Self-moving mower

Abstract

The invention discloses a self-moving mower. The self-moving mower comprises a mower body; the walking wheel assembly is configured to support the mower body and is used for driving the self-moving mower to walk; the blade assembly is operably attached to the machine body and used for cutting grass plants; the signal receiving assembly is configured to receive a boundary signal sent by a boundary line; the controller comprises a processor and a memory, is arranged in the machine body, is electrically connected with the signal receiving assembly, and controls the self-moving mower to walk along the boundary line at least according to the boundary signal provided by the signal receiving assembly; the controller is configured to: obtain an actual measurement of the boundary signal; acquiring a target distance between the self-moving mower and the boundary line; obtaining related parameters of the boundary line; calculating the target intensity of the boundary signal according to the target distance and the relevant parameters of the boundary line; according to the actual measured value and the target intensity of the boundary signal, the self-moving mower is controlled to walk along the boundary line, and the navigation precision of the self-moving mower walking along the boundary can be improved.

Description

Technical Field

[0001] This application relates to the field of navigation technology for lawnmowers, and more particularly to a self-propelled lawnmower. Background Technology

[0002] Lawn-mowing robots are being used more and more widely in garden maintenance. They can automatically mow the lawn and charge their devices. These self-moving devices can free users from tedious and time-consuming household chores such as cleaning and lawn maintenance.

[0003] Current self-propelled lawnmowers have many problems with automatic navigation, such as low work efficiency due to the navigation route, low grass cutting coverage, deep ruts due to walking along the same path and boundary line, and inability to accurately identify the correct signal when there is interference.

[0004] This section provides background information related to this application, which is not necessarily prior art. Summary of the Invention

[0005] One object of this application is to solve or at least alleviate some or all of the aforementioned problems. Therefore, one object of this application is to provide a self-propelled lawnmower to improve its mowing efficiency.

[0006] According to one aspect of this application, a self-propelled lawnmower is provided, comprising:

[0007] body;

[0008] The walking wheel assembly is configured to support the body and is used to drive the self-propelled lawnmower to move.

[0009] A blade assembly, operably attached to the body, is used for cutting grass stalks;

[0010] A signal receiving component configured to receive boundary signals emitted by the boundary line;

[0011] A controller, including a processor and a memory, is disposed within the body, electrically connected to the signal receiving component, and controls the self-propelled lawnmower to move along the boundary line based at least on the boundary signal provided by the signal receiving component;

[0012] The controller is configured to:

[0013] Obtain the actual measured value of the boundary signal;

[0014] Obtain the target distance between the self-propelled lawnmower and the boundary line;

[0015] Obtain the relevant parameters of the boundary line;

[0016] The target intensity of the boundary signal is calculated based on the target distance and relevant parameters of the boundary line.

[0017] Based on the actual measured value of the boundary signal and the target intensity, the self-propelled lawnmower is controlled to move along the boundary line.

[0018] Optionally, controlling the self-propelled lawnmower to travel along the boundary line based on the actual intensity and the target intensity includes:

[0019] The actual strength of the boundary signal is obtained based on the actual measured value;

[0020] Determine whether the actual strength is less than the target strength;

[0021] If it is determined that the actual intensity is less than the target intensity, then the self-propelled lawnmower is controlled to move towards the boundary line;

[0022] If it is determined that the actual strength is not less than the target strength, then it is determined whether the actual measured value is greater than the target measured value;

[0023] If it is determined that the actual intensity is greater than the target intensity, then the self-propelled lawnmower is controlled to move away from the boundary line;

[0024] If the actual intensity is determined to be equal to the target intensity, then the self-propelled lawnmower is controlled to move in a direction parallel to the boundary line.

[0025] Optionally, the relevant parameters of the boundary line include the embedment depth of the boundary line.

[0026] Optionally, the target intensity of the boundary signal is calculated based on the target distance and relevant parameters of the boundary line, including:

[0027] Obtain the first vertical distance between the signal receiving component and the ground;

[0028] The sum of the first vertical distance and the burial depth of the boundary line is determined as the effective vertical distance between the signal receiving component and the boundary line;

[0029] The target strength of the boundary signal is determined based on the effective vertical distance and the target distance.

[0030] Optionally, obtaining the actual intensity of the boundary signal based on the actual measured value includes:

[0031] Based on the preset relationship between magnetic field strength and measured value, the actual strength of the boundary signal is determined according to the actual measured value.

[0032] Optionally, obtaining the target distance between the self-propelled lawnmower and the boundary line includes:

[0033] Obtain the preset distance set by the user;

[0034] The preset distance is determined as the target distance between the self-propelled lawnmower and the boundary line.

[0035] Optionally, obtaining the target distance between the self-propelled lawnmower and the boundary line includes:

[0036] Get the user-defined preset distance range;

[0037] A distance value within the preset distance range is randomly determined as the target distance between the self-propelled lawnmower and the boundary line.

[0038] Optionally, during the process of controlling the self-propelled lawnmower to move along the boundary line, the method further includes:

[0039] Determine whether there is a conflict boundary signal based on the actual measured value of the boundary signal;

[0040] If not, return to the step of obtaining the actual measured value of the boundary signal.

[0041] Optionally, the controller is further configured to:

[0042] If a conflict boundary signal is determined to exist based on the actual measured value of the boundary signal, a conflict alarm signal is sent.

[0043] Optionally, controlling the self-propelled lawnmower to travel along the boundary line based on the actual measured value of the boundary signal and the target intensity includes:

[0044] Based on the actual measured value of the boundary signal and the target intensity, the self-propelled lawnmower is controlled to return to the charging station along the boundary line.

[0045] The self-propelled lawnmower provided in this application, based on a basic structure including a body, a wheel assembly, a blade assembly, a signal receiving assembly, and a controller, is configured with a controller capable of acquiring the actual measured value of the boundary signal, the target distance between the self-propelled lawnmower and the boundary line, and relevant parameters of the boundary line during its movement. It then calculates the target intensity of the boundary signal based on the target distance and the relevant parameters of the boundary line. This allows the self-propelled lawnmower to be controlled to move along the boundary line based on the actual measured value and target intensity of the boundary signal, improving the navigation accuracy of the self-propelled lawnmower when moving along the boundary. Furthermore, in application scenarios where the self-propelled lawnmower moves along the boundary, the target distance between the self-propelled lawnmower and the boundary line can be set to be different each time it moves along the boundary line, effectively preventing tire tracks from being created on the lawn due to repeated movement along the same trajectory, thus avoiding affecting the aesthetics of the lawn. Attached Figure Description

[0046] Figure 1 This is a schematic diagram of the structure of a self-propelled lawnmower provided in an embodiment of this application;

[0047] Figure 2 This is a system control diagram of a self-propelled lawnmower provided in an embodiment of this application;

[0048] Figure 3 This is a flowchart of a configuration method in a controller provided in an embodiment of this application;

[0049] Figure 4 This is a schematic diagram of a grassland area provided in an embodiment of this application;

[0050] Figure 5 This is a schematic diagram of another grassland area provided in an embodiment of this application;

[0051] Figure 6 This is a schematic diagram of a self-propelled lawnmower moving in a first cutting area, provided in an embodiment of this application.

[0052] Figure 7 This is a schematic diagram of another self-propelled lawnmower traveling in the first cutting area, provided in an embodiment of this application.

[0053] Figure 8 This is a schematic diagram of another self-propelled lawnmower traveling in the first cutting area, provided in an embodiment of this application.

