Mowing robot and control method thereof

Abstract

The invention discloses a mowing robot and a control method thereof, and the method comprises the steps: controlling the mowing robot to steer when the boundary of a lawn or an obstacle is detected; when the mowing robot needs to be controlled to steer, a target position is obtained, and the target position is determined according to the non-mowing area with the largest area; the steering angle of the mowing robot is calculated; and controlling the mowing robot to steer according to the steering angle. According to the method, the non-mowing area with the largest area serves as the purpose, the mowing robot moves in the mode of the most non-mowing possibility, the multiple non-mowing areas in the divergent state are rapidly converged to the mowing state, and the speed of completely mowing the lawn is higher.

Description

Technical Field

[0001] The invention relates to a lawn mowing robot, and in particular to a control method of the lawn mowing robot. Background Art

[0002] The working efficiency of the lawn mower robot with random movement is not high, and the mowing time is relatively long. After working for a long time, there may still be some areas that are not mowed, or the mowing height does not reach a lower height. Therefore, it cannot meet the user's usage needs well and reduces the consumer's usage experience. Summary of the invention

[0003] In order to solve the above-mentioned problem of how to improve the working efficiency of the lawn mowing robot in the prior art, the purpose of the present invention is to provide a control method for the lawn mowing robot to operate with higher efficiency. 。

[0004] To achieve the above-mentioned object of the invention, an embodiment of the present invention provides a control method of a lawn mowing robot, comprising:

[0005] Controlling the lawn mower robot to work in the lawn, and controlling the lawn mower robot to turn when a boundary of the lawn or an obstacle is detected;

[0006] When the lawn mower robot needs to be controlled to turn, a target position is obtained, wherein the target position is determined according to the largest unmowed area, wherein the number of the unmowed areas is multiple, and the unmowed areas are areas in the lawn outside the mowed areas of the lawn by the lawn mower robot;

[0007] Calculating a steering angle of the lawn mower robot according to the current position, current orientation and target position of the lawn mower robot;

[0008] Controlling the lawn mowing robot to turn according to the turning angle;

[0009] The lawn mowing robot is controlled to move forward.

[0010] As a further improvement of the present invention, when the lawn mowing robot needs to be controlled to turn, a target position is obtained, and the target position is determined according to the largest unmowed area, including:

[0011] When the lawn mowing robot needs to be controlled to turn, determining whether a condition of obtaining the largest unmowed area is met;

[0012] When the conditions are met, the largest uncut area is obtained, and any position is obtained from the largest uncut area, or the average value of the coordinate points in the largest uncut area is calculated as the target position.

[0013] As a further improvement of the present invention, the largest uncut area is obtained by the following steps:

[0014] While the lawn mowing robot moves, the moving path of the lawn mowing robot is synchronously recorded on a map;

[0015] Acquire all unmowed areas of the map, wherein the unmowed areas are areas in the lawn of the map that are not covered by the moving path of the mowing robot;

[0016] The largest area among all the uncut grass areas is calculated as the uncut grass area with the largest area.

[0017] As a further improvement of the present invention, the map includes a plurality of grids, and the grids that the moving path of the mowing robot has passed through are marked as covered grids, and the grids that have not been passed through are marked as uncovered grids.

[0018] As a further improvement of the present invention, the calculating the largest area in the uncut area includes: taking the area with the largest number of adjacent uncovered grids as the largest area in the uncut area.

[0019] As a further improvement of the present invention, the determining whether the condition of obtaining the largest uncut area is met includes:

[0020] If the mowing time of the lawn mowing robot reaches a first checking threshold, it is determined that the motion state of the lawn mowing robot meets the condition;

[0021] or,

[0022] Acquiring visual data collected by the lawn mowing robot;

[0023] Recognize visual data, and determine height data of grass in the lawn in the visual data;

[0024] Comparing the height data with the height threshold, if the duration of the height data being lower than the height threshold reaches a second check threshold, determining that the motion state of the lawn mowing robot meets the condition;

[0025] or,

[0026] Obtaining the working current of the lawn mowing robot;

[0027] The working current is compared with the current threshold, and if the duration of the working current being lower than the current threshold reaches a third checking threshold, it is determined that the motion state of the lawn mowing robot meets the condition.

