A lawnmower steering control method and related apparatus

Abstract

The embodiment of the application discloses a mower steering control method and related device. The method comprises the following steps: acquiring a moving path of the mower, the moving path comprising a first moving path and a second moving path; controlling the mower to move a first preset distance along the first moving path or an extension line of the first moving path; and controlling the mower to change the moving direction multiple times and move along an arc path to complete steering of a first steering angle formed by the first moving path and the second moving path under the condition that a first preset condition is met, wherein the moving direction comprises a forward direction and a backward direction, and the arc paths of adjacent two times are tangent to each other when the moving direction is changed multiple times. Through implementation of the method, the problem that the action of rotating steering in place destroys the flatness of the lawn and reduces the service life of the grass can be effectively solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of garden tools, in particular to a lawn mower turning control method and related device. BACKGROUND

[0002] The intelligent lawn mower has the functions of automatic mowing, cleaning grass clippings, automatic returning to charging and the like, and is suitable for lawn trimming and maintenance in family courtyards and public places. The intelligent lawn mower needs to cover a limited space, and the intelligent lawn mower will continuously rotate the direction and work along different paths. Most intelligent lawn mowers mainly adopt the way of directly rotating in place to complete the turning. For most wheeled intelligent lawn mowers, the action of rotating in place will destroy the flatness of the lawn and even seriously reduce the life of the grass. SUMMARY

[0003] The embodiments of the present application disclose a lawn mower turning control method and related device, which can effectively solve the problem of destroying the flatness of the lawn and reducing the life of the grass caused by the action of rotating in place.

[0004] In a first aspect, the embodiments of the present application provide a lawn mower turning control method, and the method comprises the following steps:

[0005] obtaining a moving path of the lawn mower, wherein the moving path comprises a first moving path and a second moving path;

[0006] controlling the lawn mower to move a first preset distance along the first moving path or an extension line of the first moving path;

[0007] controlling the lawn mower to change the moving direction multiple times and move in an arc path to complete the turning of a first turning angle formed by the first moving path and the second moving path under the condition that a first preset condition is met, wherein the moving direction comprises a forward direction and a backward direction, and the arc paths of adjacent two times are tangent to each other when the moving direction is changed multiple times.

[0008] In a second aspect, the embodiments of the present application provide a lawn mower turning control device, and the device comprises:

[0009] an obtaining unit, configured to obtain a moving path of the lawn mower, wherein the moving path comprises a first moving path and a second moving path;

[0010] The control unit is configured to control the mower to move a first preset distance along the first movement path or an extension line of the first movement path, and to control the mower to change the moving direction multiple times and move along an arc-shaped path to complete a turning of a first turning angle formed by the first movement path and the second movement path when a first preset condition is met, the moving direction including a forward direction and a backward direction, and the arc-shaped paths of adjacent times of changing the moving direction are tangent to each other.

[0011] In a third aspect, an electronic device is provided, including a processor and a memory, the processor and the memory are connected to each other, wherein the memory is configured to store a computer program, the computer program includes program instructions, the processor is configured to invoke the program instructions, and execute the method in the first aspect.

[0012] In a fourth aspect, a computer readable storage medium is provided, the computer readable storage medium stores a computer program, the computer program includes program instructions, and the program instructions, when executed by a processor, cause the processor to execute the method in the first aspect.

[0013] In a fifth aspect, a computer program product is provided, the computer program product includes a non-transitory computer readable storage medium storing a computer program, and the computer program is configured to cause a computer to execute the method in the first aspect.

[0014] By acquiring the movement path of the mower and controlling the mower to move a first preset distance along the first movement path or an extension line of the first movement path, a region for turning of the mower can be reserved. Then, the mower is controlled to change the moving direction multiple times and move along an arc-shaped path to complete a turning of a first turning angle formed by the first movement path and the second movement path when a first preset condition is met, the moving direction including a forward direction and a backward direction. When the moving direction is changed multiple times, the arc-shaped paths of adjacent times are tangent to each other. Thus, the purpose of turning the mower from the first movement path to the second movement path can be achieved without affecting the flatness and service life of the lawn by rotating in place. BRIEF DESCRIPTION OF DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort.

[0016] Figure 1A flowchart of a mowing machine steering control method provided by an embodiment of the present application is shown in FIG. 1.

[0017] Figure 2a A schematic diagram of a first movement path and a second movement path provided by an embodiment of the present application is shown in FIG. 2.

[0018] Figure 2b A schematic diagram of another first movement path and a second movement path provided by an embodiment of the present application is shown in FIG. 3.

[0019] Figure 3a A mowing machine straight movement schematic diagram provided by an embodiment of the present application is shown in FIG. 4.

[0020] Figure 3b Another mowing machine straight movement schematic diagram provided by an embodiment of the present application is shown in FIG. 5.

[0021] Figure 4a A mowing machine steering path schematic diagram provided by an embodiment of the present application is shown in FIG. 6.

