Lawn mower

Abstract

The present invention relates to a mower. The mower includes a mower body and a controller. The mower body includes a mowing blade for mowing. The controller identifies a depression on a ground surface on which the mower body cannot travel, based on three-dimensional point cloud data constituted by three-dimensional data of a plurality of positioning points in a target area, and sets a travel route of the mower body by avoiding the identified depression.

Description

Technical Field

[0001] This invention relates to a lawnmower. Background Technology

[0002] Japanese Unexamined Patent Application Publication No. 9-128045 (JP 9-128045A) discloses a method of manually operating a lawnmower within a target area while simultaneously performing a survey using a Global Positioning System (GPS) and obtaining map data from the survey data to create a movement route for the lawnmower. Summary of the Invention

[0003] Incidentally, the route created for the lawnmower should ideally avoid areas where the lawnmower cannot travel, such as areas where part of the field ridge has collapsed or where part of the ground has subsided.

[0004] However, as described in JP 9-128045A, manually operating a lawnmower to survey the entire target area is not easy due to the significant amount of work required when dealing with large tracts of farmland. Therefore, the aforementioned technology requires further improvement in this regard.

[0005] In view of the above facts, one object of the present invention is to provide a lawnmower that can easily set a travel route taking into account ground subsidence.

[0006] A lawnmower according to a first aspect of the present invention includes: a lawnmower body including a mowing blade for mowing grass; and a controller that identifies depressions on the ground where the lawnmower body cannot travel based on three-dimensional point cloud data composed of three-dimensional data of multiple positioning points in a target area, and sets the travel route of the lawnmower body by avoiding the identified depressions.

[0007] According to the first aspect of the present invention, the lawnmower identifies subsidence on the ground surface where the lawnmower body cannot travel, based on three-dimensional point cloud data composed of three-dimensional data of positioning points. Then, the travel route of the lawnmower body is set to avoid the identified subsidence. Therefore, for example, by obtaining three-dimensional point cloud data from aerial images of the target area, it is possible to easily set the travel route while taking into account subsidence on the ground surface.

[0008] In the lawnmower according to the second aspect of the invention, in the configuration according to the first aspect of the invention, the controller calculates the inclination of a virtual route created by connecting multiple data points of three-dimensional point cloud data, and identifies subsidence on the ground where the lawnmower body cannot travel based on the magnitude of the inclination of the virtual route.

[0009] In the lawnmower according to the second aspect of the invention, by calculating the inclination of the virtual route obtained from three-dimensional point cloud data, it is possible to identify depressions where the lawnmower cannot travel, taking into account the direction of travel of the lawnmower body.

[0010] In the lawnmower according to the third aspect of the invention, in the configuration according to the second aspect of the invention, when the magnitude of the inclination of the virtual route is greater than a first threshold and the length of the virtual route is greater than a second threshold, the controller identifies a subsidence on the ground where the lawnmower body cannot travel.

[0011] Incidentally, even in areas with deep subsidence, a lawnmower may be able to pass through a subsidence without having to avoid it, provided the route through the subsidence area is short.

[0012] In the lawnmower according to the third aspect of the present invention, since the travel route can be set by taking into account the length of the route through the sinkhole by using a second threshold, the travel route can be set such that the lawnmower moves over small sinkholes that do not affect the movement of the lawnmower body.

[0013] In the lawnmower according to the fourth aspect of the invention, in the configuration according to the third aspect of the invention, the second threshold is half the body length of the lawnmower body.

[0014] Incidentally, the number of depressions the lawnmower can overcome while driving also depends on the size of the lawnmower's body. For example, if the length of the route through the depression is greater than half the length of the lawnmower's body, the lawnmower may have difficulty overcoming the depression.

[0015] Therefore, in the lawnmower described in the fourth aspect of the present invention, the second threshold is set to half the length of the lawnmower body. Thus, the lawnmower can determine whether the depression is one that the lawnmower body cannot traverse, taking into account the size of the lawnmower body.

[0016] In the lawnmower according to the fifth aspect of the invention, in any configuration according to the first to fourth aspects of the invention, the three-dimensional point cloud data is three-dimensional point cloud data of an orthophoto of the target area, and based on the set travel route, the controller identifies areas in the target area where the lawnmower body has not traveled as unmowed areas in association with the orthophoto data.

[0017] In the lawnmower according to the fifth aspect of the invention, areas not mowed by the lawnmower are identified in association with orthophotos based on a set travel route. This makes it easy to share information about unmowed areas that require manual mowing.

