Path planning method, device, storage medium and computer for side-mounted lawn mower

Abstract

The present invention relates to a path planning method, device, storage medium, and computer for a lawn mower with a side-mounted cutterhead. The method includes the following steps: obtaining an electronic map of a mowing area and dividing the electronic map into multiple mowing sub-areas; if a mowing sub-area includes a portion of a boundary line on the electronic map of the mowing area, planning a bow-shaped path based on the orientation of the boundary line and the orientation of the cutterhead, such that the long side or the short side of the bow-shaped path is aligned with the direction of the boundary line, and when the lawn mower travels on the bow-shaped path adjacent to the boundary line, the cutterhead faces the boundary line; wherein the boundary line is the boundary of the electronic map of the mowing area or the boundary of an internal obstacle; and the lawn mower performs mowing operations according to the bow-shaped path. In the present invention, the lawn mower has a side-mounted cutterhead, and plans the direction of travel of the bow-shaped path based on the orientation of the boundary line and the orientation of the cutterhead, thereby reducing missed mowing of the boundary line and improving the mowing coverage rate of the boundary line.

Description

Technical Field

[0001] The present invention relates to the field of automatic lawn mowers, and more particularly to a path planning method, device, storage medium and computer for a lawn mower with a side-mounted cutterhead. Background Art

[0002] Automatic lawn mowers do not require users to manually push the mower and can complete the mowing task independently, saving manpower and improving mowing efficiency. Automatic lawn mowers include planning lawn mowers, which can autonomously plan a travel path and complete the mowing task according to the travel path, such as moving along a bow-shaped path. Because the blade disc of existing automatic lawn mowers is located in or substantially in the center of the machine body, and for safety reasons, the blade disc size is smaller than the machine body, the blade disc coverage range does not reach the edge of the machine body. As a result, the automatic lawn mower cannot cover the boundary when mowing the grass at the boundary line, resulting in missed cuts. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a path planning method, device, storage medium and computer for a side-mounted cutterhead lawn mower.

[0004] The technical solution adopted by the present invention to solve the technical problem is to construct a path planning method for a side-mounted lawn mower, comprising the following steps:

[0005] Obtaining an electronic map of a mowing area, and dividing the electronic map of the mowing area into a plurality of mowing sub-areas;

[0006] If the mowing sub-area includes a portion of a boundary line of the electronic map of the mowing area, planning a bow-shaped path according to the orientation of the boundary line and the orientation of the cutter disc, so that one long side or one short side of the bow-shaped path is aligned with the direction of the boundary line, and when the mower moves on the bow-shaped path adjacent to the boundary line, one side of the cutter disc faces the boundary line;

[0007] The lawn mower performs mowing operations along the bow-shaped path.

[0008] Furthermore, in the path planning method for a side-disc mower of the present invention, if the mowing sub-area includes two opposite boundary lines, the mowing sub-area is divided into two mowing sub-areas, and after the division, each of the mowing sub-areas includes one boundary line.

[0009] Further, in the path planning method for a side-disc lawn mower of the present invention, if the mowing sub-area includes two opposite boundary lines, the mowing sub-area includes two opposite boundary lines, and a distance between the two boundary lines is greater than a preset distance.

[0010] Further, in the path planning method for a side-disc lawn mower of the present invention, if the mowing sub-area includes two opposite boundary lines, the mowing sub-area includes two opposite boundary lines, and the area of ​​the mowing sub-area is greater than a preset area.

[0011] Furthermore, in the path planning method for a side-mounted lawn mower of the present invention, after the lawn mower performs the mowing operation according to the bow-shaped path, the method further includes the following steps:

[0012] Edge mowing is performed once at a boundary opposite to the boundary line in the mowing sub-area, where the edge mowing means that the mower moves along the boundary with one side of the cutter disc of the mower facing the boundary to perform the mowing operation.

