Control method of mowing robot and mowing robot

Abstract

The application discloses a mowing robot control method and a mowing robot. The mowing robot control method comprises the following steps: controlling the mowing robot to work in a first working area; when a preset condition is met, controlling the mowing robot to move to a second working area to continue working; wherein one of the first working area and the second working area is a first cable defined area, and the other of the first working area and the second working area is a non-first cable defined area. The application solves the problem that the mowing robot cannot work normally when the mowing area is large, and realizes that the mowing robot can perform full coverage mowing work on a large area mowing area.

Description

Technical Field

[0001] This invention relates to the field of lawn mowing robot control technology, and in particular to a control method for a lawn mowing robot and a lawn mowing robot. Background Technology

[0002] With the development of science and technology, environmentally friendly and intelligent lawn mowing robots have gradually appeared in the public eye. Due to their advantages such as safety, noiselessness, and high level of intelligence, they have become the new favorite in the lawn mowing robot market.

[0003] Currently, traditional lawnmower robots operate within a single electronic boundary set in their work area. However, this electronic boundary has a limited area. If the work area is large, the lawnmower robot may be too far from the electronic boundary to detect its signal, thus preventing it from operating properly. Summary of the Invention

[0004] This invention provides a control method for a lawn mowing robot and a lawn mowing robot in general, to solve the problem that lawn mowing robots cannot work properly when the working area is large.

[0005] According to one aspect of the present invention, a control method for a lawnmower robot is provided, the control method comprising:

[0006] Control the lawnmower robot to operate within the first working area;

[0007] When preset conditions are met, the lawnmower robot is controlled to move to the second working area to continue its work;

[0008] Wherein, one of the first working area and the second working area is an area defined by the first cable, and the other of the first working area and the second working area is an area not defined by the first cable.

[0009] Optionally, the first cable is electrically connected to a signal generator, and the signal generator is also electrically connected to a guiding module, which extends from one of the first working area and the second working area to the other of the first working area and the second working area.

[0010] The control of the lawnmower robot to move to the second working area to continue operation includes:

[0011] The lawnmower robot is controlled to move along the guide module to the second working area to continue its work.

[0012] Optionally, the lawnmower robot includes:

[0013] An image sensor is used to identify the boundary between the working area and the non-working area when working in the first working area and the second working area, in an area not defined by the first cable;

[0014] A magnetic induction module is used to identify the boundary between the working area and the non-working area when working in the first working area and the second working area, wherein the area is defined by the first cable.

[0015] Optionally, when the lawnmower robot is operating in the area defined by the first cable in the first working area and the second working area, the image sensor cannot identify the boundary between the working area and the non-working area;

[0016] When the lawnmower robot is operating in the first working area and the second working area, in an area not defined by the first cable, the magnetic induction module cannot identify the boundary between the working area and the non-working area.

[0017] Optionally, the first working area is adjacent to the second working area, the first cable generates a first signal through the signal generator, the guiding module is a second cable, and the second cable generates a second signal through the signal generator;

[0018] The control method for the lawnmower robot also includes:

[0019] The lawnmower robot is controlled to determine its current working area based on the first signal and the second signal;

[0020] Based on the current working area of ​​the lawnmower robot, the robot is controlled to switch between the first working area and the second working area via the guidance module.

[0021] Optionally, the other of the first working area and the second working area is the area defined by the guidance module;

[0022] The control of the lawnmower robot to move to the second working area to continue operation includes:

[0023] After controlling the lawnmower to move along the first cable to the signal generator, control the lawnmower to move along the guide module to the second working area to continue working;

[0024] Alternatively, after controlling the lawnmower to move along the guide module to the signal generator, the lawnmower can be controlled to move along the first cable to the second working area to continue working.

[0025] Optionally, the second working area surrounds the first working area, or the first working area surrounds the second working area.

[0026] Optionally, the control method for the lawnmower robot further includes:

[0027] After completing the task in the second work area, the lawnmower robot is controlled to move along the guide module to the next work area.

[0028] Alternatively, the signal generator is electrically connected to multiple guide modules, and each guide module extends to a corresponding work area, controlling the lawnmower robot to move along the corresponding guide module to the corresponding work area for operation.

[0029] Optionally, the signal generator is also connected to an obstacle avoidance module, which is used to define non-working areas;

[0030] The control method for the lawnmower robot also includes:

[0031] Once it is determined that the current location of the lawnmower robot contains a non-working area, the lawnmower robot is controlled to execute an obstacle avoidance strategy.