[0018] In the lawnmower according to the sixth aspect of the invention, in the configuration according to the fifth aspect of the invention, the controller updates the unmowed areas based on the travel history of the lawnmower body.

[0019] In the lawnmower according to the sixth aspect of the invention, unmowed areas are updated based on the lawnmower's travel history. Thus, even if the set travel route changes for some reason and mowing is not performed on a portion of that area, the unmowed areas can still be detected.

[0020] As described above, the lawnmower according to the present invention has excellent advantages, namely, it can set the travel route taking into account ground subsidence. Attached Figure Description

[0021] The features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will be described below with reference to the accompanying drawings, wherein similar reference numerals refer to similar elements, and in the drawings:

[0022] Figure 1 This is a perspective view of the lawnmower according to this embodiment, viewed from above at an oblique angle;

[0023] Figure 2 This shows a side sectional view of the lawnmower according to this embodiment, in a partially broken state when viewed from the side;

[0024] Figure 3 This is a block diagram illustrating the hardware configuration of a lawnmower according to this embodiment;

[0025] Figure 4 This is a block diagram illustrating the functional configuration of a lawnmower according to this embodiment;

[0026] Figure 5 This is a schematic diagram illustrating an example of a virtual route created by connecting multiple data points included in 3D point cloud data;

[0027] Figure 6 It is a plan showing the farmland and its surrounding environment;

[0028] Figure 7 This is a flowchart illustrating an example of the route setting process flow according to this embodiment; and

[0029] Figure 8 This is a flowchart illustrating an example of the process flow for identifying unmowed areas according to this embodiment. Detailed Implementation

[0030] Below, refer to Figures 1 to 8The lawnmower 10 according to this embodiment will be described. Arrow FR indicates the front side in the front-rear direction of the lawnmower 10, arrow UP indicates the upper side in the up-down direction, and arrow RH indicates the right side in the left-right direction (width direction). Each of arrows FR, UP, and RH is appropriately shown in each figure. Furthermore, in the following description, when using the front-rear direction, up-down direction, and left-right direction, the front-rear direction of the lawnmower 10, the up-down direction of the lawnmower 10, and the left-right direction when the lawnmower 10 is facing the direction of travel are shown, unless otherwise specified.

[0031] like Figure 1 and Figure 2 As shown, the lawnmower 10 according to this embodiment is mainly configured to include a main body 12, a lawnmower blade unit 14, and a control unit 16. The main body 12 corresponds to the "lawnmower body" in this invention.

[0032] Main body 12

[0033] The main body 12 has a basically rectangular shape, with its lower side open, and includes track units 18 as a moving mechanism. The track units 18 are provided on the left and right sides at the front end of the main body 12, and on the left and right sides at the rear end of the main body 12.

[0034] Each track unit 18 includes a rubber track 18A, a drive wheel 18B, a first idler wheel 18C, and a second idler wheel 18D. The rubber track 18A has an endless belt shape and is wrapped around the drive wheel 18B, the first idler wheel 18C, and the second idler wheel 18D.

[0035] Drive wheel 18B is connected via a rotating shaft (not shown) to drive motor 35 located inside the main body 12 (see...). Figure 3 The drive motor 35 is configured such that power is supplied from a battery (not shown), and when the drive motor 35 operates using power supplied from the battery, the drive wheel 18B rotates and the rubber track 18A moves to circulate in one direction.

[0036] The first idler wheel 18C is positioned forward and downward relative to the drive wheel 18B and is rotatably attached to a rotating shaft (not shown) extending in the left-right direction. The first idler wheel 18C then rotates according to the movement of the rubber track 18A. The second idler wheel 18D is positioned rearward relative to the first idler wheel 18C and is rotatably attached to a rotating shaft (not shown) extending in the left-right direction. The second idler wheel 18D then rotates according to the movement of the rubber track 18A.

[0037] Here, the drive motor 35 is independently mounted on each of the four track units 18, and the lawnmower 10 can move in any direction when the four drive motors 35 are controlled. Figure 3 For ease of description, the four drive motors 35 are shown together.

[0038] A cover 20 is disposed on the front surface of the main body 12. The cover 20 is a substantially flat, plate-like member (where the front-to-back direction is the thickness direction) and extends in both vertical and horizontal directions. The lower end of the cover 20 is located below the lower end of the main body 12, and the gap between the main body 12 and the ground is reduced by the cover 20. The cover 20 prevents foreign objects such as stones from entering the lawnmower blade unit 14, described below.

