Random lawn mower partitioning method and random lawn mower

Abstract

The present invention relates to a random lawn mower partitioning method and a random lawn mower. The method comprises: S1, when there is no electronic map in the lawn mower or the electronic map needs to be modified, the lawn mower moves in the mowing area under the guidance of the map building instruction, and creates an electronic map of the mowing area according to the moving path; S2, automatically divides the electronic map of the mowing area into a plurality of mowing sub-areas; S3, the lawn mower starts random mowing from the selected mowing sub-area in each mowing cycle. The present invention establishes an electronic map of the mowing area on site, and automatically divides the electronic map of the mowing area into a plurality of mowing sub-areas according to the map distribution characteristics, and then mows each mowing sub-area respectively, which greatly improves the mowing coverage rate and makes the mowing degree evenly distributed.

Description

Technical Field

[0001] The present invention relates to the field of lawn mowers, and more particularly to a random lawn mower partitioning method and a random lawn mower. Background Art

[0002] Random mowers (also called smart mowers, mowing robots, etc.) do not have a fixed mowing path. They move forward randomly in the mowing area and adjust their course when they encounter boundaries and obstacles. If the mowing area is relatively regular, the mowing coverage is relatively uniform and the mowing effect is better. However, most mowing areas have narrow roads and irregular corners. The probability of a mower passing through narrow roads and irregular corners is low, resulting in uneven mowing coverage. Some areas have a higher coverage rate, while others have a lower coverage rate, resulting in poor mowing effect. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a random lawn mower zoning method and a random lawn mower in view of the above-mentioned defects of the prior art.

[0004] The technical solution adopted by the present invention to solve the technical problem is: constructing a random lawn mower partitioning method, comprising:

[0005] S1. When there is no electronic map in the lawn mower or the electronic map needs to be modified, the lawn mower moves in the mowing area under the guidance of the map building instruction, and creates an electronic map of the mowing area according to the moving path;

[0006] S2, automatically dividing the mowing area electronic map into a plurality of mowing sub-areas;

[0007] S3. The lawn mower starts mowing randomly from the selected mowing sub-area in each mowing cycle.

[0008] Furthermore, in the random lawn mower partitioning method of the present invention, step S1 comprises:

[0009] S11, the lawn mower moves in the mowing area under the guidance of the mapping instruction, obtains heading information and mileage information during the movement, and draws an electronic map of the mowing area based on the heading information and mileage information.

[0010] Further, in the random lawn mower partitioning method of the present invention, step S2 comprises:

[0011] S21. Automatically divide the electronic map of the mowing area into a plurality of mowing sub-areas according to the distribution of narrow road gaps in the electronic map of the mowing area, wherein the narrow road gap refers to a gap formed by two boundary points on the boundary of the electronic map of the mowing area whose distance is less than a preset distance, and a line between the two boundary points and an area enclosed by the boundary between the two boundary points form one of the mowing sub-areas.

[0012] Further, in the random lawn mower partitioning method of the present invention, step S2 comprises:

[0013] S22, automatically dividing the mowing area electronic map into a plurality of areas according to the distribution of narrow road gaps in the mowing area electronic map, wherein the narrow road gap refers to a gap formed by two boundary points on the boundary of the mowing area electronic map whose distance is less than a preset distance;

[0014] S23: If the boundary length between the two boundary points is greater than a preset length, the line between the two boundary points and the area enclosed by the boundary between the two boundary points form a mowing sub-area.

[0015] Further, in the random lawn mower partitioning method of the present invention, step S3 comprises:

[0016] S31. At the beginning of each mowing cycle, the mower moves along the boundary of the mowing area electronic map to the selected mowing sub-area, and starts randomly mowing from the mowing sub-area.

[0017] Further, in the random lawn mower partitioning method of the present invention, step S31 comprises:

[0018] At the beginning of each mowing cycle, the mower moves along the boundary of the mowing area electronic map to the midpoint of the boundary corresponding to the mowing sub-area according to the heading information and mileage information corresponding to the mowing sub-area, and starts random mowing from the midpoint of the boundary corresponding to the mowing sub-area.

[0019] Furthermore, in the random lawn mower partitioning method of the present invention, at the beginning of each mowing cycle, the mowing sub-area selection process is as follows:

[0020] The lawn mower selects the mowing sub-area according to a preset probability, wherein the preset probability is proportional to the area of ​​the mowing sub-area, or the preset probability is proportional to the length of a boundary corresponding to the mowing sub-area.