[0032] Optionally, the guidance module can be used as an obstacle avoidance module, which is used to define the non-working area.

[0033] According to another aspect of the present invention, a lawnmower robot is provided, the lawnmower robot comprising:

[0034] At least one processor; and

[0035] A memory communicatively connected to the at least one processor; wherein,

[0036] The memory stores a computer program that can be executed by the at least one processor, which enables the at least one processor to perform the control method for the lawnmower robot according to any embodiment of the present invention.

[0037] The technical solution of this invention involves controlling the lawnmower robot to operate within a first working area; when preset conditions are met, the lawnmower robot is then controlled to move to a second working area to continue operating; wherein, one of the first and second working areas is an area defined by a first cable, and the other of the first and second working areas is an area not defined by the first cable. This invention solves the problem that lawnmower robots cannot work normally when the mowing area is large, enabling lawnmower robots to perform full-coverage mowing operations on large areas.

[0038] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0039] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0040] Figure 1 This is a flowchart of a control method for a lawnmower robot according to an embodiment of the present invention;

[0041] Figure 2 This is a flowchart of another control method for a lawnmower robot provided according to an embodiment of the present invention;

[0042] Figure 3 This is an exemplary schematic diagram of the positional relationship between a first working area and a second working area provided according to an embodiment of the present invention;

[0043] Figure 4 This is a flowchart of another control method for a lawnmower robot provided according to an embodiment of the present invention;

[0044] Figure 5 This is an exemplary schematic diagram of the positional relationship between a first working area and a second working area provided by an embodiment of the present invention;

[0045] Figure 6 This is a current waveform diagram of the first signal and the second signal provided according to an embodiment of the present invention;

[0046] Figure 7 This is a flowchart of another control method for a lawnmower robot provided according to an embodiment of the present invention;

[0047] Figure 8 This is an exemplary schematic diagram of the positional relationship between a first working area and a second working area provided according to an embodiment of the present invention;

[0048] Figure 9 This is a flowchart of another control method for a lawnmower robot provided according to an embodiment of the present invention;

[0049] Figure 10 This is an exemplary schematic diagram of the positional relationship between the first working area and the second working area provided in Embodiment 4 of the present invention;

[0050] Figure 11 This is a schematic diagram of the structure of a lawnmower robot that implements the control method of the lawnmower robot in the embodiments of the present invention. Detailed Implementation

[0051] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0052] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0053] Figure 1 This invention provides a flowchart of a control method for a lawnmower robot, applicable to situations where lawnmower robots are used to control lawnmower operations over large areas. The control method can be executed by the lawnmower robot itself. Figure 1 As shown, the control method of this lawnmower robot includes:

[0054] S110. Control the lawnmower robot to operate within the first working area.

[0055] When a lawnmower robot is mowing a large area, it cannot detect the signal generated by the electronic boundary if it is too far away, which would prevent the robot from completing the mowing of the entire area. To solve this problem, the mowing area where the robot is located is divided into at least two sub-mowing areas, ensuring that the robot completes the mowing work in each sub-mowing area.

[0056] It should be noted that the number of sub-mowing areas can be two, three or more. The number of sub-mowing areas is determined by the size of the mowing area where the mowing robot is located. This embodiment does not impose any restrictions on the data of sub-mowing areas.

[0057] It is understandable that the first working area is one of at least two sub-mowing areas divided from the mowing area where the mowing robot is located, and the mowing robot performs mowing operations within the first working area.

[0058] As is known, since the area where the lawn mower robot is located may have special characteristics, such as a place where grass has just been sown or a small garden area, the at least two sub-mowing areas divided based on the mowing area where the lawn mower robot is located can be adjacent to each other to cover the entire mowing area where the lawn mower robot is located. Alternatively, the distance between the two sub-mowing areas can be set according to the actual situation of the mowing area where the lawn mower robot is located. The specific distance between the two sub-mowing areas can also be selected and set according to the actual situation. This embodiment does not impose any restrictions on this.

[0059] Based on the above, for any sub-mowing area to achieve the corresponding mowing operation of the mowing robot, the sub-mowing area can be one of the following working areas: electronic boundary working area, vision working area, RTK (Real-time kinematic) working area, or UWB (ultra-wideband) working area. The sub-mowing area can also employ other existing technologies to achieve the corresponding mowing operation of the mowing robot; this embodiment does not impose any restrictions on this. That is, it is known that the first working area can be any one of the following working areas: electronic boundary working area, vision working area, RTK working area, or UWB working area.