[0013] Furthermore, in the path planning method for a side-mounted cutterhead lawn mower of the present invention, the cutterhead is located on the left side of the lawn mower, and the short side of the bow-shaped path is in the same direction as the boundary line;

[0014] If the boundary line is the upper boundary line, the direction of travel of the bow-shaped path is from left to right;

[0015] If the boundary line is the lower boundary line, the direction of travel of the bow-shaped path is from right to left;

[0016] If the boundary line is the left boundary line, the direction of travel of the bow-shaped path is from bottom to top;

[0017] If the boundary line is the right boundary line, the direction of travel of the bow-shaped path is from top to bottom.

[0018] Furthermore, in the path planning method for a side-mounted lawn mower according to the present invention, the cutter disc is located on the right side of the lawn mower, and the short side of the bow-shaped path is in the same direction as the boundary line;

[0019] If the boundary line is the upper boundary line, the direction of travel of the bow-shaped path is from right to left;

[0020] If the boundary line is the lower boundary line, the direction of travel of the bow-shaped path is from left to right;

[0021] If the boundary line is the left boundary line, the direction of travel of the bow-shaped path is from top to bottom;

[0022] If the boundary line is the right boundary line, the direction of travel of the bow-shaped path is from bottom to top.

[0023] In addition, the present invention also provides a path planning device for a side-mounted lawn mower, comprising:

[0024] a map acquisition unit, configured to acquire an electronic map of a mowing area and divide the electronic map of the mowing area into a plurality of mowing sub-areas;

[0025] a path planning unit configured to, if the mowing sub-area includes a portion of a boundary line of the electronic map of the mowing area, plan a U-shaped path based on the orientation of the boundary line and the orientation of the cutter disc, such that a long side or a short side of the U-shaped path is aligned with the direction of the boundary line, and the cutter disc faces the boundary line when the mower moves on the U-shaped path adjacent to the boundary line;

[0026] An execution unit is used for the lawn mower to perform a mowing operation according to the bow-shaped path.

[0027] In addition, the present invention also provides a computer-readable storage medium storing a computer program, wherein the computer program is suitable for being loaded by a processor to execute the steps of the path planning method for a side-mounted cutter mower as described above.

[0028] In addition, the present invention also provides a computer, comprising a memory and a processor;

[0029] The memory stores a computer program;

[0030] The processor executes the steps of the above-mentioned path planning method for a side-mounted cutter mower by calling the computer program stored in the memory.

[0031] A path planning method, device, storage medium, and computer for a side-mounted lawn mower according to the present invention have the following beneficial effects: the lawn mower has a side-mounted cutter disc and plans the direction of travel of a bow-shaped path according to the orientation of the boundary line and the orientation of the cutter disc, thereby reducing the phenomenon of missed cutting of the boundary line and improving the mowing coverage rate of the boundary line. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The present invention will be further described below with reference to the accompanying drawings and embodiments, in which:

[0033] Figure 1 is a flow chart of a path planning method for a side-mounted lawn mower provided by an embodiment of the present invention;

[0034] Figure 2a 、 Figure 2b and Figure 2c Schematic diagram of a side-mounted cutterhead according to an embodiment of the present invention;

[0035] Figure 3 is a schematic diagram of a boundary line provided by an embodiment of the present invention;

[0036] Figure 4a and Figure 4bSchematic diagram of the positional relationship between the bow-shaped path and the boundary line provided by an embodiment of the present invention;

[0037] Figure 5a and Figure 5b Schematic diagram of the position relationship of the cutter disc on the short side of the lawn mower provided by an embodiment of the present invention;

[0038] Figure 6 This is a schematic diagram of mowing sub-area partitioning provided by an embodiment of the present invention;

[0039] Figure 7 This is a schematic diagram of mowing along the edge provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0040] 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.