[0028] As a further improvement of the present invention, obtaining the steering angle of the lawn mower robot according to the current position, current orientation and target position of the lawn mower robot includes:

[0029] A calculated angle between a line direction between the current position and the target position and the current orientation is calculated, where the calculated angle is the steering angle.

[0030] As a further improvement of the present invention, the calculating the steering angle of the lawn mower robot according to the current position, current orientation and target position of the lawn mower robot comprises:

[0031] Calculating the angle between the current position and the target position and the current orientation;

[0032] Determine the size of the angle value and the minimum angle threshold;

[0033] If the angle value is less than the minimum angle threshold, setting the custom angle as the steering angle, wherein the custom angle is greater than the minimum angle threshold;

[0034] If the angle value is not less than the minimum angle threshold, the angle value is set as the steering angle.

[0035] As a further improvement of the present invention, the custom angle is a random angle greater than the minimum angle threshold, or a preset angle.

[0036] To achieve one of the above-mentioned purposes, an embodiment of the present invention provides a lawn mowing robot, comprising:

[0037] A storage module storing a computer program;

[0038] The processing module can implement the steps in the above control method when executing the computer program.

[0039] Compared with the prior art, the present invention has the following beneficial effects: when the boundary of the lawn or an obstacle is detected, the control method of the lawn mowing robot controls the lawn mowing robot to turn and move in the direction of the unmowed area with the largest area, so that the lawn mowing robot moves in a manner with the most possible unmowed grass, thereby making several unmowed grass areas in a divergent state quickly converge to a mowed state, and the speed of mowing the lawn is faster, meeting the use requirements of high-efficiency mowing. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 is a flow chart of a control method of a lawn mowing robot according to an embodiment of the present invention;

[0041] Figure 2 yes Figure 1 A flowchart of an embodiment of step S30;

[0042] Figure 3 yes Figure 1 A flowchart of an embodiment of step S40;

[0043] Figure 4 is a schematic diagram of a lawn mowing robot according to an embodiment of the present invention mowing the largest unmowed area for the first time;

[0044] Figure 5 is a schematic diagram of a lawn mowing robot according to an embodiment of the present invention mowing the largest unmowed area for the second time;

[0045] Figure 6 is a schematic diagram of a lawn mowing robot according to an embodiment of the present invention mowing the largest unmowed area for the third time;

[0046] Figure 7 is a schematic diagram of a lawn mowing robot according to an embodiment of the present invention mowing the largest unmowed area for the fourth time;

[0047] Figure 8 is a schematic diagram of a lawn mowing robot according to another embodiment of the present invention mowing the largest unmowed area;

[0048] Fig. 9 Schematic diagram of a lawn mowing robot according to an embodiment of the present invention. DETAILED DESCRIPTION

[0049] The present invention will be described in detail below in conjunction with the specific embodiments shown in the accompanying drawings. However, these embodiments do not limit the present invention, and any structural, methodological, or functional changes made by a person skilled in the art based on these embodiments are all included in the protection scope of the present invention.

[0050] An embodiment of the present invention provides a control method for a lawn mowing robot with lower positioning accuracy to operate with higher efficiency.

[0051] In one embodiment, a lawn mowing robot is provided, which can mow grass on a lawn. The lawn mowing robot may include a walking module, a mowing module and a positioning module, wherein the walking module is used to drive the movement of the lawn mowing robot, the mowing module is used to mow high grass into low grass, and the positioning module is used to determine the position of the lawn mowing robot.

[0052] Among them, the positioning module of this embodiment can be positioned through relatively low-precision navigation, and the positioning accuracy is about 3 to 10 meters. This reduces the equipment cost on the one hand, and also meets the user's usage needs on the other hand. However, since the accuracy of the relatively low-precision positioning module has a certain error compared to the centimeter-level positioning accuracy, it may happen that the positioned position does not match its actual position. In addition, if the contents of the mowed area, unmowed area, current position, and current orientation below are determined by the positioning module, their measured values ​​may also have a certain deviation from the actual values. For example, the unmowed area determined by the positioning module may not be consistent with the edited boundary of the actual unmowed area, and the current position may not be consistent with the actual position, etc. The specific working process of these modules is explained below.

