Mowing robot and method of controlling the same

Abstract

The application discloses a mowing robot and a control method thereof. The method comprises the following steps: controlling the mowing robot to leave a charging base to work in a first lawn; when a preset condition is met, controlling the mowing robot to move to an outlet of the first lawn; controlling the mowing robot to move from the outlet of the first lawn to an inlet of a second lawn; when the mowing robot moves to the inlet of the second lawn, controlling the mowing robot to enter the second lawn from the inlet of the second lawn to work in the second lawn. Through the control method of the mowing robot, the mowing robot can be controlled to move back and forth on two relatively distant lawns to mow grass more automatically, without the user carrying the mowing robot, and the use experience of the user is improved.

Description

Technical Field

[0001] This invention relates to a lawn mowing robot, and more particularly to a control method for a lawn mowing robot. Background Technology

[0002] Lawn mowing robots typically mow lawns in a single area or two adjacent areas. However, when mowing is required on at least two lawns that are far apart, such as the lawn in front of a house and the lawn behind a house, the area between these two areas is not within the mowing work area, and the terrain between the two areas may be complex. Therefore, the user needs to move the lawn mowing robot to the new area to continue mowing, which is inconvenient to operate, has a low degree of automation, and reduces the user experience. Summary of the Invention

[0003] To address the problem of existing lawnmowers being unable to mow across different areas, the present invention aims to provide a lawnmower robot capable of mowing across two geographically distant areas, along with its control method. 。

[0004] To achieve the above-mentioned objective, one embodiment of the present invention provides a control method for a lawnmower robot, used to control the lawnmower robot to move from a first lawn to a second lawn. The control method includes the following steps:

[0005] Control the lawnmower robot to leave the charging dock and work in the first lawn;

[0006] When preset conditions are met, the lawnmower robot is controlled to move to the exit of the first lawn;

[0007] The lawnmower is controlled to move from the exit of the first lawn to the entrance of the second lawn, wherein the first lawn and the second lawn are not adjacent, and the area through which the lawnmower moves from the exit of the first lawn to the entrance of the second lawn is a non-lawn area.

[0008] When the mowing robot moves to the entrance of the second lawn, control the mowing robot to enter the second lawn from the entrance of the second lawn so as to work in the second lawn.

[0009] As a further improvement of the present invention, controlling the lawnmower robot to move from the exit of the first lawn to the entrance of the second lawn includes:

[0010] Obtain a preset path between the exit of the first lawn and the entrance of the second lawn, wherein the preset path includes a plurality of coordinate points arranged in sequence;

[0011] The lawnmower is controlled to pass through the multiple coordinate points until it reaches the entrance of the second lawn.

[0012] As a further improvement of the present invention

[0013] During the movement between the multiple coordinate points, the robot continuously acquires visual data collected by the mowing robot and plans a path to the next coordinate point based on the visual data.

[0014] As a further improvement of the present invention, controlling the lawnmower robot to move to the exit of the first lawn includes:

[0015] Obtain the current coordinates and orientation of the lawnmower robot;

[0016] Obtain the coordinates of the exit of the first lawn;

[0017] Based on the current coordinates, the orientation, and the coordinates of the exit of the first lawn, the orientation of the lawn mowing robot is adjusted, and the lawn mowing robot is controlled to move to the exit of the first lawn.

[0018] As a further improvement to the present invention, the following steps are also included:

[0019] When the distance between the current coordinates of the lawn mowing robot and the exit coordinates of the first lawn reaches a first preset range, the binocular vision data of the lawn mowing robot is acquired.

[0020] Based on the binocular vision data, the lawnmower robot is controlled to move to the exit of the first lawn.

[0021] As a further improvement of the present invention, the step of controlling the lawnmower robot to sequentially pass through the plurality of coordinate points until reaching the entrance of the second lawn includes:

[0022] Step S42: Determine the current target point among the plurality of coordinate points;

[0023] Step S43: Obtain the current coordinates and current orientation of the lawnmower robot;

[0024] Step S44: Calculate the rotation angle based on the current coordinates, the current orientation, and the current target point;

[0025] Step S45: Control the lawnmower robot to rotate by the specified rotation angle;

[0026] Step S46: Control the lawnmower robot to move;

[0027] Step S47: Repeat steps S43 to S46 above until the current coordinates are the current target point;

[0028] Step S48: Update the current target point in step S42 above, and re-execute steps S42 to S47 above until the current coordinates are located at the entrance of the second lawn.