[0041] In a preferred embodiment, reference Figure 1 、 Figure 2a 、 Figure 2b and Figure 2c The path planning method for a side-mounted lawn mower of this embodiment is applied to a side-mounted lawn mower. The so-called side-mounted lawn mower refers to a lawn mower whose blade is not located in the center (or near the center) of the lawn mower body, but is biased to one side of the lawn mower body. Figure 2a 、 Figure 2b and Figure 2c , is a top view of the lawn mower 10, wherein the dotted arrows in the figure indicate the center line and the direction of travel of the lawn mower 10, and the lawn mower 10 includes a cutter disc 20. With the lawn mower 10 moving forward as a reference, Figure 2a The middle blade disc 20 is located in the center (or near the center) of the lawn mower 10. Figure 2b The middle blade disc 20 is located on the left side of the lawn mower 10. Figure 2c The middle blade 20 is located on the right side of the lawn mower 10. The side placement of the blade in this embodiment means that Figure 2b and Figure 2c The position of the cutter head is shown. Figure 2b and Figure 2c This is just a schematic diagram of the cutter disc offset. The cutter disc 20 located on the left side of the mower means that the center of the cutter disc is located to the left of the centerline of the mower body. The cutter disc 20 located on the right side of the mower means that the center of the cutter disc is located to the right of the centerline of the mower body. Specifically, the path planning method for a side-mounted cutter disc mower includes the following steps:

[0042] S1. Obtain an electronic map of a mowing area, and divide the electronic map of the mowing area into multiple mowing sub-areas.

[0043] Specifically, the mower can use its onboard sensors to collect data about the area to be mowed, thereby creating an electronic map of the mowing area. Alternatively, the map can be obtained from an external device, which the mower receives via a communication module. After obtaining the map, the mower divides the mowing area into multiple sub-areas, and then plans the mower's route within each sub-area.

[0044] S2. If the mowing sub-area includes part of the boundary line of the electronic map of the mowing area, a bow-shaped path is planned according to the orientation of the boundary line and the orientation of the cutter disc, so that the long side or the short side of the bow-shaped path is consistent with the direction of the boundary line, and when the lawn mower moves on the bow-shaped path adjacent to the boundary line, the cutter disc is oriented toward the boundary line.

[0045] Specifically, this lawn mower is a planned lawn mower, which is different from a free-style lawn mower. A planned lawn mower needs to plan a travel path first, such as a bow-shaped path, and then mows according to the planned travel path. After the electronic map of the mowing area is divided into multiple mowing sub-areas, it is determined whether the mowing sub-area contains part of the boundary line of the electronic map of the mowing area. One side of the boundary line is the mowing area, and the other side is the non-mowing area. Figure 3 The illustrated area is an electronic map of a mowing area, where boundaries a1, a2, a3, and a4 are boundary lines. After the electronic map of the mowing area is divided into multiple mowing sub-areas, if a mowing sub-area contains at least one of boundaries a1, a2, a3, and a4, the mowing sub-area is considered to contain a boundary line.

[0046] Furthermore, the lawn mower of this embodiment moves along a bow-shaped path. After judgment, if the mowing sub-area includes a boundary line, the direction of travel of the bow-shaped path is planned according to the orientation of the boundary line and the orientation of the cutter disc, so that the short side of the bow-shaped path faces the boundary line, and the cutter disc faces the boundary line when the lawn mower moves on the short side of the bow-shaped path facing the boundary line. It should be noted that the orientation of the boundary line refers to the position of the boundary line in the mowing sub-area, including up, down, left and right. The orientation of the cutter disc refers to the position of the cutter disc on the body of the lawn mower, including the left and right sides of the body. The long side of the bow-shaped path refers to the side with a longer travel distance, and the short side of the bow-shaped path refers to the side when turning. Now combined with Figure 4a and Figure 4b To explain, Figure 4a The short side of the bow-shaped path faces the boundary line a1. Figure 4b The short side of the bow-shaped path faces the boundary line a1. Figure 4a The bow-shaped path shown is arranged so that the short side of the bow-shaped path faces the boundary line.