[0021] Further, in the random lawn mower partitioning method of the present invention, at the beginning of each mowing cycle in step S3, the mowing sub-area selection process is:

[0022] The mower selects the mowing sub-areas in sequence according to a set mowing polling order, wherein the number of times each mowing sub-area appears in the mowing polling order is proportional to the area of ​​the mowing sub-area, or the number of times each mowing sub-area appears in the mowing polling order is proportional to the boundary length corresponding to the mowing sub-area.

[0023] Furthermore, in the random lawn mower zoning method described in the present invention, a mowing cycle refers to the lawn mower starting from a preset position of a base station, randomly mowing for a period of time and then returning to the preset position of the base station, wherein the base station is used to provide the required magnetic field signal for the lawn mower and charge the lawn mower.

[0024] In addition, the present invention further provides a random lawn mower, which uses the random lawn mower zoning method as described above.

[0025] A random lawn mower zoning method and a random lawn mower implementing the present invention have the following beneficial effects: the present invention establishes an electronic map of the mowing area on site, and automatically divides the electronic map of the mowing area into a plurality of mowing sub-areas according to the map distribution characteristics, and then mows each mowing sub-area separately, thereby greatly improving the mowing coverage rate and making the mowing degree evenly distributed. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The present invention will be further described below with reference to the accompanying drawings and embodiments, in which:

[0027] Figure 1 is a flow chart of a random lawn mower partitioning method provided by an embodiment of the present invention;

[0028] Figure 2 It is a schematic diagram of the process of establishing an electronic map of a mowing area provided by an embodiment of the present invention;

[0029] Figure 3 The figure is a schematic diagram of the electronic map partitioning of a mowing area provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0030] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, specific embodiments of the present invention are now described in detail with reference to the accompanying drawings.

[0031] Example

[0032] refer to Figure 1 The lawn mower of this embodiment is a random lawn mower. During the mowing process, the random lawn mower does not rely on a preset path to mow, but moves in a straight line and adjusts its course when encountering a boundary or obstacle. The specific structure and working process of the random lawn mower can refer to the prior art. In view of the problems of low mowing coverage and uneven coverage in the prior art, this embodiment provides a random lawn mower partitioning method, which includes the following steps:

[0033] S1. When there is no electronic map in the lawn mower or the electronic map needs to be modified, the lawn mower moves in the mowing area under the guidance of the map building instruction, and creates an electronic map of the mowing area according to the moving path.

[0034] Specifically, when a lawn mower needs to mow a new lawn, the lawn mower does not store a map of the new lawn, so it is necessary to first create an electronic map of the mowing area; or, when mowing a lawn that has been mowed again, the mowing area has changed, so it is necessary to re-create the electronic map of the mowing area. Figure 2 , the process of creating an electronic map of the mowing area by a lawn mower is described:

[0035] S11. Place the lawn mower on the lawn mower station of the base station 10. The lawn mower moves in the mowing area under the guidance of the mapping command. The route of the lawn mower is the boundary of the mowing. Alternatively, the mapping command can be issued by a staff member controlling a remote control. After the lawn mower starts to move, the heading information and mileage information of the lawn mower are obtained through sensors during the movement, such as obtaining the heading information through a gyroscope, obtaining the mileage information through an odometer, etc., or other sensors can be selected to obtain the heading information and mileage information. Reference Figure 2 After the lawn mower starts from the base station 10, it travels a distance a vertically downward in a straight line, that is, the heading information is vertically downward, and the mileage information is a; then it turns left 90° and travels a distance b in a straight line, that is, the heading information is 90° offset to the left relative to the previous heading information, and the mileage information is b. According to this drawing process, the lawn mower is controlled to move according to the mowing needs until it returns to the base station 10, forming a closed mowing area, that is, forming an electronic map of the mowing area. The lawn mower can draw the electronic map of the mowing area through the above-mentioned heading information and mileage information, and store the drawn electronic map of the mowing area in the memory of the lawn mower; at the same time, the heading information and mileage information of the electronic map of the mowing area are also stored in the memory for use in subsequent steps.

[0036] S2. Automatically divide the mowing area electronic map into a plurality of mowing sub-areas.

