Lawn mower map test method and device, storage medium and lawn mower

Abstract

The application provides a lawn mower map test method and device, a storage medium and a lawn mower. The method comprises the following steps: receiving an instruction for modifying a tested lawn map to obtain a modified lawn map; comparing the tested lawn map with the modified lawn map to determine a boundary change area of a mowing area; determining a lawn mower test path matched with the boundary change area; and updating the tested lawn map based on the modified lawn map when the test path passes the test. The application compares the tested lawn map with the modified lawn map, obtains a modified part of the lawn map as a test path, and then performs a test according to the test path. After the test passes, the tested lawn map is updated based on the modified lawn map, so that only the modified part of the lawn map is tested, full-map testing of the modified lawn map is avoided, the map test efficiency is improved, the test time is reduced, and the user experience is improved.

Description

Technical Field

[0001] This application relates to the field of lawnmower technology, and in particular to a lawnmower map testing method, device, storage medium, and lawnmower. Background Technology

[0002] Lawn mowers are widely used for maintaining lawns in backyards and trimming large lawns. During operation, a lawn mower typically creates a preliminary map of the work area beforehand, then tests the preliminary map to generate the final mowing map.

[0003] During the operation of a lawnmower, users may need to modify the mowing map. The modified map must be tested before it can be used as a mowing map. However, existing lawnmowers require testing the entire map when testing modified maps, resulting in low testing efficiency, long testing time, and a poor user experience. Summary of the Invention

[0004] In view of the above problems, embodiments of this application are proposed, which provide a lawnmower map testing method, apparatus, storage medium and lawnmower to at least solve the above problems.

[0005] One or more embodiments of this application provide a lawnmower map testing method, including: receiving an instruction to modify a tested lawnmower map to obtain a modified lawnmower map; comparing the tested lawnmower map with the modified lawnmower map to determine the boundary change area of ​​the lawnmower area; determining a lawnmower test path that matches the boundary change area; and updating the tested lawnmower map based on the modified lawnmower map when the lawnmower test path passes the test.

[0006] Optionally, determining a lawnmower test path that matches the boundary change range includes: determining the start and end points of the lawnmower test path based on the intersection of the boundary of the boundary change area and the boundary of the tested mowing area.

[0007] Optionally, determining a lawnmower test path that matches the boundary change range includes: determining an extension area of ​​the boundary change region, such that the boundary of the extension area extends to the boundary of the tested mowing area; and determining the start and end points of the lawnmower test path based on the intersection of the boundary of the extension area and the boundary of the tested mowing area.

[0008] Optionally, the tested lawn mowing map is modified to obtain a modified lawn mowing map, including: receiving an instruction to delete part of the boundaries in the tested lawn mowing map, deleting the tested data corresponding to the part of the boundaries, and obtaining a lawn mowing map after deleting the part of the boundaries; updating the tested lawn mowing map based on the lawn mowing map after deleting the part of the boundaries.

[0009] Optionally, the updating the tested mowing map based on the modified mowing map when the test of the mowing machine test path is passed comprises: receiving test result confirmation feedback information; and if the feedback information indicates that the test of the mowing machine test path is passed, using the modified mowing map to replace the tested mowing map.

[0010] Optionally, the method further comprises: if the feedback information indicates that the test of the mowing machine test path is failed, deleting the modified mowing map and keeping the tested mowing map.

[0011] According to another aspect of the present application, a mowing machine map testing device is provided, which comprises a modification module, a map comparison module, a path planning module and a map updating module. The modification module is configured to receive an instruction for modifying a tested mowing map to obtain a modified mowing map. The map comparison module is configured to compare the tested mowing map with the modified mowing map to determine a boundary change area of a mowing area. The path planning module is configured to determine a mowing machine test path matched with the boundary change area. The map updating module is configured to update the tested mowing map based on the modified mowing map when the test of the mowing machine test path is passed.

[0012] Optionally, the map updating module comprises at least an information receiving unit and an information updating unit. The information receiving unit is configured to receive test result confirmation feedback information. The information updating unit is configured to use the modified mowing map to replace the tested mowing map if the feedback information indicates that the test is passed.

[0013] According to another aspect of the present application, a non-transitory computer readable storage medium storing computer instructions is provided, wherein the computer instructions are configured to cause a computer to execute the method of the above aspect.