[0054] Figure 9 This is a schematic diagram of another self-propelled lawnmower traveling in the first cutting area, provided in an embodiment of this application.

[0055] Figure 10 This is a flowchart of another configuration method in a controller provided in an embodiment of this application;

[0056] Figure 11 This is a system control diagram of another self-propelled lawnmower provided in an embodiment of this application;

[0057] Figure 12 This is a flowchart of a configuration method in a controller provided in an embodiment of this application;

[0058] Figure 13 This is a flowchart of another configuration method in a controller provided in an embodiment of this application;

[0059] Figure 14 This is a diagram showing the positional relationship between a boundary line and a signal receiving component, provided in an embodiment of this application.

[0060] Figure 15 This is a flowchart of another configuration method in a controller provided in the embodiments of this application;

[0061] Figure 16 This is a flowchart of a configuration method in a controller provided in an embodiment of this application;

[0062] Figure 17 This is a schematic diagram of a work area provided in an embodiment of this application;

[0063] Figure 18 This is a schematic diagram of grass mowing coverage deviation provided in an embodiment of this application;

[0064] Figure 19 This is a flowchart of another configuration method in a controller provided in an embodiment of this application;

[0065] Figure 20 This is a schematic diagram of another working area provided in an embodiment of this application;

[0066] Figure 21 This is a flowchart of a configuration method in a controller provided in an embodiment of this application;

[0067] Figure 22 This is a schematic diagram illustrating a scenario of multi-user use provided in an embodiment of this application;

[0068] Figure 23 This is a flowchart of another configuration method in a controller provided in an embodiment of this application;

[0069] Figure 24 This is a flowchart of another configuration method in a controller provided in the embodiments of this application;

[0070] Figure 25 This application provides a statistical histogram of time intervals for boundary signals of a single charging pile.

[0071] Figure 26 This application provides a statistical histogram of time intervals for boundary signals when there are multiple charging piles.

[0072] Figure 27 This is a flowchart of another configuration method in a controller provided in the embodiments of this application;

[0073] Figure 28 This is a state diagram of each boundary signal when there is a single charging pile, as provided in an embodiment of this application;

[0074] Figure 29 This is a state diagram of each boundary signal when there are multiple charging piles, as provided in an embodiment of this application. Detailed Implementation

[0075] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0076] Before explaining any implementation of this application in detail, it should be understood that this application is not limited to its application to the structural details and component arrangements set forth in the following description or shown in the above drawings.

[0077] In this application, the terms "comprising," "including," "having," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0078] In this application, the term "and / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent three cases: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this application generally indicates that the preceding and following related objects have an "and / or" relationship.

[0079] In this application, the terms "connection," "combination," "coupling," and "installation" can refer to direct connection, combination, coupling, or installation, or indirect connection, combination, coupling, or installation. For example, a direct connection refers to two parts or components being connected together without the need for an intermediary, while an indirect connection refers to two parts or components each being connected to at least one intermediary, with the connection achieved through the intermediary. Furthermore, "connection" and "coupling" are not limited to physical or mechanical connections or couplings, but can also include electrical connections or couplings.

[0080] In this application, those skilled in the art will understand that relative terms (e.g., “about,” “approximately,” “basically,” etc.) used in conjunction with quantities or conditions are to include the values ​​and have the meaning indicated by the context. For example, such relative terms include at least the degree of error associated with the measurement of a particular value, tolerances associated with the particular value due to manufacturing, assembly, use, etc. Such terms should also be considered as disclosing a range defined by the absolute values ​​of the two endpoints. Relative terms may refer to a certain percentage (e.g., 1%, 5%, 10% or more) of the indicated value. Numerical values ​​not using relative terms should also be disclosed as specific values ​​with tolerances. Furthermore, “basically” when expressing relative angular relationships (e.g., substantially parallel, substantially perpendicular) may refer to a certain degree (e.g., 1 degree, 5 degrees, 10 degrees or more) added to or subtracted from the indicated angle.

[0081] In this application, those skilled in the art will understand that the function performed by a component can be performed by one component, multiple components, one part, or multiple parts. Similarly, the function performed by a part can also be performed by one part, one component, or a combination of multiple parts.

[0082] In this application, the directional terms "upper," "lower," "left," "right," "front," and "rear" are used to describe the orientation and positional relationships shown in the accompanying drawings and should not be construed as limiting the embodiments of this application. Furthermore, in the context, it should be understood that when an element is mentioned as being connected "upper" or "lower" to another element, it can be directly connected to the other element "upper" or "lower," or indirectly connected through an intermediate element. It should also be understood that directional terms such as upper side, lower side, left side, right side, front side, and rear side not only represent positive orientation but can also be understood as lateral orientation. For example, "below" can include directly below, lower left, lower right, lower front, and lower rear.

[0083] In this application, the terms "controller," "processor," "central processing unit," "CPU," and "MCU" are used interchangeably. When using the unit "controller," "processor," "central processing unit," "CPU," or "MCU" to perform a specific function, unless otherwise stated, these functions may be performed by a single or multiple of the aforementioned units.

[0084] In this application, the terms "device," "module," or "unit" are used to describe devices that can be implemented in hardware or software to perform a specific function.

[0085] In this application, the terms “calculation,” “judgment,” “control,” “determine,” “identify,” etc., refer to the operation and process of a computer system or similar electronic computing device (e.g., controller, processor, etc.).

[0086] Figure 1 This is a schematic diagram of a self-propelled lawnmower provided in an embodiment of this application, which can be operated by a user sitting or standing on it to mow lawns and other vegetation. In this specification, the directions forward, backward, left, right, up, and down are described as... Figure 1 The directions shown are as follows. Specifically, when a user is riding on the self-propelled lawnmower 10 located on the ground, the direction the user is facing is defined as forward, the direction behind is defined as backward, the direction to the left is defined as left, the direction to the right is defined as right, the direction closer to the ground is defined as downward, and the direction further away from the ground is defined as upward.

[0087] Figure 2 This is a system control diagram of a self-propelled lawnmower provided in an embodiment of this application, in conjunction with reference to [reference needed]. Figure 1 and Figure 2 The self-propelled lawnmower 10 includes a body 11; a wheel assembly 12 configured to support the body and drive the self-propelled lawnmower 10 to move; a blade assembly 13 operably attached to the body 11 for cutting grass; and a controller 14, including a processor and a memory, disposed within the body 11, which controls the movement path of the self-propelled lawnmower 10. Specifically, the controller is configured to implement a method for controlling the movement of the self-propelled lawnmower. Figure 3 This is a flowchart of a configuration method in a controller provided in an embodiment of this application, in conjunction with reference to [reference needed]. Figures 1-3 Controller 14 is configured as follows:

[0088] S110. Based on the current position information of the self-moving lawnmower, set a preset shape area as the first cutting area.

[0089] Specifically, the self-propelled lawnmower 10 can also be equipped with a positioning module 15, which is used to acquire the position information of the self-propelled lawnmower 10 and send the acquired position information to the controller 14. In this way, the controller 14 can acquire the position information of the self-propelled lawnmower 10 through the positioning module 15. The position information can be coordinates that can indicate the position of the self-propelled lawnmower 10. Before cutting the grass, the controller 14 can determine a preset shaped area as the first cutting area based on the current position information of the self-propelled lawnmower 10. Figure 4 This is a schematic diagram of a grassland area provided in an embodiment of this application, such as... Figure 4 As shown, in the grassland area A1, the current position of the self-propelled lawnmower 10 is point Q1. The position information of point Q1 can be used as a vertex of a preset shape, thereby determining the first cutting area B1 based on the current position information of the self-propelled lawnmower 10. Alternatively, Figure 5 This is a schematic diagram of another grassland area provided in an embodiment of this application, such as... Figure 5As shown, the position information of point Q1 where the self-moving lawnmower 10 is located can be used as the center point of the preset shape, so that the first cutting area B1 of the preset shape can be determined according to the center point.

