Lawn mower working boundary mowing methods, devices, storage media and lawn mowers

Abstract

This application provides a method, apparatus, storage medium, and lawnmower for mowing the working boundary of a lawnmower. The method involves controlling the lawnmower to move along a preset boundary; determining the boundary to be processed within the preset boundary based on a detection unit and a positioning unit within the lawnmower; updating the preset boundary based on the boundary to be processed as the boundary movement path of the lawnmower; and controlling one side of the lawnmower's blade assembly to move along the boundary movement path to perform mowing work at the working boundary. In this application, the detection unit and positioning unit of the lawnmower detect non-working areas within the preset boundary, thereby updating the preset boundary in real time to obtain the boundary movement path. Then, controlling one side of the lawnmower's blade assembly to move along the boundary movement path to perform mowing work results in better mowing performance at the boundary of the working area, cleaner cutting, and avoidance of omissions or exceeding the actual boundary.

Description

Technical Field

[0001] This application relates to the field of horticultural technology, and in particular to a method, apparatus, storage medium, and lawnmower for mowing the working boundary of a lawnmower. Background Technology

[0002] Lawn mowers are widely used for maintaining backyard lawns and trimming large lawns. During operation, the mower needs to define the mowing area based on the work zone's boundaries to perform the mowing work accordingly.

[0003] Existing lawnmowers typically use guide lines laid out at the boundaries of the work area. The lawnmower and the guide lines define the mowing area's boundaries to complete the mowing work. However, users often need to place the guide lines a certain distance from the mowing path. If the guide lines are placed too close to the boundary, the lawnmower will overshoot the actual mowing path; if the guide lines are placed too far from the boundary, the mower will not be able to cut the mowing path cleanly, leaving a wide uncut area and affecting the work efficiency. Summary of the Invention

[0004] In view of the above problems, embodiments of this application are proposed, which provide a mowing method, apparatus, storage medium and mowing machine for the working boundary of a lawnmower, so as to at least solve the above problems.

[0005] One or more embodiments of this application provide a method for mowing the working boundary of a lawnmower. The method is applied to a lawnmower, and a blade disc is installed on at least one side of the front end of the lawnmower. The method includes: controlling the lawnmower to move along a preset boundary; determining a boundary to be processed within the preset boundary according to a detection unit and a positioning unit in the lawnmower, wherein the boundary to be processed is the boundary of an area where the lawnmower cannot perform mowing work, the detection unit is used to detect the area within the preset boundary where the lawnmower cannot perform mowing work, and the positioning unit is used to obtain the boundary of the area where the lawnmower cannot perform mowing work as the boundary to be processed; updating the preset boundary according to the boundary to be processed as the boundary movement path of the lawnmower, and controlling the side of the lawnmower where the blade disc is installed to move along the boundary movement path to perform mowing work at the working boundary.

[0006] Optionally, controlling the lawnmower to move along a preset boundary includes: determining the coordinate point on the preset boundary that is closest to the current location of the lawnmower, based on the current positioning information of the lawnmower and the preset boundary; and controlling the lawnmower to move to the coordinate point so that the lawnmower moves along the preset boundary.

[0007] Optionally, the method further includes: smoothing the boundary movement path to obtain a first boundary movement path, controlling one side of the lawnmower's blade to move along the first boundary movement path to perform lawn mowing work on the working boundary.

[0008] Optionally, the method further includes: shifting the first boundary movement path inward by a first preset distance to obtain a second boundary movement path, the first preset distance being less than the length of the lawnmower blade; controlling one side of the lawnmower where the blade is mounted to move along the second boundary movement path to perform lawn mowing work at the working boundary.

[0009] Optionally, the method further includes: controlling the lawnmower to move along the edge of the working area to obtain a first preset boundary; expanding the first preset boundary outward by a second preset distance to obtain a second preset boundary; controlling the lawnmower to move along the second preset boundary; determining a third preset boundary within the second preset boundary based on the detection unit and the positioning unit, wherein the third preset boundary is the boundary of the area where the lawnmower cannot perform mowing work; and constructing a preset boundary for the lawnmower based on the second preset boundary and the third preset boundary.

[0010] Optionally, the detection unit includes a grass detection sensor, which determines the boundary to be processed within a preset boundary based on the detection unit and positioning unit of the lawnmower, including: obtaining the boundary of the non-grass area within the preset boundary as the boundary to be processed based on the grass detection sensor and positioning unit.