[0022] Figure 4b Another mowing machine steering path schematic diagram provided by an embodiment of the present application is shown in FIG. 7.

[0023] Figure 4c Still another mowing machine steering path schematic diagram provided by an embodiment of the present application is shown in FIG. 8.

[0024] Figure 5 A mowing machine steering control device composition schematic diagram provided by an embodiment of the present application is shown in FIG. 9.

[0025] Figure 6 A schematic diagram of an electronic device provided by an embodiment of the present application is shown in FIG. 10. DETAILED DESCRIPTION

[0026] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings. Obviously, the described embodiments are only some of the embodiments of the present application, but not all of the embodiments of the present application.

[0027] The terms “first” and “second” and the like in the specification of the present application and the accompanying drawings are used to distinguish different objects, or to distinguish different processing of the same object, but not to describe a specific order of the objects. In addition, the terms “include” and “have” and any variations thereof mentioned in the description of the present application are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units is not limited to the listed steps or units, but can optionally include other steps or units not listed, or can optionally include other steps or units inherent to the process, method, product or device.

[0028] It should be noted that in the embodiments of the present application, the words such as "exemplarily" or "for example" are used to represent an example, illustration or description. Any embodiment or design method described as "exemplarily" or "for example" in the embodiments of the present application should not be interpreted as more optimal or more advantageous than other embodiments or design methods. Rather, the words such as "exemplarily" or "for example" are intended to present the relevant concept in a specific manner. In the embodiments of the present application, "A and / or B" represents both A and B, or A or B. "A, and / or B, and / or C" represents any one of A, B, and C, or any two of A, B, and C, or A, B, and C.

[0029] Please refer to Figure 1 , Figure 1 A flowchart of a mowing machine turning control method provided by the embodiments of the present application is shown. The method can include the following steps S101-S103:

[0030] Step S101: Obtain a moving path of the mowing machine, the moving path including a first moving path and a second moving path.

[0031] After the mowing machine (for example, a processor inside the mowing machine, a sensor) obtains the boundary line and determines the mowing area according to the boundary line, the moving path can be determined in advance according to the mowing area.

[0032] In a possible implementation, the boundary line of the mowing area can be set by the user in advance. The method set by the user in advance includes but is not limited to that the user identifies an area on a map as a mowing area. When the mowing machine is turned on and works, the obtained boundary line is the boundary line of the mowing area set by the user in advance.

[0033] In a possible implementation, the boundary line of the mowing area can be determined by the mowing machine itself. The method for determining the boundary line of the mowing area by the mowing machine itself includes but is not limited to that the mowing machine determines by satellite positioning and / or an image sensor. For example, if a satellite positioning and / or an image sensor detects that there is a large difference in terrain on both sides of a line, the line is a boundary line, and / or if an obstacle (for example, a wall, a dam, etc.) is detected, the position of the obstacle can be taken as the boundary line.

[0034] In a possible implementation, the boundary line of the mowing area can be determined by the mowing machine and the user together. For example, after the mowing machine preliminarily obtains the boundary line of the mowing area according to the above method, the user confirms or modifies the preliminarily obtained boundary line. The embodiments of the present application do not make any limitation in this regard.

[0035] Step S102: Control the mowing machine to move along the first moving path or an extension line of the first moving path by a first preset distance.

[0036] In a possible implementation, the first moving path and the second moving path are moving paths determined according to the boundary lines of the mowing area.

[0037] Referring to Figure 2a , Figure 2a FIG. 1 is a schematic diagram of a first moving path and a second moving path provided by an embodiment of the present application. In the figure, the shaded part is a mowing area, and boundary line 1 and boundary line 2 are two boundary lines of the mowing area. If the mower needs to turn from boundary line 1 to boundary line 2, in Figure 2a , the first moving path is boundary line 1, and the second moving path is boundary line 2.

[0038] In a possible implementation, the first moving path and the second moving path are moving paths in the mowing area at a second preset distance from the boundary lines of the mowing area.

[0039] Referring to Figure 2b , Figure 2b FIG. 2 is another schematic diagram of a first moving path and a second moving path provided by an embodiment of the present application. In the figure, the shaded part is a mowing area, and boundary line 3 and boundary line 4 are two boundary lines of the mowing area. Boundary line 5 is a boundary line in the mowing area that is parallel to boundary line 3 and at a second preset distance from boundary line 3. Boundary line 6 is a boundary line in the mowing area that is parallel to boundary line 4 and at a second preset distance from boundary line 4. If the mower needs to turn from boundary line 5 to boundary line 6, in Figure 2b , the first moving path is boundary line 5, and the second moving path is boundary line 6. The shaded area between boundary line 3 and boundary line 5, and the shaded area between boundary line 4 and boundary line 6 are reserved areas. As can be seen, the reserved areas are also part of the mowing area.

