Lawn mower and control method thereof

Abstract

At present, a narrow channel formed in a lawn is usually bypassed, so that the narrow channel becomes a large cleaning leakage area in a cleaning task. The invention provides a mower and a control method thereof, and relates to the technical field of cleaning equipment.Under the condition that the mower advances according to a planned mowing path and reaches an entrance of a narrow channel, a detection device is controlled to detect the opening width of the narrow channel and the position information of the narrow channel; wherein the planned mowing path at least comprises a first mowing path and a second mowing path; passing through the narrow channel under the condition that the opening width of the narrow channel is greater than the passing size of the mower; wherein the passing size comprises a first passing size corresponding to the first mowing path and a second passing size corresponding to the second mowing path, so that the passing ability of the mower to a narrow channel is improved, and the cleaning coverage rate of a lawn is improved.

Description

Technical Field

[0001] The present application relates to the technical field of cleaning equipment, and in particular to a lawn mower and a control method thereof. Background Art

[0002] With the development of intelligent cleaning technology, lawn mowers with autonomous moving and mowing functions are gradually replacing manual weeding.

[0003] When a lawn mower is moving, it is inevitable to encounter narrow passages with small distances between obstacles. In order to avoid getting stuck in narrow passages, existing lawn mowers usually set a fixed threshold as a criterion for judging whether to enter a narrow passage when determining that the entrance of the narrow passage has been reached, and thus choose to turn around to avoid obstacles in most narrow passages. As a result, in some cases, even if the lawn mower can pass through the narrow passage, it turns around to avoid obstacles instead of cleaning the narrow passage, resulting in a low cleaning coverage rate. Summary of the invention

[0004] The present application provides a lawn mower and a control method thereof, which improve the passability of narrow channels and improve the cleaning coverage rate.

[0005] In a first aspect, the present application provides a method for controlling a lawn mower, the method comprising:

[0006] The lawn mower moves along a planned mowing path, which includes at least a first mowing path and a second mowing path; when the lawn mower reaches the entrance of a narrow passage, when the opening width of the narrow passage is greater than the passing dimension of the lawn mower, the lawn mower passes through the narrow passage; when the opening width of the narrow passage is not greater than the passing dimension of the lawn mower, the lawn mower does not pass through the narrow passage, or the lawn mower exits the narrow passage; wherein the passing dimension includes a first passing dimension corresponding to the first mowing path and a second passing dimension corresponding to the second mowing path; the first passing dimension is positively correlated with the length dimension of the lawn mower, and the second passing dimension is positively correlated with the width dimension of the lawn mower.

[0007] By using the above method, the position information and opening width of the narrow channel are obtained, the pre-set travel path mode is obtained, and the corresponding passing dimensions required for different travel path modes are analyzed, and then it is determined whether the lawn mower can pass. Since the lawn mower postures corresponding to different path modes are different, the passing dimensions of the lawn mower are also different. By replacing the traditional single judgment comparison size, the passability of the lawn mower is effectively improved, and the operation of detecting and selecting the mowing path is completed, so as to determine the travel path that can be safely passed. The processing logic is simple and effective, which can realize the effective cleaning of narrow channels, thereby improving the overall cleaning coverage rate of the lawn by the lawn mower.

[0008] Among them, the first mowing path includes a mowing path perpendicular to the length direction of the narrow channel; the first passing dimension is greater than the length of the fuselage; or, the second mowing path includes a mowing path parallel to the length direction of the narrow channel; the second passing dimension is greater than the width of the fuselage; or, the mowing path includes a third mowing path, and the third mowing path is a mowing path inclined to the length direction of the narrow channel; the passing dimension includes a third passing dimension corresponding to the first mowing path, and the third passing dimension includes the projection length of the fuselage along the third mowing path in the width direction of the channel opening.

[0009] This embodiment utilizes the size differences of the fuselage in different directions to select a path that meets the current narrow channel traffic conditions from the different designed planned paths, so that the lawn mower can be suitable for narrow channel paths of different shapes, so that the lawn mower can adaptively adjust the direction of travel based on the fuselage size, thereby improving the cleaning coverage in the narrow channel.

[0010] Optionally, the first through dimension is the width of the body of the lawn mower and the second through dimension is the length of the body of the lawn mower.

[0011] Optionally, the first pass size is greater than or equal to 43 cm and less than 63 cm, and the second pass size is greater than or equal to 63 cm and less than or equal to 85 cm. The passability of the lawn mower in narrow passages is improved by using these sizes.

[0012] Optionally, the first pass size is greater than or equal to 48 cm and less than 55 cm, and the second pass size is greater than or equal to 68 cm and less than or equal to 75 m. Setting this range can prevent the obstacle avoidance distance from being too small to affect the obstacle avoidance performance of the lawn mower, and at the same time can improve the passability of the lawn mower in narrow passages.

[0013] Optionally, the first passing size and the second passing size are preset thresholds, and the first passing size and the second passing size are not equal. By setting the preset threshold, the lawn mower can more accurately determine the corresponding passing size according to the mowing path, thereby improving the passability of the lawn mower.

[0014] In some embodiments, when passing through a narrow channel, if the lawn mower enters a narrow channel, the lawn mower exits the active obstacle avoidance mode; the active obstacle avoidance mode is to control the lawn mower to turn or retreat when the distance between the lawn mower and the obstacle meets the active obstacle avoidance distance.

[0015] Then, while traveling in the narrow channel, the robot turns or retreats based on the obstacle boundary sensed by the detection device. The space in the narrow channel is small. If the normal obstacle avoidance distance is maintained, the mower will turn around and turn in the narrow channel many times, causing the mower to be trapped in the narrow channel. Turning off the active obstacle avoidance mode can increase the mower's ability to pass through the narrow channel. Before entering the narrow channel, the robot recalculates whether the opening size of the narrow channel meets the entry conditions based on the new narrow channel obstacle avoidance logic, which can relatively improve the ability to pass through the narrow channel and allow the mower to operate in narrow channels with smaller opening widths that traditional mowers cannot enter.

[0016] Optionally, the lawn mower includes a collision sensor and enters a passive obstacle avoidance mode while traveling in the narrow channel; the passive obstacle avoidance mode is to control the lawn mower to turn or retreat when the collision sensor senses an obstacle or boundary; in the passive obstacle avoidance mode, the reserved collision distance is smaller than the active obstacle avoidance distance, thereby realizing the detection of boundaries or obstacles of the lawn mower in the narrow channel and obstacle avoidance walking.

[0017] Since the active obstacle avoidance mode of the lawn mower is turned off, but the passive obstacle avoidance mode is still on, in order to ensure the safety of the lawn mower and the normal operation of the passive obstacle avoidance mode, it is necessary to set the ratio of the lawn mower's travel speed in the narrow channel to the opening width of the narrow channel to be greater than or equal to 0.2 s -1 And less than or equal to 0.8 s -1 . The vehicle speed ratio is less than 0.2 s -1 When the collision sensor is not detected, the vehicle speed ratio is greater than 0.8 s -1 When the mowing machine is used, the safety in narrow passages cannot be guaranteed, and the mowing speed is adjusted according to the path width to ensure that the mowing efficiency is not too low.

[0018] Through the above implementation, the active obstacle avoidance mode can be turned off to shorten the obstacle avoidance distance between the lawn mower and obstacles on both sides of the narrow channel, thereby increasing the cleaning area coverage of the lawn mower in the narrow channel, and then limiting the travel speed of the lawn mower according to the opening width of the narrow channel, and further accurately defining the relative relationship between the lawn mower and the boundary of the narrow channel, so that the lawn mower can get as close to the two side boundaries of the narrow channel as possible while ensuring safety, thereby improving the passability of the lawn mower in the narrow channel.

[0019] Optionally, the first passing dimension is the sum of the body length of the lawn mower and the reserved collision distance; or, the second passing dimension is the sum of the body width of the lawn mower and the reserved collision distance; or, the third passing dimension is the sum of the projection length of the lawn mower body along the third mowing path in the width direction of the channel opening and the reserved collision distance. Thus, the passing dimension of the lawn mower is determined according to the planned path of the lawn mower, and combined with the obstacle avoidance distance requirement of the lawn mower, so as to meet the obstacle avoidance operation of the lawn mower in a narrow channel, thereby ensuring the passability of the lawn mower in a narrow channel.

[0020] Optionally, the reserved collision distance is greater than or equal to 3 cm and less than or equal to 20 cm. Optionally, the reserved collision distance is greater than 3 cm and less than or equal to 15 cm.

[0021] In some other embodiments, the system switches to a narrow channel active obstacle avoidance mode; the narrow channel active obstacle avoidance mode includes controlling the lawn mower to turn or retreat when the detection device detects that the position information of the obstacle and the distance from the lawn mower meet the active obstacle avoidance distance, and the narrow channel active obstacle avoidance distance is less than the active obstacle avoidance distance.

[0022] In addition to the above-mentioned active obstacle avoidance mode in narrow channels, there is also a passive obstacle avoidance mode. In the passive obstacle avoidance mode, when the collision sensor senses an obstacle, the lawn mower is controlled to turn or move backward. In the passive obstacle avoidance mode, the reserved collision distance is smaller than the active obstacle avoidance distance. Therefore, when traveling in a narrow channel, the passive obstacle avoidance mode can also be used to avoid obstacles.

[0023] By utilizing the above-mentioned limitations on different passing sizes, the fuselage can adaptively adjust the direction of travel according to the situation sensed by the collision sensor to improve the cleaning coverage in the narrow channel.

[0024] Through the above implementation, the recognition and turning distance between the original active obstacle avoidance mode and the obstacle can be shortened to the recognition and turning distance between the original active obstacle avoidance mode and the obstacle can be shortened to the recognition and turning distance between the original active obstacle avoidance mode and the obstacle, thereby shortening the distance between the lawn mower and the boundaries on both sides of the narrow channel, improving the passability of the lawn mower in the narrow channel, and then improving the cleaning coverage of the lawn mower in the narrow channel. The travel speed of the lawn mower is limited according to the opening width of the narrow channel, and the relative relationship between the lawn mower and the boundary of the narrow channel is further accurately defined, so that the lawn mower can get as close to the boundaries on both sides of the narrow channel as possible while ensuring safety.

[0025] In a possible implementation, the obstacles forming the narrow passage may include two types of obstacles, such as common obstacles and special obstacles, wherein the common obstacles may include obstacles such as walls, trees, and stones that are not afraid of being hit by the blade of the lawn mower, and the special obstacles may include obstacles such as animals, people, and water pipes that cannot be touched by the blade of the lawn mower. Therefore, it is necessary to use a detection device, such as a visual sensor, to identify these two types of obstacles, and then process them respectively according to the identified types.

[0026] Optionally, in the case of entering a narrow passage, and in the case that the detection device detects that the type of obstacle is a common obstacle, the lawn mower adopts a passive obstacle avoidance mode;

[0027] In the case of entering a narrow passage, and when the detection device detects that the type of obstacle is a special obstacle, the lawn mower adopts an active obstacle avoidance mode;

[0028] Special obstacles include at least one or a combination of living objects, fragile objects, cliffs, and artificially set virtual boundaries, and common obstacles are obstacles other than special obstacles.

[0029] Since the vehicle needs to continue to move in the narrow channel after exiting the active obstacle avoidance mode, a passive obstacle avoidance mode with a relatively smaller obstacle avoidance distance than the active obstacle avoidance mode can be used for obstacle avoidance.

[0030] Through the above implementation, the types of obstacles that form narrow channels are further subdivided, thereby improving cleaning safety while ensuring improved cleaning coverage.

[0031] Optionally, since the lawn mower can move while mowing, or can only perform the moving task, after entering the narrow passage, the lawn mower is controlled to move along the first mowing path, or the lawn mower is controlled to mow along the first mowing path, so that the lawn mower can first try to pass through, and then perform the mowing cleaning task according to the path taken when passing, thereby ensuring that the cleaning coverage rate is improved while improving the safety of the cleaning task execution, realizing the cleaning task of mowing while detecting, or the cleaning task of mowing after detecting, improving the possibility of executing the cleaning task in multiple ways, and improving the universality of cleaning needs.

[0032] In some embodiments, when passing through a narrow channel, the active obstacle avoidance mode can be exited and switched to the narrow channel active obstacle avoidance mode. Since the active obstacle avoidance distance of a narrow channel is smaller than the active obstacle avoidance distance, the turning or retreating distance between the lawn mower and the boundary of the narrow channel can be reduced, thereby improving the coverage rate of the lawn mower when passing through a narrow channel, thereby improving the cleaning coverage rate.

[0033] Optionally, if the active obstacle avoidance distance in a narrow channel is too large, it will not be conducive to improving the passability, and if the stopping distance is too small, timely braking and stopping cannot be achieved. Therefore, the ratio of the travel speed in a narrow channel to the obstacle avoidance distance in the passive obstacle avoidance mode is greater than or equal to 1.5 s -1 and less than or equal to 6 s -1 .

[0034] Or, because the detection device still has an error of 3-5cm or the detection result is delayed, in order to improve safety and further reduce the range, the ratio of the travel speed in the narrow channel to the active obstacle avoidance distance in the narrow channel is greater than or equal to 2 s. -1 and less than or equal to 4 s -1 .

[0035] In some other embodiments, the lawn mower may be provided with a movable blade disc, on which a cutting device for cutting the lawn is fixed. Exemplarily, the blade disc has a first state and a second state, and the blade disc has a first state and a second state. When the blade disc is in the first state, the overall width of the lawn mower is greater than when the blade disc is in the second state. Regardless of whether it is in the second state or the first state, the cutting device on the blade disc can perform a lawn cutting and cleaning operation on the covered area below the blade disc. For example, the first state is a position in which the blade disc is in an extended state relative to the lawn mower body, and the second state is a position in which the blade disc is in a retracted state relative to the lawn mower body.

[0036] Therefore, when the lawn mower reaches the entrance of the narrow channel, the lawn mower is controlled to enter the narrow channel with the cutter disc in the second state, thereby increasing the possibility of the lawn mower passing through the narrow channel, and passing means that cleaning can be done, thereby further improving the cleaning coverage rate of the narrow channel.

[0037] In some embodiments, since the blade disc is retractable, the lawn mower can expand the cleaning area by extending the blade disc when traveling. For example, when the lawn mower travels to a preset path, the blade disc is controlled to extend to cut grass; the preset path includes a turning path, or the opening width of the preset path is larger than the passing size when the lawn mower is in the first state.

