Intelligent mower obstacle avoidance method, intelligent mower, medium and product

Abstract

The invention provides an intelligent mower obstacle avoidance method, an intelligent mower, a medium and a product, and relates to the field of intelligent robotics.The method comprises the steps that when the intelligent mower executes a mowing task, a mowing cutter head has a first rotating speed, the intelligent mower has a first walking speed, the first rotating speed is larger than or equal to 1800 revolutions per minute and smaller than or equal to 3500 revolutions per minute, and the first walking speed is larger than or equal to 3500 revolutions per minute; the first walking speed is larger than or equal to 0.3 m / s and smaller than or equal to 0.6 m / s; when the distance between the intelligent mower and the human-shaped or pet-shaped living obstacle is smaller than 2 m, an obstacle avoidance action is executed to avoid the living obstacle; in the obstacle avoidance process, the rotating speed of the mowing cutter head is controlled to be maintained at the first rotating speed, the walking speed of the intelligent mower is controlled to be maintained at the first walking speed, no repelling signal is generated, living obstacles are not repelled, and people or pets are prevented from being scared or uncomfortable. It is guaranteed that in the obstacle avoidance process of the intelligent mower, the grass retaining area is small, the mowing efficiency is kept at the high level, and it can be guaranteed that the working decibel is appropriate.

Description

[0001] This application is a divisional application of the invention patent application with patent application number CN202411224219.X, application date September 3, 2024, and invention name "Intelligent lawn mower obstacle avoidance method, intelligent lawn mower, medium and product" submitted to the China Patent Office. Technical Field

[0002] The present application relates to the field of intelligent robots, and in particular to an intelligent lawn mower obstacle avoidance method, an intelligent lawn mower, a medium and a product. Background Art

[0003] In the related art, smart lawn mowers usually adopt some obstacle avoidance strategies to avoid living obstacles, such as the technical solution recorded in the Chinese invention patent application with publication number CN114868095A. When the automatic lawn mower obtains the recognition result that the obstacle in front is a person, the control module controls the self-moving device to turn or make a U-turn to avoid the person, or stop moving to avoid colliding with the person; of course, when a person is recognized in front, the self-moving device can also slow down first to avoid colliding with the person due to fast speed and lack of time to turn or make a U-turn.

[0004] As another example, in the technical solution described in the Chinese invention patent application with publication number CN111684911A, the lawn mower can obtain the detection result of the life body recognition module in real time or at a fixed time, and when the detection result is that a life body exists, the lawn mower disc is controlled to stop rotating.

[0005] Another example is the technical solution described in the Chinese utility model patent with authorization announcement number CN214126036U, which reduces the rotation speed of the cutting motor so that the smart lawn mower switches from a cutting state to a non-cutting state (including an obstacle avoidance state), thereby preventing the blade from having a safety accident.

[0006] However, whether the strategy of controlling the self-moving device to slow down, controlling the self-moving device to slow down, controlling the mowing disc to stop, or controlling the cutting motor to slow down is adopted to avoid living obstacles, the mowing quality will be reduced, resulting in a larger area that needs to be re-cut after a single cutting, that is, the area of ​​grass left will be larger, which will lead to lower mowing efficiency. Summary of the invention

[0007] The present application provides an intelligent lawn mower obstacle avoidance method, an intelligent lawn mower, a medium and a product, which can ensure that the intelligent lawn mower can keep the grass area small during the entire obstacle avoidance process. At the same time, it can also ensure that the working decibels generated by the intelligent lawn mower during operation are not easy to cause hearing loss or other adverse effects on living obstacles, and can also make the broadcast sound of the intelligent lawn mower not easily covered, and can also keep the mowing efficiency of the intelligent lawn mower at a high level.

[0008] In a first aspect, the present application provides an obstacle avoidance method for an intelligent lawn mower, wherein the intelligent lawn mower includes a mowing disc and a walking device; the method includes:

[0009] When the smart lawn mower performs a mowing task, the mowing disc has a first rotation speed, the smart lawn mower has a first walking speed, the first rotation speed is greater than or equal to 1800 rpm and less than or equal to 3500 rpm, and the first walking speed is greater than or equal to 0.3 m / s and less than or equal to 0.6 m / s;

[0010] When the distance between the smart lawn mower and a living obstacle is less than 2 meters, an obstacle avoidance action is performed to avoid the living obstacle; during the obstacle avoidance action, the rotation speed of the mowing disc is controlled to maintain a first rotation speed, and the walking speed of the smart lawn mower is controlled to maintain the first walking speed.

[0011] First, when the speed of the mowing disc is below 1800 rpm, its cutting performance is poor, which will lead to poor mowing effect of the smart lawn mower, excessive residual grass on the lawn or uneven surface cutting of the lawn, and cannot meet the user's basic mowing needs.

[0012] When the speed of the mowing disc is above 1800 rpm, its cutting performance is better. When performing lawn mowing operations, the lawn can be fully cut, leaving less grass on the lawn and making the surface of the lawn more uniform, which can meet the user's basic mowing needs.

[0013] It should be noted that the working decibel of a smart lawn mower refers to the unit of the noise level generated within a 1-meter range during operation, which can reflect the sound pressure level of the noise generated by the rotating blades of the lawn mower under normal working conditions. When the working decibel of a smart lawn mower is greater than 80 decibels, it will cause obvious discomfort to the human body and have a greater impact on other surrounding creatures.

[0014] Further, such as Figure 4 As shown, when the speed of the mowing disc gradually increases and approaches 3500 rpm, the working decibel will also gradually increase. When the speed of the mowing disc is above 3500 rpm, its working decibel will exceed 80 decibels. When the working decibel exceeds 80 decibels, it will cause obvious discomfort to the human body and have a greater impact on other surrounding organisms.

[0015] Moreover, when the smart lawn mower is working, it generally emits a broadcast sound to remind people around to pay attention to the working status of the smart lawn mower, or to warn other creatures to stay away from the smart lawn mower, so that people or other creatures around will not be harmed by the smart lawn mower.

[0016] When the speed of the mower disc is above 3500 rpm, the working noise generated by it will be too high due to its high speed, causing the broadcast sound to be easily covered by the working noise of the mower disc, and then causing the broadcast sound to be difficult to be perceived by people or other creatures around, making the people or other creatures around vulnerable to harm from the lawn mower.

[0017] Therefore, controlling the speed of the mowing disc between 1800 rpm and 3500 rpm can ensure that the smart lawn mower meets the user's basic mowing needs without causing discomfort to people around them. At the same time, it will not cause a significant impact on other creatures around it, and it is not easy to cause the broadcast sound to be covered and cause harm to people or other creatures around it. This is an ideal working state.

[0018] At the same time, in the process of performing obstacle avoidance actions, by controlling the smart lawn mower to maintain its original walking speed and its mowing disc to maintain its original rotation speed when the distance from the living obstacle is less than 2 meters, the smart lawn mower can maintain its mowing effect. At the same time, since the smart lawn mower is at a shorter distance from the living obstacle, it can continuously identify the specific type of the living obstacle, thereby ensuring that the smart lawn mower can accurately select different obstacle avoidance strategies for different types of living obstacles, thereby ensuring a good user experience.

[0019] If the smart lawn mower starts to avoid obstacles when the distance from living obstacles is 2 meters or more, on the one hand, a larger area of ​​the lawn will not be cut, resulting in an increase in the area that needs to be cut later. Moreover, it will cause users to mistakenly believe that the smart lawn mower has made an error in mapping, causing users to frequently re-map, resulting in a poor user experience.