[0040] In a possible implementation, the moving path can also be a moving path in the shape of a U or a W. The first moving path and the second moving path can be two connected moving paths in the shape of a W or a U. The present embodiment is not limited in this regard.

[0041] In the figure, the first moving path is a moving path in which the mower is currently located. The second moving path is a moving path to which the mower needs to turn from the first moving path.

[0042] In a possible implementation, the method of controlling the mower to move a first preset distance along the first movement path or the extension line of the first movement path can be: in a case where the angle between the first movement path and the second movement path is less than 180 degrees, controlling the mower to move back linearly a first preset distance along the first movement path; in a case where the angle between the first movement path and the second movement path is greater than 180 degrees and there is no obstacle within the first preset distance, controlling the mower to move forward linearly the first preset distance along the extension line of the first movement path.

[0043] Referring to Figure 3a , Figure 3a A schematic diagram of linear movement of a mower is provided in the embodiments of the present application. As shown in Figure 3a , the angle between the first movement path and the second movement path is less than 180 degrees. Point A is the intersection of the first movement path and the second movement path. Point B is a certain point on the first movement path. In a case where the mower is controlled to move forward to a preset range of point A or to a case where the movement speed of the mower is detected to be limited in the direction from point B to point A, the mower is controlled to move back a first preset distance in the direction from point A to point B. Thus, a turning area is reserved for the mower to turn from the first movement path to the second movement path.

[0044] Referring to Figure 3b , Figure 3b Another schematic diagram of linear movement of a mower is provided in the embodiments of the present application. As shown in Figure 3b , the angle between the first movement path and the second movement path is greater than 180 degrees. Point C is the intersection of the first movement path and the second movement path. Point D is a certain point on the first movement path, and point E is a certain point on the extension line of the first movement path. After the mower is controlled to move forward to point C in the direction from point D to point C, in order to reserve a turning space for the mower to turn to the second movement path, the mower can be controlled to continue to move forward a first preset distance in the direction from point C to point E after moving to point C.

[0045] It should be noted that the first movement path and the second movement path divide the mowing area and the non-mowing area into two areas, and each area corresponds to an angle between the first movement path and the second movement path. The angle between the first movement path and the second movement path in the present application actually refers to the angle between the first movement path and the second movement path corresponding to the mowing area.

[0046] Step S103: controlling the mower to change the moving direction multiple times and move in an arc-shaped path to complete the turning of the first turning angle formed by the first moving path and the second moving path, the moving direction including a forward direction and a backward direction, and the arc-shaped paths at adjacent times of changing the moving direction being tangent to each other.

[0047] In a possible implementation, the arc-shaped paths at adjacent times of changing the moving direction are in a herringbone shape.

[0048] In a possible implementation, the first preset condition includes that the angle of moving in the arc-shaped path reaches the second turning angle.

[0049] The second turning angle is an angle of a central angle corresponding to the arc-shaped path of the mower after a single turning is controlled. That is, when the angle of the mower moving in the arc-shaped path reaches the second turning angle, the moving direction is changed, the mower moves in the arc-shaped path again for the second turning angle, the moving direction is changed again, and the turning of the first turning angle formed by the first moving path and the second moving path is completed. For example, when the angle of the mower moving in the arc-shaped path reaches the second turning angle, the moving direction is changed to the backward direction, and when the angle of the mower moving in the arc-shaped path reaches the second turning angle, if the turning of the first turning angle formed by the first moving path and the second moving path is not completed, the moving direction is changed to the forward direction again, and the angle of the mower moving in the arc-shaped path reaches the second turning angle. In order to make the moving direction of the mower moving along the intersection of the first moving path and the second moving path to the second moving path be the forward direction, the moving direction of the mower in the last turning before successfully turning to the second moving path is made to be the backward direction.

[0050] Please refer to Figure 4a , Figure 4a A turning path diagram of the mower is provided in the embodiment of the present application. The arrow direction is the moving direction of the mower, the dashed line indicates the forward direction, and the solid line indicates the backward direction.

[0051] Figure 4aAfter the mower is controlled to move along the first moving path to point a1, since the angle between the first moving path and the second moving path is greater than 180 degrees, the mower is controlled to move forward by a first preset distance from point a1 to point a2, and then the moving direction is changed to backward, and the mower is controlled to move backward from point a2 to point a3. The angle of the central angle corresponding to the arc-shaped path between point a2 and point a3 is the second turning angle. When the mower is controlled to move backward to point a3, it indicates that the angle of this turning of the mower has reached the second turning angle. When the mower reaches point a3, it is determined whether the angle between the extension line of the mower body and the extension line of the second moving path exceeds a preset converging angle. If the preset converging angle is exceeded, the moving direction is changed to the forward direction. If the preset converging angle is not exceeded, the mower is controlled to move convergently to the second moving path (for example, Figure 4a the mower is controlled to move from point a3 to the second moving path). The preset converging angle is an angle at which the mower can be controlled to move finely. It should be noted that the path of the mower moving convergently to the second moving path does not belong to the arc-shaped path in the turning stage of the mower.

