Mowing robot and method for determining operation boundary of mowing robot

Abstract

The invention discloses a mowing robot and a method for determining the operation boundary of the mowing robot, and the method comprises the steps: detecting a following object, controlling the mowing robot to follow the following object to move, and continuously recording the position information of the mowing robot through a positioning module in the moving process; when a preset stop condition is met, controlling the mowing robot to stop following the following object to move, and stopping recording the position information; and according to the continuously recorded position information, generating a moving track of the mowing robot so as to determine an operation boundary. The mowing robot can determine the operation boundary while moving by following the following object, a user only needs to walk the boundary once to determine the operation boundary, manual control is less, many problems of determining the operation boundary at present are solved, and the use experience of the user is improved.

Description

Technical Field

[0001] The present invention relates to the field of intelligent control, and particularly to a lawn mowing robot and a method for determining the working boundary of the lawn mowing robot. Background Art

[0002] Before mowing the lawn, the lawn mowing robot needs to determine the working boundary of the mowing area. There are some existing solutions, for example: the remote control solution, specifically, a dedicated remote control device is operated by a human body to remotely control the lawn mowing robot to walk along the boundary and record the boundary; or the visual learning solution, specifically, the lawn mowing robot learns the boundary through vision; or the map planning solution, specifically, a human body draws the boundary by means of map drawing on the client side, etc.

[0003] In the process of implementing the present invention, the inventors found that there are some problems in the existing technologies:

[0004] In the remote control solution, first, a dedicated remote control device needs to be configured for the lawn mowing robot. Some devices may not come with this remote control device itself, which increases the cost. This remote control device is no longer used after the boundary learning, resulting in waste, and the human body also needs to increase the learning cost of remotely controlling the lawn mowing robot;

[0005] In the visual learning solution, some boundaries are not clear. For example, for the lawn adjacent to the neighbor, there is no complete physical boundary distinction, and the lawn mowing robot cannot learn this boundary. In addition, visual learning also poses relatively high requirements on the camera shooting accuracy and computing and processing capabilities of the camera;

[0006] In the map planning solution, since the actual area of the general mowing area is much larger than the screen size of the client, affected by the scale, the inaccuracy of a distance at a point on the client may be several meters different on the actual lawn, which may cause the lawn mowing robot to move out of the boundary and may walk towards the pedestrian passage, resulting in accidents.

[0007] Therefore, these existing solutions all have some problems and cannot well meet the requirements for determining the working boundary of the lawn mowing robot. Summary of the Invention

[0008] To solve at least one of the many problems existing in the determination of the working boundary of the lawn mowing robot in the above-mentioned existing technologies, the purpose of the present invention is to provide a lawn mowing robot and a method for determining the working boundary of the lawn mowing robot, in which the determination of the working boundary does not increase the equipment cost, is easy to operate, and is accurate 。

[0009] To achieve the above invention purpose, an embodiment of the present invention provides a method for determining the working boundary of a lawn mowing robot. The lawn mowing robot includes a positioning module and a sensor module. The method includes the following steps:

[0010] Detect a following object, where the following object is a human body or a target feature carried by the human body;

[0011] Control the lawn mowing robot to move following the following object, and continuously record the position information of the lawn mowing robot through the positioning module during the movement;

[0012] When a preset stop condition is satisfied, control the lawn mowing robot to stop moving following the following object and stop recording the position information;

[0013] Generate a movement trajectory of the lawn mowing robot according to the continuously recorded position information to determine the operation boundary.

[0014] As a further improvement of the present invention, the preset stop condition is that the lawn mowing robot returns to the starting area again after leaving the starting area, where the starting area is an area determined based on the position when starting to record the position information.

[0015] As a further improvement of the present invention, the continuously recording the position information of the lawn mowing robot through the positioning module during the movement includes:

[0016] During the movement, obtain the position information of the lawn mowing robot through the positioning module at intervals of a preset time duration, and the position information is used to indicate boundary points.

