WO2024178677A1

WO2024178677A1 - Lawn mower control method, lawn mower and related apparatus

Info

Publication number: WO2024178677A1
Application number: PCT/CN2023/079060
Authority: WO
Inventors: 李畅; 丘力
Original assignee: 深圳森合创新科技有限公司
Priority date: 2023-03-01
Filing date: 2023-03-01
Publication date: 2024-09-06

Abstract

Disclosed in the embodiments of the present application are a lawn mower control method, a lawn mower and a related apparatus. The lawn mower control method is applied to the lawn mower. The lawn mower comprises a rolling mechanism, a cutting mechanism, a height adjustment mechanism and a driving mechanism. The method comprises: acquiring target attribute information of a target lawn texture, wherein the target attribute information comprises a target navigation path of the target lawn texture; determining the current position at which a lawn mower currently operates the target lawn texture; determining a target height adjustment parameter of a height adjustment mechanism corresponding to the current position, and adjusting the current cutting height according to the target height adjustment parameter, so as to obtain a target cutting height; determining a target rolling parameter corresponding to the current position; and by means of a driving mechanism, driving the lawn mower to move according to the target navigation path, performing a cutting operation at a target lawn-mowing height by means of a cutting mechanism, and rolling a target lawn with the target rolling parameter by means of the rolling mechanism. By using the embodiments of the present application, the lawn mower can efficiently and accurately complete a lawn texture.

Description

Lawn mower control method, lawn mower and related device

Technical Field

The present application relates to the field of electronic technology or robotics, and in particular to a lawn mower control method, a lawn mower and related devices.

Background Art

At present, lawn texture is a lawn beautification method used to decorate the lawn and show individuality. Through mowing equipment and special auxiliary tools, the lawn is cut and rolled along a designed path to form grass marks on the lawn.

If the existing lawn mowers want to produce such lawn texture, they need professional technology and training, and precise operation of lawn maintenance equipment and precise control of paths to achieve effective texture presentation. This is very difficult for non-professional home users. Therefore, how to achieve efficient and accurate lawn texture presentation by lawn mowers needs to be solved urgently.

Summary of the invention

The embodiments of the present application provide a lawn mower control method, a lawn mower and related devices, which can enable the lawn mower to efficiently and accurately complete lawn texture.

In a first aspect, an embodiment of the present application provides a lawn mower control method, which is applied to a lawn mower, wherein the lawn mower is used to generate a target lawn texture on a target lawn, and the lawn mower includes: a rolling mechanism, a cutting mechanism, a height adjustment mechanism, and a driving mechanism; the method includes:

Acquire target attribute information of the target lawn texture, wherein the target attribute information includes a target navigation path of the target lawn texture;

Determine a current position of the target lawn texture currently being operated by the lawn mower, wherein the current position is a position in the target navigation path;

Determining a target height adjustment parameter of the height adjustment mechanism corresponding to the current position, and adjusting the current cutting height of the cutting mechanism according to the target height adjustment parameter to obtain a target cutting height;

determining a target rolling parameter of the rolling mechanism corresponding to the current position;

The lawn mower is driven by the driving mechanism to move according to the target navigation path, and the cutting mechanism performs cutting operations at the target mowing height to produce a uniform cutting height; and the target lawn is rolled by the rolling mechanism with the target rolling parameters to form a light and dark texture corresponding to the target lawn texture.

In a second aspect, an embodiment of the present application provides a lawn mower control device, which is applied to a lawn mower, wherein the lawn mower is used to generate a target lawn texture on a target lawn, and the lawn mower includes: a rolling mechanism, a cutting mechanism, a height adjustment mechanism, and a driving mechanism; the device includes: an acquisition unit, a determination unit, and a control unit, wherein:

The acquisition unit is used to acquire target attribute information of the target lawn texture, wherein the target attribute information includes a target navigation path of the target lawn texture;

The determination unit is used to determine the current position of the target lawn texture currently operated by the lawn mower, wherein the current position is a position in the target navigation path; determine a target height adjustment parameter of the height adjustment mechanism corresponding to the current position, and adjust the current cutting height of the cutting mechanism according to the target height adjustment parameter to obtain a target cutting height; and determine a target rolling parameter of the rolling mechanism corresponding to the current position;

The control unit is used to drive the lawn mower to move according to the target navigation path through the driving mechanism, perform cutting operations at the target mowing height through the cutting mechanism to produce a uniform cutting height; and roll the target lawn with the target rolling parameters through the rolling mechanism to form a light and dark texture corresponding to the target lawn texture.

