A method of mowing control for a corner area of a lawn and a mowing robot system

Abstract

The embodiment of the application discloses a lawn turning area mowing control method and a lawn mowing robot system, wherein the lawn mowing control method comprises the following steps: controlling a lawn mowing robot to travel along a first guide line, determining whether the lawn mowing robot travels to a turning area; when it is determined that the lawn mowing robot travels to the turning area, controlling the lawn mowing robot to mow a corner area in the turning area; and after the lawn mowing robot mows the corner area, controlling the lawn mowing robot to travel along a second guide line. During the travel of the lawn mowing robot from the first guide line to the second guide line, the lawn mowing robot travels to the turning area. When it is determined that the lawn mowing robot travels to the turning area, the lawn mowing robot mows the corner area of the turning area. It can be seen that the lawn mowing robot subsequently mows the corner area in the application, which can avoid the mowing robot from mowing the corner area in the turning area and ensure the working efficiency of the lawn mowing robot.

Description

Technical Field

[0001] This application relates to the technical field of intelligent lawn mowing, and more particularly to a method for controlling lawn mowing in the bends of a lawn and a lawn mowing robot system. Background Technology

[0002] Automated gardening equipment, such as automatic lawnmowers, can mow lawns automatically without human supervision or control, thereby reducing the time and repetitive labor required from the user.

[0003] In related technologies, automatic lawnmowers can mow grass within a set work area according to a pre-defined task. However, when the mowing component reaches corners, due to its arc-shaped trajectory and its internal placement, some areas may miss mowing. A common solution is to use historical mowing location information from the automatic lawnmower within the work area, combined with pre-defined work area information, to identify missed areas. Then, re-mowing areas are determined from these missed areas, and a re-mowing path is generated that traverses these areas. This method detects missed mowing, filters out these areas, ensures effective and efficient re-mowing, and improves the overall mowing effect within the work area.

[0004] However, most of the missed areas are not connected. If the missed areas need to be re-cut, it will increase the number of transfer paths for the lawnmower robot, which will seriously affect the working efficiency of the lawnmower robot. Summary of the Invention

[0005] This invention aims to at least solve one of the technical problems existing in the prior art. To this end, this invention proposes a method for controlling lawn mowing in the corner areas and a lawn mowing robot system, which avoids missed mowing at corner positions while ensuring the working efficiency of the lawn mowing robot.

[0006] In a first aspect, embodiments of this application provide a method for controlling mowing in the bend area of ​​a lawn, wherein the lawn has intersecting first boundary lines and second boundary lines, a first guide wire is disposed inside the first boundary line and a second guide wire is disposed inside the second boundary line, the method comprising:

[0007] Control the lawnmower robot to travel along the first guide line and determine whether the lawnmower robot has traveled to the turning area;

[0008] Once the lawnmower robot has reached the turning area, control the lawnmower robot to mow the corner area within the turning area;

[0009] After the mowing robot has mowed the grass in the corner area, it is controlled to travel along the second guide line.

[0010] According to some embodiments of the present invention, controlling the lawnmower robot to mow the corner area within the turning area includes:

[0011] The lawnmower is controlled to move at least along one of the extension directions of the first guide wire and the second guide wire, so that the lawnmower can mow the grass in the corner area.

[0012] According to some embodiments of the present invention, controlling the lawnmower robot to move at least along one of the extension directions of the first guide wire and the second guide wire, so that the lawnmower robot mows the grass in the corner area, includes:

[0013] The lawnmower robot is controlled to move along the first guide wire toward the extension direction of the second boundary line so that it can mow the grass in the corner area.

[0014] According to some embodiments of the present invention, before controlling the lawnmower robot to move along the extension direction of the first guide wire toward the second boundary line, the following steps are included:

[0015] The lawnmower robot is controlled to rotate and move backward so that its central axis coincides with the first guide wire.

[0016] According to some embodiments of the present invention, controlling the lawnmower robot to move at least along one of the extension directions of the first guide wire and the second guide wire, so that the lawnmower robot mows the grass in the corner area, includes:

[0017] The lawnmower robot is controlled to move along the second guide wire toward the extension direction of the first boundary line so that it can mow the grass in the corner area.

[0018] According to some embodiments of the present invention, controlling the lawnmower robot to move along the second guide wire toward the extension direction of the first boundary line, so that the lawnmower robot mows the grass in the corner area, includes:

[0019] Control the lawnmower robot to rotate and move so that the central axis of the lawnmower robot coincides with the second guide wire;

[0020] After the central axis of the mowing robot coincides with the second boundary guide, the mowing robot is controlled to retreat along the extension direction of the second guide toward the first boundary line, so that the mowing robot can mow the grass in the corner area.

[0021] According to some embodiments of the present invention, determining whether the lawnmower robot has traveled to a turning area includes:

[0022] The lawnmower is equipped with at least a first boundary signal sensor and a second boundary signal sensor. The lawnmower determines whether it has traveled to the turning area based on whether the signal direction detected by the first boundary signal sensor is the same as the signal direction detected by the second boundary signal sensor.

[0023] And / or, the lawnmower is equipped with at least a positioning signal sensor 150, and the lawnmower is determined to have traveled to a turning area based on whether the signal strength detected by the positioning signal sensor is less than or equal to a first preset signal strength;

[0024] And / or, the lawnmower is equipped with at least an angle sensor to determine whether the lawnmower has traveled to the turning area based on whether the total rotation angle of the lawnmower is greater than or equal to a preset angle.

[0025] According to some embodiments of the present invention, the lawnmower robot is equipped with a positioning signal sensor 150, a first boundary signal sensor and a second boundary signal sensor, wherein the positioning signal sensor 150 is disposed at the position of the lawnmower robot on the central axis;

[0026] Before controlling the lawnmower robot to move away from the first guide along the second guide, the following steps are included:

[0027] The lawnmower robot is controlled to rotate and move until the positioning signal sensor 150 is located on the second guide wire, and the first boundary signal sensor and the second boundary signal sensor are symmetrically arranged about the second guide wire or located on the same side of the second guide wire, so that the central axis of the lawnmower robot coincides with the second guide wire.

[0028] According to some embodiments of the present invention, controlling the lawnmower robot to mow the corner area within the turning area includes:

[0029] Based on the changes in the electrical parameters of the mowing component of the mowing robot, it is determined whether the mowing robot has completed mowing the corner area.

[0030] According to some embodiments of the present invention, after determining that the lawnmower robot has traveled to the turning area, the process includes:

[0031] Determine whether there are any hazardous areas in the extension direction of the first conductor and / or the extension direction of the second conductor;

[0032] If so, then the control is executed to have the mowing robot mow the corner area within the turning area.

[0033] Secondly, this application provides a lawn mowing robot system for mowing lawns, wherein the lawn has intersecting first boundary lines and second boundary lines, a first guide wire is provided inside the first boundary line and a second guide wire is provided inside the second boundary line;

[0034] The lawnmower robot system includes: a controller and a robot body;

[0035] The controller is configured to control the lawn mowing robot to travel along the first guide line, determine whether the lawn mowing robot has traveled to a turning area; if it is determined that the lawn mowing robot has traveled to the turning area, control the lawn mowing robot to mow the corner area within the turning area; and after the lawn mowing robot has mowed the corner area, control the lawn mowing robot to travel along the second guide line.