[0052] In a possible implementation, the second turning angle can be obtained according to the following steps A1-A2.

[0053] Step A1: obtaining a turning number according to the first turning angle and a preset turning angle. Step A2: obtaining the second turning angle according to the first turning angle and the turning number.

[0054] The first turning angle can be the angle between the first moving path and the second moving path corresponding to the mowing area, or can be an angle less than the preset angle of the angle between the first moving path and the second moving path corresponding to the mowing area, and the embodiments of the present application are not limited in this regard. The preset angle is the angle of the central angle corresponding to the arc line of the arc-shaped path through which the mower moves after a single turning.

[0055] For example, assuming that the first turning angle is θ and the preset turning angle is α, the turning number n can be obtained according to the first turning angle θ and the preset turning angle α. wherein, represents the floor value of the value in After obtaining the turning number n, if n is an odd number, it is determined whether the value of θ-n×α exceeds the preset converging angle. If not, the planned turning number N is n, and the second turning angle is the preset turning angle. If yes, the planned turning number N is n+2, and the second turning angle is Alternatively, it is not determined whether the value of θ-n×α exceeds the preset converging angle. If the turning number n is an odd number, the planned turning number N is n+2, and the second turning angle is If the number of turns n is even, then the planned number of turns N = n + 1, and the second turning angle is... In this embodiment, the first backward movement of the lawnmower is taken as the start of the turning phase. The lawnmower's movement direction alternates between forward and backward. Therefore, by controlling the planned number of turns to be odd, it is ensured that the movement direction of the arc path of the last turn in the turning phase is backward. This ensures that the lawnmower's movement direction when converging to the second movement path is forward. The preset turning angle α is a preset maximum single turning angle of the lawnmower that is less than 90 degrees.

[0056] For example, assuming the first steering angle is θ, the preset steering angle is α, and the preset convergent angle is β, then the number of steering maneuvers can be calculated first. in, Indicates to The value in n is rounded up. If n is odd, then the planned number of turns N = n, and the second turning angle is... If n is even, then the planned number of turns is N = n + 1, and the second turning angle is... It should be noted that, in this case, the first turning angle can be the angle between the first and second movement paths corresponding to the mowing area mentioned above, or it can be a preset angle greater than the angle between the first and second movement paths corresponding to the mowing area. This application embodiment does not limit this. In this application embodiment, controlling the lawnmower to move backward for the first time is taken as the start of the lawnmower turning phase. The lawnmower's movement direction alternates between forward and backward directions. Therefore, by controlling the planned number of turns to be odd, it is ensured that the movement direction of the arc path of the last turn in the lawnmower turning phase is backward. This ensures that the lawnmower's movement direction when converging to the second movement path is forward. The preset turning angle α is a preset maximum single turning angle of the lawnmower that is less than 90 degrees.

[0057] In practical applications of lawnmowers, it is ideal for the turning angle to always be the second turning angle. In most cases, lawnmowers cannot guarantee that the turning angle will always be the second turning angle. For example, if the lawnmower has already entered the preset range of the first / second movement path before the turning angle reaches the second turning angle, it is impossible to control the turning angle to reach the second turning angle.

[0058] Therefore, in one possible implementation, the first preset condition includes detecting that the lawnmower's movement speed is limited when the lawnmower is within a preset range of the first movement path, the second movement path, or an obstacle.

[0059] Please see Figure 4b , Figure 4bAnother turning path diagram of the mower is provided in the embodiments of the present application. Wherein the arrow direction is the moving direction of the mower, the dotted line represents the moving direction is the forward direction, and the solid line represents the moving direction is the backward direction.

[0060] Figure 4b After the mower is controlled to move along the first moving path to point b1, since the angle between the first moving path and the second moving path is less than 180 degrees, when the mower is controlled to move forward along the first moving path to a preset range of the intersection point (point b1) of the first moving path and the second moving path or when it is detected that the moving speed of the mower is limited, the mower is controlled to move backward along the direction from point b1 to point b6 to point b2 by a first preset distance. Then the moving direction of the mower is changed to backward, and the mower is controlled to move from point b2 to point b3 along an arc-shaped path. The angle corresponding to the arc-shaped path between point b2 and point b3 may not reach the second turning angle, but since b3 is already on the second moving path, the mower cannot continue to move forward. Therefore, although the turning angle does not reach the second turning angle, when it is detected that the moving speed of the mower is limited after the mower is located in the preset range of the second moving path, the moving direction of the mower is still changed to the backward direction, and the mower is moved from point b3 to point b4 along the arc-shaped path. When the mower is located at point b4, it is determined whether the angle between the mower and the second moving path exceeds the preset converging angle. In Figure 4b When the mower is located at point b4, the angle between the mower and the second moving path exceeds the preset converging angle. Therefore, the moving direction of the mower is changed to the forward direction again, and the mower is moved from point b4 to point b5 along the arc-shaped path. The moving direction of the mower is changed to the backward direction again, and the mower is moved from point b5 to point b6 along the arc-shaped path. It is determined again whether the angle between the mower and the second moving path when the mower is located at point b6. At this time, the angle between the mower and the second moving path does not exceed the preset converging angle, and therefore the mower is controlled to converge and move to point b7 on the second moving path.