[0014] According to another aspect of the present application, a mowing machine is provided, which comprises one or more processors and a memory storing a program. The program comprises instructions which, when executed by the processor, cause the processor to execute the method of the above aspect.

[0015] The mowing machine map test method, device, storage medium and mowing machine provided by the application receive an instruction for modifying a tested mowing map to obtain a modified mowing map; compare the tested mowing map with the modified mowing map to determine a boundary change area of a mowing area; determine a mowing machine test path matched with the boundary change area; and update the tested mowing map based on the modified mowing map when the test on the mowing machine test path is passed. The application compares the tested mowing map with the modified mowing map to obtain the modified part of the mowing map as a test path, and then tests according to the test path. After the test is passed, the tested mowing map is updated based on the modified mowing map, so as to realize the test on only the modified part of the mowing map, avoid the full map test on the modified mowing map, improve the map test efficiency, reduce the test time consumption, and further improve the user experience. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the application, and other drawings can be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0017] Figure 1 The flowchart of the mowing machine map test method of the exemplary embodiment of the application is shown in the figure.

[0018] Figure 2 The flowchart of the mowing machine map test method of another exemplary embodiment of the application is shown in the figure.

[0019] Figures 3a to 3c The schematic diagram of the modified mowing map of the mowing machine map test method of the exemplary embodiment of the application is shown in the figure.

[0020] Figure 4 The structure block diagram of the mowing machine map test device of the exemplary embodiment of the application is shown in the figure.

[0021] Figure 5 The structure block diagram of the mowing machine map test device of another exemplary embodiment of the application is shown in the figure.

[0022] Explanation of reference signs:

[0023] 400, mowing machine map test device; 401, modification module; 402, map comparison module; 403, path planning module; 404, map update module; 4041, information receiving unit; 4042, information updating unit. DETAILED DESCRIPTION

[0024] In the following, the technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the accompanying drawings of the embodiments of the present application, so that those skilled in the art can better understand the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0025] For the convenience of understanding, before the specific embodiments of the present application are described in detail, the application scenarios of the lawn mower map testing method, device, storage medium and lawn mower of the present application are exemplarily described.

[0026] The lawn mower is widely used in the maintenance of the courtyard lawn and the trimming of the large grassland. In the working process of the lawn mower, a preliminary map of the working area is usually established in advance, and then the preliminary map is tested to generate a final mowing map.

[0027] In the working process of the lawn mower, the user may need to modify the mowing map, and the modified map needs to be tested before being used as a mowing map. However, the existing lawn mower needs to test the entire map when testing the modified map, which results in low testing efficiency, long testing time and poor user experience. Therefore, the present application proposes a lawn mower map testing method, device, storage medium and lawn mower, which can solve the above problems in the prior art.

[0028] In the following, the specific embodiments of the present application will be described in detail in conjunction with the accompanying drawings.

[0029] Figure 1 The flowchart of the lawn mower map testing method of the exemplary embodiments of the present application is shown in the figure, and the present embodiment mainly includes the following steps:

[0030] S101, receiving an instruction for modifying a tested mowing map to obtain a modified mowing map.

[0031] Exemplarily, referring to Figure 3a and 3bThe way of modifying the tested mowing map can be adding an obstacle region, editing the tested boundary, or deleting the tested obstacle region, etc. The modification approach can include the following two: one is that the tested map can be modified through the interactive interface of the mobile device, such as a mobile phone APP, etc. For example, the start point and the end point of the tested boundary to be edited can be selected, the middle region of the start point and the end point is edited, a new boundary is set through dragging, redrawing, etc., the edited boundary and the unedited part of the tested map are connected to become the modified mowing map, and then the modified mowing map is sent to the mower. The second is that the mower can be controlled to move on the tested map, and the motion track of the mower is recorded, and the modified mowing map is generated by using the tested map and the motion track of the mower.

[0032] S102, comparing the tested mowing map with the modified mowing map to determine the boundary change region of the mowing region.

[0033] Exemplarily, by matching and comparing the tested mowing map stored in the mower with the obtained modified mowing map, the part boundary in the modified mowing map that does not match the tested map can be obtained, that is, the boundary change region of the mowing region. For example, the boundary change region can be that the modified mowing map adds an obstacle region or deletes a tested obstacle region compared with the tested map; or part of the boundary of the modified mowing map is changed compared with part of the boundary of the tested map.