[0053] In one embodiment, a control method for a lawn mower robot is provided. The main application scenario of the control method is to control the lawn mower robot to make up for missed mowing areas. That is to say, the lawn mower robot does not operate in this method when it just starts to operate, but after the operation meets certain conditions, it operates in a way of making up for mowing the remaining lawn.

[0054] The positioning accuracy of the positioning module of the mobile mowing robot of this embodiment can be relatively low, and it is not necessary to move along the specified path as accurately and almost without deviation as a high-precision robot. Figures 1 to 3 As shown, the moving process of the driven lawn mowing robot Figures 4 to 8 As shown, each figure mows the largest unmowed area in each scene.

[0055] Combine the following Figures 1 to 8 , describing a control method for a lawn mowing robot provided by an embodiment of the present invention. Although the present application provides method operation steps as shown in the following implementation manner or flowchart, based on conventional or no creative labor, in the steps of the method where there is no necessary causal relationship logically, the execution order of these steps is not limited to the execution order provided in the implementation manner of the present application.

[0056] Specifically, the control method of the lawn mowing robot includes the following steps S10 to S60:

[0057] Step S10: controlling the lawn mowing robot to work in the lawn.

[0058] When the mowing robot moves, the moving path of the mowing robot is recorded on the map synchronously. The moving path is recorded by finding the corresponding position on the map and marking the moving path based on the real-time positioning data fed back by the positioning module of the mowing robot.

[0059] Furthermore, the map includes a plurality of grids. Figures 4 to 8 As shown, the entire lawn is divided into multiple grids, and the grids that the mowing robot has passed through are marked as covered grids, and the grids that have not been passed through are marked as uncovered grids. Here, the grids that the mowing robot has passed through can be marked as passed through once by the mowing robot, or it is stipulated that the mowing robot has passed through only when the coverage area reaches a preset value or more and the number of times it has passed through reaches n times. The specific value can be set according to the actual scene needs.

[0060] Figures 4 to 8 In the figure, the area with hatching in the corresponding figure of the covered grid means that the grid is in the mowed area; the area without hatching in the corresponding figure of the uncovered grid means that the grid is in the unmowed area. There are multiple unmowed areas, which are areas outside the mowed area of ​​the mowing robot in the lawn, and in some scenarios, areas not covered by the moving path of the mowing robot in the lawn of the map, or in other scenarios, although covered, the coverage area does not reach a preset value or the number of times passed does not reach n times, which are all considered as unmowed areas.

[0061] Step S20: Determine whether a lawn boundary or an obstacle is detected.

[0062] The boundary of the lawn can be the boundary between the lawn and other road surfaces, such as a road, or can be a boundary artificially defined by the user, such as a marker, a guide magnetic strip, or a boundary drawn on a map. The obstacle can be a marker, a guide magnetic strip, or other objects that hinder the movement of the mowing robot.

[0063] Step S30: When a boundary of a lawn or an obstacle is detected, the lawn mowing robot is controlled to turn.

[0064] In this embodiment, on the basis of performing mowing on the missed mowing area, step S30 may then be followed by acquiring a target position, wherein the target position is determined according to the largest unmowed area.

[0065] Step S30 may refer to Figure 2 As shown, the process specifically includes the following steps S31 to S34:

[0066] Step S31: When the mowing robot needs to be controlled to turn, it is determined whether the condition of obtaining the largest unmowed area is met. Here, there are multiple possibilities for this condition, and three of them are exemplified below:

[0067] (1) If the mowing time of the lawn mower robot reaches a first checking threshold, it is determined that the motion state of the lawn mower robot meets the condition.

[0068] In this embodiment, with the running time as a reference, when the mowing time of the mowing robot reaches the first checking threshold, it means that the running time of the mowing robot is long enough, and more areas may have been mowed at this time, and the missed areas can be mowed.

