Lawn mower and control method thereof

Abstract

The invention provides a mower and a control method thereof, and relates to the technical field of cleaning. The method comprises the following steps: when the mower advances to a starting point of a first area, controlling the mower to advance to a terminal point of the first area along a first mowing path in the first area; the section width of the first region starting point is greater than or equal to a first threshold and less than or equal to a second threshold; when the mower advances along the first mowing path, the mower is forbidden to turn around to approach the starting point of the first area; under the condition that the section width of the first area meets the first condition of the first area end point, the mower is controlled to pass through the first area end point; the first condition of the first area end point is that the section width of the first area end point is greater than or equal to a first threshold and less than or equal to a second threshold, and the section width of the first area end point far away from one side of the first area starting point is greater than the second threshold. According to the method, the slip probability of the mower can be reduced, the mowing quality is improved, and the walking passing efficiency of the mower is improved.

Description

Technical Field

[0001] The present application relates to the field of cleaning technology, 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 may encounter areas with narrow spaces or many obstacles. When cleaning the above areas, existing lawn mowers need to adjust their positions multiple times to achieve operations such as turning around, steering, and getting out of trouble because the surrounding obstacles or boundaries are close to the lawn mower. The lawn mower may slip easily when adjusting its position multiple times, making the grass in the area easily worn by the machine, affecting the overall aesthetics of the lawn. In addition, excessively reducing the number of turns will cause the lawn mower to cover too little of the mowing area, thereby resulting in too low a mowing coverage rate. Summary of the invention

[0004] The present application provides a lawn mower and a control method thereof, which are used to solve the problem that the lawn mower is prone to slipping when adjusting its position multiple times in an area with a small space or a large number of obstacles, so that the grass in the area is easily worn by the machine, affecting the overall aesthetics of the lawn.

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

[0006] The lawn mower acquires the section width of the first area in real time, and when the lawn mower moves to the starting point of the first area, controls the lawn mower to move along the first mowing path in the first area to the end point of the first area; and when the section width of the first area satisfies the first condition of the end point of the first area, controls the lawn mower to pass through the end point of the first area;

[0007] Among them, when moving along the first mowing path, the lawn mower is prohibited from turning around to approach the starting point of the first area; the segment width of the starting point of the first area is greater than or equal to a first threshold and less than or equal to a second threshold; the first condition for the end point of the first area is that the segment width of the end point of the first area is greater than or equal to the first threshold and less than or equal to the second threshold, and the segment width of the end point of the first area on the side away from the starting point of the first area is greater than the second threshold.

[0008] This embodiment monitors the section width of the first area so that before the lawn mower enters the section, it can determine whether the lawn mower can just pass through by comparing the section width, and does not perform a U-turn operation when the cleaning area is passable but cannot be turned at will, thereby reducing the slipping phenomenon caused by U-turns. Moreover, reducing the number of U-turns will increase the operating coverage of the mowing area by the lawn mower, thereby improving the mowing quality and mowing coverage rate of the lawn mower.

[0009] In a possible design, the first threshold value ranges from 0.6m to 0.9m, and the second threshold value ranges from 1m to 1.6m.

[0010] Optionally, the value range of the first threshold is 0.6m-0.8m, and the value range of the second threshold is 1.3m-1.6m. The method of this embodiment is to limit the numerical range of the first threshold and the second threshold, which meets the passing requirements of most lawn mowers and is also convenient for the lawn mower to directly compare whether the detected distance of the obstacle in front meets the passing conditions, thereby reducing the computational complexity of the lawn mower processor and improving the judgment efficiency.

[0011] Optionally, the range of the segment width of the first area is 0.6-1m, which is suitable for relatively small lawn mowers and has a low probability of missing mowing in narrow channels. Optionally, the range of the segment width of the first area is 0.6-1.6m. With this range, the lawn mower has a higher universality for narrow channels and is more suitable for large lawn mowers. Optionally, the range of the segment width of the first area is 0.6-1.3m, which allows the lawn mower to work flexibly in a working area with a segment width of more than 1.3m; Optionally, the range of the segment width of the first area is 0.7-1m, so that the area below 0.6m does not enter the mowing process, thereby improving the overall mowing efficiency. Optionally, the range of the segment width of the first area is 0.7-1.3m, which is suitable for most lawn mower models. Optionally, the range of the segment width of the first area is 0.7-1.6m, which can effectively take into account the purpose of reducing the missed mowing area and improving the passing efficiency. Optionally, the value range of the segment width of the first area is 0.9-1.3m, which increases the minimum passing size of the narrow channel to reduce missed mowing while not misjudging the wide area as a narrow channel, thereby ensuring the overall mowing quality. Optionally, the value range of the segment width of the first area is 0.9-1.6m, which can improve the overall mowing efficiency of the mowing area and is suitable for the operation mode of a large lawn mower.

[0012] The method of this embodiment is to limit the first threshold and the second threshold to a fixed numerical range, which meets the passing requirements of most lawn mowers and is also convenient for the lawn mower to directly compare whether the distance of the detected obstacle ahead meets the passing conditions, thereby reducing the computational complexity of the lawn mower processor and improving the judgment efficiency.

[0013] In a possible design, the lawn mower includes a chassis, a body and a drive wheel, the drive wheel is connected to the chassis, and the body is connected to the chassis; the first threshold is β·d(0.5 / cosα+1), and the second threshold is 2β·d(0.5 / cosα+1).

[0014] Among them, β is the correction coefficient, and the value range is 0.85-1.15. Since the boundary of the channel will expand inward when building the map, there will be a deviation from the actual channel size, and considering the positioning deviation of the sensor, the coefficient needs to be adjusted according to the above influencing factors.

[0015] The chassis of the lawn mower is defined to extend along the first plane. In the projection of the lawn mower on the first plane, d is the maximum width of the body in the direction of the line connecting the driving wheels, and α is the angle between the line connecting the two driving wheels of the lawn mower and the line connecting the steering center of the lawn mower to the farthest end of the body. The space required for a lawn mower to turn once is related to the maximum width in the direction of the line connecting the driving wheels of the body and the size of the line connecting the steering center of the drive to the farthest position of the body, and therefore is also related to the position of the steering center. When the width of the space does not meet the second threshold, it is difficult for the lawn mower to turn around in one turn, so it is now necessary to reverse and turn multiple times to adjust the posture, thereby increasing the probability of slipping and wearing the grass, and the mowing effect is not good.