[0034] S103, determining the mower test path matched with the boundary change region.

[0035] Exemplarily, the distance between the current position of the mower and each point on the boundary in the boundary change region is calculated, and the start point and the end point of the mower test path are determined according to the distance size, for example, the point with the smallest distance can be selected as the start point of the mower test path, and the point with the largest distance can be selected as the end point of the mower test path, and the boundary in the boundary change region is taken as the mower test path between the start point and the end point.

[0036] Exemplarily, if the way of changing the map in S101 is to control the mower to move on the tested map and record the motion track of the mower, the start point of the motion track of the mower is the start point of the mower test path. The end point of the motion track of the mower is the end point of the mower test path.

[0037] S104, updating the tested mowing map based on the modified mowing map when the mower test path is tested through.

[0038] Exemplarily, after the control of the mower traverses the test path of the mower from the start point to the end point, and the user confirms the test passing information, the modified mowing map and the corresponding tested data are saved, and the tested map and the corresponding tested data of the boundary change region are deleted, so as to complete the update of the tested mowing map.

[0039] The mowing map test method provided in the embodiment comprises the following steps: receiving an instruction for modifying the tested mowing map to obtain a modified mowing map; comparing the tested mowing map with the modified mowing map to determine a boundary change region of the mowing region; determining a test path of the mower matched with the boundary change region; and updating the tested mowing map based on the modified mowing map when the test path of the mower passes the test. In the embodiment, the modified part of the mowing map is obtained as the test path by comparing the tested mowing map with the modified mowing map, and then the test is performed according to the test path. After the test passes, the tested mowing map is updated based on the modified mowing map, so that only the modified part of the mowing map is tested, the full map test of the modified mowing map is avoided, the map test efficiency is improved, the test time is reduced, and the user experience is improved.

[0040] In a specific implementation, the determination of the test path of the mower matched with the boundary change region comprises the following steps: determining a start point and an end point of the test path of the mower according to the intersection points of the boundary of the boundary change region and the boundary of the tested mowing region.

[0041] Exemplarily, referring to Figure 3a and 3b , the intersection points of the boundary a of the boundary change region and the boundary b of the tested mowing region are point A and point B, and the point A and the point B can be respectively taken as the start point and the end point of the test path of the mower. The boundary a of the boundary change region between the start point and the end point is taken as the test path of the mower. If the number of the intersection points of the boundary a of the boundary change region and the boundary b of the tested mowing region is greater than two, the two intersection points farthest from each other in the multiple intersection points are taken as the start point and the end point of the test path of the mower. If the number of the intersection points of the boundary a of the boundary change region and the boundary b of the tested mowing region is zero (for example Figure 3b ), a point on the boundary a of the boundary change region closest to the current position of the mower can be selected as the start point and the end point of the test path of the mower, or a point on the boundary a of the boundary change region can be selected as the start point and the end point of the test path of the mower, which is not limited in the specific implementation.

[0042] In the specific implementation, the starting point and the ending point of the mower test path are determined according to the intersection of the boundary of the boundary change region and the boundary of the tested mowing region, so that the mower test path can only contain the modified part of the mowing map, and the full map test on the modified mowing map can be avoided, and the map test efficiency is improved.

[0043] Figure 2 The flowchart of the mowing map test method of another example embodiment of the application is shown in the figure. The embodiment is a specific implementation of step S103. The embodiment includes the following steps.

[0044] S201, determining an extended region of the boundary change region, so that the boundary of the extended region extends to the boundary of the tested mowing region.

[0045] S202, determining the starting point and the ending point of the mower test path according to the intersection of the boundary of the extended region and the boundary of the tested mowing region.

[0046] For example, referring to Figure 3c The boundary a of the boundary change region can be extended to obtain the boundary c of the extended region, so that the boundary c of the extended region extends to the boundary b of the tested map before modification, that is, the boundary c of the extended region partially overlaps with the boundary b of the tested map before modification. The extension length can be preset, for example, 5 meters, and the embodiment does not limit this. The extension direction can be from the intersection (for example, points A and B) of the boundary a of the boundary change region and the boundary b of the tested mowing region to the boundary b of the tested mowing region, and the starting point and the ending point of the mower test path are determined according to the intersection (for example, points C and D) of the boundary c of the extended region and the boundary b of the tested mowing region.