In a fourth aspect, an embodiment of the present application provides a lawn mower, comprising a processor, a memory, a communication interface, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor, and the program includes instructions for executing the steps in the first aspect of the embodiment of the present application.

In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program for electronic data exchange, wherein the computer program enables a computer to execute part or all of the steps described in the first aspect of the embodiment of the present application.

In a sixth aspect, an embodiment of the present application provides a computer program product, wherein the computer program product includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute some or all of the steps described in the first aspect of the embodiment of the present application. The computer program product may be a software installation package.

The implementation of the embodiments of the present application has the following beneficial effects:

It can be seen that the lawn mower control method, lawn mower and related devices described in the embodiments of the present application are applied to a lawn mower, which is used to generate a target lawn texture on a target lawn. The lawn mower includes: a rolling mechanism, a cutting mechanism, a height adjustment mechanism and a driving mechanism. Target attribute information of the target lawn texture is obtained, and the target attribute information includes a target navigation path of the target lawn texture. The current position of the target lawn texture currently operated by the lawn mower is determined, and the current position is a position in the target navigation path. The target height adjustment parameter of the height adjustment mechanism corresponding to the current position is determined, and the current cutting height of the cutting mechanism is adjusted according to the target height adjustment parameter. Adjustment is performed to obtain a target cutting height, a target rolling parameter of a rolling mechanism corresponding to the current position is determined, the lawn mower is driven by a driving mechanism to move according to a target navigation path, and a cutting mechanism is used to perform cutting operations at a target mowing height to produce a uniform cutting height; and a target lawn is rolled by a rolling mechanism at a target rolling parameter to form a light and dark texture corresponding to a target lawn texture, thereby adjusting the cutting height and rolling parameters of the lawn mower based on the lawn texture to be generated, and controlling the lawn mower to move according to the navigation path of the lawn texture, thereby enabling the lawn mower to efficiently and accurately complete the required lawn texture.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

FIG1 is a schematic structural diagram of a lawn mower provided in an embodiment of the present application;

FIG2 is a flow chart of a lawn mower control method provided in an embodiment of the present application;

FIG3 is a schematic structural diagram of another lawn mower provided in an embodiment of the present application;

FIG. 4 is a block diagram of the functional units of a lawn mower control device provided in an embodiment of the present application.

DETAILED DESCRIPTION

The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

The terms "first", "second", "third" and "fourth" etc. in the specification and claims of the present invention and the drawings are used to distinguish different objects rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products or devices.

Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present invention. The presentation of the phrase at various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

In specific implementation, lawn texture is a lawn beautification method used to decorate the lawn and show individuality. Through mowing equipment and special auxiliary tools, the lawn is cut and rolled along a designed path to form grass marks on the lawn.

If the lawn mower in the related technology is to produce such lawn texture, it requires professional technology and training, and precise operation of lawn maintenance equipment and precise control of paths to achieve effective texture presentation, which is very difficult for non-professional home users.

At present, lawn mowers in related technologies all produce grass marks by pressing the lawn, and the most common type is the external type. For example, a riding lawn mower has a roller mounted on the back to press out the grass marks; another example is a hand-push lawn mower with an external roller mounted on the back; another example is a hand-push self-propelled lawn mower with a built-in roller and a roller-type driving wheel. In addition, the lawn mowing robots in related technologies all adopt solutions without rollers, so the rollers are integrated into the machine, which results in the roller effect of some hand-push lawn mowers not being obvious, and the wheel marks of the front wheels being obvious. In addition, the lawn mower will produce obvious wheel marks after mowing the lawn, and there is no integrated roller, so the lawn texture cannot be implemented. The hand-push self-propelled lawn mower can implement the lawn texture, but it depends on the delicate and professional operation of the machine by people.

In order to solve the defects in the related technology, in the embodiment of the present application, a fully automatic cutting method for lawn texture during mowing is provided. Specifically, through the combination with an automatic robot, the grass mark path customization and precise operation of the equipment can be easily realized in an automated manner, allowing users to customize the lawn texture through a simple interactive interface. The embodiment of the present application is introduced in detail below.