[0016] For example, when the width of the space that allows the lawn mower to pass is greater than the first threshold and less than the second threshold, the lawn mower needs to turn several times to complete the U-turn operation, thereby increasing the number of times of mowing the grass. When the width is greater than the second threshold, the lawn mower has room for turning around, and the number of turns that are repeatedly adjusted during the U-turn will be reduced. Therefore, U-turns may no longer be prohibited to ensure that the lawn mower can turn around in time to make up for the mowing when it needs to turn around, and to prevent the lawn mower from going around too far before turning around, which affects the mowing efficiency of the lawn mower. Different from the fixed parameter value selection method of the above embodiment, this embodiment uses dynamic parameters related to the body size of the lawn mower as limiting conditions, so that the threshold can be adaptively adjusted according to the actual size of the lawn mower, thereby making the calculation result more accurate, and further improving the universality of the control method.

[0017] In a possible design, the lawn mower includes a body, and the first condition further includes:

[0018] A distance from a starting point of the first area to an end point of the first area is greater than twice a length of a body of the lawn mower in a traveling direction.

[0019] Optionally, when the distance from the starting point of the first area to the end point of the first area is less than or equal to twice the length of the body of the lawn mower in the traveling direction, the lawn mower is controlled not to enter the first area.

[0020] This embodiment limits the length of the passage in the first area to avoid the need for a U-turn when the lawn mower reaches the end point before fully entering the passage due to a short passage, thereby reducing damage to the lawn in the first area caused by the U-turn of the lawn mower.

[0021] In one possible design, the method further includes:

[0022] In the case where the segment width of the end point of the first area satisfies the second condition of the end point of the first area, the first area includes a turning position, and the distance between the turning position and the end point of the first area is less than or equal to a third threshold value. When the lawn mower mows along the first mowing path, the length direction of the first area and the segment width direction of the first area are perpendicular. In the length direction of the first area, when the lawn mower is located between the starting point of the first area and the turning position, the lawn mower is prohibited from turning around to approach the starting point of the first area. When the lawn mower is located between the turning position and the end point of the first area, the lawn mower turns around or retreats to approach the starting point of the first area. The second condition of the end point of the first area is that the segment width of the end point of the first area is less than the first threshold value.

[0023] The method of this embodiment supplements the need to perform a U-turn operation step when the first area is less than the first threshold value. By limiting a turning position, the lawn mower does not perform a U-turn operation before the turning position, but only performs a U-turn operation after the turning position, thereby limiting the number of U-turns and reducing the risk of slipping.

[0024] In a possible design, the third threshold is at least twice the length of the body in the traveling direction of the lawn mower.

[0025] In this embodiment, by limiting the distance between the turning position and the end point of the first area, the lawn mower can turn around normally at the turning position.

[0026] In one possible design, the method further includes:

[0027] When the segment width of the starting point of the first area is smaller than the first threshold, the lawn mower is controlled not to enter, and the position of the starting point of the first area is marked as an obstacle point, and the obstacle point is used to indicate the position where the lawn mower performs obstacle avoidance processing.

[0028] In the method of this embodiment, when the starting point width of the first area does not meet the passing condition of the lawn mower, the lawn mower does not enter directly, and through a marking method, the lawn mower does not perform the judgment operation at the next cleaning, thereby improving the cleaning efficiency and reducing the calculation complexity of the lawn mower's processor.

[0029] In one possible design, the method further includes:

[0030] When the lawn mower passes the end point of the first area and enters the second area, the lawn mower is controlled to mow along a third mowing path within the second area; the segment width of the second area is greater than or equal to the second threshold; when traveling along the third mowing path, the lawn mower is prohibited from entering the first area.

[0031] The method of this embodiment limits the mowing path of the second area connected to the first area, so as to avoid the lawn mower repeatedly cleaning the first area it passes through when cleaning the second area, thereby reducing the number of cleaning times of the first area, saving cleaning resources, improving cleaning efficiency, and also avoiding damage to the lawn due to multiple cleanings.

[0032] In one possible design, the method further includes:

[0033] When the lawn mower mows along a third mowing path, obtaining a degree of completion of the third mowing path;

[0034] When the degree of completion of the third mowing path is greater than or equal to a preset degree of completion, the lawn mower is controlled to enter the first area and mow along the second mowing path in the first area; when moving along the second mowing path, the lawn mower is prohibited from turning around to approach the end point of the first area.

[0035] This embodiment monitors the completion status of the second area so that when the second area is completed or nearly completed, the cleaning operation of the first area can be performed first, and then the cleaning of the uncleaned second area can be returned after the cleaning of the first area is completed, thereby reducing the probability of repeated cleaning on the last cleaning path of the second area and improving cleaning efficiency.

[0036] In one possible design, the method includes:

[0037] When the mowing task of the second area is completed according to the third mowing path, controlling the lawn mower to enter the first area;

[0038] Alternatively, when the mowing task in the second area is being performed and the third mowing path reaches the end point of the first area before the last turn, the lawn mower is controlled to enter the first area.

[0039] This embodiment provides two possible judgment conditions for entering the first area from the second area for cleaning, so that the planning of the cleaning path is more reasonable, the possibility of path duplication is reduced, and the damage to the lawn caused by repeated cleaning is reduced. At the same time, the cleaning efficiency is improved, and the utilization rate of cleaning resources in the same time is improved.

[0040] In a possible design, the lawn mower travels along a second mowing path from a starting point of the first area to an end point of the first area, and a deviation between the first mowing path and the second mowing path in a traveling direction of the lawn mower is less than a fourth threshold.

[0041] In the embodiment, the distance between the second mowing path and the first mowing path is limited so that the two mowing paths are as close as possible, thereby reducing the slipping of the mower due to the large height difference before and after mowing.

[0042] In a possible design, the fourth threshold value ranges from 0.3 to 0.5 m.

[0043] The deviation value range provided in this embodiment can be applicable to different lawn mowers and the first areas corresponding thereto. At the same time, the deviation can also indirectly limit the section width range of the first area corresponding to the two mowing paths, that is, the area exceeding the deviation may not be within the first area, and the cleaning task may no longer be performed according to the first area cleaning control method defined in the above embodiment.

[0044] In one possible design, the method further includes:

[0045] When the remaining power of the lawn mower is less than a fifth threshold, the lawn mower cancels the operation along the first mowing path.

[0046] Based on the above embodiments, this embodiment controls the travel plan of the lawn mower by increasing the remaining power, thereby reducing the possibility that the lawn mower is stuck in the first area where it is difficult for the user to manually drag it due to low power.

[0047] In a possible design, the lawn mower further includes a communication device for receiving user instructions; the method further includes:

[0048] When the lawn mower is traveling along a first mowing path and the communication device receives a first user instruction, the lawn mower is controlled to turn to approach a starting point of the first area; the first user instruction is used to instruct the lawn mower to turn around.

