A robot and a control method thereof and a storage medium

Abstract

The application discloses a robot, a control method thereof and a storage medium, wherein the robot can walk independently and is provided with a plurality of obstacle sensors; the control method comprises the following steps: in the process of edge searching of the robot, when it is detected that the distance between the robot and the boundary is less than a preset threshold, the obstacle sensors are turned off. The application turns off the obstacle sensors when the robot is a certain distance away from the boundary, so that the robot can avoid being unable to complete the edge searching operation due to obstacle avoidance, and the work efficiency is greatly improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robots, in particular to a robot, a control method thereof and a computer readable storage medium. BACKGROUND

[0002] As shown in the figure, the robot is generally equipped with an obstacle sensor 5 which can sense an obstacle or a living body in front of the direction of travel, so as to avoid the robot colliding with the obstacle or the living body. For a robot which needs to walk along a boundary, it may encounter the following situation in the process of searching for the boundary: there are obstacles such as walls and high grass outside the boundary, and when the robot walks towards the boundary, the obstacle sensor 5 senses the obstacle outside the boundary before sensing the boundary, causing the robot to perform an obstacle avoidance action, so that the boundary cannot be correctly found. Figure 1 SUMMARY

[0003] The purpose of the present application is to provide a robot, a control method thereof and a computer readable storage medium to solve the above problems. To this end, the technical solution adopted by the present application is as follows:

[0004] According to an aspect of the present application, a control method of a robot is provided, the robot being independently walkable and being provided with a plurality of obstacle sensors, wherein the control method comprises: in the process of searching for a boundary of the robot, when it is detected that the distance between the robot and the boundary is less than a preset threshold, the obstacle sensors are turned off.

[0005] In a preferred embodiment, turning off the obstacle sensors means that the obstacle sensors are in an inactive state; or means that the obstacle sensors are always in an active state, but the processor of the robot does not process the signals generated by the obstacle sensors.

[0006] In a preferred embodiment, the process of searching for the boundary is achieved by detecting a boundary line through a boundary sensor.

[0007] In a preferred embodiment, the boundary line is a closed energized conductor, and the boundary sensor senses the boundary by sensing a boundary signal of the closed energized conductor.

[0008] In a preferred embodiment, the control method further comprises: when at least one of the boundary sensors moves from inside the boundary line to outside the boundary line, the robot determines that it has arrived near the boundary line.

[0009] In a preferred embodiment, the process of searching for the boundary is achieved by detecting boundary coordinates of the boundary through a positioning device.

[0010] In a preferred embodiment, the boundary coordinates are obtained by walking around the boundary once. ​

[0011] In a preferred embodiment, the positioning device comprises a GNSS sensor.

[0012] In a preferred embodiment, the control method further comprises: when the robot needs to walk along the edge, stopping the working state first, and then walking from the current position in the current direction to find the edge.

[0013] In a preferred embodiment, the control method further comprises: after the robot reaches the edge, turning to adjust the posture, so that the robot walks along the edge.

[0014] In a preferred embodiment, the obstacle sensor comprises a first ultrasonic probe and a second ultrasonic probe, and the first ultrasonic probe and the second ultrasonic probe are symmetrically arranged on the left and right sides of the robot, respectively.

[0015] According to another aspect of the present application, a computer readable storage medium is also provided, which stores a computer program executable by a processor, and the processor implements the method as described above when executing the computer program.

[0016] According to still another aspect of the present application, a robot is also provided, which comprises a processor and a memory, and the memory stores a computer program, and the processor implements the method as described above when executing the computer program.

[0017] In a preferred embodiment, the robot is a mowing robot.

[0018] The present application greatly improves the working efficiency by turning off the obstacle sensor when the robot is a certain distance away from the edge, so that the robot can complete the edge finding operation without avoiding obstacles. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 is a perspective view of a prior art robot;

[0020] Figure 2 is a schematic diagram of an edge finding process of a robot according to a first embodiment of the present application;

[0021] Figure 3 is Figure 2 is a flowchart of a control method of a robot shown in the figure;

[0022] Figure 4 is a schematic diagram of an edge finding process of a robot according to a second embodiment of the present application;

[0023] Figure 5 is Figure 4 is a flowchart of a control method of a robot shown in the figure. DETAILED DESCRIPTION

[0024] The preferred embodiments of the present application will be described in detail below with reference to the drawings. It should be understood that the embodiments shown in the drawings are merely intended to illustrate the essential spirit of the technical solutions of the present application, and are not intended to limit the scope of the present application.

