Automatic mower, operation control method and device thereof and electronic equipment

Abstract

The invention relates to a method for operating and controlling an automatic lawnmower (1), the automatic lawnmower (1) comprising a main cutting unit (7) and an auxiliary cutting unit (17) for trimming, the cutting range of the auxiliary cutting unit (17) at least extending to be flush with a housing (3) of the automatic lawnmower (1), the method comprises the following steps: detecting a specific object in a normal working mode of the auxiliary cutting unit (17); determining whether a specific object is detected; switching to an obstacle working mode at least based on the detected specific object; and keeping the normal working mode of the auxiliary cutting unit (17) at least based on the fact that the specific object is not detected.

Description

Technical Field

[0001] The present invention relates to an automatic lawn mower, and in particular to an operation control method of the automatic lawn mower, an operation control device, an automatic lawn mower comprising the operation control device, and an electronic device. Background Art

[0002] Automatic lawn mowers can automatically complete tasks such as lawn maintenance and are becoming increasingly popular among consumers. When working, automatic lawn mowers are restricted to a work area surrounded by a boundary. Existing automatic lawn mowers are equipped with one or more cutter discs at the bottom of the body, on which metal blades are installed, and the cutter discs rotate to form a cutting area. Because the blades on the mowing disc rotate at a high speed, it may cause harm to people, so a high level of protection is required, resulting in a large blade protection distance, and the grass near the boundary cannot be cut, that is, it cannot be completely trimmed.

[0003] Therefore, a technical problem existing in the existing automatic lawn mowers is how to achieve complete trimming of the border while ensuring the safety of the lawn mower. Summary of the invention

[0004] In order to overcome the defects of the prior art, one problem to be solved by the present invention is to achieve complete trimming of the border while ensuring the safety of the lawn mower.

[0005] The technical solution adopted by the present invention to solve the problems of the prior art is:

[0006] Compared with the prior art, the present invention has the beneficial effect that the operation of the automatic lawn mower provided with the auxiliary cutting unit is controlled by whether a specific object is detected, so that the border can be completely trimmed while ensuring the safety of the lawn mower. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] These and / or other aspects and advantages of the present invention will become more clear and easier to understand from the following detailed description of the embodiments of the present invention in conjunction with the accompanying drawings, in which:

[0008] Figure 1 Schematic diagram of an automatic working system according to a first embodiment of the present invention.

[0009] Figure 2 It is a structural schematic diagram of an automatic lawn mower according to a first embodiment of the present invention.

[0010] Figure 3 It is a schematic diagram of a first arrangement example of the main cutting unit and the auxiliary cutting unit of the automatic lawn mower of the present invention.

[0011] Figure 4 It is a schematic diagram of a second arrangement example of the main cutting unit and the auxiliary cutting unit of the automatic lawn mower of the present invention.

[0012] Figure 5 It is a schematic diagram of a third arrangement example of the main cutting unit and the auxiliary cutting unit of the automatic lawn mower of the present invention.

[0013] Figure 6 It is a schematic flow chart of the operation control method of the automatic lawn mower of the present invention.

[0014] Figure 7 A schematic diagram of the sensor arrangement of the automatic lawn mower of the present invention.

[0015] Figure 8 It is a schematic block diagram of the operation control device of the automatic lawn mower of the present invention.

[0016] Fig. 9 It is a schematic block diagram of an electronic device of the present invention. DETAILED DESCRIPTION

[0017] Below, the exemplary embodiments according to the present application will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application, and it should be understood that the present application is not limited to the exemplary embodiments described here.

[0018] Robotic Lawn Mower Overview

[0019] Figure 1 Schematic diagram of an automatic working system 100 according to a first embodiment of the present invention. In this embodiment, the automatic working system 100 includes an automatic lawn mower 1. In addition, the automatic working system 100 also includes a charging station 2 for supplying electric energy to the automatic lawn mower 1.

[0020] like Figure 1 As shown, the automatic lawn mower 1 is used to work in a predetermined working area.