[0069] (2) obtaining visual data collected by the lawn mowing robot;

[0070] Recognize visual data, and determine height data of grass in the lawn in the visual data;

[0071] The height data is compared with a height threshold, and if the duration of the height data being lower than the height threshold reaches a second check threshold, it is determined that the motion state of the lawn mowing robot meets the condition.

[0072] In this embodiment, the mowing robot needs to be equipped with a visual module for acquiring visual data and judging the height of the grass by vision. In addition, the visual range of the visual module can be very small, for example, within a radius of 5 meters, so as to meet the use requirements at a lower cost. When the duration of the height data being lower than the height threshold reaches the second inspection threshold, it means that the mowing robot has been running in the low grass area for a long enough time, and more areas have been mowed at this time, and the missed areas can be mowed.

[0073] (3) obtaining the working current of the lawn mowing robot;

[0074] The working current is compared with the current threshold, and if the duration of the working current being lower than the current threshold reaches a third checking threshold, it is determined that the motion state of the lawn mowing robot meets the condition.

[0075] In this embodiment, when the lawn mower robot works in a high grass area, the operating resistance is large and the operating current is large. When working in a low grass area that has been mowed, the operating resistance is small and the operating current is small. Therefore, the duration that the operating current is lower than the current threshold reaches the third inspection threshold, which means that the lawn mower robot has a long enough operating time in the low grass area. At this time, more areas have been mowed, and the missed areas can be mowed.

[0076] The conditions corresponding to these three situations can be selected one by one or more by combination. When the conditions are met, continue to run the following steps. Figure 2 If the condition of obtaining the largest uncut area is not met, the preceding step S10 may be continued.

[0077] Step S32: Acquire all uncut areas of the map.

[0078] The total uncut area can be one or more, for example Figure 4There are three uncut areas, and the specific determination method of the uncut areas is described above.

[0079] Step S33: calculating the largest area among all the uncut areas, which is the largest uncut area.

[0080] In this step, the area with the largest number of adjacent uncovered grids is taken as the area with the largest area in the uncut area, for example Figure 4 In the figure, the number of connected uncovered grids in the uncut grass area 1 is the largest, and the uncut grass area 1 is the largest uncut grass area. Figure 5 Among them, the number of connected uncovered grids in the uncut grass area 2 is the largest, and the uncut grass area 2 is the largest uncut grass area. Figure 6 In the example, the number of uncovered grids of the unmowed area 4 and the unmowed area 3 divided from the original unmowed area 1 is the same. At this time, one can be randomly selected, for example, the unmowed area 4 is selected, that is, the unmowed area 4 is the largest unmowed area. Figure 7 Among them, the number of connected uncovered grids in the uncut grass area 3 is the largest, and the uncut grass area 3 is the largest uncut grass area.

[0081] Step S34: obtaining any position from the uncut area with the largest area, or calculating the average value of the coordinate points in the uncut area with the largest area, as the target position.

[0082] Any position obtained in the largest uncut area is the coordinates of any uncovered grid in the uncut area, for example, the coordinates of the center point of the uncovered grid, and the coordinates are determined as the target position.

[0083] The average value of the coordinate points in the unmowed area may be the sum of the coordinates of the center points of all uncovered grids in the unmowed area, and the average value is the target position.

[0084] Here, combined Figure 8 As shown, in step S30, the target position is determined according to the unmowed area with the largest area. The target position may not be in the unmowed area. For example, the unmowed area is a ring, and the calculated average value of the coordinate points in the unmowed area with the largest area falls in the mowed area. At this time, although it moves toward the mowed area, it still meets the mowing requirements of this embodiment and can solve the corresponding problem.

[0085] Step S40: Calculating a steering angle of the lawn mowing robot according to the current position, current orientation and target position of the lawn mowing robot.

[0086] A calculated angle between a line direction between the current position and the target position and the current orientation is calculated, where the calculated angle is the steering angle.

[0087] According to the coordinates of the current position and the target position, the target vector of the lawn mower robot and the target position can be determined. According to the current orientation, the orientation vector of the lawn mower robot can be determined. By calculating the angle between the target vector and the orientation vector, the angle required to rotate can be calculated. According to the angle, the orientation of the lawn mower robot can be adjusted so that the lawn mower robot moves toward the target position.