Please refer to Figure 1, which is a structural schematic diagram of a lawn mower provided in an embodiment of the present application. As shown in the figure, the lawn mower is used to generate a target lawn texture on a target lawn. The lawn mower includes: a rolling mechanism, a cutting mechanism, a height adjustment mechanism and a driving mechanism.

In the embodiment of the present application, the rolling mechanism is used to produce indentations in the same direction by rolling the grass, pressing the grass into different lodging directions, thereby forming light and dark textures. The cutting mechanism is used to cut the grass to produce a uniform cutting height. The height adjustment mechanism is used to adjust different cutting heights. The driving mechanism is used to drive the whole machine to move. In a specific implementation, the four parts can be unified into a complete set of actuators.

In the embodiment of the present application, the process of automatically generating lawn texture can be understood as follows: when passing through different paths, the intelligent system of the lawn mower controls the height adjustment mechanism through the signal link to adjust different heights, and uses the cutting mechanism to cut lawns of different heights to generate lawn textures of different heights. The intelligent system controls the driving mechanism to drive the lawn mower (robot) as a whole to pass through specific paths in different directions, and through the rolling mechanism, lawn textures of different light and dark can be generated.

Based on the lawn mower in the embodiment of the present application, the lawn mower is used to generate a target lawn texture on a target lawn, and can be used to achieve the following functions:

Based on the lawn mower in the embodiment of the present application, the cutting height and rolling parameters of the lawn mower can be adjusted based on the lawn texture that needs to be generated, and the lawn mower can be controlled to move according to the navigation path of the lawn texture, thereby enabling the lawn mower to efficiently and accurately complete the required lawn texture.

Please refer to FIG. 2 , which is a flow chart of a lawn mower control method provided by an embodiment of the present application. As shown in the figure, it is applied to the lawn mower shown in FIG. 1 , and the lawn mower is used to generate a target lawn texture on a target lawn. The lawn mower includes: a rolling mechanism, a cutting mechanism, a height adjustment mechanism, and a driving mechanism. The lawn mower control method may include the following steps:

201. Obtain target attribute information of the target lawn texture, where the target attribute information includes a target navigation path of the target lawn texture.

In the embodiment of the present application, the target lawn texture can be understood as the lawn texture effect to be achieved. The target grassland can be understood as any grassland. In the specific implementation, the target grassland texture is generated based on the target grassland.

In a specific implementation, the target attribute information of the target lawn texture may include at least one of the following: a target navigation path of the target lawn texture, a size specification parameter of the target lawn texture, a texture pattern of the target lawn texture, a grass height parameter in the area where the target lawn texture is located, etc., which are not limited here. Among them, the size specification parameter of the target lawn texture may include a light grain width, a light grain length, a dark grain width, a dark grain length, etc. of the target lawn texture, which are not limited here. The grass height parameter in the area where the target lawn texture is located can be understood as the grass height conditions of each light grain area and each dark grain area that need to form the target lawn texture.

Specifically, the target attribute information of the target lawn texture can be obtained based on the target lawn, and the target attribute information includes the target navigation path of the target lawn texture. Different lawns have different grass attribute information. For example, the height of the grass is different. Based on the mapping relationship between the pre-set grass attribute information and the attribute information of the target lawn texture, the target attribute information of the target lawn texture corresponding to the grass attribute information of the target lawn can be determined based on the mapping relationship. The grass attribute information can include at least one of the following: grass type, grass height, grass density, grass humidity, grass growth rate, etc., which are not limited here.

Optionally, the above step 201, obtaining the target attribute information of the target lawn texture, may include the following steps:

21. Acquire initial attribute information of the target lawn texture, the initial attribute information including: size specification parameters of the target lawn texture, texture pattern of the target lawn texture, and lawn height parameters in the area where the target lawn texture is located;

22. Determine a target navigation starting point of the target lawn texture and a movement direction of the lawn mower;

23. Planning the target navigation path of the target lawn texture according to the target navigation starting point, the movement direction and the initial attribute information;

24. Determine the target attribute information according to the target navigation path and the initial attribute information.

In an embodiment of the present application, the initial attribute information may include: size specification parameters of the target lawn texture, texture pattern of the target lawn texture, grass height parameters in the area where the target lawn texture is located, etc. Based on the initial attribute information, the prototype of the required lawn texture can be obtained.