[0021] The structure of the automatic lawn mower 1 in this embodiment is as follows Figure 2 As shown. The automatic lawn mower 1 includes a shell 3, a mobile module, a task execution module, an energy module, a control module, etc. Among them, the mobile module includes a wheel set 5, which is driven by a drive motor to drive the automatic lawn mower 1 to move. The task execution module includes a cutting component 7 to perform mowing work. The energy module includes a battery pack (not shown) to provide electrical energy for the movement and operation of the automatic lawn mower 1. The control module is electrically connected to the mobile module, the task execution module and the energy module, controls the mobile module to drive the automatic lawn mower 1 to move, and controls the task execution module to perform work tasks.

[0022] Schematic operation control method

[0023] In order to achieve the purpose of trimming, the automatic lawn mower of the present invention is as follows Figure 2In addition to the main cutting unit in the cutting assembly 7 shown, an auxiliary cutting unit for trimming is further included. And, in order to completely trim the border, the cutting range of the auxiliary cutting unit at least extends to the housing of the automatic lawn mower, for example Figure 2 The housing 3 is shown flush.

[0024] In one example, the auxiliary cutting unit of the automatic lawn mower of the present invention can be a mowing head, including a wire winder, a mowing rope wound around the wire winder, and a driving motor for driving the wire winder to rotate. The cutting element of the auxiliary cutting unit can be a flexible material, such as a mowing rope, or a non-bladed metal material. Moreover, the cutting energy of the auxiliary cutting unit is preferably less than 2 joules. In other embodiments, the auxiliary cutting unit can also be a pruning shear or the like.

[0025] When the auxiliary cutting unit is actually provided, since the auxiliary cutting unit is used for trimming, it is usually provided at the edge of the shell, and there may be multiple instances of its positional relationship relative to the main cutting unit.

[0026] Figure 3 FIG. 2 is a schematic diagram of a first arrangement example of the main cutting unit and the auxiliary cutting unit of the automatic lawn mower of the present invention. Figure 3 As shown, the main cutting unit 7 is arranged in the middle of the whole machine of the automatic lawn mower, and the auxiliary cutting unit 17 is arranged on the side of the middle part of the automatic lawn mower. When cutting, the auxiliary cutting area of ​​the auxiliary cutting unit 17 is tangent to or overlaps with the main cutting area of ​​the main cutting unit 7 in the width direction of the automatic lawn mower (i.e., the direction perpendicular to the travel direction of the automatic lawn mower) to prevent missing cutting. In this embodiment, a universal wheel 19 is set on the front side of the automatic lawn mower. In order not to hinder the operation of the auxiliary cutting unit, the gap between the cutting area of ​​the auxiliary cutting unit 17 and the movement area of ​​the universal wheel 19 is greater than 5mm.

[0027] Figure 4 FIG. 2 is a schematic diagram of a second arrangement example of the main cutting unit and the auxiliary cutting unit of the automatic lawn mower of the present invention. Figure 4 As shown, in this example, the auxiliary cutting unit 17 is arranged at the front end of the automatic lawn mower and on the same side of the main cutting unit 7. Similarly, when cutting, the auxiliary cutting area of ​​the auxiliary cutting unit is tangent to or overlaps with the main cutting area of ​​the main cutting unit in the width direction of the automatic lawn mower (i.e., a direction perpendicular to the travel direction of the automatic lawn mower), and the gap between the cutting area of ​​the auxiliary cutting unit 17 and the moving area of ​​the universal wheel 19 of the automatic lawn mower is greater than 5 mm.

