Mowing control method and device, mower and storage medium

Abstract

The invention is suitable for the technical field of intelligent mowing machines, and particularly relates to a mowing control method and device, a mowing machine and a storage medium. The control method is applied to the mower and comprises the following steps: acquiring surrounding environment image information of the mower; if the surrounding environment image information comprises grassland boundary image information, determining a grassland local boundary according to the grassland boundary image information; in the mapping process, the mower is controlled to run along the local boundary of the grassland, so that compared with the prior art, the initial boundary of the grassland does not need to be acquired, the local boundary of the grassland is determined only from the surrounding environment image acquired by the mower, and the mower is controlled to run along the local boundary of the grassland for mapping; therefore, the risk that the mower collides with the obstacle is avoided, the accuracy of identifying the grassland boundary by the mower is improved, the accuracy of mowing along the edge of the mower is improved, and the mowing working efficiency of the mower is improved.

Description

Technical Field

[0001] The present application relates to the technical field of intelligent lawn mowers, and in particular to a lawn mowing control method, device, lawn mower and storage medium. Background Art

[0002] The intelligent lawn mower (hereinafter referred to as "lawn mower") can independently complete the task of mowing the lawn, and has low power consumption, low noise, exquisite and beautiful appearance, which effectively improves the mowing efficiency and saves human resources.

[0003] In the prior art, the initial boundary of the lawn is obtained by pre-embedding boundary lines in the lawn or by using electronic maps such as Baidu Maps and Google Maps, and the lawn mower is controlled to drive along the initial boundary during the mapping process. This method easily causes the lawn mower to collide with obstacles or cross the actual boundary during the driving along the edge. To avoid the above situation, the lawn mower needs to be controlled to keep a large distance from the initial boundary during the driving along the edge, but this will result in inaccurate identification of the measured boundary, reducing the accuracy of the lawn mower mowing along the edge.

[0004] That is to say, the prior art has the problem that the lawn boundary recognized by the lawn mower is inaccurate, which reduces the accuracy of the lawn mower in mowing along the edge and reduces the working efficiency. Summary of the invention

[0005] The embodiments of the present application provide a mowing control method, device, lawn mower and storage medium, which solve the problem that the lawn boundary recognition of the lawn mower is inaccurate, which reduces the accuracy of the lawn mower mowing along the edge and reduces the work efficiency.

[0006] In a first aspect, an embodiment of the present application provides a mowing control method, which is applied to a lawn mower, and the method comprises:

[0007] Acquiring image information of the surrounding environment of the lawn mower;

[0008] If the surrounding environment image information includes grassland boundary image information, determining a local grassland boundary according to the grassland boundary image information;

[0009] During the mapping process, the lawn mower is controlled to travel along the local boundary of the grassland.

[0010] In one embodiment, the lawn mower includes a boundary recognition sensor;

[0011] The step of obtaining the image information of the surrounding environment of the lawn mower comprises:

[0012] Obtaining a recognition result of the boundary recognition sensor;

[0013] Determine surrounding environment image information according to the recognition result;

[0014] Wherein, the boundary recognition sensor is disposed at any one of the left side, the right side, the front left side, or the front right side of the lawn mower, and the boundary recognition sensor includes at least one of a multispectral sensor, a full-color camera, or a depth recognition sensor.

[0015] In one embodiment, controlling the lawn mower to travel along the local boundary of the lawn includes:

[0016] Controlling one side of the lawn mower to travel along a route that maintains a preset distance range from the local boundary of the lawn.

[0017] In one embodiment, the preset distance includes a first preset distance and a second preset distance;

[0018] Controlling one side of the lawn mower to travel along a route that maintains a preset distance range from the local boundary of the lawn includes:

[0019] If the difference between the height within a preset detection distance outside the local boundary of the lawn and the height of the local boundary of the lawn is less than or equal to a preset height threshold, controlling one side of the lawn mower to travel along a route that maintains the first preset distance range from the local boundary of the lawn;

[0020] If the difference between the height within a preset detection distance outside the local boundary of the lawn and the height of the local boundary of the lawn is greater than the preset height threshold, controlling one side of the lawn mower to travel along a route that maintains the second preset distance range from the local boundary of the lawn;

[0021] Wherein, the absolute value of the first preset distance is less than the absolute value of the second preset distance.

[0022] In one embodiment, controlling the lawn mower to travel along the local boundary of the lawn includes:

[0023] Controlling the lawn mower to start traveling along the local boundary of the lawn from a first position point, wherein the first position point is the position point with the minimum distance between the local boundary of the lawn and the lawn mower, or any position point on the local boundary of the lawn;

[0024] When the lawn mower reaches a second position point, stop controlling the lawn mower to travel along the local boundary of the lawn; wherein the second position point is the first position point that the lawn mower reaches again, or the second position point is the position point that the lawn mower reaches after traveling a preset distance or a preset time from the first position point.

[0025] In one embodiment, the method further includes:

[0026] During the map building process, based on one or more of the local grassland boundaries determined by the lawn mower during its travel, a total grassland boundary is determined, where the total grassland boundary is a set of each of the local grassland boundaries.

[0027] In one embodiment, the method further includes: during the zigzag mowing process, controlling the lawn mower to perform zigzag mowing work;

[0028] The controlling the lawn mower to perform zigzag mowing work during the zigzag mowing process includes:

[0029] Controlling the lawn mower to start zigzag mowing work along a preset mowing row from a third position point, where the third position point is the corner point on the total grassland boundary with the smallest distance from the lawn mower, or the third position point is the position point on the total grassland boundary with the smallest distance from the lawn mower, or the third position point is a random position point within the total grassland boundary and its internal area, or the third position point is the position point where the lawn mower is located.

[0030] In one embodiment, the controlling the lawn mower to perform zigzag mowing work during the zigzag mowing process further includes:

[0031] If the surrounding environment image information includes obstacle image information, determining an obstacle boundary according to the obstacle image information;

[0032] Updating the total grassland boundary according to the determined obstacle boundary, where the updated total grassland boundary includes the obstacle boundary and the total grassland boundary before the update.

[0033] In one embodiment, the controlling the lawn mower to perform zigzag mowing work during the zigzag mowing process further includes:

[0034] During the process of the lawn mower performing zigzag mowing work along the preset mowing row, if the lawn mower first reaches the obstacle boundary, stop controlling the lawn mower to perform zigzag mowing work along the preset mowing row, and control the lawn mower to travel along the obstacle boundary starting from a fourth position point, where the fourth position point is the position point where the lawn mower is located when it first reaches the obstacle boundary during the process of performing zigzag mowing work along the preset mowing row.