[0049] On the basis of the above embodiments, this embodiment adds a communication device to allow the user to remotely control the lawn mower, so that when the user needs to handle a task, the lawn mower can turn around and exit the first area in time to stop the current cleaning task in the first area, giving priority to the user's needs and improving the user's experience.

[0050] In a second aspect, the present application provides a control method for a lawn mower, comprising:

[0051] When the lawn mower moves to the starting point of the first area, the lawn mower is controlled to move along the first mowing path in the first area to the end point of the first area, and a section width of the first area is obtained; the section width of the starting point of the first area is greater than or equal to a first threshold value and less than or equal to a second threshold value;

[0052] When the segment width of the end point of the first area satisfies the second condition of the end point of the first area, the lawn mower is controlled to mow along the first mowing path in the first area; the first area includes a turning position, and the distance between the turning position and the end point of the first area is less than or equal to a third threshold; the length direction of the first area is perpendicular to the segment width direction of the first area, and in the length direction of the first area, when the lawn mower is located between the starting point of the first area and the turning position, the lawn mower is prohibited from turning around to approach the starting point of the first area, and when the lawn mower is located between the turning position and the end point of the first area, the lawn mower turns around or retreats to approach the starting point of the first area, and the second condition of the end point of the first area is that the segment width is less than the first threshold.

[0053] In the method of this embodiment, when the end point of the first area cannot be passed, a turning position is set between the starting point and the end point of the first area so that the lawn mower does not turn around before reaching the turning position, and only turns around after reaching the turning position, thereby reducing the number of U-turns and further reducing the probability of slipping damage caused by U-turns.

[0054] In a third aspect, the present application provides a control method for a lawn mower, comprising:

[0055] When the lawn mower enters the second area from the first area, the lawn mower is controlled to mow along a third mowing path within the second area; the segment width of the first area is greater than or equal to a first threshold and less than or equal to a second threshold; the segment width of the second area is greater than the second threshold; and when traveling along the third mowing path, the lawn mower is prohibited from entering the first area.

[0056] In the method of this embodiment, a mowing path is planned and designed for the interconnected first area and second area, so as to reduce the possibility of the second area entering the first area during cleaning, thereby reducing the probability of the first area being re-mowed and reducing damage to the grass in the first area.

[0057] In a fourth aspect, the present application provides a control method for a lawn mower, comprising:

[0058] When the lawn mower completes the mowing task in the second area according to the third mowing path, the lawn mower is controlled to enter the first area and mow along the second mowing path in the first area; when the lawn mower moves along the third mowing path, before the lawn mower moves to a preset range from the end point of the second area,

[0059] The lawn mower is prohibited from entering the first area; when traveling along the second mowing path, the lawn mower is prohibited from turning around to approach the end point of the first area; the section width of the first area is greater than or equal to the first threshold and less than or equal to the second threshold; the section width of the second area is greater than the second threshold. Optionally, the preset range from the end point of the second area can be 0.5m-1.5m.

[0060] In the method of this embodiment, the lawn mower is controlled to complete the mowing task in the first area after completing the second area, thereby reducing the possibility of the lawn mower repeatedly entering the first area, while also improving the cleaning efficiency and the utilization rate of cleaning resources in the same time. In the first area, the lawn mower is controlled to travel in one direction, further reducing the possibility of the lawn mower re-mowing in the first area and reducing the damage to the lawn caused by repeated cleaning.

[0061] In one possible design, the method further includes:

[0062] When the mowing task in the second area is being performed and the third mowing path reaches the end of the first area before the last turn, the mower is controlled to enter the first area and mow along the second mowing path in the first area.

[0063] Different from the method of completely cleaning the second area before cleaning the first area in the above embodiment, in this embodiment, when the cleaning of the second area is about to be completed, the mower can first enter the first area for cleaning when passing through the first area, thereby reducing the number of times the mower repeatedly cleans the last section of the road in the second area, thereby reducing the damage to the lawn caused by the mower.

[0064] In a fifth aspect, the present application provides a control method for a lawn mower, comprising:

[0065] After the lawn mower travels along the first mowing path and needs to return to the starting point of the first area, the lawn mower is controlled to return to the starting point of the first area along the second mowing path; the deviation between the first mowing path and the second mowing path in the travel direction of the lawn mower is less than a fourth threshold; and the section width of the first area is greater than or equal to the first threshold and less than or equal to the second threshold.

[0066] In a possible design, the first mowing path prohibits the mower from turning around to approach the starting point of the first area; the second mowing path prohibits the mower from turning around to approach the end point of the first area.

[0067] This embodiment supplements the control method of the second mowing path, and the relative position relationship between the second mowing path and the first mowing path, so that the two mowing paths are as close as possible, thereby reducing the slippage of the mower due to the large height difference before and after mowing.

[0068] In a sixth aspect, the present application provides a control method for a lawn mower, comprising:

[0069] According to the mowing area map of the lawn mower, a first area in the mowing area is obtained, wherein the segment width of the starting point of the first area is greater than or equal to a first threshold value and less than or equal to a second threshold value; the first condition of the end point of the first area is that the segment width of the first area is greater than or equal to the first threshold value and less than or equal to the second threshold value, and the segment width of the end point of the first area away from the starting point of the first area is greater than the second threshold value, and each segment width between the starting point of the first area and the end point of the first area is greater than or equal to the first threshold value and less than or equal to the second threshold value; during the operation of the lawn mower from the starting point of the first area to the end point of the first area, the lawn mower is prohibited from turning around to approach the starting point of the first area.

[0070] Different from the above-mentioned method of detecting while walking, this embodiment uses the existing map to obtain the section width. Compared with the method of detecting while walking, in addition to reducing the slippage phenomenon, it can also obtain the information of the narrowing width ahead more quickly, so that the mowing path can be planned in advance, reducing the calculation amount of the processor and saving computing resources.

[0071] In a seventh aspect, the present application further provides an electronic device, comprising: a processor, and a memory communicatively connected to the processor;

[0072] The memory stores computer-executable instructions;

[0073] The processor executes the computer-executable instructions stored in the memory to implement a control method for a lawn mower.

[0074] In an eighth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to implement a control method for a lawn mower when executed by a processor.

[0075] In a ninth aspect, the present application provides a computer program product, comprising a computer program, which implements a method for controlling a lawn mower when executed by a processor.

[0076] In a tenth aspect, the present application provides a lawn mower, comprising: a processor, and a memory communicatively connected to the processor;

[0077] The memory stores computer-executable instructions;

[0078] The processor executes the computer-executable instructions stored in the memory to implement a control method for a lawn mower.