[0017] As a further improvement of the present invention, the generating a movement trajectory of the lawn mowing robot according to the continuously recorded position information to determine the operation boundary includes:

[0018] Connect the boundary points corresponding to the adjacent position information to generate a movement trajectory of the lawn mowing robot, and determine the closed figure formed by all the connections as the operation boundary.

[0019] As a further improvement of the present invention, the controlling the lawn mowing robot to move following the following object and continuously recording the position information of the lawn mowing robot through the positioning module during the movement includes:

[0020] Continuously detect the real-time position of the following object;

[0021] Calculate movement information according to the real-time position of the following object;

[0022] Move the lawn mowing robot according to the movement information, and continuously record the position information of the lawn mowing robot through the positioning module during the movement.

[0023] As a further improvement of the present invention, the movement information includes movement path information, and the movement path information is used to indicate the relative rotational speed between the left wheel and the right wheel of the lawn mowing robot;

[0024] Calculating movement information according to the real-time position of the following object includes:

[0025] Determining a yaw value according to the position information of the lawn mowing robot relative to the following object;

[0026] Determining the relative rotational speed according to the yaw value.

[0027] As a further improvement of the present invention, determining the relative rotational speed according to the yaw value includes:

[0028] When the yaw value corresponds to a right deviation, controlling the rotational speed of the right wheel of the lawn mowing robot to be greater than that of the left wheel;

[0029] When the yaw value corresponds to a left deviation, controlling the rotational speed of the left wheel of the lawn mowing robot to be greater than that of the right wheel.

[0030] As a further improvement of the present invention, determining the relative rotational speed according to the yaw value includes:

[0031] Taking the yaw value as an input and calculating the rotational speed of each wheel of the lawn mowing robot through a PID adjustment algorithm.

[0032] As a further improvement of the present invention, the movement information includes movement speed information, and the movement speed information is used to indicate the movement speed of the lawn mowing robot;

[0033] Calculating movement information according to the real-time position of the following object includes:

[0034] Determining the movement speed information according to the position information of the lawn mowing robot relative to the following object, wherein the closer the distance between the lawn mowing robot and the following object is, the smaller the movement speed is.

[0035] As a further improvement of the present invention, it further includes the step of:

[0036] When a trigger signal of the set key of the lawn mowing robot is obtained and / or a following signal is obtained, detecting the following object.

[0037] As a further improvement of the present invention, controlling the lawn mowing robot to follow the following object to move includes:

[0038] Determining the human body or the target feature as the following object;

[0039] Continuously detect the real-time position of the following object;

[0040] Or,

[0041] Obtain the infrared radiation signal of the human body;

[0042] Determine the infrared radiation signal as the following object;

[0043] Continuously detect the real-time position of the following object.

[0044] To achieve one of the above-mentioned invention purposes, an embodiment of the present invention provides a lawn mowing robot, including:

[0045] A storage module for storing a computer program;

[0046] A processing module, which can implement the steps in the method for determining the operation boundary of the lawn mowing robot when executing the computer program.

[0047] To achieve one of the above-mentioned invention purposes, an embodiment of the present invention provides a readable storage medium, which stores a computer program, and when the computer program is executed by a processing module, it can implement the steps in the method for determining the operation boundary of the lawn mowing robot.

[0048] Compared with the prior art, the present invention has the following beneficial effects: The lawn mowing robot can determine the operation boundary while moving by following the following object. The user only needs to walk along the boundary once to complete the determination of the operation boundary. The process of determining the operation boundary of the lawn mowing robot does not require manual control, and the determined operation boundary has a good degree of coincidence with the user's definition of the boundary. Moreover, the determination process does not have high requirements for the performance of the lawn mowing robot, solves many problems in currently determining the operation boundary, and improves the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 It is a schematic diagram of the process of determining the operation boundary of a lawn mowing robot according to an embodiment of the present invention;

[0050] Figure 2 It is a flowchart of the method for determining the operation boundary of a lawn mowing robot according to an embodiment of the present invention;

[0051] Figure 3 It is a schematic diagram of each module of a lawn mowing robot according to an embodiment of the present invention;

[0052] Wherein, 100, lawn mowing robot; 10, sensor module; 20, walking module; 30, positioning module; 40, processing module; 50, storage module; 60, communication bus. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0053] The present invention will be described in detail below in conjunction with the specific embodiments shown in the accompanying drawings. However, these embodiments do not limit the present invention, and any structural, methodical, or functional transformations made by those of ordinary skill in the art based on these embodiments are included within the protection scope of the present invention.