[0020] On the other hand, due to the long distance between the smart lawn mower and the living obstacle, it is difficult for the smart lawn mower to identify the type of the living obstacle well, which leads to errors in the selection of the obstacle avoidance strategy of the smart lawn mower. For example, when the actual living obstacle is a pet-type living obstacle (cat, dog), the smart lawn mower may easily mistakenly identify it as a non-human non-pet obstacle (hedgehog), causing the smart lawn mower to trigger an expulsion signal, resulting in the pet-type living obstacle (cat, dog) being frightened by the smart lawn mower; or when the actual living obstacle is a non-human non-pet obstacle (hedgehog), the smart lawn mower may easily mistakenly identify it as a pet-type living obstacle (cat, dog), causing the smart lawn mower not to trigger an expulsion signal, resulting in the inability to effectively expel the non-human non-pet obstacle (hedgehog), resulting in a poor user experience.

[0021] Furthermore, when the walking speed of the smart lawn mower is less than 0.3 m / s, the moving speed of the smart lawn mower will be too slow, and it will take a long time to cover all parts of the lawn, causing the smart lawn mower to take a long time to mow, which in turn leads to low mowing efficiency and affects the user experience.

[0022] When the walking speed of the smart lawn mower is greater than 0.6 m / s, the walking speed of the smart lawn mower is relatively fast. On the one hand, because the walking speed of the smart lawn mower is too fast, the time for the smart lawn mower to pass through various places on the lawn is relatively short, which makes it difficult for the mowing disc to fully cut various places on the lawn, resulting in poor lawn cutting efficiency and cutting effect; on the other hand, if the walking speed of the smart lawn mower is too fast, when it encounters a living obstacle that appears instantly, it will not be able to avoid it in time and will collide with the living obstacle due to its too fast walking speed. Moreover, it will easily cause the smart lawn mower to not have enough time to judge the type of obstacle, and adopt the wrong obstacle avoidance strategy, resulting in a poor user experience.

[0023] Therefore, when the walking speed of the smart lawn mower is greater than or equal to 0.3 m / s and less than or equal to 0.6 m / s, the traveling speed of the smart lawn mower is relatively appropriate, which not only enables the smart lawn mower to have better mowing efficiency and cutting effect, but also ensures that when the smart lawn mower encounters a living obstacle that appears instantly, it can avoid it in time without colliding with the living obstacle, and the smart lawn mower can select the correct obstacle avoidance strategy to execute obstacle avoidance.

[0024] Furthermore, by controlling the rotation speed of the mowing disc to maintain the first rotation speed and the walking speed of the smart mower to maintain the first walking speed during the obstacle avoidance process, it can be ensured that while the smart mower successfully avoids obstacles, the mowing effect of the smart mower during the obstacle avoidance process can be relatively consistent with the mowing effect of the normal mowing task, and the grass leaving area during the obstacle avoidance process is low, and the mowing efficiency and mowing effect will not be affected by the obstacle avoidance action; it can also avoid the uneven mowing and the large missed cutting area during the obstacle avoidance process due to the reduced walking speed and the reduced rotation speed of the mowing disc. The smart lawn mower will not reduce its walking speed or the speed of the mowing disc when encountering living obstacles, will not frequently switch the walking speed or the speed of the mowing disc, will not affect the mowing efficiency and stability of the mowing operation of the smart lawn mower, and can also make the smart lawn mower run more smoothly, thereby reducing possible jams and unnecessary operation time during the work process; and, since the smart lawn mower will not frequently switch the walking speed or the speed of the mowing disc, it can also reduce the mechanical wear of the walking device and the mowing disc caused by frequent adjustments, which is beneficial to extending the life of the smart lawn mower.

[0025] In summary, by making the smart lawn mower perform obstacle avoidance when the distance between it and the living obstacle is less than 2 meters, the accuracy of the smart lawn mower in identifying the living obstacle can be ensured, so as to ensure the accuracy of selecting different obstacle avoidance strategies for different types of living obstacles; further, in the process of performing obstacle avoidance, the mowing disc of the smart lawn mower is controlled to maintain the first rotation speed, and the smart lawn mower is controlled to maintain the first walking speed, which not only enables the smart lawn mower to continue to perform the mowing task when the distance between it and the living obstacle is less than 2 meters, effectively reducing the subsequent re-mowing area, but also enables the mowing effect and mowing efficiency of the smart lawn mower in the obstacle avoidance process to be maintained at the level of normal execution of the mowing task. Moreover, by making the first rotation speed greater than or equal to 1800 rpm and less than or equal to 3500 rpm, and making the first walking speed greater than or equal to 0.3 m / s and less than or equal to 0.6 m / s, the smart lawn mower can meet the basic mowing needs of the user while not greatly affecting the surrounding living obstacles, and is not likely to cause the broadcast sound to be covered and cause damage to the surrounding living obstacles. It can also ensure that the smart lawn mower has a good mowing efficiency and a good cutting effect, and ensure that when encountering a living obstacle that appears instantly, the smart lawn mower can avoid the obstacle in time and select the correct obstacle avoidance strategy to execute the obstacle avoidance.

[0026] In a second aspect, the present application provides an obstacle avoidance method for an intelligent lawn mower, the intelligent lawn mower comprising a mowing disc and a walking device; the method comprises:

[0027] When the smart lawn mower performs a mowing task, the mowing disc has a first rotation speed, the smart lawn mower has a first walking speed, the first rotation speed is greater than or equal to 1800 rpm and less than or equal to 3500 rpm, and the first walking speed is greater than or equal to 0.3 m / s and less than or equal to 0.6 m / s;

[0028] When the distance between the smart lawn mower and a living obstacle in the shape of a human or pet is less than 2 meters, the smart lawn mower performs an obstacle avoidance action to avoid the living obstacle in the shape of a human or pet;

[0029] During the obstacle avoidance action, the rotation speed of the mowing disc is controlled to maintain the first rotation speed, the walking speed of the smart lawn mower is controlled to maintain the first walking speed, and the smart lawn mower is controlled not to generate a drive-away signal so as not to drive away living obstacles in the form of humans or pets.

[0030] Among them, when the smart lawn mower performs a mowing task, the mowing disc has a first rotational speed, and the smart lawn mower has a first walking speed, the first rotational speed is greater than or equal to 1800 rpm and less than or equal to 3500 rpm; the first walking speed is greater than or equal to 0.3 m / s and less than or equal to 0.6 m / s; in the process of performing obstacle avoidance actions, controlling the rotational speed of the mowing disc to maintain the first rotational speed and the walking speed of the smart lawn mower to maintain the first walking speed corresponds to the relevant technical scheme in the first aspect of the present application, and the beneficial effects achieved are the same as those in the first aspect of the present application, and will not be repeated here.

[0031] Furthermore, when the distance between the smart lawn mower and a living obstacle in the shape of a human or pet is less than 2 meters, performing obstacle avoidance action can effectively avoid causing harm to these living obstacles, and not generating an expulsion signal can avoid causing fright or discomfort to people or pets, especially in an operating environment with living obstacles in the shape of a human or pet (for example, a person, a cat, or a dog).

[0032] Optionally, after the smart lawn mower is at a position where the distance from a living obstacle in the shape of a human or pet is less than 2 meters, the smart lawn mower is controlled to continue to perform the mowing task until the smart lawn mower is at a position where the distance from the living obstacle in the shape of a human or pet is a first threshold value, and then the smart lawn mower is controlled to turn around to perform an obstacle avoidance action.

[0033] The present application can ensure a large mowing coverage area by continuing to perform the mowing task within 2 meters of the living obstacle from the smart lawn mower, thereby reducing the large lawn area that is not mowed due to premature execution of obstacle avoidance actions. Furthermore, by controlling the smart lawn mower to perform obstacle avoidance actions at the first threshold, the smart lawn mower can continue to perform mowing operations to ensure that the mowing coverage area is large enough. Moreover, by allowing the smart lawn mower to perform obstacle avoidance when the living obstacle is at the position of the first threshold, the risk of collision between the smart lawn mower and human-shaped or pet-shaped living obstacles can be greatly reduced, thereby ensuring the safety of human-shaped or pet-shaped living obstacles as much as possible. In this way, users can safely let the smart lawn mower work in an environment with human-shaped or pet-shaped living obstacles, thereby enhancing user trust and satisfaction.