[0011] Optionally, the detection unit further includes a collision detection sensor, which determines the boundary to be processed within a preset boundary based on the detection unit and positioning unit of the lawnmower, including: obtaining the boundary of the obstacle area within the preset boundary as the boundary to be processed based on the collision detection sensor and positioning unit.

[0012] Optionally, the detection unit also includes a depth sensor, which determines the boundary to be processed within a preset boundary based on the detection unit and positioning unit of the lawnmower, including: using the depth sensor and positioning unit to obtain the boundary of the recessed area that the lawnmower cannot pass through within the preset boundary as the boundary to be processed.

[0013] According to another aspect of this application, a lawnmower working boundary mowing device is provided. This device is applied to a lawnmower, and a blade disc is mounted on at least one side of the front end of the lawnmower. The device includes a control module, a detection module, and a path generation module. The control module controls the lawnmower to move along a preset boundary. The detection module determines a boundary to be processed within the preset boundary based on the lawnmower's detection unit and positioning unit. The boundary to be processed is the boundary of an area where the lawnmower cannot perform mowing work. The detection unit detects areas within the preset boundary where the lawnmower cannot perform mowing work, and the positioning unit obtains the boundary of the area where the lawnmower cannot perform mowing work as the boundary to be processed. The path generation module updates the preset boundary based on the boundary to be processed as the boundary movement path of the lawnmower, controlling the side of the lawnmower with the blade disc mounted to move along the boundary movement path to perform mowing work at the working boundary.

[0014] According to another aspect of this application, a non-transitory computer-readable storage medium storing computer instructions is provided, wherein the computer instructions are used to cause a computer to perform the methods described above.

[0015] According to another aspect of this application, a lawnmower is provided, comprising: one or more processors; and a memory storing a program; wherein the program includes instructions that, when executed by the processor, cause the processor to perform the methods described above.

[0016] This application provides a method, apparatus, storage medium, and lawnmower for determining the working boundary of a lawnmower. The method is applied to a lawnmower, wherein a blade disc is installed on at least one side of the front end of the lawnmower. The lawnmower is controlled to move along a preset boundary. A boundary to be processed within the preset boundary is determined according to a detection unit and a positioning unit in the lawnmower. The boundary to be processed is the boundary of the area where the lawnmower cannot perform lawnmowing. The detection unit is used to detect the area within the preset boundary where the lawnmower cannot perform lawnmowing, and the positioning unit is used to obtain the boundary of the area where the lawnmower cannot perform lawnmowing as the boundary to be processed. The preset boundary is updated according to the boundary to be processed as the boundary movement path of the lawnmower. One side of the blade disc of the lawnmower is controlled to move along the boundary movement path to perform lawnmowing at the working boundary. In this application, when mowing at the boundary of the work area, the detection unit and positioning unit of the mower detect the boundary of the non-work area within the preset boundary, thereby updating the preset boundary in real time to obtain the boundary movement path. Then, the mower controls one side of the blade plate to move along the boundary movement path to mow the grass, thus making the mowing at the boundary of the work area more effective and cleaner, avoiding omissions or exceeding the actual boundary; and eliminating the need to lay wires, avoiding the problem of inaccurate mowing at the boundary of the work area due to inaccurate wire positions. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A schematic flowchart illustrating a lawnmower working boundary mowing method as an exemplary embodiment of this application;

[0019] Figure 2 A schematic flowchart illustrating a lawnmower mowing method for defining the working boundary of a lawnmower according to another embodiment of this application;

[0020] Figures 3A to 3CA schematic diagram of a lawnmower mowing method at the working boundary of a lawnmower, provided for an exemplary embodiment of the application;

[0021] Figure 4 Structural block diagram of a lawnmower working boundary according to an exemplary embodiment of this application; Explanation of reference numerals:

[0022] 400. Mowing device at the working boundary of the lawnmower; 401. Control module; 402. Detection module; 403. Path generation module. Detailed Implementation

[0023] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present application. All other embodiments obtained by those skilled in the art based on the embodiments of the present application without creative effort are within the scope of protection of the present application.