[0054] An embodiment of the present invention provides a lawn mowing robot and a method for determining the working boundary of the lawn mowing robot, which can determine the working boundary without increasing equipment costs, are easy to operate, and are accurate.

[0055] The lawn mowing robot works within a working area, and the determined working boundary is the determination of the boundary range of the working area. The working area can be a lawn, and the working boundary is the boundary of the lawn. The lawn mowing robot works inside the boundary area of the lawn.

[0056] The lawn mowing robot 100 Figure 3 As shown, it may include a traveling module 20, a sensor module 10, and a positioning module 30. The traveling module 20 is used for movement, the sensor module 10 is used for tracking a following object. What the sensor module 10 acquires can be devices such as images, infrared radiation signals, distance sensors, etc. for sensing the following object. The positioning module 30 is used for acquiring the location of the lawn mowing robot 100, and runs the following method in combination with the signals acquired by the sensor module 10 and the positioning module 30, so that the lawn mowing robot 100 determines the working boundary.

[0057] Before the lawn mowing robot runs the method for determining the working boundary described below, it can be that the user places the lawn mowing robot at any position on the working boundary to be determined on one side of the working area. As Figure 1 shown, if the boundary is completely enclosed, then starting from any position, it will return to the starting point when the boundary determination is completed. Therefore, the starting position of the lawn mowing robot can be any starting position. In this embodiment, the current arbitrary starting position where the lawn mowing robot is located is taken as an example for illustration.

[0058] The trigger of the method for determining the working boundary of the lawn mowing robot can be based on the steps:

[0059] When a trigger signal of the set button of the lawn mowing robot is acquired, and / or when a following signal is acquired, the method for determining the working boundary of the lawn mowing robot is started.

[0060] When a trigger signal of a button or other following signals is received, it means that the lawn mowing robot is ready to determine the boundary from the starting position. At this time, the lawn mowing robot is ready to receive the trigger signal and / or following signal at any of the above starting positions to start determining the operation boundary. After starting the following specific method, the lawn mowing robot will follow the person to move. Therefore, in the preferred solution, the person walks along the starting position of the boundary to be determined so that the lawn mowing robot can determine the complete operation boundary.

[0061] The way to send the trigger signal can be to press the button on the lawn mowing robot. The way to send the following signal can be that the person communicates with the lawn mowing robot through devices such as a mobile phone or a remote control. For example, the person sends an instruction to start recording the boundary following signal to the lawn mowing robot through a mobile phone app or a small program, and the lawn mowing robot receives the following signal through modules such as WiFi, Bluetooth, and infrared receivers.

[0062] The following combines Figures 1 to 2 , to illustrate a method for determining the operation boundary of a lawn mowing robot provided by an embodiment of the present invention. Although the present application provides method operation steps as shown in the following embodiments or flowcharts, based on routine or non-creative labor, in the steps where there is no necessary causal relationship logically in the method, the execution order of these steps is not limited to the execution order provided in the embodiments of the present application.

[0063] Specifically, the method for determining the operation boundary of the lawn mowing robot is as Figure 2 shown, including the following steps S10 to step S40.

[0064] Step S10: Detect a following object through a sensor module, where the following object is a human body or a target feature carried by the human body.

[0065] The following object in step S10 can be a human body, and the lawn mowing robot follows the human body to move. Continuously detect the real-time position of the following object, that is, make the lawn mowing robot continuously track the position where the human body walks along the boundary. Taking Figure 1 as an example, the following object moves along the boundary in the front, and the lawn mowing robot follows the human body to move in the back. The human body can avoid obstacles, pedestrian passages, swimming pools, houses, etc., and the lawn mowing robot can also avoid these areas accordingly.

[0066] Specifically, step S10 may further include:

[0067] Step S111: Obtain information of the human body or the target feature;

[0068] Step S112: Determine the human body or the target feature as the following object.