[0034] In addition, by setting the first threshold, the smart lawn mower can perform obstacle avoidance at the first threshold distance from the living obstacle each time, so that the obstacle avoidance state of the smart lawn mower remains relatively consistent each time it performs obstacle avoidance, and thus the mowing area can be kept consistent each time the obstacle avoidance action is performed.

[0035] Optionally, the first threshold is greater than 0.4 meters and less than 2 meters.

[0036] First of all, making the smart lawn mower perform obstacle avoidance only when it is below 2 meters corresponds to the relevant technical solution in the first aspect of the present application, and the beneficial effects achieved are the same as those in the first aspect of the present application, which will not be repeated here.

[0037] Further, if Figure 6 As shown in Figure 6 The figure shows the relationship between the distance between the smart lawn mower and the living obstacle and the obstacle avoidance success rate. It can be seen that when the smart lawn mower starts to avoid the obstacle when the distance between it and the living obstacle is greater than 0.4 meters, the obstacle avoidance success rate can reach more than 95%.

[0038] That is to say, by making the smart lawn mower perform obstacle avoidance when the distance between it and a living obstacle is greater than 0.4 meters and less than 2 meters, the smart lawn mower can maintain its mowing effect while ensuring the accuracy of the smart lawn mower's obstacle avoidance strategy selection and avoiding potential dangers, thereby improving the safety of the smart lawn mower and ensuring that the smart lawn mower takes obstacle avoidance measures before approaching a living obstacle in the shape of a human or pet, thereby effectively preventing the occurrence of collision accidents.

[0039] Moreover, obstacle avoidance is performed only after the distance between the smart lawn mower and a living obstacle in the shape of a human or pet is less than 2 meters, so that the smart lawn mower can continue mowing for a certain distance, thereby reducing missed mowing areas while successfully avoiding obstacles.

[0040] Optionally, the first threshold is greater than or equal to 0.2 meters and less than or equal to 0.4 meters.

[0041] It should be noted that the obstacle avoidance success rate of a smart lawn mower needs to reach 80% or above to be considered a qualified smart lawn mower.

[0042] like Figure 6 As shown in Figure 6 The figure shows the relationship between the distance between the smart lawn mower and the living obstacle and the obstacle avoidance success rate. When the smart lawn mower starts to avoid the obstacle when the distance between it and the living obstacle in the shape of a human or pet is equal to 0.2 meters, the obstacle avoidance success rate reaches 80%; when the smart lawn mower starts to avoid the obstacle when the distance between it and the living obstacle in the shape of a human or pet is less than 0.2 meters, the obstacle avoidance success rate is lower than 80%, and the closer it is to 0 meters, the greater the obstacle avoidance success rate decreases.

[0043] Furthermore, it can be seen that the turning point of the obstacle avoidance success rate occurs when the smart lawn mower is at a distance of 0.2 meters from the living obstacle. At this time, the obstacle avoidance success rate is 80%, which is sufficient to cope with living obstacle avoidance in most cases. The closer it is to 0.4 meters, the higher the obstacle avoidance success rate will be, until at 0.4 meters, the obstacle avoidance success rate is as high as 95%.

[0044] Therefore, it is an ideal state to control the smart lawn mower to start obstacle avoidance when the distance from the living obstacle of a human or pet type is greater than or equal to 0.2 meters and less than or equal to 0.4 meters. While ensuring that the obstacle avoidance success rate is high enough, the missed mowing area can be small enough, so that the smart lawn mower can achieve a relatively balanced state in terms of obstacle avoidance success rate and mowing efficiency.

[0045] Optionally, the method further includes:

[0046] After the living obstacle in the shape of a human or a pet leaves the field of view that can be detected by the smart lawn mower, the smart lawn mower is controlled to continue to perform the mowing task.

[0047] Therefore, the present application can ensure that the smart lawn mower will not cause harm to people or pets by controlling the smart lawn mower to continue mowing tasks after the human-shaped or pet-shaped living obstacles have left the detection field of view of the smart lawn mower. In addition, through real-time detection and timely obstacle avoidance, the smart lawn mower can dynamically adjust the working path to ensure efficient mowing in complex environments while ensuring the safety of living obstacles.

[0048] In a third aspect, the present application provides an obstacle avoidance method for an intelligent lawn mower, the intelligent lawn mower comprising a mowing disc and a walking device; the method comprises:

[0049] When the smart lawn mower performs a mowing task, the mowing disc has a first rotation speed, the smart lawn mower has a first walking speed, the first rotation speed is greater than or equal to 1800 rpm and less than or equal to 3500 rpm; the first walking speed is greater than or equal to 0.3 m / s and less than or equal to 0.6 m / s;

[0050] When the distance between the smart lawn mower and a non-humanoid and non-pet-shaped living obstacle is less than 2 meters, the smart lawn mower performs an obstacle avoidance action to avoid the non-humanoid and non-pet-shaped living obstacle;

[0051] During the obstacle avoidance action, the rotation speed of the mowing disc is controlled to maintain the first rotation speed, the walking speed of the smart mower is controlled to maintain the first walking speed, and the smart mower is controlled to generate a drive-away signal to drive away non-human and non-pet-type living obstacles.

[0052] Among them, when the smart lawn mower performs a mowing task, the mowing disc has a first rotational speed, the smart lawn mower has a first walking speed, the first rotational speed is greater than or equal to 1800 rpm and less than or equal to 3500 rpm, and the first walking speed is greater than or equal to 0.3 m / s and less than or equal to 0.6 m / s; in the process of performing obstacle avoidance actions, controlling the rotational speed of the mowing disc to maintain the first rotational speed and the walking speed of the smart lawn mower to maintain the first walking speed corresponds to the relevant technical scheme in the first aspect of the present application, and the beneficial effects achieved are the same as those in the first aspect of the present application, which will not be repeated here.

[0053] In addition, by generating an expulsion signal, non-human and non-pet-type living obstacles can be effectively expelled, reducing their interference with the mowing operation of the smart lawn mower. At the same time, non-human and non-pet-type living obstacles (such as hedgehogs) can be effectively protected from being harmed by the smart lawn mower.

[0054] It should be noted that the driving away signal may include a broadcast sound, and the smart lawn mower drives away non-human and non-pet-type living obstacles by emitting the broadcast sound.

[0055] When the speed of the mowing disc is above 3500 rpm, the working noise it causes will cover the broadcast sound, resulting in that even if the smart lawn mower generates an expulsion signal, non-human and non-pet-type living obstacles will be difficult to perceive, making it difficult to successfully expel non-human and non-pet-type living obstacles.

[0056] Therefore, by maintaining the mowing disc at the first speed, that is, maintaining it at 3500 rpm or below, the expulsion signal generated by the smart lawn mower during the obstacle avoidance process can be less likely to be covered by the working noise of the mowing disc, thereby ensuring that non-human and non-pet-type living obstacles can sense the broadcast sound and successfully expel the non-human and non-pet-type living obstacles.

[0057] Optionally, after the smart lawn mower is at a position where the distance between it and a non-human and non-pet type living obstacle is less than 2 meters, the smart lawn mower is controlled to continue to perform the mowing task until the smart lawn mower is at a position where the distance between it and the non-human and non-pet type living obstacle is a first threshold, and then the smart lawn mower is controlled to turn around to perform an obstacle avoidance action.

[0058] Among them, after the distance between the smart lawn mower and the living obstacle is less than 2 meters, the smart lawn mower is controlled to continue to perform the mowing task until the smart lawn mower is at a position where the distance from the non-human and non-pet type living obstacle is a first threshold value, and the smart lawn mower is controlled to turn around to perform an obstacle avoidance action, which corresponds to the relevant technical scheme in the second aspect of the present application, and the beneficial effects achieved correspond to those in the second aspect of the present application, and will not be repeated here.

[0059] Optionally, the first threshold is greater than 0.4 meters and less than 2 meters.