[0037] Specifically, in the prior art, each mowing cycle of the mower starts mowing from the base station. In order to improve the mowing coverage rate of the mower and make each area in the mowing area electronic map be mowed as evenly as possible, this embodiment automatically divides the mowing area electronic map into multiple mowing sub-areas according to the distribution characteristics of the mowing area electronic map. Figure 3 This embodiment provides two methods for automatically dividing a grass area electronic map, which are described below respectively.

[0038] The first method for automatically dividing the electronic map of the mowing area: S21, automatically dividing the electronic map of the mowing area into multiple mowing sub-areas according to the distribution of narrow gaps in the electronic map of the mowing area, wherein the narrow gap refers to the gap formed by two boundary points on the boundary of the electronic map of the mowing area whose distance is less than the preset distance, and the line between the two boundary points and the boundary enclosed area between the two boundary points form a mowing sub-area. The preset distance can be flexibly determined according to the actual size of the mowing area and the size of the mower body, for example, the preset distance is 0.5 meters, the preset distance is 1 meter, etc. Reference Figure 3 In the figure, points A, B, C, and D are points on the boundary of the electronic map of the mowing area. After calculation, it can be known that the distance between point A and point B is less than the preset distance, and the distance between point C and point D is less than the preset distance. According to the regulations, point A and point B form a narrow gap, and point C and point D form a narrow gap. Further, the line between point A and point B and the area enclosed by the boundary between point A and point B form mowing sub-area 2; the line between point C and point D and the area enclosed by the boundary between point C and point D form mowing sub-area 3; the area in the electronic map of the mowing area excluding mowing sub-area 2 and mowing sub-area 3 is mowing sub-area 1.

[0039] The second method for automatically dividing the mowing area electronic map: S22, automatically dividing the mowing area electronic map into multiple areas according to the distribution of narrow gaps in the mowing area electronic map, wherein the narrow gap refers to a gap formed by two boundary points on the boundary of the mowing area electronic map whose distance is less than a preset distance; wherein the preset distance can be flexibly determined according to the actual size of the mowing area and the size of the mower body, for example, the preset distance is 0.5 meters, the preset distance is 1 meter, etc. Reference Figure 3 In the figure, points A, B, C, and D are points on the boundary of the electronic map of the mowing area. After calculation, it can be known that the distance between point A and point B is less than the preset distance, and the distance between point C and point D is less than the preset distance. Then point A and point B form a narrow gap, and point C and point D form a narrow gap.

[0040] S23. On the basis of forming the narrow gap, further determine whether the boundary length between the two boundary points is greater than a preset length, wherein the preset length can be determined according to the actual mowing area size and the size of the lawn mower body, for example, the preset length is 5 meters, the preset length is 10 meters, etc. If the boundary length between the two boundary points is greater than the preset length, the line between the two boundary points and the boundary enclosed area between the two boundary points form a mowing sub-area. Figure 3, after calculation, it can be known that the boundary length between point A and point B is greater than the preset length, and the boundary length between point C and point D is greater than the preset length. On this basis, it can be determined that the line between point A and point B and the area enclosed by the boundary between point A and point B form mowing sub-area 2; the line between point C and point D and the area enclosed by the boundary between point C and point D form mowing sub-area 3; the area in the mowing area electronic map excluding mowing sub-area 2 and mowing sub-area 3 is mowing sub-area 1.

[0041] Since the shapes of electronic maps of mowing areas are diverse and cannot be exhausted, the above two partitioning methods are only used to illustrate the principle of automatically dividing and segmenting electronic maps of grass areas, and are not used to limit the present invention. Those skilled in the art who automatically divide and segment electronic maps of grass areas according to the inventive concept of this embodiment belong to the protection scope of this embodiment.

[0042] S3. The lawn mower starts mowing randomly from the selected mowing sub-area in each mowing cycle.

[0043] Specifically, for Figure 3 As shown in the electronic map of the mowing area, in the prior art, the mower performs random mowing. Since the narrow gap formed by point A and point B and the narrow gap formed by point C and point D are small, it is difficult for the mower to enter naturally when performing random mowing, which will result in excessive mowing in mowing sub-area 1 and insufficient mowing in mowing sub-area 2 and mowing sub-area 3.

