Edge driving control method and device and mowing robot

Abstract

The invention provides an edgewise driving control method and device and a mowing robot, the edgewise driving control method is applied to the mowing robot, and the edgewise driving control method comprises the steps that edge information of the mowing robot in the advancing direction is acquired; analyzing the edge information to determine an edge type and an edge contour shape included in the edge information; based on the edge type and the edge contour shape, a driving path of the mowing robot when the mowing robot travels to the position close to the corresponding edge is determined, and the driving paths determined based on different edge types and / or different edge contour shapes are different; when the mowing robot advances to be close to the corresponding edge, the mowing robot is controlled to advance along the driving path. Therefore, aiming at different edges, a better driving path adaptive to the edges can be generated, so that the mowing effect is improved.

Description

Edge-traveling control method, device, and lawn mowing robot Technical Field

[0001] The present application relates to the technical field of lawn mowing robots, and in particular to a lawn mowing robot and a lawn mowing control method and device. Background Art

[0002] With the development of intelligent robotics, automated lawn mowers have become an important intelligent application. However, existing lawn mowers often employ the same mowing strategy for specific scenarios. For example, when encountering obstacles, existing lawn mowers employ the same avoidance method for all obstacles, resulting in suboptimal mowing performance.

[0003] Summary of the Invention

[0004] To this end, the present application provides a method and device for controlling edge driving and a lawn mowing robot to solve the above technical problems.

[0005] A first aspect of the present application provides a method for controlling edge travel, which is applied to a lawn mowing robot. The method comprises:

[0006] Acquire edge information in the moving direction of the lawn mowing robot;

[0007] Analyzing the edge information to determine the edge type and edge contour shape contained in the edge information;

[0008] determining, based on the edge type and the edge contour shape, a driving path of the mowing robot when it approaches a corresponding edge, wherein the driving paths determined based on different edge types and / or different edge contour shapes are different;

[0009] When the lawn mowing robot moves close to the corresponding edge, the lawn mowing robot is controlled to move along the driving path.

[0010] A second aspect of the present application provides a border control device, the border control device comprising:

[0011] An acquisition module, used to obtain edge information in the moving direction of the mowing robot;

[0012] An analysis module, configured to analyze the edge information to determine an edge type and an edge contour shape contained in the edge information;

[0013] a determining module, configured to determine, based on the edge type and the edge contour shape, a driving path of the mowing robot when it approaches a corresponding edge, wherein the driving paths determined based on different edge types and / or different edge contour shapes are different;

[0014] The control module is configured to control the lawn mower robot to move along the driving path when the lawn mower robot moves close to the corresponding edge.

[0015] A third aspect of the present application provides a lawn mowing robot, the lawn mowing robot comprising a controller, and a camera and / or a radar;

[0016] The camera and the radar are used to obtain edge information in the direction of travel of the lawn mowing robot;

[0017] The controller is used to analyze the edge information to determine the edge type and edge contour shape contained in the edge information, determine a driving path of the lawn mower robot when it moves close to the corresponding edge based on the edge type and the edge contour shape, and control the lawn mower robot to move along the driving path when the lawn mower robot moves close to the corresponding edge, wherein the driving paths determined based on different edge types and / or different edge contour shapes are different.

[0018] A fourth aspect of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and the computer program is called by a processor to execute the aforementioned edge driving control method.

[0019] In the present application, first, edge information in the direction of travel of the lawn mower robot is obtained, and then the edge information is analyzed to determine the edge type and edge contour shape contained in the edge information, and then based on the edge type and the edge contour shape, the driving path of the lawn mower robot when it moves close to the corresponding edge is determined, wherein the driving paths determined based on different edge types and / or different edge contour shapes are different, so that a more optimal driving path adapted to the edge can be generated for different edges, and when the lawn mower robot moves close to the corresponding edge, the lawn mower robot is controlled to move along the driving path to improve the mowing effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solution of the present application, the following is a brief introduction to the drawings required for use in the implementation. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0021] FIG1 is a flow chart of a method for controlling edge travel provided by some embodiments of the present application;

[0022] FIG2 is a schematic diagram of a robot lawn mower according to some embodiments of the present application, wherein the robot lawn mower is pressed against the edge of a planar entity;