[0060] Among them, when the smart lawn mower is at a position where the distance from the living obstacle is greater than 0.4 meters and less than 2 meters, the smart lawn mower is controlled to perform obstacle avoidance action. The technical effect brought about by it corresponds to the relevant technical scheme in the second aspect of the present application, and the beneficial effect achieved is the same as that in the second aspect of the present application, which will not be repeated here.

[0061] In addition, by placing the smart lawn mower and non-human and non-pet-type living obstacles within a reasonable range for obstacle avoidance, the safety of non-human and non-pet-type living obstacles can be ensured to a large extent.

[0062] Optionally, the first threshold is greater than or equal to 0.2 meters and less than or equal to 0.4 meters.

[0063] Among them, the first threshold is greater than or equal to 0.2 meters and less than or equal to 0.4 meters, which corresponds to the relevant technical solution in the second aspect of the present application. The beneficial effects achieved are the same as those in the second aspect of the present application and will not be repeated here.

[0064] Optionally, the method further includes:

[0065] After the non-humanoid and non-pet-type living obstacle leaves the field of view that can be detected by the smart lawn mower, the smart lawn mower is controlled to continue to perform the mowing task.

[0066] Therefore, the present application controls the smart lawn mower to continue mowing after the non-human and non-pet-type living obstacles have left the detection field of view of the smart lawn mower, thereby ensuring that the smart lawn mower will not cause damage to the non-human and non-pet-type living obstacles, while ensuring the continuity of the smart lawn mower's mowing operation. The smart lawn mower can also monitor the living obstacles in real time to facilitate timely execution of obstacle avoidance actions.

[0067] Optionally, after the smart lawn mower generates a drive-away signal, the smart lawn mower performs any of the following actions:

[0068] The drive-away signal is sent out while executing the obstacle avoidance action; after the non-humanoid and non-pet-type living obstacle is successfully driven away, the drive-away signal continues to be sent out.

[0069] Therefore, the present application can send out a drive-away signal during the obstacle avoidance process. In this way, the smart lawn mower can send out a drive-away signal while performing obstacle avoidance, so that the smart lawn mower can perform obstacle avoidance and send out a drive-away signal simultaneously. Without affecting the walking efficiency and mowing efficiency of the smart lawn mower, it can also effectively drive away non-human and non-pet-type living obstacles.

[0070] Of course, the drive-away signal may continue to be sent after the drive-away is successful. In this way, it is possible to prevent non-humanoid and non-pet-type living obstacles from approaching the smart lawn mower again after being away from it and being harmed by the smart lawn mower. It is possible to ensure that the smart lawn mower does not collide with the non-humanoid and non-pet-type living obstacles to ensure the safety of the living obstacles.

[0071] Optionally, the smart lawn mower also includes obstacle detection sensors, body and rear sensors;

[0072] The obstacle detection sensor is located on the front side of the fuselage; the rear sensor is located on the rear side of the fuselage; the angle between the lower boundary of the obstacle detection sensor's scanning range and the horizontal line of the fuselage is 55 degrees; the angle between the lower boundary of the rear sensor's scanning range and the horizontal line of the fuselage is 7 degrees.

[0073] Therefore, the present application ensures that the smart lawn mower can effectively detect living obstacles and achieve all-round environmental perception during the forward and reverse processes through the combined design of the above obstacle detection sensor and the rear sensor. By optimizing the scanning range of the sensor, the smart lawn mower can plan the path more efficiently, reduce repeated mowing and missed areas, and improve overall work efficiency. The smart lawn mower can then provide more stable and reliable mowing services to enhance the user experience.

[0074] Optionally, the obstacle detection sensor includes a camera and / or a time-of-flight TOF sensor; the rear sensor is a radar.

[0075] Therefore, this application uses cameras and / or TOF sensors as obstacle detection sensors to improve the accuracy and precision of identifying living obstacles and meet the needs of various complex application scenarios. The radar can detect obstacles behind the smart lawn mower, help the smart lawn mower identify the boundaries of the lawn or the preset working area, and can also be used to improve the navigation and path planning algorithms of the smart lawn mower; ensure that the smart lawn mower works within the specified area, avoids entering the non-mowing area or the neighbor's lawn, and adjusts the path in time to avoid collision and damage.

[0076] Optionally, the method further includes: after performing the obstacle avoidance action, controlling the intelligent lawn mower to continue to perform the mowing task based on a preset path.

[0077] Therefore, after the smart lawn mower performs obstacle avoidance, it can continue to perform mowing operations along the preset path, ensuring the walking continuity of the smart lawn mower along the preset path and the continuity of the mowing operation.

[0078] Optionally, the method further includes:

[0079] After the smart lawn mower completes the mowing task and the living obstacle leaves the original area, the smart lawn mower is controlled to perform a re-mowing task on the original area.

[0080] Therefore, by controlling the smart lawn mower to perform the task of supplementary mowing, the overall mowing effect can be ensured to be consistent, and there will be no uneven or uncut areas, so as to achieve comprehensive cutting of the lawn and ensure that the missed areas generated during the obstacle avoidance process are fully covered, thereby promoting the uniform growth of the lawn and avoiding uneven growth caused by uncut areas.

[0081] Optionally, when the living obstacle is a human-shaped or pet-shaped living obstacle, it includes: a person, a cat, and a dog; when the living obstacle is a non-human-shaped and non-pet-shaped living obstacle, it includes: a hedgehog.

[0082] In a fourth aspect, the present application provides an intelligent lawn mower, which includes a mowing disc and a walking device; the intelligent lawn mower also includes: a controller, which is electrically connected to the mowing disc and the walking device to execute any one of the methods in the first to third aspects.

[0083] In a fifth aspect, the present application provides a computer-readable storage medium, which stores computer-executable instructions. When the computer-executable instructions are executed by a processor, they are used to implement the method as described in any one of the first to third aspects.

[0084] In a sixth aspect, the present application provides a computer program product, including a computer program, which implements the method of any one of the first to third aspects when the computer program is executed by a processor.

[0085] It should be understood that the fourth to sixth aspects of the present application correspond to the technical solutions of the first to third aspects of the present application, and the beneficial effects achieved by each aspect and the corresponding feasible implementation methods are similar, which will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0086] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0087] Figure 1 A schematic diagram of the structure of an intelligent lawn mower provided in an embodiment of the present application;

[0088] Figure 2 A schematic diagram of an application scenario provided for an embodiment of the present application;

[0089] Figure 3 A schematic diagram of a flow chart of an obstacle avoidance method for an intelligent lawn mower provided in an embodiment of the present application;

[0090] Figure 4 A schematic diagram of the relationship between the working decibel and the blade rotation speed of an intelligent lawn mower provided in an embodiment of the present application;

[0091] Figure 5 A flowchart of another intelligent lawn mower obstacle avoidance method provided in an embodiment of the present application;

[0092] Figure 6 A schematic diagram showing the correlation between the obstacle avoidance success rate and the distance provided in the embodiment of the present application;

[0093] Figure 7 A flowchart of another intelligent lawn mower obstacle avoidance method provided in an embodiment of the present application.

[0094] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0095] In order to facilitate the clear description of the technical solutions of the embodiments of the present application, in the embodiments of the present application, the words "first", "second" and the like are used to distinguish the same items or similar items with substantially the same functions and effects. For example, the first device and the second device are only used to distinguish different devices, and their order is not limited. Those skilled in the art can understand that the words "first", "second" and the like do not limit the quantity and execution order, and the words "first", "second" and the like do not necessarily limit them to be different.

[0096] It should be noted that, in this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in this application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0097] In this application, "at least one" means one or more, and "plurality" means two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can mean: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or multiple.

[0098] In the related art, the obstacle avoidance strategy of a smart lawn mower for living obstacles is usually that when the camera of the smart lawn mower identifies the obstacle as a living obstacle, it slows down the driving speed to get close to the obstacle, and then performs an obstacle avoidance action. In the process of performing the obstacle avoidance action, the rotation speed of the blade is reduced or stopped to avoid damaging the living obstacle.