[0025] In the following description, for the purposes of explaining the various disclosed embodiments, some specific details are set forth in order to provide a thorough understanding of the various disclosed embodiments. However, one skilled in the relevant art will recognize that the embodiments can be practiced without one or more of the specific details, or with other methods, components, materials, and so forth. In other instances, well-known structures, devices, and techniques associated with the present disclosure are not shown or described in order to avoid unnecessary obscuring of the description.

[0026] Reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Thus, the appearances of the phrase "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics can be combined in any suitable manner in one or more embodiments.

[0027] In the following description, for the purposes of explaining the structure and working mode of the present application, directional words will be used for description, but the words "front", "back", "left", "right", "outer", "inner", "outward", "inward", "up", "down" and the like should be understood as convenient words, and should not be understood as limiting words.

[0028] Figure 1 、 2 Fig. 1, Fig. 2, Fig. 3 and Fig. 4 show a robot, especially a robot that can autonomously move in a preset area and perform a specific task, typically an intelligent mower that performs a mowing task. Among them, the specific task especially refers to a task of processing and changing the state of the walking surface. The present application is described in detail taking the intelligent mower as an example. The robot can autonomously walk on the surface of the working area, especially as an intelligent mower that can autonomously perform a mowing task on the ground. The robot at least includes a main body mechanism 1, a moving mechanism, a working mechanism, an energy module, a detection mechanism, an interaction module, a control module, etc.

[0029] The main body 1 generally comprises a chassis and a housing. The chassis is used to mount and accommodate the moving mechanism, the working mechanism, the energy module, the detecting mechanism, the interaction module, the control module and other functional mechanisms and functional modules. The housing is generally configured to at least partially cover the chassis, mainly to enhance the appearance and recognition. In the embodiment, the housing is configured to be displaceable and / or rotatable relative to the chassis under the action of external force, and cooperates with appropriate detecting mechanism, such as a Hall sensor, to further function as a collision sensing, lifting and other events.

[0030] The moving mechanism is configured to support the main body on the ground and drive the main body to move on the ground, and generally includes a wheeled moving mechanism, a tracked or semi-tracked moving mechanism, a walking moving mechanism and the like. In the embodiment, the moving mechanism is a wheeled moving mechanism, which includes at least one drive wheel 2 and at least one walking prime mover. The walking prime mover is preferably an electric motor, and in other embodiments can be an internal combustion engine or a mechanical device powered by other types of energy. In the embodiment, a left drive wheel, a left walking prime mover driving the left drive wheel, a right drive wheel and a right walking prime mover driving the right drive wheel are preferably provided. In the embodiment, the linear travel of the robot is achieved by the same speed rotation of the left and right drive wheels, and the turning travel is achieved by the same direction differential or opposite rotation of the left and right drive wheels. In other embodiments, the moving mechanism can also include a steering mechanism independent of the drive wheel and a steering prime mover independent of the walking prime mover. In the embodiment, the moving mechanism further includes at least one driven wheel 3, which is typically configured as a universal wheel. The driven wheel 3 and the drive wheel 2 are respectively located at the front and rear ends of the robot.

[0031] The working mechanism is configured to perform specific work tasks, including a work piece and a work prime mover driving the work piece to operate. For example, for an intelligent mower, the work piece includes a cutting blade or a cutting disc, and further includes a height adjustment mechanism for adjusting the mowing height and other components for optimizing or adjusting the mowing effect. The work prime mover is preferably an electric motor, and in other embodiments can be an internal combustion engine or a mechanical device powered by other types of energy. In some other embodiments, the work prime mover and the walking prime mover are configured as the same prime mover.