[0036] As can be seen from the above technical solutions, the embodiments of this application have the following advantages: During the process of the lawnmower robot traveling from the first guide wire towards the second guide wire, the lawnmower robot travels to a turning area. Upon determining that the lawnmower robot has traveled to the turning area, the lawnmower robot mows the corner area of ​​the turning area. Therefore, compared to the cumbersome method used in the prior art to control the lawnmower robot to re-mow the corner area, the lawnmower robot in this application subsequently re-mows the corner area, avoiding missed corner areas while mowing the turning area, and ensuring the working efficiency of the lawnmower robot. Attached Figure Description

[0037] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0038] Figure 1 This is a flowchart illustrating the lawn mowing control method in an embodiment of the present invention;

[0039] Figure 2 This is a schematic diagram of the various steps in the travel path of a lawnmower robot in an embodiment of the prior art;

[0040] Figure 3 This is a schematic diagram of the various steps in the driving path of the lawnmower robot in an embodiment of the present invention;

[0041] Figure 4 This is another schematic diagram of the various steps of the lawnmower robot in its travel path in an embodiment of the present invention;

[0042] Figure 5 This is a schematic diagram of the structure of the lawnmower robot in an embodiment of the present invention;

[0043] Figure 6This is a schematic diagram of the first process for determining whether a lawnmower robot is traveling in a turning area in an embodiment of the present invention;

[0044] Figure 7 This is a schematic diagram of the second process for determining whether the lawnmower robot is traveling in a turning area in an embodiment of the present invention;

[0045] Figure 8 This is a schematic diagram of the third process for determining whether the lawnmower robot is traveling in a turning area in an embodiment of the present invention;

[0046] Figure 9 This is a schematic diagram of the fourth process for determining whether the lawnmower robot is traveling in a turning area in an embodiment of the present invention. Detailed Implementation

[0047] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0048] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0049] In the description of this invention, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0050] In the description of this invention, unless otherwise explicitly defined, terms such as "setting," "installing," and "connecting" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0051] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0052] When mowing robots cut grass in the bends of a lawn, the limited size of the mowing components restricts their cutting range, often resulting in missed areas.

[0053] Based on the above problems, this application proposes a method for controlling the mowing of lawns in the corner areas. While ensuring the working efficiency of the mowing robot 100, the mowing component 120 of the mowing robot 100 can sweep to the corner point of the lawn boundary, thereby avoiding the problem of missed mowing in the corner areas of the lawn.

[0054] See Figure 1 This application provides a lawn mowing control method with the following steps: controlling a lawn mowing robot 100 to travel along the edge of the lawn to mow the edge of the lawn. The lawn mowing control method includes steps S101 to S103. Wherein:

[0055] S101. Control the lawn mowing robot 100 to travel along the first guide wire 310 and determine whether the lawn mowing robot 100 has traveled to the turning area.

[0056] For ease of description of the technical solution of this application, the edge of the lawn is a boundary line. The boundary line 200 includes a first boundary line 210 and a second boundary line 220, which intersect at a corner of the lawn. A guide wire 300 is provided on the inner side of the lawn. The guide wire 300 includes a first guide wire 310 and a second guide wire 320. The first guide wire 310 is located inside the first boundary line 210 and is parallel to it. The second guide wire 320 is located inside the second boundary line 220 and is parallel to it. The first guide wire 310 and the second guide wire 320 intersect at a corner of the guide wire 300. The corner of the lawn and the corner of the guide wire 300 form the aforementioned turning area. Alternatively, the guide wire 300 can also be laid on the boundary line 200.

[0057] In the specific implementation of controlling the lawnmower robot 100 along the first guide wire 310: the guide wire 300 is connected to the signal generator of the control system of the lawnmower robot 100. The signal emitted by the signal generator is transmitted within the guide wire 300, generating an electrical signal, such as a magnetic field signal. (Refer to...) Figure 3 Steps 2a to 2b and Figure 4 In steps 3a to 3c, the lawn mowing robot 100 is equipped with a sensor. The sensor senses the signal generated by the first guide wire 310. The control unit of the lawn mowing robot 100 controls the lawn mowing robot 100 to move along the first guide wire 310 and move in a straight line towards the second guide wire 320 through the signal sensed by the sensor. Therefore, the lawn mowing robot 100 mows the grass on the corresponding edge of the first guide wire 310.

[0058] Typically, the sensors are positioned on the central axis 160 of the lawnmower 100, which navigates precisely by gripping the guide wire 300. Alternatively, the sensors can be positioned on one or both sides of the central axis 160, or each sensor can be positioned on the central axis of the lawnmower 100 and on one or both sides of the axis 160. The lawnmower 100 may have one or more sensors at various locations; this application does not limit this.

[0059] Alternatively, a magnetic induction sensor can be used as the sensor. The magnetic induction sensor is used to sense the magnetic field signal generated when the electrical signal is transmitted through the first wire 310. However, it is not limited to using the above-mentioned sensor to enable the lawnmower robot 100 to travel along the set trajectory of the first wire 310. For example, the sensor can be an infrared sensor, a tracking sensor, etc.

[0060] It should be noted that during the movement of the lawnmower robot 100 along the first guide wire 310, the central axis 160 of the lawnmower robot 100 coincides with the first guide wire 310, and the rotation center of the mowing component 120 remains on the first guide wire 310. Specifically, the central axis 160 of the lawnmower robot 100 refers to a line parallel to the length of the body 110 of the lawnmower robot 100, and the rotation center of the mowing component 120 is on the central axis 160 of the lawnmower robot 100. Alternatively, the central axis 160 of the lawnmower robot 100 refers to the lines symmetrically divided by the body 110 of the lawnmower robot 100.

[0061] S102. When the lawn mowing robot 100 is determined to have traveled to the turning area, the lawn mowing robot 100 is controlled to mow the corner area 230 within the turning area.

[0062] In related technologies, refer to Figure 2 In steps 1a to 1c, the lawnmower robot 100 moves forward in a straight line along a guide 300, mowing the lawn along the corresponding edges. The lawnmower robot 100 has a mowing assembly 120 at its bottom that rotates around a vertical axis (see reference). Figure 5The rotation radius of the mowing component 120 is set at the distance between the guide wire 300 and the boundary line 200, thus enabling the mowing component 120 to effectively mow the edges of the lawn. Referring to steps 1d to 1g, a turning area is formed between the corner of the boundary line 200 and the corresponding corner of the guide wire 300. When the mowing component 120 mows the turning area, due to its relatively small size (i.e., its rotation radius is set at the distance between the guide wire 300 and the boundary line 200), the mowing robot 100 misses some areas near the corner of the lawn when mowing the turning area. The missed area is corner area 230 (step 1e). Referring to steps 1h to 1i, after mowing the turning area, the mowing robot 100 travels along another guide wire 300 and mows the other edge of the lawn. To address the issue of missed mowing in corner area 230, common solutions include: 1. Manual mowing, which results in unnecessary waste of manpower; 2. The control system of the mowing robot identifies the missed corner area 230 and regenerates a mowing path, thereby controlling the mowing robot 100 to re-mow the corner area. However, using the above methods to re-mow corner areas results in low work efficiency for the mowing robot 100.

[0063] In this application, reference is made to Figure 3 Step 2d or Figure 4 In step 3k, after determining that the lawn mowing robot 100 has traveled to the turning area, the lawn mowing component 120 of the lawn mowing robot 100 is controlled to sweep to the intersection between the first boundary line 210 and the second boundary line 220. Thus, the lawn mowing component 120 mows the corner area 230 in the turning area, thereby avoiding the lawn from being missed at the corner.

[0064] As can be seen from the above, in this application, when the lawnmower 100 travels along the first guide wire 310 and the second guide wire 320, the lawnmower 100 completes the mowing of the corner area 230, and there is no need to subsequently mow the corner area 230.

[0065] S103. After the lawn mowing robot 100 mows the corner area 230, control the lawn mowing robot 100 to travel along the second guide rail 320.