[0047] The test boundary C is extended, and in the test stage, the mower passes through points A and B to reach point D from point C, automatically turns at points A and B, tests the passability of the mower at points A and B, and increases the safety of the mower in the mowing stage.

[0048] In one embodiment, the test direction of the mower test path is consistent with the test direction of the boundary b of the tested map before modification. For example, the test direction of the boundary b of the tested map before modification is clockwise. The test direction of the mower test path is clockwise, which can ensure the continuity of all tested paths in the updated test map.

[0049] It should be noted that the bottom cutter disc of the mower is biased to the right side, which is closer to the right side of the forward direction of the mower. After the mower updates the tested mowing map, path planning is performed according to the updated tested mowing map, and the planned path includes a perimeter mowing path and an intermediate area mowing path. The outermost circle path of the perimeter mowing path coincides with the outer boundary of the updated tested mowing map, and the directions are consistent, both being clockwise, so as to ensure that the bottom cutter disc of the mower is close to the outer side and increases the mowing area.

[0050] The test direction of the mower test path is consistent with the test direction of the boundary b of the tested map before modification, which can ensure the continuity of all tested paths in the updated test map, and avoid the inconsistency between the perimeter mowing path and all tested paths in the updated test map, so that the mower collides with obstacles in the undetected area when locally turning.

[0051] For example, the distance between points C and D can be calculated according to the current position of the mower, and the start point and the end point of the mower test path can be determined according to the distance, for example, the point C with smaller distance can be selected as the start point of the mower test path, and the point D with larger distance can be selected as the end point of the mower test path, and the boundary a of the boundary change area and the boundary c of the expansion area are used as the mower test path between the start point C and the end point D.

[0052] In the specific implementation, the boundary change area is expanded to obtain an expansion area, the expansion area extends to the tested mowing area, the boundary of the expansion area partially coincides with the boundary of the mowing area, and the intersection point of the boundary of the expansion area and the boundary of the mowing area is determined as the start point and the end point of the mower test path, that is, the boundary of the boundary change area and the boundary of the expansion area are connected to form the mower test path, so that when testing, the intersection point of the boundary of the boundary change area and the boundary of the mowing area can be tested through the boundary of the expansion area, avoiding the risk of incoherent connection at the intersection point of the boundary of the boundary change area and the boundary of the mowing area caused by only testing the boundary of the boundary change area, thereby improving the accuracy and integrity of the mower map test.

[0053] In one specific implementation, the tested mowing map is modified to obtain a modified mowing map, including: receiving an instruction to delete part of the boundary of the tested mowing map, deleting the tested data corresponding to the part of the boundary, and obtaining a mowing map after deleting the part of the boundary; and updating the tested mowing map based on the mowing map after deleting the part of the boundary.

[0054] Exemplarily, if the modification to the tested mowing map is to delete part of the boundary, for example, to delete an obstacle region, after deleting part of the boundary, no new boundary change region that needs to be tested is generated in the mowing map after the deletion, the boundaries in the modified mowing map are all the boundaries that have been tested in the tested mowing map, and thus there is no need to retest, and the mowing map after the deletion of part of the boundary is directly updated as the tested mowing map, and the tested data corresponding to the boundary of the deleted obstacle region is deleted.

[0055] In the specific implementation, the mowing map after the deletion of part of the boundary is directly updated as the tested mowing map, and thus there is no need to retest the modified mowing map and delete the tested data corresponding to the part of the boundary, thereby avoiding the risk of missing the test on the restored part of the boundary due to the un-deleted tested data after the part of the boundary is restored.

[0056] In a specific implementation, when the test on the mowing machine test path is passed, the tested mowing map is updated based on the modified mowing map, including: receiving test result confirmation feedback information; if the feedback information is that the test is passed, using the modified mowing map to cover the tested mowing map.

[0057] Exemplarily, after the mowing machine traverses the mowing machine test path, the test result confirmation information can be sent to the mobile device interactive interface, for example, an option of whether to confirm that the test is passed is sent to a mobile phone APP, and the test result confirmation feedback information is received. If the received feedback information is that the test is passed, the modified mowing map is used to cover the tested mowing map, that is, the test on the modified mowing map is completed.