[0032] The energy module is configured to provide energy for the various works of the robot. In the embodiment, the energy module includes a battery and a charging connection structure 4, wherein the battery is preferably a rechargeable battery. In the embodiment, the charging connection structure 4 is configured as a wireless charging receiving device.

[0033] The detection mechanism is configured as at least one sensor for sensing environmental parameters of the robot or its own working parameters. Typically, the detection mechanism can include sensors related to working area definition, such as magnetic induction, collision, ultrasonic, infrared, radio, etc., and the sensor type is adapted to the position and number of corresponding signal generating devices. The detection mechanism can also include sensors related to positioning and navigation, such as GPS positioning device, laser positioning device, electronic compass, acceleration sensor, odometer, angle sensor, geomagnetic sensor, etc. The detection mechanism can also include sensors related to its own working safety, such as obstacle sensor 5, lifting sensor, battery pack temperature sensor, etc. The obstacle sensor 5 is installed in front of the robot head to detect obstacles in front of the travel direction. The obstacle sensor 5 is preferably a non-contact obstacle sensor, such as ultrasonic radar, millimeter wave radar, laser radar, infrared sensor, etc. The obstacle sensor 5 can also be a contact obstacle sensor, such as a floating shell. The detection mechanism can also include sensors related to the external environment, such as ambient temperature sensor, ambient humidity sensor, light sensor, rain sensor, etc.

[0034] The interaction module is configured to at least receive user input control instruction information, issue information that needs to be perceived by the user, communicate with other systems or devices to transmit and receive information, etc. In the embodiment, the interaction module includes input devices arranged on the robot for receiving user input control instruction information, typically such as control panel, emergency stop button, etc.; the interaction module also includes display screen, indicator light and / or buzzer arranged on the robot, which make the user perceive information through light or sound. In other embodiments, the interaction module includes communication modules arranged on the robot and terminal devices independent of the robot, such as mobile phones, computers, network servers, etc., and the user's control instruction information or other information can be input on the terminal device and reach the robot via wired or wireless communication module.

[0035] The control module generally includes at least one processor and at least one non-volatile memory, and the memory stores a computer program or instruction set written in advance, and the processor controls the execution of the robot's movement, working, etc. according to the computer program or instruction set. Further, the control module can also control and adjust the corresponding behavior of the robot according to the signal of the detection mechanism and / or user control instruction, modify the parameters in the memory, etc.

[0036] The borders define the working area of the robotic system, and typically comprise an outer border and an inner border. The robot is confined to move and work within the outer border, outside the inner border, or between the outer and inner borders. The borders can be physical, typically like walls, fences, railings, etc., or can be configured as closed electrically conductive wires in electrical connection with border signal generating devices, typically provided within the docking station; the borders can also be virtual, typically like virtual borders provided in an electronic map, typically formed by two- or three-dimensional coordinates, for robots provided with positioning devices, like GPS, etc.

[0037] The docking station is typically configured on or within the borders for the robot to dock, and in particular to be able to supply energy to the robot docked in the docking station. The docking station comprises a power supply connection structure configured to be mateable with the charging connection structure 4 to form an electrical connection therebetween, wherein the mating refers to a stable electrical connection, either contact or non-contact. In the present specific embodiment, the power supply connection structure is configured as a wireless charging transmitting device mateable with a wireless charging receiving device provided on the robot to achieve a non-contact electrical connection; in other embodiments, the charging connection structure 4 is configured as a charging electrode pad exposed outside the robot, and the power supply connection structure is configured as a power supply electrode pad mateable with the charging electrode pad to achieve a contact electrical connection.