[0099] However, the strategy of stopping or slowing down the blade disc can be adopted to prevent injury from living obstacles, but this will also greatly reduce the mowing efficiency. Moreover, whether it is slowing down or accelerating to approach a living obstacle, or reducing the speed of the blade disc or stopping it during the obstacle circumvention process, it will lead to a decrease in mowing quality and an increase in the area that needs to be re-cut, which will lead to a decrease in mowing efficiency. It can be seen that if you want to ensure the safety of living obstacles, you need to give up mowing efficiency. In summary, the above strategies are difficult to achieve a balance between mowing efficiency and safety.

[0100] In response to the above problems, the present application provides an obstacle avoidance method for an intelligent lawn mower, wherein the intelligent lawn mower includes a mowing disc and a walking device; the method includes: when the intelligent lawn mower performs a mowing task, the mowing disc has a first rotational speed, the intelligent lawn mower has a first walking speed, the first rotational speed is greater than or equal to 1800 rpm and less than or equal to 3500 rpm, and the first walking speed is greater than or equal to 0.3 m / s and less than or equal to 0.6 m / s; when the distance between the intelligent lawn mower and a living obstacle is less than 2 meters, an obstacle avoidance action is performed to avoid the living obstacle; during the process of performing the obstacle avoidance action, the rotational speed of the mowing disc is controlled to maintain the first rotational speed; the walking speed of the intelligent lawn mower maintains the first walking speed.

[0101] For example, Figure 1 A schematic diagram of the structure of an intelligent lawn mower provided in an embodiment of the present application is shown in FIG. Figure 1As shown, the smart lawn mower 100 may include an obstacle detection sensor 101, a mowing disc 102, a rear sensor 103, a walking device 104 and a controller; the controller is electrically connected to the obstacle detection sensor 101, the mowing disc 102, the walking device 104 and the rear sensor 103; the controller is used to execute the smart lawn mower obstacle avoidance method provided in this application.

[0102] Among them, the obstacle detection sensor 101 is used to detect whether there is a living obstacle in the area in front of the smart lawn mower 100. The obstacle detection sensor 101 can be a camera and / or a time of flight (TOF) sensor. The camera can be a visual sensor, an infrared sensor, etc. The embodiment of the present application does not specifically limit the type of the obstacle detection sensor 101. It can be used to identify obstacles and measure the distance to living obstacles. For example, the obstacle detection sensor 101 can also be an ultrasonic sensor, etc.

[0103] It should be noted that, in the embodiment of the present application, the positions of the various components or assemblies of the illustrated smart lawn mower 100 are merely illustrative, and the embodiment of the present application does not specifically limit the deployment positions of the various components or assemblies.

[0104] In the embodiment of the present application, by using a camera as an obstacle detection sensor 101, high-resolution images can be captured, different types of obstacles can be identified and classified, and the accuracy of identification can be improved. The high-resolution camera can detect and identify living obstacles at a longer distance, which is suitable for large-scale environmental monitoring. The present application can also detect living obstacles based on a TOF sensor. The TOF sensor obtains accurate depth information by measuring the flight time of light pulses to generate three-dimensional point cloud data, and has a fast response time and can update depth information in real time, which is suitable for obstacle detection in dynamic environments.

[0105] Among them, the TOF sensor is also used to determine the distance between the smart lawn mower and living obstacles.

[0106] Optionally, the TOF sensor may be a TOF ranging sensor or a TOF camera. The embodiment of the present application does not specifically limit the type of the TOF sensor.

[0107] Therefore, the embodiment of the present application uses a camera and / or a TOF sensor as the obstacle detection sensor 101, which can improve the accuracy and precision of identifying living obstacles and meet the needs of various complex application scenarios.

[0108] Optional, such as Figure 1 As shown, the smart lawn mower 100 also includes a body 105;

[0109] The obstacle detection sensor 101 is located at the front side of the fuselage 105; the rear sensor 103 is located at the rear side of the fuselage 105; the angle between the lower boundary of the scannable range of the obstacle detection sensor 101 and the horizontal line of the fuselage 105 is 55 degrees; the angle between the lower boundary of the scannable range of the rear sensor 103 and the horizontal line of the fuselage 105 is 7 degrees.

[0110] The horizontal line where the body 105 is located is any straight line parallel to the surface where the intelligent lawn mower 100 is located or the surface to be mowed.

[0111] In the embodiment of the present application, the deployment position of the obstacle detection sensor 101 is set so that the angle between the lower boundary of the scannable range of the obstacle detection sensor 101 and the horizontal line of the fuselage 105 is 55 degrees, thereby being able to cover a larger front area. This setting can ensure that the components or devices on the fuselage 105 located below the obstacle detection sensor 101 are not sufficient to block the scannable range of the obstacle detection sensor 101, thereby ensuring that the obstacle detection sensor 101 has a sufficient scannable range to scan the lawn or the front area.

[0112] By setting the angle between the lower boundary of the scanning range of the rear sensor 103 and the horizontal line of the body 105 to 7 degrees, the rear sensor 103 can focus on detecting low obstacles behind the smart lawn mower 100, which can ensure that the smart lawn mower 100 avoids collision when backing up or turning. The 7-degree angle can also enable the rear sensor 103 to detect approaching living obstacles, thereby assisting the obstacle detection sensor 101 in detection, thereby improving the safety of the operation of the smart lawn mower 100 and preventing accidental collisions and damage to living obstacles.

[0113] Optionally, the rear sensor 103 may be a radar, which may detect obstacles behind the smart lawn mower 100, help the smart lawn mower 100 identify the boundaries of the lawn or a preset working area, and may also be used to improve the navigation and path planning algorithms of the smart lawn mower 100; ensure that the smart lawn mower 100 works within a designated area, avoids entering a non-mowing area or a neighbor's lawn, and adjusts the path in a timely manner to avoid collision and damage.

[0114] It is understandable that the radar can also work in conjunction with the obstacle detection sensor 101, and can also be used to detect approaching living obstacles to improve operational safety and prevent accidental collisions and injuries. The embodiment of the present application does not specifically limit the type of radar, such as the radar can be a linear laser radar.

[0115] Therefore, the embodiment of the present application ensures that the smart lawn mower can effectively detect living obstacles and achieve all-round environmental perception during the forward and reverse processes through the combined design of the above obstacle detection sensor 101 and the rear sensor. By optimizing the scanning range of the sensor, the smart lawn mower can plan the path more efficiently, reduce repeated mowing and missed areas, and improve overall work efficiency. The smart lawn mower can then provide more stable and reliable mowing services to enhance the user experience.

[0116] For example, Figure 2 A schematic diagram of an application scenario provided in an embodiment of the present application, such as Figure 2 As shown, the application scenario includes an intelligent lawn mower 100 , a person 200 and a lawn 300 ; the intelligent lawn mower 100 includes an obstacle detection sensor 101 , a mowing disc 102 and a walking device 104 .

[0117] When the smart lawn mower 100 is performing a mowing task on the lawn 300, when the smart lawn mower 100 encounters a person 200, the smart lawn mower 100 can mow according to a preset mowing path. When approaching the person 200, such as when the distance between the smart lawn mower 100 and the person 200 is less than 2 meters, the smart lawn mower 100 performs an obstacle avoidance action to avoid the person 200 and continue to perform the mowing task.

[0118] The rotation speed of the mowing disc 102 is controlled to maintain a first rotation speed, and the walking speed of the smart lawn mower 100 is controlled to maintain a first walking speed; the first rotation speed is greater than or equal to 1800 rpm and less than or equal to 3500 rpm; the first walking speed is greater than or equal to 0.3 m / s and less than or equal to 0.6 m / s, so that while ensuring the safety of the person 200, the normal mowing effect can still be maintained.

[0119] In the embodiment of the present application, the first rotation speed and the first walking rotation speed are not specifically limited during the obstacle avoidance action, and the smart lawn mower 100 walks based on the walking device 104 .