[0029] As a further improvement of the present invention, when performing step S46, the following step is also included:

[0030] The visual data collected by the lawnmower robot is continuously acquired during its movement.

[0031] The visual data is identified to determine whether there are obstacles within the movement range. The obstacles include areas with a drop greater than a drop threshold in the direction of movement of the lawnmower robot, or the presence of obstacles.

[0032] If there is an obstacle, control the lawnmower robot to move along a detour path, wherein the detour path is to first move in the opposite direction, rotate the detour angle, and then move in the forward direction;

[0033] If there are no obstacles, control the lawnmower robot to move straight.

[0034] As a further improvement to the present invention, the following steps are also included:

[0035] After the lawnmower moves along the bypass path, update the current coordinates of the lawnmower.

[0036] Calculate the distance between the current coordinates and the current target point, as well as the distance between the current target point and several other coordinate points after the coordinates corresponding to the current target point;

[0037] If the distance between the current coordinate and the current target point is the smallest, the current target point is maintained; if the distance between the current coordinate and another coordinate point after the coordinate point corresponding to the current target point is the smallest, the coordinate point with the smallest distance is updated as the new current target point.

[0038] As a further improvement of the present invention, the method further includes the step of: if the current target point is within the range of the obstacle, updating the next coordinate point after the coordinate point corresponding to the current target point to the new current target point.

[0039] To achieve one of the above-mentioned objectives, one embodiment of the present invention provides a lawnmower robot, including: a storage module for storing computer programs;

[0040] The processing module, when executing the computer program, can implement the steps in the above-described control method for the lawnmower robot.

[0041] Compared with the prior art, the present invention has the following advantages: the control method of the lawn mowing robot can control the lawn mowing robot to move back and forth between two relatively far lawns more automatically, without the need for the user to carry the lawn mowing robot, thus improving the user experience. Attached Figure Description

[0042] Figure 1 This is a schematic diagram of a lawnmower robot moving between a first lawn and a second lawn according to an embodiment of the present invention;

[0043] Figure 2 This is a schematic diagram of the preset path and the actual path of a lawnmower robot according to an embodiment of the present invention during its movement;

[0044] Figure 3 This is a flowchart of a control method for a lawnmower robot according to an embodiment of the present invention;

[0045] Figure 4 yes Figure 3 A flowchart of an embodiment of step S40;

[0046] Figure 5 yes Figure 4 A flowchart of an embodiment of step S46;

[0047] Figure 6 This is a schematic diagram of a lawnmower robot according to an embodiment of the present invention. Detailed Implementation

[0048] The present invention will now be described in detail with reference to the specific embodiments shown in the accompanying drawings. However, these embodiments do not limit the present invention, and any structural, methodological, or functional modifications made by those skilled in the art based on these embodiments are included within the scope of protection of the present invention.

[0049] One embodiment of the present invention provides a lawnmower robot capable of mowing across two geographically distant areas and its control method.

[0050] In one embodiment, a lawnmower robot is provided that can mow grass on a lawn. The lawnmower robot may include a walking module, a mowing module, a positioning module, and a binocular vision module. The walking module is used to drive the movement of the lawnmower robot, the mowing module is used to cut tall grass into shorter grass, the positioning module is used to determine the position of the lawnmower robot, and the binocular vision module is used to determine the surrounding environment of the lawnmower robot and can determine depth.

[0051] In this embodiment, the positioning module can achieve positioning using low-precision GPS navigation, with an accuracy of approximately 5 meters. This reduces equipment costs while still meeting user needs. However, due to the relatively low accuracy of the positioning module (e.g., relative to centimeter-level positioning precision), there may be discrepancies between the located position and the actual position. In such cases, a binocular vision module can assist in the judgment, the specific process of which is described below.

[0052] In addition, the lawnmower robot moves within tall grass, which can be obstructed by the grass. Also, due to cost considerations, the field of vision of the selected binocular vision module is not far. For example, it can judge the situation within a few meters. At that time, the lawn area was relatively large, such as thousands of square meters, so it was not possible to directly see the entire area for path planning through the binocular vision module.

[0053] The lawn in this embodiment includes at least two lawns, namely a first lawn and a second lawn, such as... Figure 1 As shown, the lawnmower robot can move either on the first lawn and the second lawn separately, or between the first lawn and the second lawn. In this embodiment, the first lawn and the second lawn are not adjacent, and the area traversed by the lawnmower robot from the exit of the first lawn to the entrance of the second lawn is a non-lawn area.