[0069] In this solution, the sensor module may include a camera module that captures images of the human body or target features carried by the human body. The following object may be the entire human body or local features of the human body. The target feature may be held by the user or attached to the human body using a marker. The camera is used to identify the target feature and then follow the human body, or to identify local or overall body features of the human body. The local body features may be the feet, back, head, etc. Generally, the working environment of the lawn mowing robot is the ground, and it is easier for the camera module to capture images near the ground. The body feature is preferably the foot feature.

[0070] Alternatively, step S10 may further include:

[0071] Step S121: Obtain the infrared radiation signal of the human body;

[0072] Step S122: Determine the infrared radiation signal as the following object.

[0073] In this solution, the sensor module may include an infrared sensor that uses the infrared sensor to judge the infrared radiation signal of the human body and determines the human body position based on the signal for following.

[0074] In addition, other sensor modules may further include ultrasonic sensors, laser sensors, etc., which track the human body or target features through ultrasonic tracking, laser reflection tracking, etc.

[0075] When step S10 is executed, it may simultaneously include the steps of:

[0076] Step S131: Record the starting position of the lawn mowing robot;

[0077] Step S132: Determine the starting area based on the starting position.

[0078] The determination of the starting position is used to determine the starting and ending points of the operation boundary.

[0079] The starting position can be obtained through the positioning module of the lawn mowing robot. The positioning module can be one or more of GPS, visual slam, laser locator, GNSS, Beidou, etc.

[0080] The starting area is an area expanded outward from the starting position. For example, an area with a radius of 50 cm near the starting position as the center is determined as the starting area.

[0081] Step S20: Control the lawn mowing robot to move following the following object, and continuously record the position information of the lawn mowing robot through the positioning module during the movement.

[0082] Step S20 may specifically include the following steps:

[0083] Step S21: Continuously detect the real-time position of the following object;

[0084] Step S22: Calculate the movement information according to the real-time position of the following object;

[0085] Step S23: Move the lawn mowing robot according to the movement information, and continuously record the position information of the lawn mowing robot through the positioning module during the movement.

[0086] The movement information can determine the specific movement mode of the lawn mowing robot, such as the movement speed and path. Drive the lawn mowing robot to move according to the movement information. During the movement, record the path information it has moved through, and record these passed position information through the positioning module.

[0087] Here, the movement information can include two aspects. One is the movement path information of the lawn mowing robot, that is, the movement direction of the lawn mowing robot. The movement path information is used to indicate the relative rotational speed between the left wheel and the right wheel of the lawn mowing robot; the other is the movement speed information of the lawn mowing robot, and the movement speed information is used to indicate the movement speed of the lawn mowing robot.

[0088] For the calculation of the movement path information, it includes steps S221~S222:

[0089] Step S221: Determine the yaw value according to the position information of the lawn mowing robot relative to the following object.

[0090] Step S222: Determine the relative rotational speed according to the yaw value.

[0091] In step S221, the yaw value is used to determine the yaw degree of the lawn mowing robot. By calculating the difference between the position information of the lawn mowing robot and the position information of the following object, this value can be obtained. For example, the value range of the yaw value is set to -100~100. d = 0 means no yaw, and the lawn mowing robot is directly behind the following object. d < 0 means yaw to the right, that is, the lawn mowing robot is behind the right of the following object. d > 0 means yaw to the left, that is, the lawn mowing robot is behind the left of the following object.

[0092] Among them, step S222 includes:

[0093] When the yaw value corresponds to a right yaw, control the rotational speed of the right wheel of the lawn mowing robot to be greater than that of the left wheel. At this time, corresponding to d < 0 in the above example.

[0094] When the yaw value corresponds to a left yaw, control the rotational speed of the left wheel of the lawn mowing robot to be greater than that of the right wheel. At this time, corresponding to d > 0 in the above example.

[0095] If the rotational speed of the right wheel is greater than that of the left wheel, the mowing robot will turn left. If the rotational speed of the left wheel is greater than that of the right wheel, the mowing robot will turn right. Different turning amplitudes are achieved through the speed difference between the left and right wheels.