[0024] To facilitate understanding, before describing the specific embodiments of this application in detail, the mowing method, apparatus, storage medium, and application scenarios of the lawnmower working boundary of this application will be illustrated by way of example.

[0025] Lawn mowers are widely used for maintaining backyard lawns and trimming large lawns. During operation, the mower needs to define the mowing area based on the work zone's boundaries to perform the mowing work accordingly.

[0026] Existing lawnmowers typically use guide wires laid out at the boundaries of the work area. The lawnmower and the guide wires define the mowing area's boundaries to complete the mowing work. However, users often need to place the guide wires a certain distance from the mowing path. If the wires are placed too close to the boundary, the lawnmower may overshoot the actual mowing path; if the wires are placed too far away, the mowing path may not be completely cut, leaving a wide uncut area and affecting the work efficiency. Therefore, this application proposes a method, apparatus, storage medium, and lawnmower for lawnmower edge-mowing operation, which can solve the various problems existing in the prior art.

[0027] The specific embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0028] Figure 1 The flowchart illustrates a lawnmower mowing method for defining the working boundary of a lawnmower, which is an exemplary embodiment of this application. As shown in the figure, the method is applied to a lawnmower, and a blade disc is installed on at least one side of the front end of the lawnmower. This embodiment mainly includes the following steps:

[0029] S101, Control the lawnmower to move along the preset boundary.

[0030] For example, the preset boundary can be stored in the lawnmower or obtained by interacting with other mobile devices or cloud servers. The preset boundary is the working boundary that has been constructed before the lawnmower begins mowing.

[0031] In one specific implementation, controlling the lawnmower to move along a preset boundary includes:

[0032] S1011. Based on the current positioning information of the lawnmower and the preset boundary, determine the coordinate point on the preset boundary that is closest to the current positioning of the lawnmower.

[0033] S1012. Control the lawnmower to move to the coordinate point so that the lawnmower moves along the preset boundary.

[0034] For example, before starting to mow at the work boundary, the lawnmower may be located within or outside the work area. When starting to mow at the work boundary, the current positioning information of the lawnmower and the preset boundary are obtained. The positioning information can be obtained by using RTK (Real Time Kinematic, carrier phase differential) positioning technology to calculate the coordinate point on the preset boundary that is closest to the current positioning of the lawnmower. The lawnmower is then controlled to move to that coordinate point first, and then move along the preset boundary from that coordinate point.

[0035] This implementation method utilizes the current positioning information of the lawnmower and the positional relationship with the preset boundary to plan the shortest path from the current position to the preset boundary, avoiding unnecessary movement of the lawnmower and thus improving the working efficiency of the lawnmower.

[0036] S102. Determine the boundary to be processed within the preset boundary based on the detection unit and positioning unit in the lawnmower.

[0037] For example, refer to Figure 3A The boundary to be processed is the boundary of the area where the lawnmower cannot perform its mowing work, including obstacle areas (such as fountains, stones, and fences), non-grass areas (concrete surfaces, paths, etc.), and depressions where the lawnmower cannot operate. The detection unit is used to detect areas within the preset boundary where the lawnmower cannot perform its mowing work; for example, it uses grass detection sensors, collision detection sensors, and depth detection sensors. The positioning unit is used to obtain the boundary of the area where the lawnmower cannot perform its mowing work as the boundary to be processed; for example, it uses GPS positioning or RTK (Real-Time Kinematic) positioning. The detection and positioning units can be used in any combination, and this embodiment does not impose any restrictions on this.

[0038] It should be noted that in S102, if there is a part of the preset boundary that cannot detect non-working areas, then that part of the preset boundary shall be used as the standard, and there is no need to update that part of the preset boundary.

[0039] In one specific implementation, the detection unit includes a grass detection sensor, and determines the boundary to be processed within a preset boundary based on the detection unit and positioning unit of the lawnmower, including: obtaining the boundary of the non-grass area within the preset boundary as the boundary to be processed based on the grass detection sensor and positioning unit.

[0040] For example, refer to Figure 3A The positioning unit can be RTK positioning, and the grass detection sensor is used to distinguish between grass and non-grass areas. For example, within a preset boundary, there may be concrete areas or obstacle areas. The grass detection sensor can be an image sensor, such as a camera positioned at the front of the lawnmower (i.e., in the direction of the mower's front). This camera acquires image information of the environment in front of the mower at predetermined time intervals (e.g., 0.5 seconds / time) as the mower moves. Software algorithms can be used to identify whether non-grass and grass areas exist in the image information. If they exist, the boundary information of the area is obtained through RTK positioning as the boundary to be processed. The grass detection sensor can also be a lidar, sonar, etc. This implementation does not impose any restrictions on this.