[0028] Figure 5 FIG. 2 is a schematic diagram of a third arrangement example of the main cutting unit and the auxiliary cutting unit of the automatic lawn mower of the present invention. Figure 5 As shown, in this example, the auxiliary cutting unit 17 is arranged at the front end of the automatic lawn mower and on the opposite side of the main cutting unit 7. When cutting, the automatic lawn mower moves clockwise along the boundary of the working area to form a first moving path, and moves counterclockwise along the boundary of the working area to form a second moving path. When the automatic lawn mower moves along the first moving path, the auxiliary cutting area of ​​the auxiliary cutting unit is tangent to or overlaps with the main cutting area of ​​the main cutting unit when the automatic lawn mower moves along the second moving path in the width direction of the automatic lawn mower. In addition, the gap between the cutting area of ​​the auxiliary cutting unit 17 and the moving area of ​​the universal wheel 19 of the automatic lawn mower is greater than 5 mm.

[0029] As described above, in the automatic lawn mower of the present invention, although the auxiliary cutting unit is used for trimming, and the cutting energy of the auxiliary cutting unit is preferably limited to avoid causing damage to other objects or human bodies. However, such damages cannot be completely avoided, especially for human bodies, and it is even more necessary to completely avoid the auxiliary cutting unit from touching the human body as much as possible. In addition, if the auxiliary cutting unit hits other hard objects during cutting, it may also cause damage to the auxiliary cutting unit itself.

[0030] Based on this, the present invention further proposes an operation control method for the above-mentioned automatic lawn mower provided with an auxiliary cutting unit.

[0031] Figure 6 The schematic flow chart of the operation control method of the automatic lawn mower of the present invention is as follows. Here, as described above, the automatic lawn mower comprises a main cutting unit and an auxiliary cutting unit for trimming, and the cutting range of the auxiliary cutting unit at least extends to be flush with the housing of the automatic lawn mower, or beyond the housing.

[0032] like Figure 6 As shown, the operation control method of the automatic lawn mower includes: S510, detecting a specific object in the normal working mode of the auxiliary cutting unit; S520, determining whether a specific object is detected; S530, switching to an obstacle working mode at least based on the detection of the specific object; and, S540, maintaining the normal working mode of the auxiliary cutting unit at least based on the failure to detect the specific object.

[0033] In step S510, detection of a specific object is performed in the normal working mode of the auxiliary cutting unit.

[0034] Here, the normal working mode of the auxiliary cutting unit refers to the working mode in which the auxiliary cutting unit performs normal trimming operation. In addition, since the cutting range of the auxiliary cutting unit at least extends to be flush with the housing of the automatic lawn mower during the trimming operation, it is necessary to detect a specific object to prevent the auxiliary cutting unit from causing damage to the specific object or the auxiliary cutting unit from being damaged by the specific object.

[0035] In the operation control method of the automatic lawn mower according to the embodiment of the present invention, the specific object may be a living body, such as a person, an animal, or other moving objects that may affect the operation of the automatic lawn mower, such as an object whose moving speed is greater than a predetermined threshold. Those skilled in the art may understand that the term "living body" in the embodiment of the present invention refers not only to living objects, but also to other moving objects, so as to distinguish them from fixed obstacles and the like in the working environment of the automatic lawn mower.

[0036] In step S520, it is determined whether a specific object is detected. Specifically, in the operation control method of the automatic lawn mower according to the embodiment of the present application, determining whether a specific object is detected includes: determining whether the detected object is a living body; and, in response to the detected object being a living body, determining that the specific object is detected.

[0037] In addition, based on the fact that the object is a living body, the distance between the living body and the automatic lawn mower can be further determined, thereby further determining whether the living body will affect the automatic lawn mower, so as to reduce the error operation rate of the automatic lawn mower.

[0038] That is, in the operation control method of the automatic lawn mower according to the embodiment of the present application, determining whether a specific object is detected further includes: detecting the distance between the living body and the automatic lawn mower; and switching to the obstacle working mode based at least on the detection of the specific object includes: in response to the distance being less than a preset distance threshold, switching the normal working mode to the obstacle working mode.

[0039] In addition, in the operation control method of the automatic lawn mower according to the embodiment of the present application, determining whether a specific object is detected includes: detecting the relative speed between the living body and the automatic lawn mower; and switching to the obstacle working mode based at least on the detection of the specific object includes: in response to the relative speed being greater than a preset speed threshold, switching the normal working mode to the obstacle working mode.