[0061] By Figure 4a and Figure 4bIt can be seen that when the angle between the first movement path and the second movement path is greater than 180 degrees, it is more convenient to control the mower to turn. Therefore, in a possible implementation, if the first movement path and the second movement path are movement paths corresponding to the boundary line of the mowing area at a second preset distance from the boundary line of the mowing area, if the angle between the first movement path and the second movement path is less than 180 degrees, the angle between the first movement path and the second movement path on the side of the reserved area is greater than 180 degrees. Therefore, the mower can be controlled to turn in the reserved area to achieve the purpose of turning from the first movement path to the second movement path. When the angle between the first movement path and the second movement path is greater than 180 degrees, the mower can be turned by the above method without using the reserved area. Since the reserved area is part of the mowing area, the mower also needs to be controlled to work on the reserved area. In a possible implementation, the mower can be controlled to work on the reserved area in an arch shape or a back-to-back shape. It can be understood that when the mower is controlled to work on the reserved area in an arch shape or a back-to-back shape, the above mower turning control method can also be used to control the mower to turn to achieve the purpose of controlling the mower to work on the reserved area in an arch shape or a back-to-back shape. It can be understood that in the non-reserved area of the mowing area, the mower can also be controlled to work in an arch shape or a back-to-back shape. The embodiments of the present application do not limit this.

[0062] In a possible implementation, the mower can be controlled to turn at a preset turning angle first, and then when it is not possible to continue to turn at the preset turning angle (for example, reaching the first movement path or the second movement path in advance, or encountering an obstacle and being unable to continue to move in the current movement direction), the mower can be controlled to turn at an angle smaller than the preset turning angle, so as to achieve the purpose of turning from the first movement path to the second movement path.

[0063] In a possible implementation, the movement speed in the backward direction is not more than the movement speed in the forward direction.

[0064] If the front and rear of the mower are both provided with image sensors, the image sensors can be used to determine whether there is an obstacle in the movement direction, so as to quickly limit the movement speed of the mower. At this time, the movement speed in the backward direction can be made consistent with the movement speed in the forward direction. However, in actual situations, only the front of the mower can be provided with an image sensor. When the movement direction of the vehicle is backward, if the speed is too fast, the mower can collide with the obstacle and be damaged due to the failure to sense the obstacle in time. Therefore, the movement speed of the mower when moving backward can be limited to be less than the movement speed when moving forward. In this way, the working safety of the mower is ensured to a certain extent.

[0065] In one possible implementation, under the condition of satisfying a second preset condition, the lawnmower is controlled to rotate in place to complete the first turning angle formed by the first moving path and the second moving path. The second preset condition includes at least one of the following: the turning time of the lawnmower from the first moving path to the second moving path exceeds a preset turning time; the number of times the lawnmower turns from the first moving path to the second moving path exceeds a preset number of turns.

[0066] In some practical situations, it may be impossible to control the lawnmower to complete the transition from the first movement path to the second. For example, the lawnmower may get stuck in a loop, repeatedly moving along one or more fixed arc-shaped paths without being able to turn to the second movement path. Since the primary function of a lawnmower is to trim the lawn, in certain special circumstances, it can be controlled to rotate in place to complete the transition between the first and second movement paths. For example, after calculating the number of turns or the turning time, a preset number of turns can be set as N times the number of turns and / or a preset turning time can be set as M times the turning time. When it is determined, based on the number of turns and / or the turning time, that the number of turns and / or the turning time exceed the preset number of turns and / or the turning time, the lawnmower can be controlled to rotate in place to achieve the purpose of turning from the first movement path to the second movement path. This allows the lawnmower to continue working without getting stuck in a loop and requiring manual intervention.

[0067] If there are missed cutting areas on the second moving path, the method further includes the following steps:

[0068] Control the lawnmower to reverse to the missed area; or control the lawnmower to turn from the second movement path to the first movement path.

[0069] For example, such as Figure 4b As shown in the path diagram illustrating the control of the lawnmower from the first movement path to the second movement path, the lawnmower did not pass through the area near point b1 to point b3 of the second movement path. In other words, the lawnmower missed mowing the area near point b1 to point b3. Therefore, after controlling the lawnmower to turn from the first movement path to point b7 of the second movement path, it can be controlled to retreat to point b1 or a preset range of point b1, allowing the lawnmower to operate in the area near point b1 to point b3 of the second movement path, thus solving the problem of missed mowing to some extent.