[0058] In the specific implementation, by receiving the test result confirmation feedback information, if the feedback information is that the test on the mowing machine test path is passed, the modified mowing map is used to cover the tested mowing map, so as to complete the test on the modified mowing map. By obtaining the feedback of the user on the test result confirmation, it is determined whether the test on the modified mowing map is completed, thereby avoiding the dissatisfaction of the user on the test result of the map and making the user experience better.

[0059] In a specific implementation, the method further includes: if the feedback information is that the test on the mowing machine test path is not passed, deleting the modified mowing map and retaining the tested mowing map.

[0060] Exemplarily, if the received feedback information is that the test of the test path of the mower fails, the modified mowing map can be deleted, and the tested mowing map is retained, that is, the modification of the tested mowing map is cancelled. In this specific implementation, through the received feedback information of the user, the modification of the tested mowing map can be cancelled, the tested map is returned, and the modification can be performed again, thereby avoiding the problem that the user is not satisfied with the test result of the modified mowing map, but cannot restore the original tested map for re-modification.

[0061] FIG. 3 is a structural block diagram of a mowing map test device according to an example embodiment of the present application.

[0062] The mowing map test device 400 according to the example embodiment can be loaded in a mower, wherein the mower can be applicable to perform a mowing map test task.

[0063] As shown in the figure, the mowing map test device 400 according to the example embodiment mainly includes a modification module 401, a map comparison module 402, a path planning module 403, and a map updating module 404.

[0064] The modification module 401 is configured to receive an instruction for modifying a tested mowing map to obtain a modified mowing map. The map comparison module 402 is configured to compare the tested mowing map with the modified mowing map to determine a boundary change region of a mowing area. The path planning module 403 is configured to determine a test path of a mower matching the boundary change region. The map updating module 404 is configured to update the tested mowing map based on the modified mowing map when the test of the test path of the mower passes.

[0065] The mowing map test device according to the example embodiment receives an instruction for modifying a tested mowing map to obtain a modified mowing map, compares the tested mowing map with the modified mowing map to determine a boundary change region of a mowing area, determines a test path of a mower matching the boundary change region, and updates the tested mowing map based on the modified mowing map when the test of the test path of the mower passes. The example embodiment compares the tested mowing map with the modified mowing map to obtain a modified part of the mowing map as a test path, and then performs a test according to the test path. When the test passes, the tested mowing map is updated based on the modified mowing map, thereby realizing a test on only the modified part of the mowing map, avoiding a full map test on the modified mowing map, improving the map test efficiency, reducing the test time consumption, and further improving the user experience.

[0066] Optionally, the map updating module 404 at least includes an information receiving unit 4041 and an information updating unit 4042; the information receiving unit 4041 is configured to receive the test result confirmation feedback information; and the information updating unit 4042 is configured to use the modified mowing map to cover the tested mowing map if the feedback information is test pass.

[0067] Optionally, the path planning module 403 is further configured to determine the start point and the end point of the mower test path according to the intersection of the boundary of the boundary change region and the boundary of the tested mowing region.

[0068] Optionally, the path planning module 403 is further configured to determine an extended region of the boundary change region, extend the boundary of the extended region to the boundary of the tested mowing region, and determine the start point and the end point of the mower test path according to the intersection of the boundary of the extended region and the boundary of the tested mowing region.

[0069] Optionally, the modifying module 401 is further configured to receive an instruction of deleting part of the boundary in the tested mowing map, delete the tested data corresponding to the part of the boundary, and obtain a mowing map after the part of the boundary is deleted; and update the tested mowing map based on the mowing map after the part of the boundary is deleted.

[0070] In addition, the mower map testing device 300 of the embodiments of the present application can also be used to implement other steps in the foregoing mower map testing method embodiments, and has the beneficial effects of the corresponding method step embodiments, which will not be described here.

[0071] The exemplary embodiments of the present application also provide a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to make a computer execute the method of the embodiments of the present application.

[0072] The exemplary embodiments of the present application also provide a computer program product, comprising a computer program, wherein the computer program is used to make a computer execute the method of the embodiments of the present application when the computer program is executed by a processor of the computer.