[0066] In practical applications, refer to Figure 3In steps 2e to 2g, after the lawnmower robot 100 completes mowing in the corner area 230, if its central axis 160 is not on the second guide line 320, the lawnmower robot 100 is controlled to turn towards the second guide line 320, causing it to move along the second guide line 320 in a direction away from the first guide line 310. The lawnmower robot 100 then mows the second boundary line 220 of the lawn and enters the next corner area; refer to Figure 4 In step 3L, if the central axis 160 of the lawn mowing robot 100 is on the second guide wire 320, the lawn mowing robot 100 can move directly along the second guide wire 320 in a direction away from the first guide wire 310, the lawn mowing robot 100 mows the second boundary line 220 of the lawn, and enters the next turning area.

[0067] As can be seen from steps S101 to S103, compared to the cumbersome method used in the prior art to control the lawnmower 100 to perform additional mowing on the corner area 230, which seriously affects the working efficiency of the lawnmower 100, in this application, during the process of the lawnmower 100 moving from the first guide rail 310 towards the second guide rail 320, after determining that the lawnmower 100 has reached the turning area, the lawnmower 100 mows the corner area 230 in the turning area. In this way, the lawnmower 100 does not need to perform additional mowing on the corner area 230 in subsequent work, thus ensuring the working efficiency of the lawnmower 100.

[0068] The following describes how to determine whether the lawnmower robot 100 has entered a turning area. This application can use multiple methods to determine whether the lawnmower robot 100 has entered a turning area. Furthermore, the position and posture of the lawnmower robot 100 may be the same or different depending on the method used. Therefore, this application is quite flexible in determining whether the lawnmower robot 100 has entered a turning area and is not limited to a single method or situation. Several methods are described below, but the application is not limited to only these methods.

[0069] In the first possible implementation, a boundary signal sensor can be used to determine whether the lawnmower robot 100 has entered a turning area. Specifically, refer to... Figure 5 The lawnmower robot 100 is equipped with at least a first boundary signal sensor 130 and a second boundary signal sensor 140. Therefore, it determines whether the lawnmower robot 100 has entered a turning area by comparing the signal directions detected by the first boundary signal sensor 130 and the second boundary signal sensor 140. (See reference...) Figure 6 Step S101, determining whether the lawnmower robot has traveled to the turning area, can specifically include the following steps:

[0070] S111. Acquire the first detection signal detected by the first boundary signal sensor 130 and the second detection signal detected by the second boundary signal sensor 140.

[0071] S112. Determine whether the magnetic field direction of the first detection signal is the same as that of the second detection signal. If they are the same, it means that the lawnmower robot 100 has traveled to the turning area. If they are not the same, it means that the lawnmower robot 100 has not traveled to the turning area.

[0072] Generally speaking, refer to Figure 5 The first boundary signal sensor 130 is located at the head position of the lawnmower 100 and near the left side, that is, on the left side of the central axis 160 of the lawnmower 100. The second boundary signal sensor 140 is located at the head position of the lawnmower 100 and near the right side, that is, on the right side of the central axis 160 of the lawnmower 100. The first boundary signal sensor 130 and the second boundary signal sensor 140 are symmetrically arranged about the central axis 160. Both the first boundary signal sensor 130 and the second boundary signal sensor 140 are magnetic induction sensors.

[0073] Specifically, refer to Figure 3 When the lawnmower robot 100 travels along the first guide wire 310 towards the second guide wire 320, the first boundary signal sensor 130 on the left is located outside the first guide wire 310, and the second boundary signal sensor 140 on the right is located inside the first guide wire 310. Since the magnetic field directions are different on the inside and outside of the first guide wire 310, the magnetic field direction of the first detection signal of the first boundary signal sensor 130 is different from the magnetic field direction of the second detection signal of the second boundary signal sensor 140. Therefore, it is determined that the lawnmower robot 100 has not yet reached the turning area, and the lawnmower robot 100 continues to travel forward along the first guide wire 310. When the second boundary signal sensor 140 travels to the outside of the second guide wire 320, that is, between the second guide wire 320 and the second boundary line 220, both the first boundary signal sensor 130 and the second boundary signal sensor 140 are located outside the guide wire 300, and the magnetic field direction of the first detection signal is the same as the magnetic field direction of the second detection signal. Therefore, it is determined that the lawnmower robot 100 has reached the turning area.

[0074] In the second possible implementation, a positioning signal sensor can be used to determine whether the lawnmower 100 has entered a turning area. Specifically, the head of the lawnmower 100 is equipped with at least a positioning signal sensor 150. Therefore, based on whether the signal strength detected by the positioning signal sensor 150 is less than or equal to a first preset signal strength, it is determined whether the lawnmower 100 has entered a turning area. It can be seen that, referring to... Figure 7Step S101, determining whether the lawnmower robot has traveled to the turning area, can specifically include the following steps:

[0075] S121. Obtain the signal strength detected by the positioning signal sensor 150.

[0076] S122. Determine whether the detected signal strength is less than or equal to the first preset signal strength. If yes, it means that the lawnmower robot 100 has traveled to the turning area. If no, it means that the lawnmower robot 100 has not traveled to the turning area.

[0077] Generally speaking, refer to Figure 5 The positioning signal sensor 150 can be a magnetic induction sensor. It is typically positioned at the head of the lawnmower robot 100, on the central axis 160. When the lawnmower robot 100 moves forward along the first guide wire 310, the positioning signal sensor 150 is located on the first guide wire 310. Alternatively, the positioning signal sensor 150 can also be positioned to the left or right of the central axis 160 of the lawnmower robot 100; this will not be elaborated upon here.

[0078] Specifically, refer to Figure 3 The positioning signal sensor 150 is positioned on the central axis 160 of the lawnmower robot 100. When the lawnmower robot 100 is traveling along the first guide rail 310, the positioning signal sensor 150 detects a relatively high signal strength (magnetic field strength), exceeding a first preset signal strength. This indicates that the lawnmower robot 100 has not yet reached a turning area and continues to travel along the first guide rail 310. After the positioning signal sensor 150 crosses the intersection of the first guide rail 310 and the second guide rail 320, the signal strength (magnetic field strength) detected by the positioning signal sensor 150 gradually decreases. When the signal strength detected by the lawnmower robot 100 decreases to the first preset signal strength, this indicates that the lawnmower robot 100 has reached a turning area.

[0079] Alternatively, if the positioning signal sensor 150 is positioned near the rear of the lawnmower 100, and not necessarily on the central axis 160 of the lawnmower 100, the positioning signal sensor 150 will get closer and closer to the second guide wire 320 as the lawnmower 100 moves along the first guide wire 310 towards the second guide wire 320. Since the magnetic fields of the first guide wire 310 and the second guide wire 320 have a superposition effect, the signal strength detected by the positioning signal sensor 150 will increase as it approaches the second guide wire 320. When the magnetic field strength (signal strength) detected by the positioning signal sensor 150 is equal to or greater than the set signal strength value, it indicates that the lawnmower 100 has entered a turning area.

[0080] Or, refer to Figure 5 The lawnmower robot 100 is equipped with the aforementioned first boundary signal sensor 130, second boundary signal sensor 140, and positioning signal sensor 150. The positioning signal sensor 150 is located on the central axis 160 of the lawnmower robot 100, while the first boundary signal sensor 130 and second boundary signal sensor 140 are located on either side of the central axis 160 and are symmetrically arranged about the central axis 160. To determine whether the lawnmower robot 100 has entered a turning area, the detection results of the positioning signal sensor 150, the first boundary signal sensor 130, and the second boundary signal sensor 140 can be used simultaneously to determine whether the lawnmower robot 100 has entered a turning area. For example, after the lawnmower robot 100 enters a reversal phase, the signal strength value detected by the positioning signal sensor 150 reaches the set signal strength value, that is, the signal strength value detected by the positioning signal sensor 150 on the second guide wire 320, and the signal strength detected by the first boundary signal sensor 130 is consistent with the signal strength detected by the second boundary signal sensor 140, and the magnetic fields are opposite. The central axis 160 of the lawnmower robot 100 coincides with the second guide wire 320, indicating that the lawnmower robot 100 has traveled to the turning area.