[0070] In another possible scenario, please see Figure 4c , Figure 4cAnother turning path diagram of the mower is provided in an embodiment of the present application. The arrow direction is the moving direction of the mower, the dotted line indicates the moving direction is the forward direction, and the solid line indicates the moving direction is the backward direction.

[0071] In the above-mentioned embodiment, the mower is controlled to turn at the turning angle formed by the first moving path and the second moving path. Figure 4c In the above-mentioned embodiment, the mower is controlled to turn at the turning angle formed by the first moving path and the second moving path.

[0072] In a possible implementation, the moving path further includes a third moving path. The third moving path is connected with the second moving path, and the mower turns from the second moving path to the third moving path. The method further includes the following steps:

[0073] The second moving path is set as a new first moving path, the third moving path is set as a new second moving path, and the turning of a third turning angle formed by the new first moving path and the new second moving path is completed according to the method described in the steps S101-S103.

[0074] That is, the turning is not only between two specified connected moving paths, but also between any two connected moving paths. The current moving path of the mower is the first moving path, and the moving path to which the mower is about to turn is the second moving path. After the mower turns to the second moving path, the second moving path becomes the first moving path in the next round of turning, and the third moving path connected with the second moving path and to which the mower is about to turn becomes the second moving path in the next round of turning. Thus, the boundary turning and the work of the entire mowing area can be completed.

[0075] In a possible implementation, when the boundary of the mowing area is acquired, the moving path can be determined in advance according to the mowing area, so that the method for controlling the turning of the mower can be obtained according to the above steps. However, in actual situations, the mower can determine the moving path again according to the current actual situation, and in the case that the mower cannot turn according to the generated method for controlling the turning of the mower, the method for controlling the turning of the mower can be obtained again according to the above steps in combination with the actual situation and the determined moving path.

[0076] The device related to the embodiments of the present application is described below with reference to the drawings.

[0077] Please refer to Figure 5 , Figure 5 A composition diagram of a mower turning control device provided by the embodiments of the present application is shown in FIG. 5. The mower turning control device 500 can include:

[0078] An acquisition unit 501 is configured to acquire a moving path of the mower, the moving path including a first moving path and a second moving path.

[0079] A control unit 502 is configured to control the mower to move a first preset distance along the first moving path or an extension line of the first moving path, and to control the mower to change the moving direction multiple times and move in an arc path to complete a turning of a first turning angle formed by the first moving path and the second moving path when a first preset condition is met, the moving direction including a forward direction and a backward direction, and the arc paths at adjacent times of changing the moving direction being tangent to each other.

[0080] Optionally, the first preset condition includes that the angle of moving in the arc path reaches a second turning angle.

[0081] Optionally, the first preset condition includes that the moving speed of the mower is detected to be limited when the mower is located within a preset range of the first moving path, the second moving path or an obstacle.

[0082] Optionally, the mower turning control device 500 can further include:

[0083] A processing unit 503 is configured to obtain a turning frequency according to the first turning angle and a preset turning angle, and to obtain the second turning angle according to the first turning angle and the turning frequency.

[0084] Optionally, the control unit 502 is further configured to control the mower to move straight back by a first preset distance along the first movement path when the angle between the first movement path and the second movement path is less than 180 degrees; and control the mower to move straight forward by the first preset distance along the extension line of the first movement path when the angle between the first movement path and the second movement path is greater than 180 degrees and there is no obstacle within the first preset distance.

[0085] Optionally, the adjacent two arc-shaped paths are in a herringbone shape when the movement direction is changed multiple times.

[0086] Optionally, the control unit 502 is further configured to control the mower to rotate in place to complete a turning of a first turning angle formed by the first movement path and the second movement path when a second preset condition is met, wherein the second preset condition includes at least one of the following:

[0087] The turning duration of the mower from the first movement path to the second movement path exceeds a preset turning duration;

[0088] The number of times of turning of the mower from the first movement path to the second movement path exceeds a preset number of times of turning.

[0089] Optionally, the control unit 502 is further configured to control the mower to move back to the missed mowing area; or control the mower to turn from the second movement path to the first movement path.

[0090] Optionally, the moving speed in the backward direction does not exceed the moving speed in the forward direction.

[0091] Optionally, the first movement path and the second movement path are movement paths in the mowing area at a second preset distance from the boundary line of the mowing area.

[0092] Optionally, the movement path further includes a third movement path, the third movement path is connected to the second movement path, the mower turns from the second movement path to the third movement path, the processing unit 503 is further configured to set the second movement path as a new first movement path; and set the third movement path as a new second movement path.

[0093] The control unit 502 is further configured to control the mower to complete a turning of a third turning angle formed by the new first movement path and the new second movement path according to Figure 1 The corresponding method completes a turning of a third turning angle formed by the new first movement path and the new second movement path.