[0023] FIG3 is a schematic diagram of a body edge of a lawn mowing robot close to a sunken edge along a sunken edge provided by some embodiments of the present application;

[0024] FIG4 is a schematic diagram showing a first preset distance between an edge of a robot body on a concave-convex facade edge and a recess in the concave-convex facade edge, provided by some embodiments of the present application;

[0025] FIG5 is a schematic diagram of a lawn mowing robot provided by some embodiments of the present application, wherein the edge of the robot body close to the flat facade is spaced a second preset distance from the edge of the flat facade;

[0026] 6a to 6e are schematic diagrams of the movement of the lawn mowing robot when the turning angle is between 0° and 135°, provided by some embodiments of the present application;

[0027] 7a to 7e are schematic diagrams of the movement of the lawn mowing robot when the turning angle is between 225° and 360°, provided by some embodiments of the present application;

[0028] FIG8 is a structural block diagram of an edge control device provided in some embodiments of the present application;

[0029] FIG9 is a structural block diagram of a lawn mowing robot provided in some embodiments of the present application. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0031] In this application, for the sake of simplicity, each method embodiment is expressed as a series of action combinations. However, those skilled in the art should know that this application is not limited to the order of the actions described, and some steps can be performed in other orders or simultaneously.

[0032] The present application provides a method for controlling edge travel, which can be applied to a lawn mowing robot. The lawn mowing robot is a robot that can automatically complete lawn mowing tasks. It is usually equipped with a lawn mowing tool and a sensor, and can perform lawn mowing operations within a set map area, wherein the map area is enclosed by a series of edges, and the series of edges include but are not limited to any one of a planar solid edge, a sunken edge, a concave-convex facade edge, a flat facade edge, and a planar virtual edge. When the lawn mowing robot starts working, it will automatically move according to preset instructions and use the lawn mowing tool to mow the grass. At the same time, the lawn mowing robot will also sense surrounding obstacles based on feedback from the sensor to avoid collisions or being trapped. The lawn mowing robot can greatly reduce people's labor intensity and improve work efficiency.

[0033] Please refer to FIG1 , which is a flow chart of a method for controlling edge driving provided in some embodiments of the present application.

[0034] As shown in FIG1 , the edge driving control method includes:

[0035] S101: Acquire edge information in the moving direction of the lawn mowing robot.

[0036] S102: Analyze the edge information to determine the edge type and edge contour shape contained in the edge information.

[0037] S103: Determine a driving path of the mowing robot when it moves close to a corresponding edge based on the edge type and the edge contour shape, wherein the driving paths determined based on different edge types and / or different edge contour shapes are different.

[0038] S104: When the lawn mower robot moves close to the corresponding edge, control the lawn mower robot to move along the driving path.

[0039] In the present application, first, edge information in the direction of travel of the lawn mower robot is obtained, and secondly, the edge information is analyzed to determine the edge type and edge contour shape contained in the edge information, and then based on the edge type and the edge contour shape, the driving path of the lawn mower robot when it moves close to the corresponding edge is determined, wherein the driving paths determined based on different edge types and / or different edge contour shapes are different, so that a more optimal driving path adapted to the edge can be generated for different edges, and when the lawn mower robot moves close to the corresponding edge, the lawn mower robot is controlled to move along the driving path to improve the mowing effect.

[0040] In some embodiments, edge information in the moving direction of the mowing robot may be acquired by a camera and / or a radar, where the edge information includes edge type and edge contour shape.

[0041] In some embodiments, the edge type includes any one of a planar solid edge, a sunken edge, a concave-convex facade edge, a flat facade edge, and a planar virtual edge.

[0042] The edge of the planar entity can refer to the boundary line / surface between the planar entity and the lawn. The planar entity itself can be a plane or a surface with a certain inclination. The height difference between the planar entity and the lawn at the boundary line should be less than a preset height difference to prevent the lawn mower robot from tipping over when one of its wheels is on the lawn and the other is on the planar entity. In some embodiments, the preset height difference is 0 to 2 cm. In other embodiments, the preset height difference can also be another range of values, which can be determined based on the tire height and center of gravity position of the lawn mower robot, and is not limited here. The planar entity can be, but is not limited to, a road. The road material can be, but is not limited to, wooden roads, stone roads, asphalt roads, cement roads, plastic roads, and dirt roads.