[0038] In the embodiment, the robot includes a parking state and a non-parking state in a complete working cycle. The non-parking state includes a working state and a transfer state, and the transfer state includes a departure state and a return state. In some embodiments, the working state further includes a normal working state and an edge trimming state. Specifically, the parking state is defined as that the robot is parked at the parking station, the charging connection structure 4 arranged on the robot is matched with the power supply connection structure arranged on the parking station, and the walking mechanism and the working mechanism are both in a static state. The position of the robot in the parking state on the parking station is referred to as a parking position. It should be understood by those skilled in the art that the parking station can charge the robot when the robot is in the parking state, but it does not mean that the parking station must charge the robot when the robot is in the parking state. The working state is defined as that the robot walks in the working area and performs the mowing work, and the walking mechanism and the working mechanism are both in a motion state. The robot walking along the boundary and performing the mowing work is defined as the edge trimming state, and the robot walking in the boundary and performing the mowing work is defined as the normal working state. In some embodiments, the working state does not include the edge trimming state. The transfer state is defined as the transition state of the robot from the parking state to the working state or from the working state to the parking state, and the walking mechanism is in a motion state and the working mechanism is usually in a static state. The transition state of the robot from the parking state to the working state is defined as the departure state, and the transition state of the robot from the working state to the parking state is defined as the return state.

[0039] When the robot enters the return state or the edge trimming state, it is necessary to find the boundary first, which is referred to as the edge finding process. The first and second embodiments below respectively describe the control method of the robot in the edge finding process in two states.

[0040] First embodiment

[0041] As Figure 2As shown, the robot comprises a main body mechanism 1 and an obstacle sensor 5 and a boundary line sensor 6 mounted on the main body mechanism 1, wherein the main body mechanism 1 and the obstacle sensor 5 have been described in detail above and will not be described again. In the embodiment, the obstacle sensor 5 comprises two ultrasonic probes (i.e. a first ultrasonic probe and a second ultrasonic probe) symmetrically arranged on the left and right sides of the main body mechanism 1 respectively. The detection range D2 of the obstacle sensor 5 depends on its own design. In the embodiment, the boundary line 100 is a solid line, for example, a closed live wire. The distance between the boundary line 100 and the obstacle (for example, a wall, a fence, a rail, etc.) is preset according to the size of the robot. The distance D1 between the boundary line 100 and the obstacle is usually required to be not less than 20 cm, and is preferably set to 25 cm to 35 cm. The boundary line sensor 6 senses the boundary by sensing the boundary signal of the closed live wire. In the embodiment, the boundary line sensor 6 is configured as an inductor. In the embodiment, the strength of the boundary signal detected by the boundary line sensor 6 is used to determine the distance between the robot and the boundary line 100.

[0042] In this case, as Figure 3 shown, the control method of the robot comprises:

[0043] S1, when the robot needs to return to the parking station (needs to be charged, the working time is over, etc.), it needs to stop the working state first, and then walks from a certain position (for example, the current position) in the working area to a certain direction (for example, the current direction) to find the boundary.

[0044] S2, during the process of finding the boundary line 100, when the distance D between the robot and the boundary line 100 is less than a preset threshold D0, i.e. when the strength of the boundary signal is greater than a strength threshold, the obstacle sensor 5 is turned off to prevent the robot from being unable to find the boundary due to the existence of obstacles (for example, walls, fences, trees, etc.) outside the boundary. The size of D0 is related to D1 and D2, i.e. D0+D1>D2, to ensure that the obstacle sensor 5 is turned off before detecting the obstacle; and D0 should not be too large to avoid being unable to normally avoid obstacles during the boundary finding process.

[0045] S3, it is determined whether the robot reaches the boundary line 100. Specifically, when at least one boundary line sensor 6 moves from inside the boundary line 100 to outside the boundary line 100, the robot determines that it reaches the vicinity of the boundary line 100.

[0046] S4, when the robot reaches the boundary line 100, turn to adjust the posture so that the robot walks along the boundary line 100 towards the docking station until it returns to the docking station. Preferably, the relative position of the center axis of the robot to the boundary line 100 can be adjusted during walking by using the boundary line sensor 6 to ensure that it always walks across the line. In this embodiment, the robot walks across the line means that the center axis of the robot is kept substantially parallel to and substantially above the boundary line during walking by adjusting the posture. In other embodiments, in order to reduce the wear of the lawn near the boundary line by the robot, the robot walks across the line can also mean that the center axis of the robot is kept substantially parallel to and spaced from the boundary line during walking by adjusting the posture.