[0079] The beneficial effects of the devices provided by the seventh, eighth, ninth, and tenth aspects and the possible implementation methods of the seventh, eighth, ninth, and tenth aspects can be referred to the beneficial effects brought about by the first aspect and the possible implementation methods of the first aspect, and will not be elaborated here.

[0080] The control method of the lawn mower provided by the present application controls the lawn mower to move along a first mowing path in the first area to an end point of the first area when the lawn mower moves to a starting point of the first area, and the lawn mower obtains the section width of the first area in real time; the section width of the starting point of the first area is greater than or equal to a first threshold and less than or equal to a second threshold; when moving along the first mowing path, the lawn mower is prohibited from turning around to approach the starting point of the first area; when the section width of the first area meets the first condition of the end point of the first area, the lawn mower is controlled to pass through the end point of the first area; the first condition of the end point of the first area is that the section width of the end point of the first area is greater than or equal to the first threshold and less than or equal to the second threshold, and the section width of the end point of the first area on the side away from the starting point of the first area is greater than the second threshold. Compared with the defects in the prior art, the present application can reduce the slip probability of the lawn mower, thereby reducing the damage to the lawn caused by slipping, and thus improving the mowing quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0081] 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.

[0082] Figure 1 A schematic diagram of the bottom structure of a lawn mower provided in an embodiment of the present application;

[0083] Figure 2 A schematic diagram of a projection structure of a portion of a lawn mower structure provided by an embodiment of the present application on a first plane;

[0084] Figure 3 A schematic flow chart of a control method for a lawn mower provided in an embodiment of the present application;

[0085] Figure 4 A schematic diagram of a first area and a first mowing path provided in an embodiment of the present application;

[0086] Figure 5 A schematic flow chart of another control method for a lawn mower provided in an embodiment of the present application;

[0087] Figure 6 A schematic diagram of the area to be cleaned and the mowing path of the lawn mower provided in an embodiment of the present application;

[0088] Figure 7 A schematic diagram of another area to be cleaned by a lawn mower and its mowing path provided in an embodiment of the present application;

[0089] Figure 8 A schematic flow chart of a method for controlling the cleaning of an area to be cleaned by a lawn mower provided in an embodiment of the present application. DETAILED DESCRIPTION

[0090] 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.

[0091] There may be many obstacles in the area to be cleaned of the existing lawn, such as fences, walls, billboards, sculptures and other obstacles; there may also be a need for greening design of specific shapes, such as bushes, flower beds and other areas that are not cleaned at the same time as the lawn, or areas that need to be cleaned at different heights. The above factors will cause the area to be cleaned to form a narrow space area or a space area with many obstacles.

[0092] When cleaning the above-mentioned special areas to be cleaned, existing autonomous lawn mowers usually find it difficult to make large-angle turns or steering operations due to the small space. Therefore, when a turn or steering operation is required, the body angle can only be adjusted slowly little by little, causing the body to roll over the lawn at the bottom multiple times, which can easily cause the body to slip and may also damage the integrity of the lawn due to excessive friction during slipping.

[0093] Based on the above technical problems, the inventive concept of the present application is:

[0094] By detecting the segment width of the mowing area and then determining the travel path of the lawn mower according to the size of the segment width, the lawn mower can travel in a one-way driving manner to avoid U-turns when the segment width is narrow, thereby reducing lawn damage caused by multiple turning operations of the lawn mower due to insufficient U-turn width, improving the integrity of the lawn and the mowing quality of the lawn mower, aiming to solve the above technical problems of the prior art.

[0095] The specific application scenarios of this application are as follows:

[0096] 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, a chassis 120 connected to the bottom of the body 110, and a cutter 130 and a driving wheel 140 arranged on the chassis 120. The chassis 120 of the lawn mower is extended along a first plane direction.

[0097] Exemplarily, the fuselage 110 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 110 may rotate during the movement, and the center point around which the rotation is performed may be a center point selected from the fuselage 110. For example, when the shape of the fuselage 110 is circular, the center point may include the center of the circle. For another example, when the shape of the fuselage 110 is square, the center point may include the center point of the square. For another example, when the fuselage 110 is provided with two driving wheels 140, the center point may include the center point of the line connecting the two driving wheels 140 or the center point of the line connecting the rotation centers of the two driving wheels 140.

[0098] Figure 2 This is a schematic diagram of the projection structure of a portion of the lawn mower structure provided by an embodiment of the present application on a first plane. Figure 2As shown, in the projection on the first plane, the maximum width of the line connecting the two driving wheels 140 is d, the midpoint of the line connecting the two driving wheels 140 is the steering center o of the lawn mower 100, the farthest end of the projection of the body 110 on the first plane to the steering center o is s, and the angle between the line connecting the two driving wheels 140 of the lawn mower 100 and the line connecting the steering center o of the lawn mower 100 to the farthest end s of the body 110 is α.

[0099] Since the lawn mower 100 can travel in one direction or turn around and travel in two directions when traveling, the channel width condition for not repeatedly adjusting the position when turning around in the channel is that the channel width is greater than or equal to twice the maximum turning width. Therefore, the width range of the section that the lawn mower 100 can pass through can be calculated by the projection structure schematic diagram.

[0100] For example, continue to refer to Figure 2 As shown, the minimum width that the lawn mower 100 can pass is β·d(0.5 / cosα+1), and the minimum width that can be turned around without slipping is 2β·d(0.5 / cosα+1). Therefore, when the width is between β·d(0.5 / cosα+1)-2β·d(0.5 / cosα+1), as the width increases, the number of turns when turning around will gradually decrease. Among them, β is the passing coefficient, and the value range is 0.85-1.15, d is the maximum width in the direction of the line connecting the driving wheels 140 of the body, and α is the angle between the line connecting the two driving wheels 140 of the lawn mower 100 and the line connecting the steering center of the lawn mower 100 to the farthest end of the body 110.

[0101] Optionally, a detection device 150 is also provided on the body 110 for detecting obstacle information on the path of the lawn mower 100. For example, when the lawn mower is traveling in a long channel area, the section width of the channel area can be obtained by the detection device 150. The section width is the transverse cross-sectional width of the channel used to determine whether the lawn mower can pass in the direction of travel.

[0102] The detection device 150 may be a radar sensor, an infrared sensor, a visual sensor, and / or an anti-collision plate or other sensors capable of detecting distances. The obstacle information acquired by the detection device 150 may be distance information, obstacle type, or boundary information determined by the detection device 150. Since the detection information itself belongs to the prior art, it will not be further described here.