[0041] This implementation method utilizes a grass detection sensor to distinguish between grassy and non-grassy areas within a preset boundary. The positioning unit locates the boundary line of this area to eliminate non-grassy areas within the preset boundary, thereby making the final working boundary cut more accurate and improving the working effect of the lawnmower.

[0042] In one specific implementation, the detection unit further includes a collision detection sensor, which determines the boundary to be processed within a preset boundary based on the detection unit and positioning unit of the lawnmower, including: obtaining the boundary of the obstacle area within the preset boundary as the boundary to be processed based on the collision detection sensor and positioning unit.

[0043] For example, refer to Figure 3A Collision detection sensors are used to identify protruding obstacles, such as stones or fences, within a preset boundary. These sensors can be bumper sensors, current sensors, ultrasonic sensors, etc. As the lawnmower moves along the preset boundary, the collision detection sensor and positioning unit acquire the boundary of the obstacle area within the preset boundary, which serves as the boundary to be processed.

[0044] This implementation method utilizes a collision detection sensor to further determine the obstacle area within the preset boundary. The positioning unit then locates the boundary line of this area to eliminate the obstacle area within the preset boundary. This implementation method can serve as a supplementary detection method to the grass detection sensor, thereby making the final working boundary cutting more accurate and avoiding equipment damage caused by the lawnmower colliding with obstacles during the mowing process at the working boundary, thus extending the service life of the equipment.

[0045] In one specific implementation, the detection unit further includes a depth sensor, which determines the boundary to be processed within a preset boundary based on the detection unit and positioning unit of the lawnmower. This includes: using the depth sensor and positioning unit to obtain the boundary of the recessed area that the lawnmower cannot pass through within the preset boundary as the boundary to be processed.

[0046] For example, the depth detection sensor can distinguish between protrusions and depressions. For instance, within a preset boundary, there may be recessed or protruding areas that the lawnmower cannot pass through. The depth detection sensor could be a depth camera sensor, LiDAR, etc. As the lawnmower moves along the preset boundary, a collision detection sensor and a positioning unit acquire the boundary of the recessed area within the preset boundary, which serves as the boundary to be processed.

[0047] This implementation utilizes a depth detection sensor to distinguish the boundaries of recessed areas within a preset boundary that the lawnmower cannot pass through. A positioning unit then locates the boundary line of these areas, thus eliminating the recessed areas within the preset boundary that the lawnmower cannot access. This implementation can serve as a supplementary detection method to the grass detection sensor, or as a supplementary detection method to both the grass detection sensor and the collision detection sensor. By integrating these multiple sensors, the mower's cutting accuracy near the grass boundary can be improved, missed cuts reduced, and the mower prevented from running off the grass perimeter. It also prevents the mower from getting stuck in the aforementioned recessed areas during mowing at the working boundary, which would affect work efficiency or even cause equipment damage.

[0048] S103. Update the preset boundary according to the boundary to be processed as the boundary movement path of the lawnmower, and control one side of the lawnmower with the blade mounted to move along the boundary movement path to perform lawn mowing work on the working boundary.

[0049] For example, refer to Figure 3BThe preset boundary is updated based on the boundary to be processed obtained in S102. For example, if there are non-grass areas or obstacle areas on part of the preset boundary, the preset boundary is updated using the boundaries of the non-grass areas and obstacle areas to obtain the final boundary movement path. The side of the lawnmower with the blade mounted is controlled to move along the boundary movement path. The side of the lawnmower with the blade mounted may be the left or right side of the lawnmower, and this embodiment does not limit this.

[0050] In one specific implementation, the work area can be set as a grid map. When determining the boundary movement path, the preset boundary is updated based on the boundary to be processed and then combined with the grid map to determine the boundary movement path in the coordinates of the grid map. This makes the boundary movement path easier for the lawnmower to move and also makes the path planning of the lawnmower within the work area easier.