[0060] S120. When the preset conditions are met, control the lawn mowing robot to move to the second working area to continue working.

[0061] The preset conditions may include, but are not limited to, the lawnmower having completed its work in the first working area, or the lawnmower receiving an instruction to move to the second working area, or other conditions that satisfy the control of the lawnmower to move from the first working area to the second working area. This embodiment does not impose any restrictions on these conditions.

[0062] It should be noted that the method of moving from the first working area to the second working area can be selected and set based on the existing control principles of lawnmower robots, which will not be described in detail in this embodiment.

[0063] The first working area and the second working area can be adjacent working areas, or they can be working areas with a distance set according to the actual lawn mowing area where the lawn mowing robot is located. In one embodiment, the second working area surrounds the first working area, or the first working area surrounds the second working area.

[0064] The second working area is one of at least two sub-mowing areas divided from the mowing area where the mowing robot is located. The mowing robot performs mowing operations in the second working area.

[0065] It is known that the second working area can be any one of the working areas such as the electronic boundary working area, the vision working area, the RTK working area, or the UWB working area.

[0066] Wherein, one of the first working area and the second working area is an area defined by the first cable, and the other of the first working area and the second working area is an area not defined by the first cable.

[0067] As can be seen, the first cable is used to delineate the first working area or the second working area. Similarly, the corresponding second working area or the first working area is the area not delineated by the first cable.

[0068] For example, the first cable can be an electronic boundary. The electronic boundary can delineate the working area of ​​the lawn mowing robot by passing a specific current through the wire, so as to control the lawn mowing robot to only perform lawn mowing operations within the delineated working area. It is understood that the electronic boundary can also be implemented by other existing technical means. This embodiment does not limit the specific implementation means of the electronic boundary.

[0069] In this embodiment, the first working region is a region defined by an electronic boundary, and the second working region is a region not defined by an electronic boundary, or the second working region is a region defined by an electronic boundary and the first working region is a region not defined by an electronic boundary.

[0070] Based on the above embodiments, since the mowing area where the mowing robot is located can be divided into at least two sub-mowing areas, after the work task in the second work area is completed, the mowing robot is controlled to move to the next work area for work.

[0071] The technical solution of this invention involves controlling the lawnmower robot to operate within a first working area; when preset conditions are met, the lawnmower robot is then controlled to move to a second working area to continue operating; wherein, one of the first and second working areas is an area defined by a first cable, and the other of the first and second working areas is an area not defined by the first cable. This invention solves the problem that lawnmower robots cannot work normally when the mowing area is large, enabling lawnmower robots to perform full-coverage mowing operations on large areas.

[0072] Based on the same inventive design concept Figure 2This is a flowchart of another control method for a lawnmower robot provided by an embodiment of the present invention. In this embodiment, a first cable is electrically connected to a signal generator, and the signal generator is also electrically connected to a guide module. The guide module extends from one of a first working area and a second working area to the other of the first working area and the second working area. See [link to flowchart]. Figure 2 The control method for this lawnmower robot includes:

[0073] S210. Control the lawnmower robot to operate within the first working area.

[0074] S220. When the preset conditions are met, control the lawnmower robot to move along the guide module to the second working area to continue working.

[0075] Figure 3 This is a schematic diagram illustrating the positional relationship between an exemplary first working area and a second working area provided in an embodiment of the present invention. Taking the first working area as the region defined by the first cable and the second working area as the region not defined by the first cable as an example, see [link to example]. Figure 3 The first cable is electrically connected to the signal generator 130, and the signal generator 130 is also electrically connected to the guide module 140, which extends from the first working area 110 to the second working area 120.

[0076] It is understandable that if the first working area is not defined by the first cable, and the second working area is defined by the first cable, then the guide module extends from the second working area to the first working area.

[0077] See also Figure 3 The guide module 140 serves as a bridge connecting the first working area 110 and the second working area 120, allowing the lawnmower robot 100 to move from the first working area 110 to the second working area 120 via the guide module 140. Similarly, the lawnmower robot 100 can move from the second working area 120 to the first working area 110 via the guide module 140.