[0040] In step S530, the obstacle working mode is switched at least based on the detection of the specific object.

[0041] That is, after detecting a specific object that may affect the cutting work of the automatic lawn mower, for the sake of safety in the use of the automatic lawn mower, it is necessary to change the working mode of the auxiliary cutting unit. In the operation control method of the automatic lawn mower according to an embodiment of the present invention, in the obstacle working mode of the auxiliary cutting unit, the automatic lawn mower performs at least one of the following: changing the working state of the auxiliary cutting unit; changing the movement mode of the automatic lawn mower; and issuing an alert.

[0042] Specifically, in order to avoid causing damage to the specific object, or to avoid damage to the auxiliary cutting unit by the specific object, the automatic lawn mower can stop the auxiliary cutting unit, or reduce the cutting speed of the auxiliary cutting unit, or reduce the cutting energy of the auxiliary cutting unit. In addition, the automatic lawn mower can use turning, avoiding and other moving methods to avoid damage. In addition, the automatic lawn mower can use warning methods to remind the user of unexpected situations, such as sending an alarm signal on the machine, or sending a warning message to the user's mobile phone.

[0043] In step S540, at least based on the fact that the specific object is not detected, the normal working mode of the auxiliary cutting unit is maintained. That is, when the specific object is not detected, there is no possibility that the main cutting unit causes damage to the external object or is damaged by the external object, so the working state of the auxiliary cutting unit can continue to be maintained.

[0044] In addition, in the operation control method of the automatic lawn mower according to an embodiment of the present invention, it further includes: detecting a specific object in the obstacle working mode; determining whether a specific object is detected; maintaining the obstacle working mode at least based on the detection of the specific object; and restoring the normal working mode of the auxiliary cutting unit at least based on the failure to detect the specific object.

[0045] That is to say, in the obstacle working mode, it is possible to continue to detect whether the specific object that affects the operation of the auxiliary cutting unit exists. If the specific object still exists, the obstacle working mode is maintained, and if the specific object does not exist, the normal operation of the auxiliary cutting unit can be restored.

[0046] Specifically, in the obstacle working mode, at least based on the fact that the specific object is not detected, restoring the normal working mode of the auxiliary cutting unit includes: restoring the normal working mode of the auxiliary cutting unit at least based on the fact that the working speed of the auxiliary cutting unit is not 0; and / or detecting whether the holding time of the obstacle working mode exceeds the preset safety time, and restoring the normal working mode of the auxiliary cutting unit at least based on the fact that the holding time does not exceed the preset safety time. Specifically, in the obstacle working mode, if the working speed of the auxiliary cutting unit is always less than the preset safety threshold value, and the working speed of the auxiliary cutting unit is not zero, then when the specific object does not exist, the smart lawn mower can automatically restore the normal working mode of the auxiliary cutting unit. Specifically, the preset safety threshold value is a value set according to safety regulations. Specifically, in the obstacle working mode, if the working speed of the auxiliary cutting unit is zero, that is, the auxiliary cutting unit stops working and continues to detect the presence of the specific object. When the presence of the specific object is not detected, the time for which the auxiliary cutting unit is in the obstacle working mode is judged. If the time for which the auxiliary cutting unit is in the obstacle working mode is greater than the set time threshold, the automatic lawn mower can receive the user's instruction to restore the normal working mode. Specifically, the preset time threshold is set according to safety regulations. Preferably, the preset time threshold is 10s. Specifically, the automatic lawn mower accepts the user's instruction to restore the normal working mode, including that the user restarts the smart lawn mower to restore the auxiliary cutting unit to the normal working mode, or that the user remotely operates through a mobile phone, iPad or other device to restore the normal working mode of the auxiliary cutting unit. Specifically, if the time when the auxiliary cutting unit is in the obstacle working mode is less than the preset time threshold, that is, when the auxiliary cutting unit detects that a specific object is in the obstacle working mode, the auxiliary cutting unit continues to detect the presence of the specific object. When it is detected that the specific object does not exist, it is determined whether the time from the auxiliary cutting unit entering the obstacle working mode to detecting the absence of the specific object is less than the preset time threshold. When it is determined that the time is less than the preset time threshold, the auxiliary cutting unit can automatically restore the normal working mode. Specifically, the preset time threshold is based on safety regulations. Preferably, the preset time threshold is 10s.