[0094] The specific function implementation of the mower steering control device 500 can be seen from Figure 1 The corresponding method steps will not be described here.

[0095] Please refer to Figure 6 , Figure 6 A composition schematic diagram of an electronic device provided by the embodiment of the present application. It can include a processor 110, a memory 120, wherein the processor 110, the memory 120 and the communication interface 130 are connected through a bus 140, the memory 120 is used to store instructions, and the processor 110 is used to execute the instructions stored in the memory 120 to realize the method as Figure 1 The corresponding method steps.

[0096] The processor 110 is used to execute the instructions stored in the memory 120 to control the communication interface 130 to receive and send signals, and complete the steps in the above method. Wherein, the memory 120 can be integrated in the processor 110, or can be set separately from the processor 110.

[0097] As an implementation manner, the function of the communication interface 130 can be realized by a transceiver circuit or a special transceiver chip. The processor 110 can be realized by a special processing chip, a processing circuit, a processor or a general-purpose chip.

[0098] As another implementation manner, the electronic device provided by the embodiment of the present application can be realized by using a general-purpose computer. That is, the program code realizing the functions of the processor 110 and the communication interface 130 is stored in the memory 120, and the general-purpose processor realizes the functions of the processor 110 and the communication interface 130 by executing the code in the memory 120.

[0099] The concepts, explanations, detailed descriptions and other steps related to the technical solutions provided by the embodiment of the present application involved in the electronic device are described in the foregoing method or the description of the method steps performed by the device in other embodiments, and will not be described here.

[0100] As another implementation manner of the embodiment, a computer readable storage medium is provided, which stores instructions, and the instructions are executed to perform the method in the method embodiment.

[0101] As another implementation manner of the embodiment, a computer program product containing instructions is provided, and the instructions are executed to perform the method in the method embodiment.

[0102] Those skilled in the art can understand that, in order to facilitate the description, Figure 6Only one memory and one processor are shown in FIG. 1. In actual terminals or servers, there can be multiple processors and memories. The memory can also be referred to as a storage medium or a storage device, and the like, and the embodiments of the present application do not limit this.

[0103] It should be understood that, in the embodiments of the present application, the processor can be a central processing unit (CPU), and the processor 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 gates or transistor logic devices, discrete hardware components, and the like.

[0104] It should also be understood that the memory mentioned in the embodiments of the present application can be a volatile memory or a non-volatile memory, or can include both volatile and non-volatile memories. The non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically EPROM (EEPROM), or a flash memory. The volatile memory can be a random access memory (RAM) used as an external cache. By way of example, but not limitation, many forms of RAM can be used, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced SDRAM (ESDRAM), Synchlink DRAM (SLDRAM), and direct Rambus RAM (DR RAM).

[0105] It should be noted that when the processor is a general processor, a DSP, an ASIC, a FPGA or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, the memory (storage module) is integrated in the processor.

[0106] It should be noted that the memory described herein is intended to include, but not limited to, these and any other suitable type of memory.

[0107] The bus can include, in addition to the data bus, a power bus, a control bus, a status signal bus, etc. However, for the sake of clarity, all the buses are marked as bus in the figure.

[0108] It should also be understood that the first, second, third, fourth, and various numerical references involved herein are only for the convenience of differentiation for description, and do not limit the scope of the application.

[0109] It should be understood that the term "and / or" herein is only a description of the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B can represent the existence of A alone, the existence of A and B, and the existence of B alone. In addition, the character " / " herein generally represents an "or" relationship between the associated objects before and after it.

[0110] In the implementation process, each step of the above method can be completed by the integrated logic circuit of hardware in the processor or the instruction in the form of software. The steps of the method disclosed in combination with the embodiments of the application can be directly embodied as hardware processor execution completion, or executed by hardware and software modules in the processor. The software module can be located in a mature storage medium in the art such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, register, etc. The storage medium is located in the memory, and the processor reads the information in the memory, and combines the hardware to complete the steps of the above method. To avoid repetition, it will not be described in detail here.

[0111] In various embodiments of the application, the size of the serial number of the above processes does not mean the order of execution, and the execution order of the processes should be determined by its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the application.

[0112] Those of skill in the art would understand that the various illustrative logical blocks and steps described in connection with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or combinations of both. The disclosure is not limited to implementations set forth herein, but the proper scope of equivalents, cover all functionally equivalent methods, apparatus, and articles of manufacture. Although various illustrative components of the disclosure have been described with reference to the embodiments, the paten is not limited to the components or the operations described and illustrated herein, but covers all steps, structures, and combinations of components and operations known or to be developed that accomplish the same functions described and its equivalents.

[0113] In several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be implemented in other ways. For example, the above-described device embodiments are merely illustrative, for example, the division of the units is only a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some interface, device or unit, and can be electrical, mechanical or other forms.

[0114] The units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, that is, they can be located in one place, or can be distributed on multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.

[0115] In addition, the functional units in each embodiment of the present application can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit.