[0078] The guide module 140 can be implemented by means of guide lines or other existing technical means. This embodiment does not limit the specific implementation means of the guide lines.

[0079] The signal generator 130 is used to generate signals with the same time interval but different waveforms, so that the lawnmower robot 100 can distinguish between the first cable and the guide module 140. The signal generator 130 can be implemented using existing technology, and this embodiment does not limit the specific implementation of the signal generator 130. Optionally, the signal generator 130 can be set in the corresponding charging station of the lawnmower robot 100, or other reasonable locations, and this embodiment does not limit this.

[0080] Understandably, since the mowing area where the mowing robot is located can be divided into at least two sub-mowing areas, in order to complete the mowing work in all the work areas divided by the mowing area where the mowing robot is located, the mowing robot needs to enter each work area to carry out the mowing work separately.

[0081] In one embodiment, after the task in the second working area is completed, the lawnmower is controlled to move along the guide module to the next working area to perform the task, so as to control the lawnmower to enter the next working area through the guide module to perform the task.

[0082] The next working area is any one of at least two sub-mowing areas divided based on the mowing area where the mowing robot is located, other than the first working area and the second working area. In other words, any sub-mowing area other than the first working area and the second working area can be, but is not limited to, the next working area.

[0083] Specifically, to simplify the wiring setup of the guide module, save costs, and avoid arbitrary movement of the guide module, a single guide module is extended to different work areas, that is, to any one of the at least two sub-mowing areas that can be divided into the mowing area where the mowing robot is located, so as to further realize the mowing operation of the entire work area of ​​the mowing robot's mowing area.

[0084] In another embodiment, the signal generator is electrically connected to multiple guide modules, and each guide module extends to a corresponding work area, controlling the lawnmower robot to move along the corresponding guide module to the corresponding work area for operation.

[0085] Specifically, to prevent the wiring of the guide module from being cut or bitten by animals, it is usually fixed with nails or the like, which makes it inconvenient to move it at will. Therefore, multiple guide modules are set in one of the first working area and the second working area defined by the first cable, and a guide module is set in any sub-mowing area other than the first working area and the second working area. The corresponding sub-mowing area can be accessed through the corresponding guide module. At this time, the wiring of the guide module is not changed. The operation and setting of the guide module are simplified, and the mowing robot can enter any sub-mowing area at any time to carry out mowing operations.

[0086] Based on the same inventive concept, this embodiment, building upon the above embodiments, considers the different lighting conditions that the lawnmower robot may experience in actual use. Therefore, the lawnmower robot includes: an image sensor and a magnetic induction module; wherein the image sensor is used to identify the boundary between the working area and the non-working area when operating in the first working area and the second working area, in the area not defined by the first cable; the magnetic induction module is used to identify the boundary between the working area and the non-working area when operating in the first working area and the second working area, in the area defined by the first cable.

[0087] The image sensor and magnetic induction module can be implemented using existing technologies, and this embodiment does not impose any restrictions on them.

[0088] The working area is the area where the lawnmower robot needs to perform lawn mowing operations. For example, the working area can be a lawn. The non-working area is the area where the lawnmower robot does not need to perform lawn mowing operations. This can be an area with special properties or other areas where lawn mowing operations are not required, an area where lawn mowing operations have been completed, or an area where lawn mowing operations have not been completed but are restricted from being performed. This embodiment does not impose any restrictions on this.

[0089] See also Figure 3 Taking the first working area as the area defined by the first cable and the second working area as the area not defined by the first cable as an example, in this embodiment, if the first working area 110 is the area defined by the first cable and the second working area 120 is the area not defined by the first cable, then the image sensor operates in the second working area 120, that is, it identifies the boundary between the working area and the non-working area, and the magnetic induction module operates in the first working area 110, that is, it identifies the boundary between the working area and the non-working area.

[0090] Understandably, when the lawnmower is working in the first working area, the image sensor cannot identify the boundary between the working area and the non-working area; that is, the image sensor cannot identify the boundary between the working area and the non-working area in the first working area. Similarly, when the lawnmower is working in the second working area, the magnetic induction module cannot identify the boundary between the working area and the non-working area; that is, the magnetic induction module cannot identify the boundary between the working area and the non-working area in the second working area.

[0091] Based on the above, if the second working area is the area defined by the first cable and the first working area is the area not defined by the first cable, then the image sensor operates in the first working area, that is, it identifies the boundary between the working area and the non-working area, and the magnetic induction module operates in the second working area, that is, it identifies the boundary between the working area and the non-working area.