[0054] In one embodiment, a control method for a lawnmower robot is provided. This method allows the lawnmower robot to move from a first lawn to a second lawn. It should be noted that because the positioning accuracy of the positioning module of the moving lawnmower robot in this embodiment is relatively low, it cannot move along a designated path like a high-precision robot. The movement process of the lawnmower robot driven by the control method of this embodiment is described in detail below. Figure 2 As shown, move from the exit of the first lawn to the entrance of the second lawn.

[0055] The following is combined with Figures 1-5 This invention describes a control method for a lawnmower robot according to an embodiment of the present invention. Although the present application provides method operation steps as shown in the following embodiments or flowcharts, the execution order of these steps is not limited to the execution order provided in the embodiments of the present application, based on conventional or non-creative labor, where there is no necessary causal relationship in the logical process.

[0056] Specifically, the control method for the lawnmower robot includes the following steps:

[0057] Step S10: Control the lawnmower robot to leave the charging dock so that it can work in the first lawn.

[0058] Step S20: Determine whether the preset conditions are met.

[0059] In this step, the preset conditions can be that the lawnmower robot has worked on the first lawn for a preset time, or that the lawnmower robot has achieved a predetermined coverage rate on the first lawn. In other words, the lawnmower robot has completed a certain amount of mowing work on the first lawn, and it is determined that the lawnmower robot can move to the second lawn.

[0060] Step S30: When the preset conditions are met, control the lawn mowing robot to move to the exit of the first lawn.

[0061] The exit of the first lawn can be any location or a designated exit. When returning to the first lawn from other lawns, one can enter from any location on the first lawn or from the exit of the first lawn. The exit also becomes the entrance. The same applies to the entrance of the second lawn below. Exits and entrances are not restricted to being used only for leaving or entering.

[0062] Step S30 may include the following steps S31 to S33:

[0063] Step S31: Obtain the current coordinates and orientation of the lawnmower robot.

[0064] Step S32: Obtain the coordinates of the exit of the first lawn.

[0065] Step S33: Based on the current coordinates, the orientation posture, and the coordinates of the exit of the first lawn, adjust the orientation of the lawn mowing robot and control the lawn mowing robot to move to the exit of the first lawn.

[0066] Based on the current coordinates and the coordinates of the exit of the first lawn, the target vector and distance between the lawn mower robot and the target position can be determined. Based on the orientation posture, the orientation vector of the lawn mower robot can be determined. The angle between the target vector and the orientation vector can be calculated, and the required rotation angle can be calculated. Based on this angle, the orientation of the lawn mower robot can be adjusted so that the lawn mower robot moves towards the exit of the first lawn.

[0067] Furthermore, step S30 may also include steps S34 to S35:

[0068] Step S34: When the distance between the current coordinates of the lawn mowing robot and the exit coordinates of the first lawn reaches a first preset range, acquire the binocular vision data of the lawn mowing robot.

[0069] Step S35: Based on the binocular vision data, control the lawnmower robot to move to the exit of the first lawn.

[0070] Because the positioning accuracy of the positioning module of the lawnmower in this embodiment is relatively low, when it is determined that the lawnmower has reached the exit of the first lawn, the lawnmower may not have actually reached the position. Therefore, when the distance between the current coordinates and the exit coordinates of the first lawn is within the first preset range, it is switched to visual navigation, and navigation is performed by the binocular vision data provided by the binocular vision module.

[0071] The specific value of the first preset interval can be set by the user or determined based on the positioning accuracy of the positioning module. For example, if the positioning accuracy is 5 meters, the first preset interval can be around 5 meters. In this way, when the current coordinates of the lawnmower robot are within about 5 meters of the exit of the first lawn, it is located near the exit of the first lawn. At this time, it can accurately move to the exit of the first lawn based on visual navigation using binocular vision data.

[0072] In addition, if the lawnmower robot happens to be located at the exit of the first lawn in step S30, then steps S31 to S35 above will not be performed, and the following steps will be performed directly.

[0073] Step S40: Control the lawnmower robot to move from the exit of the first lawn to the entrance of the second lawn.