[0096] In addition, when there is no yaw for the yaw value, i.e., d = 0, control the rotational speed of the right wheel of the mowing robot to be equal to that of the left wheel.

[0097] Here, for the specific calculation method of calculating the rotational speeds of the left and right wheels based on the yaw value in step S222, the yaw value can be used as the input, and the rotational speeds of each wheel of the mowing robot are calculated through the PID adjustment algorithm.

[0098] For the calculation of the moving speed information, it includes step S223:

[0099] Step S223: Determine the moving speed of the mowing robot according to the position information of the mowing robot relative to the following object. Among them, the closer the distance between the mowing robot and the following object, the smaller the moving speed.

[0100] Here, if the distance between the mowing robot and the human body is smaller, the speed is slower. If the distance between the mowing robot and the human body is larger, the speed is faster, so that the mowing robot can always maintain an appropriate distance behind the human body and avoid colliding with the human body.

[0101] Through steps S221 - S223, the mowing robot can always follow behind the human body, avoiding both running to the wrong position and colliding with the human body.

[0102] During the execution of step S23, it specifically further includes steps:

[0103] Step S231: During the movement, obtain the position information of the mowing robot through the positioning module at every preset time interval. The position information is used to indicate the boundary points.

[0104] In step S231, the preset time interval can be set according to requirements. The longer the time interval, the sparser the recorded position information, and vice versa. Here, the preset time interval can be 100 ms, that is, obtain the position information through the positioning module every 100 ms. These position information all correspond to boundary points for determining the operation boundary. As Figure 1 shown, during the movement of the mowing robot, successive position information is recorded one by one.

[0105] Step S30: When the preset stop condition is met, control the mowing robot to stop following the following object and stop recording the position information.

[0106] When the lawn mowing robot returns to the starting area, it means that the end point is near the starting position at this time. The boundary walked out at this time forms a complete enclosed space, so the path information recording is stopped and the area within the boundary is the subsequent working area for the lawn mowing robot.

[0107] The preset stop condition in this embodiment may be that the lawn mowing robot returns to the starting area again after leaving the starting area, where the starting area is an area determined based on the position when the position information is started to be recorded.

[0108] In other embodiments, the preset stop condition may also be that the user controls the lawn mowing robot to stop following through a remote control, an app, or directly operating the buttons of the lawn mowing robot. In this embodiment, since the starting point and the end point are not necessarily together, the determined boundary cannot be directly closed. Therefore, the boundary can be supplemented manually, or the existing boundary lines can be connected to generate a closed boundary. Or the preset stop condition at this time is only a temporary stop and will meet other conditions later, such as starting to determine the boundary method again and then starting again.

[0109] Step S40: Generate the movement trajectory of the lawn mowing robot according to the continuously recorded position information to determine the operation boundary.

[0110] If the path information is a complete boundary line, the path information is determined as the operation boundary at this time.

[0111] If the path information is a set of points of a series of position information determined through step S231, step S40 further includes step S41 at this time:

[0112] Step S41: Connect the boundary points corresponding to the adjacent position information to generate the movement trajectory of the lawn mowing robot, and determine the closed figure formed by all the connections as the operation boundary.

[0113] At this time, the connections of these boundary points will draw a polygonal area, and the corresponding polygon is the operation boundary.

[0114] After determining the movement trajectory, the movement trajectory can be directly determined as the operation boundary. In addition, after determining the movement trajectory, the following steps S42 to S43 can also be continued:

[0115] Step S42: Obtain correction information;

[0116] Step S43: Determine the operation boundary according to the movement trajectory and the correction information.

[0117] Steps S42 to S43 may be corrections made by the human body on the client side, such as the app side, to the already determined movement trajectory, such as adjustments made by the human body to some unfavorable positions when walking. By combining the path information and the correction information, the need of the human body to adjust the boundaries of the walking path is met.

[0118] Steps S42 to S43 may be completed immediately after step S30, or may be performed at any time during the subsequent use process to adjust the existing operation boundaries.