[0038] Through the above implementation, the cleaning coverage rate is further expanded, so that the lawn mower can expand the cleaning coverage area on both sides without changing the travel path. At the same time, by using telescopic control, the lawn at the corners can be better cleaned to avoid interference or collision between the lawn mower and the protrusions at the corners.

[0039] Optionally, when the opening width of the narrow passage is larger than the passing size when the lawn mower is in the second state and smaller than or equal to the passing size when the lawn mower is in the first state, the lawn mower is controlled to move the cutter disc left and right in the second state to mow the lawn.

[0040] This embodiment can utilize the left and right movement of the machine body to achieve lawn cleaning in a narrow channel during a single pass while the cutter disc remains stationary, while utilizing the passive obstacle avoidance function of the lawn mower to improve cleaning coverage and protect the cutter disc from collision damage.

[0041] Optionally, when the lawn mower reaches the entrance of the narrow channel, the lawn mower is controlled to mow along the boundary of the narrow channel with the blade disc in the first state; the distance that the lawn mower extends in the first state of the blade disc is less than a reserved collision distance of the lawn mower.

[0042] Under the premise that the fuselage has been moving close to the edge, this embodiment can further utilize the extended blade disc to supplement the cleaning of the missed cleaning area between the fuselage and the obstacle due to the obstacle avoidance distance limitation, thereby further improving the cleaning coverage rate.

[0043] In a second aspect, the present application provides a control method for a lawn mower, the lawn mower includes a body, and a detection device arranged on the body, the detection device is used to detect obstacle information on the path of the lawn mower; the method includes first performing a mapping operation, and identifying a narrow channel during the mapping process; obtaining the opening width of the narrow channel, and generating at least one passable mowing path according to the opening width of the narrow channel; generating at least one passable mowing path according to the opening width of the narrow channel, including: the mowing path includes at least a first mowing path and a second mowing path, the first mowing path corresponds to a first passing size of the lawn mower, the second mowing path corresponds to a second passing size of the lawn mower, the first passing size is positively correlated with the length size of the lawn mower, and the second passing size is positively correlated with the width size of the lawn mower. When the opening width of the narrow channel is greater than the passing size of the lawn mower, the mowing path is judged to be a passable mowing path.

[0044] In the absence of a planned path, this embodiment first finds the narrow channel position through mapping and marks it, so that the lawn mower can quickly switch to the narrow channel control logic when reaching the narrow channel position, and then moves along the preset mowing path while detecting under the narrow channel control logic, so that the cleaning task of the narrow channel can be performed later according to the detected passable path, thereby improving the overall coverage of lawn cleaning.

[0045] By using the above method, the position information and opening width of the narrow channel are obtained, the pre-set travel path mode is obtained, and the corresponding passing dimensions required for different travel path modes are analyzed, and then it is determined whether the lawn mower can pass. Since the lawn mower postures corresponding to different path modes are different, the passing dimensions of the lawn mower are also different. By replacing the traditional single judgment comparison size, the passability of the lawn mower is effectively improved, and the operation of detecting and selecting the mowing path is completed, so as to determine the travel path that can be safely passed. The processing logic is simple and effective, which can realize the effective cleaning of narrow channels, thereby improving the overall cleaning coverage rate of the lawn by the lawn mower.

[0046] Among them, the first mowing path includes a mowing path perpendicular to the length direction of the narrow channel; the first passing dimension is greater than the length of the fuselage; or, the second mowing path includes a mowing path parallel to the length direction of the narrow channel; the second passing dimension is greater than the width of the fuselage; or, the mowing path includes a third mowing path, and the third mowing path is a mowing path inclined to the length direction of the narrow channel; the passing dimension includes a third passing dimension corresponding to the first mowing path, and the third passing dimension includes the projection length of the fuselage along the third mowing path in the width direction of the channel opening.

[0047] This embodiment utilizes the size differences of the fuselage in different directions to adjust the posture of the fuselage according to narrow channel paths of different shapes, so that the lawn mower can enter the narrow channel based on the appropriate body size, obtain different passable mowing paths, and thus improve the cleaning coverage in the narrow channel.

[0048] In some embodiments, when passing through a narrow channel, since the active obstacle avoidance mode will turn around when an obstacle is detected, in order to reduce the risk of turning around too early and causing a large area of ​​lawn to be missed, it is first necessary to exit the active obstacle avoidance mode. The active obstacle avoidance mode is to control the lawn mower to turn or retreat when the detection device detects that the location information of the obstacle and the distance between the lawn mower and the obstacle meet the active obstacle avoidance distance.

[0049] Optionally, since the active obstacle avoidance mode of the lawn mower is turned off, but the passive obstacle avoidance mode is still on, in order to ensure the safety of the lawn mower and the normal operation of the passive obstacle avoidance mode, it is necessary to set the ratio of the speed of the lawn mower in the narrow channel to the opening width of the narrow channel to be greater than or equal to 0.2 s -1 And less than or equal to 0.8 s -1 .

[0050] Through the above implementation, the active obstacle avoidance mode can be turned off to shorten the obstacle avoidance distance between the lawn mower and obstacles on both sides of the narrow channel, thereby increasing the cleaning area coverage of the lawn mower in the narrow channel and improving the passability of the lawn mower in the narrow channel. The travel speed of the lawn mower is then limited according to the opening width of the narrow channel, and the relative relationship between the lawn mower and the boundary of the narrow channel is further accurately defined, so that the lawn mower can get as close to the boundaries of both sides of the narrow channel as possible while ensuring safety.

[0051] In some other embodiments, while traveling in a narrow channel, the mode of traveling can be switched to a narrow channel active obstacle avoidance mode, wherein the narrow channel active obstacle avoidance mode includes controlling the lawn mower to turn or retreat when the detection device detects that the position information of the obstacle and the distance from the lawn mower meet the active obstacle avoidance distance, and the narrow channel active obstacle avoidance distance is less than the active obstacle avoidance distance.

[0052] In addition to the above-mentioned active obstacle avoidance mode in narrow channels, there is also a passive obstacle avoidance mode. In the passive obstacle avoidance mode, when the collision sensor senses an obstacle, the lawn mower is controlled to turn or move backward. In the passive obstacle avoidance mode, the reserved collision distance is smaller than the active obstacle avoidance distance. Therefore, when traveling in a narrow channel, the passive obstacle avoidance mode can also be used to avoid obstacles.

[0053] Among them, when the above passive obstacle avoidance mode is used, the passing size satisfies the following conditions: the first passing size is the sum of the body length of the lawn mower and the reserved collision distance; or, the second passing size is the sum of the body width of the lawn mower and the reserved collision distance; or, the third passing size is the sum of the projection length of the lawn mower body along the third mowing path in the width direction of the channel opening and the reserved collision distance. Thus, the passing size of the lawn mower is determined according to the planned path of the lawn mower, and combined with the obstacle avoidance distance requirement of the lawn mower, so as to meet the obstacle avoidance operation of the lawn mower in a narrow channel, thereby ensuring the passability of the lawn mower in a narrow channel.

[0054] By utilizing the above-mentioned limitations on different passing sizes, the fuselage can adaptively adjust the direction of travel according to the situation sensed by the collision sensor to improve the cleaning coverage in the narrow channel.

[0055] Optionally, if the active obstacle avoidance distance in a narrow channel is too large, it will not be conducive to improving the passability, and if the stopping distance is too small, timely braking and stopping cannot be achieved. Therefore, the ratio of the travel speed in a narrow channel to the obstacle avoidance distance in the passive obstacle avoidance mode is greater than or equal to 1.5 s -1 and less than or equal to 6 s -1 .

[0056] Or, because the detection device still has an error of 3-5cm or the detection result is delayed, in order to improve safety and further reduce the range, the ratio of the travel speed in the narrow channel to the active obstacle avoidance distance in the narrow channel is greater than or equal to 2 s.-1 and less than or equal to 4 s -1 .

[0057] Through the above implementation, the recognition and turning distance between the original active obstacle avoidance mode and the obstacle can be shortened to the recognition and turning distance between the original active obstacle avoidance mode and the obstacle can be shortened to the recognition and turning distance between the original active obstacle avoidance mode and the obstacle, thereby shortening the distance between the lawn mower and the boundaries on both sides of the narrow channel, improving the passability of the lawn mower in the narrow channel, and then improving the cleaning coverage of the lawn mower in the narrow channel. The travel speed of the lawn mower is limited according to the opening width of the narrow channel, and the relative relationship between the lawn mower and the boundary of the narrow channel is further accurately defined, so that the lawn mower can get as close to the boundaries on both sides of the narrow channel as possible while ensuring safety.

[0058] In a possible implementation, the obstacles forming the narrow passage may include two types of obstacles, such as common obstacles and special obstacles, wherein the common obstacles may include obstacles such as walls, trees, and stones that are not afraid of being hit by the blade of the lawn mower, and the special obstacles may include obstacles such as animals, people, and water pipes that cannot be touched by the blade of the lawn mower. Therefore, it is necessary to use a detection device, such as a visual sensor, to identify these two types of obstacles, and then process them respectively according to the identified types.

[0059] Optionally, when the detection device detects that the type of obstacle is an ordinary obstacle, the passive obstacle avoidance mode is turned on and the active obstacle avoidance mode is exited; when the detection device detects that the type of obstacle is a special obstacle, in order to improve safety, it is necessary to increase the obstacle avoidance distance, so it is necessary to turn on the active obstacle avoidance mode and the passive obstacle avoidance mode.

[0060] Among them, when the detection device detects that the type of obstacle is a common obstacle, it is necessary to shorten the obstacle avoidance distance between the lawn mower and the obstacle when turning or retreating, so it is necessary to exit the active obstacle avoidance mode with a large obstacle avoidance distance.

[0061] Since the vehicle needs to continue to move in the narrow channel after exiting the active obstacle avoidance mode, a passive obstacle avoidance mode with a relatively smaller obstacle avoidance distance than the active obstacle avoidance mode can be used for obstacle avoidance.

[0062] Through the above implementation, the types of obstacles that form narrow channels are further subdivided, thereby improving cleaning safety while ensuring improved cleaning coverage.

[0063] Optionally, since the lawn mower can move while mowing, or can only perform the moving task, after entering the narrow passage, the lawn mower is controlled to move along the first mowing path, or the lawn mower is controlled to mow along the first mowing path, so that the lawn mower can first try to pass through, and then perform the mowing cleaning task according to the path taken when passing, thereby ensuring that the cleaning coverage rate is improved while improving the safety of the cleaning task execution, realizing the cleaning task of mowing while detecting, or the cleaning task of mowing after detecting, improving the possibility of executing the cleaning task in multiple ways, and improving the universality of cleaning needs.

[0064] In some embodiments, when passing through a narrow channel, the active obstacle avoidance mode can be exited and switched to the narrow channel active obstacle avoidance mode. Since the active obstacle avoidance distance of a narrow channel is smaller than the active obstacle avoidance distance, the turning or retreating distance between the lawn mower and the boundary of the narrow channel can be reduced, thereby improving the coverage rate of the lawn mower when passing through a narrow channel, thereby improving the cleaning coverage rate.

[0065] In some other embodiments, the lawn mower may be provided with a movable blade disc, on which a cutting device for cutting the lawn is fixed, so as to achieve the mowing action.

[0066] Exemplarily, the blade disc has a first state and a second state, the blade disc has a first state and a second state, when the blade disc is in the first state, the overall width of the lawn mower is greater than when the blade disc is in the second state, and whether in the second state or the first state, the cutting device on the blade disc can cut and clean the lawn in the covered area below the blade disc. For example, the first state is the position where the blade disc is in an extended state relative to the body of the lawn mower, and the second state is the position where the blade disc is in a retracted state relative to the body of the lawn mower.

[0067] Therefore, when the lawn mower reaches the entrance of the narrow channel, the lawn mower is controlled to enter the narrow channel with the cutter disc in the second state, thereby increasing the possibility of the lawn mower passing through the narrow channel, and passing means that cleaning can be done, thereby further improving the cleaning coverage rate of the narrow channel.

[0068] In some embodiments, since the blade disc is retractable, the lawn mower can expand the cleaning area by extending the blade disc when traveling. For example, when the lawn mower travels to a preset path, the blade disc is controlled to extend to cut grass; the preset path includes a turning path, or the opening width of the preset path is larger than the passing size when the lawn mower is in the first state.

[0069] Through the above implementation, the cleaning coverage rate is further expanded, so that the lawn mower can expand the cleaning coverage area on both sides without changing the travel path. At the same time, by using telescopic control, the lawn at the corners can be better cleaned to avoid interference or collision between the lawn mower and the protrusions at the corners.

[0070] Optionally, when the opening width of the narrow passage is larger than the passing size when the lawn mower is in the second state and smaller than or equal to the passing size when the lawn mower is in the first state, the lawn mower is controlled to move the cutter disc left and right in the second state to mow the lawn.

[0071] This embodiment can utilize the left and right movement of the machine body to achieve lawn cleaning in a narrow channel during a single pass while the cutter disc remains stationary, while utilizing the passive obstacle avoidance function of the lawn mower to improve cleaning coverage and protect the cutter disc from collision damage.

[0072] Optionally, when the lawn mower reaches the entrance of the narrow channel, the lawn mower is controlled to mow along the edge of the narrow channel with the blade disc in the first state; the distance from the extended blade disc to the narrow channel boundary is less than a reserved collision distance of the lawn mower.

[0073] Under the premise that the fuselage has been moving close to the edge, this embodiment can further utilize the extended blade disc to supplement the cleaning of the missed cleaning area between the fuselage and the obstacle due to the obstacle avoidance distance limitation, thereby further improving the cleaning coverage rate.

[0074] In a third aspect, the present application provides a control method for a lawn mower.

[0075] The lawn mower includes a body and a detection device arranged on the body, the detection device is used to detect obstacle information on the path of the lawn mower; the method includes:

[0076] When the lawn mower reaches the entrance of the narrow channel, if the opening width of the narrow channel is larger than the passing size of the lawn mower, the lawn mower passes through the narrow channel; when the opening width of the narrow channel is not larger than the passing size of the lawn mower, the lawn mower is controlled not to pass through the narrow channel, or to exit the narrow channel; wherein the passing size of the lawn mower is the sum of the projection width of the body posture of the lawn mower at the opening of the narrow channel in the direction of the opening width of the narrow channel and the narrow channel obstacle avoidance distance of the lawn mower.