[0074] For the specific execution steps of step S40, please refer to... Figure 4 As shown, the process includes the following steps S41 to S48:

[0075] Step S41: Obtain a preset path between the exit of the first lawn and the entrance of the second lawn, wherein the preset path includes a plurality of coordinate points arranged in sequence.

[0076] The method for generating the preset path can include the following two implementation methods.

[0077] Implementation method 1: Receive a drive signal, wherein the drive signal is used to drive the lawnmower robot to move from the exit of the first lawn to the entrance of the second lawn;

[0078] Record the movement trajectory of the self-moving device and generate the preset path.

[0079] In this real-time mode, the user first guides the lawnmower robot to move from the exit of the first lawn to the entrance of the second lawn, and then stores the movement trajectory as the preset path for subsequent unguided movement.

[0080] Implementation method 2: Receive movement path data, wherein the movement path data is a path drawn on a map;

[0081] The preset path is generated based on the movement path and the map scale.

[0082] In this real-time mode, the user draws a movement path on a map on the client, such as a computer or an app, and then a preset path is generated based on that path.

[0083] The obtained preset path is as follows Figure 2 As shown in the circles, the dotted line formed by these circles becomes the preset path. Ideally, the lawnmower robot can move along this dotted line. However, during subsequent movement, on the one hand, the positioning accuracy of the lawnmower robot is not high enough, and the positioning position may not match the actual position. On the other hand, various unexpected situations may occur on the preset path, such as pedestrians, animals, obstacles, and depressions. Therefore, the preset path is only used as a reference for movement.

[0084] After completing step S41, the lawnmower robot can be controlled to pass through the multiple coordinate points until it reaches the entrance of the second lawn. Specifically, this can include the following steps.

[0085] Step S42: Determine the current target point among the plurality of coordinate points.

[0086] Step S43: Obtain the current coordinates and current orientation of the lawnmower robot.

[0087] Step S44: Calculate the rotation angle based on the current coordinates, the current orientation, and the current target point.

[0088] The method for calculating the rotation angle is the same as the method for calculating the angle between the target vector and the orientation vector mentioned above.

[0089] Step S45: Control the lawnmower robot to rotate by the specified rotation angle.

[0090] Step S46: Control the movement of the lawnmower robot.

[0091] In step S46, during the movement of the lawnmower robot between multiple coordinate points, visual data collected by the robot is continuously acquired, and a path to the next coordinate point is planned based on this visual data. The visual data is acquired through a binocular vision module.

[0092] Specifically, step S46 can be as follows: Figure 5 As shown, the process includes the following steps S461 to S464.

[0093] Step S461: Continuously acquire visual data collected by the lawn mowing robot during its movement.

[0094] Step S462: Identify the visual data and determine whether there are obstacles within the movement range. The obstacles include areas with a drop greater than a drop threshold along the movement direction of the lawnmower robot, or the presence of obstacles themselves. Obstacles can include various unexpected situations such as pedestrians, animals, obstacles, and depressions, as described above. Areas with a drop greater than the drop threshold are depressions, and obstacles include pedestrians, animals, roadblocks, tree branches, etc.

[0095] Step S463: If there are no obstacles, control the lawnmower robot to move straight.

[0096] Step S464: If there is an obstacle, control the lawnmower robot to move along the detour path, wherein the detour path is to first move in the opposite direction, rotate the detour angle, and then move in the forward direction.

[0097] The detour path in this embodiment differs from the circular motion encountered when encountering obstacles; instead, it follows a different path. Figure 2 As shown, the robot first moves backward a certain distance, then rotates a certain angle, such as the system's preset detour angle, and then moves forward. Because the positioning and visual navigation accuracy of the lawnmower robot in this embodiment is not high enough, turning by drawing an arc is inefficient when the accuracy is low. The turning method in this embodiment is more efficient. In addition, after moving forward a certain distance, it can continue to move to the current target point.

[0098] After the lawnmower robot completes step S464 of moving along the bypass path, the following steps S4641 to S4644 may also be included:

[0099] Step S4641: Obtain the current coordinates of the lawnmower robot.

[0100] Step S4642: Calculate the distance between the current coordinates and the current target point, as well as several other coordinate points after the coordinate point corresponding to the current target point.

[0101] Step S4643: If the distance between the current coordinates and the current target point is the smallest, maintain the current target point.

[0102] Step S4644: If the distance between the current coordinate and another coordinate point after the coordinate point corresponding to the current target point is the smallest, update the coordinate point with the smallest distance as the new current target point.