[0119] Through the above steps, we can obtain accurate working boundaries based on the user's walking by following the human body or target features, such as Figure 1 and 2 As shown, a complete operation boundary is finally obtained.

[0120] Compared with the prior art, this embodiment has the following beneficial effects:

[0121] The lawn mowing robot can determine the working boundary while moving by following the movement of the object being followed. The user only needs to walk along the boundary to complete the determination of the working boundary. The process of determining the working boundary of the lawn mowing robot does not require human control. The determined working boundary is very consistent with the user's definition of the boundary, and the determination process does not require high performance of the lawn mowing robot. It solves many current problems in determining the working boundary and improves the user experience.

[0122] In addition, the lawn mower robot 100 proposed in the present invention may include, in addition to the aforementioned walking module 20, sensor module 10, and positioning module 30, a storage module 50 and a processing module 40. When the processing module 40 executes the computer program, it may implement the steps of the aforementioned method for determining the operating boundary of the lawn mower robot, that is, implement the steps of any one of the technical solutions of the aforementioned method for determining the operating boundary of the lawn mower robot.

[0123] The lawn mower robot 100 may further include a communication bus 60, which is used to establish a connection between the walking module 20, the sensor module 10, the positioning module 30, the processing module 40 and the storage module 50. The communication bus 60 may include a path for transmitting information between the walking module 20, the sensor module 10, the positioning module 30, the processing module 40 and the storage module 50, such as Figure 3 shown.

[0124] The processing module 40 can be a Central Processing Unit (CPU), or other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate Arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor. The processing module 40 is the control center of the method for determining the working boundary of the mowing robot, and connects all parts of the whole through various interfaces and circuits.

[0125] The storage module 50 can be used to store the computer program and / or module. The processing module 40 realizes various functions of the mowing robot 100 by running or executing the computer program and / or module stored in the storage module 50, and by calling the data stored in the storage module 50. The storage module 50 can mainly include a program storage area and a data storage area. Among them, the program storage area can store an operating system, application programs required for at least one function, etc. In addition, the storage module 50 can include high-speed random access memory, and can also include non-volatile memory, such as a hard disk, memory, plug-in hard disk, Smart Media Card (SMC), Secure Digital (SD) card, Flash Card, at least one magnetic disk storage device, flash device, or other volatile solid-state storage devices.

[0126] Exemplarily, the computer program can be divided into one or more modules / units. The one or more modules / units are stored in the storage module 50 and executed by the processing module 40 to complete the present invention. The one or more modules / units can be a series of computer program instruction segments capable of completing specific functions, and these instruction segments are used to describe the execution process of the computer program in the method for the mowing robot to determine the working boundary.

[0127] Furthermore, an embodiment of the present invention provides a readable storage medium that stores a computer program. When the computer program is executed by the processing module 40, it can implement the steps in the above method for determining the working boundary of the mowing robot, that is, implement the steps in any one of the technical solutions in the above method for determining the working boundary of the mowing robot.

[0128] When the modules integrated in the method for determining the operation boundary of the mowing robot are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on such understanding, to implement all or part of the processes in the above-described embodiment methods of the present invention, it can also be completed by a computer program instructing relevant hardware. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processing module 40, the steps of the above-described method embodiments can be implemented.

[0129] 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. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disc, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electrical carrier signal, telecommunication signal, and software distribution medium, etc. It should be noted that the content included in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice within the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electrical carrier signals and telecommunication signals.

[0130] It should be understood that although this specification is described according to embodiments, not each embodiment only includes an independent technical solution. This narrative way of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments understandable by those skilled in the art.