[0039] In this embodiment, as an example, the cover 20 is only provided on the front surface of the body 12, but the provision of the cover 20 is not limited to the front surface of the body. For example, the same cover 20 can be provided on the rear surface and side surface of the body 12. In addition, the component for preventing foreign objects from entering can be provided on both side surfaces of the body 12 in the same manner as the cover 20.

[0040] Lawn mower blade unit 14

[0041] like Figure 2 As shown, the lawn mowing blade unit 14 is disposed inside the main body 12. The lawn mowing blade unit 14 is configured to include a rotating member 22, a lawn mowing blade 24, a rotating shaft 26, and a lawn mowing blade motor 28.

[0042] The rotating member 22 has a disc-shaped form (where the vertical direction is the thickness direction of the plate) and is disposed near the opening 12A on the lower side of the main body 12. Furthermore, the rotating member 22 is fixed to the rotating shaft 26 described below and is configured to rotate relative to the main body 12 together with the rotating shaft 26.

[0043] Multiple mowing blades 24 are disposed in the rotating member 22. The mowing blades 24 are attached to the outer peripheral end of the rotating member 22, and in this embodiment, as an example, four mowing blades 24 are disposed at equal intervals along the circumferential direction of the rotating member 22.

[0044] Each mowing blade 24 is made of a thin metal component, the vertical direction of which is the thickness direction, and each mowing blade is configured to mow grass.

[0045] A rotating shaft 26 is disposed in the center of the main body 12 and extends in the vertical direction. A rotating member 22 is attached to the lower end of the rotating shaft 26. In addition, the upper end of the rotating shaft 26 is connected to the lawn mower motor 28.

[0046] The lawnmower blade motor 28 is attached to the upper part of the main body 12 and is driven by electricity supplied from a battery (not shown) disposed in the main body 12. Furthermore, the lawnmower blade motor 28 includes an output shaft (not shown), and this output shaft and the rotating shaft 26 are connected via gears, pulleys, or the like (not shown). Therefore, when the lawnmower blade motor 28 is driven, rotational force is transmitted via the rotating shaft 26 to the rotating member 22, and the rotating member 22 rotates in one direction about the rotating shaft 26.

[0047] like Figure 1 and Figure 2 As shown, the control unit 16 is disposed on the upper surface of the main body 12 and includes a housing 16A that is substantially cuboid in shape.

[0048] A Global Positioning System (GPS) device 32 is attached to the upper surface of the housing 16A. The GPS device 32 is a means for measuring the current position of the lawnmower 10 and is configured to include an antenna (not shown) for receiving signals from GPS satellites.

[0049] The camera unit 34, serving as an imaging device, is attached to the front surface of the housing 16A. The camera unit 34 is a unit configured by combining multiple cameras and can capture images of the surrounding environment, including the direction of travel of the lawnmower 10. Furthermore, the control unit 16 is equipped with a controller 36.

[0050] Hardware configuration of the lawnmower 10

[0051] Figure 3 This is a block diagram showing the hardware configuration of the lawnmower 10. (Example) Figure 3 As shown, the controller 36 constituting the lawnmower 10 is configured to include a central processing unit (CPU: processor) 38, a read-only memory (ROM) 40, a random access memory (RAM) 42, a memory 44, a communication interface (communication I / F) 46, and an input-output interface (input-output I / F) 48. Each configuration is communicatively connected to each other via a bus 49.

[0052] CPU 38 is the central processing unit, which executes various programs and controls various units. In other words, CPU 38 reads programs from ROM 40 or memory 44 and uses RAM 42 as its working area to execute programs. Furthermore, CPU 38 controls each of the above configurations and performs various arithmetic operations according to the programs recorded in ROM 40 or memory 44.

[0053] ROM 40 stores various programs and data. RAM 42 is a non-transitory recording medium that temporarily stores programs or data in the working area. Memory 44 is a non-transitory recording medium, consisting of a hard disk drive (HDD) or a solid-state drive (SSD), and stores various programs, including the operating system, and various data. In this embodiment, memory 44 stores program 44A, which is the automatic movement program of the lawnmower 10. When program 44A is executed, the route setting process and the unmowed area identification process described below are performed. In addition, memory 44 stores various data, including orthophoto image data 44B of the mowing target area, three-dimensional point cloud data 44C, and the movement history data and map data of the main body 12.

[0054] The Communication I / F46 is the interface through which the lawnmower 10 communicates with other devices, and uses, for example, standards such as Controller Area Network (CAN), Ethernet (registered trademark), Long Term Evolution (LTE), Fiber Distributed Data Interface (FDDI), and Wi-Fi (registered trademark).