[0035] In one embodiment, after the controlling the lawn mower to travel along the obstacle boundary starting from the fourth position point, the method further includes:

[0036] When the lawn mower reaches the fourth position point again, stop controlling the lawn mower to travel along the obstacle boundary, and control the lawn mower to restart the zigzag mowing operation along the preset mowing row starting from the fourth position point.

[0037] In one embodiment, after controlling the lawn mower to travel along the obstacle boundary starting from the fourth position point, it further includes:

[0038] When the lawn mower reaches the fifth position point, stop controlling the lawn mower to travel along the obstacle boundary, and control the lawn mower to restart the zigzag mowing operation along the preset mowing row where the fourth position point is located, wherein the intersection points of the obstacle boundary and the preset mowing row where the fourth position point is located include the fourth position point and the fifth position point;

[0039] and / or,

[0040] When the lawn mower reaches the sixth position point, stop controlling the lawn mower to travel along the obstacle boundary, and control the lawn mower to restart the zigzag mowing operation along the preset mowing row where the sixth position point is located in the traveling direction opposite to that when the lawn mower reaches the fourth position point, wherein the preset mowing row where the sixth position point is located is parallel to the preset mowing row where the fourth position point is located, and the distance between the preset mowing row where the sixth position point is located and the preset mowing row where the fourth position point is located is a preset working distance, and the sixth position point is the intersection point of the preset mowing row where the sixth position point is located and the obstacle boundary.

[0041] In one embodiment, during the zigzag mowing process, controlling the lawn mower to perform the zigzag mowing operation further includes:

[0042] If the lawn mower reaches the total boundary of the lawn, control the lawn mower to perform the turning action for the zigzag mowing operation;

[0043] If no area to be mowed is recognized within the preset interval distance range of the lawn mower before, during, and after the turning action of the lawn mower, stop controlling the lawn mower to perform the zigzag mowing operation along the preset mowing row.

[0044] In one embodiment, after stopping controlling the lawn mower to perform the zigzag mowing operation along the preset mowing row if an area that has been mowed is recognized within the preset interval distance range of the lawn mower before, during, and after the turning action of the lawn mower, it includes:

[0045] Determine the driving trajectory of the lawn mower during mowing work as the mowed trajectory;

[0046] Determine the area to be mowed according to the total grassland boundary and the mowed trajectory;

[0047] Control the lawn mower to re-perform the zigzag mowing work along the preset mowing row starting from the seventh position point according to the area to be mowed, where the seventh position point is the corner point on the boundary of the area to be mowed with the smallest distance from the lawn mower, or the seventh position point is the position point on the boundary of the area to be mowed with the smallest distance from the lawn mower, or the seventh position point is a random position point on the boundary of the area to be mowed.

[0048] In one embodiment, after determining the area to be mowed according to the total grassland boundary and the mowed trajectory, it further includes:

[0049] If the area of the area to be mowed is less than or equal to the preset area threshold, control the lawn mower to stop mowing work.

[0050] In one embodiment, the local grassland boundary has a corresponding confidence level;

[0051] After determining the local grassland boundary according to the grassland boundary image information if the surrounding environment image information includes the grassland boundary image information, the method further includes:

[0052] If there is a historically corresponding local grassland boundary in the total grassland boundary, obtain the first confidence level corresponding to the currently determined local grassland boundary, and obtain the second confidence level corresponding to the historically corresponding local grassland boundary; where there is a position corresponding relationship between the historically corresponding local grassland boundary and the currently determined local grassland boundary;

[0053] If the first confidence level is greater than the second confidence level, replace the historically corresponding local grassland boundary in the total grassland boundary with the currently determined local grassland boundary.

[0054] In a second aspect, an embodiment of the present application provides a control device for mowing, which is applied to a lawn mower and includes:

[0055] An acquisition module, configured to acquire the surrounding environment image information of the lawn mower;

[0056] A first determination module, configured to determine the local grassland boundary according to the grassland boundary image information if the surrounding environment image information includes the grassland boundary image information;

[0057] A second determination module, configured to control the lawn mower to drive along the local grassland boundary during the mapping process.

[0058] In a third aspect, an embodiment of the present application provides a lawn mower, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the method described in any one of the first aspects is implemented.

[0059] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium storing a computer program, which when executed by a processor implements the method described in any one of the first aspects.

[0060] In a fifth aspect, an embodiment of the present application provides a computer program product, which when running on a lawn mower causes the lawn mower to execute the method described in any one of the first aspects above.

[0061] The beneficial effects of the embodiments of the present application compared with the prior art are as follows:

[0062] A lawn mowing control method provided by an embodiment of the present application is applied to a lawn mower. By obtaining the surrounding environment image information of the lawn mower; if the surrounding environment image information includes the grassland boundary image information, determining the local grassland boundary according to the grassland boundary image information; during the mapping process, controlling the lawn mower to travel along the local grassland boundary. Compared with the prior art, since there is no need to obtain the initial grassland boundary, only determine the local grassland boundary from the surrounding environment image obtained by the lawn mower itself, and control the lawn mower to travel along the local grassland boundary for mapping, it not only avoids the risk of the lawn mower colliding with obstacles, but also improves the accuracy of the lawn mower in identifying the grassland boundary, and at the same time improves the accuracy of the lawn mower in mowing along the edge, thereby improving the mowing work efficiency of the lawn mower. Description of the Drawings

[0063] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0064] Figure 1 It is a schematic flowchart of a lawn mowing control method provided by an embodiment of the present application;

[0065] Figure 2 It is a schematic flowchart of controlling one side of a lawn mower to travel along a route within a preset distance range from the local grassland boundary;

[0066] Figure 3Schematic flowchart for controlling a lawn mower to travel along a local boundary of a lawn provided by an embodiment of the present application;

[0067] Figure 4 Schematic diagram of the travel trajectory of a lawn mower provided by an embodiment of the present application;

[0068] Figure 5 Schematic diagram of another travel trajectory of a lawn mower provided by an embodiment of the present application;

[0069] Figure 6 Schematic flowchart for controlling a lawn mower to perform zigzag mowing during zigzag mowing provided by an embodiment of the present application;

[0070] Figure 7 Schematic flowchart after controlling a lawn mower to travel along an obstacle boundary starting from a fourth position point provided by an embodiment of the present application;

[0071] Figure 8 Schematic flowchart for controlling a lawn mower to perform zigzag mowing during zigzag mowing provided by another embodiment of the present application;

[0072] Figure 9 Schematic flowchart after determining a local boundary of a lawn according to grassland boundary image information if the surrounding environment image information includes grassland boundary image information provided by an embodiment of the present application;

[0073] Figure 10 Structural block diagram of a control device for lawn mowing provided by an embodiment of the present application. Detailed implementation manners

[0074] In the following description, specific details such as specific system architectures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present application. However, those skilled in the art should understand that the present application can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid unnecessary details from interfering with the description of the present application.