[0103] In steps S4641 to S4644, it is possible that after the lawnmower robot moves along the bypass path, it is already closer to other target points. Therefore, it does not need to return to the current target point, but can move directly to the next target point. Since the series of target points on the preset path are ordered sequentially, it is possible to control whether the lawnmower robot moves to other target points after the current target point, instead of returning to the target point before the current target point.

[0104] In addition, step S46 may also include step S465: if the current target point is within the range of the obstacle, update the next coordinate point after the coordinate point corresponding to the current target point to the new current target point.

[0105] Step S47: Repeat steps S43 to S46 above until the current coordinates are the current target point.

[0106] Step S48: Update the current target point in step S42 above, and re-execute steps S42 to S47 above until the current coordinates are located at the entrance of the second lawn.

[0107] Here, among a series of target points arranged in sequence along a preset path, the next target point of the current target point is determined as the new current target point.

[0108] Step S50: Determine whether the lawnmower robot has moved to the entrance of the second lawn.

[0109] If the current coordinates of the lawnmower robot are the same as the coordinates of the entrance to the second lawn, or if the two are within a certain range, it can be determined that the lawnmower robot has moved to the entrance of the second lawn.

[0110] In step S50, when the distance between the current target point of the lawnmower robot and the entrance coordinates of the second lawn reaches the second preset interval, the binocular vision data of the lawnmower robot can be acquired again. Based on the binocular vision data, the lawnmower robot is controlled to move to the entrance of the second lawn. This is consistent with the principle of controlling the lawnmower robot to move from the first lawn to the exit of the first lawn.

[0111] Step S60: Control the lawnmower robot to enter the second lawn from the entrance of the second lawn to work within the second lawn.

[0112] Compared with the prior art, this embodiment has the following beneficial effects:

[0113] (1) Through the control method of this lawn mowing robot, the lawn mowing robot can be controlled to move back and forth between two relatively far lawns more automatically, without the need for the user to carry the lawn mowing robot, thus improving the user experience.

[0114] (2) In the control method of this embodiment, since the positioning accuracy of the lawn mower is not high, the lawn mower is not controlled to move directly along the preset path in one go. Instead, the preset path is divided into a series of target points, and then the robot moves between each target point one by one, so as to minimize the displacement error of the lawn mower and make its movement trajectory roughly move along the preset path.

[0115] (3) During the process of moving between each target point, visual recognition is used to assist in the judgment. The binocular vision module only needs to meet the requirements of whether there are obstacles or depressions in front of the lawn mower robot, and whether it can move into place at the exit of the first lawn. The accuracy requirements of the binocular vision module are not high, and the visibility range is also small. Therefore, a lower-priced binocular vision module can be selected. The cost of the lawn mower robot is further reduced on the basis of meeting this control method, which increases the competitiveness of the product.

[0116] Additionally, a schematic diagram of the lawnmower module is shown below. Figure 6 As shown, in addition to the walking module, mowing module, positioning module and binocular vision module mentioned above, it also includes a storage module and a processing module. When the processing module executes the computer program, it can implement the steps in the above-mentioned control method for the mowing robot, that is, implement the steps in any of the technical solutions in the above-mentioned control method for the mowing robot.

[0117] The processing module can be a Central Processing Unit (CPU), or other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate Arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. General-purpose processors can be microprocessors or any conventional processor. The processing module is the control center of the lawnmower robot, connecting all parts of the robot via various interfaces and wiring.

[0118] The storage module can be used to store the computer programs and / or modules. The processing module implements various functions of the lawnmower robot by running or executing the computer programs and / or modules stored in the storage module and by calling the data stored in the storage module. The storage module may mainly include a program storage area and a data storage area. The program storage area may store the operating system, at least one application program required for a function, etc. In addition, the storage module may include high-speed random access memory, and may also include non-volatile memory, such as hard disk, memory, plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0119] For example, the computer program can be divided into one or more modules / units, which are stored in a storage module and executed by a processing module to complete the present invention. The one or more modules / units can be a series of computer program instruction segments capable of performing specific functions, which describe the execution process of the computer program in the lawnmower robot.

[0120] It should be noted that for details not disclosed in the lawnmower robot of this embodiment, please refer to the details disclosed in the control method of this embodiment.