[0090] It is understood that this application only illustrates, by way of example, the case where the first cutting area is determined by the vertex or center point of the preset shape based on the current position information of the self-moving lawnmower 10. In other feasible embodiments of this application, the current position information of the self-moving lawnmower 10 may also be other position points in the preset shape, or position points outside the preset shape but with a preset positional relationship to the preset shape. The first cutting area of ​​the preset shape can also be determined based on the current position information of the self-moving lawnmower 10.

[0091] S120. Set a region of a preset shape adjacent to the first cutting region as the second cutting region.

[0092] The second cutting region and the first cutting region share a common edge.

[0093] Specifically, after determining the first cutting area B1, a second cutting area B1 can be set where grass cutting will be performed after the grass plants in the first cutting area B1 are cut. The second cutting area B2 can share a common edge with the first cutting area B1 to form the shape of the area, that is, the second cutting area B2 can be a pre-defined area adjacent to the first cutting area B1.

[0094] S130, Control the self-moving lawnmower to move within the first cutting area to cut grass stalks within the first cutting area.

[0095] S140. After the self-moving lawnmower has finished cutting the grass in the first cutting area, control the self-moving lawnmower to move in the second cutting area to cut the grass in the second cutting area.

[0096] Specifically, after determining the first cutting area B1 and setting the second cutting area B2, the walking wheel assembly can be controlled to move, driving the self-propelled lawnmower 10 to move within the first cutting area B1, thus cutting the grass stalks within B1. After cutting the grass stalks in the first cutting area B1, the self-propelled lawnmower can be controlled to move to the second cutting area B2 to cut the grass stalks in B2. In this way, the grassland area A1 can be divided into multiple cutting areas, allowing the self-propelled lawnmower 10 to complete the cutting of grass stalks in one area before moving on to the next, resulting in a higher coverage rate of grass cutting in grassland area A1 and effectively improving the grass cutting efficiency of the self-propelled lawnmower 10.

[0097] For example, after the self-moving lawnmower 10 moves to the second cutting area B2, it can determine the current second cutting area B2 as the first cutting area B1, and return to the step of setting the area with a preset shape adjacent to the first cutting area B1 as the second cutting area B2. In this way, after the grass cutting in the current area is completed, it can continue to move to the next cutting area to cut grass until the grass cutting of the entire grassland area A1 is completed, and the self-moving lawnmower 10 can stop cutting grass.

[0098] The self-propelled lawnmower provided in this application embodiment, based on its basic structure including a body, wheel assembly, blade assembly, and controller, is configured with a controller capable of dividing the grass area into multiple cutting zones. Furthermore, the first cutting zone currently occupied by the self-propelled lawnmower is positioned adjacent to the next second cutting zone to be cut. When controlling the self-propelled lawnmower to cut grass, it first cuts the grass within the first cutting zone, and then, after completing the cutting of the grass within the first cutting zone, it cuts the grass within the second cutting zone. This results in a higher coverage rate of grass cutting in the grass area, effectively improving the grass cutting efficiency of the self-propelled lawnmower.

[0099] Reference Figure 4 In a preferred embodiment, the controller, in addition to performing the above method, can also be configured to: control the self-moving lawnmower 10 to acquire boundary signals during its movement in the first cutting area B1 and / or the second cutting area B2; and control the self-moving lawnmower 10 to move within the boundary line 20 based on the boundary signals.

[0100] The boundary line 20 can be a pre-buried boundary line that can emit periodic electromagnetic signals as boundary signals. The self-propelled lawnmower may also include a signal receiving component to receive the boundary signals sent by the boundary line and transmit them to the controller. The controller can determine whether the self-propelled lawnmower 10 is within the grass area A1 based on the boundary signals. When controlling the self-propelled lawnmower 10 to move within the current cutting area, it can control the self-propelled lawnmower 10 to move within the boundary line 20 based on the boundary signals, thus preventing the self-propelled lawnmower from moving outside the grass area A1 and performing unnecessary work.

[0101] Optional, see reference Figure 4 The default shape can be a square, meaning that the cut areas within the grassland area are square. Alternatively, refer to... Figure 5 The preset shape can also be a regular hexagon, that is, the cut areas divided in the grassland area are regular hexagons.

[0102] Optional, see reference Figure 4 or Figure 5The side length of the preset shape is less than or equal to 15m. Optionally, the side length of the preset shape is 10m, 12m, or 15m. This ensures that the mowing area is not too large, improves mowing efficiency, reduces missed mowing areas, and allows the self-propelled lawnmower to complete the cutting of grass in the current first mowing area A1 in a short time.

[0103] Optional, Figure 6 This is a schematic diagram of a self-propelled lawnmower moving in the first cutting area, provided in an embodiment of this application. Figure 7 This is a schematic diagram of another self-propelled lawnmower traveling in the first cutting area, as provided in an embodiment of this application. Figure 6 As shown, in the first cutting area, the self-propelled lawnmower moves in a "bow" pattern to cut the grass. Similarly, in the second cutting area, the self-propelled lawnmower can also move in a "bow" pattern to cut the grass. The arrows in the diagram indicate the direction of travel of the self-propelled lawnmower.

[0104] Optional, Figure 8 This is a schematic diagram of another self-propelled lawnmower traveling in the first cutting area, as provided in the embodiments of this application. Figure 8 As shown, in the first cutting area B1, the self-propelled lawnmower moves in a "U" pattern to cut the grass. Similarly, in the second cutting area, the self-propelled lawnmower can also move in a "U" pattern to cut the grass. When the self-propelled lawnmower moves in a "U" pattern, it can move from the edge of the cutting area towards the center, or it can move from the inside of the cutting area towards the edge. This embodiment does not specifically limit the movement in this way.

[0105] Optional, Figure 9 This is a schematic diagram of another self-propelled lawnmower traveling in the first cutting area, as provided in the embodiments of this application. Figure 9 As shown, in the first cutting area, the self-propelled lawnmower travels along a random route to cut grass stalks. Similarly, in the second cutting area, the self-propelled lawnmower can also travel along a random route to cut grass stalks.

[0106] Optional, Figure 10 This is a flowchart of another configuration method in a controller provided in an embodiment of this application, in conjunction with reference to [reference needed]. Figure 1 , Figure 2 , Figure 4 and Figure 10 Controller 14 is configured as follows:

[0107] S210. Based on the current position information of the self-moving lawnmower, set a preset shape area as the first cutting area.

[0108] S220. A region of a preset shape adjacent to the first cutting region is designated as the second cutting region. The second cutting region and the first cutting region share a common edge.

[0109] S230, Control the self-moving lawnmower to move within the first cutting area to cut grass stalks within the first cutting area.

[0110] S240. After the self-moving lawnmower has finished cutting the grass in the first cutting area, obtain the coordinate set of the self-moving lawnmower's travel trajectory in the first cutting area, and obtain the travel time of the self-moving lawnmower in the first cutting area.

[0111] S250. Based on the coordinate set and / or travel time, determine whether the self-propelled lawnmower has completed cutting the grass in the first cutting area; if yes, proceed to step S260; if no, return to step S230.