[0075] It should be understood that when used in the specification and appended claims of the present application, the term "comprising" indicates the presence of the described features, wholes, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components, and / or their combinations.

[0076] It should also be understood that the term "and / or" as used in the specification and appended claims of the present application refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0077] As used in the specification and appended claims of this application, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce [described condition or event] is detected" or "in response to detecting [described condition or event]", depending on the context.

[0078] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0079] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0080] The lawn mower, with its automatic working characteristics, can independently complete the task of mowing the lawn. It has low power consumption, low noise, exquisite and beautiful appearance, saving a lot of human resources and has broad application prospects.

[0081] In the prior art, before controlling the lawn mower to mow along the edge, the initial boundary of the lawn is obtained by pre-burying boundary lines in the lawn or through electronic maps such as Baidu Maps and Google Maps, and the lawn mower is controlled to travel along the initial boundary during the mapping process. This method easily causes the lawn mower to collide with obstacles or cross the actual boundary while traveling along the edge. If the above situation needs to be avoided, the lawn mower needs to be controlled to maintain a large distance from the initial boundary while traveling along the edge, but this will cause the identified measured boundary to be inaccurate, reducing the accuracy of the lawn mower mowing along the edge. In addition, the cutter disc needs to be turned off when the lawn mower is traveling along the edge, so that the lawn mower cannot mow during the boundary detection process, reducing the efficiency of the lawn mower mowing along the edge.

[0082] To solve the above technical problems, an embodiment of the present application provides a mowing control method, which is applied to a lawn mower. The method includes obtaining the surrounding environment image information of the lawn mower; if the surrounding environment image information includes the grassland boundary image information, determining the local grassland boundary according to the grassland boundary image information; during the mapping process, controlling the lawn mower to travel along the local grassland boundary. Compared with the prior art, since there is no need to obtain the initial grassland boundary, only the local grassland boundary is determined from the surrounding environment image obtained by the lawn mower itself, and the lawn mower is controlled to travel along the local grassland boundary for mapping, which not only avoids the risk of collision between the lawn mower and obstacles, but also improves the accuracy of the lawn mower in identifying the grassland boundary, and at the same time improves the accuracy of the lawn mower in mowing along the edge, thereby improving the mowing work efficiency of the lawn mower.

[0083] The technical solution of the present application will be described below through specific embodiments.

[0084] In the first aspect, as Figure 1 shown, this embodiment provides a mowing control method, which is applied to a lawn mower. The method includes:

[0085] S100, obtaining the surrounding environment image information of the lawn mower.

[0086] In one embodiment, the lawn mower includes a boundary recognition sensor, and the boundary recognition sensor is used to obtain the surrounding environment image information of the lawn mower, so that the lawn mower can obtain the environmental image information of the grassland in real time.

[0087] In one embodiment, the boundary recognition sensor is disposed at any one of the left side, the right side, the front left side, or the front right side of the lawn mower, meeting the usage requirements of more grassland boundary scenarios. For example, when the boundary recognition sensor is disposed on the left side or the front left side of the lawn mower, the lawn mower travels along the grassland boundary in a clockwise direction and along the boundary of the obstacle in the grassland in a counterclockwise direction; or, when the boundary recognition sensor is disposed on the right side or the front right side of the lawn mower, the lawn mower travels along the grassland boundary in a counterclockwise direction and along the boundary of the obstacle in the grassland in a clockwise direction; so that the distance between the boundary recognition sensor of the lawn mower and the grassland boundary or between the boundary recognition sensor and the obstacle boundary is relatively small, thereby improving the recognition accuracy of the boundary recognition sensor. Among them, the boundary recognition sensor includes at least one of a multispectral sensor, a full-color camera, or a depth recognition sensor, so as to adapt to the user's needs or the grassland scene requirements for boundary recognition.

[0088] In one embodiment, obtaining the surrounding environment image information of the lawn mower includes: obtaining the recognition result of the boundary recognition sensor; determining the surrounding environment image information according to the recognition result; facilitating the lawn mower to travel along the recognized boundary and its extension direction, avoiding collisions with obstacles, improving the safety of lawn mowing by the lawn mower, and improving the working efficiency of lawn mowing.

[0089] S200. If the surrounding environment image information includes grassland boundary image information, determine the local grassland boundary according to the grassland boundary image information.

[0090] In one embodiment, if the surrounding environment image information includes grassland boundary image information, determine the local grassland boundary according to the grassland boundary image information, where the local grassland boundary is the specific boundary of the grassland recognized in the surrounding environment image, or the coordinate position information of multiple position points of the grassland boundary, enabling the lawn mower to use the local grassland boundary according to the grassland scene requirements, thereby improving the recognition accuracy of the grassland boundary.

[0091] In one embodiment, during the mapping process, if the surrounding environment image information does not include grassland boundary image information, control the lawn mower to rotate and / or move until the surrounding environment image information includes grassland boundary image information.

[0092] In another embodiment, during the mapping process, if the surrounding environment image information does not include grassland boundary image information, first control the lawn mower to rotate one week. If the surrounding environment image information still does not include grassland boundary image information, then control the lawn mower to go straight until the surrounding environment image information includes grassland boundary image information.

[0093] In yet another embodiment, during the mapping process, if the surrounding environment image information does not include grassland boundary image information, first control the lawn mower to rotate one week or at any angle. If the surrounding environment image information still does not include grassland boundary image information, then control the lawn mower to go straight a preset mileage along the current direction or a random direction. If the surrounding environment image information still does not include grassland boundary image information, then control the lawn mower to rotate one week or at any angle again, and so on in a loop until the surrounding environment image information includes grassland boundary image information.

[0094] In still another embodiment, during the mapping process, if the surrounding environment image information does not include grassland boundary image information, control the lawn mower to keep going straight until the surrounding environment image information includes grassland boundary image information.

[0095] S300. During the mapping process, control the lawn mower to travel along the local grassland boundary.

[0096] In one embodiment, during the mapping process, the lawn mower is controlled to travel along the local boundary of the lawn, so as to control the lawn mower to travel along the identified local boundary of the lawn and its extension direction for mowing. Compared with the prior art, since there is no need to obtain the initial boundary of the lawn, only the local boundary of the lawn is determined from the surrounding environment image obtained by the lawn mower itself, and then the lawn mower is controlled to travel along the local boundary of the lawn for mapping. At the same time, mowing can be carried out or not during this process, which not only avoids the risk of the lawn mower colliding with obstacles, but also improves the accuracy of the lawn mower in identifying the lawn boundary, and at the same time improves the accuracy of the lawn mower in mowing along the edge, thereby improving the mowing work efficiency of the lawn mower.