[0047] Furthermore, when planning the path, the lawn mower is moved on the short side of the bow-shaped path toward the boundary line, with the cutter disc facing the boundary line. Figure 5a , the short side of the bow-shaped path in the figure is close to the boundary line a1, and when the lawn mower moves on the short side, the blade 20 is facing the boundary line a1. Figure 5b In the figure, the short side of the bow-shaped path is close to the boundary line a1. When the lawn mower moves on the short side, the blade 20 is away from the boundary line a1, that is, the blade 20 is not facing the boundary line a1. Figure 5a The way of proceeding shown.

[0048] S3. The lawn mower performs mowing operations along a bow-shaped path.

[0049] In this embodiment, the lawn mower has a side-mounted cutter disc and plans the direction of travel of the bow-shaped path according to the orientation of the boundary line and the orientation of the cutter disc, thereby reducing missed mowing of the boundary line and improving the mowing coverage rate of the boundary line.

[0050] In some embodiments of the path planning method for a side-mounted cutterhead mower, after step S1 and before step S2, the method further includes the following steps: if the mowing sub-area includes two opposite boundary lines, the mowing sub-area is divided into two mowing sub-areas, so that each mowing sub-area includes one boundary line after the division. Figure 6 The mowing sub-area in the figure includes boundary line a1 and boundary line a3, and boundary line a1 and boundary line a3 are opposite. The mowing sub-area is divided into two mowing sub-areas p1 and p2 by the dotted dividing line in the figure, where mowing sub-area p1 includes boundary line a1 and mowing sub-area p2 includes boundary line a2.

[0051] Alternatively, if the mowing sub-area contains two opposing boundary lines, the distance between the two boundary lines is obtained, and a determination is made as to whether the distance between the two boundary lines is greater than a preset distance. If the distance between the two boundary lines is greater than the preset distance, the mowing sub-area is divided into two mowing sub-areas, each containing one boundary line. If the distance between the two boundary lines is not greater than the preset distance, no partitioning is performed.

[0052] Alternatively, if the mowing sub-area contains two opposing boundary lines, the area of ​​the mowing sub-area is obtained and a determination is made as to whether the area of ​​the mowing sub-area is greater than a preset area. If the area of ​​the mowing sub-area is greater than the preset area, the mowing sub-area is divided into two mowing sub-areas, each containing one boundary line. If the area of ​​the mowing sub-area is not greater than the preset area, no partitioning is performed.

[0053] Alternatively, if the mowing sub-area includes two opposing boundary lines, the distance between the two boundary lines and the area of ​​the mowing sub-area are obtained, and a determination is made as to whether the distance between the two boundary lines is greater than a preset distance, and also whether the area of ​​the mowing sub-area is greater than a preset area. If the distance between the two boundary lines is greater than the preset distance, and the area of ​​the mowing sub-area is greater than the preset area, the mowing sub-area is divided into two mowing sub-areas, each containing one boundary line. If the distance between the two boundary lines is not greater than the preset distance, and / or the area of ​​the mowing sub-area is not greater than the preset area, no partitioning is performed.

[0054] This embodiment repartitions the mowing sub-area containing two opposite boundary lines to ensure that there are no two opposite boundary lines in each mowing sub-area, so that when planning a bow-shaped path for each mowing sub-area, each boundary line can achieve the best mowing effect.

[0055] In some embodiments, the path planning method for a side-mounted lawn mower includes the following steps: after the lawn mower performs a mowing operation along a bow-shaped path, mowing along the edge of the mowing sub-area opposite to the boundary line is performed. The so-called edge mowing means that the lawn mower moves along the boundary with the side of the lawn mower's blade facing the boundary. Figure 7 In the figure, a1 is the boundary line. Due to the sideways placement of the cutterhead, the lawn mower mows along a bow-shaped path, resulting in uneven grass cutting on the edge opposite to the boundary line a1. In this case, the lawn mower moves along the edge opposite to the boundary line a1, with the cutterhead 20 facing the edge opposite to the boundary line a1, to achieve better coverage on the edge opposite to the boundary line a1. In this embodiment, a single edge mowing operation is performed along the boundary opposite to the boundary line, achieving better coverage on the edge opposite to the boundary line a1.