[0077] Among them, the active obstacle avoidance distance of the narrow channel is smaller than the obstacle avoidance distance in the active obstacle avoidance mode, so as to minimize the area of ​​the missed cleaning area between the fuselage and the narrow channel boundary while ensuring the safety of the lawn mower passing through.

[0078] The passing dimensions include a first passing dimension corresponding to the first mowing posture, a second passing dimension corresponding to the second mowing posture, and a third passing dimension corresponding to the third mowing posture. The first passing dimension is the sum of the body length of the mower and the narrow channel obstacle avoidance distance; the second passing dimension is the sum of the body width of the mower and the narrow channel obstacle avoidance distance; the third passing dimension is the sum of the projection length of the body of the mower along the third mowing path in the direction of the channel opening width and the narrow channel obstacle avoidance distance.

[0079] Optionally, the narrow channel obstacle avoidance distance is greater than or equal to 3 cm and less than or equal to 20 cm.

[0080] Optionally, the narrow channel obstacle avoidance distance is greater than or equal to 3 cm and less than or equal to 15 cm.

[0081] The method of this embodiment enables the lawn mower to directly compare the width of the narrow channel opening obtained by the detection device with the projection width of the current body posture in the direction of the narrow channel opening width when the lawn mower confirms that it has reached the entrance of the narrow channel, so as to directly determine whether the lawn mower can pass through, thereby reducing the complexity of the judgment logic, eliminating the need to preset a mowing path, improving the passing efficiency, and thereby improving the overall cleaning coverage and cleaning efficiency.

[0082] In a fourth aspect, the present application provides a control method for a lawn mower, the lawn mower comprising a body and a collision sensor arranged on the body, the collision sensor being used to detect the boundary of an obstacle; the method comprising: exiting an active obstacle avoidance mode when entering a narrow channel; the active obstacle avoidance mode is to control the lawn mower to turn or retreat when the distance between the lawn mower and the obstacle meets the active obstacle avoidance distance; based on the narrow channel boundary sensed by the collision sensor, when the distance between the lawn mower and the narrow channel meets the reserved collision distance, the lawn mower is controlled to turn or retreat to pass through the narrow channel.

[0083] Among them, collision sensors, such as anti-collision plates, can be provided with two, which are respectively arranged on both sides of the front end of the body of the lawn mower in the direction of travel, so that the anti-collision plates can determine the specific position of the obstacle boundary according to the collision information, so that in the process of moving in a narrow channel, the obstacle information can be marked in the map based on the obstacle boundary sensed by the collision sensor.

[0084] The method of this embodiment can shorten the obstacle avoidance distance between the lawn mower and obstacles on both sides of the narrow channel by turning or retreating after the collision, thereby increasing the cleaning area coverage rate of the lawn mower in the narrow channel and facilitating the next cleaning use.

[0085] In a fifth aspect, the present application provides a control method for a lawn mower, the lawn mower comprising a body and a distance sensor arranged on the body, the distance sensor being used to obtain the distance between the body and an obstacle on a path of travel of the lawn mower; the method comprising: when entering a narrow channel, exiting an active obstacle avoidance mode and switching to a narrow channel active obstacle avoidance mode; turning or retreating when the obstacle distance detected by the distance sensor is less than a narrow channel active obstacle avoidance distance to pass through the narrow channel; the narrow channel active obstacle avoidance distance corresponding to the narrow channel active obstacle avoidance mode is less than the active obstacle avoidance distance corresponding to the active obstacle avoidance mode.

[0086] The method of this embodiment sets a specific narrow channel active obstacle avoidance mode for the narrow channel, so that the lawn mower can move normally in the narrow channel without touching the narrow channel boundary while getting as close to the narrow channel boundary as possible, thereby improving the passability and cleaning coverage of the lawn mower.

[0087] Optionally, in one embodiment, the opening width of the narrow channel is obtained, and when the opening width of the narrow channel is in the first width interval, the lawn mower only turns on the passive obstacle avoidance mode, and when the opening width of the narrow channel is in the second width interval, and the lawn mower turns on the short-distance obstacle avoidance mode, the first width interval is smaller than the second width interval. Thus, in an extremely narrow narrow channel, by changing the obstacle avoidance strategy, the passability of the lawn mower in the narrow channel can be improved, the number of turns of the lawn mower in the narrow channel can be reduced, and the lawn mower can be prevented from being trapped in an extremely narrow channel. Optionally, the first width interval is greater than or equal to 60 cm and less than or equal to 100 cm, and the second width interval is greater than 100 cm. Optionally, the second width interval is greater than 100 cm and less than 160 cm.

[0088] In a sixth aspect, the present application provides a control method for a lawn mower, the lawn mower comprising a body and a visual sensor arranged on the body, the visual sensor being used to obtain obstacle information on a path of travel of the lawn mower, the obstacle information comprising the type of obstacle, the type of obstacle comprising common obstacles and special obstacles; the method comprising: when entering a narrow passage and the visual sensor detects that the type of obstacle is a common obstacle, controlling the lawn mower to turn or retreat when reaching an active obstacle avoidance distance; when entering a narrow passage and the visual sensor detects that the type of obstacle is a special obstacle, controlling the lawn mower to turn or retreat when reaching an active obstacle avoidance distance of the narrow passage so as to pass through the narrow passage.

[0089] The method of this embodiment further subdivides the types of obstacles that form narrow channels through visual sensors, thereby improving cleaning safety while ensuring improved cleaning coverage.

[0090] Among them, since the lawn mower can come into contact with special obstacles, the active obstacle avoidance distance in a narrow channel can be zero. At this time, the lawn mower can slow down and move forward when it detects that the obstacle boundary is about to come into contact with the fuselage, until it slows down to zero when it comes into contact with the obstacle boundary, and then turns or retreats to continue to execute the next route, thereby further reducing the missed cleaning area between the lawn mower and the obstacle boundary and improving the overall cleaning coverage of the narrow channel.

[0091] In a seventh aspect, the present application provides a control method for a lawn mower, the lawn mower comprising a body, and a cutter disc arranged on the body, the cutter disc having a first state and a second state, the cutter disc having a first state and a second state, the overall width of the lawn mower when the cutter disc is in the first state is greater than the overall width of the lawn mower when the cutter disc is in the second state; the method comprising: when the lawn mower moves to an entrance of a narrow passage, controlling the cutter disc to move to the second state; wherein, when the cutter disc is in the first state, the cutter disc is at least partially located outside a projection of the body onto the ground.

[0092] The method of this embodiment increases the passing probability by controlling the blade disc to retract before the entrance of the narrow passage, thereby improving the possibility of cleaning the narrow passage and further improving the overall cleaning coverage of the lawn.

[0093] In an eighth aspect, the present application provides a control method for a lawn mower, the lawn mower comprising a body, a cutter disc and a detection device arranged on the body, the detection device being used to detect obstacle information on a path of the lawn mower, the cutter disc having a first state and a second state, the body posture width of the lawn mower being in the first state being greater than the body posture width of the lawn mower being in the second state; the method comprising:

[0094] Build a map of the narrow passage and detect the distance between the mower and the narrow passage boundary;

[0095] When the boundary distance between the lawn mower and the narrow channel is greater than a preset value, the cutter disc is controlled to be in a first state; when the cutter disc is in the first state, the cutter disc is at least partially located outside the projection of the machine body onto the ground.

[0096] The method of this embodiment first builds a map through a detection device, and then uses the narrow channel boundary information obtained from the map to control the outward swing position of the cutter disc to increase the cutter disc coverage area and further improve the cleaning coverage rate.

[0097] In a ninth aspect, the present application provides a control method for a lawn mower, the lawn mower comprising a body, and a detection device arranged on the body, the detection device being used to detect obstacle information on a path of travel of the lawn mower; the method comprising: when the lawn mower travels according to a planned path and reaches an entrance of a narrow channel, controlling the detection device to detect an opening width of the narrow channel and position information of the narrow channel; wherein the planned mowing path comprises at least a first mowing path and a second mowing path; when the opening width of the narrow channel is greater than a passing posture corresponding to the lawn mower traveling in the narrow channel, passing through the narrow channel; wherein the passing posture comprises a first passing posture corresponding to the first mowing path and a second passing posture corresponding to the second mowing path.

[0098] Among them, in the above embodiments, the first mowing path includes a mowing path perpendicular to the length direction of the narrow channel; the first passing posture is greater than the length of the fuselage; or, the second mowing path includes a mowing path parallel to the length direction of the narrow channel; the second passing posture is greater than the width of the fuselage; or, the mowing path includes a third mowing path, and the third mowing path is a mowing path inclined to the length direction of the narrow channel; the passing posture includes a third passing posture corresponding to the first mowing path, and the third passing posture includes the projection length of the fuselage along the third mowing path in the width direction of the channel opening.

[0099] The method of this embodiment uses a detection device to detect and calculate the posture required for the lawn mower body to pass, and then makes adjustments based on the detection situation, thereby reducing the missed cutting caused by the lawn mower being unable to follow the same mowing path due to irregular paths in narrow channels, and improving the cleaning coverage rate.

[0100] In a tenth aspect, the present application provides a lawn mower, which includes a body, a control device, and a detection device arranged on the body, wherein the detection device is connected to the control device, the detection device is used to detect obstacle information on the path of the lawn mower, and the control device is used to execute the control method of the above embodiment.

[0101] The lawn mower and control method thereof provided by the present application selects a passable planned narrow channel path through a detection device, or plans the narrow channel path through a detection device. Compared with the defects in the prior art, the present application can enable the lawn mower to normally perform cleaning tasks in a narrow channel, thereby improving the cleaning coverage rate of the lawn by the lawn mower and improving the intelligence level of autonomous cleaning of the lawn mower. BRIEF DESCRIPTION OF THE DRAWINGS

[0102] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0103] Figure 1 A schematic diagram of the bottom structure of a lawn mower provided in an embodiment of the present application;

[0104] Figure 2 Schematic diagram of mowing paths provided in the embodiments of the present application; wherein (a) is a schematic diagram of a first type of planned mowing path, (b) is a schematic diagram of a second type of planned mowing path, and (c) is a schematic diagram of a third type of planned mowing path;

[0105] Figure 3 A schematic flow chart of a lawn mower control method according to a first embodiment of the present application;

[0106] Figure 4 A schematic flow chart of a lawn mower control method according to a second embodiment of the present application;

[0107] Figure 5 A schematic flow chart of a lawn mower control method according to a third embodiment of the present application;

[0108] Figure 6 A schematic diagram of narrow channel path distribution provided in an embodiment of the present application;

[0109] Figure 7 A schematic flow chart of a control method for a lawn mower obstacle avoidance mode scheme 1 provided in an embodiment of the present application;

[0110] Figure 8 A schematic flow chart of a control method for the second obstacle avoidance mode of a lawn mower provided in an embodiment of the present application;

[0111] Fig. 9 A schematic flow chart of a control method for the third obstacle avoidance mode of a lawn mower provided in an embodiment of the present application;

[0112] Fig.10 A schematic diagram of the extension structure of the lawn mower blade provided in an embodiment of the present application;

[0113] Fig.11 A schematic diagram of a lawn mower cutter disc retraction structure provided in an embodiment of the present application;

[0114] Fig.12 A schematic diagram of a flow chart of a lawn mower cutter disc retraction control method provided in an embodiment of the present application;

[0115] Fig.13 A schematic diagram of a flow chart of a lawn mower cutter extension control method provided in an embodiment of the present application;

[0116] Fig.14 This is a flow chart of a lawn mower control method according to method 4 provided in an embodiment of the present application. DETAILED DESCRIPTION

[0117] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementation methods described in the following exemplary embodiments do not represent all implementation methods consistent with the present application. On the contrary, they are only examples of devices and methods consistent with some aspects of the present application, rather than all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0118] When a lawn mower is mowing the lawn, it can usually perform autonomous cleaning operations in two ways:

[0119] One way is to extract map features of the lawn in advance, and plan a cleaning path according to the extracted map features, so that the lawn mower can perform the mowing task according to the planned cleaning path.

[0120] Another way is to control the lawn mower to move randomly in the active obstacle avoidance mode, so that the lawn mower can perform mowing tasks in all areas it passes through. After meeting the set mowing height and cleaning time, the lawn mower can complete the mowing task in a specific area.

[0121] There may be many obstacles in the existing lawn area, such as fences, walls, billboards, sculptures, etc., or there may be a need for greening design of a specific shape, such as bushes, flower beds, etc., which cannot be cleaned at the same time as the lawn. When the distance between at least two obstacles is relatively small, a narrow passage area is formed.

[0122] Due to the cutting and cleaning characteristics of the lawn mower, existing autonomous lawn mowers usually give up cleaning the narrow channel area in order to ensure the safety of cleaning. That is, when it is determined that the cleaning area includes the narrow channel area, the narrow channel is directly regarded as an obstacle and turns around to avoid the obstacle. This results in a large proportion of the overall missed cutting area in the area to be cleaned, affecting the overall cleaning effect of the lawn mower on the mowing area to be cleaned.

[0123] Based on the above technical problems, the inventive concept of the present application is that: a planned path that can be safely passed can be determined based on the detected width of the narrow channel and the size of the lawn mower; or, a path is first planned for the narrow channel, and then based on the detected width of the narrow channel and the size of the lawn mower, it is determined whether the path planning is passable, and the cleaning task is performed based on the passable path, which aims to solve the above technical problems of the prior art.

[0124] The specific application scenarios of this application are as follows:

[0125] Figure 1 This is a schematic diagram of the bottom structure of a lawn mower provided in an embodiment of the present application. Figure 1 As shown, the lawn mower 100 includes a body 110 , and a detection device 120 and a cutter 130 disposed on the body 110 . The detection device 120 is used to detect obstacle information on a travel path of the lawn mower 100 .

[0126] Exemplarily, the fuselage may be circular, square or other shapes, such as a special shape formed by combining a part of a circle and a part of a square. The fuselage may rotate during movement, and the center point around which the rotation is made may be a center point selected from the fuselage. For example, when the shape of the fuselage is circular, the center point may include the center of the circle. For another example, when the shape of the fuselage is square, the center point may include the center point of the square. For another example, when the fuselage is provided with two driving wheels, the center point may include the center point of the line connecting the two driving wheels or the center point of the line connecting the rotation centers of the two driving wheels.