[0097] In one embodiment, controlling the lawn mower to travel along the local boundary of the lawn includes: controlling one side of the lawn mower to travel along a route that keeps within a preset distance range from the local boundary of the lawn. Wherein, the distance between one side of the lawn mower and the local boundary of the lawn is the minimum distance between each point on one side of the lawn mower and each point on the local boundary of the lawn, thus avoiding the lawn mower from colliding with the edge obstacles of the lawn boundary or falling outside the lawn boundary, and also mowing the area close to the local boundary of the lawn, avoiding missed mowing, thereby improving the accuracy of identifying the lawn boundary and also improving the mowing efficiency of the lawn mower. Further, the absolute value of the preset distance ranges from less than or equal to 100 cm. It should be noted that in this embodiment, the specific value of the value range of the preset distance is not limited, and it is set according to the model of the lawn mower and the requirements of the lawn scene.

[0098] In one embodiment, during the process of controlling the lawn mower to travel along the identified local boundary of the lawn, the lawn mower identifies the external environment of the local boundary of the lawn through a boundary recognition sensor, so as to adjust the positional relationship between the lawn mower and the external environment of the boundary according to the external environment of the boundary.

[0099] In one embodiment, the preset distance includes a first preset distance and a second preset distance, so that the lawn mower can select a suitable preset distance according to different lawn scenes, improving the safety of the lawn mower.

[0100] In one embodiment, as Figure 2 shown, S310, controlling one side of the lawn mower to travel along a route that keeps within a preset distance range from the local boundary of the lawn includes:

[0101] S311, if the difference between the height within the preset detection distance outside the local boundary of the lawn and the height of the local boundary of the lawn is less than or equal to a preset height threshold, control one side of the lawn mower to travel along a route that keeps within the first preset distance range from the local boundary of the lawn.

[0102] In one embodiment, if the external environment type of the local boundary of the grassland is a road surface that is basically flush with the grassland, etc., that is, the difference in height within the preset detection distance outside the local boundary of the grassland and the height of the local boundary of the grassland is less than or equal to the preset height threshold, then the external environment type of the local boundary of the grassland is determined as a safe boundary, and one side of the lawn mower is controlled to travel along a route that maintains a first preset distance range from the local boundary of the grassland, that is, one side of the lawn mower is within the local boundary of the grassland, and the first preset distance is a positive value. Further, the lawn mower can also be controlled to travel across the local boundary of the grassland, that is, one side of the lawn mower is outside the local boundary of the grassland, and the first preset distance is a negative value, avoiding missed mowing and improving the working efficiency of mowing. Among them, the value range of the preset detection distance is 0.8 m to 1.2 m. Further, the preset detection distance is 1 m. Among them, the value range of the preset height threshold is 5 cm to 15 cm. Further, the preset height threshold is 10 cm. Among them, the absolute value of the first preset distance ranges from 0 cm to 50 cm. Further, the first preset distance is 5 cm. It should be noted that in this embodiment, the specific values of the preset detection distance, the preset height threshold, and the first preset distance are not limited and are set according to the model of the lawn mower and the requirements of the grassland scene.

[0103] S312, if the difference in height within the preset detection distance outside the local boundary of the grassland and the height of the local boundary of the grassland is greater than the preset height threshold, control one side of the lawn mower to travel along a route that maintains a second preset distance range from the local boundary of the grassland.

[0104] In one embodiment, if the external environment type of the local boundary of the grassland is a wall, fence, step, etc. higher than the grassland or a pool, river, step, etc. lower than the grassland, that is, the difference in height within the preset detection distance outside the local boundary of the grassland and the height of the local boundary of the grassland is greater than the preset height threshold, then the external environment type of the local boundary of the grassland is determined as a dangerous boundary, and one side of the lawn mower is controlled to travel along a route that maintains a second preset distance range from the local boundary of the grassland, improving the safety of the lawn mower. Among them, the absolute value of the second preset distance ranges from 10 cm to 100 cm. Further, the second preset distance is 30 cm. It should be noted that in this embodiment, the specific value of the second preset distance is not limited and is set according to the model of the lawn mower and the requirements of the grassland scene. Further, the absolute value of the first preset distance is less than the absolute value of the second preset distance, further improving the safety of the lawn mower.

[0105] In one embodiment, as Figure 3 shown, controlling the lawn mower to travel along the local boundary of the grassland includes:

[0106] S321, control the lawn mower to start traveling along the local boundary of the grassland from the first position point.

[0107] S322. When the lawn mower reaches the second position point, stop controlling the lawn mower to travel along the local boundary of the lawn.

[0108] In one embodiment, the first position point is the position point with the minimum distance from the lawn mower in the local boundary of the lawn, or the first position point is any position point in the local boundary of the lawn; control the lawn mower to start traveling along the local boundary of the lawn from the first position point, that is, the lawn mower does not need to map the lawn and preset the mowing path, and directly travels along the local boundary of the lawn from the position point with the minimum distance from the lawn mower in the local boundary of the lawn or from any position point in the local boundary of the lawn, and mows the lawn at the same time, improving the working efficiency of mowing.

[0109] In one embodiment, before the lawn mower travels along the local boundary of the lawn from the first position point, the lawn mower identifies and records the coordinate information of the first position point based on the relative position relationship between its own coordinates and the first position point. During the process of controlling the lawn mower to travel along the local boundary of the lawn from the first position point, the coordinates of the points on the boundary are identified and recorded in real time. When the identified point coordinates are the same as the coordinates of the first position point, it is considered that the lawn mower has reached the first position point again.

[0110] In another embodiment, before the lawn mower travels along the boundary of the area to be mowed from the first position point, an image of the lawn mower when it is located at the first position point is identified and recorded based on the boundary recognition sensor. During the process of controlling the lawn mower to travel along the boundary of the area to be mowed from the first position point, an image of the lawn mower at any position point on the boundary is identified and recorded in real time. When the identified image is the same as or similar to the image of the lawn mower when it is at the first position point, it is considered that the lawn mower has reached the first position point again or near the first position point.