[0120] For example, based on Figure 1 The structure of the intelligent lawn mower 100 shown in FIG. Figure 3 A flowchart of an obstacle avoidance method for an intelligent lawn mower 100 provided in an embodiment of the present application is shown in FIG. Figure 3 As shown, the obstacle avoidance method of the smart lawn mower 100 includes:

[0121] S301. When the smart lawn mower 100 performs a mowing task, the mowing disc 102 has a first rotational speed, the smart lawn mower 100 has a first walking speed, the first rotational speed is greater than or equal to 1800 rpm and less than or equal to 3500 rpm, and the first walking speed is greater than or equal to 0.3 m / s and less than or equal to 0.6 m / s; when the distance between the smart lawn mower 100 and a living obstacle is less than 2 meters, an obstacle avoidance action is performed to avoid the living obstacle.

[0122] In the embodiment of the present application, the types of living obstacles may include obstacles with life characteristics such as humans, pets, and non-pet types. The living obstacles may be identified based on an artificial intelligence (AI) model, or may be identified based on the type of living obstacles set in advance by the user. The embodiment of the present application does not specifically limit this. For example, the living obstacles may be humans, cats, dogs, etc.

[0123] For example, when the smart lawn mower 100 is performing normal mowing work, a camera can be used for visual recognition to determine whether the obstacle is a living obstacle. When it is determined that the obstacle is a living obstacle and the distance between the smart lawn mower 100 and the living obstacle is less than 2 meters, the smart lawn mower 100 is controlled to perform obstacle avoidance actions to avoid the living obstacle.

[0124] S3011. During the obstacle avoidance operation, the rotation speed of the mowing disc 102 is controlled to maintain a first rotation speed, and the travel speed of the intelligent lawn mower 100 is controlled to maintain a first travel speed.

[0125] In the embodiment of the present application, during the process of the smart lawn mower 100 performing the obstacle avoidance action, the rotation speed of the mowing disc 102 is maintained at a specific rotation speed, namely the first rotation speed, which means that during the obstacle avoidance process, the rotation speed of the mowing disc 102 will be at the first rotation speed and will not change due to the obstacle avoidance action; during the process of the smart lawn mower 100 performing the obstacle avoidance action, the walking speed of the lawn mower is maintained at a specific speed, namely the first walking speed, which means that during the obstacle avoidance process, the walking speed of the smart lawn mower 100 will be at the first walking speed and will not change due to the obstacle avoidance action.

[0126] For example, based on Figure 1 The structure of the intelligent lawn mower 100 shown in FIG. Figure 5 A flowchart of another obstacle avoidance method for the smart lawn mower 100 provided in an embodiment of the present application is shown in FIG. Figure 5 As shown, the obstacle avoidance method of the smart lawn mower 100 includes:

[0127] S501. When the smart lawn mower 100 performs a mowing task, the mowing disc 102 has a first rotational speed, the smart lawn mower 100 has a first walking speed, the first rotational speed is greater than or equal to 1800 rpm and less than or equal to 3500 rpm; the first walking speed is greater than or equal to 0.3 m / s and less than or equal to 0.6 m / s; when the distance between the smart lawn mower 100 and a living obstacle in the shape of a human or pet is less than 2 meters, an obstacle avoidance action is performed to avoid the living obstacle in the shape of a human or pet.

[0128] In the embodiment of the present application, a human-shaped or pet-shaped living obstacle may refer to a moving obstacle with life characteristics that may appear in the working area of ​​the smart lawn mower 100. For example, a human-shaped living obstacle may be a person, and a pet-shaped living obstacle may be a cat, a dog, etc. The embodiment of the present application does not limit the specific type of a human-shaped or pet-shaped living obstacle.

[0129] Optionally, the obstacle detection sensor 101 can be trained to detect human-shaped or pet-shaped obstacles in the image by training an AI model, and human-shaped or pet-shaped obstacles can be manually preset to identify human-shaped or pet-shaped obstacles. The embodiment of the present application does not specifically limit the method of identifying human-shaped or pet-shaped obstacles. For example, human-shaped or pet-shaped obstacles can also be identified based on multi-sensor fusion.

[0130] Optionally, a sound sensor can be used to detect sound features in the environment, such as human voices, pet calls, etc., based on a microphone array and a sound recognition algorithm to assist in identifying living obstacles in the form of humans or pets.

[0131] S5011. During the obstacle avoidance operation, the rotation speed of the mowing disc 102 is controlled to maintain a first rotation speed, the walking speed of the smart lawn mower 100 is controlled to maintain a first walking speed, and the smart lawn mower 100 is controlled not to generate a drive-away signal so as not to drive away living obstacles in the form of humans or pets.

[0132] In the embodiment of the present application, the smart lawn mower 100 can emit a driving sound based on a driving signal based on a sound sensor such as a buzzer or a speaker to drive away living obstacles.

[0133] Exemplarily, when the smart lawn mower 100 encounters a living obstacle in the form of a human or pet, such as a person, a cat, or a dog, and the distance between the living obstacle and the living obstacle is less than 2 meters, it performs an obstacle avoidance action, and during the obstacle avoidance process, controls the rotation speed of the mowing disc 102 to maintain the first rotation speed, maintains the walking speed of the smart lawn mower 100 to maintain the first walking speed, and controls the smart lawn mower 100 not to generate an expulsion signal so as not to expel the living obstacle in the form of a human or pet.

[0134] Controlling the smart lawn mower 100 not to generate a drive-away signal may be controlling a buzzer or a speaker to always be in a state of not emitting a drive-away broadcast sound, so as to avoid scaring a living obstacle in the form of a human or pet (a person, a cat, or a dog).

[0135] Optionally, after the smart lawn mower 100 is at a position where the distance from a living obstacle in the shape of a human or a pet is less than 2 meters, the smart lawn mower 100 is controlled to continue to perform the mowing task until the smart lawn mower 100 is at a position where the distance from the living obstacle in the shape of a human or a pet is a first threshold value, and then the smart lawn mower 100 is controlled to turn around to perform an obstacle avoidance action.

[0136] It should be noted that when the smart lawn mower 100 identifies a living obstacle in the form of a human or pet, it may be at a certain predetermined distance from the living obstacle in the form of a human or pet. At this time, if an obstacle avoidance action is performed immediately, a larger area may be left for additional mowing. Therefore, a first threshold may be set, which is a predetermined distance of the smart lawn mower 100. If the predetermined distance is less than the first threshold, damage may be caused to the living obstacle.

[0137] In an embodiment of the present application, the first threshold may refer to a preset distance at which the smart lawn mower 100 recognizes a living obstacle. When the smart lawn mower 100 recognizes a living obstacle and the smart lawn mower 100 is at a position at the first threshold distance from the human-shaped or pet-shaped living obstacle, the smart lawn mower 100 may start to perform obstacle avoidance actions.

[0138] In some embodiments, after the smart lawn mower 100 identifies a living obstacle in the shape of a human or a pet based on the obstacle detection sensor 101, and determines that the smart lawn mower 100 is at a position that is at a first threshold distance from the living obstacle in the shape of a human or a pet, it starts to perform an obstacle avoidance action, that is, controlling the smart lawn mower 100 to turn and walk; wherein, during the obstacle avoidance process, the rotation speed of the mowing disc 102 is controlled to maintain a first rotation speed, the walking speed of the smart lawn mower 100 is controlled to maintain the first walking speed, and the smart lawn mower 100 is controlled not to generate a drive-away signal so as not to drive away the living obstacle in the shape of a human or a pet.

[0139] Among them, the first rotation speed is greater than or equal to 1800 rpm and less than or equal to 3500 rpm; the first walking speed is greater than or equal to 0.3 m / s and less than or equal to 0.6 m / s.

[0140] Optionally, the first threshold is greater than 0.4 meters and less than 2 meters.

[0141] If the smart lawn mower 100 is within a range of 2 meters from a living obstacle in the shape of a human or a pet, that is, within a range of less than 2 meters and greater than 0.4 meters, the smart lawn mower 100 can be controlled to perform an obstacle avoidance action, that is, the smart lawn mower 100 can be controlled to turn around and walk.