[0127] The detection device may be a radar sensor, an infrared sensor, a visual sensor and / or a collision avoidance plate or other sensors capable of detecting distances. The obstacle information acquired by the detection device may be distance information, obstacle type, or boundary information determined by the detection device. Since the detection information itself belongs to the prior art, no further description is given here. The obstacle in the present application may be an obstacle located in the mowing area or a boundary of the passage.

[0128] The lawn mower further comprises a control device, which is connected to the detection device and is used for executing a control method for the lawn mower based on a detection result of the detection device.

[0129] The lawn mower is also provided with a storage assembly, and the control device and the storage assembly can be arranged inside the lawn mower. Optionally, the storage assembly can be integrated with the control device, or can be two independent components of the control device.

[0130] The storage component is used to store data, for example, various software control programs, some modes and / or parameters of the lawn mower, etc. Specifically, the program may include program codes, and the program codes include computer operation instructions.

[0131] The control device may include, for example, one or more circuits or chips having control functions.

[0132] The control device is used to control the operation of the lawn mower and respond to the user's operation through various software control programs stored in the memory.

[0133] The execution subject of the embodiment of the present application can be the control device in the lawn mower, or the server corresponding to the lawn mower. The server is located in the cloud, connected to the control device of the lawn mower through the network, and sends control instructions to the lawn mower, or forwards the control instructions sent by the user through the terminal device to the lawn mower.

[0134] The following takes the control device in a lawn mower as an example, and describes in detail the technical solution of the present application and how the technical solution of the present application solves the above technical problems through specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments.

[0135] The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0136] Figure 2 A schematic diagram of a planned mowing path provided in an embodiment of the present application; wherein: Figure 2 (a) is a schematic diagram of the first planned mowing path, (b) is a schematic diagram of the second planned mowing path, and (c) is a schematic diagram of the third planned mowing path.

[0137] Exemplary, reference Figure 2 As shown in (a), the first planned mowing path is that the mower moves along the first mowing path 201 in the vertical direction from the starting point, turns when reaching the end point, and then moves along the second mowing path 202 in the horizontal direction, and then turns again to move along the first mowing path 201 in the vertical direction opposite to the original one, and repeats this cycle to form a planned path with a combination of multiple first mowing paths 201 and second mowing paths 202.

[0138] It should be understood that when the lateral width of the passage is wider, the above-mentioned first planned mowing path can form a reciprocating path composed of the first mowing path 201 and the second mowing path 202, and when the lateral width of the passage is narrower, it can form a one-way path consisting only of the first mowing path 201, or a reciprocating path that turns around and returns at the end point.

[0139] refer to Figure 2 As shown in (b), similar to the above-mentioned planned path, the second planned mowing path is that the mower moves along the second mowing path 202 in the horizontal direction from the starting point, turns when encountering the first side boundary of the channel, and then moves along the first mowing path 201 in the vertical direction, and then turns again, and moves along the second mowing path 202 in the horizontal direction opposite to the original one, until it encounters the second side boundary of the channel and turns again, and this cycle is repeated until it reaches the end point, forming a bow-shaped planned path with a combination of multiple first mowing paths 201 and second mowing paths 202.

[0140] refer to Figure 2As shown in (c), the third planned mowing path is that the mower moves from the starting point along the third mowing path 203 inclined to the horizontal or vertical direction, for example, moving in a direction with an angle of 45 degrees with the horizontal width direction of the channel, turns when encountering the first side boundary of the channel, and moves along the first mowing path 201 in the vertical direction, and then moves to the second side boundary of the channel along the third mowing path 203 in the opposite inclined direction to the original direction, and repeats this cycle until reaching the end point, thereby obtaining a planned path after the first mowing path 201 and the third mowing path 203 are combined.

[0141] Continue to refer to Figure 2 As shown in (c), in the process of traveling along the planned path after combining the first mowing path 201 and the third mowing path 203, if there is an obstacle in the channel or the end of the channel is closed and the mower needs to turn, a second mowing path 202 in the horizontal direction can be set based on the obstacle situation in the channel, thereby obtaining a planned path after combining the first mowing path 201, the second mowing path 202 and the third mowing path 203.

[0142] Through the above-mentioned multiple horizontal, vertical and inclined mowing path setting methods, the passability of the lawn mower in narrow channels can be improved, so that the lawn mower can complete the cleaning task of areas to be cleaned in different shapes in a more suitable posture.

[0143] In some embodiments, before the lawn mower performs an autonomous cleaning task on the lawn, it will map the lawn area to be cleaned in advance, which may include an open area or a narrow channel area, and then plan the mowing path of the lawn mower based on the open area and / or the narrow channel area. When the width of the mowing area is less than a preset value, it can be determined that the mowing area is a narrow channel area. Exemplarily, the preset value is 1.5m. Optionally, the narrow channel is a non-mowing area or a mowing area in the mowing area.

[0144] Although the lawn mower can perform cleaning tasks according to the planned path, the actual situation may not completely match the map, so that the planned path may not necessarily meet the requirements of passing through narrow channels.

[0145] For example, when a narrow passage formed by a billboard and a wall is shown on the map, a path passing through the narrow passage will be planned in order to clean the narrow passage. Existing lawn mowers usually use the center of the body as the center of the circle, and use at least twice the distance from the center of the circle to the longest end of the body as the basis for judging the width that the mower can pass. When the actual distance between the billboard and the wall is smaller than the width that the existing mower can pass, the mower will be unable to enter when it reaches the entrance of the narrow passage, causing logical judgment errors, or repeatedly hitting the entrance of the narrow passage, causing the cleaning task to stagnate, affecting the intelligence of the mower, and reducing cleaning efficiency.

[0146] For another example, the map only marks the entrance position of the narrow passage, but the specific shape of the narrow passage and information such as the opening width are unclear, making it impossible for the lawn mower to pre-plan the mowing path in the narrow passage, making it impossible for the lawn mower to clean the narrow passage, resulting in a decrease in the cleaning coverage rate.

[0147] Therefore, the mowing path taken by the lawn mower when traveling in a narrow channel can be achieved in the following two ways:

[0148] Method 1: Preset several planned mowing paths. When the mower moves to a narrow passage, adjust the mowing path of the mower according to the width information of the narrow passage to find a mowing path combination that allows the mower to pass.

[0149] For example, Figure 3 This is a flow chart of a lawn mower control method according to a first embodiment of the present application. Figure 3 As shown, the method includes:

[0150] S31, after the lawn mower is started, responds to the received cleaning task.

[0151] S32: Obtain a planned mowing path, and proceed according to the planned mowing path.

[0152] The planned mowing path includes at least the first mowing path or the second mowing path, and may also include other mowing paths except the first mowing path and the second mowing path, such as the third mowing path.

[0153] Optionally, the planned mowing path may further include a combined path of at least two of the first mowing path, the second mowing path and the third mowing path.

[0154] S33: Move forward and obtain the position information of the lawn mower.

[0155] Since the cleaning task is planned based on a preset map, the corresponding cleaning area may include open areas as well as narrow channel areas. In open areas, the cleaning equipment is less affected by obstacles, and any mowing path can be used to complete the mowing task in the open area. However, in narrow channel areas, due to the small spacing between the two sides of the narrow channel, it may not be enough to maintain the preset mowing path. Therefore, it is necessary to obtain the position information of the mower and identify the narrow channel entrance position, so that when it is determined that the mower passes through the narrow channel, the mowing path of the mower can be adjusted to allow the mower to pass through the narrow channel.

[0156] S34, judging whether the lawn mower has reached the entrance of the narrow passage according to the position information of the lawn mower; if not, executing S33; if yes, executing S35.

[0157] S35, controlling the detection device to detect the opening width of the narrow passage, and obtaining the passing size of the lawn mower in the planned mowing path.

[0158] The detection device for obtaining the opening width may include an image sensor, a TOF camera, or a combination of one or more ultrasonic sensors and radar sensors.

[0159] The detection interval of the opening width may be performed once every several seconds, or once every several meters the lawn mower travels. The specific interval is related to the actual length of the narrow channel and / or the variation range of the narrow channel.

[0160] Since the opening width of the narrow channel may not be reflected in the preset map of the cleaning task, or the actual opening width of the narrow channel may be inconsistent with the recorded opening width of the narrow channel, in order to ensure that the lawn mower can actually pass through the narrow channel according to the set mowing path, it is necessary to use the detection device carried by the lawn mower to actually detect the opening width of the narrow channel to be passed before passing, so as to compare the opening width with the passing size of the lawn mower corresponding to different mowing paths, and find the mowing path that the lawn mower can pass through.

[0161] For autonomous lawn mowers, the lawn mowers are usually provided with an obstacle avoidance mode, which includes an obstacle avoidance distance. When the sum of the width occupied by the machine body in the channel and the obstacle avoidance distance meets the opening size of the channel, the lawn mower can be ensured to move normally without hitting obstacles, which will have an adverse effect on the obstacles and the lawn mower.

[0162] Exemplarily, the passing size of the lawn mower may be a preset fixed value, or may be the sum of the lateral width of the machine body when it is moving and the obstacle avoidance distance.

[0163] The passing size of the lawn mower at least includes a first passing size corresponding to the first mowing path and a second passing size corresponding to the second mowing path. The first passing size is not equal to the second passing size. For example, when the first passing size is larger than the second passing size, when the opening width of the narrow channel is reduced, the first mowing path can be converted into the second mowing path, thereby passing through the narrow channel.

[0164] It should be understood that the pass size includes a first pass size corresponding to the first mowing path and a second pass size corresponding to the second mowing path; the first pass size is positively correlated with the length size of the mower, and the second pass size is positively correlated with the width size of the mower.

[0165] Optionally, the first mowing path includes a mowing path perpendicular to the length direction of the narrow channel; the first passing dimension is greater than the length of the fuselage; or, the second mowing path includes a mowing path parallel to the length direction of the narrow channel; the second passing dimension is greater than the width of the fuselage, or the mowing path also includes a third mowing path, and the third mowing path is a mowing path inclined to the length direction of the narrow channel; the passing dimension includes a third passing dimension corresponding to the first mowing path, and the third passing dimension is greater than the projection length of the fuselage along the third mowing path in the width direction of the channel opening.

[0166] Optionally, the first through dimension is the width of the body of the lawn mower and the second through dimension is the length of the body of the lawn mower.

[0167] Optionally, the first passing dimension is greater than or equal to 43 cm and less than 63 cm, and the second passing dimension is greater than or equal to 63 cm and less than or equal to 85 cm.

[0168] Optionally, the first passing dimension is greater than or equal to 48 cm and less than 55 cm, and the second passing dimension is greater than or equal to 68 cm and less than or equal to 75 m.

[0169] Optionally, when the lawn mower is located in a non-narrow channel, the lawn mower is in an active obstacle avoidance mode. The active obstacle avoidance mode is to control the lawn mower to turn or retreat when the distance between the lawn mower and the obstacle meets the active obstacle avoidance distance. When the lawn mower is located in a narrow channel, the lawn mower exits the active obstacle avoidance mode, so that in the narrow channel, the distance between the lawn mower and the obstacle can be less than the active obstacle avoidance distance.

[0170] The first passing dimension corresponding to the first mowing path includes the lateral width of the body of the mower when it moves along the first mowing path, and the sum of the narrow channel obstacle avoidance distances between the mower and the narrow channel boundary. The second passing dimension corresponding to the second mowing path includes the lateral width of the mower when it moves along the second mowing path, and the sum of the narrow channel obstacle avoidance distances between the mower and the narrow channel boundary. The third passing dimension is the sum of the projection length of the body of the mower along the third mowing path in the direction of the channel opening width and the narrow channel obstacle avoidance distance, and the narrow channel obstacle avoidance distance is equal to the narrow channel active obstacle avoidance distance.

[0171] Optionally, the narrow channel active obstacle avoidance distance is greater than or equal to 8 cm and less than or equal to 17 cm.

[0172] Optionally, in the process of traveling in a narrow channel, a passive obstacle avoidance mode is entered; the passive obstacle avoidance mode is to control the lawn mower to turn or retreat when the collision sensor senses an obstacle; the reserved collision distance in the passive obstacle avoidance mode is less than the active obstacle avoidance distance. Thus, optionally, the narrow channel obstacle avoidance distance is the reserved collision distance. The reserved collision distance is greater than or equal to 3cm and less than or equal to 20cm. Here, the reserved collision distance is the distance reserved for the lawn mower to achieve collision sensing in a narrow channel. When the lawn mower is at a preset reserved collision distance from the boundary or obstacle, it will not stop, but will turn by colliding with the boundary or obstacle. Optionally, the reserved collision distance is greater than or equal to 3cm and less than or equal to 15cm. Here, the distance between the lawn mower and the boundary or obstacle is defined as the closest distance between the edge of the lawn mower and the boundary or obstacle.

[0173] Optionally, the narrow channel obstacle avoidance distance is one of the larger values ​​of the narrow channel active obstacle avoidance distance, the reserved collision distance, the narrow channel active obstacle avoidance distance and the reserved collision distance. Optionally, the narrow channel obstacle avoidance distance is greater than or equal to 3 cm and less than or equal to 20 cm. Optionally, the narrow channel obstacle avoidance distance is greater than or equal to 3 cm and less than or equal to 15 cm.

[0174] The reserved collision distance is a parameter used to reserve a collision margin for the mower in a narrow channel when judging whether the mower can enter a narrow channel. When the mower is in passive obstacle avoidance mode, it will not stop or retreat when the reserved collision distance is away from the boundary or obstacle. This parameter is designed only to ensure that the mower can achieve the collision function in a narrow channel.

[0175] S36, determine whether the opening width of the narrow passage is greater than the passing size of the lawn mower; if so, proceed according to the planned mowing path corresponding to the passing size and continue to execute S35; if not, execute S37.

[0176] S37, turn or retreat. End.

[0177] When the opening width of the narrow channel is larger than the corresponding passing size of the lawn mower, it can be determined that the mowing path corresponding to the passing size is feasible, and the mower continues to move forward to detect whether the next opening width meets the passing size of the lawn mower, until it reaches the end point of the narrow channel from the starting point of the narrow channel, or reaches a position in the narrow channel where it cannot move further. After combining multiple passable mowing paths, the mower can pass through the narrow channel.