[0103] The lawn mower 100 further includes a processor, which is connected to the detection device 150 . The processor is used to execute a control method for the lawn mower 100 based on a detection result of the detection device 150 .

[0104] Optionally, the lawn mower is further provided with a storage component, and the processor and the storage component can be arranged inside the lawn mower. Optionally, the storage component can be integrated with the processor, or can be two independent components of the processor.

[0105] 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.

[0106] The processor may include, for example, one or more circuits or chips having control functions.

[0107] The processor 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.

[0108] The execution subject of the embodiment of the present application can be a processor in the lawn mower, or a server corresponding to the lawn mower. The server is located in the cloud, connected to the processor 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.

[0109] The following takes the processor in the 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.

[0110] The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0111] Figure 3 Schematic diagram of the control method flow of the lawn mower provided in the embodiment of the present application Figure 1 . refer to Figure 3 As shown, the method includes:

[0112] S31. When the lawn mower moves to the starting point of the first area, the lawn mower is controlled to move along the first mowing path in the first area to the end point of the first area, and the lawn mower obtains the section width of the first area in real time; the section width of the starting point of the first area is greater than or equal to the first threshold and less than or equal to the second threshold; when moving along the first mowing path, the lawn mower is prohibited from turning around to approach the starting point of the first area.

[0113] Exemplarily, the first area is a narrow channel area, and the lawn mower travels to the starting point of the first area, that is, to the entrance of the narrow channel.

[0114] In a narrow channel, the route of the lawn mower will be affected by the width of the channel. By obtaining the section width in front of the travel direction in real time, the lawn mower can be assisted in making decisions on whether it can pass or turn around.

[0115] The minimum width value that allows the lawn mower to pass through is defined as the first threshold value, and the minimum width that allows the lawn mower to turn around is defined as the second threshold value.

[0116] If the segment width at the starting point of the first area is smaller than the first threshold, the lawn mower cannot pass through and thus will not continue to enter the first area.

[0117] If the section width of the starting point of the first area is greater than the second threshold value, the U-turn operation of the lawn mower is not restricted, and thus this situation is not limited, and the normal lawn mowing task can be performed.

[0118] If the segment width at the starting point of the first area is greater than or equal to the first threshold value and less than or equal to the second threshold value, the segment width at the starting point meets the definition of the narrow channel, and the path of the mower needs to be planned to avoid the mower from turning or turning around multiple times and causing damage to the lawn in the channel. Therefore, it is limited to move along the first mowing path that does not allow turning around from the starting point, thereby reducing the adverse effects of turning around on the lawn.

[0119] The method of not allowing U-turn is to control the direction of the lawn mower not to approach the starting point of the first area, rather than restricting the lawn mower from turning. Approaching the starting point and the end point of the first area only means approaching the area where the starting point and the end point are located, such as within 1 meter of the starting point of the first area, to complete the positioning of the first area, and it is not necessary to go to the fixed point corresponding to the starting point and the end point.

[0120] It should be understood that as long as the section width detected ahead always satisfies the limiting condition, the first mowing path is always followed.

[0121] For example, Figure 4 A schematic diagram of a first area and a first mowing path provided in an embodiment of the present application. Figure 4 As shown, when the first area 401 is a zigzag channel that requires multiple turns, the lawn mower detects that the width of the section in front always meets the width range of the narrow channel, and thus controls the lawn mower to always move forward along the first mowing path 402. The first mowing path 402 is not a straight path, but a path that changes with the shape of the channel. The path may turn more than 180 degrees, but the direction of the turn is not towards the starting point A of the first area 401, but towards the end point B of the first area 401.

[0122] S32. When the segment width of the first area satisfies the first condition of the end point of the first area, control the lawn mower to pass through the end point of the first area; the first condition of the end point of the first area is that the segment width of the end point of the first area is greater than or equal to the first threshold value and less than or equal to the second threshold value, and the segment width of the end point of the first area on the side away from the starting point of the first area is greater than or equal to the first threshold value.

[0123] For example, when the lawn mower reaches the end point of the first area along the first mowing path, it is necessary to detect the section width of the end point position. When the section width on the other side of the end point is greater than or equal to the first threshold, it indicates that the lawn mower can pass the end point smoothly and enter the other side area. Therefore, the lawn mower can be controlled to pass the end point of the first area, thereby completing the cleaning task of the first area.

[0124] If the segment width on the other side of the end point is less than the first threshold, it means that the lawn mower can only move to the end point but cannot pass through the end point. At this time, the first mowing path is ended and the operation of turning to exit the channel is executed.

[0125] The method provided in this embodiment starts from the starting point of the first area, detects the section width in real time, and compares the detected section width with a threshold value related to the body size of the lawn mower, so that the lawn mower can be controlled not to turn around when the section width meets a certain range, thereby reducing the turning operation of the lawn mower before reaching the end point of the first area, thereby reducing the probability of the lawn mower slipping in the first area, thereby reducing the damage to the lawn in the first area caused by the lawn mower, and improving the cleaning quality of the lawn by the lawn mower.

[0126] The control logic of the lawn mower of the present application is described in detail below in conjunction with several specific embodiments.

[0127] Figure 5 Schematic diagram of the control method flow of the lawn mower provided in the embodiment of the present application Figure 2 . refer to Figure 5 As shown, the method includes:

[0128] S501, obtaining location information of the lawn mower until the current location information is at the starting point of the first area.

[0129] Optionally, since the lawn mower may return to the starting point after reaching the end point when traveling in the channel formed by the first area, and the distance traveled by the lawn mower for turning around is at least twice the length of the body, if the channel length is short and not enough for the lawn mower to completely turn around in the channel, the channel may not be defined as the first area, and there is no need to execute the control method in this embodiment.

[0130] For example, when the channel length is twice the length of the fuselage, the lawn mower can be controlled to enter the mowing area and then retreat to complete the cleaning operation. Since the distance is short, the retreat is easy to control and it is not easy to yaw or become uncontrolled.

[0131] In another embodiment, whether the lawn mower has reached the first area is not determined by real-time detection, but by obtaining a mowing area map of the lawn mower, in which boundary information is marked, and according to the spacing of the boundary information, the first area that meets the first area restriction condition can be obtained. According to the position of the lawn mower in the mowing area map, it is determined whether the lawn mower is at the starting point of the first area.

[0132] Among them, the restriction condition of the first area is: the segment width of the starting point of the first area is greater than or equal to the first threshold and less than or equal to the second threshold; the segment width of the end point of the first area is greater than or equal to the first threshold and less than or equal to the second threshold, and the segment width of the end point of the first area away from the starting point of the first area is greater than the second threshold, and the width of each segment between the starting point of the first area and the end point of the first area is greater than or equal to the first threshold and less than or equal to the second threshold.