[0056] In some embodiments of the path planning method for a side-mounted cutterhead lawn mower, the cutterhead is located on the left side of the lawn mower, and the short side of the bow-shaped path is aligned with the direction of the boundary line;

[0057] If the boundary line is the upper boundary line, the direction of travel of the bow-shaped path is from left to right;

[0058] If the boundary line is the lower boundary line, the direction of travel of the bow-shaped path is from right to left;

[0059] If the boundary line is the left boundary line, the direction of the bow-shaped path is from bottom to top;

[0060] If the boundary line is the right boundary line, the direction of travel of the bow-shaped path is from top to bottom.

[0061] In some embodiments of the path planning method for a side-mounted cutterhead lawn mower, the cutterhead is located on the right side of the lawn mower, and the short side of the bow-shaped path is aligned with the direction of the boundary line;

[0062] If the boundary line is the upper boundary line, the direction of travel of the bow-shaped path is from right to left;

[0063] If the boundary line is the lower boundary line, the direction of travel of the bow-shaped path is from left to right;

[0064] If the boundary line is the left boundary line, the direction of the bow-shaped path is from top to bottom;

[0065] If the boundary line is the right boundary line, the direction of travel of the bow-shaped path is from bottom to top.

[0066] In a preferred embodiment, the path planning device for a side-mounted lawn mower of this embodiment is applied to a lawn mower, which moves along a bow-shaped path. Specifically, the path planning device for a side-mounted lawn mower of this embodiment includes:

[0067] The map acquisition unit is used to acquire an electronic map of the mowing area and divide the electronic map of the mowing area into multiple mowing sub-areas.

[0068] Specifically, the mower can use its onboard sensors to collect data about the area to be mowed, thereby creating an electronic map of the mowing area. Alternatively, the map can be obtained from an external device, which the mower receives via a communication module. After obtaining the map, the mower divides the mowing area into multiple sub-areas, and then plans the mower's route within each sub-area.

[0069] The path planning unit is used to plan a bow-shaped path according to the orientation of the boundary line and the orientation of the cutter disc if the mowing sub-area includes part of the boundary line of the electronic map of the mowing area, so that the long side or the short side of the bow-shaped path is consistent with the direction of the boundary line, and the cutter disc side is facing the boundary line when the mower moves on the bow-shaped path adjacent to the boundary line.

[0070] Specifically, this lawn mower is a planned lawn mower, which is different from a free-style lawn mower. A planned lawn mower needs to plan a travel path first, such as a bow-shaped path, and then mows according to the planned travel path. After the electronic map of the mowing area is divided into multiple mowing sub-areas, it is determined whether the mowing sub-area contains part of the boundary line of the electronic map of the mowing area. One side of the boundary line is the mowing area, and the other side is the non-mowing area. Figure 3 The illustrated area is an electronic map of a mowing area, where boundaries a1, a2, a3, and a4 are boundary lines. After the electronic map of the mowing area is divided into multiple mowing sub-areas, if a mowing sub-area contains at least one of boundaries a1, a2, a3, and a4, the mowing sub-area is considered to contain a boundary line.