[0178] On the contrary, when the opening width of the narrow channel is smaller than the corresponding passing size of the lawn mower, since the mowing path is adjusted and still cannot meet the passing size smaller than the opening width, the mower will no longer continue to enter and perform the obstacle avoidance operation of turning or exiting to complete the passing control process of the narrow channel.

[0179] The method provided in this embodiment, for a lawn mower with a planned mowing path, determines whether the planned path meets the passing conditions by detecting the opening width of a narrow channel. If it does not meet the conditions, the mowing path can be switched to meet the passing size, which is beneficial for the lawn mower to perform the cleaning task of the narrow channel, thereby improving the overall cleaning coverage of the lawn by the lawn mower.

[0180] Method 2: First, a map is created to identify narrow channels, or the user actively creates narrow channels in the map to obtain the opening width of the narrow channel. According to the opening width and the corresponding passing size when the lawn mower travels in different mowing paths, the corresponding mowing path of the lawn mower in the narrow channel is determined.

[0181] For example, Figure 4 This is a flow chart of the lawn mower control method according to the second embodiment of the present application. Figure 4 As shown, the method includes:

[0182] S41, after the lawn mower is started, it responds to the received cleaning task.

[0183] S42: In the absence of a planned mowing path, performing a mapping operation.

[0184] For lawns to be cleaned that have not been mapped, it is necessary to first use the detection device and positioning device on the lawn mower to map the lawn area, so as to obtain information such as the location of narrow passages and opening widths, which facilitates the planning of the overall path.

[0185] S43. Move forward and identify the entrance of the narrow passage.

[0186] Since the position and opening width of the narrow channel have been detected by the detection device when the map is built, when using the map, the position of the narrow channel entrance can be directly determined using the information in the map, and the lawn mower can recognize it when it reaches the narrow channel entrance.

[0187] Optionally, in another embodiment, it is not necessary to enter the narrow channel during the mapping process, and it is only necessary to set a mark at the entrance of the narrow channel.

[0188] For example, when the detection device detects a gap in front, it will mark it, then turn around to build other areas without entering the gap to continue detecting the internal space of the gap. After completing the cleaning task of other areas, it will return to the marking position and execute the above-mentioned method 1 of moving while detecting. This method can greatly improve the efficiency of mapping, and then improve the efficiency of autonomous cleaning including the mapping process.

[0189] S44, determining whether the lawn mower recognizes the entrance to the narrow passage; if not, executing S43; if yes, executing S44.

[0190] S45. Obtain the opening width of the narrow channel.

[0191] When judging that the lawn mower has reached the entrance of the narrow passage, since the detection device on the lawn mower has been controlled to detect information about surrounding obstacles during map building, it is only necessary to obtain the opening width of the narrow passage from the map building to facilitate the lawn mower to enter the narrow passage.

[0192] S46, determining whether the opening width of the narrow passage is greater than the passing size of the lawn mower; if so, determining the mowing path corresponding to the passing size of the lawn mower as a passable mowing path, and continuing to execute S45; if not, executing S47.

[0193] S47, turn or retreat. End.

[0194] As mentioned above, in order to pass through a narrow passage, the opening width of the narrow passage also needs to be greater than the width of the mower when it is moving. However, since the body size of the mower varies when it is moving along different mowing paths, the opening width of the narrow passage needs to be greater than the sum of the body width of the passage and the obstacle avoidance distance when the mower is executing the mowing path. In other words, a mowing path is selected so that the passing size of the mower when moving along the mowing path is smaller than the opening width of the narrow passage.

[0195] The selected mowing path may include at least the first mowing path or the second mowing path, and may also include the third mowing path.

[0196] When the passing dimension when traveling along any mowing path is greater than the opening width of the narrow channel, it means that the mower cannot continue to travel in the narrow channel and needs to perform an obstacle avoidance operation of turning or exiting.

[0197] After combining the above mowing paths, a passable mowing path or a combination of mowing paths can be obtained, and the mowing path or the combination of mowing paths can be recorded so that the mower can subsequently perform the mowing task of the narrow channel according to the passable mowing path.

[0198] It should be noted that there may be more than one path calculated by the above method, or there may not be one. Under the premise that there is a traversable path, the function of improving the overall coverage of lawn cleaning can be achieved.

[0199] The method provided in this embodiment, for a lawn to be cleaned that has not been mapped, first finds and obtains information about narrow channels through mapping, so that the lawn mower can quickly switch to the control logic of the narrow channel when reaching the narrow channel, and then obtains a passable mowing path under the narrow channel control logic, so as to perform the cleaning task of the narrow channel according to the passable mowing path, thereby improving the overall coverage of lawn cleaning.

[0200] The above two methods of controlling the lawn mower are based on comparing the horizontal width of the machine body corresponding to the preset mowing path with the opening width of the narrow channel to determine the mowing path. When the lawn mower can be adjusted arbitrarily to form a preset or non-preset mowing path, the following method can also be used to determine the mowing path.

[0201] Method 3: First obtain the opening width of the narrow channel, and then adjust the fuselage posture in real time according to the opening width to meet the passing conditions.

[0202] For example, Figure 5 This is a flow chart of the lawn mower control method according to the third embodiment of the present application. Figure 5 As shown, the method includes:

[0203] S51: After the lawn mower is started, it responds to the received cleaning task.

[0204] S52: Execute a mowing operation and obtain position information of the lawn mower.

[0205] S53, judging whether the lawn mower has reached the entrance of the narrow passage according to the position information of the lawn mower; if not, executing S52; if yes, executing S54.

[0206] S54, the moving and controlling detection device detects the opening width of the narrow passage, and obtains the projection width of the body posture of the lawn mower in the direction of the opening width of the narrow passage.

[0207] The body posture of the lawn mower refers to the posture of the lawn mower when it moves in the channel, and the sum of the projection width in the opening width direction of the narrow channel and the obstacle avoidance distance is the minimum size that the lawn mower can pass through.

[0208] S55, determining whether the opening width of the narrow channel is greater than the sum of the projection width and the narrow channel active obstacle avoidance distance of the lawn mower; if so, executing S54; if not, executing S56.

[0209] S56: Adjust the body posture, and obtain the minimum projection width corresponding to the adjusted body posture.

[0210] S57, determining whether the adjusted minimum projection width is smaller than the opening width of the narrow channel; if so, executing S56; if not, executing S58.

[0211] S58, turn or retreat. End.

[0212] The difference between the control method flow of this implementation and the method 1 and method 2 in the above embodiments is that this embodiment executes the narrow channel passing scheme without obtaining the planned mowing path, that is, the mower does not necessarily perform the cleaning task according to the first mowing path, and / or the second mowing path, and / or the third mowing path. Its passing method mainly relies on judging whether the projection width of the fuselage posture in the direction of the width of the narrow channel opening meets the passing condition. Here, the fuselage posture may not limit the mowing path, that is, including but not limited to moving according to the first mowing path, and / or the second mowing path, and / or the third mowing path.

[0213] Among them, the narrow channel active obstacle avoidance distance of the lawn mower is the minimum distance between the lawn mower and the narrow channel boundary when passing through the narrow channel, that is, when the lawn mower travels to the narrow channel boundary The distance reaches the narrow channel active obstacle avoidance distance, it will perform obstacle avoidance operations such as turning or exiting.

[0214] The method of this embodiment uses a detection device to detect and calculate the required posture of the lawn mower body, so as to adjust the body posture according to the detection situation, reduce the missed cutting caused by the lawn mower being unable to follow the planned mowing path due to irregular paths in narrow channels, and improve the cleaning coverage rate.

[0215] Optionally, the narrow channel active obstacle avoidance distance of the lawn mower is smaller than the obstacle avoidance distance in the active obstacle avoidance mode, so that the lawn mower can be closer to the boundary of the narrow channel, further reducing the missed cleaning area when passing through the narrow channel.

[0216] In some embodiments, the active obstacle avoidance distance of a narrow channel may be 8-17 cm. Alternatively, the active obstacle avoidance distance of a narrow channel may be 10-15 cm.

[0217] It should be understood that the above-mentioned implementation method 1, method 2 and method 3 can be implemented separately or in combination with each other.

[0218] For example, when the method 3 is combined with the method 1, the method 4 is obtained.

[0219] For example, Fig.14 This is a flow chart of a lawn mower control method according to a fourth embodiment of the present application. Fig.14 As shown, the method includes:

[0220] S141: After the lawn mower is started, respond to the indication information that the lawn mower has reached the entrance of the narrow passage.

[0221] S142, moving forward and acquiring the opening width of the narrow channel detected by the detection device.

[0222] S143, determining whether the opening width of the narrow passage is greater than the passing posture corresponding to the lawn mower moving in the narrow passage; if so, continue to execute S142; if not, execute S144.

[0223] The passing posture includes a first passing posture corresponding to the first mowing path and a second passing posture corresponding to the second mowing path.

[0224] S144, turn or retreat. End.

[0225] The method of this embodiment is similar to the method of the above embodiment, and the only difference is that the passing posture is limited to a first passing posture corresponding to a first mowing path and a second passing posture corresponding to a second mowing path, that is, the passing posture corresponding to a specific mowing path corresponds to the opening width.

[0226] The method of this embodiment uses the distance detected by the detection device to directly compare with the body posture corresponding to different mowing paths, so as to determine whether the lawn mower can pass through a narrow channel, so that the narrow channel that can be passed can improve the cleaning coverage rate of the lawn mower. The judgment logic is simple and the complexity of logical calculation is reduced.

[0227] For a lawn mower that has entered a narrow channel, although the path may have been determined, the determined path may have defects due to unexpected changes in the narrow channel. In addition, the determined path only plans the general direction of cleaning based on the approximate location of the obstacle, and may not meet the accuracy requirements of the actual obstacle boundary. Therefore, it is necessary to further determine the actual travel path through a detection device installed on the body.

[0228] For example, Figure 6 A schematic diagram of the narrow channel path distribution provided in the embodiment of the present application. Figure 6 As shown, when the narrow channel is not a straight channel with equal opening diameter, a turning point can be set at the turning point of the channel, and the turning point can be used as a segmentation node. Different mowing path combinations can be set for the channel sections between adjacent turning points.

[0229] The opening width from the starting position to the turning point e is relatively large. Assuming that the first mowing path, the second mowing path and the third mowing path can be satisfied at the same time, a preset mowing path can be selected before entering the opening, such as the first mowing path, or a combination of at least two of the first mowing path, the second mowing path and the third mowing path.

[0230] The opening width between the turning point e and the turning point f is assumed to only meet the conditions of the first mowing path and the second mowing path. Therefore, a combination of the first mowing path and the second mowing path can be set on the section between the turning point e and the turning point f so that the lawn mower can continue to pass in the narrow channel.

[0231] After reaching the turning point f, assuming that the opening width is further reduced to only satisfy the first mowing path, or although it does not satisfy the first mowing path, it satisfies the path that can be passed by adjusting the body posture to the minimum lateral projection, the body posture can be adjusted to the posture with the minimum lateral projection, and then move from the turning point f to the end point in this posture, thereby further improving the passability of the mower in narrow channels and improving the cleaning coverage rate.

[0232] For example, based on the above path planning, the following schemes may be selected to control the obstacle avoidance mode of the lawn mower.

[0233] Solution 1: Exit the active obstacle avoidance mode; while traveling in the narrow channel, turn or retreat based on the obstacle boundary sensed by the detection device, and mark the obstacle information in the map based on the sensed obstacle boundary.

[0234] For example, Figure 7 This is a flow chart of the control method of the first obstacle avoidance mode of the lawn mower provided in the embodiment of the present application. Figure 7 As shown, the method includes:

[0235] S71. In response to the narrow channel cleaning task, exit the active obstacle avoidance mode.

[0236] Among them, the active obstacle avoidance mode is one of the obstacle avoidance modes of the lawn mower. It mainly detects the distance of the obstacle through the detection device, and then performs the obstacle avoidance operation when the obstacle distance reaches the preset active obstacle avoidance distance.

[0237] The above-mentioned active obstacle avoidance distance is usually set relatively large, and when the lawn mower is running in active obstacle avoidance mode, it usually does not come into contact with obstacles. Therefore, when passing through a narrow passage, the active obstacle avoidance mode will turn or retreat when it detects that the distance to the obstacle meets the active obstacle avoidance distance, resulting in a large amount of missed mowing area. In order to reduce the risk of missing a large area of ​​lawn due to turning around too early, you first need to exit the active obstacle avoidance mode and switch to the passive obstacle avoidance mode with a smaller obstacle avoidance distance.

[0238] In the passive obstacle avoidance mode, when the distance between the mower and the obstacle meets the reserved collision distance, the obstacle avoidance operation of turning or retreating is performed. The mower exits the active obstacle avoidance mode, so that in a narrow channel, the mower can travel in the direction of the obstacle and make the distance between the mower and the obstacle less than the active obstacle avoidance distance. It should be understood that in the process of traveling in a narrow channel, the passive obstacle avoidance mode is used for obstacle avoidance, wherein the obstacle avoidance distance in the passive obstacle avoidance mode is less than the obstacle avoidance distance in the active obstacle avoidance mode, that is, the reserved collision distance is less than the active obstacle avoidance distance, but it is not necessarily zero.

[0239] S72: Move forward and obtain the obstacle distance sensed by the collision sensor.

[0240] Optionally, since the active obstacle avoidance mode of the lawn mower has been turned off, there may be obstacles or other factors that interfere with the actual movement of the lawn mower, so that the lawn mower cannot accurately move to the position planned in the map. For example, although the position planned in the map is reached, due to the deviation in the map construction, the lawn mower is far away from the boundary of the narrow channel, resulting in a large area of ​​missed cutting in the narrow channel; or, there are new obstacles at the planned position in the map, and the lawn mower cannot reach under the new obstacles, and will repeatedly collide with the new obstacles, causing long-term collision damage to the obstacles and the lawn mower; for example, part of the boundary of the narrow channel overlaps with the planned path in the map, so that the lawn mower will interfere with the boundary when moving along the planned path. If the lawn mower cannot turn in time when interference occurs, it will cause the lawn mower's judgment logic to be wrong, which may cause the lawn mower to stagnate for a long time at the interference position, affecting the cleaning efficiency.