[0051] In one specific implementation, considering the width of the lawnmower, the installation position of the blade, and the positioning position of the lawnmower (usually at the central axis of the lawnmower), the boundary movement path can be shifted inward by a certain distance, such as half the width of the lawnmower, to control the side of the lawnmower with the blade installed to move along the boundary movement path, thereby preventing the lawnmower from cutting beyond the boundary of the working area.

[0052] In this embodiment, when the lawnmower is mowing at the boundary of the working area, the detection unit and positioning unit of the lawnmower detect the boundary of the non-working area within the preset boundary, thereby updating the preset boundary in real time to obtain the boundary movement path. Then, the lawnmower controls one side of the blade plate to move along the boundary movement path to mow the grass, thus making the mowing work at the boundary of the working area more effective and cleaner, avoiding omissions or exceeding the actual boundary; and there is no need to lay wires, avoiding the problem of inaccurate mowing at the boundary of the working area due to inaccurate wire positions.

[0053] In one specific implementation, the method further includes: smoothing the boundary movement path to obtain a first boundary movement path, controlling one side of the lawnmower's blade mounting disc to move along the first boundary movement path to perform lawn mowing work at the working boundary.

[0054] For example, the boundary movement path can be smoothed to obtain the first boundary movement path. For instance, the boundary movement path can be smoothed using B-spline smoothing, so that when one side of the lawnmower's blade mount moves along the first boundary movement path, the lawnmower's movement is smoother, reducing vehicle vibration.

[0055] In one specific implementation, the method further includes: shifting the first boundary movement path inward by a first preset distance to obtain a second boundary movement path; controlling one side of the lawnmower's blade mounting disc to move along the second boundary movement path to perform lawn mowing work at the working boundary.

[0056] Specifically, after the lawnmower has completed one boundary mowing operation, the first boundary movement path is shifted inward by a first preset distance to obtain a second boundary movement path. This first preset distance is less than the length of the lawnmower's blades, ensuring that when the lawnmower moves along the second boundary path, the blade trajectory partially overlaps with the previous boundary mowing trajectory. This implementation method integrates the boundary mowing trajectory with the mowing trajectory within the working area, preventing any omissions and improving the lawnmower's performance.

[0057] Figure 2 This is a schematic flowchart illustrating a lawnmower working boundary mowing method as another exemplary embodiment of this application. This embodiment mainly shows the optional implementation scheme prior to step S101 described above. As shown in the figure, this embodiment mainly includes the following steps:

[0058] S201 controls the lawnmower to move along the edge of the working area to obtain the first preset boundary.

[0059] For example, refer to Figure 3C The system can control a lawnmower to move along the edge of the work area according to user-defined movement commands, and obtain the lawnmower's positioning information to obtain a first preset boundary. The positioning information can be obtained once every 0.1 seconds, and the method of obtaining the positioning information can be GPS navigation positioning, visual positioning, or RTK (Real-Time Kinematic, carrier phase differential) positioning; this application does not impose any restrictions on this. This implementation obtains the first preset boundary by controlling the lawnmower to collect positioning information, which is convenient and fast.

[0060] S202, Expand the first preset boundary outward by a second preset distance to form the second preset boundary.

[0061] For example, refer to Figure 3C The first preset boundary can be obtained by manually controlling the lawnmower to move along the edge of the working area, or by acquiring the boundary already stored in the lawnmower, or by interacting with a cloud server or other mobile devices. This embodiment does not impose any limitations on this. The second preset distance is usually no more than 1 meter. The second preset boundary defines the maximum boundary of the lawnmower's working area.

[0062] S203. Control the lawnmower to move along the second preset boundary, and determine the third preset boundary within the second preset boundary according to the detection unit and the positioning unit.

[0063] For example, the third preset boundary is the boundary of an area where the lawnmower cannot perform mowing work, such as an obstacle area, a non-grass area, or a depression where the lawnmower cannot work. The positioning unit may include GPS positioning, RTK (Real-Time Kinematic, carrier phase differential) positioning, etc., and the detection unit may include a grass detection sensor, a collision detection sensor, and a depth detection sensor, etc. The grass detection sensor can distinguish between grassy areas and non-grassy areas (e.g., identify the boundary between grassy and non-grassy areas), such as an image sensor, LiDAR, sonar, etc.; the collision detection sensor can identify protruding obstacles, such as a collision sensor, current sensor, ultrasonic sensor, etc.; the depth detection sensor can distinguish between protrusions and depressions, such as a depth camera sensor, LiDAR, etc. The above sensors can be used in any combination, and this embodiment does not limit this.