[0055] The input-output I / F48 is electrically connected to the GPS device 32, the camera unit 34, the drive motor 35, and the lawnmower blade motor 28. The controller 36 then controls the drive motor 35 based on information such as the surrounding images detected by the camera unit 34 and the current location of the lawnmower 10 acquired by the GPS device 32, so that the lawnmower 10 moves automatically.

[0056] It should be noted that the controller 36 can enable the lawnmower 10 to move automatically based on the lawnmower 10's travel plan, the remaining amount of battery (not shown), etc., obtained from an external source.

[0057] Features of the Lawn Mower 10

[0058] The lawnmower 10 utilizes the aforementioned hardware resources to implement various functions. (Refer to...) Figure 4 Describe the functional configuration implemented by the lawnmower 10.

[0059] like Figure 4 As shown, the lawnmower 10 is configured to include a sinkhole detection unit 50, a travel route setting unit 52, and an unmowed area detection unit 54 as its functional configuration. Each functional configuration is implemented when the CPU 38 reads and executes the program 44A stored in the ROM 40 or memory 44.

[0060] The subsidence identification unit 50 identifies subsidence on the ground surface where the main body 12 cannot move based on the three-dimensional point cloud data 44C of the grass-cutting target area stored in the storage 44.

[0061] The 3D point cloud data 44C consists of 3D data of multiple positioning points in the target area of ​​the lawn mowing, and is obtained, for example, during the creation of orthophoto data 44B through aerial photogrammetry. Specifically, control points, serving as reference points for horizontal position and altitude, are installed at locations that can be clearly identified on aerial photographs of the target area. Then, a camera mounted on a drone captures images of the target area. Various data, such as image data from the aerial photographs taken by the drone, external control elements of the image data, and survey data of the control points (control point result table data), are then imported into a known digital stereo plotter, and image analysis is performed, measuring the elevation value of each point in the image data. Thus, 3D point cloud data 44C of multiple positioning points in the target area of ​​the lawn mowing can be obtained.

[0062] A digital elevation model (DEM) of the target area is created based on 3D point cloud data 44C, and orthophoto conversion is performed using the DEM to correct the position of the subject from aerial photographs taken by a drone, thereby creating orthophoto data 44B. This DEM is model data in which three adjacent data points from multiple data points included in the 3D point cloud data 44C are connected to form a triangular irregular network (TIN), and elevation is represented by an equally spaced grid shape through interpolation applied to the shape of the ground surface. Therefore, the orthophoto data 44B obtained using the DEM displays at the correct size and position when viewed from directly above the subject in the image data without tilt, making the orthophoto data 44B geospatial information that can be overlaid on map data, etc.

[0063] Here, as Figure 5 As shown, the subsidence identification unit 50 connects multiple data points (D1 and D2) included in the three-dimensional point cloud data 44C to form a virtual route R1, and calculates the inclination θ of the virtual route R1 relative to the horizontal position H used as a reference. Then, based on the calculated inclination θ and the route length L of the virtual route R1, the subsidence identification unit 50 identifies subsidence on the ground surface that the main body 12 of the lawnmower 10 cannot traverse. In this embodiment, when the inclination of the virtual route R1 is greater than a first threshold and the route length L of the virtual route R1 is greater than a second threshold, the subsidence identification unit 50 identifies the virtual route R1 as a route that includes subsidence on the ground surface that the main body 12 cannot traverse.

[0064] The route setting unit 52 sets the route of the lawnmower 10's main body 12 by avoiding subsidence on the ground surface identified by the subsidence identification unit 50. Specifically, the route setting unit 52 sets the route by connecting the data points of the three-dimensional point cloud data 44C of the target area. At this time, among the multiple virtual routes R1 formed by the subsidence identification unit 50, virtual routes R1 that pass through subsidence on the ground surface that the main body 12 cannot travel on are excluded from the candidate routes. Therefore, a route can be set that avoids subsidence on the ground surface that the main body 12 cannot travel on.

[0065] Figure 6 An example of a travel route R2 is shown on orthophoto data 44B of cultivated land, which is the target area for mowing as viewed from above. Here, the area indicated by reference numeral P1 is cultivated land, such as rice paddies and fields. The areas indicated by reference numerals P2 to P5 are field ridges formed around the cultivated land. Figure 6 As shown, a travel route R2 extending in a straight line through the field ridge P2 is set to connect multiple data points in the three-dimensional point cloud data 44C included in the area.