[0047] After successfully crossing the line (i.e. walking along the boundary line 100), the obstacle sensor 5 can be optionally turned on or remain off. Note that the "turn on" or "turn off" of the obstacle sensor can mean that the obstacle sensor 5 is in an active state or an inactive state, or that the obstacle sensor 5 is always in an active state, but the processor of the robot processes or does not process the signal generated by the obstacle sensor 5.

[0048] Generally, the robot is provided with a return voltage and a protection voltage, wherein the return voltage > protection voltage. When the battery pack voltage drops to the return voltage, the return action is started; and when the battery pack voltage drops below the protection voltage, the robot is shut down. When initially set, the battery pack reserve voltage calculated according to the robot model and the area of the field can be used to ensure that the protection voltage of the battery pack is not triggered even in the case of returning along the boundary line of the maximum length, so as to avoid causing the robot to automatically shut down due to insufficient power during the return process and stop in the middle of the field.

[0049] The embodiment of the present application avoids the robot being unable to complete the edge finding operation due to obstacle avoidance by turning off the obstacle sensor when the robot is a certain distance away from the boundary line, thereby greatly improving the work efficiency, avoiding repeatedly rolling on the lawn during the return process, reducing the invalid work of the drive motor of the robot, improving the service life of the drive motor, and enabling the robot to return to the docking station in time, so that the battery pack is always above the protection voltage, thereby improving the service life and efficiency of the battery pack.

[0050] Second embodiment

[0051] As Figure 4As shown, the difference between the present embodiment and the first embodiment is that the boundary 200 of the present embodiment is a virtual boundary determined by the positioning device 7 installed on the main body mechanism 1 of the robot, i.e., a virtual boundary set in an electronic map formed by two-dimensional coordinates. Specifically, the robot acquires position coordinates according to the positioning device 7, obtains boundary coordinates by walking around the boundary once, and determines the boundary 200 by the boundary coordinates. It should be understood that the boundary coordinates can also be obtained through an electronic map such as Baidu Map, Gaode Map, Google Map, etc.

[0052] The positioning device 7 is typically a GNNS (Global Navigation Satellite System) sensor based on GPS, Beidou satellite positioning system, etc. The positioning device 7 can be a commercially available positioning module, which can be separately installed and communicatively connected with the control module of the robot, or integrated in the control module of the robot.

[0053] In this case, as shown, Figure 5 The control method of the robot includes:

[0054] S10, when the robot needs to enter the trimming state, first stop the working state, and walk from a certain position (for example, the current position) in the working area to a certain direction (for example, the current direction) to find the boundary.

[0055] S20, during the boundary finding process, when the distance D between the robot and the boundary 200 is less than a preset threshold D0, i.e., when the distance between the current position coordinates of the robot detected by the positioning device 7 and the boundary curve is less than the preset threshold, the obstacle sensor 5 is turned off.

[0056] S30, the robot continues to walk to the boundary 200 under the navigation of the positioning device 7, i.e., when D = 0, it means that the robot has walked to the boundary 200.

[0057] S40, when the robot reaches the boundary 200, turn to adjust the posture so that the robot walks along the boundary 200 to perform trimming work.

[0058] Similarly, when walking along the boundary 200, the obstacle sensor 5 can be optionally turned on or remain turned off.

[0059] In the present embodiment, when the robot is to return, the nearest route can be directly planned according to the current position and the coordinates of the stop station, without the need to return to the stop station along the boundary 200, greatly improving the efficiency; and without the need to arrange a physical boundary line (for example, the boundary line 100 in the first embodiment), installation cost is saved.

[0060] The embodiment closes the obstacle sensor when the robot is away from the boundary by a certain distance, thereby avoiding that the robot cannot complete the edge seeking operation due to obstacle avoidance, greatly improving the work efficiency, and avoiding repeatedly rolling on the lawn in the returning process, reducing the invalid work of the driving motor of the robot, improving the service life of the driving motor, and enabling the robot to return to the parking station in time, so that the battery pack is always above the protection voltage, and the use efficiency of the battery pack is improved.

[0061] Third embodiment

[0062] The third embodiment of the present application provides a robot, in particular a lawn mowing robot for automatically trimming a lawn. The robot comprises a processor and a memory, the memory storing a computer program, wherein the processor implements the control method of the robot as described above when executing the computer program. Preferably, the control module of the robot is configured to include a memory storing the computer program and a processor executable the computer program.