[0043] The sunken edge may refer to a boundary line / surface between the sunken body and the lawn, where the height of the sunken body is lower than the height of the lawn. The sunken body may be, but is not limited to, a road or a stream.

[0044] The edge of the concave-convex facade may refer to the boundary line / surface between the concave-convex facade and the lawn. In some embodiments, the concave-convex facade includes the vertical surface of shrubs or trees. In other embodiments, the concave-convex facade may also include some uneven building facades or some uneven non-building facades.

[0045] The flat facade edge may refer to the boundary line / surface between the flat facade and the lawn. The flat facade refers to a flat surface that is vertical or oblique relative to the driving plane of the lawn mower robot. In some embodiments, the flat facade includes a flower bed facade. In other embodiments, the flat facade may also be other flat building facades or other flat non-building facades.

[0046] The plane virtual edge may refer to an artificially set edge line / surface of the area where the mowing robot works.

[0047] Among them, the dividing line / surface between the road and the lawn can be any one of a plane entity edge, a sunken edge, a concave-convex facade edge and a flat facade edge. Specifically, when the height difference between the road and the lawn at the dividing line between the road and the lawn should be less than the preset height difference, the dividing line between the road and the lawn is a plane entity edge; when the height of the road at the dividing line between the road and the lawn is lower than the lawn, the dividing line between the road and the lawn is a sunken edge; when the height of the road at the dividing line between the road and the lawn is higher than the lawn, and the dividing interface is uneven, the dividing interface between the road and the lawn is a concave-convex facade edge; when the height of the road at the dividing line between the road and the lawn is higher than the lawn, and the dividing interface is flat, the dividing interface between the road and the lawn is a flat facade edge.

[0048] In some embodiments, the edge profile is smooth or angled. A smooth profile refers to a line or surface with an angle between 135° and 225°. An angled profile refers to a line or surface with an angle between 0° and 135°, or an angle between 225° and 360°. The angle can be sharp or rounded.

[0049] Among them, the edge type can be determined by at least one of the contour shape, color, material and texture. Since the camera can take pictures or videos, each element in the picture or video can be extracted and compared with the pre-stored correspondence between the element and the edge type to determine the edge type. Since the radar can send a pulse signal, and the sent pulse signal can intersect with multiple objects and return to the radar, the radar data such as the position of the object, the distance between the object and the radar, and the azimuth relationship can be calculated based on the return time and amplitude of the pulse signal, and then the radar data is converted into point cloud data (that is, composed of a series of three-dimensional points), and the edge contour shape is fitted by the corresponding algorithm. In other embodiments, the edge information can also be obtained by other sensors.

[0050] Among them, whether the mowing robot has moved close to the corresponding edge can be determined by a pre-established map and the positioning of the mowing robot. It should be noted that when the mowing robot is used for the first time, it will be placed in the area where mowing is required and obtain information about the surrounding environment through sensors. Then, it will build a map based on this information, including obstacles, grass boundaries, etc. During the map building process, the mowing robot will record its own position and save the map in the internal memory. Once the map is built, the mowing robot can plan the path according to the map and perform mowing operations. During the mowing process, the mowing robot will avoid obstacles and mow effectively based on the obstacles and grass boundaries on the map.

[0051] Please refer to FIG. 2 , which is a schematic diagram showing a body of a lawn mowing robot provided by some embodiments of the present application being pressed against the edge of a planar entity.

[0052] As shown in Figure 2, in some embodiments, the driving path of the lawn mower robot when it moves close to the corresponding edge is determined based on the edge type and the edge contour shape, including: when the edge type is a planar entity edge and the edge contour shape is a smooth shape, determining that when the lawn mower robot moves close to the planar entity edge, the driving path is to make the body of the lawn mower robot press on the planar entity edge.

[0053] Therefore, cutting under such a driving path can completely cut the grass at the boundary.

[0054] Please refer to FIG3 , which is a schematic diagram of a body edge of a lawn mowing robot provided by some embodiments of the present application, close to the sunken edge, along the sunken edge.