[0111] In one embodiment, when the lawn mower reaches the second position point, the control of the lawn mower to travel along the local boundary of the lawn is stopped. The second position point is the first position point that the lawn mower reaches again, or the second position point is the position point that the lawn mower reaches after traveling a preset distance or for a preset time starting from the first position point. In one embodiment, when the lawn mower reaches the first position point again, it means that the lawn mower has circled around the lawn along the local boundary of the lawn and returned to the origin again, completing the mapping of the total boundary of the lawn and at the same time mowing the outer circle of the lawn boundary, improving the working efficiency of the lawn mower; in another embodiment, when the second position point is the position point that the lawn mower reaches after traveling a preset distance or for a preset time starting from the first position point, it is considered that the lawn mower has completed a stage of mapping work and determined some local boundaries of the lawn. At this time, the lawn mower can mow the grass according to the determined local boundaries of the lawn or perform other work. In yet another embodiment, the second position point can also be the position point where other terminals (base stations, APP installation ends, etc.) send an abort command or a start other action command to the lawn mower; the second position point can also be the position point where the lawn mower is located before being manually moved away.

[0112] In one embodiment, as Figure 4 , Figure 5 shown, the starting points in the figure are all the first position points, Figure 4 point A in Figure 5 or point A1 in

[0113] is the second position point. The thick solid line outer frame in the figure is the total boundary of the lawn. The zigzag thin solid line and thin dotted line in the figure are the driving trajectories of the lawn mower. The circular shaded area and triangular shaded area in the figure are both obstacles. The thick dotted line is the obstacle boundary, and the obstacle boundary is the boundary line with a preset distance between one side of the lawn mower and the obstacle.

[0114] In one embodiment, the lawn mowing control method further includes: during the mapping process, based on one or more local boundaries of the lawn determined during the driving process of the lawn mower, determining the total boundary of the lawn, where the total boundary of the lawn is the set of each local boundary of the lawn; thus, while mowing the grass, the total boundary of the lawn can be gradually constructed, improving the working efficiency of mowing the grass.

[0115] In one embodiment, the lawn mowing control method further includes: during the figure-eight lawn mowing process, controlling the lawn mower to perform figure-eight lawn mowing work. Among them, during the figure-eight lawn mowing process, controlling the lawn mower to perform figure-eight lawn mowing work includes: controlling the lawn mower to start figure-eight lawn mowing work along a preset mowing path from a third position point, where the third position point is the corner point on the total boundary of the lawn that is the closest to the lawn mower, or the third position point is the position point on the total boundary of the lawn that is the closest to the lawn mower, or the third position point is a random position point within the total boundary of the lawn and its internal area, or the third position point is the position point where the lawn mower is located. That is, during the figure-eight lawn mowing process, the lawn mower can start figure-eight lawn mowing work at the corner point on the total boundary of the lawn that is the closest to the lawn mower, at the position point on the total boundary of the lawn that is the closest to the lawn mower, at other position points on the total boundary of the lawn, and at any position point within the total boundary of the lawn, which expands the adaptability of the lawn mower to the lawn scene and improves the lawn mowing efficiency of the lawn mower. Among them, the preset mowing path is defined as automatically planning multiple target driving trajectories in this total boundary of the lawn according to the starting point of the figure-eight lawn mowing process, and the distance between adjacent target driving trajectories is the preset working spacing, which is convenient for the lawn mower to mow the lawn according to the target driving trajectory or continue to mow the lawn along the target driving trajectory after bypassing an obstacle.

[0116] In one embodiment, the corner point of the total boundary of the lawn is the position point where the change amount of the tangent angle before and after each position point on the total boundary of the lawn is greater than the angle threshold, where the value range of the angle threshold is 60° to 100°, and further, the angle threshold is 90°.

[0117] In one embodiment, as Figure 4 , Figure 5 shown, controlling the lawn mower to start figure-eight lawn mowing work along a preset mowing path from a third position point, where the third position point is the corner point on the total boundary of the lawn that is the closest to the lawn mower (for example, Figure 4 point B in Figure 5 or point B1 in Figure 4 ), or the third position point is the position point on the total boundary of the lawn that is the closest to the lawn mower (for example, Figure 5 point A in Figure 4 or point A1 in

[0118] ), or the third position point is a random position point within the total boundary of the lawn and its internal area (for example, Figure 6 point E on the total boundary of the lawn and point F in the internal area of the total boundary of the lawn in

[0119] S331, if the surrounding environment image information contains obstacle image information, determine the obstacle boundary according to the obstacle image information.

[0120] S332. Update the total grassland boundary according to the determined obstacle boundary, where the updated total grassland boundary includes the obstacle boundary and the grassland boundary before the update.

[0121] In one embodiment, update the total grassland boundary according to the determined obstacle boundary, that is, the grassland area corresponding to the updated total grassland boundary excludes the area where the obstacle is located, improving the accuracy of the total grassland boundary.

[0122] In one embodiment, during the zigzag mowing process, controlling the mower to perform zigzag mowing work further includes: during the process of the mower performing zigzag mowing along the preset mowing row, if the mower reaches the obstacle boundary for the first time, stop controlling the mower to perform zigzag mowing along the preset mowing row, and control the mower to travel along the obstacle boundary starting from the fourth position point, where the fourth position point is the position point where the mower is located when it reaches the obstacle boundary for the first time during the process of performing zigzag mowing along the preset mowing row; that is, when the mower encounters an obstacle and reaches the obstacle boundary during the zigzag mowing process, it starts to travel around the obstacle boundary starting from the intersection point of the preset mowing row where the mower is located and the obstacle boundary during the zigzag mowing process, which is the fourth position point, records the coordinate points of the obstacle boundary, so that when the mower reaches the obstacle boundary again later, there is no need to travel around the edge again, and at the same time, the area to be mowed in the total grassland boundary is also updated, improving the mowing work efficiency.

[0123] In one embodiment, after controlling the mower to travel along the obstacle boundary starting from the fourth position point, it further includes: when the mower reaches the fourth position point again, stop controlling the mower to travel along the obstacle boundary, and control the mower to perform zigzag mowing again along the preset mowing row starting from the fourth position point; that is, when the mower has traveled around the obstacle boundary for one circle and returned to the fourth position point, control the mower to perform zigzag mowing again along the preset mowing row in the opposite direction to the obstacle.

[0124] In one embodiment, when the boundary recognition sensor is set on the right side of the mower, as Figure 4 shown, if the mower reaches the obstacle boundary for the first time, control the mower to travel clockwise along the obstacle boundary starting from the fourth position point (for example, Figure 4 point C in

[0125] In one embodiment, as Figure 7 shown, after controlling the mower to travel along the obstacle boundary starting from the fourth position point, it further includes:

[0126] S341. When the lawn mower reaches the fifth position point, stop controlling the lawn mower to travel along the obstacle boundary, and control the lawn mower to resume the zigzag mowing operation along the preset mowing row where the fourth position point is located, starting from the fifth position point.