[0044] After the electronic map of the mowing area is divided into mowing sub-area 1, mowing sub-area 2, and mowing sub-area 3 in this embodiment, the mower starts randomly mowing from the selected mowing sub-area in each mowing cycle, and one mowing cycle means that the mower starts from the preset station of the base station, travels to a mowing sub-area, and returns to the preset station of the base station after a period of random mowing. For example, at the beginning of the first cycle, the mower starts mowing from mowing sub-area 1; at the beginning of the second cycle, the mower sets out from the base station 10 and moves to mowing sub-area 2, and starts mowing from mowing sub-area 2; at the beginning of the third cycle, the mower sets out from the base station 10 and moves to mowing sub-area 3, and starts mowing from mowing sub-area 3. Alternatively, the base station can also be used to provide the required magnetic field signal for the mower and charge the mower.

[0045] In this embodiment, the lawn mower obtains the electronic map of the mowing area and performs intelligent and reasonable zoning, so that the lawn mower starts mowing from different mowing sub-areas in each mowing cycle, which can effectively ensure that the lawn mower mows each mowing area evenly and improves the mowing coverage rate.

[0046] Example

[0047] On the basis of the previous embodiment, in the random lawn mower partitioning method of this embodiment, the way in which the lawn mower reaches the lawn mowing sub-area is further limited, and step S3 includes:

[0048] S31. At the beginning of each mowing cycle, the lawn mower moves along the boundary of the electronic map of the mowing area to the selected mowing sub-area, that is, the lawn mower moves along the boundary of the electronic map of the mowing area to the mowing sub-area according to the heading information and mileage information corresponding to the mowing sub-area, and starts randomly mowing from the mowing sub-area. The lawn mower can recognize the boundary through the positioning inductor of the lawn mower itself. The lawn mower includes two positioning inductors set in opposite directions. The two positioning inductors sense the magnetic field emitted by the base station 10 to generate an induced voltage, and the current position is determined according to the direction of the induced voltage, that is, whether it is on the boundary, inside the boundary, or outside the boundary. As an option, at the beginning of each mowing cycle, the lawn mower starts from the preset station of the base station 10, and returns to the preset station of the base station 10 after mowing for a period of time.

[0049] Furthermore, in order to achieve a better mowing effect, it is also necessary to set a working starting point of the mower in each mowing sub-area. Step S31 in this embodiment includes: at the beginning of each mowing cycle, the mower moves along the boundary of the electronic map of the mowing area to the midpoint of the boundary corresponding to the mowing sub-area according to the heading information and mileage information corresponding to the mowing sub-area, and starts random mowing from the midpoint of the boundary corresponding to the mowing sub-area. The midpoint of the boundary corresponding to the mowing sub-area is calculated by the mower according to the stored mileage information. As an option, since each mowing cycle starts from the base station 10, the mileage from the midpoint of the boundary of each mowing sub-area to the base station 10 is calculated, and the mileage from the midpoint of the boundary of each mowing sub-area to the base station 10 is calculated along the boundary of the electronic map of the mowing area. Reference Figure 3 , point E is the midpoint of mowing sub-area 2, and point F is the midpoint of mowing sub-area 3. It can be understood that for a random mower, starting from the midpoint of each mowing sub-area, the mowing of the mowing sub-area can be made more uniform, and the mowing coverage rate is also high.

[0050] This embodiment provides a way for the lawn mower to travel to each mowing sub-area. The lawn mower travels to a certain mowing sub-area along the boundary of the lawn mower electronic map, so that the mowing of the mowing sub-area is more uniform.

[0051] Example

[0052] On the basis of the above embodiment, the random lawn mower partitioning method of this embodiment further defines the selection method of the mowing sub-area. At the beginning of each mowing cycle, the mowing sub-area is selected according to the selection method. After the selection, the lawn mower can move along the boundary to the designated mowing sub-area. This embodiment provides two selection methods of the mowing sub-area, which are described below respectively.