[0047] In the operation control method of the automatic lawn mower according to the embodiment of the present invention, the detection of the specific object is performed by at least one of the following: infrared sensing, image recognition, ultrasonic / radar ranging, and depth imaging.

[0048] For example, by using infrared human body sensing technology, the infrared sensor can be used to identify whether a person is close to the automatic lawn mower, so that when the person is within a certain range from the machine, the auxiliary cutting unit is switched from the normal working mode to the obstacle working mode.

[0049] For another example, by using image recognition technology, it can be identified whether a person or a part of a person is close to the automatic lawn mower. When the person or a part of a person is within a certain range from the automatic lawn mower, the auxiliary cutting unit is switched from the normal working mode to the obstacle working mode.

[0050] According to another example, by using ultrasonic / radar ranging technology, by identifying the distance and approach speed between a moving object (including a person or object) and the equipment, the auxiliary cutting unit can be switched from the normal working mode to the obstacle working mode when the moving object is at a certain distance and a certain approach speed.

[0051] According to another example, depth imaging technology (TOF or other technology) can be used to perform three-dimensional imaging of the surrounding environment to identify the human body or part of the human body, and when it is identified that the human body or part of the human body is close to the machine and the human body or part of the human body is within a certain range from the machine, the auxiliary cutting unit is switched from the normal working mode to the obstacle working mode.

[0052] Of course, those skilled in the art can understand that the operation control method of the automatic lawn mower according to the embodiment of the present invention can also make comprehensive use of two or more of the above technologies to control the working state of the automatic lawn mower by identifying the degree of proximity between a person or a moving object and the automatic lawn mower, such as the approach distance and the approach speed.

[0053] Figure 7 Schematic diagram of the sensor arrangement of the automatic lawn mower of the present invention. Figure 7 As shown, two or more sensors 21 (such as the above-mentioned sensors for infrared sensing, image recognition, ultrasonic / radar ranging, and depth imaging) can be arranged on one side of the auxiliary cutting unit of the automatic lawn mower. Figure 8 As shown, by setting up sensors with more than two channels, it can be ensured that the sensors do not miss any detection.

[0054] In addition, the automatic lawn mower may be provided with a temperature sensor, so that when it is detected that the ambient temperature is close to the human body temperature, the working mode of the auxiliary cutting unit is switched to prevent misjudgment.

[0055] Furthermore, the automatic lawn mower may be provided with a light sensor, so that when the light is less than a set value, the auxiliary cutting unit of the automatic lawn mower is started to work normally, for example, the normal working mode is started at night to prevent the light from affecting the detection accuracy of other sensors, such as infrared sensors.

[0056] Therefore, in the operation control method of the automatic lawn mower according to the embodiment of the present invention, it further includes: detecting the ambient temperature of the automatic lawn mower; and, in response to the ambient temperature being within a preset temperature range, allowing the auxiliary cutting unit to operate.

[0057] Furthermore, in the operation control method of the automatic lawn mower according to an embodiment of the present invention, it further includes: detecting the ambient light illumination of the automatic lawn mower; and, in response to the ambient light illumination being less than a light illumination threshold, controlling the auxiliary cutting unit to enter a normal working mode.

[0058] Schematic diagram of operating controls and robotic lawn mower

[0059] Figure 8 It is a schematic block diagram of the operation control device of the automatic lawn mower of the present invention.

[0060] Here, if Figure 8 The illustrated operation control device 600 is applied to the automatic lawn mower having a main cutting unit and an auxiliary cutting unit for trimming as described above, and the cutting range of the auxiliary cutting unit at least extends to be flush with the housing of the automatic lawn mower.

