人，包括如权利要求19所述的割草机器人的控制装置。
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