[0064] S204. Based on the second preset boundary and the third preset boundary, construct the preset boundary of the lawnmower.

[0065] For example, based on the third preset boundary determined in S203, such as the boundary of a non-grass area, the boundary of an obstacle, etc., the second preset boundary and the third preset boundary are combined to complete the construction of the preset boundary.

[0066] In this embodiment, a second preset boundary is obtained by expanding a first preset boundary, and then the non-working areas in the second preset boundary are removed by the detection and positioning units of the lawnmower. This constructs a preset boundary for the working area, making the constructed preset boundary for the working area more accurate.

[0067] Figure 4 This is a structural block diagram of a lawnmower working boundary according to an exemplary embodiment of this application.

[0068] In this embodiment, the mowing device 400 at the working boundary of the lawnmower can be installed in the lawnmower, and a blade disc is installed on at least one side of the front end of the lawnmower. The lawnmower is suitable for performing mowing tasks at the working boundary of the lawnmower.

[0069] As shown in the figure, the lawnmower mowing device 400 of this embodiment mainly includes a control module 401, a detection module 402, and a path generation module 403. The control module 401 controls the lawnmower to move along a preset boundary. The detection module 402 determines the boundary to be processed within the preset boundary based on the detection unit and positioning unit in the lawnmower. The boundary to be processed is the boundary of the area where the lawnmower cannot perform mowing work. The detection unit detects the area within the preset boundary where the lawnmower cannot perform mowing work, and the positioning unit obtains the boundary of the area where the lawnmower cannot perform mowing work as the boundary to be processed. The path generation module 403 updates the preset boundary based on the boundary to be processed as the boundary movement path of the lawnmower, controlling one side of the lawnmower with the blade mounted to move along the boundary movement path to perform mowing work at the working boundary.

[0070] Furthermore, the mowing device 400 of the working boundary of the lawnmower in this application embodiment can also be used to implement other steps in the aforementioned mowing method embodiments of the working boundary of the lawnmower, and has the beneficial effects of the corresponding method step embodiments, which will not be repeated here.

[0071] An exemplary embodiment of this application also provides a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to cause a computer to perform the methods of various embodiments of this application.

[0072] An exemplary embodiment of this application also provides a computer program product, including a computer program, wherein, when executed by a computer's processor, the computer program is used to cause the computer to perform the methods of the embodiments of this application.

[0073] An exemplary embodiment of this application also provides a lawnmower, including: one or more processors; and a memory storing a program; wherein the program includes instructions that, when executed by the processor, cause the processor to perform the methods of the embodiments of this application.

[0074] It should be noted that in the description of this application, the terms "first" and "second" are used only for convenience in describing different components or names, and should not be construed as indicating or implying a sequential relationship, relative importance, or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features.

[0075] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0076] It should be noted that although specific embodiments of this application have been described in detail with reference to the accompanying drawings, this should not be construed as limiting the scope of protection of this application. Various modifications and variations that can be made by those skilled in the art without inventive effort within the scope described in the claims still fall within the scope of protection of this application.

[0077] The examples of the embodiments in this application are intended to concisely illustrate the technical features of the embodiments in this application, so that those skilled in the art can intuitively understand the technical features of the embodiments in this application, and are not intended to be improper limitations on the embodiments in this application.

[0078] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A method for mowing the working boundary of a lawnmower, the method being applied to a lawnmower, wherein a blade disc is mounted on at least one side of the front end of the lawnmower, characterized in that... The method includes: The lawnmower is controlled to move along the edge of the working area to obtain a first preset boundary; the first preset boundary is expanded outward by a second preset distance to form a second preset boundary; the lawnmower is controlled to move along the second preset boundary, and a third preset boundary is determined within the second preset boundary according to the detection unit and the positioning unit, the third preset boundary being the boundary of the area where the lawnmower cannot perform mowing work; the preset boundary of the lawnmower is constructed according to the second preset boundary and the third preset boundary; The detection unit and positioning unit in the lawnmower determine the boundary to be processed within the preset boundary. The boundary to be processed is the boundary of the area where the lawnmower cannot perform mowing work. The detection unit is used to detect the area within the preset boundary where the lawnmower cannot perform mowing work, and the positioning unit is used to obtain the boundary of the area where the lawnmower cannot perform mowing work as the boundary to be processed. The preset boundary is updated according to the boundary to be processed as the boundary movement path of the lawnmower, and the lawnmower is controlled to move along the boundary movement path on the side where the blade is installed to perform lawn mowing work on the working boundary. If a portion of the preset boundary cannot detect a non-working area, then that portion of the preset boundary shall be used as the reference, and there is no need to update that portion of the preset boundary.