[0088] And, in other embodiments, step S40 may also refer to Figure 3 As shown, steps S41 to S44 are included:

[0089] Step S41: Calculate the angle between the direction of the line connecting the current position and the target position and the current orientation.

[0090] Step S42: Determine the size of the angle value and the minimum angle threshold.

[0091] Step S43: If the angle value is not less than the minimum angle threshold, the angle value is set as the steering angle.

[0092] Step S44: If the angle value is less than the minimum angle threshold, set the custom angle as the steering angle, wherein the custom angle is greater than the minimum angle threshold. The custom angle is a random angle greater than the minimum angle threshold, or a preset angle.

[0093] If the angle value is less than the minimum angle threshold, it means that if moving in this direction, it will not meet expectations and needs to be changed to another angle for movement. The specific principle and movement process are described below.

[0094] Step S50: controlling the lawn mowing robot to turn according to the turning angle.

[0095] Step S60: controlling the lawn mowing robot to move forward.

[0096] The forward movement here refers to the direct driving of the mowing robot to move forward along the current direction after the mowing robot has turned to the right position after step S50. Therefore, the front here refers to the front of the mowing robot, and the specific direction in space is not unique. The mowing robot may have different fronts in different directions.

[0097] Step S60 can be understood as continuing to execute step S10, that is, returning to step S10 and continuing to run the judgment of step S20 and other subsequent steps.

[0098] Below Figure 4 to Figure 7 The above steps are explained with reference to the movement process of FIG.

[0099] First, the mowing robot is controlled to work in the lawn in step S10, and then the mowing robot reaches Figure 4 The boundary position of the lower left corner in the image is obtained. At this time, the boundary judgment is performed in step S20, and the judgment result of step S31 on the condition of obtaining the largest uncut area is yes, and the subsequent step of mowing the missed area can be performed. Figure 4 Let's continue with the example.

[0100] exist Figure 4 middle:

[0101] At this time, step S32 is executed to obtain all the unmowed areas, including unmowed area 1, unmowed area 2, and unmowed area 3.

[0102] Step S33 is executed to calculate the largest area among all the uncut areas, and the uncut area 1 is the largest uncut area.

[0103] Step S34 is executed. At this time, taking any position in the largest uncut area as an example, any position in the uncut area 1 is taken as the target position.

[0104] Step S40 is executed to calculate the steering angle of the lawn mowing robot. At this time, the steering angle meets the requirement of step S43 that it is not less than the minimum angle threshold.

[0105] Operation step S50 controls the lawn mowing robot to turn according to the turning angle.

[0106] Step S60 controls the lawn mowing robot to move forward. Figure 4 Route 1 in.

[0107] exist Figure 5 middle:

[0108] At this time, after the mowing robot passes through the unmowed area 1, part of the uncovered grids in the unmowed area 1 become covered grids, and the unmowed area 1 is divided into the unmowed area 4 and the unmowed area 5. The mowing robot reaches the upper boundary in the figure, and returns to step S20.

[0109] At this time, the condition of S31 is still met, and step S32 is executed to obtain all the unmowed areas, including unmowed area 2, unmowed area 3, unmowed area 4 and unmowed area 5.

[0110] Step S33 is executed to calculate the largest area among all the uncut areas, and the uncut area 2 is the largest uncut area.

[0111] Step S34 is executed. At this time, taking any position in the largest uncut area as an example, any position in the uncut area 2 is taken as the target position.

[0112] Step S40 is executed to calculate the steering angle of the lawn mowing robot. At this time, it is assumed that the steering angle meets the requirement of step S43 that it is not less than the minimum angle threshold.

[0113] Although theoretically, the lawn mowing robot should go out of the dotted line path at this time, it cannot go out of the path because the dotted line is located outside the lawn.

[0114] Therefore, the mowing robot will touch the boundary of the lawn again, that is, it returns to step S20 again, and then runs to step S40. The new steering angle calculated at this time is about 0°, that is, the mowing robot does not need to turn, or turns a very small angle, and the angle value is less than the minimum angle threshold. Therefore, the steering angle is changed to a custom angle greater than the minimum angle threshold.