[0241] Therefore, in order to ensure that the lawn mower can turn at the appropriate position to continue the cleaning task when it reaches the boundary of the narrow channel, it is necessary to enable the lawn mower to retain the function of turning after a collision, that is, to maintain the operation of the collision sensor, such as using the passive obstacle avoidance mode of the collision sensor such as the anti-collision plate. In the passive obstacle avoidance mode, the lawn mower will turn or retreat after contacting an obstacle.

[0242] Since the collision sensor senses the position information of the obstacle after colliding with the obstacle and then obtains the obstacle distance, the collision sensor is selected as the detection device of the passive obstacle avoidance mode to shorten the reserved collision distance to a minimum.

[0243] S73, determine whether the perceived obstacle distance is less than the reserved collision distance; if not, execute S72; if so, execute S74.

[0244] S74. Turn or retreat.

[0245] Through the above method, the active obstacle avoidance mode is turned off to shorten the obstacle avoidance distance between the lawn mower and obstacles on both sides of the narrow channel, thereby increasing the cleaning area coverage rate of the lawn mower in the narrow channel. The passive obstacle avoidance mode is then used to further clarify the turning timing of the lawn mower when it is moving, and the collision is used to update the map information for the next cleaning use.

[0246] It should be noted that the anti-collision plate obstacle avoidance requires the lawn mower to rush towards the obstacle at a certain speed to ensure effective detection by the collision sensor. Therefore, the speed of the lawn mower cannot be too slow.

[0247] When a lawn mower is traveling in a narrow passage with a large diameter, the time it takes to reach the other side boundary is longer, so the speed of the lawn mower can be higher, and there is enough time for acceleration and deceleration. If the width of the narrow passage is smaller and the speed is still high, it will not be able to decelerate in time when reaching the other side boundary, and the lawn mower will not be able to respond to emergencies due to inertia. For example, a sudden obstacle may collide with the cutter disc and cause danger. Therefore, the speed of the lawn mower cannot be too fast.

[0248] For example, since the vehicle speed (m / s) / path width (m) is less than 0.2 s -1 When the collision sensor fails to detect the vehicle speed (m / s) / path width (m), it is more likely to be less than 0.8 s -1 When driving, safety in narrow passages cannot be guaranteed.

[0249] In summary, the ratio of the speed of the mower in the narrow channel to the opening width of the narrow channel can be set to be greater than or equal to 0.2 s -1 And less than or equal to 0.8 s -1 , thereby ensuring the safety of the mower and the normal operation of the passive obstacle avoidance mode, and adjusting the mowing speed according to the diameter width of the narrow channel to ensure that the mowing efficiency is not too low.

[0250] In this embodiment, the active obstacle avoidance mode can be turned off to shorten the obstacle avoidance distance between the lawn mower and obstacles on both sides of the narrow channel, thereby increasing the cleaning area coverage of the lawn mower in the narrow channel, and further accurately defining the relative relationship between the lawn mower and the boundary of the narrow channel, so that the lawn mower can get as close to the boundaries of both sides of the narrow channel as possible while ensuring safety.

[0251] Solution 2: When traveling in a narrow channel, use the narrow channel active obstacle avoidance mode to avoid obstacles; the obstacle avoidance distance in the narrow channel active obstacle avoidance mode is smaller than that in the active obstacle avoidance mode. The principles of the narrow channel active obstacle avoidance mode and the active obstacle avoidance mode are similar, both of which are obstacle avoidance operations performed without contacting obstacles. The difference lies in the different obstacle avoidance distances that are set. The obstacle avoidance distance corresponding to the narrow channel active obstacle avoidance mode is smaller than that corresponding to the active obstacle avoidance mode, thereby improving the passability of narrow channels.

[0252] For example, Figure 8 This is a flow chart of the control method of the second obstacle avoidance mode of the lawn mower provided in the embodiment of the present application. Figure 8 As shown, the method includes:

[0253] S81. In response to the narrow channel cleaning task, exit the active obstacle avoidance mode and switch to the narrow channel active obstacle avoidance mode.

[0254] In the active obstacle avoidance mode, the lawn mower turns around after identifying that the distance between the obstacle and the body reaches the preset active obstacle avoidance distance to avoid a collision between the body and the obstacle. Obviously, the obstacle avoidance distance is large.

[0255] For a narrow channel, both sides of the channel are obstacles for the lawn mower. If it is still judged according to the original preset active obstacle avoidance distance, the lawn mower may only travel in the center of the narrow channel and cannot reach the boundary areas on both sides, resulting in a large proportion of missed cutting areas on both sides. Even for a narrow channel with a small entrance diameter, for example, when the entrance diameter is less than twice the preset active obstacle avoidance distance, even if the body size of the lawn mower meets the requirements for entering the narrow channel, the lawn mower will not enter the narrow channel due to the active obstacle avoidance mode.

[0256] S82: Move forward and obtain the obstacle distance detected by the distance sensor.

[0257] S83, determine whether the detected obstacle distance is less than the narrow channel active obstacle avoidance distance; if not, execute S82; if so, execute S84.

[0258] S84. Turn or retreat.

[0259] In summary, by shortening the preset active obstacle avoidance distance to define the obstacle avoidance distance in the narrow channel active obstacle avoidance mode as the narrow channel active obstacle avoidance distance, the travel coverage area of ​​the lawn mower in the narrow channel can be expanded, which is conducive to improving the cleaning coverage rate.

[0260] For example, during normal mowing, the machine will stop when it detects an obstacle 25 cm away from the front. However, when it is judged to be a narrow passage, it will stop when it detects an obstacle 10 cm away from the front. This allows more areas to be harvested and further selects narrow passages that the machine can pass through but have a small obstacle avoidance distance to perform cleaning tasks, thereby improving the passability of the mower.

[0261] Among them, the active obstacle avoidance distance in the narrow channel can be greater than the reserved collision distance so that the lawn mower does not collide with the boundary of the narrow channel. The collision sensors are located on both sides of the front of the lawn mower, so the reserved collision distance on both sides of the lawn mower needs to be considered, so the reserved collision distance on one side can be 1.5cm to 10cm, and the overall reserved collision distance of the lawn mower in the narrow channel corresponds to 3cm to 20cm.

[0262] Through the above method, by redefining the obstacle avoidance distance corresponding to the active obstacle avoidance mode, the obstacle avoidance distance corresponding to the active obstacle avoidance mode in a narrow channel is made smaller than the obstacle avoidance distance corresponding to the active obstacle avoidance mode in a non-narrow channel, so that the fuselage is closer to the obstacle, and the cutter attached to the fuselage can harvest a larger range of lawn, thereby improving the passability of the lawn mower and thereby improving the cleaning coverage rate of the lawn mower.

[0263] When a lawn mower is traveling in a narrow channel with a large diameter, the time it takes to reach the other side boundary is longer, so the speed of the lawn mower can be higher, and there is enough time for acceleration and deceleration. If the diameter of the narrow channel is smaller and the speed is still higher, it will not be able to decelerate in time when reaching the other side boundary. Therefore, it is also necessary to limit the relationship between the speed of the lawn mower in the narrow channel and the diameter of the narrow channel.

[0264] For example, in the passive obstacle avoidance mode, obstacle avoidance control needs to be performed based on the detection results of the detection device. After detecting an obstacle, the lawn mower needs to go through a series of operations such as deceleration, stopping, and turning around. In order to avoid the risk of collision caused by untimely braking after detection, the speed of the lawn mower in the channel cannot be set too high. If the speed is too low, it will affect the efficiency of the lawn mower passing through the narrow channel. Therefore, the ratio of the travel speed in the narrow channel to the obstacle avoidance distance in the passive obstacle avoidance mode can be set to be greater than or equal to 1.5 s. -1 and less than or equal to 6 s -1 .

[0265] Optionally, the detection device in the passive obstacle avoidance mode is mainly non-contact detection, and non-contact detection may have certain errors or detection result delays. For example, there is an error of 3-5 cm in radar detection. In order to improve safety and further narrow the range, the ratio of the travel speed in the narrow channel to the obstacle avoidance distance in the passive obstacle avoidance mode can be set to be greater than or equal to 2 s. -1 and less than or equal to 4 s -1 .

[0266] This embodiment can shorten the distance between the coverage area of ​​the lawn mower and the boundaries of the narrow channel on both sides, thereby improving the cleaning coverage of the lawn mower in the narrow channel, and further accurately define the relative relationship between the lawn mower and the boundaries of the narrow channel, so that the lawn mower can be as close to the boundaries of the narrow channel as possible while ensuring safety.

[0267] Solution three: When the detection device detects that the type of obstacle is an ordinary obstacle, the lawn mower is controlled to turn when it reaches a preset obstacle avoidance distance according to the turning distance in a normal narrow channel; and when the detection device detects that the type of obstacle is a special obstacle, in order to improve safety, the lawn mower is controlled to turn when it reaches the obstacle avoidance distance in the active obstacle avoidance mode.

[0268] When entering a narrow passage, the mower adopts a passive obstacle avoidance mode; when entering a narrow passage, and the detection device detects that the obstacle is a special obstacle, the mower turns on the active obstacle avoidance mode;

[0269] Special obstacles include at least one or a combination of living things, fragile objects, cliffs, and artificially set virtual boundaries, and common obstacles are obstacles other than special obstacles. Fig. 9 This is a flow chart of the control method of the third solution of the obstacle avoidance mode of the lawn mower provided in the embodiment of the present application. Fig. 9 As shown, the method includes:

[0270] S91. Respond to a narrow channel cleaning task.

[0271] S92: Travel and obtain obstacle information detected by the visual sensor, where the obstacle information includes obstacle type and obstacle distance.

[0272] Exemplarily, the obstacles forming the narrow passage may include two types of obstacles, such as common obstacles and special obstacles.

[0273] Among them, ordinary obstacles may include obstacles such as walls, trees, stones, etc. that are not afraid of being hit by the blade of the lawn mower; special obstacles may include obstacles such as animals, people, water pipes, etc. that cannot come into contact with the blade of the lawn mower.

[0274] Therefore, it is necessary to use a detection device that can perform classification and identification, such as a visual sensor, to identify these two types of obstacles, and then handle them accordingly according to the identified type.

[0275] S93, determine whether the detected obstacle type is the first type; if so, execute S94; if not, execute S95.

[0276] S94, determine whether the obstacle distance is less than the active obstacle avoidance distance, if so, execute S96; if not, execute S92.

[0277] S95. Determine whether the obstacle distance is less than the narrow channel active obstacle avoidance distance. If so, execute S96; if not, execute S92.

[0278] S96, control the lawn mower to turn or move backward. End.

[0279] For example, when it is identified as a common obstacle, you can refer to the above plan 1 or plan 2 to pass through the narrow passage; when it is identified as a special obstacle, due to the danger of the lawn mower itself with knives, it is necessary to stay away from the special obstacle as much as possible, that is, the lawn mower must identify it in a non-contact position, and execute turning or backward to avoid the obstacle after identification. Therefore, you can select the active obstacle avoidance mode to improve safety.

[0280] Optionally, when a special obstacle is identified, the narrow channel obstacle avoidance distance is defined as the obstacle avoidance distance of the special active obstacle avoidance mode corresponding to the special obstacle. Optionally, the narrow channel active obstacle avoidance distance is smaller than the active obstacle avoidance distance, thereby further reducing the safety risk between the lawn mower and the special obstacle.

[0281] Through the above method, in addition to calculating the distance characteristics, the visual sensor also has the function of image acquisition, and then the acquired image is used for image analysis to obtain the corresponding obstacle type, so that the lawn mower can classify the harvesting method according to the obstacle type, reduce the risk of accidental cutting, and improve the safety and intelligence of the lawn mower.

[0282] Optionally, in one embodiment, the opening width of the narrow channel is obtained, and when the opening width of the narrow channel is in the first width interval, the lawn mower only turns on the passive obstacle avoidance mode, and when the opening width of the narrow channel is in the second width interval, the lawn mower turns on the short-distance obstacle avoidance mode, and the first width interval is smaller than the second width interval. Optionally, when the opening width of the narrow channel is in the second width interval, the lawn mower turns on the active obstacle avoidance mode. Thus, in an extremely narrow narrow channel, by changing the obstacle avoidance strategy, the passability of the lawn mower in the narrow channel can be improved, the number of turns of the lawn mower in the narrow channel can be reduced, and the lawn mower can be prevented from being trapped in an extremely narrow channel. Optionally, the first width interval is greater than or equal to 60 cm and less than or equal to 100 cm, and the second width interval is greater than 100 cm. Optionally, the second width interval is greater than 100 cm and less than 160 cm.

[0283] In this embodiment, the types of obstacles that form narrow channels can be further subdivided, thereby improving cleaning safety while ensuring improved cleaning coverage.

[0284] For a lawn mower with a retractable blade, the following method can also be used to control the narrow channel passage method.

[0285] Fig.10 A schematic diagram of the extension structure of the lawn mower blade provided in an embodiment of the present application; Fig.11Schematic diagram of the blade retraction structure of the lawn mower provided in the embodiment of the present application. This embodiment is described by taking a blade retractable on one side as an example, and it is understandable that the blade retractable on both sides or the blade retractable on the other side can meet the following conditions by simple conversion.

[0286] Illustratively, the embodiments of the present application may use the following control logic to control the operation method of the lawn mower. Fig.12 This is a flow chart of the lawn mower blade retraction control method provided in the embodiment of the present application. Fig.12 As shown, the method includes:

[0287] S121: After the lawn mower is started, in response to indication information indicating that the lawn mower has reached the entrance of the narrow passage, the cutter disc is controlled to move to the second state.

[0288] The position information of the cutter disc includes a first state and a second state. When the cutter disc is in the first state, the overall width of the lawn mower is greater than when the cutter disc is in the second state. Here, the overall width of the lawn mower refers to the total width of the body and the cutter disc in the width direction. When the cutter disc is in the first state, the cutter disc is at least partially located outside the projection of the body onto the ground.

[0289] refer to Fig.10 , Fig.11 As shown, the lawn mower 100 includes a body 110, a detection device 120 and a cutter disc 140. A cutter 130 is provided on the cutter disc 140. The cutter disc 140 has a first state and a second state. When the cutter disc 140 is in the first state, the overall width of the lawn mower 100 is greater than the overall width of the lawn mower 100 when the cutter disc 140 is in the second state.