[0133] S502: Control the lawn mower to obtain the section width of the starting point of the first area in real time.

[0134] Exemplarily, the lawn mower starts from the starting point of the first area, detects obstacle information in front of the travel direction, and obtains the width between the obstacles and the distance information between the lawn mower and the obstacle based on the detected obstacle information, and obtains the section width based on the width between the obstacles and the distance information between the lawn mower and the obstacle. The section width is the section width within a certain distance range in front of the lawn mower.

[0135] Optionally, since the actual channel may be non-linear or the channel spacing may be unequal, the segment width can be selected to be within a certain length range with the same or similar channel spacing, that is, the first area can be divided into multiple segments, each segment corresponding to a segment width, thereby facilitating the lawn mower to plan the path based on the segment width.

[0136] S503, determine whether the segment width is greater than or equal to the first threshold and less than or equal to the second threshold; if so, execute S504, if not, execute S513.

[0137] The first area includes a first area starting point and a first area end point, and the section width acquired by the lawn mower is obstacle spacing information within a distance ahead in the direction of travel starting from the current position of the lawn mower.

[0138] Exemplarily, the first threshold and the second threshold may be preset fixed values.

[0139] For example, the value range of the first threshold is 0.6m-0.9m, and the value range of the second threshold is 1m-1.6m. Optionally, the value range of the segment width of the first area is 0.6-1m, which is suitable for relatively small lawn mowers and has a low probability of missing mowing in narrow channels. Optionally, the value range of the segment width of the first area is 0.6-1.6m. With this range, the lawn mower has a higher universality for narrow channels and is more suitable for large lawn mowers. Optionally, the value range of the segment width of the first area is 0.6-1.3m, which allows the lawn mower to work flexibly in a working area with a segment width of more than 1.3m; optionally, the value range of the segment width of the first area is 0.7-1m, so that the area below 0.6m will not enter the mowing process, thereby improving the overall mowing efficiency. Optionally, the value range of the segment width of the first area is 0.7-1.3m, which is suitable for most lawn mower models. Optionally, the range of the width of the first area is 0.7-1.6m, which can effectively take into account the purpose of reducing missed mowing areas and improving passing efficiency. Optionally, the range of the width of the first area is 0.9-1.3m, which increases the minimum passing size of narrow channels to reduce missed mowing while not misjudging wide areas as narrow channels, thereby ensuring the overall mowing quality. Optionally, the range of the width of the first area is 0.9-1.6m, which can improve the overall mowing efficiency of the mowing area and is suitable for the operation mode of large mowers.

[0140] Another possible implementation is that the first threshold and the second threshold are values ​​related to the structure of the lawn mower, so the formula related to the first threshold and the second threshold can be obtained by limiting the structure of the lawn mower. Since the first threshold is the minimum width that the lawn mower can pass through, and the second threshold is the minimum width required for the lawn mower to turn around once without slipping, therefore, if the size of the body remains unchanged, it can be considered that the second threshold is twice the first threshold.

[0141] For example, the first threshold is β·d(0.5 / cosα+1), and the second threshold is 2β·d(0.5 / cosα+1).

[0142] Among them, the value range of β is 0.85-1.15, which defines that the chassis of the lawn mower extends along the first plane. In the projection of the lawn mower on the first plane, d is the maximum width in the direction of the driving wheel connection line of the fuselage, and α is the angle between the connection line of the two driving wheels of the lawn mower and the connection line from the steering center of the lawn mower to the farthest end of the fuselage.

[0143] S504: Control the lawn mower to move along the first mowing path in the first area to an end point of the first area.

[0144] When the lawn mower is moving along the first mowing path, it is prohibited to turn around to approach the starting point of the first area.

[0145] Exemplarily, since the segment width of the first area is limited to the range between the first threshold and the second threshold, and the first threshold is a width that the lawn mower can pass through without turning, and the second threshold is a width that the lawn mower can just turn around without slipping, the lawn mower never turns around in the first area, and the possibility of slipping in the first area can be minimized, that is, the lawn mower is controlled to travel along the first mowing path without turning around.

[0146] S505: Control the lawn mower to obtain the section width of the end point of the first area in real time.

[0147] Because when the lawn mower is moving along the first mowing path in the first area, it cannot be determined that the entire first area is within the range greater than or equal to the first threshold and less than or equal to the second threshold, and it is possible that only some sections meet the conditions. Therefore, it is necessary to obtain the section width in real time through detection to reduce the possibility of the lawn mower getting stuck due to some sections not meeting the conditions during the moving process.

[0148] S506: Determine whether the segment width of the first area is greater than or equal to the first threshold and less than or equal to the second threshold; if so, execute S507; if not, execute S509.

[0149] Specifically, if the position less than the first threshold is reached when the lawn mower is halfway through the first area, it indicates that the lawn mower cannot continue to move forward, and the position less than the first threshold is the end point of the first area. If both are greater than or equal to the first threshold, the lawn mower will continue to move to the other end of the first area farthest from the starting point, that is, the end point of the first area.

[0150] After determining the end point of the first area, it is also necessary to determine whether the front section after the end point of the first area is suitable for the lawn mower to pass through, that is, to obtain the section width on the side of the end point of the first area away from the starting point of the first area.

[0151] S507, determining whether the width of the segment on the side where the end point of the first area is away from the starting point of the first area is greater than or equal to a first threshold; if so, executing S508, if not, executing S509.

[0152] S508: Control the lawn mower to pass through the first area end point.

[0153] Specifically, when it is determined that the lawn mower is still allowed to pass in front of the end point of the first area, the lawn mower can be controlled to continue moving forward through the end point of the first area, so that it will not make a U-turn in the first area, thereby avoiding the risk of slipping caused by the U-turn and improving the mowing and cleaning quality of the lawn in the first area.

[0154] S509, determine whether the segment width of the end point of the first area is less than the first threshold; if so, execute S510, if not, execute S511.

[0155] If the width of the section on the side where the end point of the first area is away from the starting point of the first area is greater than or equal to the first threshold, it means that the lawn mower can continue to move forward at the end point and will not turn around in the first area, thereby reducing the probability of the lawn mower slipping in the first area.

[0156] If the width of the section on the side where the end point of the first area is away from the starting point of the first area is less than the first threshold, it means that the lawn mower cannot continue to move forward at the end point and needs to turn around and return to the starting point of the first area. Therefore, the U-turn operation is performed at the position where it cannot continue to move forward, thereby minimizing the possibility of slipping caused by the U-turn.