[0112] S260, Control the self-moving lawnmower to move within the second cutting area to cut grass stalks within the second cutting area.

[0113] Specifically, while the self-propelled lawnmower 10 is moving within the first cutting area B1, the controller 14 continuously acquires the position information of the self-propelled lawnmower through the positioning module 15, and records and stores the coordinate set of the self-propelled lawnmower 10's movement trajectory. This coordinate set can then be compared with the coordinate set of the first cutting area B1 to determine whether the lawnmower 10 has achieved the target coverage rate in the first cutting area B1. If the target coverage rate is achieved, it can be determined that the lawn mower in the first cutting area B1 has been cut, and the self-propelled lawnmower 10 can be controlled to move to the second cutting area B2 to cut the lawn mower in the second cutting area B2. If the target coverage rate is not achieved, the self-propelled lawnmower 10 continues to move within the first cutting area B1 until the target coverage rate is achieved, at which point the self-propelled lawnmower 10 switches cutting areas.

[0114] While the self-moving lawnmower 10 is moving in the first cutting area B1, the controller 14 can also record the walking time of the self-moving lawnmower 10 in the first cutting area B1. When the walking time reaches the set time, it can be determined that the cutting of grass in the first cutting area B1 has been completed. At this time, the self-moving lawnmower 10 can be controlled to move to the second cutting area B2 and then cut the grass in the second cutting area B2.

[0115] In a feasible embodiment, the determination of whether the cutting of grass in the first cutting area B1 has been completed can be made simultaneously based on the coordinate set and travel time of the self-propelled lawnmower 10. For example, if the coordinate set determines that the grass cutting coverage rate in the first cutting area B1 has reached the target coverage rate, and the travel time of the self-propelled lawnmower 10 in the first cutting area B1 has reached the set time, then it is determined that the cutting of grass in the first cutting area B1 has been completed. At this time, the self-propelled lawnmower 10 can be controlled to switch from the first cutting area B1 to the second cutting area B2 for grass cutting. In this way, the detection accuracy of grass cutting coverage rate can be improved, ensuring that the grass cutting coverage rate in the current cutting area meets the user's requirements, thereby ensuring that the grass cutting coverage rate of the entire grassland area meets the user's requirements.

[0116] When the self-moving lawnmower 10 switches cutting areas, it can also detect whether the self-moving lawnmower 10 has successfully completed the switching of cutting areas.

[0117] For example, during the process of controlling the self-propelled lawnmower to move from the first cutting area to the second cutting area, a first distance between the self-propelled lawnmower and the second cutting area can be obtained; it can be determined whether the first distance is less than a first preset distance; if so, it is determined that the self-propelled lawnmower has moved to the second cutting area; if not, it is determined that the self-propelled lawnmower has not moved to the second cutting area.

[0118] Specifically, the distance between the current position coordinates of the self-propelled lawnmower 10 and the area coordinates of the second cutting area B2 can be calculated to obtain the first distance between the self-propelled lawnmower 10 and the second cutting area B2. The area coordinates of the second cutting area B2 can be the coordinates of each vertex of the second cutting area B2. When the first distance is determined to be less than a first preset distance, it can be determined that the self-propelled lawnmower has moved to the second cutting area B2, and the self-propelled lawnmower 10 can be controlled to perform grass cutting work in the second cutting area B2. Conversely, if the first distance is determined to be greater than or equal to the first preset distance, it can be determined that the self-propelled lawnmower has not moved to the second cutting area B2, and the self-propelled lawnmower 10 can continue to move towards the second cutting area B2 until the first distance is less than the first preset distance, at which point the self-propelled lawnmower 10 can be controlled to perform grass cutting work in the second cutting area B2.

[0119] refer to Figure 4 or Figure 5It can be assumed that the cutting area sharing a common edge with the first cutting area B1 is the third cutting area B3. In a feasible embodiment, after determining that the first distance is less than the first preset distance, the second distance between the self-moving lawnmower and each of the third cutting areas B3 can be obtained, and it can be determined whether each second distance is greater than the second preset distance. If it is determined that each second distance is greater than the second preset distance, it can be determined that the self-moving lawnmower 10 has moved to the second cutting area B2. In this way, the accuracy of the self-moving lawnmower 10 switching cutting areas can be further improved.

[0120] This application also provides another self-propelled lawnmower. Figure 11 This is a system control diagram of another self-propelled lawnmower provided in the embodiments of this application, in conjunction with reference to... Figure 1 and Figure 11 The self-propelled lawnmower 10 includes a body 11; a wheel assembly 12 configured to support the body and drive the self-propelled lawnmower 10 to move; a blade assembly 13 operably attached to the body 11 for cutting grass; a signal receiving assembly 16 configured to receive boundary signals emitted from a boundary line; and a controller 14 including a processor and a memory. The controller 14 is disposed within the body 11, electrically connected to the signal receiving assembly 16, and controls the self-propelled lawnmower 10 to move along the boundary line based at least on the boundary signals provided by the signal receiving assembly. Specifically, the controller 14 is configured to implement a method for controlling the movement of the self-propelled lawnmower. Figure 12 This is a flowchart of a configuration method in a controller provided in an embodiment of this application, in conjunction with reference to [reference needed]. Figure 1 , Figure 11 and Figure 12 Controller 14 is configured as follows:

[0121] S310, Obtain the actual measured value of the boundary signal.

[0122] Specifically, the boundary signal transmitted by the boundary line can be a magnetic field strength signal. The signal receiving component 16 can convert the detected magnetic field strength signal into a corresponding detection signal and send it to the controller 14. This detection signal is the actual measured value of the boundary signal. This ensures that the actual measured value provided to the controller 14 matches the controller 14's recognition capability, enabling the controller 14 to recognize and receive the actual measured value, and to determine the actual strength of the boundary signal based on the received actual measured value.

[0123] S320, Obtain the target distance between the mobile lawnmower and the boundary line.

[0124] Specifically, the target distance for a self-propelled lawnmower can be either the default distance stored in the memory or a target distance set by the user.

[0125] For example, when obtaining the target distance between the self-moving lawnmower and the boundary line, a preset distance set by the user can be obtained and determined as the target distance between the self-moving lawnmower and the boundary line.

[0126] Alternatively, in a feasible embodiment, when obtaining the target distance between the self-propelled lawnmower and the boundary line, a preset distance range set by the user can be obtained; a distance value within the preset distance range is randomly determined as the target distance between the self-propelled lawnmower and the boundary line. It can be understood that the preset distance is a positive number greater than zero. Therefore, when the user sets the preset distance range, they can set the maximum value of the preset distance range. When obtaining the target distance, a distance value within the preset distance range can be selected as the target distance between the self-propelled lawnmower and the boundary line. This simplifies the process of setting the preset distance range and increases the selectable range of preset distances.

[0127] S330, Obtain the relevant parameters of the boundary line.

[0128] Specifically, the parameters related to the boundary line may include the length and position of the boundary line. In a preferred embodiment, the parameters related to the boundary line include the burial depth of the boundary line, that is, the depth to which the boundary line is buried underground.

[0129] S340. Calculate the target strength of the boundary signal based on the target distance and relevant parameters of the boundary line.

[0130] Specifically, the target intensity of the boundary signal can be calculated based on the formula for calculating magnetic field strength, according to the relevant parameters of the target distance and the boundary line. When the self-propelled lawnmower 10 maintains a preset distance from the boundary line during its movement, it can ensure that the actual intensity of the boundary signal acquired by the controller 14 is equal to the target intensity.