[0127] And / or,

[0128] S342. When the lawn mower reaches the sixth position point, stop controlling the lawn mower to travel along the obstacle boundary, and control the lawn mower to resume the zigzag mowing operation along the preset mowing row where the sixth position point is located, starting from the sixth position point, in the opposite driving direction to when the lawn mower reached the fourth position point.

[0129] In one embodiment, the intersection points of the obstacle boundary and the preset mowing row where the fourth position point is located include the fourth position point and the fifth position point. That is, the obstacle boundary occupies a part of the preset mowing row where the fourth position point is located. After the lawn mower travels around the obstacle boundary, it returns to the extension line of the preset mowing row where the fourth position point is located on the other side of the obstacle. Control the lawn mower to resume the zigzag mowing operation along the preset mowing row in the same direction as before encountering the obstacle.

[0130] In one embodiment, the preset mowing row where the sixth position point is located is parallel to the preset mowing row where the fourth position point is located, and the distance between the preset mowing row where the sixth position point is located and the preset mowing row where the fourth position point is located is the preset working distance. The sixth position point is the intersection point of the preset mowing row where the sixth position point is located and the obstacle boundary. That is, when the lawn mower travels around the obstacle, it reaches the intersection point of another preset mowing row, which is at a preset working distance from the preset mowing row where the fourth position point is located, and the obstacle boundary. Therefore, control the lawn mower to resume the zigzag mowing operation along the preset mowing row where the sixth position point is located, starting from the sixth position point, in the opposite driving direction to when the lawn mower reached the fourth position point, to mow the grass on the same side of the obstacle, avoiding missed mowing and improving the mowing work efficiency.

[0131] In one embodiment, as Figure 5As shown, when the lawn mower first reaches point C1 on the obstacle boundary during the zigzag mowing operation before point C1, point C1 is the fourth position point. At this time, stop the zigzag mowing operation of the lawn mower, and control the lawn mower to travel along the obstacle boundary starting from the fourth position point, i.e., point C1, until it reaches the fifth position point, i.e., point D1. Then, stop controlling the lawn mower to travel along the obstacle boundary, and control the lawn mower to restart the zigzag mowing operation along the preset mowing row where the fourth position point C1 is located, starting from the fifth position point D1. When encountering the total boundary of the lawn, control the lawn mower to turn around and continue the zigzag mowing operation along the preset mowing row where point C2 is located. When the lawn mower first encounters point C2 on the obstacle boundary during this new zigzag mowing operation, point C2 is the new fourth position point. At this time, stop the zigzag mowing operation of the lawn mower, and control the lawn mower to travel along the obstacle boundary starting from the fourth position point, i.e., point C2, until it reaches the sixth position point, i.e., point D2. Then, stop controlling the lawn mower to travel along the obstacle boundary, and control the lawn mower to continue the zigzag mowing operation along the preset mowing row where the sixth position point D2 is located, starting from the sixth position point D2.

[0132] In another embodiment, as Figure 8 shown, during the zigzag mowing process, controlling the lawn mower to perform the zigzag mowing operation further includes:

[0133] S351, if the lawn mower reaches the total boundary of the lawn, control the lawn mower to perform a turning action for the zigzag mowing operation;

[0134] S352, if no area to be mowed is recognized within the preset interval distance of the lawn mower before, during, and after the lawn mower performs the turning action, stop controlling the lawn mower to perform the zigzag mowing operation along the preset mowing row.

[0135] In another embodiment, if no area to be mowed is recognized within the preset interval distance of the lawn mower before, during, and after the lawn mower performs the turning action, after stopping controlling the lawn mower to perform the zigzag mowing operation along the preset mowing row, it includes:

[0136] S353, determine the driving trajectory of the lawn mower during the mowing operation as the mowed trajectory.

[0137] S354, determine the area to be mowed based on the total boundary of the lawn and the mowed trajectory.

[0138] S355, control the lawn mower to restart the zigzag mowing operation along the preset mowing row starting from the seventh position point according to the area to be mowed.

[0139] In another embodiment, the seventh position point is the corner point on the boundary of the area to be mowed with the minimum distance from the lawn mower, or the seventh position point is the position point on the boundary of the area to be mowed with the minimum distance from the lawn mower, or the seventh position point is a random position point on the boundary of the area to be mowed; that is, the area of the total boundary of the lawn is subtracted from the area where the mowing trajectory is located and the area where the obstacles are located, and the remaining area is the area to be mowed. At the same time, the boundary of the area to be mowed is also confirmed. The lawn mower is controlled to reach the seventh position point and perform zigzag mowing again in the area to be mowed, avoiding the situation of missed mowing and improving the working efficiency of mowing.

[0140] In another embodiment, as Figure 4 shown, if the lawn mower reaches the total boundary of the lawn (for example, reaches Figure 4 point E in), the lawn mower is controlled to perform a turning action for zigzag mowing work. If no area to be mowed is recognized within the preset interval distance range of the lawn mower before, during, and after the turning action of the lawn mower, it means that the lawn mower is on the total boundary of the lawn and the surrounding lawns are all mowed areas. Therefore, the control of the lawn mower to perform zigzag mowing work along the preset mowing line is stopped, and a new area to be mowed is started to be searched for. At this time Figure 4 the thin solid lines in are all mowed trajectories. The area of the total boundary of the lawn is subtracted from the area where the mowed trajectory is located and the area where the obstacles are located, and the remaining area is the area to be mowed, that is Figure 4 the area where the thin dashed line is located in. The lawn mower is controlled to reach the seventh position point from point E (for example Figure 4 point F in), and start zigzag mowing work again along the preset mowing line with point F as the starting point; there are one or more areas to be mowed. When there are several areas to be mowed, after mowing one area, go to another area to be mowed (for example Figure 4 the thin dashed line area above the circular obstacle in), which is convenient for the lawn mower to quickly find the area to be mowed and improves the mowing efficiency of the lawn mower.

[0141] In one embodiment, after determining the area to be mowed according to the total boundary of the lawn and the mowed trajectory, it further includes: if the area of the area to be mowed is less than or equal to a preset area threshold, the lawn mower is controlled to stop mowing work; that is, after the lawn mower performs zigzag mowing multiple times, there may still be some dead corners or dangerous areas that cannot be mowed automatically and require manual control or manual mowing. Therefore, when the area of the area to be mowed is less than or equal to the preset area threshold, the lawn mower is controlled to stop mowing work to avoid damage to the lawn mower and improve the safety of the lawn mower. Further, the value range of the preset area threshold is less than or equal to 100 cm 2 .