[0055] As shown in Figure 3, in some embodiments, the driving path of the lawn mower robot when it moves close to the corresponding edge is determined based on the edge type and the edge contour shape, including: when the edge type is a sinking edge and the edge contour shape is a smooth shape, it is determined that when the lawn mower robot moves close to the sinking edge, the driving path is to make the lawn mower robot move along the sinking edge close to the edge of the body on the side of the sinking edge.

[0056] Since the blade of the lawn mower robot extends from one side edge of the body of the lawn mower robot to the other side edge of the opposite body, when it is determined that the lawn mower robot is moving close to the sunken edge, the driving path is to make the lawn mower robot move along the sunken edge close to the body edge of the sunken edge, so that the grass at the sunken edge can be cut as much as possible within the allowable driving range.

[0057] Please refer to FIG4 , which is a schematic diagram showing that a first preset distance is separated from a body edge of a lawn mowing robot close to a concave-convex facade edge by a concave-convex facade edge according to some embodiments of the present application.

[0058] As shown in Figure 4, in some embodiments, the determining of the driving path of the lawn mower robot when it approaches the corresponding edge based on the edge type and the edge contour shape includes: when the edge type is a concave-convex facade edge and the edge contour shape is a smooth shape, determining that the lawn mower robot is moving close to the concave-convex facade edge, the driving path is to move the lawn mower robot close to the body edge of the concave-convex facade edge side and the recess in the concave-convex facade edge by a first preset distance.

[0059] In some embodiments, the first preset distance is 13 to 17 cm. The driving path is such that the robot mower moves with the edge of its body proximate to the concave-convex facade edge at a first preset distance from the concave-convex facade edge, thereby preventing the robot mower from colliding with the concave-convex facade edge and thereby damaging the robot mower and the concave-convex facade edge. The first preset distance is 13 to 17 cm, which allows the robot mower to maintain a sufficiently safe distance from the concave-convex facade edge while also cutting grass as close to the concave-convex facade edge as possible.

[0060] Please refer to FIG5 , which is a schematic diagram showing that the edge of the robot lawn mower body close to the flat vertical surface is spaced a second preset distance from the flat vertical surface edge provided by some embodiments of the present application.

[0061] In some embodiments, as shown in Figure 5, the driving path of the lawn mower robot when it moves close to the corresponding edge is determined based on the edge type and the edge contour shape, including: when the edge type is a flat vertical surface edge and the edge contour shape is smooth, it is determined that the lawn mower robot moves close to the flat vertical surface, and the driving path is to make the edge of the body of the lawn mower robot close to the flat vertical surface side move at a second preset distance from the flat vertical surface edge, wherein the second preset distance is smaller than the first preset distance.

[0062] Since the edge contour of the concave-convex facade determined by the lawn mower robot through the algorithm is difficult to be completely identical to the edge contour of the actual concave-convex facade, while the edge of the flat facade determined by the lawn mower robot through the algorithm is relatively easy to be identical to the edge contour of the actual concave-convex facade, in order to avoid damaging the lawn mower robot and the concave-convex facade, the second preset distance is made smaller than the first preset distance.

[0063] In some embodiments, the first preset distance is 13 to 17 cm, and the second preset distance is 6 to 10 cm. At these distances, the mowing robot can better maintain a sufficient safety distance from the edge of the concave-convex facade, while also cutting grass as close to the edge as possible.

[0064] In some embodiments, the driving path of the lawn mower robot when it moves close to the corresponding edge is determined based on the edge type and the edge contour shape, including: when the edge type is a planar virtual edge and the edge contour shape is a smooth shape, when it is determined that the lawn mower robot is close to the planar virtual edge, the driving path is to make the body edge of the lawn mower robot close to the planar virtual edge side move along the planar virtual edge.

[0065] Among them, the plane virtual edge refers to the edge line / surface of the area where the lawn mower robot works, which is set manually. By moving the edge of the body of the lawn mower robot close to the plane virtual edge side along the plane virtual edge, the lawn mower robot can cut as much grass as possible in the area that needs to be mowed that is set manually.