2. The method according to claim 1, characterized in that, The control of the lawnmower to move along a preset boundary includes: Based on the current positioning information of the lawnmower and the preset boundary, determine the coordinate point on the preset boundary that is closest to the current positioning of the lawnmower; Control the lawnmower to move to the coordinate point so that the lawnmower moves along the preset boundary.

3. The method according to claim 1 or 2, characterized in that, The method further includes: The boundary movement path is smoothed to obtain a first boundary movement path. The side of the lawnmower where the blade is installed is controlled to move along the first boundary movement path to perform lawn mowing work at the working boundary.

4. The method according to claim 3, characterized in that, The method further includes: The first boundary movement path is shifted inward by a first preset distance to obtain the second boundary movement path, where the first preset distance is less than the length of the lawnmower blade. The lawnmower is controlled to move along the second boundary movement path on one side where the blade is mounted, so as to perform lawn mowing work on the working boundary.

5. The method according to claim 1, characterized in that, The detection unit includes a grass detection sensor. Determining the boundary to be processed within the preset boundary based on the detection unit and positioning unit of the lawnmower includes: Based on the grassland detection sensor and the positioning unit, the boundary of the non-grass area within the preset boundary is obtained as the boundary to be processed.

6. The method according to claim 5, characterized in that, The detection unit further includes a collision detection sensor. Determining the boundary to be processed within the preset boundary based on the detection unit and positioning unit of the lawnmower includes: The boundary of the obstacle region within the preset boundary is obtained based on the collision detection sensor and the positioning unit as the boundary to be processed.

7. The method according to claim 5 or 6, characterized in that, The detection unit further includes a depth sensor, and the step of determining the boundary to be processed within the preset boundary based on the detection unit and positioning unit of the lawnmower includes: Based on the depth sensor and the positioning unit, the boundary of the recessed area that the lawnmower cannot pass through within the preset boundary is obtained as the boundary to be processed.

8. A mowing device for the working boundary of a lawnmower, the device being applied to a lawnmower, wherein a blade disc is mounted on at least one side of the front end of the lawnmower, characterized in that, include: The control module is used to control the lawnmower to move along the edge of the working area to obtain a first preset boundary; to expand the first preset boundary outward by a second preset distance to obtain a second preset boundary; to control the lawnmower to move along the second preset boundary; and to determine a third preset boundary within the second preset boundary based on the detection unit and the positioning unit, wherein the third preset boundary is the boundary of the area where the lawnmower cannot perform mowing work. Based on the second preset boundary and the third preset boundary, construct the preset boundary of the lawnmower; The detection module is used to determine the boundary to be processed within the preset boundary based on the detection unit and the positioning unit in the lawnmower. The boundary to be processed is the boundary of the area where the lawnmower cannot perform mowing work. The detection unit is used to detect the area within the preset boundary where the lawnmower cannot perform mowing work. The positioning unit is used to obtain the boundary of the area where the lawnmower cannot perform mowing work as the boundary to be processed. The path generation module is used to update the preset boundary as the boundary movement path of the lawnmower based on the boundary to be processed, and to control the lawnmower to move along the boundary movement path on the side where the blade is installed, so as to perform lawn mowing work on the working boundary; wherein, if there is a part of the preset boundary where no non-working area can be detected, then that part of the preset boundary shall be used as the standard, and there is no need to update that part of the preset boundary.

9. A non-transitory computer-readable storage medium storing computer instructions, wherein, The computer instructions are used to cause the computer to perform the method according to any one of claims 1-7.

10. A lawnmower, characterized in that, include: One or more processors; as well as Memory for stored programs; The program includes instructions that, when executed by the processor, cause the processor to perform the method of any one of claims 1-7.

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