[0157] S510: Continue to control the lawn mower to move along the first mowing path in the first area, and obtain the distance from the lawn mower to the end point of the first area.

[0158] Specifically, since the lawn mower needs a certain turning distance to turn around, when it needs to turn around, it cannot reach a position less than the first threshold and then turn around, but needs to turn around before reaching the position. Moreover, turning around requires the lawn mower to turn around the rotation center of the body. Therefore, before turning around, it is necessary to obtain whether the distance from the lawn mower body to the position where the U-turn is required meets the required turning distance.

[0159] S511, determining whether the distance from the lawn mower to the end point of the first area is less than or equal to a third threshold; if so, executing S512, if not, continuing to execute S510.

[0160] Whether the distance from the lawn mower to the end point of the first area is less than or equal to a third threshold is the turning position of the lawn mower. The third threshold is twice the length of the lawn mower body in the direction of travel.

[0161] When the distance from the lawn mower to the end point of the first area reaches the third threshold, the U-turn operation is performed. If it does not reach the third threshold, the first area will not be cleaned properly, so it is necessary to at least reach the third threshold. When it exceeds the third threshold, it may be necessary to adjust the steering multiple times, increasing the risk of slipping, but it will not affect the cleaning coverage of the channel. Therefore, the steering position for the U-turn can be set at a position where the distance between the lawn mower and the end point of the first area is less than or equal to the third threshold.

[0162] S512: After the lawn mower moves along the first mowing path in the first area to a turning position, the lawn mower turns around to approach a starting point of the first area.

[0163] S513, determine whether the segment width is less than a first threshold; if so, execute S514, if not, perform a regular cleaning operation on the area.

[0164] Exemplarily, when the area width is not less than the first threshold, since the area width is not within the range between the first threshold and the second threshold, it is determined that the area width is greater than the second threshold. At this time, it can be confirmed that the area is a non-narrow channel area where the lawn mower can turn around without slipping, and the lawn mower can be controlled to perform conventional cleaning operations, such as a bow-shaped mowing route.

[0165] S514: Control the lawn mower not to enter.

[0166] Optionally, when the lawn mower does not enter, the position of the starting point of the first area can also be marked as an obstacle point, so that the lawn mower can perform an obstacle avoidance operation according to the indication of the obstacle point.

[0167] The method provided in this embodiment determines whether the body size of the lawn mower meets the passing requirements by making a real-time judgment on the section width in the first area during the movement of the lawn mower. If so, the lawn mower is controlled to move in one direction from the starting point to the end point of the first area. If not, the lawn mower only turns around once before the impassable position, thereby minimizing the slipping damage to the lawn in the first area with a smaller channel spacing due to the U-turn of the lawn mower, thereby improving the cleaning quality of the first area.

[0168] It should be noted that the implementation of the above embodiment describes the control method of the lawn mower moving in the first area. When the end of the first area is connected to other areas to be cleaned, for example, when it is connected to an area with a section width greater than the second threshold, or when it is connected to the first area after at least one area with a section width greater than the second threshold must be passed, the following control method can be used:

[0169] Figure 6 A schematic diagram of the area to be cleaned and the mowing path of the lawn mower provided in an embodiment of the present application; Figure 7 A schematic diagram of another area to be cleaned by a lawn mower and its mowing path provided in an embodiment of the present application; Figure 8 This is a flow chart of a method for controlling the cleaning of a lawn mower to be cleaned area provided in an embodiment of the present application. Figure 6 , Figure 7 and Figure 8 As shown, when the other area to be cleaned connected to the end point of the first area 401 is the second area 403 that can be cleaned conventionally, and the lawn mower is at the end point of the first area 401, the following control method is adopted:

[0170] S81: Control the lawn mower to mow along a third mowing path in the second area, and obtain a completion degree of the third mowing path.

[0171] The section width of the second area is greater than the second threshold value, that is, the lawn mower can turn around in the second area without slipping; when traveling along the third mowing path, the lawn mower is prohibited from entering the first area.

[0172] For example, the third mowing path is a bow-shaped mowing path, and the mower performs the mowing task along the bow-shaped mowing path in the second area and will not leave the second area at will during the mowing process. However, when the mowing task is about to be or has been completed in the second area, the position of the mower is no longer limited. Therefore, when mowing in the second area, it is necessary to obtain the current task completion degree of the mower in real time.

[0173] S82: Determine whether the completion degree of the third mowing path is greater than or equal to a preset completion degree; if so, execute S83; if not, continue to execute S81.

[0174] Here, the preset completion degree can be the situation that the mower has completely completed the mowing task of the second area, or it can be the situation that the mower has completed most of the mowing task of the second area. For example, when the mowing task of the second area is being executed and the bow-shaped path reaches the end of the first area before the last turn, although the task of the second area has not been completely executed, it has reached the end of the first area. It is not necessary to continue to complete the remaining tasks, but to execute the unfinished tasks in the first area. When returning from the first area, the uncleaned area can be mowed again to reduce the number of times the mower repeatedly cleans the lawn and reduce the risk of slipping during repeated cleaning. The method for judging the completion degree of the third mowing path is that when the ratio of the mowing area in the second mowing area to the total area of ​​the second mowing area is greater than the preset value, it is judged that it is greater than the preset completion degree.

[0175] S83: Control the lawn mower to enter the first area, and mow along the second mowing path in the first area.

[0176] When the lawn mower moves along the second mowing path, it is prohibited to turn around to approach the end point of the first area, that is, the second mowing path is a one-way path in the opposite direction to the first mowing path.

[0177] Optionally, the lawn mower approaches the first mowing path and the second mowing path in the first area in opposite directions, and the distance between the paths on the same section cross section is small, for example, the deviation between the two is smaller than a fourth threshold.

[0178] Exemplarily, the fourth threshold value is in the range of 0.3-0.5 m. With respect to the passable size of the lawn mower, this threshold range allows the lawn mower to be as close as possible when executing the first mowing path and the second mowing path, thereby reducing the risk of slipping of the driving wheels on both sides of the lawn mower due to different lawn heights due to the limitation of the mowing width range in the channel.

[0179] Optionally, the lawn mower also monitors the remaining power in real time during the travel process, so that the operation along the first mowing path can be cancelled when the power is low.

[0180] The remaining power controls the lawn mower to exit the first area.

[0181] For example, at the starting point of the first area, or while moving in the first area, when the lawn mower detects that the remaining power is less than the fifth threshold, the lawn mower is controlled to cancel the task of continuing to move along the first mowing path, turn around and return to the starting point of the first area and exit the first area, so that when the remaining power drops to the point where it needs to be returned for charging, it can return in time or be recycled by the user in time without being stuck in the first area.