[0061] And, if Figure 8 As shown, the operation control device 600 includes: a detection unit 610, used to detect a specific object in the normal working mode of the auxiliary cutting unit; a determination unit 620, used to determine whether a specific object is detected; a switching unit 630, used to switch to an obstacle working mode based at least on the detection of the specific object; and a maintaining unit 640, used to maintain the normal working mode of the auxiliary cutting unit based at least on the failure to detect the specific object.

[0062] In one example, in the operation control device 600 of the automatic lawn mower, the determination unit 620 is used to: determine whether the detection object is a living body; and, in response to the detection object being a living body, determine that the specific object is detected.

[0063] In one example, in the operation control device 600 of the above-mentioned automatic lawn mower, the determination unit 620 is further used to detect the distance between the living body and the automatic lawn mower; and the switching unit 630 is further used to switch the normal working mode to the obstacle working mode in response to the distance being less than a preset distance threshold.

[0064] In one example, in the operation control device 600 of the above-mentioned automatic lawn mower, the determination unit 620 is further used to detect the relative speed between the living body and the automatic lawn mower; and the switching unit 630 is further used to switch the normal working mode to the obstacle working mode in response to the relative speed being greater than a preset speed threshold.

[0065] In one example, in the operation control device 600 of the automatic lawn mower, in the obstacle working mode, the automatic lawn mower performs at least one of the following: stopping the operation of the auxiliary cutting unit; changing the moving mode of the automatic lawn mower.

[0066] In one example, in the operation control method 600 of the above-mentioned automatic lawn mower, the detection unit 610 is further used to detect a specific object in the obstacle working mode; the determination unit 620 is further used to determine whether a specific object is detected; the maintaining unit 640 is further used to maintain the obstacle working mode at least based on the detection of the specific object; and the switching unit 630 is further used to restore the normal working mode of the auxiliary cutting unit at least based on the failure to detect the specific object.

[0067] In one example, in the operation control device 600 of the automatic lawn mower, the detection of a specific object is performed by at least one of the following: infrared sensing, image recognition, ultrasonic / radar ranging, and depth imaging.

[0068] In one example, in the operation control device 600 of the automatic lawn mower, the detection unit 610 is further used to detect the ambient temperature of the automatic lawn mower; and the maintaining unit 640 is further used to allow the auxiliary cutting unit to operate in response to the ambient temperature being within a preset temperature range.

[0069] In one example, in the operation control device 600 of the above-mentioned automatic lawn mower, the detection unit 610 is further used to detect the ambient light illumination of the automatic lawn mower; and the switching unit 630 is further used to control the auxiliary cutting unit to enter a normal working mode in response to the ambient light illumination being less than a light illumination threshold.

[0070] Here, those skilled in the art can understand that other details of the operation control device of the automatic lawn mower of the present invention are exactly the same as the corresponding details in the operation control method of the automatic lawn mower of the present invention described above, and will not be repeated here to avoid redundancy.

[0071] The present invention further relates to an automatic lawn mower, comprising: a housing; a main cutting unit; an auxiliary cutting unit for trimming, and the cutting range of the auxiliary cutting unit extends at least to be flush with the housing of the automatic lawn mower; and an operating control device as described above, for controlling a normal working mode or an obstacle working mode of the auxiliary cutting unit.

[0072] Compared with the prior art, the present invention has the beneficial effect that the operation of an automatic lawn mower provided with an auxiliary cutting unit for trimming can be controlled by whether a specific object is detected, so that the border can be completely trimmed while ensuring the safety of the lawn mower.

[0073] Exemplary Electronic Devices

[0074] Below, reference Fig. 9 The electronic device according to the present invention is described below. The electronic device may be an electronic device integrated in a mobile station of an automatic lawn mower, or a stand-alone device independent of the mobile station, and the stand-alone device may communicate with the mobile station to implement the operation control method of the automatic lawn mower according to the present invention.