[0121] It should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This way of describing the specification is only for clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

[0122] The detailed descriptions listed above are merely specific descriptions of feasible embodiments of the present invention, and are not intended to limit the scope of protection of the present invention. All equivalent embodiments or modifications made without departing from the spirit of the present invention should be included within the scope of protection of the present invention.

Claims

1. A control method for a lawnmower robot, used to control the lawnmower robot to move from a first lawn to a second lawn, characterized in that, The control method includes the following steps: Control the lawnmower robot to leave the charging dock and work in the first lawn; When preset conditions are met, the lawnmower robot is controlled to move to the exit of the first lawn; The lawnmower is controlled to move from the exit of the first lawn to the entrance of the second lawn, wherein the first lawn and the second lawn are not adjacent, and the area through which the lawnmower moves from the exit of the first lawn to the entrance of the second lawn is a non-lawn area. When the lawnmower moves to the entrance of the second lawn, control the lawnmower to enter the second lawn from the entrance of the second lawn so as to work in the second lawn; The control of the lawnmower robot to move from the exit of the first lawn to the entrance of the second lawn includes: Obtain a preset path between the exit of the first lawn and the entrance of the second lawn, wherein the preset path includes a plurality of coordinate points arranged in sequence; The lawnmower is controlled to pass through the multiple coordinate points until it reaches the entrance of the second lawn; The step of controlling the lawnmower robot to sequentially pass through the multiple coordinate points until reaching the entrance of the second lawn includes: Step S42: Determine the current target point among the plurality of coordinate points; Step S43: Obtain the current coordinates and current orientation of the lawnmower robot; Step S44: Calculate the rotation angle based on the current coordinates, the current orientation, and the current target point; Step S45: Control the lawnmower robot to rotate by the specified rotation angle; Step S46: Control the lawnmower robot to move; Step S47: Repeat steps S43 to S46 above until the current coordinates are the current target point; Step S48: Update the current target point in step S42 above, and re-execute steps S42 to S47 above until the current coordinates are located at the entrance of the second lawn; When performing step S46, the following steps are also included: The visual data collected by the lawnmower robot is continuously acquired during its movement. The visual data is identified to determine whether there are obstacles within the movement range. The obstacles include areas or objects with a drop greater than a drop threshold in the direction of movement of the lawnmower robot. If there is an obstacle, control the lawnmower robot to move along a detour path, wherein the detour path is to first move in the opposite direction, rotate the detour angle, and then move in the forward direction; If there are no obstacles, control the lawnmower robot to move straight.

2. The control method for the lawnmower robot according to claim 1, characterized in that, During the movement between the multiple coordinate points, the robot continuously acquires visual data collected by the mowing robot and plans a path to the next coordinate point based on the visual data.

3. The control method for the lawnmower robot according to claim 1 or 2, characterized in that, Controlling the lawnmower robot to move to the exit of the first lawn includes: Obtain the current coordinates and orientation of the lawnmower robot; Obtain the coordinates of the exit of the first lawn; Based on the current coordinates, the orientation, and the coordinates of the exit of the first lawn, the orientation of the lawn mowing robot is adjusted, and the lawn mowing robot is controlled to move to the exit of the first lawn.

4. The control method for the lawnmower robot according to claim 3, characterized in that, It also includes the following steps: When the distance between the current coordinates of the lawn mowing robot and the exit coordinates of the first lawn reaches a first preset range, the binocular vision data of the lawn mowing robot is acquired. Based on the binocular vision data, the lawnmower robot is controlled to move to the exit of the first lawn.

5. The control method for the lawnmower robot according to claim 1, characterized in that, It also includes the following steps: After the lawnmower moves along the bypass path, update the current coordinates of the lawnmower. Calculate the distance between the current coordinates and the current target point, as well as the distance between the current target point and several other coordinate points after the coordinates corresponding to the current target point; If the distance between the current coordinates and the current target point is minimized, the current target point is maintained. If the distance between the current coordinate and any other coordinate point after the coordinate point corresponding to the current target point is the smallest, then the coordinate point with the smallest distance is updated as the new current target point.

6. The control method for the lawnmower robot according to claim 5, characterized in that, It also includes the step of: if the current target point is within the range of the obstacle, updating the next coordinate point after the coordinate point corresponding to the current target point to the new current target point.

7. A lawnmower robot, characterized in that, include: Storage module, used to store computer programs; The processing module, when executing the computer program, can implement the steps in the control method of the lawnmower robot according to any one of claims 1 to 6.

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