In the specific implementation, the initial attribute information of the target lawn texture can be obtained, and the target navigation starting point of the target lawn texture and the movement direction of the lawn mower can be determined during the overshoot of the lawn mower operation. Then, the target navigation path of the target lawn texture can be planned according to the target navigation starting point, the movement direction and the initial attribute information, that is, at the starting point and the movement direction of the target lawn texture, the target lawn texture can be located. After the direction is determined, the corresponding target navigation path can be planned based on its texture pattern, and then the target attribute information can be determined based on the target navigation path and the initial attribute information. Furthermore, the corresponding target attribute information can be obtained in combination with the actual operation of the lawn mower, which helps to obtain accurate and efficient target lawn texture.

202. Determine a current position of the target lawn texture currently being operated by the lawn mower, where the current position is a position in the target navigation path.

In the embodiment of the present application, the current position of the target lawn texture of the current operation of the lawn mower can be determined based on the target navigation path, and the current position is a position in the target navigation path.

203. Determine a target height adjustment parameter of the height adjustment mechanism corresponding to the current position, and adjust the current cutting height of the cutting mechanism according to the target height adjustment parameter to obtain a target cutting height.

In an embodiment of the present application, different positions may correspond to different height adjustment parameters, that is, a mapping relationship between a preset position and a height adjustment parameter may be pre-set, and based on the mapping relationship, a target height adjustment parameter of the height adjustment mechanism corresponding to the current position may be determined, and then the current cutting height of the cutting mechanism may be adjusted according to the target height adjustment parameter to obtain the target cutting height.

Optionally, the above step 203, determining the target height adjustment parameter of the height adjustment mechanism corresponding to the current position, may include the following steps:

31. Determine the target cutting height corresponding to the current position according to a mapping relationship between a preset position and a cutting height;

32. Determine a target height difference between the current cutting height and the target cutting height;

33. Determine the target height adjustment parameter corresponding to the target height difference.

In an embodiment of the present application, a mapping relationship between a preset position and a cutting height can be pre-stored. In a specific implementation, a target cutting height corresponding to the current position can be determined based on the mapping relationship, and a target height difference between the current cutting height and the target cutting height can also be determined. The target height difference is the cutting height that needs to be adjusted so that the cutting height can reach the target cutting height. A mapping relationship between a preset height difference and an adjustment parameter can be pre-set, and then the target height adjustment parameter corresponding to the target height difference can be determined based on the mapping relationship, thereby enabling precise adjustment of the cutting height.

204. Determine a target rolling parameter of the rolling mechanism corresponding to the current position.

In the embodiment of the present application, a mapping relationship between a preset position and a rolling parameter can be pre-set, and then the target rolling parameter of the rolling mechanism can be determined based on the mapping relationship.

Optionally, the above step 204, determining the target rolling parameter of the rolling mechanism corresponding to the current position, may include the following steps:

A41. Determine a reference rolling parameter of the rolling mechanism corresponding to the current position according to a mapping relationship between a preset position and a rolling parameter;

A42. Obtain target environment parameters of the current position;

A43, determining target optimization parameters corresponding to the target environmental parameters;

A44. Optimize the reference rolling parameters according to the target optimization parameters to obtain the target rolling parameters.

In the embodiment of the present application, the target environmental parameter may include at least one of the following: ambient temperature, weather, ambient humidity, etc., which are not limited here.

In a specific implementation, a mapping relationship between a preset position and rolling parameters can be pre-stored, and based on the mapping relationship, a reference rolling parameter of the rolling mechanism corresponding to the current position can be determined. The target environmental parameters of the current position can also be obtained through an environmental sensor. The environmental sensor can be set on a target lawn to obtain various environmental parameters of the target lawn, and a communication connection can be established between the environmental sensor and the lawn mower.

Furthermore, the mapping relationship between the preset environmental parameters and the optimization parameters can be stored in advance. The system can determine the target optimization parameters corresponding to the target environmental parameters, optimize the reference rolling parameters according to the target optimization parameters, and obtain the target rolling parameters. Furthermore, not only can different rolling parameters be set based on different positions, but the rolling parameters can also be adjusted based on specific environmental conditions, so that the rolling parameters are more adapted to the actual environment, which helps to improve the rolling effect of the rolling mechanism and the display effect of the target lawn texture.