[0290] For example, Fig.10 The distance from the maximum position of the middle blade disc 140 after being extended to the maximum width of the lawn mower 100 is A1, and Fig.11 The distance from the maximum position of the middle blade disc 140 after retraction to the maximum width of the body 110 of the lawn mower 100 is A2, and A1 is far away from the body 110 at the maximum width of the body 110 of the lawn mower 100, while A1 is close to the body 110 at the maximum width of the body 110 of the lawn mower 100.

[0291] Therefore, when the lawn mower reaches the entrance of a narrow channel, before entering the narrow channel, the cutter disc can be controlled to retract to the second state, thereby avoiding the interference between the protruding cutter disc or the cutters on the protruding cutter disc and the boundary of the narrow channel, which may affect the entry of the lawn mower into the narrow channel, thereby improving the pass rate of the narrow channel and further improving the cleaning coverage rate of the lawn mower.

[0292] S122, obtaining the position information of the cutter disc.

[0293] S123, determine whether the cutter disc is in the second state, if so, execute S124; if not, execute S122.

[0294] S124, narrow channel cleaning task. End.

[0295] The specific scheme for performing the cleaning task of the narrow channel may refer to the narrow channel passing scheme in the above embodiment.

[0296] In the above manner, when passing through a narrow passage, the retracted blade disc can be used to ensure that the lawn mower can smoothly enter the narrow passage. On the basis of maintaining the original travel path, the extended blade disc can be used for additional cutting to increase the cleaning coverage of the lawn mower in the narrow passage.

[0297] In some embodiments, the cutting disc can be telescopically converted to expand the mowing coverage area of ​​the lawn mower.

[0298] Optionally, the opening width of the narrow channel is obtained, and when the opening width of the narrow channel is greater than or equal to a first boundary value and less than or equal to a second boundary value, the lawn mower is controlled to enter the narrow channel and the cutter disc is prohibited from switching to the first state; when the opening width of the narrow channel is greater than the second boundary value, the lawn mower is controlled to enter the narrow channel and the cutter disc is allowed to switch to the first state.

[0299] Optionally, when the lawn mower is traveling in a narrow channel, when the opening width of the narrow channel is always greater than a second boundary value, the lawn mower is controlled to mow grass along a first route in a first direction during the travel from the starting point of the narrow channel to the end point of the narrow channel, and the cutter disc is controlled to be in a second state. After the lawn mower reaches the end point, the lawn mower is controlled to retreat so that the lawn mower mows grass along the first route in the second direction, and the cutter disc is controlled to be in the first state.

[0300] Optionally, the second boundary value is a preset fixed value, and the value of the second boundary value is 70-90 cm. Optionally, the first boundary value is greater than or equal to 45 cm and less than 65 cm.

[0301] Optionally, when the lawn mower enters a narrow channel, the lawn mower enters a narrow channel active obstacle avoidance mode, and when the distance between the lawn mower and the obstacle meets the narrow channel active obstacle avoidance distance, the lawn mower is controlled to turn or retreat, and when the lawn mower is moving in a narrow channel, the distance that the blade disc is extended relative to the body in the first state is controlled to be less than the narrow channel active obstacle avoidance distance, which can effectively prevent the blade disc of the lawn mower from touching boundaries or obstacles when the blade disc is external, thereby ensuring the service life of the lawn mower and preventing the external blade disc from damaging boundaries or obstacles.

[0302] Optionally, the opening width of the narrow channel is obtained, and when the opening width of the narrow channel is within a preset interval, the lawn mower is controlled to enter the narrow channel, and the cutter disc is allowed to switch to the first state, and the lawn mower enters the narrow channel active obstacle avoidance mode, and when the distance between the lawn mower and the obstacle meets the narrow channel active obstacle avoidance distance, the lawn mower is controlled to turn or retreat, and when the lawn mower is walking in the narrow channel, the distance that the cutter disc extends relative to the body in the first state is controlled to be less than the narrow channel active obstacle avoidance distance, and the narrow channel active obstacle avoidance distance may be the distance defined in the above-mentioned embodiment.

[0303] The preset interval may be a value between the second boundary value and the third boundary value. Optionally, the preset interval may be 70-160 cm, which may also be changed according to the actual vehicle model.

[0304] By controlling the distance that the cutter disc extends relative to the body in the first state to be less than the active obstacle avoidance distance in narrow channels, the cutter disc of the lawn mower can be effectively prevented from touching boundaries or obstacles when the cutter disc is external, thereby ensuring the service life of the lawn mower and preventing the external cutter disc from damaging boundaries or obstacles.

[0305] Optionally, when entering a narrow channel, the lawn mower exits the active obstacle avoidance mode; the active obstacle avoidance mode is that when the distance between the lawn mower and the obstacle meets the active obstacle avoidance distance, the lawn mower is controlled to turn or retreat, and the lawn mower exits the active obstacle avoidance mode, so that in the narrow channel, the lawn mower can travel in the direction of the obstacle and make the distance between the lawn mower and the obstacle less than the active obstacle avoidance distance.

[0306] For example, when there is a turn in the planned path, the cutter disc is controlled to extend to the first state, and the mowing mode is turned on to make up for the cuts at the turn; or, when the opening width of the narrow channel is larger than the overall posture width of the lawn mower when the cutter disc is in the first state, the cutter disc is controlled to extend to the first state, and the mowing mode is turned on to expand the mowing area based on the original travel path.

[0307] Optionally, when the body of the lawn mower moves along the boundary of the narrow channel according to a planned path and the mowing mode is turned on, the blade disc is controlled to extend to perform additional cutting at the boundary, wherein the extended distance of the blade disc is less than the obstacle avoidance distance of the lawn mower, and the obstacle avoidance distance may be the narrow channel active obstacle avoidance distance or the reserved collision distance in the above-mentioned embodiment.

[0308] In another embodiment, when the opening width of the narrow channel is larger than the posture width of the mower when the blade disc is in the second state, and less than or equal to the total width of the mower when the blade disc is in the first state, in addition to adopting the blade disc telescopic conversion cleaning method in the above embodiment, the second state of the blade disc can also be maintained, the mower can be controlled to move left and right, and the mowing mode can be turned on to make up for the uncovered area when the blade disc is retracted.

[0309] Through the above method, when passing through a narrow channel, the retracted cutter disc can be used to ensure that the lawn mower can smoothly enter the narrow channel. On the basis of maintaining the original travel path, the overall left and right movement of the fuselage is used to drive the left and right movement of the cutter disc, thereby increasing the cleaning coverage rate of the lawn mower in the narrow channel.

[0310] For example, Fig.13 This is a flow chart of a lawn mower blade extension control method provided in an embodiment of the present application. Fig.13 As shown, the method includes:

[0311] S131 . After the lawn mower is started, it responds to the received narrow channel cleaning task and creates a narrow channel map.

[0312] S132: Travel according to the narrow channel map and obtain the distance between the lawn mower and the narrow channel boundary detected by the detection device.

[0313] S133, determining whether the distance between the lawn mower and the narrow channel boundary is greater than a preset value; if so, executing S134; if not, executing S132.

[0314] The preset value is the distance from the cutter disc in the second state to the boundary of the narrow channel.

[0315] S134, controlling the cutter disc to be in the first state.

[0316] When the cutter disc is in the first state, the cutter disc is at least partially located outside the projection of the fuselage to the ground.

[0317] S135, the cleaning task of the narrow channel is performed with the blade disc in the first state. End.

[0318] Optionally, in addition to using the narrow channel map to determine the distance between the lawn mower and the narrow channel boundary, the distance between the narrow channel boundaries on both sides can also be obtained based on the narrow channel map. Therefore, by judging the distance between the narrow channel boundaries on both sides and the width of the lawn mower's blade disc when it is extended or retracted, it can be determined whether the blade disc is in the first state or the second state to perform the narrow channel mowing task.

[0319] When the knife disc is at the outermost side relative to the fuselage in the first state, the knife disc is at the first position, and when the knife disc is at the innermost side retracted in the second state, the knife disc is at the second position.

[0320] In some embodiments, since the opening width of the narrow channel may vary with the position of the channel, the width information of the narrow channel can be acquired in advance using the narrow channel map, and the position of the cutter head can be adjusted in advance according to the opening width of the narrow channel.

[0321] The first state may be the position where the blade disc of the lawn mower extends outwards the farthest distance, or may be the position where the blade disc partially extends outwards.

[0322] Optionally, when it is detected that the opening within n meters in front of the lawn mower is less than or equal to a second boundary value, the cutter disc is controlled to switch to the second state. The second boundary value is greater than or equal to 70 cm and less than or equal to 90 cm, and the value of n is 1-2.

[0323] Optionally, the lawn mower obtains the distance between the lawn mower and the boundary of the narrow passage, and if it is greater than a preset value, the restriction on the cutter disc is released so that the cutter disc can work in the first state. The preset value is 5-15 cm. An embodiment of the present application also provides an electronic device, the electronic device comprising: at least one processor and a memory. The electronic device also includes a communication component.

[0324] The processor, memory and communication components are connected via a bus.

[0325] In a specific implementation process, at least one processor executes the computer-executable instructions stored in the memory, so that at least one processor executes the control method executed as above.

[0326] The specific implementation process of the processor can be found in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be repeated here.

[0327] In the above embodiments, it should be understood that the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in the invention may be directly implemented as being executed by a hardware processor, or may be executed by a combination of hardware and software modules in the processor.

[0328] The memory may include a high-speed RAM memory, and may also include a non-volatile storage NVM, such as at least one disk storage.

[0329] 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.

[0330] The above describes the solutions provided by the embodiments of the present invention with respect to the functions implemented by the electronic device and the main control device.

[0331] It is understandable that, in order to realize the above functions, the electronic device or the main control device includes the corresponding hardware structure and / or software module for executing each function.

[0332] In combination with the units and algorithm steps of each example described in the embodiment disclosed in the embodiment of the present invention, the embodiment of the present invention can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the technical solution of the embodiment of the present invention.

[0333] The present application also provides a computer program product, comprising a computer program, which implements the control method when executed by a processor.

[0334] The computer program product provided in this embodiment can execute the control method of the above-mentioned embodiment. Its implementation principle and technical effect are similar, and this embodiment will not be repeated here.

[0335] The present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the above control method is implemented.

[0336] The computer-readable storage medium provided in this embodiment can execute the control method of the above-mentioned embodiment, and its implementation principle and technical effect are similar, which will not be described in detail in this embodiment.

[0337] The computer-readable storage medium mentioned above may 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 readable storage medium may be any available medium that can be accessed by a general or special-purpose computer.

[0338] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (Application Specific Integrated Circuits, referred to as: ASIC). Of course, the processor and the readable storage medium can also exist as discrete components in an electronic device or a main control device.

[0339] An embodiment of the present application also provides a lawn mower, which includes a body, a control device, and a detection device arranged on the body, the detection device is connected to the control device, and the detection device is used to detect obstacle information on the path of the lawn mower. The control device can implement the control method of the above embodiment, and its implementation principle and technical effect are similar, which will not be repeated here in this embodiment.

[0340] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0341] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0342] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for controlling a lawn mower, characterized in that: The lawn mower comprises a body; the method comprises: The lawn mower moves according to a planned mowing path, and the planned mowing path includes at least a first mowing path and a second mowing path; when the lawn mower reaches the entrance of a narrow channel, when the opening width of the narrow channel is greater than the passing size of the lawn mower, the lawn mower passes through the narrow channel; when the opening width of the narrow channel is not greater than the passing size of the lawn mower, the lawn mower does not pass through the narrow channel, or the lawn mower exits the narrow channel; wherein the passing size includes a first passing size corresponding to the first mowing path and a second passing size corresponding to the second mowing path; the first passing size is positively correlated with the length size of the lawn mower, and the second passing size is positively correlated with the width size of the lawn mower.

2. The method according to claim 1, characterized in that The first mowing path includes a mowing path perpendicular to the length direction of the narrow passage; the first passing dimension is greater than the length of the fuselage; Alternatively, the second mowing path includes a mowing path parallel to the length direction of the narrow passage; the second passing dimension is greater than the width of the fuselage; Alternatively, the mowing path also includes a third mowing path, which is a mowing path inclined to the length direction of the narrow channel; the passing dimension includes a third passing dimension corresponding to the first mowing path, and the third passing dimension is greater than the projection length of the fuselage along the third mowing path in the width direction of the narrow channel opening.

3. The method according to claim 2, characterized in that The first through dimension is a width of the body of the lawn mower, and the second through dimension is a length of the body of the lawn mower.

4. The method according to claim 2, characterized in that: The first passing dimension is greater than or equal to 43 cm and less than 63 cm, and the second passing dimension is greater than or equal to 63 cm and less than or equal to 85 cm.

5. The method according to claim 2, characterized in that: The first passing dimension is greater than or equal to 48 cm and less than 55 cm, and the second passing dimension is greater than or equal to 68 cm and less than or equal to 75 m.

6. The method according to claim 2, characterized in that When the lawn mower is located in a non-narrow channel, the lawn mower is in an active obstacle avoidance mode. The active obstacle avoidance mode is to control the lawn mower to turn or retreat when the distance between the lawn mower and an obstacle or a boundary meets the active obstacle avoidance distance. When the lawn mower is located in the narrow channel, the lawn mower enters a narrow channel obstacle avoidance mode, so that in the narrow channel, the distance between the lawn mower and the obstacle or the boundary can be less than the active obstacle avoidance distance.

7. The method according to claim 2 or 3, characterized in that: The lawn mower comprises a collision sensor, During the process of traveling in the narrow channel, the narrow channel obstacle avoidance mode includes a passive obstacle avoidance mode; the passive obstacle avoidance mode is to control the lawn mower to turn or retreat when the collision sensor senses an obstacle or boundary; the reserved collision distance in the passive obstacle avoidance mode is less than the active obstacle avoidance distance.

8. The method according to claim 7, characterized in that The first passing dimension is the sum of the body length of the lawn mower and the reserved collision distance; Alternatively, the second passing size is the sum of the body width of the lawn mower and the reserved collision distance; Alternatively, the third passing dimension is the sum of a projection length of a body of the lawn mower along a third mowing path in the direction of the width of the narrow passage opening and the reserved collision distance.

9. The method according to claim 7, characterized in that: The ratio of the travel speed in the narrow channel to the opening diameter of the narrow channel is greater than or equal to 0.2 s -1 And less than or equal to 0.8 s -1 .