[0182] It should be understood that the priority of controlling the lawn mower with the remaining power is higher than the priority of the lawn mower traveling along the first mowing path in the first area.

[0183] In some embodiments, the lawn mower is further provided with a communication device for receiving user instructions.

[0184] For example, when the lawn mower is performing a moving task on a first mowing path, the user needs to call the lawn mower to perform other tasks. The user can submit a call application on the user terminal so that the server corresponding to the lawn mower sends a first user instruction to the communication device of the lawn mower according to the call application. The first user instruction includes controlling the lawn mower to turn around and exit the control process of the first area.

[0185] After receiving the first user instruction, the communication device forwards it to the processor of the lawn mower, so that the processor controls the lawn mower that is executing the first mowing path to stop the current task based on the first user instruction, and executes the exit from the first area operation related to the first user instruction, that is, controls the lawn mower to turn to approach the starting point of the first area.

[0186] It should be understood that the priority of controlling the lawn mower by user instructions is higher than the priority of the lawn mower moving along the first mowing path in the first area, and is higher than the priority of controlling the lawn mower by the remaining power. However, when the remaining power is low, a low battery reminder can be sent to the user while executing the user instructions.

[0187] The present application also provides a lawn mower, which comprises:

[0188] A processor, and a memory communicatively connected to the processor;

[0189] The memory stores computer-executable instructions;

[0190] The processor executes the computer-executable instructions stored in the memory to implement a control method for a lawn mower.

[0191] 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.

[0192] In the above embodiments, it should be understood that the processor can 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 can be a microprocessor or any conventional processor. The steps of the method disclosed in the invention can be directly implemented as a hardware processor, or can be implemented by a combination of hardware and software modules in the processor.

[0193] 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.

[0194] 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.

[0195] 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.

[0196] 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.

[0197] 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.

[0198] The present application also provides a computer program product, comprising a computer program, wherein the computer program implements a control method for a lawn mower when executed by a processor.

[0199] The computer program product provided in this embodiment can execute the control method of the lawn mower in the above embodiment. Its implementation principle and technical effect are similar, and this embodiment will not be repeated here.

[0200] 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 lawn mower control method is implemented.

[0201] The computer-readable storage medium provided in this embodiment can execute the control method of the lawn mower in the above embodiment, and its implementation principle and technical effect are similar, which will not be described in detail in this embodiment.

[0202] The computer-readable storage medium mentioned above can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general or special-purpose computer.

[0203] 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.

[0204] 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.

[0205] 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 openings for users to choose to authorize or refuse.

[0206] 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 method comprises: In the case where the first area is not mowed and the lawn mower moves to the starting point of the first area, the lawn mower is controlled to move along a first mowing path in the first area from the starting point of the first area to the end point of the first area, and the lawn mower obtains a section width of the first area; the section width of the starting point of the first area is greater than or equal to a first threshold value and less than or equal to a second threshold value; when moving along the first mowing path, the lawn mower is prohibited from turning around to approach the starting point of the first area; When the segment width of the first area meets the first condition of the end point of the first area, the lawn mower is controlled to pass through the end point of the first area and complete the first mowing path; the first condition of the end point of the first area is that the segment width of the end point of the first area is greater than or equal to a first threshold and less than or equal to a second threshold, and the segment width of the end point of the first area on the side away from the starting point of the first area is greater than the second threshold.

2. The method according to claim 1, characterized in that: The value range of the first threshold is 0.6m-0.9m, and the value range of the second threshold is 1m-1.6m.

3. The method according to claim 1, characterized in that The lawn mower comprises a chassis, a body and driving wheels, wherein the driving wheels are connected to the chassis, and the body is connected to the chassis; the first threshold is β·d(0.5 / cosα+1), and the second threshold is 2β·d(0.5 / cosα+1), wherein the value range of β is 0.85-1.15, and defines that the chassis of the lawn mower extends along a first plane, and in the projection of the lawn mower on the first plane, d is the maximum width of the body in the direction of the line connecting the driving wheels, and α is the angle between the line connecting the two driving wheels of the lawn mower and the line connecting the steering center of the lawn mower to the farthest end of the body.

4. The method according to claim 1, characterized in that The lawn mower includes a body, and the first condition further includes: A distance from a starting point of the first area to an end point of the first area is greater than twice a length of a body of the lawn mower in a traveling direction.

5. The method according to claim 1, characterized in that The method further comprises: In the case where the segment width of the end point of the first area satisfies the second condition of the end point of the first area, the first area includes a turning position, and the distance between the turning position and the end point of the first area is less than or equal to a third threshold value. When the lawn mower mows along the first mowing path, the length direction of the first area and the segment width direction of the first area are perpendicular. In the length direction of the first area, when the lawn mower is located between the starting point of the first area and the turning position, the lawn mower is prohibited from turning around to approach the starting point of the first area. When the lawn mower is located between the turning position and the end point of the first area, the lawn mower turns around or retreats to approach the starting point of the first area. The second condition of the end point of the first area is that the segment width of the end point of the first area is less than the first threshold value.

6. The method according to claim 5, characterized in that The third threshold is twice the body length of the lawn mower in the traveling direction of the lawn mower.

7. The method according to claim 5, characterized in that The method further comprises: When the segment width of the starting point of the first area is smaller than a first threshold, the lawn mower is controlled not to enter, and the position of the starting point of the first area is marked as an obstacle point, and the obstacle point is used to indicate the position where the lawn mower performs obstacle avoidance processing.

8. The method according to claim 1, characterized in that: The method further comprises: When the lawn mower passes the end point of the first area and enters the second area, the lawn mower is controlled to mow along a third mowing path within the second area; the segment width of the second area is greater than or equal to the second threshold; when traveling along the third mowing path, the lawn mower is prohibited from entering the first area.

9. The method according to claim 8, characterized in that The method further comprises: When the lawn mower mows along a third mowing path, obtaining a degree of completion of the third mowing path; When the degree of completion of the third mowing path is greater than or equal to a preset degree of completion, the lawn mower is controlled to enter the first area and mow along the second mowing path in the first area; when moving along the second mowing path, the lawn mower is prohibited from turning around to approach the end point of the first area.

10. The method according to claim 9, characterized in that The method comprises: When the mowing task of the second area is completed according to the third mowing path, controlling the lawn mower to enter the first area; Alternatively, when the mowing task in the second area is being performed and the third mowing path reaches the end point of the first area before the last turn, the lawn mower is controlled to enter the first area.

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