[0075] Fig. 9 It is a schematic block diagram of an electronic device of the present invention.

[0076] like Fig. 9 As shown, electronic device 700 includes one or more processors 710 and memory 720 .

[0077] The processor 710 may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 700 to perform desired functions.

[0078] The memory 720 may include one or more computer program products, and the computer program product may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, a random access memory (RAM) and / or a cache memory (cache), etc. The non-volatile memory may include, for example, a read-only memory (ROM), a hard disk, a flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 710 may run the program instructions to implement the operation control method of the automatic lawn mower of each embodiment of the present invention described above and / or other desired functions. Various contents such as detection results of specific objects, working mode data, etc. may also be stored in the computer-readable storage medium.

[0079] In one example, the electronic device 700 may further include: an input device 730 and an output device 740 , and these components are interconnected via a bus system and / or other forms of connection mechanisms (not shown).

[0080] For example, the input device 730 may be used to receive user input.

[0081] The output device 740 can directly output various information to the outside, or control the mobile station to send signals.

[0082] Of course, to simplify, Fig. 9 Only some of the components related to the present application in the electronic device 700 are shown, and components such as a bus, an input / output interface, etc. are omitted. In addition, according to specific application conditions, the electronic device 700 may also include any other appropriate components.

[0083] Exemplary computer program products and computer-readable storage media

[0084] In addition to the above-mentioned methods and devices, an embodiment of the present application may also be a computer program product, which includes computer program instructions, which, when executed by a processor, enable the processor to execute the steps of the operation control method of the automatic lawn mower according to various embodiments of the present invention described in the above-mentioned "Exemplary Operation Control Method" section of this specification.

[0085] The computer program product may be written in any combination of one or more programming languages ​​to write program codes for performing the operations of the embodiments of the present application, including object-oriented programming languages, such as Java, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as an independent software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0086] In addition, an embodiment of the present application may also be a computer-readable storage medium having computer program instructions stored thereon, and when the computer program instructions are executed by a processor, the processor executes the steps of the operation control method of the automatic lawn mower according to various embodiments of the present invention described in the above “Exemplary Operation Control Method” section of this specification.

[0087] The computer readable storage medium can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can include, for example, but is not limited to, a system, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0088] The basic principles of the present application are described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, effects, etc. mentioned in the present application are only examples and not limitations, and it cannot be considered that these advantages, strengths, effects, etc. are required by each embodiment of the present application. In addition, the specific details disclosed above are only for the purpose of illustration and ease of understanding, not for limitation, and the above details do not limit the present application to being implemented by adopting the above specific details.

[0089] The block diagrams of the devices, apparatuses, equipment, and systems involved in this application are only illustrative examples and are not intended to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagram. As will be appreciated by those skilled in the art, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including", "comprising", "having", etc. are open words, referring to "including but not limited to", and can be used interchangeably with them. The words "or" and "and" used here refer to the words "and / or" and can be used interchangeably with them, unless the context clearly indicates otherwise. The words "such as" used here refer to the phrase "such as but not limited to", and can be used interchangeably with them.

[0090] It should also be noted that in the apparatus, device and method of the present application, each component or each step can be decomposed and / or recombined. Such decomposition and / or recombination should be regarded as equivalent solutions of the present application.

[0091] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present application. Therefore, the present application is not intended to be limited to the aspects shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

[0092] The above description has been given for the purpose of illustration and description. In addition, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although multiple example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions and sub-combinations thereof.

Claims

1. An automatic lawn mower, characterized in that: include, case; A task execution module, the task execution module includes a cutting assembly configured to perform a mowing task; the cutting assembly includes a main cutting unit and an auxiliary cutting unit; the auxiliary cutting unit is arranged on an opposite side of the main cutting unit; A control module is electrically connected to the task execution module and is configured to: control the automatic lawn mower to move clockwise along the boundary of the working area to form a first moving path, and to move counterclockwise along the boundary of the working area to form a second moving path; when the automatic lawn mower moves along the first moving path, the auxiliary cutting area of ​​the auxiliary cutting unit and the main cutting area of ​​the main cutting unit when the automatic lawn mower moves along the second moving path are tangent to or overlap in the width direction of the automatic lawn mower.