[0142] The first threshold value may be any point value between less than 2 meters and greater than 0.4 meters.

[0143] Optionally, the first threshold is greater than or equal to 0.2 meters and less than or equal to 0.4 meters.

[0144] Optionally, the method further includes:

[0145] After the human-shaped or pet-shaped living obstacle leaves the field of view that can be detected by the smart lawn mower 100 , the smart lawn mower 100 is controlled to continue to perform the mowing task.

[0146] For example, based on Figure 1 The structure of the intelligent lawn mower 100 shown in FIG. Figure 7 A flowchart of another obstacle avoidance method for the smart lawn mower 100 provided in an embodiment of the present application is shown as follows: Figure 7 As shown, the obstacle avoidance method of the smart lawn mower 100 includes:

[0147] S701. When the smart lawn mower 100 performs a mowing task, the mowing disc 102 has a first rotational speed, the smart lawn mower 100 has a first walking speed, the first rotational speed is greater than or equal to 1800 rpm and less than or equal to 3500 rpm; the first walking speed is greater than or equal to 0.3 m / s and less than or equal to 0.6 m / s; when the smart lawn mower 100 encounters a non-human and non-pet-type living obstacle and at least when the distance between the smart lawn mower 100 and the non-human and non-pet-type living obstacle is less than 2 meters, an obstacle avoidance action is performed to avoid the non-human and non-pet-type living obstacle.

[0148] In the embodiment of the present application, the non-human and non-pet type living obstacle may refer to a living obstacle that is neither a human nor a pet, such as a hedgehog. The non-human and non-pet type living obstacle may also be identified based on an AI model, or based on the type of living obstacle set in advance by the user. The embodiment of the present application does not specifically limit this.

[0149] It should be noted that the method of determining a non-human and non-pet-type living obstacle is similar to the method of determining a human or pet-type living obstacle in S501, which will not be repeated here. For details, please refer to the description of S501 above.

[0150] S7011. During the obstacle avoidance operation, the rotation speed of the mowing disc 102 is controlled to maintain a first rotation speed, the walking speed of the smart mower 100 is controlled to maintain a first walking speed, and the smart mower 100 is controlled to generate a drive-away signal to drive away non-human and non-pet-type living obstacles.

[0151] Exemplarily, when the smart lawn mower 100 encounters a non-human and non-pet-type living obstacle, such as a hedgehog, it performs an obstacle avoidance action and performs a repelling action during the entire obstacle avoidance process, that is, during the process of performing the obstacle avoidance action, the rotation speed of the mowing disc 102 is controlled to maintain the first rotation speed, the walking speed of the smart lawn mower 100 is maintained at the first walking speed, and the smart lawn mower 100 is controlled to generate a repelling signal to repel the non-human and non-pet-type living obstacle.

[0152] The buzzer or speaker may be controlled to start at intervals, or the buzzer or speaker may be controlled to always emit a driving-away sound. The embodiment of the present application does not specifically limit the method of generating the driving-away signal. For example, the driving-away sound may be a broadcast sound.

[0153] Optionally, after the smart lawn mower 100 generates the drive-away signal, the smart lawn mower 100 performs any of the following actions:

[0154] The drive-away signal is sent out while executing the obstacle avoidance action; after the non-humanoid and non-pet-type living obstacle is successfully driven away, the drive-away signal continues to be sent out.

[0155] For example, when the smart lawn mower 100 identifies a living obstacle that is neither humanoid nor pet-shaped, the driving away action may be performed continuously or uninterruptedly during the entire obstacle avoidance process, or the driving away action may be performed while the obstacle avoidance action is performed.

[0156] Among them, the expulsion action may refer to sending an expulsion signal, such as a buzzer or a speaker sending a sound, or the expulsion action may also be a generated expulsion action. The embodiment of the present application does not specifically limit this. It can be understood that generating an expulsion action may affect the normal obstacle avoidance action or require new components. Therefore, the implementation logic by sending an expulsion signal is relatively simple.

[0157] Optionally, after the smart lawn mower 100 is at a position where the distance between it and a non-human and non-pet-type living obstacle is less than 2 meters, the smart lawn mower 100 is controlled to continue to perform the mowing task until the smart lawn mower 100 is at a position where the distance between it and the non-human and non-pet-type living obstacle is a first threshold value, and then the smart lawn mower 100 is controlled to turn around to perform an obstacle avoidance action.

[0158] Optionally, the first threshold is greater than 0.4 meters and less than 2 meters.

[0159] Optionally, the first threshold is greater than or equal to 0.2 meters and less than or equal to 0.4 meters.

[0160] Optionally, the method further includes:

[0161] After the non-humanoid and non-pet-type living obstacle leaves the detectable field of view of the smart lawn mower 100 , the smart lawn mower 100 is controlled to continue to perform the mowing task.

[0162] Optionally, the method further includes: after performing the obstacle avoidance action, controlling the intelligent lawn mower 100 to continue to perform the mowing task based on a preset path.

[0163] In the embodiment of the present application, the preset path is a pre-set path for mowing, and the preset path may be a bow-shaped mowing path, a U-shaped mowing path, etc. The embodiment of the present application does not specifically limit the preset path. The preset path can ensure full coverage of the lawn, help the smart lawn mower 100 avoid repeated mowing, and improve work efficiency and energy consumption management.

[0164] By continuing to perform the mowing task based on the preset path, the path deviation caused by obstacle avoidance can be reduced, ensuring the efficient completion of the mowing task. The preset path can be restored immediately after obstacle avoidance, avoiding time waste due to path replanning and improving overall work efficiency.

[0165] Optionally, the method further includes:

[0166] After the smart lawn mower 100 completes the mowing task and the living obstacle leaves the original area, the smart lawn mower 100 is controlled to perform a re-mowing task on the original area.

[0167] In the embodiment of the present application, the supplementary mowing task can ensure that all areas can be mowed evenly, avoiding mowing omissions due to the presence of living obstacles.

[0168] For example, after the smart lawn mower 100 completes the mowing task, it can perform a bow-shaped mowing task according to the area where the living obstacle is located.

[0169] Optionally, the smart lawn mower 100 can automatically detect and make up for missed areas, reducing the need for manual intervention and improving work efficiency. As a result, users can safely let the smart lawn mower 100 perform mowing tasks without worrying about missed areas, thereby improving user satisfaction.

[0170] The present application also discloses an intelligent lawn mower 100, which includes a mowing disc 102 and a walking device 104; the intelligent lawn mower 100 also includes:

[0171] A controller is electrically connected to the mowing disc 102 and the walking device 104 to execute the above method.

[0172] It should be noted that the specific implementation principle and effects of the above-mentioned intelligent lawn mower 100 can refer to the relevant descriptions and effects corresponding to the above-mentioned embodiments, and will not be elaborated here.

[0173] An embodiment of the present application further provides a computer-readable storage medium, which stores computer program execution instructions. When the computer program execution instructions are executed by a processor, they are used to implement the method described in any of the aforementioned embodiments of the present application.

[0174] An embodiment of the present application further provides a chip for executing instructions, wherein the chip is used to execute the method described in any of the aforementioned embodiments as executed by an electronic device in any of the aforementioned embodiments of the present application.

[0175] The embodiment of the present application further provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the method described in any of the aforementioned embodiments as executed by the smart lawn mower 100 in any of the aforementioned embodiments of the present application can be implemented.

[0176] In several embodiments provided in this application, it should be understood that the disclosed methods can be implemented in other ways.

[0177] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to implement the solution of this embodiment.

[0178] In addition, each functional module in each embodiment of the present application can be integrated into one processing unit, or each module can exist physically separately, or two or more modules can be integrated into one unit. The above-mentioned module-composed unit can be implemented in the form of hardware or in the form of hardware plus software functional units.

[0179] The above-mentioned integrated module implemented in the form of a software function module can be stored in a computer-readable storage medium. The above-mentioned software function module is stored in a storage medium, including a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to perform some steps of the method described in each embodiment of the present application.