[0092] When the lawnmower is operating in the second working area, the image sensor cannot identify the boundary between the working area and the non-working area. In other words, the image sensor cannot identify the boundary between the working area and the non-working area in the second working area at this time. Similarly, when the lawnmower is operating in the first working area, the magnetic induction module cannot identify the boundary between the working area and the non-working area. In other words, the magnetic induction module cannot identify the boundary between the working area and the non-working area in the first working area at this time.

[0093] It should be noted that since the image sensor needs to identify the boundary between the working area and the non-working area by acquiring images, it is necessary to ensure that the lawn mowing robot works in good lighting conditions. If the lawn mowing robot is working at night, the image sensor may be unable to perform the corresponding work due to lighting problems. In this case, the lawn mowing robot can only work in the area defined by the first cable in the first working area and the second working area through the magnetic induction module to identify the boundary between the working area and the non-working area.

[0094] Based on the same inventive concept Figure 4 This is a flowchart illustrating another control method for a lawnmower robot provided in an embodiment of the present invention. Based on the above embodiments, this embodiment further describes the control method for the lawnmower robot in detail, taking into account the adjacency of the first and second working areas. Figure 4 As shown, the control method of this lawnmower robot includes:

[0095] S410. Control the lawnmower robot to operate within the first working area.

[0096] S420. When the preset conditions are met, the lawn mowing robot is controlled to determine its current working area based on the first signal generated by the first cable through the signal generator and the second signal generated by the second cable through the signal generator.

[0097] Figure 5 This is an exemplary schematic diagram of the positional relationship between a first working area and a second working area provided by an embodiment of the present invention. Taking the first working area as the region defined by the first cable and the second working area as the region not defined by the first cable as an example, see [link to relevant documentation]. Figure 5 The first working area 110 is adjacent to the second working area 120. The first cable is electrically connected to the signal generator 130. The signal generator 130 is also electrically connected to the guide module 140, which extends from the first working area 110 to the second working area 120.

[0098] It is understood that the length range of the first working area 110 and the second working area 120 adjacent to each other can be determined by the actual intersection length range of the first working area 110 and the second working area, and this embodiment does not impose any restrictions on this.

[0099] Since the first working area 110 and the second working area 120 are adjacent, the signals generated by the first working area 110 and the second working area 120 may cancel each other out. In this case, the first cable generates a first signal through the signal generator 130, and the guide module 140 is the second cable, which generates a second signal through the signal generator 130.

[0100] Based on the above, Figure 6 This is a current waveform diagram of the first and second signals provided in an embodiment of the present invention. The first and second signals are alternating current signals with a certain anti-interference capability. The time interval between the first and second signals is the same, but their waveform shapes are different. See details below. Figure 6 T1 is the waveform period of the first signal and the second signal, and T3 and T4 are the time intervals between the generation of the first signal and the second signal.

[0101] As can be seen, the waveform shapes of the first and second signals can be arbitrarily selected according to actual needs. Figure 6 The waveform shapes shown are merely examples, and this embodiment does not impose any limitations on the waveform shapes of the first and second signals.

[0102] In this embodiment, based on the principle of electromagnetism, the lawnmower robot can determine its current mowing area by sensing the first signal obtained through the first cable and the second signal obtained through the second cable. At the same time, since there is a time interval between the generation of the first signal and the second signal, the problem of mutual interference between the two signals can be effectively avoided.

[0103] S430: Based on the current working area of ​​the lawnmower robot, control the lawnmower robot to switch between the first working area and the second working area through the guidance module.

[0104] The current working area of ​​the lawn mowing robot is either the first working area or the second working area. Since the lawn mowing robot operates in the first working area in step S410, it can be determined from step S420 that the current working area of ​​the lawn mowing robot is the first working area. Furthermore, the lawn mowing robot is controlled to move to the second working area through the guide module to perform the corresponding operation.

[0105] Similarly, when it is determined that the current working area of ​​the lawn mowing robot is the second working area based on the first signal generated by the first cable through the signal generator and the second signal generated by the second cable through the signal generator, the lawn mowing robot is controlled to move to the first working area through the guide module to perform the corresponding operation.