[0115] Operation step S50 controls the lawn mowing robot to turn according to the turning angle.

[0116] Step S60 is executed to control the mowing robot to move forward. After touching the new boundary, the robot returns to step S20 and continues to execute the above steps. The new steering angle is not less than the minimum angle threshold. At this time, the robot can move to the unmowed area 2 and finally move out. Figure 5 Route 2 in.

[0117] exist Figure 6 middle:

[0118] At this time, after the mowing robot passes through the unmowed area 2, some of the uncovered grids in the unmowed area 2 become covered grids, and the unmowed area 2 is divided into the unmowed area 6 and the unmowed area 7. The mowing robot reaches the upper boundary in the figure, and returns to step S20.

[0119] The operation process is similar to the above steps, but it should be noted that:

[0120] (1) When there are two largest uncut areas of equal size on the map, you can choose one to move forward. For example, uncut area 4 and uncut area 3 in the figure are equal in size, so you can choose uncut area 4 to move forward.

[0121] (2) The ideal moving trajectory at this time is Figure 6The dotted line in the figure follows the track of the dotted line, but the dotted line passes through the non-lawn area. Therefore, when the vehicle reaches the boundary of the lawn or detects an obstacle, it turns. The other processes are as described above, and the vehicle finally moves out. Figure 6 Route 3 in.

[0122] exist Figure 7 middle:

[0123] At this time, after the mowing robot passes through the uncut area 4, the map is segmented into more small uncut areas. At this time, the largest uncut area 3 is taken as the moving direction, and finally moves out Figure 7 Route 4 in.

[0124] Finally, during the execution of steps S10 to S60, if the lawn mowing robot reaches a stop condition, it can be controlled to stop running or return to charge. The stop conditions include reaching a boundary, reaching an obstacle, reaching a mowed area, reaching a maximum working time, or running out of power, etc.

[0125] Compared with the prior art, this embodiment has the following beneficial effects:

[0126] By means of the control method of the lawn mower robot, the lawn mower robot can be controlled to move in the direction of the largest uncut area. Although the positioning accuracy of the lawn mower robot is low, the judgment of the direction does not need high accuracy, and the uncut area may be different from the actual situation, but the largest uncut area has more overlaps with the actual uncut area than the smaller uncut area. That is to say, when the lawn mower robot with low positioning accuracy moves in the direction of the largest uncut area under the condition that the parameters such as the mowed area, the uncut area, the current position, and the current direction may be inaccurate, it is most likely to mow the grass. Moving in this direction can make the area of ​​the uncut area converge to a smaller state quickly. Therefore, the navigation and positioning with lower accuracy can also meet the use requirements, meet the needs of the use scenario at a lower cost, and take the largest uncut area as the purpose, the lawn mower robot moves in the way with the most possible uncut areas, so that several uncut areas in a divergent state quickly converge to a mowed state, and the speed of mowing the lawn is faster.

[0127] In addition, the module diagram of the lawn mowing robot is as follows Fig. 9 As shown, in addition to the above-mentioned walking module, mowing module and positioning module, it also includes a storage module and a processing module. When the processing module executes the computer program, the steps in the above-mentioned control method of the mowing robot can be implemented, that is, the steps in any one of the technical solutions in the above-mentioned control method of the mowing robot can be implemented.

[0128] The processing module can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor. The processing module is the control center of the lawn mower robot, and uses various interfaces and lines to connect the various parts of the entire lawn mower robot.

[0129] The storage module can be used to store the computer program and / or module, and the processing module realizes various functions of the lawn mowing robot by running or executing the computer program and / or module stored in the storage module, and calling the data stored in the storage module. The storage module can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, at least one application required for a function, etc. In addition, the storage module can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0130] Exemplarily, the computer program may be divided into one or more modules / units, which are stored in a storage module and executed by a processing module to implement the present invention. The one or more modules / units may be a series of computer program instruction segments capable of implementing specific functions, which are used to describe the execution process of the computer program in the lawn mowing robot.

[0131] It should be noted that for details not disclosed in the lawn mowing robot in the embodiment of the present invention, please refer to the details disclosed in the control method in the embodiment of the present invention.