[0180] It should be understood that the above processor can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. The general-purpose processor can be a microprocessor or the processor can be any conventional processor, etc. The steps of the method disclosed in the application can be directly embodied as being executed by a hardware processor, or can be executed by a combination of hardware and software modules in the processor.

[0181] The memory may include high-speed random access memory (RAM), and may also include non-volatile memory (NVM), such as at least one disk storage, and may also be a USB flash drive, a mobile hard disk, a read-only memory, a disk or an optical disk, etc.

[0182] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of this application is not limited to only one bus or one type of bus.

[0183] The above storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The storage medium can be any available medium that can be accessed by a general or special computer.

[0184] An exemplary storage medium is coupled to a processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can be located in an application specific integrated circuit (ASIC). Of course, the processor and the storage medium can also exist as discrete components in an electronic device or a main control device.

[0185] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required by the present application.

[0186] It should be further noted that, although the various steps in the flowchart are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless there is a clear description in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowchart may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these sub-steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0187] In the above embodiments, the description of each embodiment has its own emphasis. For the part not described in detail in a certain embodiment, please refer to the relevant description of other embodiments. The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0188] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the claims.

[0189] The above is only a specific implementation of the embodiment of the present application, but the protection scope of the embodiment of the present application is not limited thereto, and any changes or replacements within the technical scope disclosed in the embodiment of the present application should be included in the protection scope of the embodiment of the present application. Therefore, the protection scope of the embodiment of the present application should be based on the protection scope of the claims.

Claims

1. An intelligent lawn mower obstacle avoidance method, characterized in that: The intelligent lawn mower comprises a mowing disc and a walking device; the method comprises: When the smart lawn mower performs a mowing task, the mowing disc has a first rotation speed, the smart lawn mower has a first walking speed, the first rotation speed is greater than or equal to 1800 rpm and less than or equal to 3500 rpm, and the first walking speed is greater than or equal to 0.3 m / s and less than or equal to 0.6 m / s; When the distance between the smart lawn mower and a living obstacle in the shape of a human or a pet is less than 2 meters, an obstacle avoidance action is performed to avoid the living obstacle in the shape of a human or a pet; During the obstacle avoidance action, the rotation speed of the mowing disc is controlled to maintain the first rotation speed, the walking speed of the smart lawn mower is controlled to maintain the first walking speed, and the smart lawn mower is controlled not to generate a drive-away signal so as not to drive away the human-shaped or pet-shaped living obstacle.

2. The method according to claim 1, characterized in that After the smart lawn mower is at a position where the distance from the human-shaped or pet-shaped living obstacle is less than 2 meters, the smart lawn mower is controlled to continue to perform the mowing task until the smart lawn mower is at a position where the distance from the human-shaped or pet-shaped living obstacle is a first threshold, and then the smart lawn mower is controlled to turn around to perform the obstacle avoidance action.

3. The method according to claim 2, characterized in that The first threshold is greater than 0.4 meters and less than 2 meters.

4. The method according to claim 2, characterized in that: The first threshold is greater than or equal to 0.2 meters and less than or equal to 0.4 meters.

5. The method according to claim 1, characterized in that: The method further comprises: After the human-shaped or pet-shaped living obstacle leaves the field of view detectable by the intelligent lawn mower, the intelligent lawn mower is controlled to continue to perform the mowing task.

6. An intelligent lawn mower obstacle avoidance method, characterized in that: The intelligent lawn mower comprises a mowing disc and a walking device; the method comprises: When the smart lawn mower performs a mowing task, the mowing disc has a first rotation speed, the smart lawn mower has a first walking speed, the first rotation speed is greater than or equal to 1800 rpm and less than or equal to 3500 rpm, and the first walking speed is greater than or equal to 0.3 m / s and less than or equal to 0.6 m / s; When the distance between the intelligent lawn mower and the non-humanoid and non-pet-type living obstacle is less than 2 meters, an obstacle avoidance action is performed to avoid the non-humanoid and non-pet-type living obstacle; During the obstacle avoidance action, the rotation speed of the mowing disc is controlled to maintain the first rotation speed, the walking speed of the smart lawn mower is controlled to maintain the first walking speed, and the smart lawn mower is controlled to generate a drive-away signal to drive away the non-human and non-pet-type living obstacle.

7. The method according to claim 6, characterized in that After the smart lawn mower is at a position where the distance from the non-humanoid and non-pet-type living obstacle is less than 2 meters, the smart lawn mower is controlled to continue to perform the mowing task until the smart lawn mower is at a position where the distance from the non-humanoid and non-pet-type living obstacle is a first threshold, and then the smart lawn mower is controlled to turn around to perform the obstacle avoidance action.

8. The method according to claim 7, characterized in that The first threshold is greater than 0.4 meters and less than 2 meters.

9. The method according to claim 7, characterized in that: The first threshold is greater than or equal to 0.2 meters and less than or equal to 0.4 meters.

10. The method according to claim 6, characterized in that The method further comprises: After the non-humanoid and non-pet-type living obstacle leaves the field of view detectable by the intelligent lawn mower, the intelligent lawn mower is controlled to continue to perform the mowing task.

11. The method according to claim 6, characterized in that After the smart lawn mower generates the drive-away signal, the smart lawn mower performs any of the following actions: The driving away signal is sent out while executing the obstacle avoidance action; after the non-humanoid and non-pet-type living obstacle is successfully driven away, the driving away signal continues to be sent out.

12. An intelligent lawn mower obstacle avoidance method, characterized in that: The intelligent lawn mower comprises a mowing disc and a walking device; the method comprises: When the smart lawn mower performs a mowing task, the mowing disc has a first rotation speed, the smart lawn mower has a first walking speed, the first rotation speed is greater than or equal to 1800 rpm and less than or equal to 3500 rpm, and the first walking speed is greater than or equal to 0.3 m / s and less than or equal to 0.6 m / s; When the distance between the smart lawn mower and a living obstacle is less than 2 meters, an obstacle avoidance action is performed to avoid the living obstacle; during the obstacle avoidance action, the rotation speed of the mowing disc is controlled to maintain the first rotation speed, and the walking speed of the smart lawn mower is controlled to maintain the first walking speed.

13. The method according to claim 1, 6 or 12, characterized in that: The smart lawn mower also includes an obstacle detection sensor, a body and a rear sensor; The obstacle detection sensor is located on the front side of the fuselage; the rear sensor is located on the rear side of the fuselage; the angle between the lower boundary of the scanning range of the obstacle detection sensor and the horizontal line of the fuselage is 55 degrees; the angle between the lower boundary of the scanning range of the rear sensor and the horizontal line of the fuselage is 7 degrees.

14. The method according to claim 13, characterized in that The obstacle detection sensor includes a camera and / or a time-of-flight TOF sensor; the rear sensor is a radar.

15. The method according to claim 1 or 6 or 12, characterized in that: The method further includes: after executing the obstacle avoidance action, controlling the intelligent lawn mower to continue to perform the mowing task based on a preset path.

16. The method according to claim 1, 6 or 12, characterized in that: The method further comprises: After the intelligent lawn mower completes the mowing task and the living obstacle leaves the original area, the intelligent lawn mower is controlled to perform a supplementary mowing task on the original area.

17. The method according to claim 1 or 6 or 12, characterized in that: When the living obstacle is a living obstacle in the shape of a human or a pet, it includes: a human, a cat, and a dog; when the living obstacle is a living obstacle that is neither in the shape of a human nor in the shape of a pet, it includes: a hedgehog.

18. An intelligent lawn mower, characterized in that: The intelligent lawn mower comprises a mowing disc and a walking device; the intelligent lawn mower also comprises: A controller, wherein the controller is electrically connected to the mowing disc and the walking device, so as to execute the method according to any one of claims 1 to 17.

19. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 17 when executed by a processor.

20. A computer program product, characterized in that The invention comprises a computer program which, when executed by a processor, implements the method according to any one of claims 1 to 17.

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