[0142] In one embodiment, as Figure 9As shown, the local boundary of the grassland has a corresponding confidence level; if the surrounding environment image information includes the grassland boundary image information, after determining the local boundary of the grassland according to the grassland boundary image information, the method further includes:

[0143] S400, if there is a historically corresponding local boundary of the grassland in the total grassland boundary, obtain the first confidence level corresponding to the currently determined local boundary of the grassland, and obtain the second confidence level corresponding to the historically corresponding local boundary of the grassland; wherein, there is a positional correspondence between the historically corresponding local boundary of the grassland and the currently determined local boundary of the grassland;

[0144] S500, if the first confidence level is greater than the second confidence level, replace the historically corresponding local boundary of the grassland in the total grassland boundary with the currently determined local boundary of the grassland.

[0145] In one embodiment, the confidence level represents the position accuracy. That is, due to signal reasons, the position accuracy of the currently determined local boundary of the grassland is greater than that of the historically corresponding local boundary of the grassland. Therefore, the currently determined local boundary of the grassland is used to replace the historically corresponding local boundary of the grassland, or the weight of the historically corresponding local boundary of the grassland is reduced while the weight of the currently determined local boundary of the grassland is increased. Thus, the position accuracy of the local boundary of the grassland is improved, and the safety of the lawn mower is also improved.

[0146] In one embodiment, the obstacle boundary also has a corresponding confidence level. If the position confidence level of the currently determined obstacle boundary is greater than that of the historically corresponding obstacle boundary, replace the historically corresponding obstacle boundary with the currently determined obstacle boundary, or reduce the weight of the historically corresponding obstacle boundary while increasing the weight of the currently determined obstacle boundary, thereby improving the position accuracy of the obstacle boundary and also improving the safety of the lawn mower.

[0147] It should be understood that the magnitudes of the sequence numbers of the steps in the above embodiments do not mean the order of execution. The order of execution of each process should be determined according to its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

[0148] The beneficial effects of the embodiments of the present application compared with the prior art are:

[0149] A mowing control method provided by an embodiment of the present application is applied to a lawn mower. By acquiring the surrounding environment image information of the lawn mower; if the surrounding environment image information includes grassland boundary image information, determining the local grassland boundary according to the grassland boundary image information; during the mapping process, controlling the lawn mower to travel along the local grassland boundary. Compared with the prior art, since there is no need to obtain the initial grassland boundary, only the local grassland boundary is determined from the surrounding environment images acquired by the lawn mower itself, and the lawn mower is controlled to travel along the local grassland boundary for mapping, which not only avoids the risk of the lawn mower colliding with obstacles, but also improves the accuracy of the lawn mower in identifying the grassland boundary, and at the same time improves the accuracy of the lawn mower in mowing along the edge, thereby improving the mowing work efficiency of the lawn mower.

[0150] In a second aspect, as Figure 10 shown, this embodiment provides a mowing control device 100, which is applied to a lawn mower and includes:

[0151] An acquisition module 110, configured to acquire the surrounding environment image information of the lawn mower.

[0152] A first determination module 120, configured to determine the local grassland boundary according to the grassland boundary image information if the surrounding environment image information includes the grassland boundary image information.

[0153] A second determination module 130, configured to control the lawn mower to travel along the local grassland boundary during the mapping process.

[0154] It should be noted that for the information interaction, execution process, etc. between the above modules / units, since they are based on the same concept as the method embodiment of the present application, their specific functions and the technical effects brought about can be specifically referred to in the method embodiment part, and will not be elaborated here.

[0155] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the above-mentioned division of each functional unit and module is used as an example. In actual applications, the above functions can be allocated to different functional units and modules according to needs, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above integrated units can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of each functional unit and module are only for the convenience of mutual distinction and do not limit the protection scope of the present application. The specific working processes of the units and modules in the above system can refer to the corresponding processes in the foregoing method embodiment and will not be elaborated here.

[0156] In a third aspect, an embodiment of the present application provides a lawn mower, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the method described in any one of the first aspects is implemented.

[0157] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium storing a computer program, which when executed by a processor, implements the method described in any one of the first aspects.

[0158] In a fifth aspect, an embodiment of the present application provides a computer program product, which when running on a lawn mower, causes the lawn mower to execute the method described in any one of the above first aspects.

[0159] It can be understood that the beneficial effects of the above second to fifth aspects can be referred to the relevant descriptions in the first aspect above, and will not be elaborated here.

[0160] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, to implement all or part of the processes in the above method embodiments of the present application, a computer program can be used to instruct the relevant hardware to complete. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps of the above method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file or some intermediate form, etc.

[0161] The computer-readable medium can at least include: any entity or device, recording medium, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal, and software distribution medium that can carry the computer program code to the photographing device / lawn mower. For example, a USB flash drive, a mobile hard disk, a magnetic disk, or an optical disc, etc.

[0162] In the above embodiments, the descriptions of the respective embodiments have their own focuses. For parts not detailed or recorded in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0163] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in connection with the embodiments disclosed herein can be implemented in electronic hardware, or in a combination of computer software and electronic hardware. Whether these functions are executed in hardware or software depends on the specific application and design constraints of the technical solution. Skilled artisans may use different methods for each specific application to implement the described functions, but such implementation should not be considered to exceed the scope of this application.

[0164] In the embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection between each other can be through some interfaces. The indirect coupling or communication connection of the devices or units can be in an electrical, mechanical or other form.

[0165] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0166] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features. These modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of each embodiment of this application, and should all be included in the protection scope of this application.

Claims

1. A control method for mowing, characterized in that, Applied to a lawn mower, the method includes: Obtaining image information of the surrounding environment of the lawn mower; If the image information of the surrounding environment includes image information of the grassland boundary, determining the local grassland boundary according to the image information of the grassland boundary; During the map building process, controlling the lawn mower to travel along the local grassland boundary.

2. The method according to claim 1, wherein The lawn mower includes a boundary recognition sensor; The obtaining the image information of the surrounding environment of the lawn mower includes: Obtaining the recognition result of the boundary recognition sensor; Determining the image information of the surrounding environment according to the recognition result; Wherein, the boundary recognition sensor is arranged at any one of the left side, the right side, the front left side, or the front right side of the lawn mower, and the boundary recognition sensor includes at least one of a multispectral sensor, a full-color camera, or a depth recognition sensor.

3. The method according to claim 1, wherein The controlling the lawn mower to travel along the local grassland boundary includes: Controlling one side of the lawn mower to travel along a route that keeps within a preset distance range from the local grassland boundary.