[0131] S350: Based on the actual measured value of the boundary signal and the target intensity, control the self-propelled lawnmower to move along the boundary line.

[0132] Specifically, after obtaining the target strength of the boundary signal, the target strength can be compared with the actual strength of the boundary signal corresponding to the actual measured value. Based on the comparison, the self-propelled lawnmower can be controlled to walk along the boundary line. This improves the navigation accuracy of the self-propelled lawnmower when walking along the boundary. Furthermore, in applications where the self-propelled lawnmower walks along the boundary, the target distance from the boundary line can be set to be different each time the self-propelled lawnmower walks along the boundary line. This effectively prevents tire tracks from being created on the lawn due to repeatedly walking along the same trajectory, thus avoiding affecting the aesthetics of the lawn.

[0133] In a preferred embodiment, in the application scenario of the self-propelled lawnmower returning to the charging station, the self-propelled lawnmower can be controlled to return to the charging station along the boundary line based on the actual measured value and target intensity of the boundary signal. This allows the self-propelled lawnmower to walk along the desired distance from the boundary line until it returns to the charging station, preventing tire tracks from being made on the lawn due to walking along the same trajectory multiple times, thus avoiding affecting the aesthetics of the lawn.

[0134] The self-propelled lawnmower provided in this application embodiment has a basic structure including a body, a walking wheel assembly, a blade assembly, a signal receiving assembly, and a controller. Its controller is configured to acquire the actual measured value of the boundary signal, the target distance between the self-propelled lawnmower and the boundary line, and relevant parameters of the boundary line during movement. Based on the target distance and the relevant parameters of the boundary line, it calculates the target intensity of the boundary signal. Therefore, based on the actual measured value and target intensity of the boundary signal, it controls the self-propelled lawnmower to walk along the boundary line, improving the navigation accuracy of the self-propelled lawnmower when walking along the boundary. Furthermore, in application scenarios where the self-propelled lawnmower walks along the boundary, the target distance between the self-propelled lawnmower and the boundary line can be set to be different each time it walks along the boundary line, effectively preventing tire tracks from being created on the lawn due to repeated walking along the same trajectory, thus avoiding affecting the aesthetics of the lawn.

[0135] Optional, Figure 13 This is a flowchart of another configuration method in a controller provided in an embodiment of this application, in conjunction with reference to [reference needed]. Figure 1 , Figure 11 and Figure 13 Controller 14 is configured as follows:

[0136] S411. Obtain the actual measured value of the boundary signal.

[0137] S412, Obtain the target distance between the mobile lawnmower and the boundary line.

[0138] Specifically, Figure 14 This is a diagram illustrating the positional relationship between a boundary line and a signal receiving component, as provided in an embodiment of this application. Figure 14 As shown, the target distance between the self-propelled lawnmower and the boundary line is D0. The signal receiving component 16 can be positioned on the side of the self-propelled lawnmower 10 closest to the boundary line 20. Therefore, the target distance D0 between the signal receiving component 16 and the boundary line is the same as the target distance D0 between the self-propelled lawnmower and the boundary line.

[0139] S413. Obtain the relevant parameters of the boundary line.

[0140] Among the parameters of the boundary line, the embedment depth of the boundary line is specified. The embedment depth of boundary line 20 is H1. It can be understood that the figure shows the cross-section of boundary line 20, with the dashed line L1 representing the ground. The parameters of boundary line 20 can be stored in memory and directly retrieved during use.

[0141] S414. Obtain the first vertical distance between the signal receiving component and the ground.

[0142] Specifically, the first vertical distance H2 between the signal receiving component 16 and the ground L1 can be obtained by the positioning module 15 in the self-propelled lawnmower 10, or by setting a ranging device on the signal receiving component 16 to obtain the first vertical distance H2 between the signal receiving component 16 and the ground L1.

[0143] S415. The sum of the first vertical distance and the burial depth of the boundary line is determined as the effective vertical distance between the signal receiving component and the boundary line.

[0144] Specifically, the effective vertical distance H0 can be understood as the sum of the first vertical distance H2 and the burial depth H1 of the boundary line 20, i.e., H0 = H1 + H2.

[0145] S416. Determine the target strength of the boundary signal based on the effective vertical distance and the target distance.

[0146] Specifically, the target intensity B0 of the boundary signal can be determined based on the formula for calculating magnetic field strength, according to the effective vertical distance H0 and the target distance D0. The formula for calculating magnetic field strength is: B0 = μ0 * D0 * L / (2 * π * R) 2 In the formula, R 2 =H0 2 +D0 2 The target intensity of the boundary signal received by the B0 signal receiving component 16, I is the current flowing through the boundary line 20, and μ0 is the vacuum permeability. The current flowing through the boundary line 20 is transmitted wirelessly from the charging pile to the controller of the self-propelled lawnmower. The vacuum permeability μ0 can be pre-stored in the memory as a relevant parameter of the boundary line 20.

[0147] S417. Obtain the actual strength of the boundary signal based on the actual measured value.

[0148] For example, the actual intensity of the boundary signal can be determined based on the actual measured value, according to a preset relationship between the magnetic field strength and the measured value. The preset relationship between the magnetic field strength and the measured value can be Vsen = k*B0 + b. The parameters k and b can be calibrated using a large-scale data fitting method.

[0149] In another feasible embodiment, instead of measuring the burial depth H1 of the boundary line 20 and the first vertical distance H2 between the signal receiving component 16 and the ground L1, a test calibration method can be used to calibrate the effective vertical distance H0 between the signal receiving component and the boundary line.

[0150] One calibration method is to use B = μ0 * I * D / (2 * π * R) 2 ) and R 2 =H0 2 +D 2 Substituting into the formula Vsen=k*B0+b, we get Vsen′=μ0*D*k0 / [2*π*(H0) 2 +D 2 The calibration formula is ] + b, where k0 = I*k, D is the horizontal distance between the self-propelled lawnmower and the long straight boundary line, and the target distance D0 between the self-propelled lawnmower and the boundary line 20 is known. First, select an optimal long straight boundary line that meets the test conditions. Control the lawnmower to travel near the long straight boundary line, rotate the self-propelled lawnmower's forward direction to face the long straight boundary line, and control the self-propelled lawnmower to travel above the long straight boundary line, so that the signal receiving component of the self-propelled lawnmower is above the boundary line (this can be determined by the actual measurement value of the boundary signal). After confirming that the signal receiving component is above the boundary line, control the self-propelled lawnmower to slowly reverse, and record the actual measurement value Vsen′ of the boundary signal and the moving distance (i.e., the distance D between the self-propelled lawnmower and the long straight boundary line) during the reversal. Multiple sets of actual measurement values ​​Vsen′ and moving distance values ​​D can be recorded. Substituting each set of data into the calibration formula yields multiple sets of relationships between H0, k0, and b. The values ​​of H0, k0, and b can be estimated using an optimal method, and the empirical values ​​of H0, k0, and b can be compared with the estimated values ​​to verify the error. If the error is less than or equal to the preset error, the estimated values ​​of H0, k0, and b are determined as the values ​​corresponding to each parameter. If the error is greater than the preset error, the initial default values ​​of H0, k0, and b are determined as the values ​​corresponding to each parameter. This allows for the calibration of the effective vertical distance H0 between the signal receiving component and the boundary line.