2. The automatic lawn mower according to claim 1, characterized in that: The automatic lawn mower comprises a universal wheel arranged at the front side; the gap between the auxiliary cutting area of ​​the auxiliary cutting unit and the moving area of ​​the universal wheel is greater than 5 mm.

3. The automatic lawn mower according to claim 1, characterized in that: The auxiliary cutting unit is arranged at the front end of the automatic lawn mower.

4. The automatic lawn mower according to any one of claims 1 to 3, characterized in that: The control module is further configured to: Performing detection of a specific object in a normal working mode of the auxiliary cutting unit; Determine whether a specific object is detected; Switching to an obstacle working mode based at least on detecting the specific object; And maintaining the normal working mode of the auxiliary cutting unit at least based on the failure to detect the specific object.

5. The automatic lawn mower according to claim 4, characterized in that: The automatic lawn mower further includes two or more sensors arranged at one side of the auxiliary cutting unit.

6. The automatic lawn mower according to claim 5, characterized in that: The sensor includes at least two of an infrared sensing sensor, an image recognition sensor, an ultrasonic sensor, a radar ranging sensor or a depth imaging sensor.

7. The automatic lawn mower according to claim 4, characterized in that: The determining whether the specific object is detected includes: determining whether the detection object is a living body; and in response to the detection object being a living body, determining that the specific object is detected.

8. An automatic lawn mower, characterized in that: include, case; A task execution module, the task execution module includes a cutting assembly configured to perform a mowing task; the cutting assembly includes a main cutting unit and an auxiliary cutting unit; the auxiliary cutting unit is arranged on an opposite side of the main cutting unit; The control module is electrically connected to the task execution module and is configured to: control the auxiliary cutting unit to work when the automatic lawn mower moves along the first moving path; control the main cutting unit to work when the automatic lawn mower moves along the second moving path; when the automatic lawn mower moves along the first moving path, the automatic lawn mower moves clockwise along the boundary of the working area, and when the automatic lawn mower moves along the second moving path, the automatic lawn mower moves counterclockwise along the boundary of the working area.

9. The automatic lawn mower according to claim 8, characterized in that: When the automatic lawn mower moves along the first moving path, the auxiliary cutting area of ​​the auxiliary cutting unit is tangent to or overlaps with the main cutting area of ​​the main cutting unit when the automatic lawn mower moves along the second moving path in the width direction of the automatic lawn mower.

10. The automatic lawn mower according to claim 8 or 9, characterized in that: The automatic lawn mower comprises a universal wheel arranged at the front side; the gap between the auxiliary cutting area of ​​the auxiliary cutting unit and the moving area of ​​the universal wheel is greater than 5 mm.

11. The automatic lawn mower according to claim 8 or 9, characterized in that: The auxiliary cutting unit is arranged at the front end of the automatic lawn mower.

12. The automatic lawn mower according to claim 8 or 9, characterized in that: The control module is further configured to: Performing detection of a specific object in a normal working mode of the auxiliary cutting unit; Determine whether a specific object is detected; Switching to an obstacle working mode based at least on detecting the specific object; And maintaining the normal working mode of the auxiliary cutting unit at least based on the failure to detect the specific object.

13. The automatic lawn mower according to claim 12, characterized in that: The automatic lawn mower further includes two or more sensors arranged at one side of the auxiliary cutting unit.

14. The automatic lawn mower according to claim 13, characterized in that the sensor includes at least two of an infrared sensing sensor, an image recognition sensor, an ultrasonic sensor, a radar ranging sensor or a depth imaging sensor.

15. The automatic lawn mower according to claim 8, characterized in that: The determining whether the specific object is detected includes: determining whether the detection object is a living body; and in response to the detection object being a living body, determining that the specific object is detected.

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