[0106] The technical solution of this embodiment considers the case where the first working area and the second working area are adjacent in position. In this case, different time intervals are set according to the signals of the first signal generated by the first cable through the signal generator and the second signal generated by the second cable through the signal generator. This solves the problem that the lawn mowing robot cannot accurately locate its current working area, realizes the lawn mowing robot's accurate identification of the mowing area, and ensures that the lawn mowing robot completes the mowing operation.

[0107] Based on the same inventive concept Figure 7 This is a flowchart illustrating another control method for a lawnmower robot provided in an embodiment of the present invention. Based on the above embodiments, this embodiment further describes the control method for the lawnmower robot in detail, focusing on the area defined by the first working area and the second working area, where the other is a guiding module. For example... Figure 7 As shown, the control method of this lawnmower robot includes:

[0108] S710, Control the lawnmower robot to operate within the first working area.

[0109] S720. When the preset conditions are met, control the mowing robot to move along the first cable to the signal generator, and then control the mowing robot to move along the guide module to the second working area to continue working; or, control the mowing robot to move along the guide module to the signal generator, and then control the mowing robot to move along the first cable to the second working area to continue working.

[0110] Figure 8 This is an exemplary schematic diagram of the positional relationship between a first working area and a second working area provided by an embodiment of the present invention. Taking the first working area as the area defined by the first cable and the second working area as the area defined by the guide module as an example, see [link to example]. Figure 8 The first working area 110 is the area defined by the first cable, and the second working area 120 is the area defined by the guide module. The first cable is electrically connected to the signal generator 130, and the signal generator 130 is also electrically connected to the guide module 140. The guide module 140 extends from the first working area 110 to the second working area 120.

[0111] Considering the narrow channel between the first and second working areas, the signals generated by the first and second working areas may cancel each other out. To solve this problem, one of the first and second working areas can be set as the area defined by the guiding module, and specific currents can be generated by the first cable and the guiding module respectively, thereby solving the problem of the close distance between the first and second working areas (i.e., the existence of a narrow channel).

[0112] It should be noted that the first cable and the guiding module respectively generate specific currents, as described in the above embodiment. The first cable generates a first signal through a signal generator, and the guiding module is a second cable that generates a second signal through a signal generator, combined with... Figure 6 The implementation of the signal waveform diagram will not be described in detail here.

[0113] For details, see Figure 8 When the preset conditions are met, the lawn mowing robot 100 is controlled to move along the first cable to the signal generator 130, and then the lawn mowing robot 100 is controlled to move along the guide module 140 to the second working area 120 to continue working.

[0114] Similarly, if the second working area is the area defined by the first cable and the first working area is the area defined by the guide module, then when the preset conditions are met, the lawn mower robot is controlled to move along the guide module to the signal generator, and then the lawn mower robot is controlled to move along the first cable to the second working area to continue working.

[0115] Based on the same principle, when the lawn mowing robot is working in the second working area, if the first working area is the area defined by the first cable and the second working area is the area defined by the guide module, when the preset conditions are met, the lawn mowing robot is controlled to move along the guide module to the signal generator, and then the lawn mowing robot is controlled to move along the first cable to the first working area to continue working.

[0116] When the lawnmower robot is working in the second working area, if the second working area is the area defined by the first cable and the first working area is the area defined by the guide module, when the preset conditions are met, the lawnmower robot is controlled to move along the first cable to the signal generator, and then the lawnmower robot is controlled to move along the guide module to the second working area to continue working.

[0117] The technical solution of this embodiment considers the situation where there is a narrow passage between the first working area and the second working area. By setting one of the first working area and the second working area as the area defined by the guide module, and further utilizing the first cable and the guide module to generate specific currents respectively, the lawnmower robot can determine the current working area and avoid signal interference, thus enabling the lawnmower robot to accurately switch between different working areas. It is also understood that the above method is applicable to any two sub-mowing areas within the lawnmower robot's mowing area. That is, when there is a narrow passage between any two sub-mowing areas, the above method can be used, setting one of the two sub-mowing areas as the area defined by the guide module, and further utilizing the first cable and the guide module to generate specific currents respectively, thereby avoiding the problem of mutual interference between the two signals and ensuring that the lawnmower robot accurately performs mowing operations.

[0118] Based on the same inventive concept Figure 9 This is a flowchart illustrating another control method for a lawnmower robot provided in an embodiment of the present invention. Based on the above embodiments, this embodiment further includes an obstacle avoidance module connected to a signal generator. The obstacle avoidance module is used to limit non-working areas. The control method for the lawnmower robot will be described in further detail below. Figure 9 As shown, the control method of this lawnmower robot includes:

[0119] S910 controls the lawnmower robot to operate within the first working area.