[0066] The unmowed area identification unit 54 identifies unmowed areas within the mowing target area that are not mowed by the lawnmower 10. Specifically, the unmowed area identification unit 54 identifies areas that cannot be mowed due to terrain conditions, i.e., areas where the main body 12 cannot travel, from the route information of the set travel route R2 and the orthophoto data 44B of the target area. Then, the identified areas are stored as "unmowed areas" in association with the orthophoto data 44B. When the stored data is shared with an external terminal such as a wired or wireless communication device, unmowed areas that require manual mowing can be shared intuitively and easily with external parties.

[0067] Furthermore, the unmowed area identification unit 54 acquires the travel history of the subject 12 according to user requests or within a predetermined time period, and updates the unmowed areas based on the information of the actual route traveled by the subject 12. Thus, even if the set travel route R2 changes for some reason and mowing is not performed on a part of that area, the unmowed area can still be detected.

[0068] Effect

[0069] The effects of this embodiment will be described next.

[0070] Route setting process

[0071] Figure 7This is a flowchart illustrating an example of the route setting process flow performed by the lawnmower 10. The route setting process is executed by the CPU 38 reading program 44A from ROM 40 or memory 44 and extending it into RAM 42.

[0072] like Figure 7 As shown, in step S100, CPU38 acquires the three-dimensional point cloud data 44C stored in storage 44.

[0073] In step S101, CPU38 sets the virtual route R1. Specifically, as... Figure 5 As shown, multiple data points included in the 3D point cloud data 44C are connected to form a virtual route R1, and the inclination θ and route length L of the virtual route R1 are calculated.

[0074] In step S102, CPU 38 determines whether the inclination θ of the virtual route R1 is greater than a first threshold. If the inclination θ calculated in step S101 is greater than the first threshold, the process proceeds to step S103. Conversely, if CPU 38 determines that the inclination θ is equal to or less than the first threshold, the process proceeds to step S105, and a travel route is set. That is, when the inclination θ is equal to or less than the first threshold, it is determined that the main body 12 can travel through the virtual route R1, and a travel route R2 can be set without excluding the virtual route R1 (see [link]). Figure 6 ).

[0075] In step S103, CPU 38 determines whether the route length L of virtual route R1 is longer than the second threshold. When the route length L calculated in step S101 is longer than the second threshold, the process proceeds to step S104 to identify subsidence on the ground. That is, the identified virtual route R1 is identified as a route that the main body 12 cannot travel. On the other hand, when CPU 38 determines that the route length L is equal to or less than the second threshold, the process proceeds to step S105 and a travel route is set. That is, when the route length L is equal to or less than the second threshold, it is determined that the deeper subsidence is small enough for the main body 12 to cross, and a travel route R2 can be set without excluding virtual route R1.

[0076] CPU38 proceeds to step S105, sets the travel route R2 of the main body 12, and ends the route setting process. Specifically, multiple data points included in the 3D point cloud data 44C acquired in step S100 are connected to set the travel route R2. Here, CPU38 sets the travel route R2 by excluding the virtual route R1 that has been identified as a subsidence point on the ground in step S104. Therefore, a route can be set that avoids subsidence points on the ground where the main body 12 cannot travel.

[0077] Unmowed area identification process

[0078] Next, refer to Figure 8 The flowchart below will describe an example of the process flow for identifying undisturbed areas performed by the lawnmower 10. This undisturbed area identification process is executed by the CPU 38 reading program 44A from ROM 40 or memory 44 and expanding it into RAM 42.

[0079] like Figure 8 As shown, in step S200, CPU38 acquires route information related to the route R2 set by the route setting unit 52.

[0080] In step S201, CPU38 acquires orthophoto data 44B of the mowing target area corresponding to the acquired route information.

[0081] In step S202, the CPU 38 identifies unmowed areas based on the acquired route information and orthophoto data 44B. Specifically, areas where mowing cannot be performed due to some terrain reason, such as places with large subsidence on the ground or narrow field ridges (that is, areas where the main body 12 cannot travel), are identified as "unmowed areas." Then, the CPU 38 identifies and stores the "unmowed areas" in association with the orthophoto data 44B.

[0082] In step S203, CPU38 acquires the travel history of the main body 12, proceeds to step S204, updates the information about the stored unmowed grass area, and ends the process.