10. The method according to claim 7, characterized in that The reserved collision distance is greater than or equal to 3 cm and less than or equal to 20 cm.

11. The method according to claim 6, characterized in that The lawn mower includes a detection device, and in the case of entering a narrow passage, the lawn mower switches to a narrow passage active obstacle avoidance mode; The narrow channel active obstacle avoidance mode is: when the obstacle distance detected by the detection device is less than the narrow channel active obstacle avoidance distance, the lawn mower is controlled to turn or retreat to pass through the narrow channel; The narrow channel active obstacle avoidance distance corresponding to the narrow channel active obstacle avoidance mode is smaller than the active obstacle avoidance distance corresponding to the active obstacle avoidance mode.

12. The method according to claim 11, characterized in that The ratio of the speed in the narrow channel to the active obstacle avoidance distance in the narrow channel is greater than or equal to 1.5 s -1 and less than or equal to 6 s -1 .

13. The method according to claim 11, characterized in that The ratio of the speed in the narrow channel to the active obstacle avoidance distance in the narrow channel is greater than or equal to 2 s -1 and less than or equal to 4 s -1 .

14. The method according to claim 11, characterized in that The first passing dimension is the sum of the body length of the lawn mower and the narrow channel obstacle avoidance distance; Alternatively, the second passing dimension is the sum of the body width of the lawn mower and the narrow channel obstacle avoidance distance; Alternatively, the third passing dimension is the sum of the projection length of the body of the lawn mower along the third mowing path in the direction of the width of the narrow channel opening and the narrow channel obstacle avoidance distance, and the narrow channel obstacle avoidance distance is greater than or equal to the narrow channel active obstacle avoidance distance.

15. The method according to claim 7, characterized in that include: In the case of entering a narrow passage, the lawn mower adopts a passive obstacle avoidance mode; When it is detected that the obstacle is a special obstacle, the lawn mower starts an active obstacle avoidance mode; the special obstacle includes at least one or a combination of a living body, a fragile object, a cliff, and an artificially set virtual boundary.

16. The method according to claim 11, characterized in that The narrow channel active obstacle avoidance distance is greater than or equal to 8 cm and less than or equal to 17 cm.

17. The method according to claim 6, characterized in that The passing through the narrow channel comprises: After entering the narrow passage, the lawn mower is controlled to walk along the planned mowing path, or the lawn mower is controlled to mow along the planned mowing path.

18. The method according to claim 1 or 3, characterized in that: The first passing size and the second passing size are preset thresholds, and the first passing size and the second passing size are not equal.

19. The method according to claim 1, characterized in that The method further comprises: During the traveling in the narrow passage, obstacle information is marked in a map based on obstacle boundaries detected by the detection device of the lawn mower.

20. The method according to claim 1, characterized in that The lawn mower comprises a body and a blade disc, the blade disc has a first state and a second state, and when the blade disc is in the first state, the overall width of the lawn mower is greater than when the blade disc is in the second state; The method further comprises: When the lawn mower reaches the entrance of a narrow passage, the lawn mower is controlled to enter the narrow passage with the cutter disc in the second state.

21. The method according to claim 20, characterized in that The method further comprises: When the lawn mower moves to a preset path, the cutter disc is controlled to extend to cut grass; the preset path includes a turning path, or the opening width of the preset path is greater than the passing size of the lawn mower when it is in the first state.

22. The method according to claim 20, characterized in that The method further comprises: When the opening width of the narrow passage is larger than the passing size of the lawn mower when the blade disc is in the second state, and smaller than or equal to the passing size of the lawn mower when the lawn mower is in the first state, the blade disc of the lawn mower is controlled to be in the second state for mowing, and the blade disc is controlled to move left and right for supplementary mowing.

23. The method according to claim 20, characterized in that The method further comprises: When the lawn mower reaches the entrance of a narrow passage, the blade disc is controlled to mow along the boundary of the narrow passage in a first state; the distance that the blade disc extends relative to the body in the first state is less than the active obstacle avoidance distance of the lawn mower.

24. The method according to claim 20, characterized in that The opening width of the narrow passage is acquired by a detection device of the lawn mower, or acquired based on mapping information of the lawn mower.

25. A method for controlling a lawn mower, characterized in that: The lawn mower comprises a body, and a detection device arranged on the body, wherein the detection device is used to detect obstacle information on a travel path of the lawn mower; The method comprises: Perform mapping operations and identify narrow channels based on the mapping; Acquiring the opening width of the narrow passage, generating at least one passable mowing path according to the opening width of the narrow passage, and passing through the narrow passage based on the passable mowing path; The method of generating at least one passable mowing path according to the opening width of the narrow passage comprises: the mowing path comprises at least a first mowing path and a second mowing path, the first mowing path corresponds to a first passing size of the mower, the second mowing path corresponds to a second passing size of the mower, when the opening width of the narrow passage is greater than the passing size of the mower, the mowing path corresponding to the passing size is a passable path, the passable mowing path is selected and the mower is controlled to pass.

26. The method according to claim 25, characterized in that The lawn mower is communicatively connected to a mobile device, and the mobile device displays the passable mowing path for selection by a user, and the lawn mower passes through the narrow passage according to the mowing path selected by the user; or, a control device of the lawn mower selects the passable mowing path and controls the lawn mower to mow according to the preset mowing path.

27. The method according to claim 25, characterized in that The first mowing path includes a mowing path perpendicular to the length direction of the narrow passage; the first passing dimension is greater than the length of the fuselage; Alternatively, the second mowing path includes a mowing path parallel to the length direction of the narrow passage; the second passing dimension is greater than the width of the fuselage; Alternatively, the mowing path also includes a third mowing path, which is a mowing path inclined to the length direction of the narrow channel; the passing dimension includes a third passing dimension corresponding to the first mowing path, and the third passing dimension includes the projection length of the fuselage along the third mowing path in the width direction of the narrow channel opening.

28. The method according to claim 27, characterized in that The first passing dimension is greater than or equal to 43 cm and less than 63 cm, and the second passing dimension is greater than or equal to 63 cm and less than or equal to 85 cm.

29. The method according to claim 27, characterized in that When the lawn mower is located in a non-narrow passage, the lawn mower enters an active obstacle avoidance mode, and when the distance between the lawn mower and an obstacle or a boundary satisfies the active obstacle avoidance distance, the lawn mower is controlled to turn or retreat; When entering a narrow channel, the lawn mower enters a narrow channel obstacle avoidance mode, so that in the narrow channel, the lawn mower can travel in the direction of the obstacle or boundary, and the distance between the lawn mower and the obstacle or boundary is less than the active obstacle avoidance distance.

30. The method according to claim 28 or 29, characterized in that The lawn mower comprises a collision sensor, During the process of traveling in the narrow channel, a passive obstacle avoidance mode is entered; the passive obstacle avoidance mode is to control the lawn mower to turn or retreat when the collision sensor senses an obstacle or boundary; the reserved collision distance in the passive obstacle avoidance mode is less than the active obstacle avoidance distance.

31. The method according to claim 29, characterized in that The first passing dimension is the sum of the body length of the lawn mower and the reserved collision distance; Alternatively, the second passing size is the sum of the body width of the lawn mower and the reserved collision distance; Alternatively, the third passing dimension is the sum of a projection length of a body of the lawn mower along a third mowing path in the direction of the width of the narrow passage opening and the reserved collision distance.

32. The method according to claim 31, characterized in that The reserved collision distance is greater than or equal to 3 cm and less than or equal to 20 cm.

33. The method according to claim 30, characterized in that The ratio of the travel speed in the narrow channel to the reserved collision distance is greater than or equal to 1.5 s -1 and less than or equal to 6 s -1 .

34. A method for controlling a lawn mower, characterized in that: The lawn mower comprises a body, and a detection device arranged on the body, wherein the detection device is used to detect obstacle information on a path of the lawn mower; The method comprises: When the lawn mower reaches the entrance of a narrow passage, if the opening width of the narrow passage is greater than the passing size of the lawn mower, the lawn mower passes through the narrow passage; when the opening width of the narrow passage is not greater than the passing size of the lawn mower, the lawn mower is controlled not to pass through the narrow passage, or to exit the narrow passage; wherein the passing size of the lawn mower is the sum of the projection width of the body posture of the lawn mower at the opening of the narrow passage in the direction of the opening width of the narrow passage and the narrow passage obstacle avoidance distance of the lawn mower.

35. The method according to claim 34, characterized in that The narrow channel obstacle avoidance distance is greater than or equal to 3 cm and less than or equal to 20 cm.

36. The method according to claim 34, characterized in that When the lawn mower is located in a non-narrow passage, the lawn mower enters an active obstacle avoidance mode, and when the distance between the lawn mower and an obstacle or a boundary satisfies the active obstacle avoidance distance, the lawn mower is controlled to turn or retreat; When entering a narrow channel, the lawn mower enters a narrow channel obstacle avoidance mode, so that in the narrow channel, the lawn mower can travel in the direction of the obstacle or boundary, and the distance between the lawn mower and the obstacle or boundary is less than the active obstacle avoidance distance.

37. The method according to claim 36, characterized in that The lawn mower includes a collision sensor. When entering a narrow channel, the lawn mower enters a narrow channel obstacle avoidance mode, and the narrow channel obstacle avoidance mode includes a passive obstacle avoidance mode. The active obstacle avoidance mode is: when the distance between the lawn mower and the obstacle meets the active obstacle avoidance distance, the lawn mower is controlled to turn or retreat. The passive obstacle avoidance mode is: when the collision sensor senses an obstacle or a boundary, the lawn mower is controlled to turn or retreat. The reserved collision distance in the passive obstacle avoidance mode is less than the active obstacle avoidance distance, and the narrow channel obstacle avoidance distance of the lawn mower includes the reserved collision distance.

38. The method according to claim 37, characterized in that The ratio of the travel speed in the narrow channel to the reserved collision distance is greater than or equal to 1.5 s -1 and less than or equal to 6 s -1 .

39. The method according to claim 37, characterized in that The ratio of the travel speed in the narrow channel to the reserved collision distance is greater than or equal to 2 s -1 and less than or equal to 4 s -1 .

40. The method according to claim 37, characterized in that The ratio of the travel speed in the narrow channel to the opening diameter of the narrow channel is greater than or equal to 0.2 s -1 And less than or equal to 0.8 s -1 .

41. The method according to claim 37, characterized in that The lawn mower includes a detection device, and in the case of entering a narrow channel, the lawn mower switches to a narrow channel active obstacle avoidance mode, and in the case of entering a non-narrow channel, the lawn mower switches to an active obstacle avoidance mode; The narrow channel active obstacle avoidance mode is: when the obstacle distance detected by the detection device is less than the narrow channel active obstacle avoidance distance, the lawn mower is controlled to turn or retreat to pass through the narrow channel; the narrow channel active obstacle avoidance mode is: when the obstacle distance detected by the detection device is less than the active obstacle avoidance distance, the lawn mower is controlled to turn or retreat to bypass the obstacle; The narrow channel active obstacle avoidance distance corresponding to the narrow channel active obstacle avoidance mode is smaller than the active obstacle avoidance distance corresponding to the active obstacle avoidance mode.

42. The method according to claim 35, characterized in that The narrow channel obstacle avoidance distance is greater than or equal to 3 cm and less than or equal to 20 cm.

43. The method according to claim 35, characterized in that The narrow channel obstacle avoidance distance is greater than or equal to 3 cm and less than or equal to 15 cm.

44. The method according to claim 35, characterized in that The passing dimensions include a first passing dimension corresponding to a first mowing posture, a second passing dimension corresponding to a second mowing posture, and a third passing dimension corresponding to a third mowing posture, wherein the first passing dimension is the sum of a body length of the mower and a narrow channel obstacle avoidance distance; the second passing dimension is the sum of a body width of the mower and the narrow channel obstacle avoidance distance; and the third passing dimension is the sum of a projection length of a body of the mower along a third mowing path in the direction of the width of the narrow channel opening and the narrow channel obstacle avoidance distance.

45. The method according to claim 35, characterized in that The active obstacle avoidance mode is defined as: when the distance between the lawn mower and the obstacle meets the active obstacle avoidance distance, the lawn mower is controlled to turn or move backward; the passive obstacle avoidance mode is defined as: when the lawn mower collides with an obstacle, the lawn mower is controlled to turn or move backward; the method includes: In the case of entering a narrow passage and the type of the obstacle is a common obstacle, the lawn mower adopts a passive obstacle avoidance mode; In the case of entering a narrow passage and the type of the obstacle is a special obstacle, the lawn mower adopts an active obstacle avoidance mode; The special obstacles include at least one or a combination of living objects, fragile objects, cliffs, and artificially set virtual boundaries, and the common obstacles are obstacles other than the special obstacles.

46. ​​The method according to claim 35, characterized in that The lawn mower comprises a body and a blade disc, the blade disc has a first state and a second state, and when the blade disc is in the first state, the overall width of the lawn mower is greater than when the blade disc is in the second state; the method further comprises: When the lawn mower reaches the entrance of a narrow passage, the lawn mower is controlled to enter the narrow passage with the cutter disc in the second state.

47. The method according to claim 46, characterized in that The method further comprises: When the lawn mower moves to a preset path, the cutter disc is controlled to extend to cut grass; the preset path includes a turning path, or the opening width of the preset path is larger than the passing size of the lawn mower when it is in the first state.

48. The method according to claim 46, characterized in that The method further comprises: When the opening width of the narrow passage is larger than the passing dimension of the lawn mower in the second state and smaller than or equal to the passing dimension of the lawn mower in the first state, the lawn mower is controlled to move left and right in the second state of the cutter disc to mow the lawn.

49. The method according to claim 46, characterized in that The method further comprises: When the lawn mower reaches the entrance of a narrow passage, the blade disc is controlled to mow along the boundary of the narrow passage in a first state; the blade disc of the lawn mower mows in the first state, and the distance that the blade disc extends out of the body of the lawn mower is less than the active obstacle avoidance distance of the lawn mower.

50. The method of claim 34, wherein: The opening width of the narrow passage is acquired by a detection device of the lawn mower, or acquired based on mapping information of the lawn mower.

51. A lawn mower, characterized in that: The lawn mower includes a body, a mowing component and a control device, the mowing component is used for mowing, the detection device is connected to the control device, the detection device is used for detecting obstacle information on the lawn mower's travel path, and the control device is used to execute the control method as described in any one of claims 1-50.

Images