[0053] The first mowing sub-area selection method: the mower selects the mowing sub-area according to a preset probability, wherein the preset probability is proportional to the area of ​​the mowing sub-area. The area of ​​each mowing sub-area can be obtained according to the electronic map of the mowing area. The specific calculation process can refer to the algorithm for calculating the area according to the map in the prior art. Figure 3 , the area of ​​mowing sub-area 1 accounts for 70% of the entire mowing area, the area of ​​mowing sub-area 2 accounts for 10% of the entire mowing area, and the area of ​​mowing sub-area 3 accounts for 20% of the entire mowing area. At the beginning of each mowing cycle, the probability of the mower choosing to go to mowing sub-area 1 is 70%, the probability of the mower choosing to go to mowing sub-area 2 is 10%, and the probability of the mower choosing to go to mowing sub-area 3 is 20%. That is, the larger the area, the greater the probability of being selected, making the mowing more uniform.

[0054] The second mowing sub-area selection method: the mower selects the mowing sub-area according to a preset probability, where the preset probability is proportional to the boundary length corresponding to the mowing sub-area, and the boundary length corresponding to each mowing sub-area can be obtained according to the stored mileage information. Figure 3 , the boundary length of mowing sub-area 1 accounts for 70% of the boundary length of the entire mowing area, the boundary length of mowing sub-area 2 accounts for 10% of the boundary length of the entire mowing area, and the boundary length of mowing sub-area 3 accounts for 20% of the boundary length of the entire mowing area. At the beginning of each mowing cycle, the probability that the mower chooses to go to mowing sub-area 1 is 70%, the probability that the mower chooses to go to mowing sub-area 2 is 10%, and the probability that the mower chooses to go to mowing sub-area 3 is 20%. That is, the larger the boundary length corresponding to the mowing sub-area, the greater the probability of being selected, making the mowing more uniform.

[0055] This embodiment reasonably allocates the mowing sub-areas reached by the mower each time according to the size of each mowing sub-area, so that the mowing is more uniform.

[0056] Example

[0057] On the basis of the above embodiment, in the random lawn mower partitioning method of this embodiment, at the beginning of each mowing cycle in step S3, the mowing sub-area selection process is as follows:

[0058] The mower selects the mowing sub-areas in turn according to the established mowing polling order. The mowing polling order is a sequence that records the mowing order of each mowing sub-area. Figure 3 , the mowing area electronic map is divided into mowing sub-area 1, mowing sub-area 2, and mowing sub-area 3, and the mowing polling order can be set to 1211131131, where 1 represents mowing sub-area 1, 2 represents mowing sub-area 2, and 3 represents mowing sub-area 3. Further, this embodiment provides two methods for formulating mowing polling orders, which are described below respectively.

[0059] The first mowing polling sequence is formulated in such a way that the number of times each mowing sub-area appears in the mowing polling sequence is proportional to the area of ​​the mowing sub-area. Figure 3 , the area of ​​mowing sub-area 1 accounts for 70% of the entire mowing area, the area of ​​mowing sub-area 2 accounts for 10% of the entire mowing area, and the area of ​​mowing sub-area 3 accounts for 20% of the entire mowing area. In the mowing polling order 1211131131, 1 appears 7 times, 2 appears 1 time, and 3 appears 2 times. That is, the larger the area of ​​the mowing sub-area, the more times it appears in the mowing polling order.

[0060] The second mowing polling sequence is formulated as follows: the number of times each mowing sub-area appears in the mowing polling sequence is proportional to the length of the boundary corresponding to the mowing sub-area. Figure 3 , the boundary length of mowing sub-area 1 accounts for 70% of the boundary length of the entire mowing area, the boundary length of mowing sub-area 2 accounts for 10% of the boundary length of the entire mowing area, and the boundary length of mowing sub-area 3 accounts for 20% of the boundary length of the entire mowing area. Then, in the mowing polling sequence 1211131131, 1 appears 7 times, 2 appears 1 time, and 3 appears 2 times. That is, the larger the boundary length corresponding to the mowing sub-area, the more times it appears in the mowing polling sequence. It can be understood that in this embodiment, the mowing polling sequence 1211131131 only includes 10 cycles, and more cycles can be set according to mowing needs.

[0061] In this embodiment, the mowing order of the mowing sub-areas is preset, and the mower no longer needs to make a selection every time, and can just mow in sequence according to the set mowing polling order.

[0062] Example

[0063] This embodiment also provides a random lawn mower, which uses the random lawn mower zoning method as described above.

[0064] As an option, the lawn mower of this embodiment adopts a base station positioning method. The lawn mower includes two positioning inductors set in opposite directions. The two positioning inductors sense the magnetic field emitted by the base station 10 to generate an induced voltage, and the current position is determined according to the direction of the induced voltage, that is, whether it is on the boundary, inside the boundary, or outside the boundary.