[0066] In some embodiments, the determining of the driving path of the lawn mower robot when it moves close to the corresponding edge based on the edge type and the edge contour shape includes: when the edge contour shape is a corner shape, determining the driving path of the lawn mower robot when it moves close to the corresponding edge based on the angle of the corner and the types of the first edge and the second edge that constitute the corner.

[0067] Therefore, when the edge contour shape is a corner shape, a better driving path can be generated in a targeted manner to achieve a better mowing effect.

[0068] Please refer to Figures 6a-6e and Figures 7a-7e. Figures 6a-6e are schematic diagrams of the movement of the lawn mower robot when the turning angle provided in some embodiments of the present application is between 0° and 135°; Figures 7a-7e are schematic diagrams of the movement of the lawn mower robot when the turning angle provided in some embodiments of the present application is between 225° and 360°.

[0069] In some embodiments, the driving path of the lawn mower robot when it moves close to the corresponding edge is determined based on the angle of the corner and the types of the first edge and the second edge that constitute the corner, including: as shown in Figures 6a-6e, when the angle of the corner is between 0° and 135°, the lawn mower robot moves from the first edge toward the second edge, and the driving path of the lawn mower robot when it moves close to the corresponding edge is determined to be moving along the driving path corresponding to the edge type of the first edge to the second edge, then retreating a third preset distance to the first starting point, moving along the first RS curve to the second edge, and retreating along the driving path corresponding to the edge type of the second edge to the first edge and then moving forward, wherein the first RS curve is determined based on the first starting point, the edge type of the second edge and the position of the corner.

[0070] In some embodiments, the third preset distance is 0.5 m, and the first RS curve is a curve that starts at the first starting point and ends at a position 0.5 m away from the corner along the second edge and spaced a corresponding distance from the second edge determined based on the edge type of the second edge, and does not intersect the first edge, the second edge, or the corner. In other embodiments, the third preset distance can also be other values, and the distance between the end point of the first RS curve and the corner can also be other values.

[0071] As shown in Figures 7a-7e, when the angle of the corner is between 225° and 360°, the lawn mower robot moves from the first edge toward the second edge. The driving path of the lawn mower robot when it approaches the corresponding edge is determined to be: after moving along the driving path corresponding to the edge type of the first edge, passing the vertex of the corner, retreating a fourth preset distance to the second starting point, moving along a second RS curve to the second edge, retreating a first distance along the driving path corresponding to the edge type of the second edge, and then advancing. The second RS curve is determined based on the second starting point, the edge type of the second edge, and the position of the corner.

[0072] The first distance may be a preset distance, or a distance determined by the mowing robot based on the position of the first edge.

[0073] In some embodiments, the fourth preset distance is 0.5 m, and the second RS curve is a curve that starts at the second starting point and ends at a position 0.5 m away from the corner along the second edge and spaced a corresponding distance from the second edge determined based on the edge type of the second edge, and does not intersect the first edge, the second edge, or the corner. In other embodiments, the fourth preset distance can also be other values, and the distance between the end point of the second RS curve and the corner can also be other values.

[0074] Therefore, when the angle of the corner is between 0° and 135°, and when the angle of the corner is between 0° and 135°, the grass near the corner can be cut as much as possible.

[0075] Please refer to FIG8 , which is a structural block diagram of an edge control device provided in some embodiments of the present application.

[0076] As shown in FIG8 , in some embodiments, the edge control device 100 includes an acquisition module 10, an analysis module 11, a determination module 12, and a control module 13. The acquisition module 10 is used to acquire edge information in the direction of travel of the lawn mower robot. The analysis module 11 is used to analyze the edge information to determine the edge type and edge contour shape contained in the edge information. The determination module 12 determines the driving path of the lawn mower robot when it approaches the corresponding edge based on the edge type and the edge contour shape, wherein the driving paths determined based on different edge types are different. The control module 13 is used to control the lawn mower robot to move along the driving path when the lawn mower robot approaches the corresponding edge.