[0120] S920. When the preset conditions are met, control the lawnmower robot to move to the second working area to continue working.

[0121] S930. When it is determined that there is a non-working area at the current location of the lawnmower robot, control the lawnmower robot to execute an obstacle avoidance strategy.

[0122] Figure 10 This is an exemplary schematic diagram of the positional relationship between a first working area and a second working area provided by an embodiment of the present invention, taking the second working area surrounding the first working area as an example. See [link / reference]. Figure 10 The second working area 120 surrounds the first working area 110. The first cable is electrically connected to the signal generator 130. The signal generator 130 is also electrically connected to the guide module 140, which extends from the first working area 110 to the second working area 120.

[0123] See also Figure 10 The signal generator is also connected to an obstacle avoidance module 150. The obstacle avoidance module 150 is used to define the non-working area. That is, the obstacle avoidance module 150 defines the non-working area. After the lawn mower 100 moves into the non-working area defined by the obstacle avoidance module 150, the lawn mower 100 is controlled to turn backward, left, or right to execute the obstacle avoidance strategy to avoid the non-working area.

[0124] The obstacle avoidance module 150 can be implemented by means of obstacle avoidance wires or other existing technical means. This embodiment does not impose any restrictions on the specific implementation means of the obstacle avoidance module 150.

[0125] It should be noted that, please continue to refer to Figure 10 The second working area 120 surrounds the first working area 110. The non-working area circled by the obstacle avoidance module 150 belongs to the second working area 120. This is only an exemplary relationship among the three. The non-working area circled by the obstacle avoidance module 150 may also intersect with the first working area 110, or the first working area 110 and the second working area 120 may intersect at the same time. This embodiment does not impose any special restrictions on this.

[0126] Based on the above embodiments, this embodiment provides an optional implementation method in which the guidance module is used as an obstacle avoidance module, and the guidance module is used to define the non-working area.

[0127] Furthermore, in combination Figure 3 , Figure 5 and Figure 8 All of these can be equipped with obstacle avoidance modules, which can be used to delineate non-working areas. After the lawnmower moves to a non-working area, it can be controlled to resume its work in the first or second working area.

[0128] Understandably, in Figure 3 , Figure 5 and Figure 8 The obstacle avoidance module can also take any shape or be implemented in any way. It can also intersect with the first working area and / or the second working area, or it can not intersect with either the first working area or the second working area. This embodiment does not impose any special restrictions on this.

[0129] The technical solution of this embodiment takes into account the situation where there are special attributes in the first working area and the second working area, that is, there are areas where mowing is not required. By setting an obstacle avoidance module or directly using the guidance module as an obstacle avoidance module, the non-working area is delineated, so as to control the mowing robot not to perform mowing operations in the non-working area, or to avoid the non-working area, so as to ensure that the mowing robot accurately performs mowing operations.

[0130] Based on the same inventive concept Figure 11 A schematic diagram of a lawnmower robot 1110, which can be used to implement embodiments of the present invention, is shown. The lawnmower robot includes various forms of digital computers, such as laptops, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframes, and other suitable computers. The lawnmower robot also includes various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0131] The lawnmower robot provided in this embodiment of the invention can execute the control method of the lawnmower robot provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of executing the control method of the lawnmower robot. For example... Figure 11As shown, the lawnmower robot 1110 includes at least one processor 1111 and a memory, such as a read-only memory (ROM) 1112 or a random access memory (RAM) 1113, communicatively connected to the at least one processor 1111. The memory stores computer programs executable by the at least one processor. The processor 1111 can perform various appropriate actions and processes based on the computer program stored in the ROM 1112 or loaded into the RAM 1113 from storage unit 1118. The RAM 1113 can also store various programs and data required for the operation of the lawnmower robot 1110. The processor 1111, ROM 1112, and RAM 1113 are interconnected via a bus 1114. An input / output (I / O) interface 1115 is also connected to the bus 1114.