[0151] Typically, self-propelled lawnmowers have signal receiving components on both sides (along the direction of travel). The parameters k and b are related to the software and hardware design and can theoretically be pre-calibrated. Based on this, another calibration method involves controlling the self-propelled lawnmower to travel along the boundary line. When the actual measured values ​​of the boundary signals received by the signal receiving components on both sides are close, the boundary line can be considered to be directly below the midpoint of the line connecting the signal receiving components on both sides. At this point, the distance D between the signal receiving component and the boundary line is half the distance between the signal receiving components on both sides. Substituting this distance D and the actual measured value of the boundary signal into the calibration formula above, the effective vertical distance H0 between the signal receiving component and the boundary line can be determined, thus enabling the calibration of the effective vertical distance H0 between the signal receiving component and the boundary line.

[0152] S418. Determine whether the actual strength is less than the target strength; if yes, proceed to step S419; if no, proceed to step S420.

[0153] S419. Control the self-propelled lawnmower to move towards the boundary line.

[0154] Specifically, after obtaining the current actual strength and target strength of the boundary signal, the actual strength can be compared with the target strength. If it is determined that the actual strength is less than the target strength, it means that the self-propelled lawnmower is far from the boundary line. The self-propelled lawnmower needs to be controlled to move closer to the boundary line so that the distance between the self-propelled lawnmower and the boundary line is the set target distance.

[0155] S420. Determine whether the actual strength is greater than the target strength; if yes, proceed to step S421; if no, proceed to step S422.

[0156] S421. Control the self-propelled lawnmower to move away from the boundary line.

[0157] S422. Control the self-propelled lawnmower to move in a direction parallel to the boundary line.

[0158] Specifically, if the actual intensity is greater than the target intensity, it means the self-propelled lawnmower is too close to the boundary line. In this case, the self-propelled lawnmower needs to be controlled to move away from the boundary line so that the distance between it and the boundary line is the set target distance. Conversely, if the actual intensity equals the target intensity, it means the distance between the self-propelled lawnmower and the boundary line is the target distance. In this case, the self-propelled lawnmower can be controlled to continue moving parallel to the boundary line. This ensures that the self-propelled lawnmower maintains the target distance from the boundary line while moving along it, guaranteeing that it follows the set route. Setting a different target distance from the boundary line each time the self-propelled lawnmower moves along the same path effectively prevents tire tracks from being created on the lawn, thus avoiding affecting the lawn's aesthetics.

[0159] Optional, Figure 15 This is a flowchart of another configuration method in a controller provided in the embodiments of this application, in conjunction with reference to [reference needed]. Figure 1 , Figure 11 and Figure 15 Controller 14 is configured as follows:

[0160] S510, Obtain the actual measured value of the boundary signal.

[0161] S520, Obtain the target distance between the mobile lawnmower and the boundary line.

[0162] S530, Obtain the relevant parameters of the boundary line.

[0163] S540. Calculate the target strength of the boundary signal based on the target distance and relevant parameters of the boundary line.

[0164] S550: Based on the actual measured value of the boundary signal and the target intensity, control the self-propelled lawnmower to move along the boundary line.

[0165] S560. During the process of controlling the self-propelled lawnmower to move along the boundary line, determine whether there is a conflict boundary signal based on the actual measured value of the boundary signal; if yes, proceed to step S570; if no, return to step S510.

[0166] S570, send a conflict alarm signal.

[0167] Specifically, each self-propelled lawnmower is equipped with its own charging station, from which a boundary line is drawn to send a boundary signal to the self-propelled lawnmower. In multi-user scenarios, the same self-propelled lawnmower may receive boundary signals from two or more charging stations; these boundary signals from other charging stations are considered conflict boundary signals. To address this issue, during the process of controlling the self-propelled lawnmower to travel along the boundary line, the presence of conflict boundary signals can be determined based on the actual measured values ​​of the boundary signals. For example, if the actual measured value changes significantly within a short period (e.g., between two adjacent sampling times), a conflict boundary signal can be identified. If a conflict boundary signal is identified, a conflict alarm signal can be sent to prompt the user to take action. If no conflict boundary signal is identified, the actual measured value of the boundary signal can be retrieved again, enabling real-time monitoring of the distance between the self-propelled lawnmower and the boundary line, and thus controlling the self-propelled lawnmower's route along the boundary line. This avoids interference from boundary signals from other charging stations on the self-propelled lawnmower's travel route, ensuring the accuracy of the self-propelled lawnmower's route.

[0168] This application also provides another self-propelled lawnmower, the structure of which is substantially the same as the self-propelled lawnmower provided in the above embodiments, that is, in conjunction with reference to... Figure 1 and Figure 2 or in conjunction with references Figure 1 and Figure 11 The system includes a body 11; a wheel assembly 12 configured to support the body and drive the self-propelled lawnmower 10; a blade assembly 13 operably attached to the body 11 for cutting grass; a positioning module 15 configured to acquire the position information of the self-propelled lawnmower 10; and a controller 14, including a processor and a memory, disposed within the body 11 and electrically connected to the positioning module 15, controlling the walking path of the self-propelled lawnmower 10. Specifically, the controller 14 is configured to implement a method for controlling the movement of the self-propelled lawnmower. Figure 16 This is a flowchart of a configuration method in a controller provided in an embodiment of this application, in conjunction with reference to [reference needed]. Figure 1 , Figure 11 and Figure 16 Controller 14 is configured as follows:

[0169] S610: Control the self-moving lawnmower to move randomly within the working area, and acquire and record the walking trajectory of the self-moving lawnmower.

[0170] Specifically, in this application, when controlling the self-moving lawn mower 10 to move and cut grass in the work area, the self-moving lawn mower 10 can be controlled to move along a random route, that is, no fixed walking route or walking mode is set.

[0171] For example, Figure 17This is a schematic diagram of a work area provided in an embodiment of this application, such as... Figure 17 As shown, the working area A2 can be defined by boundary line 20. The red line in the figure represents the travel trajectory of the self-propelled lawnmower, and the arrow indicates the direction of travel of the self-propelled lawnmower. When controlling the self-propelled lawnmower to move randomly within the working area, it can be controlled to move in a straight line in the current travel direction within the working area. When the self-propelled lawnmower reaches the boundary line, its travel direction is controlled to rotate by a random angle, and then it moves in a straight line in the current travel direction until it reaches the boundary line again, and so on. Among these, when controlling the rotation of the self-propelled lawnmower's travel direction by a random angle, it is preferable to control the self-propelled lawnmower to rotate in any direction within the working area A2 to ensure that the self-propelled lawnmower always moves within the working area.

[0172] Reference Figure 11 The self-propelled lawnmower 10 also includes a signal receiving component 16 configured to receive a boundary signal emitted from the boundary line. In a feasible embodiment, during the control of the self-propelled lawnmower's movement, the boundary signal provided by the signal receiving component is acquired, and the self-propelled lawnmower is used to determine whether it has reached the boundary line. For example, if the actual strength of the boundary signal reaches a preset strength, it can be determined that the self-propelled lawnmower has reached the boundary line, at which point the movement direction of the self-propelled lawnmower can be controlled to rotate by a random angle.

[0173] During the process of controlling the self-propelled lawnmower to move randomly within the work area, its movement trajectory can be simultaneously acquired and recorded. For example, during this process, location information provided by a positioning module is acquired; based on this location information, the movement trajectory of the self-propelled lawnmower is acquired and recorded; that is, the movement trajectory is a collection of the self-propelled lawnmower's location information. The positioning module may include GPS.

[0174] S620. When the self-propelled lawnmower travels a preset distance or when the self-propelled lawnmower's working time reaches a preset time, the offset parameters of the positioning module are obtained based on the travel trajectory and the coordinate information of the working area.