[0081] In the third possible implementation, an angle sensor can be used to determine whether the lawnmower 100 has entered a turning area. Specifically, the lawnmower 100 is equipped with at least an angle sensor. Therefore, based on whether the total rotation angle of the lawnmower 100 is greater than or equal to a preset angle, it can be determined whether the lawnmower 100 has entered a turning area. It can be seen that, referring to... Figure 8 Step S101, determining whether the lawnmower robot has traveled to the turning area, can specifically include the following steps:

[0082] S131. Acquire the signal detected by the angle sensor to obtain the total rotation angle of the lawnmower robot 100.

[0083] S132. Determine whether the total rotation angle of the lawn mowing robot 100 is greater than or equal to the preset angle. If yes, it means that the lawn mowing robot 100 has traveled to the turning area. If no, it means that the lawn mowing robot 100 has not traveled to the turning area.

[0084] Among them, the angle sensor is used to detect the rotation angle of the body 110 of the lawn mowing robot 100. The total rotation angle is the total rotation angle of the lawn mowing robot 100 after multiple rotations. If the lawn mowing robot 100 rotates only once, the total rotation angle is the rotation angle of the lawn mowing robot once.

[0085] Specifically, refer to Figure 4As the lawnmower robot 100 travels along the first guide rail 310, when it approaches a turning area, it rotates towards the second guide rail 320 and moves forward. The lawnmower robot 100 then turns again and moves forward and / or backward. This process is repeated. When the total rotation angle of the lawnmower robot 100 is equal to or greater than a preset angle, it indicates that the lawnmower robot 100 has reached the turning area. The preset angle is set to be less than or equal to 90 degrees.

[0086] If the preset angle is set to 90 degrees, the total rotation angle of the lawn mowing robot 100 will reach 90 degrees. At this time, the central axis 160 of the lawn mowing robot 100 will coincide with the second guide wire 320, indicating that the lawn mowing robot 100 has traveled to the turning area.

[0087] Additionally, the lawnmower 100 can also be equipped with a positioning signal sensor 150, meaning the lawnmower 100 is equipped with both an angle sensor and a positioning signal sensor 150. To determine whether the lawnmower 100 has entered a turning area, the detection data from both the positioning signal sensor 150 and the angle sensor can be used simultaneously. For example, when the angle sensor detects that the total rotation angle of the lawnmower 100 is 90 degrees, and the signal strength detected by the positioning signal sensor 150 reaches a set signal strength value (i.e., the signal strength value detected by the positioning signal sensor 150 on the second guide wire 320), the central axis 160 of the lawnmower 100 coincides with the second guide wire 320, indicating that the lawnmower 100 has entered a turning area.

[0088] Alternatively, the lawnmower 100 can also be equipped with a first boundary signal sensor 130 and a second boundary signal sensor 140. In other words, the lawnmower 100 is simultaneously equipped with an angle sensor, a first boundary signal sensor 130, and a second boundary signal sensor 140, which are symmetrically arranged about the central axis 160 of the lawnmower 100. To determine whether the lawnmower 100 has entered a turning area, the detection results of the angle sensor, the first boundary signal sensor 130, and the second boundary signal sensor 140 can be used simultaneously to determine whether the lawnmower 100 has entered a turning area. For example, when the angle sensor detects that the total rotation angle of the lawnmower 100 is 90 degrees, and the signal strength detected by the first boundary signal sensor 130 is the same as the signal strength detected by the second boundary signal sensor 140, and the magnetic fields are opposite, then the central axis 160 of the lawnmower 100 coincides with the second conductor 320, indicating that the lawnmower 100 has entered a turning area.

[0089] Alternatively, the lawnmower robot can also be equipped with a positioning signal sensor 150, a first boundary signal sensor 130, and a second boundary signal sensor 140. In other words, the lawnmower robot 100 is simultaneously equipped with an angle sensor, a positioning signal sensor 150, a first boundary signal sensor 130, and a second boundary signal sensor 140. To determine whether the lawnmower robot 100 has entered a turning area, the detection results of the angle sensor, the positioning signal sensor 150, the first boundary signal sensor 130, and the second boundary signal sensor 140 can be used simultaneously to determine whether the lawnmower robot 100 has entered a turning area. This will not be elaborated upon further.

[0090] In the fourth possible implementation, refer to Figure 9 A user interface with a simulated lawn map is created. This interface can be a mobile phone interface, a computer interface, or an interface for configuring electronic products. Users can mark locations on the simulated lawn map, and these marks can be used to determine whether the lawnmower 100 has traveled to a turning area. Therefore, referring to... Figure 9 Step S101, determining whether the lawnmower robot has traveled to the turning area, can specifically include the following steps:

[0091] S141. Obtain the real-time location of the lawnmower robot 100 on the simulated map.

[0092] S142. Determine whether the lawn mowing robot 100 has traveled to the marked location on the lawn simulation map; if yes, it means that the lawn mowing robot 100 has traveled to the turning area; if no, it means that the lawn mowing robot 100 has not traveled to the turning area.

[0093] The simulated lawn map matches the actual lawn, and the marked positions on the simulated lawn map match their positions on the actual lawn. Specifically, as the lawnmower 100 travels along the guide rail 300, its real-time position on the simulated map changes accordingly. When the lawnmower 100 reaches a marked position, its control system determines that it has entered the mowing area. Understandably, users can flexibly set the marked positions through the user interface, thus allowing for more flexible control over the lawnmower 100 as it travels to turning points.

[0094] As can be seen from the above embodiments, in this application, the control system of the lawnmower 100 determines whether the lawnmower 100 is traveling in a turning area. This could be because the lawnmower 100 has just entered the starting point of the turning area, and the control system determines that the lawnmower 100 has traveled to the turning area; or it could be because the lawnmower 100 has already traveled to the turning area, for example, when the central axis 160 of the lawnmower 100 coincides with the second guide wire 320, and the control system determines that the lawnmower 100 has traveled to the turning area. Therefore, this application is more flexible in determining whether the lawnmower 100 has traveled to the turning area.

[0095] As described above, this application can use a variety of methods to determine whether the lawn mowing robot 100 has traveled to the turning area. Accordingly, after determining that the lawn mowing robot 100 has traveled to the turning area, the lawn mowing robot 100 can use a variety of methods to mow the grass in the corner area 230. Several of these methods are described in detail below, but it is not limited to using only the following methods.

[0096] In one possible embodiment, step 102, after determining that the mowing robot 100 has traveled to a turning area, and controlling the mowing robot 100 to mow the corner area 230 within the turning area, may specifically include the following steps: controlling the mowing robot 100 to move at least along one of the extension directions of the first guide wire 310 and the second guide wire 320, so that the mowing robot 100 mows the corner area 230.

[0097] In the specific work process, refer to Figure 3 As the lawnmower robot 100 travels along the guide wire 300, the rotation center of the mowing component 120 is on the guide wire 300, and the rotation radius of the mowing component 120 is the distance between the guide wire 300 and the boundary line 200. Therefore, the lawnmower robot 100 travels along the extension direction of the guide wire 300 toward the boundary line 200 until the rotation center of the mowing component 120 reaches the boundary line 200. At this time, the edge of the mowing component 120 just sweeps to the corner point of the boundary line 200, and the mowing component 120 completes the mowing of the corner area 230 in the turning area.