B41. Determine a reference rolling parameter of the rolling mechanism corresponding to the current position according to a mapping relationship between a preset position and a rolling parameter;

B42, obtaining target grassland attribute information at the current position;

B43, determining a target fine-tuning coefficient corresponding to the target grassland attribute information;

B44. Fine-tune the reference rolling parameters according to the target fine-tuning coefficient to obtain the target rolling parameters.

In the embodiment of the present application, the grassland attribute information may include at least one of the following: the planting density of the grassland, the species type of the grassland, the average height of the grassland, the slope of the grassland, etc., which are not limited here.

In an embodiment of the present application, a mapping relationship between a preset position and a rolling parameter can be pre-stored, and a reference rolling parameter of a rolling mechanism corresponding to the current position can be determined based on the mapping relationship. The target grass attribute information of the current position can also be obtained, and based on the mapping relationship between the pre-stored preset grass attribute information and the fine-tuning coefficient, the target fine-tuning coefficient corresponding to the target grass attribute information can be determined based on the mapping relationship. Finally, the reference rolling parameter can be fine-tuned according to the target fine-tuning coefficient to obtain the target rolling parameter. Furthermore, not only can different rolling parameters be set based on different positions, but the rolling parameters can also be adjusted based on specific grass attributes, so that the rolling parameters are more adapted to the actual grass, which helps to improve the rolling effect of the rolling mechanism and the display effect of the target lawn texture.

205. The lawn mower is driven by the driving mechanism to move according to the target navigation path, and the cutting mechanism is used to perform cutting operations at the target mowing height to produce a uniform cutting height; and the target lawn is rolled by the rolling mechanism with the target rolling parameters to form a light and dark texture corresponding to the target lawn texture.

In an embodiment of the present application, the lawn mower can be driven by a driving mechanism to move according to a target navigation path, and the cutting mechanism can perform cutting operations at a target mowing height to produce a uniform cutting height; and the target lawn can be rolled by a rolling mechanism with a target rolling parameter to form a light and dark texture corresponding to the target lawn texture. That is, the cutting height and rolling parameters of the lawn mower can be adjusted based on the lawn texture to be generated, and the lawn mower can be controlled to move according to the navigation path of the lawn texture, thereby enabling the lawn mower to efficiently and accurately complete the required lawn texture.

In the embodiment of the present invention, the lawn texture generating mechanism and the robot with a driving system are combined, and no additional roller is required to achieve integration, thereby improving the intelligence of the lawn mower. That is, in the specific implementation, an automatic driving mechanism is combined to make the lawn texture production process more automated, and professional skills can be replicated and brought into the homes of ordinary consumers.

It can be seen that the lawn mower control method described in the embodiment of the present application is applied to a lawn mower, which is used to generate a target lawn texture on a target lawn. The lawn mower includes: a rolling mechanism, a cutting mechanism, a height adjustment mechanism and a driving mechanism. The target attribute information of the target lawn texture is obtained, and the target attribute information includes a target navigation path of the target lawn texture. The current position of the target lawn texture currently operated by the lawn mower is determined, and the current position is a position in the target navigation path. The target height adjustment parameter of the height adjustment mechanism corresponding to the current position is determined, and the current cutting height of the cutting mechanism is adjusted according to the target height adjustment parameter. To the target cutting height, determine the target rolling parameters of the rolling mechanism corresponding to the current position, drive the lawn mower to move according to the target navigation path through the driving mechanism, and perform cutting operations at the target mowing height through the cutting mechanism to produce a uniform cutting height; and roll the target lawn with the target rolling parameters through the rolling mechanism to form a light and dark texture corresponding to the target lawn texture, thereby, based on the lawn texture to be generated, the cutting height and rolling parameters of the lawn mower can be adjusted, and the lawn mower can be controlled to move according to the navigation path of the lawn texture, thereby enabling the lawn mower to efficiently and accurately complete the required lawn texture.