[0175] Specifically, the location information detected by the positioning module may deviate from the actual location information of the self-propelled lawnmower. If the deviation is too large, it will lead to a large error in the calculation of the mowing coverage of the working area, which will result in the actual mowing area of ​​the working area not reaching the expected mowing area. Figure 18 This is a schematic diagram of lawn cover deviation provided in an embodiment of this application, such as... Figure 18As shown, the shaded area represents the actual mowing area M1 of the self-propelled lawnmower, and the blue-framed area formed by the red walking trajectory represents the mowed area M2 detected by the positioning module of the self-propelled lawnmower. Due to a detection offset problem in the positioning module, there is a deviation M3 between the detected mowed area M2 and the actual mowing area M1. Based on the above technical problem, when the self-propelled lawnmower reaches a preset distance, its walking trajectory within the preset distance is acquired. This trajectory is then compared with the coordinate information of the working area to calculate the deviation between the working area and the area traversed by the walking trajectory. This deviation can then be used to determine the offset parameters of the positioning module. Preferably, the preset distance is set long enough to achieve the target coverage rate of grass cutting in the working area.

[0176] Alternatively, when the self-propelled lawnmower's working time reaches a preset time, its travel trajectory within that time is acquired, and this trajectory is compared with the coordinates of the working area. The deviation between the working area and the area traversed by the travel trajectory is calculated, and the offset parameters of the positioning module are determined based on this deviation. In this case, the preset time can be set long enough to achieve the target coverage rate of grass cutting in the working area.

[0177] For example, the offset parameters include an offset vector, which includes an offset direction and an offset amount, thus enabling the determination of the offset amount and offset parameters of the position information detected by the positioning module.

[0178] S630. Correct the walking trajectory based on the offset parameters.

[0179] Specifically, after obtaining the offset parameters, the walking trajectory of the preset distance can be corrected by the offset parameters, that is, the coordinates in the coordinate set can be corrected, so as to obtain the actual walking trajectory of the self-moving lawnmower within the preset distance and / or preset time.

[0180] S640. Based on the corrected walking trajectory and the coordinate information of the work area, determine the coverage rate of the self-propelled lawnmower in the work area.

[0181] Specifically, after correcting the walking trajectory, the overlap between the corrected trajectory (i.e., the coordinate set) and the coordinate information of the working area can be calculated. The calculation result is determined as the mowing coverage rate of the self-propelled lawnmower in the working area, making the calculated mowing coverage rate more accurate. Thus, after the self-propelled lawnmower completes the preset distance or preset mowing work, if the detected coverage rate has reached the expected value but the actual mowing coverage rate has not, the self-propelled lawnmower can be controlled to continue mowing in the working area to achieve the expected mowing coverage rate. Alternatively, if the detected coverage rate has not reached the expected value but the actual mowing coverage rate has, the self-propelled lawnmower can be controlled to stop mowing to avoid unnecessary work. The overlap calculation between the coordinate set of the uncorrected walking trajectory and the coordinate information of the working area determines the detected coverage rate of the self-propelled lawnmower in the working area.

[0182] In one feasible embodiment, the first outer contour can also be determined based on the corrected walking trajectory. That is, the approximate contour formed by the walking trajectory of the self-propelled lawnmower can be determined based on the corrected walking trajectory. The area of ​​the first outer contour is then divided by the area of ​​the working area to calculate the coverage rate of the self-propelled lawnmower in the working area. Similarly, the second outer contour can also be determined based on the uncorrected walking trajectory. That is, the approximate contour formed by the walking trajectory of the self-propelled lawnmower can be determined based on the uncorrected walking trajectory. The area of ​​the second outer contour is then divided by the area of ​​the working area to calculate the detection coverage rate of the self-propelled lawnmower in the working area.

[0183] The self-propelled lawnmower provided in this application embodiment has a basic structure including a body, a wheel assembly, a blade assembly, a positioning module, and a controller. Its controller is configured to acquire and record the self-propelled lawnmower's trajectory during operation. When the self-propelled lawnmower reaches a preset distance or a preset working time, it acquires the offset parameters of the positioning module based on the trajectory and the coordinate information of the working area. This allows for correction of the trajectory based on the offset parameters. Then, based on the corrected trajectory and the coordinate information of the working area, the coverage rate of the self-propelled lawnmower in the working area is determined, improving the accuracy of the mowing coverage and ensuring that the final mowing coverage meets the user's expectations.

[0184] Optional, Figure 19 This is a flowchart of another configuration method in a controller provided in an embodiment of this application, in conjunction with reference to [reference needed]. Figure 1 , Figure 11 and Figure 19 Controller 14 is configured as follows:

[0185] S710 controls the self-propelled lawnmower to move randomly within the work area.

[0186] S720. When the self-propelled lawnmower travels a preset distance or when the self-propelled lawnmower's working time reaches a preset time, the position information of the travel trajectory is preprocessed.

[0187] S730. Based on the preprocessed position information, walking trajectory, and coordinate information of the working area, obtain the offset parameters of the positioning module.

[0188] S740: Correct the walking trajectory based on the offset parameters.

[0189] S750. Based on the corrected walking trajectory and the coordinate information of the working area, determine the mowing coverage rate of the self-propelled lawnmower in the working area.

[0190] S760. Determine whether the mowing coverage rate exceeds the preset coverage rate; if yes, proceed to step S770; if no, return to step S710.

[0191] S770 controls the self-propelled lawnmower to move to the next work area.

[0192] Specifically, the location information of the self-moving lawnmower detected by the positioning module may be abnormal. In order to avoid affecting the calculation accuracy of the offset parameter, the location information of the walking trajectory is preprocessed before calculating the offset parameter. That is, the coordinates in the coordinate set contained in the walking trajectory are preprocessed to remove abnormal coordinates.

[0193] For example, when preprocessing the location information of the walking trajectory, the first location information of the mobile lawnmower at a first moment and the second location information at a second moment can be obtained; the first moment and the second moment are two adjacent location information sampling moments of the positioning module; it is determined whether the distance difference between the first location information and the second location information is greater than a preset distance difference; if it is determined that the distance difference between the first location information and the second location information is greater than the preset distance difference, the second location information is removed from the location information; after removal, the location information at the next sampling moment, i.e., the first location information, can be searched, and the second location information can be further obtained, and the distance difference of the location information can be recalculated. If it is determined that the distance difference between the first location information and the second location information is less than or equal to the preset distance difference, the current second moment is directly determined as the first moment, and the current second location information is determined as the first location information, and the steps of obtaining the first location information of the mobile lawnmower at the first moment and the second location information at the second moment are returned to be executed, and the distance difference of the location information is recalculated. In this way, the coordinate information of the coordinate set contained in the walking trajectory can be traversed, and abnormal position information can be eliminated one by one. This can effectively improve the calculation accuracy of the offset parameters when calculating the offset parameters of the positioning module in the later stage. Figure 20 This is a schematic diagram of another working area provided in an embodiment of this application, such as... Figure 20 As shown, the distance difference between position point Q3 and position point Q2 at the previous moment is too large, and the distance difference between position point Q5 and position point Q4 at the previous moment is also too large. Therefore, the coordinate information of position points Q3 and Q5 can be removed from the coordinate set. Based on the position information after removing position points Q3 and Q5, the area traversed by the self-propelled lawnmower's walking trajectory can be determined.