[0098] If the design size of the mowing component 120 is large, the rotation radius of the mowing component 120 is greater than the distance between the boundary line 200 and the guide wire 300. Therefore, the rotation center of the mowing component 120 does not need to reach the position of the boundary line 200. The mowing component 120 can also sweep to the corner point of the boundary line 200, and the mowing robot 100 completes the mowing of the corner area 230.

[0099] In another possible embodiment, instead of controlling the lawnmower robot 100 to move towards the boundary line 200 along the extension direction of the guide wire 300 to mow the corner area 230, step 102, upon determining that the lawnmower robot 100 has traveled to the corner area, controlling the lawnmower robot 100 to mow the corner area 230 within the corner area, can specifically include the following steps: controlling the lawnmower robot 100 to travel back and forth and adjust its direction at least once in the corner area, so that the lawnmower robot 100 mows the corner area 230. More specifically, upon confirming that the lawnmower robot 100 has traveled to the corner area, the lawnmower robot 100 tilts and reciprocates between the first guide wire 310 and the second guide wire 320, and turns outward. During its movement, the mowing robot 100's mowing component 120 gradually approaches the intersection between the first boundary line 210 and the second boundary line 220, until it sweeps to the intersection between the first boundary line 210 and the second boundary line 220, completing the mowing of the corner area 230.

[0100] In the steps, the lawn mowing robot 100 is controlled to move at least along one of the extension directions of the first guide wire 310 and the second guide wire 320 so that the lawn mowing robot 100 can mow the corner area 230. Specifically, two methods can be used, and the two methods are described in detail below.

[0101] In a first possible implementation, the step of controlling the mowing robot 100 to move at least along one of the extension directions of the first guide wire 310 and the second guide wire 320, so that the mowing robot 100 mows the corner area 230, may specifically include the following steps: controlling the mowing robot 100 to move along the extension direction of the first guide wire 310 toward the second boundary line 220, so that the mowing robot 100 mows the corner area.

[0102] Specifically, refer to Figure 3 In steps 2b to 2d, after determining that the central axis 160 of the mowing robot 100 coincides with the first guide wire 310, the mowing robot 100 can travel along the first guide wire 310 toward the extension direction of the second boundary line 220, so that the edge of the mowing component 120 can sweep to the intersection of the first boundary line 210 and the second boundary line 220, and the mowing robot 100 mows the corner area 230.

[0103] Understandably, compared to existing technologies, the lawn mowing robot 100 uses the above-mentioned method to mow the corner area 230 of the turning area. The lawn mowing robot 100 can quickly mow the corner area 230 while traveling through the turning area. Therefore, when mowing the corner area of ​​the lawn, the lawn mowing robot 100 avoids problems such as missed mowing of the corner area of ​​the lawn and ensures the working efficiency of the lawn mowing robot 100.

[0104] Furthermore, before controlling the lawn mowing robot 100 to move along the first guide line 310 toward the extension direction of the second boundary line 220, so that the lawn mowing robot 100 mows the corner area, the following steps are also included: controlling the lawn mowing robot to rotate and move backward so that the central axis of the lawn mowing robot coincides with the first guide line.

[0105] In practical applications, after confirming that the lawnmower 100 has entered the turning area, its central axis 160 is not aligned with the first guide rail 310. This means the lawnmower 100 has already begun its turn and forward movement towards the second guide rail 320. Therefore, the lawnmower 100 cannot complete its journey along the extension direction of the first guide rail 310 towards the second boundary line 220. For example, if an angle sensor is used to determine whether the lawnmower 100 has entered the turning area, by the time it is determined that the lawnmower 100 has entered the turning area, it has already changed direction and is moving towards the second guide rail 320.

[0106] Therefore, when the control system of the lawnmower 100 determines that the central axis 160 of the lawnmower 100 is not on the first guide wire 310, the control system controls the lawnmower 100 to rotate and move backward so that the central axis 160 of the lawnmower 100 coincides with the first guide wire 310. Afterward, the lawnmower 100 can move along the extension direction of the first guide wire 310 toward the second boundary line 220, so that the lawnmower 100 can mow the corner area. During the backward movement to the first guide wire 310, the lawnmower 100 can rotate and move backward once or multiple times, depending on the specific actual position of the lawnmower 100.

[0107] To determine whether the central axis 160 of the lawnmower robot 100 coincides with the first guide wire 310, the detection results of one or more sensors can be used. For example, one or more of the following sensors can be used in combination to detect the driving state of the lawnmower robot 100 to determine whether the central axis 160 of the lawnmower robot 100 coincides with the first guide wire 310: angle sensor, positioning signal sensor 150, first boundary signal sensor 130, and second boundary signal sensor 140. This will not be described in detail. The first boundary signal sensor 130 and the second boundary signal sensor 140 can be set on the same side or both sides of the central axis 160 of the lawnmower robot 100.

[0108] To further explain, after controlling the lawnmower robot 100 to move along the first guide line 310 toward the extension direction of the second boundary line 220, so that the lawnmower robot 100 mows the corner area, the central axis 160 of the lawnmower robot 100 coincides with the second guide line 320. For this reason, controlling the lawnmower robot to move along the second guide line in step 103 can specifically include the following steps: controlling the lawnmower robot 100 to rotate and move backward at least once, so that the central axis 160 of the lawnmower robot 100 coincides with the second guide line 320; when it is determined that the central axis 160 of the lawnmower robot 100 coincides with the second guide line 320, controlling the lawnmower robot 100 to move along the second guide line 320.

[0109] In practical applications, during the turning process, the body 110 of the lawnmower 100 can rotate to adjust the direction of travel. The line connecting the rotation center of the body 110 and the rotation center of the mowing assembly 120 coincides with the central axis 160 of the lawnmower 100.

[0110] Specifically, refer to Figure 3In step 2d, the lawnmower robot 100 completes mowing of the corner area 230. Referring to steps 2d to 2e, the body 110 of the lawnmower robot 100 rotates forward to face the second guide line 320, while the mowing component 120 of the lawnmower robot 100 moves forward around the rotation center of the body 110. As seen in step 2d, the mowing component 120 of the lawnmower robot 100 is close to the outer side of the second boundary line 220. During circumferential movement, the mowing component 120 of the lawnmower robot 100 can further mow the corner area, thereby avoiding the problem of missed mowing in the corner area. Referring to steps 2e to 2f, the lawnmower robot 100 moves backward, and the rotation center of the body 110 of the lawnmower robot 100 is on the extension line of the second guide line 320. Referring to diagrams 2f to 2g, the body 110 of the lawnmower 100 rotates forward at a set angle, and the mowing component 120 of the lawnmower 100 rotates forward around the rotation center of the body 110 until the central axis 160 of the lawnmower 100 coincides with the second guide wire 320. As can be seen from step 2f, the mowing component 120 of the lawnmower 100 is close to the outside of the first boundary line 210. When the mowing component 120 of the lawnmower 100 moves in the circumferential direction, it further mows the grass in the turning area, thereby avoiding the problem of missed mowing in the turning area of ​​the lawn.

[0111] Determining whether the central axis 160 of the lawnmower robot 100 is on the second guide wire 320 can be done in several ways, including the following:

[0112] In one possible embodiment, determining whether the central axis 160 of the lawnmower 100 is on the second guide wire 320 in the step specifically includes the following steps: controlling the lawnmower 100 to rotate and move backward at least once until the positioning signal sensor 150 is located on the second guide wire 320, and the first boundary signal sensor 130 and the second boundary signal sensor 140 are symmetrically arranged about the second guide wire 320 so that the central axis 160 of the lawnmower 100 coincides with the second guide wire 320.