[0073] The exemplary embodiments of the present application also provide a mower, comprising one or more processors and a memory storing a program; wherein the program comprises instructions which, when executed by the processor, make the processor execute the method of the embodiments of the present application.

[0074] It should be noted that, in the description of the present application, the terms “first”, “second” are only used for convenience of description of different components or names, and cannot be understood as indicating or implying a sequential relationship, relative importance, or implicitly indicating the number of the indicated technical features. Therefore, the features limited by “first”, “second” can explicitly or implicitly include at least one of the 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 in the description herein is for describing particular embodiments only and is not intended to be limiting of the application.

[0076] It should be noted that, although the specific embodiments of the present application are described in detail with reference to the accompanying drawings, it should not be understood as limiting the scope of protection of the present application. Various modifications and changes made by those skilled in the art within the scope described in the claims are still within the scope of protection of the present application.

[0077] The examples of the embodiments of the present application are intended to simply illustrate the technical features of the embodiments of the present application, so that those skilled in the art can directly understand the technical features of the embodiments of the present application, and are not intended to be an improper limitation on the embodiments of the present application.

[0078] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A lawnmower map testing method characterized by, The method comprises: receiving an instruction for modifying the tested mowing map to obtain a modified mowing map; comparing the tested mowing map with the modified mowing map to determine a boundary change area of the mowing area; determining a mower test path matched with the boundary change area, wherein a test direction of the mower test path is consistent with a test direction of a corresponding boundary in the tested mowing map; updating the tested mowing map based on the modified mowing map when the mower test path passes the test; The determination of the mower test path matched with the boundary change area comprises: determining an extension area of the boundary change area, so that the boundary of the extension area extends to the boundary of the tested mowing area; and determining a starting point and an ending point of the mower test path according to the intersection of the boundary of the extension area and the boundary of the tested mowing area.

2. The method of claim 1, wherein, The determination of the mower test path matched with the boundary change area comprises: determining a starting point and an ending point of the mower test path according to the intersection of the boundary of the boundary change area and the boundary of the tested mowing area.

3. The method of claim 1, wherein, The modification of the tested mowing map to obtain the modified mowing map comprises: receiving an instruction for deleting part of the boundary in the tested mowing map, deleting the tested data corresponding to the part of the boundary, and obtaining a mowing map after the part of the boundary is deleted; updating the tested mowing map based on the mowing map after the part of the boundary is deleted.

4. The method of claim 1, wherein, The updating of the tested mowing map based on the modified mowing map when the mower test path passes the test comprises: receiving test result confirmation feedback information; if the feedback information indicates that the mower test path passes the test, using the modified mowing map to replace the tested mowing map.

5. The method of claim 4, wherein, The method further comprises: if the feedback information indicates that the mower test path fails the test, deleting the modified mowing map and keeping the tested mowing map.

6. A lawnmower map testing device characterized by It comprises: a modification module configured to receive an instruction for modifying the tested mowing map to obtain a modified mowing map; a map comparison module configured to compare the tested mowing map with the modified mowing map to determine a boundary change area of the mowing area; a path planning module configured to determine a mower test path matched with the boundary change area, wherein a test direction of the mower test path is consistent with a test direction of a corresponding boundary in the tested mowing map; a map updating module configured to update the tested mowing map based on the modified mowing map when the mower test path passes the test; The path planning module is further configured to determine an extension area of the boundary change area, so that the boundary of the extension area extends to the boundary of the tested mowing area; and determine a starting point and an ending point of the mower test path according to the intersection of the boundary of the extension area and the boundary of the tested mowing area.

7. The apparatus of claim 6, wherein, The map updating module at least comprises an information receiving unit and an information updating unit; the information receiving unit is configured to receive test result confirmation feedback information; and the information updating unit is configured to update the tested mowing map based on the modified mowing map when the mower test path passes the test. The information updating unit is configured to use the modified mowing map to overwrite the tested mowing map if the feedback information is a test pass.

8. A non-transitory computer-readable storage medium having stored thereon computer instructions, wherein, The computer instructions are configured to cause a computer to perform the method of any one of claims 1-5.

9. A lawnmower characterised in that, 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 method of any one of claims 1-5.

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