[0116] In the above embodiments, all or part of the embodiments can be implemented by software, hardware, firmware or any combination thereof. When implemented by software, all or part of the embodiments can be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present application are generated. The computer can be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions can be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another computer readable storage medium, for example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center through wired (such as coaxial cable, optical fiber, digital subscriber line) or wireless (such as infrared, wireless, microwave, etc.) manner. The computer readable storage medium can be any available medium accessible by a computer or a data storage device such as a server, data center, etc. integrated with one or more available media. The available media can be magnetic media (for example, floppy disk, hard disk, magnetic tape), optical media (for example, DVD), or semiconductor media (for example, solid state disk) and the like.

[0117] The above description is merely a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical scope disclosed in the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A mower steering control method characterized by, The method comprises the following steps: acquiring a moving path of the mower, the moving path comprising a first moving path and a second moving path; in a case where an angle between the first moving path and the second moving path is less than 180 degrees, controlling the mower to move straight back along the first moving path by a first preset distance, the angle between the first moving path and the second moving path being an angle between the first moving path and the second moving path corresponding to a mowing area; in a case where the angle between the first moving path and the second moving path is greater than 180 degrees and there is no obstacle within the first preset distance, controlling the mower to move straight forward along an extension line of the first moving path by the first preset distance; controlling the mower to change a moving direction multiple times and move along an arc path to complete a turn of a first turning angle formed by the first moving path and the second moving path in a case where a first preset condition is met, the moving direction comprising a forward direction and a backward direction, the forward direction and the backward direction being alternately performed, and adjacent arc paths being tangent to each other when the moving direction is changed multiple times.

2. The method of claim 1, wherein, The first preset condition comprises that an angle of the mower moving along the arc path reaches a second turning angle.

3. The method of claim 1, wherein, The first preset condition comprises that a moving speed of the mower is detected to be limited when the mower is located within a preset range of the first moving path, the second moving path or an obstacle.

4. The method of claim 2, wherein, The second turning angle is obtained according to the following steps: obtaining a turning number according to the first turning angle and a preset turning angle; obtaining the second turning angle according to the first turning angle and the turning number.

5. The method of claim 1, wherein, The adjacent arc paths are herringbone-shaped when the moving direction is changed multiple times.

6. The method of claim 1, wherein, controlling the mower to complete the turn of the first turning angle formed by the first moving path and the second moving path by rotating in place in a case where a second preset condition is met, the second preset condition comprising at least one of the following: controlling a turning duration of the mower from the first moving path to the second moving path to exceed a preset turning duration; controlling a turning number of the mower from the first moving path to the second moving path to exceed a preset turning number.

7. The method of claim 1, wherein, In a case where there is a missed mowing area on the second moving path, the method further comprises the following steps: controlling the mower to move back to the missed mowing area; or, controlling the mower to turn from the second moving path to the first moving path.

8. The method of claim 1, wherein, The moving speed when the moving direction is the backward direction does not exceed the moving speed when the moving direction is the forward direction.

9. The method of claim 1, wherein, The first moving path and the second moving path are moving paths within the mowing area at a second preset distance from a boundary line of the mowing area.

10. The method according to any one of claims 1 to 9, characterized in that, The moving path further comprises a third moving path, the third moving path being connected to the second moving path, the mower turning from the second moving path to the third moving path, and the method further comprises the following steps: setting the second moving path as a new first moving path; setting the third moving path as a new second moving path; The method according to any one of claims 1-9 is used to complete turning of a third turning angle formed by the new first moving path and the new second moving path.

11. A mower steering control device characterized by comprising: The device comprises: An acquisition unit is configured to acquire a moving path of the mower, the moving path comprising a first moving path and a second moving path; A control unit is configured to, in a case where an angle between the first moving path and the second moving path is less than 180 degrees, control the mower to move straight back by a first preset distance along the first moving path, the angle between the first moving path and the second moving path being an angle between the first moving path and the second moving path corresponding to a mowing area; in a case where the angle between the first moving path and the second moving path is greater than 180 degrees and there is no obstacle within the first preset distance, control the mower to move straight forward by the first preset distance along an extension line of the first moving path, and in a case where a first preset condition is met, control the mower to change a moving direction multiple times and move along an arc-shaped path to complete turning of a first turning angle formed by the first moving path and the second moving path, the moving direction comprising a forward direction and a backward direction, the forward direction and the backward direction being alternately performed, and in the multiple times of changing the moving direction, adjacent two arc-shaped paths are tangent to each other.

12. An electronic device, comprising: A device comprises a processor and a memory, which are connected to each other, wherein the memory is configured to store a computer program, the computer program comprises program instructions, and the processor is configured to invoke the program instructions to execute the method according to any one of claims 1-10.

13. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program, the computer program comprises program instructions, and the program instructions, when executed by a processor, cause the processor to execute the method according to any one of claims 1-10.

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