[0077] In the present application, first, the acquisition module 10 is used to acquire edge information in the direction of travel of the lawn mower robot, and secondly, the analysis module 11 is used to analyze the edge information to determine the edge type and edge contour shape contained in the edge information, and then the determination module 12 determines the driving path of the lawn mower robot when it moves close to the corresponding edge based on the edge type and the edge contour shape, wherein the driving paths determined by the determination module 12 based on different edge types and / or different edge contour shapes are different, thereby generating a more optimal driving path adapted to different edges, and when the lawn mower robot moves close to the corresponding edge, the control module 13 controls the lawn mower robot to move along the driving path to improve the mowing effect.

[0078] Please refer to FIG9 , which is a structural block diagram of a lawn mowing robot provided in some embodiments of the present application.

[0079] As shown in FIG9 , in some embodiments, a lawn mower robot 200 includes a controller 20, a camera 21, and a radar 22. The camera 21 and / or the radar 22 are configured to obtain edge information in the direction of travel of the lawn mower robot 200. The controller 20 is configured to analyze the edge information to determine the edge type and edge contour shape contained in the edge information, determine a driving path for the lawn mower robot 200 when it approaches a corresponding edge based on the edge type and edge contour shape, and control the lawn mower robot 200 to travel along the driving path when the lawn mower robot 200 approaches the corresponding edge, wherein the driving paths determined based on different edge types are different.

[0080] In the present application, first, the camera 21 and / or the radar 22 are used to obtain edge information in the moving direction of the lawn mower robot 200, and secondly, the controller 20 is used to analyze the edge information to determine the edge type and edge contour shape contained in the edge information, and then based on the edge type and the edge contour shape, determine the driving path of the lawn mower robot when it moves close to the corresponding edge, wherein the driving paths determined based on different edge types and / or different edge contour shapes are different, so that a more optimal driving path adapted to the edge can be generated for different edges, and when the lawn mower robot moves close to the corresponding edge, the lawn mower robot is controlled to move along the driving path to improve the mowing effect.

[0081] The controller 20 may be, for example, a central processing unit (CPU), a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof.

[0082] An embodiment of the present application also provides a computer-readable storage medium, in which a computer program is stored. The computer program is called and executed by a processor to implement the edge driving control method provided in any of the aforementioned embodiments.

[0083] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable memory, which may include: a flash drive, a read-only memory, a random access memory, a magnetic disk or an optical disk, etc.

[0084] The above is an implementation method of the embodiment of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the embodiment of the present application. These improvements and modifications are also considered to be within the scope of protection of the present application.

Claims

1. A control method for driving along the edge, applied to a lawn mowing robot, characterized in that: The edge travel control method comprises: Acquire edge information in the moving direction of the lawn mowing robot; Analyzing the edge information to determine the edge type and edge contour shape contained in the edge information; Based on the edge type and the edge contour shape, determining a driving path of the lawn mowing robot when it moves close to the corresponding edge, wherein the driving paths determined based on different edge types and / or different edge contour shapes are different; When the lawn mowing robot moves close to the corresponding edge, the lawn mowing robot is controlled to move along the driving path.

2. The method for controlling edge travel according to claim 1, characterized in that: The edge type includes any one of a plane solid edge, a sunken edge, a concave-convex facade edge, a flat facade edge, and a plane virtual edge.

3. The method for controlling edge travel according to claim 2, characterized in that: The edge contour shape is a smooth shape or an angle shape.

4. The method for controlling edge travel according to claim 3, characterized in that: The step of determining a driving path of the lawn mowing robot when the lawn mowing robot moves close to the corresponding edge based on the edge type and the edge contour shape comprises: When the edge type is a planar entity edge and the edge contour shape is a smooth shape, it is determined that when the lawn mower robot moves close to the planar entity edge, the driving path is to make the body of the lawn mower robot press on the planar entity edge.

5. The method for controlling edge travel according to claim 3, characterized in that: The step of determining a driving path of the lawn mowing robot when the lawn mowing robot moves close to the corresponding edge based on the edge type and the edge contour shape comprises: When the edge type is a sinking edge and the edge contour shape is a smooth shape, when it is determined that the lawn mower robot moves close to the sinking edge, the driving path is to make the lawn mower robot move along the sinking edge close to the body edge of the sinking edge.