[0132] It should be understood that although this specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each implementation mode may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

[0133] The series of detailed descriptions listed above are only specific descriptions of feasible implementation methods of the present invention. They are not intended to limit the scope of protection of the present invention. Any equivalent implementation methods or changes that do not deviate from the technical spirit of the present invention should be included in the scope of protection of the present invention.

Claims

1. A control method for a lawn mowing robot, characterized in that: Includes steps: Controlling the lawn mower robot to work in the lawn, and controlling the lawn mower robot to turn when a boundary of the lawn or an obstacle is detected; When the lawn mower robot needs to be controlled to turn, a target position is obtained, wherein the target position is determined according to the largest unmowed area, wherein the number of the unmowed areas is multiple, and the unmowed areas are areas in the lawn outside the mowed areas of the lawn by the lawn mower robot; Calculating a steering angle of the lawn mower robot according to the current position, current orientation and target position of the lawn mower robot; Controlling the lawn mowing robot to turn according to the turning angle; The lawn mowing robot is controlled to move forward.

2. The control method according to claim 1, characterized in that: When the lawn mowing robot needs to be controlled to turn, a target position is obtained, and the target position is determined according to the largest unmowed area, including: When the lawn mowing robot needs to be controlled to turn, determining whether a condition of obtaining the largest unmowed area is met; When the conditions are met, the largest uncut area is obtained, and any position is obtained from the largest uncut area, or the average value of the coordinate points in the largest uncut area is calculated as the target position.

3. The control method according to claim 2, characterized in that: The largest uncut area is obtained by the following steps: While the lawn mowing robot moves, the moving path of the lawn mowing robot is synchronously recorded on a map; Acquire all unmowed areas of the map, wherein the unmowed areas are areas in the lawn of the map that are not covered by the moving path of the mowing robot; The largest area among all the uncut grass areas is calculated as the uncut grass area with the largest area.

4. The control method according to claim 3, characterized in that: The map includes a plurality of grids, and the grids that the moving path of the lawn mowing robot has passed through are marked as covered grids, and the grids that the moving path of the lawn mowing robot has not passed through are marked as uncovered grids.

5. The control method according to claim 4, characterized in that: The calculating the largest area in the uncut area includes: taking the area with the largest number of adjacent uncovered grids as the largest area in the uncut area.

6. The control method according to claim 2, characterized in that: The determining whether the condition of obtaining the largest uncut area is met includes: If the mowing time of the lawn mowing robot reaches a first checking threshold, it is determined that the motion state of the lawn mowing robot meets the condition; or, Acquiring visual data collected by the lawn mowing robot; Recognize visual data, and determine height data of grass in the lawn in the visual data; Comparing the height data with the height threshold, if the duration of the height data being lower than the height threshold reaches a second check threshold, determining that the motion state of the lawn mowing robot meets the condition; or, Obtaining the working current of the lawn mowing robot; The working current is compared with the current threshold, and if the duration of the working current being lower than the current threshold reaches a third checking threshold, it is determined that the motion state of the lawn mowing robot meets the condition.

7. The control method according to claim 1, characterized in that: The step of obtaining a steering angle of the lawn mowing robot according to the current position, current orientation and target position of the lawn mowing robot comprises: A calculated angle between a direction of a line connecting the current position and the target position and the current orientation is calculated, where the calculated angle is the steering angle.

8. The control method according to claim 1, characterized in that: The step of calculating the steering angle of the lawn mowing robot according to the current position, current orientation and target position of the lawn mowing robot comprises: Calculating the angle between the current position and the target position and the current orientation; Determine the size of the angle value and the minimum angle threshold; If the angle value is less than the minimum angle threshold, setting the custom angle as the steering angle, wherein the custom angle is greater than the minimum angle threshold; If the angle value is not less than the minimum angle threshold, the angle value is set as the steering angle.

9. The control method according to claim 8, characterized in that: The custom angle is a random angle greater than the minimum angle threshold, or a preset angle.

10. A lawn mowing robot, characterized in that: include: A storage module storing a computer program; A processing module, which can implement the steps of the control method described in any one of claims 1 to 9 when executing the computer program.

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