[0113] Among them, reference Figure 5The positioning signal sensor 150 is disposed at the head of the lawnmower 100 and located on the central axis 160 of the lawnmower 100. The first boundary signal sensor 130 is disposed at the head of the lawnmower 100, on the left side, and the second boundary signal sensor 140 is disposed at the head of the lawnmower 100, on the right side. The first boundary signal sensor 130 and the second boundary signal sensor 140 are symmetrically arranged about the central axis 160 of the lawnmower 100. The positioning signal sensor 150, the first boundary signal sensor 130 and the second boundary signal sensor 140 can be magnetic induction sensors or other sensors.

[0114] Specifically, refer to Figure 3 During the orientation and position adjustment process of the lawnmower robot 100, when the signal strength detected by the positioning signal sensor 150 reaches the set signal strength value—that is, when the signal strength detected by the positioning signal sensor 150 on the second guide wire 320 is consistent with the signal strength detected by the first boundary signal sensor 130, and their magnetic fields are opposite—the positioning signal sensor 150 is located on the second guide wire 320, and the first boundary signal sensor 130 and the second boundary signal sensor 140 are symmetrically arranged about the second guide wire 320. Therefore, the central axis 160 of the lawnmower robot 100 coincides with the second guide wire 320. Based on the above, in step 403, the positions of the positioning signal sensor 150, the first boundary signal sensor 130, and the second boundary signal sensor 140 are determined according to the signal conditions detected by them, thereby achieving the alignment of the central axis 160 of the lawnmower robot 100 with the second guide wire 320.

[0115] In another possible embodiment, instead of the first boundary signal sensor 130 and the second boundary signal sensor 140 described above, they are disposed on both sides of the central axis 160 of the lawnmower 100. The first boundary signal sensor 130 and the second boundary signal sensor 140 are disposed on the same side of the lawnmower 100, and both are spaced at the same distance from the central axis 160 of the lawnmower 100.

[0116] Specifically, when the signal strength detected by the positioning signal sensor 150 reaches the set signal strength value, that is, when the signal strength detected by the positioning signal sensor 150 on the second guide wire 320, and the signal strength detected by the first boundary signal sensor 130 is the same as the signal strength detected by the second boundary signal sensor 140, and the magnetic fields are the same, then the positioning signal sensor 150 is located on the second guide wire 320, the first boundary signal sensor 130 and the second boundary signal sensor 140 are located on the same side of the second guide wire 320, and the central axis 160 of the lawnmower robot 100 coincides with the second guide wire 320.

[0117] In other possible embodiments, during the process of the lawnmower robot 100 traveling to the second guide rail 320, it can determine whether the central axis 160 of the lawnmower robot 100 is on the second guide rail 320 based on the detection results of the angle sensor; or, it can determine whether the central axis 160 of the lawnmower robot 100 is on the second guide rail based on the detection results of the angle sensor and the detection results of the positioning signal sensor; or, it can determine whether the central axis 160 of the lawnmower robot 100 is on the second guide rail based on the detection results of the angle sensor and the detection results of the boundary signal sensor. This will not be described in detail.

[0118] In the step of determining that the central axis 160 of the lawnmower 100 coincides with the second guide wire 320, the lawnmower 100 is controlled to move along the second guide wire 320. Specifically, refer to... Figure 3 In step 2g, after the lawnmower robot 100 has rotated, its central axis 160 is on the extension line of the second guide wire 320, which means that the central axis 160 of the lawnmower robot 100 coincides with the second guide wire 320. Referring to steps 2h to 1i, the lawnmower robot 100 is controlled to move forward along the second guide wire 320, that is, to move away from the first guide wire 310, and the lawnmower robot 100 mows the other edge of the lawn.

[0119] In a second possible embodiment, the step involves controlling the mowing robot 100 to move at least along one of the extension directions of the first guide wire 310 and the second guide wire 320, so that the mowing robot 100 mows the corner area 230. Specifically, this includes the following steps: controlling the mowing robot 100 to move along the second guide wire 320 toward the extension direction of the first boundary line 210, so that the mowing robot 100 mows the corner area 230.

[0120] Specifically, refer to Figure 4 In steps 3d to 3j, it is confirmed that after the lawnmower robot 100 has traveled to the turning area, the central axis 160 of the lawnmower robot 100 coincides with the second guide wire 320. Referring to steps 3j to 3k, the lawnmower robot 100 can travel along the second guide wire 320 toward the extension direction of the first boundary line 210, so that the edge of the mowing component 120 can sweep to the intersection of the first boundary line 210 and the second boundary line 220, and the lawnmower robot 100 mows the corner area 230.

[0121] Understandably, compared to existing technologies, the lawn mowing robot 100 uses the above-mentioned method to mow the corner area 230 of the turning area. The lawn mowing robot 100 can quickly mow the corner area 230 after traveling through the turning area. Therefore, when the lawn mowing robot 100 mows the corner area of ​​the lawn, it avoids problems such as missed mowing of the corner area of ​​the lawn and ensures the working efficiency of the lawn mowing robot 100.

[0122] To further explain, in the step of controlling the lawnmower robot 100 to move along the extension direction of the second guide 320 toward the first boundary line 210 so that the lawnmower robot 100 can mow the corner area 230, referring to 11, the specific steps include the following: controlling the robot to rotate and move so that the central axis 160 of the lawnmower robot coincides with the second guide 320.

[0123] After the central axis 160 of the lawnmower 100 coincides with the second guide wire 220, the lawnmower 100 is controlled to retreat along the extension direction of the second guide wire toward the first boundary line 210 so that the lawnmower 100 can mow the corner area 230.

[0124] In practical applications, if the robot is controlled to rotate and move during the steps so that the central axis 160 of the lawnmower 100 coincides with the second guide wire 320, and after confirming that the lawnmower 100 has traveled to the turning area, the central axis 160 of the lawnmower 100 does not coincide with the second guide wire 320. Therefore, the lawnmower 100 cannot complete its journey along the extension direction of the second guide wire 320 towards the first boundary line 210. For example, if the positioning signal sensor 150 determines whether the lawnmower 100 has traveled to the turning area, and it is determined that the lawnmower 100 has traveled to the turning area, the lawnmower 100 has not traveled to the second guide wire 320.

[0125] Therefore, refer to Figure 4 In steps 3d to 3j, the lawnmower 100 is controlled to rotate and move forward multiple times, so that the central axis 160 of the lawnmower 100 coincides with the second guide 320. After the central axis 160 of the lawnmower 100 coincides with the second guide 220, the lawnmower 100 is controlled to retreat along the extension direction of the second guide towards the first boundary line 210, so that the lawnmower 100 can perform subsequent mowing of the corner area 230.

[0126] In one possible embodiment, the position signal sensor 150, the first boundary signal sensor 130, and the second boundary signal sensor 140 can be used to determine whether the central axis 160 of the lawnmower robot 150 is on the second guide wire 320, with reference to... Figure 1The lawnmower robot 100 is equipped with a positioning signal sensor 150, a first boundary signal sensor 130, and a second boundary signal sensor 140. The positioning signal sensor 150 is located at the head of the lawnmower robot 100, on its central axis 160. The first boundary signal sensor 130 is located at the head of the lawnmower robot 100, on its left side, and the second boundary signal sensor 140 is located at the head of the lawnmower robot 100, on its right side. The first boundary signal sensor 130 and the second boundary signal sensor 140 are symmetrically arranged about the central axis 160. All three sensors—positioning signal sensor 150, first boundary signal sensor 130, and second boundary signal sensor 140—are magnetic induction sensors. The step of controlling the rotation and movement of the robot to make the central axis 160 of the lawnmower coincide with the second guide wire 320 specifically includes the following steps: controlling the rotation and movement of the lawnmower robot 100 until the positioning signal sensor 150 is located on the second guide wire 320, and the first boundary signal sensor 130 and the second boundary signal sensor 140 are symmetrically arranged about the second guide wire 320 so that the central axis 160 of the lawnmower robot 100 coincides with the second guide wire 320.