[0071] Furthermore, the lawn mower of this embodiment moves along a bow-shaped path. After judgment, if the mowing sub-area includes a boundary line, the direction of travel of the bow-shaped path is planned according to the orientation of the boundary line and the orientation of the cutter disc, so that the short side of the bow-shaped path faces the boundary line, and the cutter disc faces the boundary line when the lawn mower moves on the short side of the bow-shaped path facing the boundary line. It should be noted that the orientation of the boundary line refers to the position of the boundary line in the mowing sub-area, including up, down, left and right. The orientation of the cutter disc refers to the position of the cutter disc on the body of the lawn mower, including the left and right sides of the body. The long side of the bow-shaped path refers to the side with a longer travel distance, and the short side of the bow-shaped path refers to the side when turning. Now combined with Figure 4a and Figure 4b To explain, Figure 4a The short side of the bow-shaped path faces the boundary line a1. Figure 4b The short side of the bow-shaped path faces the boundary line a1. Figure 4a The bow-shaped path shown is arranged so that the short side of the bow-shaped path faces the boundary line.

[0072] Furthermore, when planning the path, the lawn mower is moved on the short side of the bow-shaped path toward the boundary line, with the cutter disc facing the boundary line. Figure 5a , the short side of the bow-shaped path in the figure is close to the boundary line a1, and when the lawn mower moves on the short side, the blade 20 is facing the boundary line a1. Figure 5b In the figure, the short side of the bow-shaped path is close to the boundary line a1. When the lawn mower moves on the short side, the blade 20 is away from the boundary line a1, that is, the blade 20 is not facing the boundary line a1. Figure 5a The way of proceeding shown.

[0073] The execution unit is used for the lawn mower to perform mowing operations along a bow-shaped path.

[0074] In this embodiment, the lawn mower has a side-mounted cutter disc and plans the direction of travel of the bow-shaped path according to the orientation of the boundary line and the orientation of the cutter disc, thereby reducing missed mowing of the boundary line and improving the mowing coverage rate of the boundary line.

[0075] In a preferred embodiment, the computer-readable storage medium of this embodiment stores a computer program, and the computer program is suitable for being loaded by a processor to execute the steps of the path planning method for a side-mounted cutter mower of the above embodiment.

[0076] In a preferred embodiment, the computer includes a memory and a processor; the memory stores a computer program; the processor invokes the computer program stored in the memory to execute the steps of the path planning method for a side-mounted lawn mower. In this embodiment, the lawn mower has a side-mounted cutterhead and plans the direction of a bow-shaped path based on the orientation of the boundary line and the cutterhead, thereby reducing missed mowing of the boundary line and improving the mowing coverage rate of the boundary line.

[0077] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Reference can be made to the common and similar parts between the various embodiments. For the devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the method description.

[0078] 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 above description has generally described the components and steps of each example according to their functions. 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 beyond the scope of the present invention.

[0079] The steps of the methods or algorithms 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), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0080] The above embodiments are intended only to illustrate the technical concepts and features of the present invention. Their purpose is to enable those skilled in the art to understand the present invention and implement it accordingly. They are not intended to limit the scope of protection of the present invention. All equivalent variations and modifications within the scope of the claims of the present invention are intended to be covered by the claims of the present invention.

Claims

1. A path planning method for a side-mounted lawn mower, characterized in that: The steps include: Obtaining an electronic map of a mowing area, and dividing the electronic map of the mowing area into a plurality of mowing sub-areas; If the mowing sub-area includes a portion of a boundary line of the electronic map of the mowing area, planning a bow-shaped path according to the orientation of the boundary line and the orientation of the cutter disc, so that one long side or one short side of the bow-shaped path is aligned with the direction of the boundary line, and when the mower moves on the bow-shaped path adjacent to the boundary line, one side of the cutter disc faces the boundary line; The lawn mower performs mowing operations along the bow-shaped path; the cutter disc is arranged on one side of the lawn mower body; If the mowing sub-area includes two opposite boundary lines, the mowing sub-area is divided into two mowing sub-areas, and each of the mowing sub-areas includes one boundary line after the division; The cutter disc is located on the left side of the lawn mower, and the short side of the bow-shaped path is consistent with the direction of the boundary line; If the boundary line is the upper boundary line, the direction of travel of the bow-shaped path is from left to right; If the boundary line is the lower boundary line, the direction of travel of the bow-shaped path is from right to left; If the boundary line is the left boundary line, the direction of travel of the bow-shaped path is from bottom to top; If the boundary line is the right boundary line, the direction of travel of the bow-shaped path is from top to bottom; The cutter disc is located on the right side of the lawn mower, and the short side of the bow-shaped path is consistent with the direction of the boundary line; If the boundary line is the upper boundary line, the direction of travel of the bow-shaped path is from right to left; If the boundary line is the lower boundary line, the direction of travel of the bow-shaped path is from left to right; If the boundary line is the left boundary line, the direction of travel of the bow-shaped path is from top to bottom; If the boundary line is the right boundary line, the direction of travel of the bow-shaped path is from bottom to top.