Consistent with the above embodiment, please refer to FIG. 3, which is a schematic diagram of the structure of a lawn mower provided in an embodiment of the present application. As shown in the figure, the lawn mower includes a processor, a memory, a communication interface, and one or more programs. The one or more programs are stored in the memory and are configured to be executed by the processor. The lawn mower is used to generate a target lawn texture on a target lawn. The lawn mower includes: a rolling mechanism, a cutting mechanism, a height adjustment mechanism, and a driving mechanism. In the embodiment of the present application, the program includes instructions for executing the following steps:

Optionally, in determining the target height adjustment parameter of the height adjustment mechanism corresponding to the current position, the program includes instructions for executing the following steps:

Determine the target cutting height corresponding to the current position according to a mapping relationship between a preset position and a cutting height;

determining a target height difference between the current cutting height and the target cutting height;

The target height adjustment parameter corresponding to the target height difference is determined.

Optionally, in determining the target rolling parameter of the rolling mechanism corresponding to the current position, the program includes instructions for executing the following steps:

Determining a reference rolling parameter of the rolling mechanism corresponding to the current position according to a mapping relationship between a preset position and a rolling parameter;

Obtain target environment parameters of the current position;

Determining target optimization parameters corresponding to the target environmental parameters;

The reference rolling parameters are optimized according to the target optimization parameters to obtain the target rolling parameters.

Acquire target grassland attribute information at the current position;

Determining a target fine-tuning coefficient corresponding to the target grassland attribute information;

The reference rolling parameter is fine-tuned according to the target fine-tuning coefficient to obtain the target rolling parameter.

Optionally, in the aspect of acquiring the target attribute information of the target lawn texture, the program includes instructions for executing the following steps:

Acquire initial attribute information of the target lawn texture, the initial attribute information including: size specification parameters of the target lawn texture, texture pattern of the target lawn texture, and lawn height parameters in an area where the target lawn texture is located;

Determining a target navigation starting point of the target lawn texture and a moving direction of the lawn mower;

Planning the target navigation path of the target lawn texture according to the target navigation starting point, the movement direction and the initial attribute information;

The target attribute information is determined according to the target navigation path and the initial attribute information.

It can be seen that the lawn mower described in the embodiment of the present application is used to generate a target lawn texture in a target lawn. The lawn mower includes: a rolling mechanism, a cutting mechanism, a height adjustment mechanism and a driving mechanism. The target attribute information of the target lawn texture is obtained, and the target attribute information includes a target navigation path of the target lawn texture. The current position of the target lawn texture currently operated by the lawn mower is determined, and the current position is a position in the target navigation path. The target height adjustment parameter of the height adjustment mechanism corresponding to the current position is determined, and the current cutting height of the cutting mechanism is adjusted according to the target height adjustment parameter to obtain the target cutting height, and the target rolling parameter of the rolling mechanism corresponding to the current position is determined. The lawn mower is driven by the driving mechanism to move according to the target navigation path, and the cutting mechanism is used to perform cutting operations at the target mowing height to produce a uniform cutting height; and the target lawn is rolled by the rolling mechanism with the target rolling parameter to form a light and dark texture corresponding to the target lawn texture. Therefore, the cutting height and rolling parameters of the lawn mower can be adjusted based on the lawn texture to be generated, and the lawn mower is controlled to move according to the navigation path of the lawn texture, thereby enabling the lawn mower to efficiently and accurately complete the required lawn texture.

FIG4 is a functional unit block diagram of a lawn mower control device 400 involved in an embodiment of the present application. The lawn mower control device 400 is applied to a lawn mower, which is used to generate a target lawn texture on a target lawn. The lawn mower includes: a rolling mechanism, a cutting mechanism, a height adjustment mechanism and a driving mechanism; the device 400 includes: an acquisition unit 401, a determination unit 402 and a control unit 403, wherein:

The acquisition unit 401 is used to acquire target attribute information of the target lawn texture, wherein the target attribute information includes a target navigation path of the target lawn texture;

The determination unit 402 is used to determine the current position of the target lawn texture currently operated by the lawn mower, where the current position is a position in the target navigation path; determine the target height adjustment parameter of the height adjustment mechanism corresponding to the current position, and adjust the current cutting height of the cutting mechanism according to the target height adjustment parameter to obtain the target cutting height; and determine the target rolling parameter of the rolling mechanism corresponding to the current position;

The control unit 403 is used to drive the lawn mower to move according to the target navigation path through the driving mechanism, perform cutting operations at the target mowing height through the cutting mechanism to produce a uniform cutting height; and roll the target lawn with the target rolling parameters through the rolling mechanism to form a light and dark texture corresponding to the target lawn texture.