[0131] The series of detailed descriptions listed above are only specific descriptions of the feasible embodiments of the present invention, and they are not intended to limit the protection scope of the present invention. Any equivalent embodiments or modifications made without departing from the technical spirit of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for determining the operation boundary of a lawn mowing robot, characterized in that, The lawn mowing robot includes a positioning module and a sensor module, and the method includes the following steps: Detect a following object through the sensor module, where the following object is a human body or a target feature carried by the human body; Control the lawn mowing robot to move following the following object, and continuously record the position information of the lawn mowing robot through the positioning module during the movement; When a preset stop condition is satisfied, control the lawn mowing robot to stop moving following the following object and stop recording the position information; Generate a movement trajectory of the lawn mowing robot according to the continuously recorded position information to determine the operation boundary; 2. The method for determining the operation boundary of a lawn mowing robot according to claim 1, wherein The preset stop condition includes: the lawn mowing robot returns to the starting area again after leaving the starting area, where the starting area is an area determined based on the position when starting to record the position information; 3. The method for determining the operation boundary of a lawn mowing robot according to claim 1, wherein The continuously recording the position information of the lawn mowing robot through the positioning module during the movement includes: Obtaining the position information of the lawn mowing robot at intervals of a preset time period through the positioning module during the movement, and the position information is used to indicate boundary points; 4. The method for determining the operation boundary of a lawn mowing robot according to claim 3, characterized in that, The generating a movement trajectory of the lawn mowing robot according to the continuously recorded position information to determine the operation boundary includes: Connect the boundary points corresponding to the adjacent position information to generate a movement trajectory of the lawn mowing robot, and determine the closed figure formed by all the connections as the operation boundary; 5. The method for determining the operation boundary of a lawn mowing robot according to claim 1, wherein The controlling the lawn mowing robot to move following the following object and continuously recording the position information of the lawn mowing robot through the positioning module during the movement includes: Continuously detecting the real-time position of the following object; Calculating movement information according to the real-time position of the following object; Moving the lawn mowing robot according to the movement information, and continuously recording the position information of the lawn mowing robot through the positioning module during the movement; 6. The method for determining the operation boundary of a lawn mowing robot according to claim 5, characterized in that, The movement information includes movement path information, and the movement path information is used to indicate the relative rotation speed between the left wheel and the right wheel of the lawn mowing robot; The calculating movement information according to the real-time position of the following object includes: Determining a yaw value according to the position information of the lawn mowing robot relative to the following object; Determining the relative rotation speed according to the yaw value; 7. The method for determining the operation boundary of a lawn mowing robot according to claim 6, wherein, The determining the relative rotation speed according to the yaw value includes: When the yaw value corresponds to a right deviation, control the rotation speed of the right wheel of the lawn mowing robot to be greater than that of the left wheel; When the yaw value corresponds to a left deviation, control the rotation speed of the left wheel of the lawn mowing robot to be greater than that of the right wheel; 8. The method for determining the operation boundary of a lawn mowing robot according to claim 6, characterized in that, The determining the relative rotation speed according to the yaw value includes: Taking the yaw value as an input, and calculating the rotation speed of each wheel of the lawn mowing robot through a PID adjustment algorithm; 9. The method for determining the operation boundary of a lawn mowing robot according to claim 5, wherein The movement information includes movement speed information, and the movement speed information is used to indicate the movement speed of the lawn mowing robot; The calculating movement information according to the real-time position of the following object includes: Determine the moving speed information according to the position information of the lawn mowing robot relative to the following object, wherein the closer the distance between the lawn mowing robot and the following object, the smaller the moving speed.

10. The method for determining the operation boundary of a lawn mowing robot according to claim 1, wherein It further includes the steps of: When a trigger signal of the set button of the lawn mowing robot is obtained, and / or when a following signal is obtained, detect the following object.

11. The method for determining the operation boundary of a lawn mowing robot according to claim 1 or 10, characterized in that, The control for the lawn mowing robot to follow the following object includes: Determine the human body or the target feature as the following object; Continuously detect the real-time position of the following object; Or, Obtain the infrared radiation signal of the human body; Determine the infrared radiation signal as the following object; Continuously detect the real-time position of the following object.

12. A lawn mowing robot, characterized in that, It includes: A storage module for storing a computer program; A processing module, when executing the computer program, can implement the steps in the method for determining the operation boundary of the lawn mowing robot according to any one of claims 1 to 11.

13. A readable storage medium stores a computer program, characterized in that, When the computer program is executed by the processing module, it can implement the steps in the method for determining the operation boundary of the lawn mowing robot according to any one of claims 1 to 11.

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