2. The path planning method for a side-mounted cutterhead lawn mower according to claim 1, wherein: If the mowing sub-area includes two opposite boundary lines, the mowing sub-area includes two opposite boundary lines, and a distance between the two boundary lines is greater than a preset distance.

3. The path planning method for a side-mounted cutterhead lawn mower according to claim 1, wherein: If the mowing sub-area includes two opposite boundary lines, the mowing sub-area includes two opposite boundary lines, and the area of ​​the mowing sub-area is larger than a preset area.

4. The path planning method for a side-mounted cutter mower according to claim 1, wherein: After the lawn mower performs the mowing operation along the bow-shaped path, the method further includes the following steps: Edge mowing is performed once at a boundary opposite to the boundary line in the mowing sub-area, where the edge mowing means that the mower moves along the boundary with one side of the cutter disc of the mower facing the boundary to perform the mowing operation.

5. A path planning device for a side-mounted lawn mower, characterized in that: include: a map acquisition unit, configured to acquire an electronic map of a mowing area and divide the electronic map of the mowing area into a plurality of mowing sub-areas; a path planning unit configured to, if the mowing sub-area includes a portion of a boundary line of the electronic map of the mowing area, plan a U-shaped path based on the orientation of the boundary line and the orientation of the cutter disc, such that a long side or a short side of the U-shaped path is aligned with the direction of the boundary line, and the cutter disc faces the boundary line when the mower moves on the U-shaped path adjacent to the boundary line; An execution unit is used for the lawn mower to perform a mowing operation according to the bow-shaped path; the cutter disc is arranged on a side of the lawn mower body; If the mowing sub-area includes two opposite boundary lines, the mowing sub-area is divided into two mowing sub-areas, and each of the mowing sub-areas includes one boundary line after the division; The cutter disc is located on the left side of the lawn mower, and the short side of the bow-shaped path is consistent with the direction of the boundary line; If the boundary line is the upper boundary line, the direction of travel of the bow-shaped path is from left to right; If the boundary line is the lower boundary line, the direction of travel of the bow-shaped path is from right to left; If the boundary line is the left boundary line, the direction of travel of the bow-shaped path is from bottom to top; If the boundary line is the right boundary line, the direction of travel of the bow-shaped path is from top to bottom; The cutter disc is located on the right side of the lawn mower, and the short side of the bow-shaped path is consistent with the direction of the boundary line; If the boundary line is the upper boundary line, the direction of travel of the bow-shaped path is from right to left; If the boundary line is the lower boundary line, the direction of travel of the bow-shaped path is from left to right; If the boundary line is the left boundary line, the direction of travel of the bow-shaped path is from top to bottom; If the boundary line is the right boundary line, the direction of travel of the bow-shaped path is from bottom to top.

6. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and the computer program is suitable for being loaded by a processor to execute the steps of the path planning method for a side-mounted cutter mower according to any one of claims 1 to 4.

7. A computer, characterized in that: including memory and processor; The memory stores a computer program; The processor executes the steps of the path planning method for a side-mounted cutter mower according to any one of claims 1 to 4 by calling the computer program stored in the memory.

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