[0127] Specifically, during the orientation and position adjustment process of the lawnmower robot 100, when the signal strength detected by the positioning signal sensor 150 reaches the set signal strength value—that is, when the signal strength detected by the positioning signal sensor 150 on the second guide wire 320 is consistent with the signal strength detected by the first boundary signal sensor 130, and their magnetic fields are opposite—the positioning signal sensor 150 is located on the second guide wire 320, and the first boundary signal sensor 130 and the second boundary signal sensor 140 are symmetrically arranged about the second guide wire 320. Therefore, the central axis 160 of the lawnmower robot 100 coincides with the second guide wire 320. Based on the above, according to the signal conditions detected by the positioning signal sensor 150, the first boundary signal sensor 130, and the second boundary signal sensor 140, the positions of the positioning signal sensor 150, the first boundary signal sensor 130, and the second boundary signal sensor 140 are determined, thereby achieving the alignment of the central axis 160 of the lawnmower robot 100 with the second guide wire 320.

[0128] Alternatively, instead of the aforementioned first boundary signal sensor 130 and second boundary signal sensor 140, they can be positioned on both sides of the central axis 160 of the lawnmower 100, with the first boundary signal sensor 130 and second boundary signal sensor 140 positioned on the same side of the lawnmower 100 and both having the same distance from the central axis 160 of the lawnmower 100. Specifically, when the signal strength detected by the positioning signal sensor 150 reaches a set signal strength value, that is, when the signal strength detected by the positioning signal sensor 150 on the second guide wire 320 is consistent with the signal strength detected by the first boundary signal sensor 130, and the magnetic fields are the same, then the positioning signal sensor 150 is located on the second guide wire 320, the first boundary signal sensor 130 and the second boundary signal sensor 140 are located on the same side of the second guide wire 320, and the central axis 160 of the lawnmower 100 coincides with the second guide wire 320.

[0129] In other possible embodiments, as the lawnmower 100 travels to the second guide rail 320, it can determine whether the central axis 160 of the lawnmower 100 is on the second guide rail 320 based on the detection results of the angle sensor; or, it can determine whether the central axis 160 of the lawnmower 100 is on the second guide rail based on the detection results of the angle sensor and the detection results of the positioning signal sensor 150; or, it can determine whether the central axis 160 of the lawnmower 100 is on the second guide rail 320 based on the detection results of the angle sensor and the detection results of the boundary signal sensor. This will not be described in detail.

[0130] To further explain, in the step where the central axis 160 of the lawnmower 100 coincides with the second guide wire 220, the lawnmower 100 is controlled to retreat along the extension direction of the second guide wire toward the first boundary line 210. After the lawnmower 100 has mowed the corner area 230, it executes step 103. Specifically, referring to steps 3k to 3L, after the lawnmower 100 completes mowing of the corner area 230, its central axis 160 remains on the extension line of the second guide wire 320, which is equivalent to the central axis 160 of the lawnmower 100 coinciding with the second guide wire 320. Therefore, the lawnmower 100 is controlled to move forward along the second guide wire 320 to move away from the first guide wire 310, and during the movement, the lawnmower 100 mows the other edge of the lawn.

[0131] In some embodiments, determining whether the lawnmower 100 has completed mowing the corner area 230 can be done in various ways. Several of these methods are described below, but it is not limited to using only these methods.

[0132] In a first possible implementation, in order to determine whether the mowing component 120 of the lawnmower robot 100 has swept to the intersection between the first boundary line 210 and the second boundary line 220, the following steps are specifically included: based on the change in the electrical parameters of the mowing component 120 of the lawnmower robot 100, determine whether the lawnmower robot 100 has completed mowing of the corner area 230.

[0133] The electrical parameters of the lawn mowing component 120 can include current, voltage, power, resistance, frequency, etc.

[0134] Specifically, as the mowing component 120 moves closer to the intersection between the first boundary line 210 and the second boundary line 220, the area of ​​the lawn covered by the mowing component 120 becomes smaller and smaller, and the area trimmed by the mowing component 120 gradually decreases. Therefore, the electrical parameters of the mowing component 120 also change accordingly. Based on the change in electrical parameters, it is determined whether the mowing robot 100 has completed mowing the corner area 230. For example, referring to 3, the mowing robot 100 moves towards the second boundary line 220 along the extension direction of the first guide wire 310. When the mowing component 120 sweeps to the second boundary line 220, it controls the mowing robot 100 to continue moving forward, and the area of ​​the lawn covered by the mowing component 120 gradually decreases, and the current of the mowing component 120 decreases. When the mowing component 120 of the lawnmower robot 100 sweeps to the intersection between the first boundary line 210 and the second boundary line 220, the current of the mowing component 120 also decreases to the set value. Therefore, the driving position of the lawnmower robot 100 can be determined based on the current value of the mowing component 120, and then it can be determined whether the lawnmower robot 100 has completed the mowing of the corner area 230.

[0135] Based on the above, when the lawnmower robot 100 is mowing the corner area 230, the control system of the lawnmower robot 100 acquires the changes in the electrical parameters of the mowing component 120. When the values ​​of the electrical parameters of the mowing component 120 change to the corresponding range, it can be determined that the lawnmower robot 100 has completed mowing the corner area 230.

[0136] In a second possible embodiment, in order to determine whether the mowing component 120 of the mowing robot 100 has swept to the intersection between the first boundary line 210 and the second boundary line 220, the mowing robot 100 is equipped with an electromagnetic sensor, specifically including the following steps: acquiring the detection signal of the electromagnetic sensor; determining whether the signal strength detected by the electromagnetic sensor is less than or equal to a second preset signal strength, and if so, indicating that the mowing of the corner area 230 has been completed.

[0137] Specifically, refer to Figure 3 and Figure 4During the mowing process of the lawnmower robot 100 in the corner area 230, after the electromagnetic sensor crosses the first guide wire 310 or the second guide wire 320, the distance between the electromagnetic sensor and the guide wire 300 becomes farther and farther, and the signal strength detected by the electromagnetic sensor becomes weaker and weaker. When the detected signal strength decreases to the second preset signal strength value, it indicates that the lawnmower robot 100 has reached the correct position. The mowing component 120 sweeps to the intersection between the first guide wire 310 and the second guide wire 320, and the lawnmower robot 100 completes the mowing of the corner area 230.

[0138] In some embodiments, after determining that the lawnmower 100 has traveled to a turning area, the lawnmower control method further includes: determining whether there is a dangerous area in the direction of extension of the first guide 310 toward the second boundary line 220, and / or whether there is a dangerous area in the direction of extension of the second guide 320 toward the first boundary line 210; if not, controlling the lawnmower 100 to perform lawnmower control on the corner area 230 in the turning area; if yes, directly controlling the lawnmower 100 to travel along the second guide 320.

[0139] There are many reasons why a dangerous area may exist in the direction of extension. For example, there may be walls, rocks, or cliffs outside the second boundary line 220. If the lawnmower 100 continues to mow the corner area 230, it is easy for the lawnmower 100 to collide or tip over, thereby damaging the lawnmower 100. Therefore, when a dangerous area is determined to exist in the direction of extension, the lawnmower 100 is directly controlled to proceed to step 103, ensuring the safe use of the lawnmower 100.

[0140] In one possible embodiment, the head of the lawnmower 100 is equipped with a forward-facing environmental perception sensor, which can be a camera, infrared sensor, ultrasonic sensor, lidar, multispectral sensor, etc. After the lawnmower 100 travels to a turning area, when determining whether there is a danger zone in the extension direction of the first guide rail 310 and the extension direction of the second guide rail 320, the control system of the lawnmower 100 obtains environmental information in front of the lawnmower 100 through the environmental perception sensor. Based on the environmental information, it determines whether there is a danger zone in front of the lawnmower 100. If a danger zone exists, the lawnmower 100 directly executes step 103; otherwise, if no danger zone exists, the lawnmower 100 completes the mowing of the corner area 230.