6. The method for controlling edge travel according to claim 3, characterized in that: The step of determining a driving path of the lawn mowing robot when the lawn mowing robot moves close to the corresponding edge based on the edge type and the edge contour shape comprises: When the edge type is a concave-convex facade edge and the edge contour shape is a smooth shape, when it is determined that the lawn mower robot is moving close to the concave-convex facade edge, the driving path is to move the lawn mower robot close to the body edge of the concave-convex facade edge and the depression in the concave-convex facade edge by a first preset distance.

7. The method for controlling edge travel according to claim 6, characterized in that: The step of determining a driving path of the lawn mowing robot when the lawn mowing robot moves close to the corresponding edge based on the edge type and the edge contour shape comprises: When the edge type is a flat facade edge and the edge contour shape is a smooth shape, when it is determined that the lawn mower robot moves close to the flat facade, the driving path is to move the body edge of the lawn mower robot close to the flat facade side at a second preset distance from the flat facade edge, wherein the second preset distance is smaller than the first preset distance.

8. The method for controlling edge travel according to claim 2, characterized in that: The step of determining a driving path of the lawn mowing robot when the lawn mowing robot moves close to the corresponding edge based on the edge type and the edge contour shape comprises: When the edge type is a planar virtual edge and the edge contour shape is a smooth shape, when it is determined that the lawn mowing robot is close to the planar virtual edge, the driving path is to make the body edge of the lawn mowing robot close to the planar virtual edge side move along the planar virtual edge.

9. The method for controlling edge travel according to claim 2, characterized in that: The step of determining a driving path of the lawn mowing robot when the lawn mowing robot moves close to the corresponding edge based on the edge type and the edge contour shape comprises: When the edge contour shape is a corner shape, the driving path of the mowing robot when it moves close to the corresponding edge is determined based on the angle of the corner and the types of the first edge and the second edge constituting the corner.

10. The method for controlling edge travel according to claim 9, characterized in that: The determining, based on the angle of the corner and the types of the first edge and the second edge constituting the corner, a driving path of the lawn mowing robot when it moves close to the corresponding edge comprises: When the angle of the turning corner is between 0° and 135°, when the mowing robot moves from the first edge toward the second edge, it is determined that the driving path of the mowing robot when it moves close to the corresponding edge is to move to the second edge along the driving path corresponding to the edge type of the first edge, then retreat a third preset distance to the first starting point, move to the second edge along the first RS curve, retreat to the first edge along the driving path corresponding to the edge type of the second edge, and then advance, wherein the first RS curve is determined based on the first starting point, the edge type of the second edge, and the position of the turning corner; When the angle of the corner is between 225° and 360°, the lawn mower robot moves from the first edge toward the second edge, and it is determined that the driving path of the lawn mower robot when it moves close to the corresponding edge is to move along the driving path corresponding to the edge type of the first edge, cross the vertex of the corner, retreat a fourth preset distance to the second starting point, move to the second edge along the second RS curve, retreat a first distance along the driving path corresponding to the edge type of the second edge, and then move forward, wherein the second RS curve is determined based on the second starting point, the edge type of the second edge and the position of the corner.

11. An edge control device, characterized in that: The edge control device comprises: An acquisition module, used for acquiring edge information in the moving direction of the lawn mowing robot; An analysis module, used for analyzing the edge information to determine the edge type and edge contour shape contained in the edge information; a determination module, which determines, based on the edge type and the edge contour shape, a driving path of the lawn mowing robot when it moves close to the corresponding edge, wherein the driving paths determined based on different edge types are different; The control module is used to control the lawn mower robot to move along the driving path when the lawn mower robot moves close to the corresponding edge.

12. A lawn mowing robot, characterized in that: include: controller, and cameras and / or radar; The camera and the radar are used to obtain edge information in the moving direction of the lawn mowing robot; The controller is used to analyze the edge information to determine the edge type and edge contour shape contained in the edge information, determine the driving path of the lawn mower robot when it moves close to the corresponding edge based on the edge type and the edge contour shape, and control the lawn mower robot to move along the driving path when the lawn mower robot moves close to the corresponding edge, wherein the driving paths determined based on different edge types are different.

13. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and the computer program is called by a processor to execute the edge driving control method described in any one of claims 1-10.

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