[0083] As described above, in the lawnmower 10 of this embodiment, subsidence on the ground surface where the main body 12 cannot travel is identified based on the three-dimensional point cloud data 44C in the target area for mowing. Then, the travel route of the main body 12 is set to avoid the identified subsidence. Therefore, for example, the three-dimensional point cloud data 44C is obtained from aerial images of the target area, thereby making it easy to set the travel route while taking into account subsidence on the ground surface.

[0084] Exactly, such as Figure 5 As shown, the lawnmower 10 calculates the inclination θ and route length L of the virtual route R1 formed by connecting multiple data points of the three-dimensional point cloud data 44C. Then, when the inclination θ is greater than a first threshold and the route length L is longer than a second threshold, the location of the virtual route R1 is identified as a subsidence on the ground where the main body 12 cannot travel.

[0085] As described above, the inclination of the virtual route R1 obtained from the 3D point cloud data 44C is calculated, thereby enabling the identification of depressions that the main body 12 cannot traverse, taking into account the direction of travel of the main body 12. Furthermore, since the travel route can be set by taking into account the route length through the depression area using a second threshold, a travel route can be set such that the main body 12 can cross over small depressions that do not affect its travel.

[0086] Incidentally, the number of depressions that the main body 12 can cross while traveling also depends on the size of the main body 12. For example, when the length L of the route through the depression area is greater than half the length of the main body 12, the main body 12 may have difficulty crossing the depression.

[0087] Therefore, in the lawnmower 10 according to this embodiment, the second threshold is set to half the length of the body 12. Thus, the lawnmower 10 can determine whether a depression is one that the body 12 cannot traverse, taking into account the size of the body 12.

[0088] In the lawnmower 10, undisturbed areas are identified in association with orthophoto data 44B based on the set travel route R2. This allows information about undisturbed areas requiring manual mowing to be easily shared with external terminals.

[0089] Furthermore, information about unmowed areas is updated based on the travel history of the lawnmower 10 (main body 12). As a result, even if the set travel route R2 changes for some reason and mowing is not performed on a part of that area, the unmowed area can still be detected.

[0090] It should be noted that various processors other than the CPU can also execute the processes performed by the CPU when it reads the software (program) in the above embodiments. Examples of processors in this case include programmable logic devices (PLDs) such as field-programmable gate arrays (FPGAs) (whose circuit configuration can be changed after production), application-specific circuits such as application-specific integrated circuits (ASICs), etc., which are processors having circuit configurations specifically designed to perform particular processes. Furthermore, each process can be executed by one of these various processors, or by a combination of two or more processors of the same or different types (e.g., a combination of multiple FPGAs, a combination of a CPU and an FPGA, etc.). The hardware structure of these various processors is more precisely a circuit in which circuit elements such as semiconductor elements are combined.

[0091] In each of the above embodiments, a configuration is employed to store various programs and data in storage 44, but this configuration is not limited to this. The programs and data can be recorded on non-transitory recording media such as optical disc read-only memory (CD-ROM), digital universal disc read-only memory (DVD-ROM), and universal serial bus (USB) memory. The programs and data can also be downloaded from an external device via the network to be provided.

Claims

1. A lawnmower, comprising: A lawnmower body, the lawnmower body including lawnmower blades for mowing grass; as well as The controller identifies ground depressions where the lawnmower cannot travel based on three-dimensional point cloud data composed of three-dimensional data from multiple positioning points in the target area, and sets the lawnmower's travel route by avoiding the identified depressions. The three-dimensional point cloud data is the three-dimensional point cloud data of the orthophoto of the target area, obtained during the creation of orthophoto data through aerial photogrammetry. The orthophoto data is created by creating a digital elevation model of the target area based on the three-dimensional point cloud data, and then using the digital elevation model to perform orthophoto conversion to correct the position of the subject from aerial photographs taken by a UAV. Based on the set travel route, the controller identifies areas within the target area where the lawnmower body has not traveled as unmowed areas by associating them with the orthophoto data, and The controller updates the unmowed area based on the travel history of the lawnmower body.

2. The lawnmower according to claim 1, wherein, The controller calculates the inclination of a virtual route created by connecting multiple data points of the 3D point cloud data, and identifies subsidence on the ground where the lawnmower body cannot travel based on the magnitude of the inclination of the virtual route.

3. The lawnmower according to claim 2, wherein, When the inclination of the virtual route is greater than a first threshold and the length of the virtual route is longer than a second threshold, the controller identifies it as a depression on the ground where the lawnmower body cannot travel.

4. The lawnmower according to claim 3, wherein, The second threshold is half the length of the lawnmower body.

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