[0132] Multiple components in the lawnmower robot 1110 are connected to the I / O interface 1115, including: an input unit 1116, such as a keyboard, mouse, etc.; an output unit 1117, such as various types of displays, speakers, etc.; a storage unit 1118, such as a disk, optical disk, etc.; and a communication unit 1119, such as a network card, modem, wireless transceiver, etc. The communication unit 1119 allows the lawnmower robot 1110 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0133] Processor 1111 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 1111 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, digital signal processors (DSPs), and any suitable processor, controller, microcontroller, etc. Processor 1111 performs the various methods and processes described above, such as the control methods for a lawnmower robot.

[0134] In some embodiments, the control method for the lawnmower robot may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 1118. In some embodiments, part or all of the computer program may be loaded and / or installed onto the lawnmower robot 1110 via ROM 1112 and / or communication unit 1119. When the computer program is loaded into RAM 1113 and executed by processor 1111, one or more steps of the control method for the lawnmower robot described above may be performed. Alternatively, in other embodiments, processor 1111 may be configured to perform the control method for the lawnmower robot by any other suitable means (e.g., by means of firmware).

[0135] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0136] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0137] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0138] To provide interaction with the user, the systems and techniques described herein can be implemented on a lawnmower robot having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the lawnmower robot. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0139] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0140] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0141] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0142] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A control method for a lawnmower robot, characterized in that, include: Control the lawnmower robot to operate within the first working area; When preset conditions are met, the lawnmower robot is controlled to move to the second working area to continue its work; Wherein, one of the first working area and the second working area is an area defined by the first cable, and the other of the first working area and the second working area is an area not defined by the first cable; The lawnmower robot includes: an image sensor for identifying the boundary between the working area and the non-working area when operating in the first working area and the second working area, in an area not defined by the first cable; and a magnetic induction module for identifying the boundary between the working area and the non-working area when operating in the first working area and the second working area, in an area defined by the first cable. When the lawnmower robot is operating in the area defined by the first cable in the first working area and the second working area, the image sensor cannot identify the boundary between the working area and the non-working area; When the lawnmower robot is operating in the first working area and the second working area, in an area not defined by the first cable, the magnetic induction module cannot identify the boundary between the working area and the non-working area.

2. The control method for the lawnmower robot according to claim 1, characterized in that, The first cable is electrically connected to a signal generator, and the signal generator is also electrically connected to a guiding module, which extends from one of the first working area and the second working area to the other of the first working area and the second working area. The step of controlling the lawnmower robot to move to the second working area to continue working includes: controlling the lawnmower robot to move along the guide module to the second working area to continue working.

3. The control method for the lawnmower robot according to claim 2, characterized in that, The first working area is adjacent to the second working area. The first cable generates a first signal through the signal generator. The guiding module is a second cable, and the second cable generates a second signal through the signal generator. The control method for the lawnmower robot also includes: The lawnmower robot is controlled to determine its current working area based on the first signal and the second signal; Based on the current working area of ​​the lawnmower robot, the robot is controlled to switch between the first working area and the second working area via the guidance module.

4. The control method for the lawnmower robot according to claim 2, characterized in that, The other of the first working area and the second working area is the area defined by the guidance module; The control of the lawnmower robot to move to the second working area to continue operation includes: After controlling the lawnmower to move along the first cable to the signal generator, control the lawnmower to move along the guide module to the second working area to continue working; Alternatively, after controlling the lawnmower to move along the guide module to the signal generator, the lawnmower can be controlled to move along the first cable to the second working area to continue working.

5. The control method for the lawnmower robot according to claim 1, characterized in that, The second working area surrounds the first working area, or the first working area surrounds the second working area.

6. The control method for the lawnmower robot according to claim 2, characterized in that, The control method for the lawnmower robot also includes: After completing the task in the second work area, the lawnmower robot is controlled to move along the guide module to the next work area. Alternatively, the signal generator is electrically connected to multiple guide modules, and each guide module extends to a corresponding work area, controlling the lawnmower robot to move along the corresponding guide module to the corresponding work area for operation.

7. The control method for the lawnmower robot according to claim 2, characterized in that, The signal generator is also connected to an obstacle avoidance module, which is used to limit the non-working area. The control method for the lawnmower robot also includes: Once it is determined that the current location of the lawnmower robot contains a non-working area, the lawnmower robot is controlled to execute an obstacle avoidance strategy.

8. The control method for the lawnmower robot according to claim 2, characterized in that, The guidance module is used as an obstacle avoidance module, which is used to define non-operational areas.

9. A lawnmower robot, characterized in that, The lawnmower robot includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the control method for the lawnmower robot according to any one of claims 1-8.

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