[0065] As an option, the base station 10 of this embodiment not only emits a magnetic field, but also can charge the lawn mower. When the power of the lawn mower is low, it automatically moves to the charging station of the base station 10 for charging.

[0066] This embodiment creates an electronic map of the mowing area on site, and automatically divides the electronic map of the mowing area into multiple mowing sub-areas according to the map distribution characteristics, and then mows each mowing sub-area separately, which greatly improves the mowing coverage rate and makes the mowing degree distribution uniform.

[0067] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0068] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0069] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0070] The above embodiments are only for illustrating the technical concept and features of the present invention, and their purpose is to enable people familiar with the technology to understand the content of the present invention and implement it accordingly, and they cannot limit the scope of protection of the present invention. All equivalent changes and modifications made to the scope of the claims of the present invention should fall within the scope of the claims of the present invention.

Claims

1. A random lawn mower partitioning method, characterized in that: include: S1. When there is no electronic map in the lawn mower or the electronic map needs to be modified, the lawn mower moves in the mowing area under the guidance of the map building instruction, and creates an electronic map of the mowing area according to the moving path; S2, automatically dividing the mowing area electronic map into a plurality of mowing sub-areas according to distribution characteristics; Wherein, the step S2 comprises: S21, automatically dividing the mowing area electronic map into a plurality of mowing sub-areas according to the distribution of narrow road gaps in the mowing area electronic map, wherein the narrow road gap refers to a gap formed by two boundary points on the boundary of the mowing area electronic map whose distance is less than a preset distance, and a line between the two boundary points and an area enclosed by the boundary between the two boundary points form one mowing sub-area; or, S22, automatically dividing the mowing area electronic map into a plurality of areas according to the distribution of narrow road gaps in the mowing area electronic map, wherein the narrow road gap refers to a gap formed by two boundary points on the boundary of the mowing area electronic map whose distance is less than a preset distance; S23, if the boundary length between the two boundary points is greater than a preset length, the line between the two boundary points and the area enclosed by the boundary between the two boundary points form a mowing sub-area; S3, the lawn mower starts mowing randomly from the selected mowing sub-area in each mowing cycle; At the beginning of each mowing cycle, the selection process of the mowing sub-area is as follows: The lawn mower selects the mowing sub-area according to a preset probability, wherein the preset probability is proportional to the area of ​​the mowing sub-area, or the preset probability is proportional to the length of the boundary corresponding to the mowing sub-area; or, The mower selects the mowing sub-areas in sequence according to a set mowing polling order, wherein the number of times each mowing sub-area appears in the mowing polling order is proportional to the area of ​​the mowing sub-area, or the number of times each mowing sub-area appears in the mowing polling order is proportional to the length of the boundary corresponding to the mowing sub-area; The lawn mower determines the current position of the lawn mower according to the direction of the induced voltage.

2. The random lawn mower partitioning method according to claim 1, characterized in that: The step S1 comprises: S11, the lawn mower moves in the mowing area under the guidance of the mapping instruction, obtains heading information and mileage information during the movement, and draws an electronic map of the mowing area based on the heading information and mileage information.

3. The random lawn mower partitioning method according to claim 1, characterized in that: The step S3 comprises: S31. At the beginning of each mowing cycle, the mower moves along the boundary of the mowing area electronic map to the selected mowing sub-area, and starts randomly mowing from the mowing sub-area.

4. The random lawn mower partitioning method according to claim 3, characterized in that: The step S31 comprises: At the beginning of each mowing cycle, the mower moves along the boundary of the mowing area electronic map to the midpoint of the boundary corresponding to the mowing sub-area according to the heading information and mileage information corresponding to the mowing sub-area, and starts random mowing from the midpoint of the boundary corresponding to the mowing sub-area.

5. The random lawn mower zoning method according to claim 1, characterized in that: One mowing cycle means that the mower starts from a preset position of a base station, mows randomly for a period of time, and then returns to the preset position of the base station, wherein the base station is used to provide the required magnetic field signal for the mower and charge the mower.

6. A random lawn mower, characterized in that: The random lawn mower uses the random lawn mower zoning method as described in any one of claims 1-5.

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