Optionally, in determining the target height adjustment parameter of the height adjustment mechanism corresponding to the current position, the determining unit 402 is specifically configured to:

Optionally, in determining the target rolling parameter of the rolling mechanism corresponding to the current position, the determining unit 402 is specifically configured to:

Obtain target environment parameters of the current position;

Acquire target grassland attribute information at the current position;

Optionally, in the aspect of acquiring the target attribute information of the target lawn texture, the acquiring unit 401 is specifically used for:

It can be seen that the lawn mower control device described in the embodiment of the present application is applied to a lawn mower, which is used to generate a target lawn texture on a target lawn. The lawn mower includes: a rolling mechanism, a cutting mechanism, a height adjustment mechanism and a driving mechanism. The target attribute information of the target lawn texture is obtained, and the target attribute information includes a target navigation path of the target lawn texture. The current position of the target lawn texture currently operated by the lawn mower is determined, and the current position is a position in the target navigation path. The target height adjustment parameter of the height adjustment mechanism corresponding to the current position is determined, and the current cutting height of the cutting mechanism is adjusted according to the target height adjustment parameter. To the target cutting height, determine the target rolling parameters of the rolling mechanism corresponding to the current position, drive the lawn mower to move according to the target navigation path through the driving mechanism, and perform cutting operations at the target mowing height through the cutting mechanism to produce a uniform cutting height; and roll the target lawn with the target rolling parameters through the rolling mechanism to form a light and dark texture corresponding to the target lawn texture, thereby, based on the lawn texture to be generated, the cutting height and rolling parameters of the lawn mower can be adjusted, and the lawn mower can be controlled to move according to the navigation path of the lawn texture, thereby enabling the lawn mower to efficiently and accurately complete the required lawn texture.

It can be understood that the functions of each program module of the lawn mower control device of this embodiment can be specifically implemented according to the method in the above method embodiment. The specific implementation process can refer to the relevant description of the above method embodiment, which will not be repeated here.

An embodiment of the present application also provides a computer storage medium, wherein the computer storage medium stores a computer program for electronic data exchange, wherein the computer program enables a computer to execute part or all of the steps of any method described in the above method embodiments, and the above computer includes a lawn mower.

The present application also provides a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute some or all of the steps of any method described in the method embodiment. The computer program product may be a software installation package, and the computer includes a lawn mower.

It should be noted that, for the above-mentioned method embodiments, for the sake of simplicity, they are all described as a series of action combinations, but those skilled in the art should know that the present application is not limited by the order of the actions described, because according to the present application, some steps can be performed in other orders or simultaneously. The embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required for this application.

In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

In the several embodiments provided in the present application, it should be understood that the disclosed devices can be implemented in other ways. For example, the device embodiments described above are only schematic, such as the division of the above-mentioned units, which is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection of devices or units can be electrical or other forms.

The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a memory, including several instructions for a computer device (which can be a personal computer, server or network device, etc.) to execute all or part of the steps of the above-mentioned methods of each embodiment of the present application. The aforementioned memory includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

A person skilled in the art may understand that all or part of the steps in the various methods of the above embodiments may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable memory, and the memory may include: a flash drive, a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, etc.

The embodiments of the present application are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea. At the same time, for general technical personnel in this field, according to the idea of the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

A lawn mower control method, characterized in that it is applied to a lawn mower, the lawn mower is used to generate a target lawn texture on a target lawn, the lawn mower comprises: a rolling mechanism, a cutting mechanism, a height adjustment mechanism and a driving mechanism; the method comprises:

Acquire target attribute information of the target lawn texture, wherein the target attribute information includes a target navigation path of the target lawn texture;

Determine a current position of the target lawn texture currently being operated by the lawn mower, wherein the current position is a position in the target navigation path;

Determining a target height adjustment parameter of the height adjustment mechanism corresponding to the current position, and adjusting the current cutting height of the cutting mechanism according to the target height adjustment parameter to obtain a target cutting height;

determining a target rolling parameter of the rolling mechanism corresponding to the current position;

The lawn mower is driven by the driving mechanism to move according to the target navigation path, and the cutting mechanism performs cutting operations at the target mowing height to produce a uniform cutting height; and the target lawn is rolled by the rolling mechanism with the target rolling parameters to form a light and dark texture corresponding to the target lawn texture.
The method according to claim 1, characterized in that the determining the target height adjustment parameter of the height adjustment mechanism corresponding to the current position comprises:

Determine the target cutting height corresponding to the current position according to a mapping relationship between a preset position and a cutting height;

determining a target height difference between the current cutting height and the target cutting height;

The target height adjustment parameter corresponding to the target height difference is determined.
The method according to claim 1 or 2, characterized in that the step of determining the target rolling parameter of the rolling mechanism corresponding to the current position comprises:

Determining a reference rolling parameter of the rolling mechanism corresponding to the current position according to a mapping relationship between a preset position and a rolling parameter;

Obtain target environment parameters of the current position;

Determining target optimization parameters corresponding to the target environmental parameters;

The reference rolling parameters are optimized according to the target optimization parameters to obtain the target rolling parameters.
The method according to claim 1 or 2, characterized in that the step of determining the target rolling parameter of the rolling mechanism corresponding to the current position comprises:

Determining a reference rolling parameter of the rolling mechanism corresponding to the current position according to a mapping relationship between a preset position and a rolling parameter;

Acquire target grassland attribute information at the current position;

Determining a target fine-tuning coefficient corresponding to the target grassland attribute information;

The reference rolling parameter is fine-tuned according to the target fine-tuning coefficient to obtain the target rolling parameter.
The method according to claim 1 or 2, characterized in that the target attribute of the target lawn texture is obtained Sexual information, including:

Acquire initial attribute information of the target lawn texture, the initial attribute information including: size specification parameters of the target lawn texture, texture pattern of the target lawn texture, and lawn height parameters in an area where the target lawn texture is located;

Determining a target navigation starting point of the target lawn texture and a moving direction of the lawn mower;

Planning the target navigation path of the target lawn texture according to the target navigation starting point, the movement direction and the initial attribute information;

The target attribute information is determined according to the target navigation path and the initial attribute information.
A lawn mower control device, characterized in that it is applied to a lawn mower, the lawn mower is used to generate a target lawn texture on a target lawn, the lawn mower comprises: a rolling mechanism, a cutting mechanism, a height adjustment mechanism and a driving mechanism; the device comprises: an acquisition unit, a determination unit and a control unit, wherein:

The acquisition unit is used to acquire target attribute information of the target lawn texture, wherein the target attribute information includes a target navigation path of the target lawn texture;

The determination unit is used to determine the current position of the target lawn texture currently operated by the lawn mower, wherein the current position is a position in the target navigation path; determine a target height adjustment parameter of the height adjustment mechanism corresponding to the current position, and adjust the current cutting height of the cutting mechanism according to the target height adjustment parameter to obtain a target cutting height; and determine a target rolling parameter of the rolling mechanism corresponding to the current position;

The control unit is used to drive the lawn mower to move according to the target navigation path through the driving mechanism, perform cutting operations at the target mowing height through the cutting mechanism to produce a uniform cutting height; and roll the target lawn with the target rolling parameters through the rolling mechanism to form a light and dark texture corresponding to the target lawn texture.
The device according to claim 6, characterized in that, in determining the target height adjustment parameter of the height adjustment mechanism corresponding to the current position, the determination unit is specifically used to:

Determine the target cutting height corresponding to the current position according to a mapping relationship between a preset position and a cutting height;

determining a target height difference between the current cutting height and the target cutting height;

The target height adjustment parameter corresponding to the target height difference is determined.
The device according to claim 6 or 7, characterized in that, in determining the target rolling parameter of the rolling mechanism corresponding to the current position, the determining unit is specifically used to:

Determining a reference rolling parameter of the rolling mechanism corresponding to the current position according to a mapping relationship between a preset position and a rolling parameter;

Obtain target environment parameters of the current position;

Determining target optimization parameters corresponding to the target environmental parameters;

The reference rolling parameters are optimized according to the target optimization parameters to obtain the target rolling parameters.
A lawn mower, characterized in that it comprises a processor and a memory, wherein the memory is used to store one or more programs and is configured to be executed by the processor, wherein the program comprises instructions for executing the steps in the method according to any one of claims 1 to 5.
A computer-readable storage medium, characterized in that it stores a computer program for electronic data exchange, wherein the computer program enables a computer to execute the method according to any one of claims 1 to 5.