[0063] Exemplarily, the computer program can be divided into one or more modules / units, which are stored in the memory and executed by the processor to complete the method of the present application. The one or more modules / units can be a series of computer program instruction segments capable of completing a specific function, which are used to describe the execution process of the computer program in the robot.

[0064] The robot can include but is not limited to a processor and a memory, for example, it can also include an input / output device, a network access device, a bus, etc.

[0065] The processor can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. The processor is the control center of the robot, which connects various parts of the robot through various interfaces and lines.

[0066] The memory can be used to store computer programs and / or modules, and the processor realizes various functions of the robot, such as walking, positioning, mowing, returning to charging, etc., by running or executing the computer programs and / or modules stored in the memory and calling data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, at least one application program required by a function (such as a sound playing function, an image playing function, etc.), etc.; and the data storage area can store data created according to use of the mobile phone (such as audio data, a phone book, etc.), etc. In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, at least one disk storage device, a flash memory device, or other volatile solid-state memory devices.

[0067] Fourth embodiment

[0068] The fourth embodiment of the present application provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to realize the control method of the robot as described above.

[0069] The computer program includes computer program codes, which can be in the form of source code, object code, executable files or some intermediate forms, etc. The computer readable medium can include any entity or device capable of carrying the computer program codes, recording media, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals and software distribution media, etc. It should be noted that the contents included in the computer readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction, for example, in some jurisdictions, according to legislation and patent practice, the computer readable medium does not include electrical carrier signals and telecommunication signals.

[0070] The preferred embodiments of the present application have been described in detail above, but it should be understood that those skilled in the art can make various modifications or changes to the present application after reading the above description of the present application. These equivalent forms also fall within the scope defined by the claims attached hereto.

Claims

1. A control method of an intelligent mower which is independently movable and is provided with an obstacle sensor and a boundary line sensor, the obstacle sensor being installed in front of a head of the intelligent mower to detect an obstacle in front in a traveling direction, and the boundary line sensor being used to detect a distance from a boundary line, characterized in that, The method comprises: in response to the intelligent mower needing to return to the parking station or needing to enter the trimming state, controlling the intelligent mower to stop the working state and walk from the current position in the working area to find the boundary; in the process of the intelligent mower finding the boundary, when it is detected that the intelligent mower is not to the boundary line and the distance D between the intelligent mower and the boundary is less than the preset threshold D0, the obstacle sensor is turned off and the walking is continued, wherein, D0+D1>D2, D1 is the distance between the boundary line and the obstacle, and D2 is the detection range of the obstacle sensor; in response to the intelligent mower reaching the boundary, controlling the intelligent mower to walk along the boundary.

2. The control method according to claim 1, characterized by, Turning off the obstacle sensor means that the obstacle sensor is in an inactive state, or means that the obstacle sensor is always in an active state, but the processor of the intelligent mower does not process the signal generated by the obstacle sensor.

3. The control method according to claim 1, characterized by, The boundary line is a closed energized wire, and the boundary sensor senses the boundary by sensing the boundary signal of the closed energized wire.

4. The control method according to claim 3, characterized by, The boundary line is a closed energized wire, and the boundary sensor senses the boundary by sensing the boundary signal of the closed energized wire.

5. The control method according to claim 3, characterized by, The control method further comprises: when at least one of the boundary sensors moves from inside the boundary line to outside the boundary line, the intelligent mower determines to reach the vicinity of the boundary line.

6. The control method according to claim 1, characterized by, The boundary coordinates are obtained by walking around the boundary once.

7. The control method according to claim 6, characterized by, The positioning device comprises a GNNS sensor.

8. The control method according to claim 6, characterized by, The processor executes the computer program to realize the control method of any one of claims 1-8.

9. A computer readable storage medium having stored thereon a computer program, which can be executed by a processor, characterized in that The processor executes the program to realize the control method of any one of claims 1-8.

10. An intelligent lawnmower comprising a processor and a memory, said memory storing a computer program, characterized in that, ​

Images