4. The method according to claim 3, wherein The preset distance includes a first preset distance and a second preset distance; The controlling one side of the lawn mower to travel along a route that keeps within a preset distance range from the local grassland boundary includes: If the difference in height within a preset detection distance outside the local grassland boundary and the height of the local grassland boundary is less than or equal to a preset height threshold, controlling one side of the lawn mower to travel along a route that keeps within the first preset distance range from the local grassland boundary; If the difference in height within a preset detection distance outside the local grassland boundary and the height of the local grassland boundary is greater than the preset height threshold, controlling one side of the lawn mower to travel along a route that keeps within the second preset distance range from the local grassland boundary; Wherein, the absolute value of the first preset distance is less than the absolute value of the second preset distance.

5. The method according to claim 1, characterized in that, The controlling the lawn mower to travel along the local grassland boundary includes: Control the lawn mower to travel along the local boundary of the lawn starting from the first position point ， Wherein, the first position point is the position point with the minimum distance from the lawn mower among the local boundaries of the lawn, or any position point among the local boundaries of the lawn; When the lawn mower reaches the second position point, stopping controlling the lawn mower to travel along the local grassland boundary; wherein, the second position point is the first position point that the lawn mower reaches again, or the second position point is the position point that the lawn mower reaches after traveling a preset distance or a preset time from the first position point.

6. The method according to claim 1, wherein The method further includes: During the map building process, determining the total grassland boundary according to one or more of the local grassland boundaries determined during the travel of the lawn mower, wherein the total grassland boundary is a set of each of the local grassland boundaries.

7. The method according to claim 1, wherein The method further includes: during the process of mowing in a zigzag pattern, controlling the lawn mower to perform zigzag mowing work; The controlling the lawn mower to perform zigzag mowing work during the process of mowing in a zigzag pattern includes: Control the lawn mower to perform zigzag mowing work along a preset mowing line starting from a third position point, where the third position point is the corner point on the total boundary of the lawn that is closest to the lawn mower, or the third position point is the position point on the total boundary of the lawn that is closest to the lawn mower, or the third position point is a random position point within the total boundary of the lawn and its interior area, or the third position point is the position point where the lawn mower is located.

8. The method according to claim 7, wherein During the zigzag mowing process, controlling the lawn mower to perform zigzag mowing work further includes: If the surrounding environment image information includes obstacle image information, determine the obstacle boundary according to the obstacle image information; Update the total boundary of the lawn according to the determined obstacle boundary, where the updated total boundary of the lawn includes the obstacle boundary and the total boundary of the lawn before the update.

9. The method according to claim 8, wherein During the zigzag mowing process, controlling the lawn mower to perform zigzag mowing work further includes: During the process of the lawn mower performing zigzag mowing work along the preset mowing line, if the lawn mower first reaches the obstacle boundary, stop controlling the lawn mower to perform zigzag mowing work along the preset mowing line, and control the lawn mower to travel along the obstacle boundary starting from a fourth position point, where the fourth position point is the position point where the lawn mower is located when it first reaches the obstacle boundary during the process of performing zigzag mowing along the preset mowing line.

10. The method according to claim 9, characterized in that, After controlling the lawn mower to travel along the obstacle boundary starting from the fourth position point, the method further includes: When the lawn mower reaches the fourth position point again, stop controlling the lawn mower to travel along the obstacle boundary, and control the lawn mower to perform zigzag mowing work again along the preset mowing line starting from the fourth position point.

11. The method according to claim 9, characterized in that, After controlling the lawn mower to travel along the obstacle boundary starting from the fourth position point, it further includes: When the lawn mower reaches a fifth position point, stop controlling the lawn mower to travel along the obstacle boundary, and control the lawn mower to perform zigzag mowing work again along the preset mowing line where the fourth position point is located starting from the fifth position point, where the intersection points of the obstacle boundary and the preset mowing line where the fourth position point is located include the fourth position point and the fifth position point; and / or, When the lawn mower reaches a sixth position point, stop controlling the lawn mower to travel along the obstacle boundary, and control the lawn mower to perform zigzag mowing work again along the preset mowing line where the sixth position point is located in the opposite driving direction to when the lawn mower reaches the fourth position point starting from the sixth position point, where the preset mowing line where the sixth position point is located is parallel to the preset mowing line where the fourth position point is located, and the distance between the preset mowing line where the sixth position point is located and the preset mowing line where the fourth position point is located is a preset working distance, and the sixth position point is the intersection point of the preset mowing line where the sixth position point is located and the obstacle boundary.

12. The method according to claim 7, wherein During the zigzag mowing process, controlling the mower to perform zigzag mowing work further includes: If the mower reaches the total boundary of the grassland, controlling the mower to perform a turning action for the zigzag mowing work; If no area to be mowed is recognized within the preset interval distance of the mower before, during, and after the turning action of the mower, stop controlling the mower to perform zigzag mowing work along the preset mowing line.

13. The method according to claim 12, wherein After the step of stopping controlling the mower to perform zigzag mowing work along the preset mowing line if no area to be mowed is recognized within the preset interval distance of the mower before, during, and after the turning action of the mower, it includes: Determine the driving track of the mower during the mowing work as the mowed track; Determine the area to be mowed according to the total boundary of the grassland and the mowed track; Control the mower to restart zigzag mowing work along the preset mowing line starting from the seventh position point according to the area to be mowed, where the seventh position point is the corner point on the boundary of the area to be mowed with the smallest distance from the mower, or the seventh position point is the position point on the boundary of the area to be mowed with the smallest distance from the mower, or the seventh position point is a random position point on the boundary of the area to be mowed.

14. The method according to claim 13, characterized in that, After determining the area to be mowed according to the total boundary of the grassland and the mowed track, it further includes: If the area of the area to be mowed is less than or equal to the preset area threshold, control the mower to stop mowing work.

15. The method according to claim 1, wherein The local boundary of the grassland has a corresponding confidence level; After determining the local boundary of the grassland according to the grassland boundary image information if the surrounding environment image information includes the grassland boundary image information, the method further includes: If there is a historically corresponding local boundary of the grassland in the total boundary of the grassland, obtain the first confidence level corresponding to the currently determined local boundary of the grassland, and obtain the second confidence level corresponding to the historically corresponding local boundary of the grassland; where there is a position corresponding relationship between the historically corresponding local boundary of the grassland and the currently determined local boundary of the grassland; If the first confidence level is greater than the second confidence level, replace the historically corresponding local boundary of the grassland in the total boundary of the grassland with the currently determined local boundary of the grassland.

16. A control device for mowing, characterized in that, Applied to a mower, it includes: An acquisition module for acquiring the surrounding environment image information of the mower; A first determination module for determining the local boundary of the grassland according to the grassland boundary image information if the surrounding environment image information includes the grassland boundary image information; A second determination module for controlling the mower to travel along the local boundary of the grassland during the mapping process.

17. A lawn mower, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the method according to any one of claims 1 to 15.

18. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the method according to any one of claims 1 to 15.

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