[0141] In another possible embodiment, a user interface with a lawn simulation map is established. This user interface can be a mobile phone interface, a computer interface, or an interface for configuring electronic products. The user interface provides the user with various functions, such as controls for setting dangerous and safe areas. Based on the actual condition of the lawn area, the user sets dangerous areas in the lawn simulation map, and the lawnmower robot 100 determines whether there are dangerous areas in its driving direction based on the settings in the lawn simulation map.

[0142] After confirming that it has traveled to a turning area, the lawn mowing robot 100 also includes the following steps: acquiring a pre-set lawn simulation map and determining the real-time position of the lawn mowing robot 100 in the lawn simulation map; wherein the lawn simulation map includes at least a danger zone; and determining whether there is a danger zone in front of the lawn mowing robot 100 based on the real-time position.

[0143] Specifically, the real-time position of the lawn mower 100 on the lawn simulation map matches its actual position on the lawn. As the lawn mower 100 moves, its position on the simulation map changes accordingly. Because the simulation map includes danger zones, the lawn mower 100 can accurately predict whether there are danger zones ahead, thus avoiding serious damage during its movement. Understandably, users can flexibly set danger zones through the user interface to ensure the safety of the lawn mower 100 during use.

[0144] This application also provides a lawn mowing robot system for mowing lawns, the lawns having intersecting first boundary lines 210 and second boundary lines 220, a first guide wire 210 is provided inside the first boundary line 210 and a second guide wire 320 is provided inside the second boundary line 220.

[0145] The lawnmower robot system includes a controller and the robot body, wherein:

[0146] The controller is used to control the lawn mowing robot to travel along the first guide rail 310, determine whether the lawn mowing robot has traveled to the turning area; when it is determined that the lawn mowing robot has traveled to the turning area, control the lawn mowing robot to mow the corner area 230 in the turning area; and after the lawn mowing robot has mowed the corner area 230, control the lawn mowing robot to travel along the second guide rail 320.

[0147] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection between apparatuses or units through some interfaces, and may be electrical, mechanical, or other forms.

[0148] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0149] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0150] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

Claims

1. A method for controlling mowing in the bend area of ​​a lawn, characterized in that, The lawn has intersecting first and second boundary lines. A first guide wire is provided inside the first boundary line, and a second guide wire is provided inside the second boundary line. The first guide wire and the second guide wire intersect, and a turning area is formed between the corner where the first boundary line and the second boundary line intersect and the corner where the first guide wire and the second guide wire intersect. The method includes: Control the lawnmower robot to travel over the first guide wire and along the first guide wire with the travel path of the lawnmower robot sandwiching the first guide wire, and determine whether the lawnmower robot has traveled to the turning area; Once the lawnmower robot is determined to have traveled to the turning area, the lawnmower robot is controlled to move at least along one of the extension directions of the first guide wire and the second guide wire, so that the lawnmower robot can mow the corner area within the turning area. After the mowing robot has mowed the grass in the corner area, it is controlled to travel along the second guide line.

2. The lawn mowing control method according to claim 1, characterized in that, Controlling the lawnmower robot to move at least along one of the extension directions of the first guide wire and the second guide wire, so that the lawnmower robot mows the grass in the corner area, includes: The lawnmower robot is controlled to move along the first guide wire toward the extension direction of the second boundary line so that it can mow the grass in the corner area.

3. The lawn mowing control method according to claim 2, characterized in that, Before controlling the lawnmower robot to move along the extension direction of the first guide wire toward the second boundary line, the following steps are included: The lawnmower robot is controlled to rotate and move backward so that its central axis coincides with the first guide wire.

4. The lawn mowing control method according to claim 1, characterized in that, Controlling the lawnmower robot to move at least along one of the extension directions of the first guide wire and the second guide wire, so that the lawnmower robot mows the grass in the corner area, includes: The lawnmower robot is controlled to move along the second guide wire toward the extension direction of the first boundary line so that it can mow the grass in the corner area.

5. The lawn mowing control method according to claim 4, characterized in that, Controlling the lawnmower robot to move along the second guide wire toward the extension direction of the first boundary line, so that the lawnmower robot mows the grass in the corner area, includes: Control the lawnmower robot to rotate and move so that the central axis of the lawnmower robot coincides with the second guide wire; After the central axis of the mowing robot coincides with the second guide, the mowing robot is controlled to retreat along the extension direction of the second guide toward the first boundary line, so that the mowing robot can mow the grass in the corner area.

6. The lawn mowing control method according to any one of claims 1-5, characterized in that, Determining whether the lawnmower robot has traveled to a turning area includes: The lawnmower is equipped with at least a first boundary signal sensor and a second boundary signal sensor. The lawnmower determines whether it has traveled to the turning area based on whether the signal direction detected by the first boundary signal sensor is the same as the signal direction detected by the second boundary signal sensor. And / or, the lawnmower is equipped with at least a positioning signal sensor, and the lawnmower is determined to have traveled to a turning area based on whether the signal strength detected by the positioning signal sensor is less than or equal to a first preset signal strength; And / or, the lawnmower is equipped with at least an angle sensor to determine whether the lawnmower has traveled to the turning area based on whether the total rotation angle of the lawnmower is greater than or equal to a preset angle.

7. The lawn mowing control method according to claim 1, characterized in that, The lawnmower is equipped with a positioning signal sensor, a first boundary signal sensor and a second boundary signal sensor, with the positioning signal sensor located at the position of the lawnmower on its central axis. Before controlling the lawnmower robot to move away from the first guide along the second guide, the following steps are included: Control the lawnmower robot to rotate and move until the positioning signal sensor is located on the second guide wire, and the first boundary signal sensor and the second boundary signal sensor are symmetrically arranged about the second guide wire or located on the same side of the second guide wire, so that the central axis of the lawnmower robot coincides with the second guide wire.

8. The lawn mowing control method according to claim 1, characterized in that, Controlling the lawnmower robot to mow the corner area within the turning area includes: Based on the changes in the electrical parameters of the mowing component of the mowing robot, it is determined whether the mowing robot has completed mowing the corner area.

9. The lawn mowing control method according to claim 1, characterized in that, After determining that the lawnmower robot has traveled to the turning area, the process includes: Determine whether there are any hazardous areas in the extension direction of the first conductor and / or the extension direction of the second conductor; If so, then the control is executed to have the mowing robot mow the corner area within the turning area.

10. A lawnmowing robot system, characterized in that, Used for mowing lawns, the lawns have intersecting first boundary lines and second boundary lines, a first guide wire is provided inside the first boundary line and a second guide wire is provided inside the second boundary line, wherein the first guide wire and the second guide wire intersect, and a turning area is formed between the corner where the first boundary line and the second boundary line intersect and the corner where the first guide wire and the second guide wire intersect. The lawnmower system includes: a controller and the lawnmower robot body; The controller is configured to control the lawnmower robot body to straddle the first guide wire and travel along the first guide wire with the travel path of the lawnmower robot body sandwiching the first guide wire, and to determine whether the lawnmower robot body has traveled to the turning area; if it is determined that the lawnmower robot body has traveled to the turning area, to control the lawnmower robot body to move at least along one of the extension directions of the first guide wire and the extension direction of the second guide wire, so that the lawnmower robot body mows the grass in the corner area of ​​the turning area; and after the lawnmower robot body mows the grass in the corner area, to control the lawnmower robot body to travel along the second guide wire.

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