[0194] This application also provides another self-propelled lawnmower, the structure of which is substantially the same as the self-propelled lawnmower provided in the above embodiments, that is, in conjunction with reference to... Figure 1 and Figure 2 or in conjunction with references Figure 1 and Figure 11 The system includes a body 11; a wheel assembly 12 configured to support the body and drive the self-propelled lawnmower 10; a blade assembly 13 operably attached to the body 11 for cutting grass; a signal receiving assembly 16 configured to receive boundary signals emitted from a boundary line; and a controller 14, including a processor and a memory, disposed within the body 11, electrically connected to the signal receiving assembly 16, and controlling the movement of the self-propelled lawnmower at least based on the boundary signals. Specifically, the controller 14 is configured to implement a method for controlling the movement of the self-propelled lawnmower. Figure 21 This is a flowchart of a configuration method in a controller provided in an embodiment of this application, in conjunction with reference to [reference needed]. Figure 1, Figure 11 and Figure 21 Controller 14 is configured as follows:

[0195] S810, the time interval of the boundary signal received by the statistical signal receiving component.

[0196] Specifically, during the acquisition of boundary signals, the controller can record and statistically analyze the time intervals between each acquired boundary signal. Specifically, it can statistically analyze the time intervals of each received boundary signal within a preset time period. Furthermore, the time intervals can be analyzed using a histogram.

[0197] S820. Determine the boundary line conflict situation at least based on the statistical results of the time interval.

[0198] Specifically, as described in the above embodiments, each self-propelled lawnmower will be equipped with its own charging station, and a boundary line will extend from the charging station to send a boundary signal to the corresponding self-propelled lawnmower. In the case of multiple users, the same self-propelled lawnmower may receive boundary signals from multiple charging stations. Figure 22 This is a schematic diagram illustrating a scenario of multi-user use provided in an embodiment of this application, such as... Figure 22 As shown, when multiple users are using the service, the areas enclosed by the boundary lines 20 extending from each charging pile 30 may be adjacent and close to each other. For example, the boundary line 20 extending from charging pile 31 encloses area M4, and the boundary line 20 extending from charging pile 32 encloses area M5. Areas M4 and M5 are adjacent. In this case, the boundary signal received by the self-propelled lawnmower 10 located in area M4 may include boundary signals from both charging pile 31 and charging pile 32. Therefore, the boundary signals received by the self-propelled lawnmower 10 are subject to interference, i.e., there is a boundary line conflict, which will prevent normal operation. In this case, the statistical results of the time can be compared and analyzed to determine the boundary line conflict situation.

[0199] S830: When there is no boundary line conflict, the self-moving lawnmower is controlled to move according to the boundary signal.

[0200] Specifically, when no boundary line conflict is confirmed, the self-propelled lawnmower can continue to move and cut based on the received boundary signal. This allows the controller to guide the self-propelled lawnmower based on accurate boundary signals, improving its working efficiency. If a boundary line conflict exists, a boundary conflict alarm signal can be sent to prompt the user to promptly intervene and handle the situation. This prevents erroneous or disordered boundary signals from affecting the normal cutting operation of the self-propelled lawnmower, thus impacting its movement path and ultimately its working efficiency.

[0201] The self-propelled lawnmower provided in this application embodiment has a basic structure including a body, a walking wheel assembly, a blade assembly, a signal receiving assembly, and a controller. The controller is configured to count the time interval of the boundary signals received by the signal receiving assembly, so as to determine the boundary line conflict situation based on the statistical results of the time interval. When there is no boundary line conflict, the self-propelled lawnmower is controlled to move according to the boundary signal, which is beneficial to improving the working efficiency of the self-propelled lawnmower.

[0202] Optional, Figure 23 This is a flowchart of another configuration method in a controller provided in an embodiment of this application, in conjunction with reference to [reference needed]. Figure 1 , Figure 11 and Figure 23 Controller 14 is configured as follows:

[0203] S910, The time interval of the boundary signal received by the statistical signal receiving component.

[0204] S920. Determine whether the average time interval of the statistically calculated time intervals is less than the first preset time interval; if yes, proceed to step S950; if no, proceed to step S930.

[0205] S930. Determine that there is no boundary line conflict.

[0206] S940: Control the movement of the self-propelled lawnmower according to the boundary signal.

[0207] S950, Determine that there is a boundary line conflict.

[0208] Specifically, for the time intervals between the collected boundary signals, the average of all time intervals can be calculated. This is done by adding the time values ​​of each time interval and dividing by the number of time intervals; the resulting average is the average time interval. This average time interval can be compared to a first preset time interval. If the average time interval is less than the first preset time interval, it indicates that the controller is receiving boundary signals at an excessively high frequency, and the received boundary signals may be from multiple charging piles, thus confirming a boundary conflict. If the average time interval is greater than or equal to the first preset time interval, it indicates that the controller is receiving boundary signals at a normal frequency, and only a boundary signal from one charging pile is being received, thus confirming no boundary conflict and allowing continued control of the self-propelled lawnmower.

[0209] Optional, Figure 24 This is a flowchart of another configuration method in a controller provided in the embodiments of this application, in conjunction with reference to [reference needed]. Figure 1 , Figure 11 and Figure 24 Controller 14 is configured as follows:

[0210] S1010, The time interval of the boundary signal received by the statistical signal receiving component.

[0211] S1020. Determine whether the mode time interval of each statistical time interval is less than the second preset time interval; if yes, proceed to step S1050; if no, proceed to step S1030.

[0212] S1030. Determine that there is no boundary line conflict.

[0213] S1040: Control the movement of the self-propelled lawnmower according to the boundary signal.

[0214] S1050, Determine that there is a boundary line conflict.

[0215] Specifically, for the time intervals between the statistically analyzed boundary signals, a mode count can be performed on each time interval. The time interval with the most occurrences is the mode time interval. Alternatively, the time intervals can be divided into time ranges, and the number of time intervals within each time range can be counted. By comparison, the time range with the most occurrences can be determined, and this time range can be considered the mode time interval. If the mode time interval is less than the second preset time interval, it indicates that the controller is receiving boundary signals at an excessively high frequency, and the received boundary signals may be from multiple charging piles, thus confirming a boundary conflict. If the mode time interval is greater than or equal to the second preset time interval, it indicates that the controller is receiving boundary signals at a normal frequency, and only a boundary signal from one charging pile is being received, thus confirming no boundary conflict and allowing continued control of the self-propelled lawnmower.

[0216] Figure 25 This is a statistical histogram of time intervals for boundary signals of a single charging pile provided in an embodiment of this application. In the figure, the horizontal axis represents time (in milliseconds), and the vertical axis represents the number of time intervals. Figure 25 As shown, when there is only one charging station, the boundary signal received by the self-mobile lawnmower comes from one charging station, and the time interval is mainly distributed between 50ms and 80ms. Therefore, the second preset time interval can be set to 50ms. Figure 26 This application provides an embodiment of a statistical histogram of time intervals for boundary signals when there are multiple charging piles, such as... Figure 26 As shown, when there are multiple charging piles, there are many instances where the time interval is less than 40ms, indicating that the controller is receiving boundary signals at an excessively high frequency. This indicates that a boundary conflict exists.

[0217] Optional, Figure 27 This is a flowchart of another configuration method in a controller provided in the embodiments of this application, in conjunction with reference to [reference needed]. Figure 1 , Figure 11 and Figure 27 Controller 14 is configured as follows:

[0218] S1110, The time interval of the boundary signal received by the statistical signal receiving component.

[0219] S1120. Based on the statistical results of the time interval and the state switching of each boundary signal, obtain the boundary line conflict situation.

[0220] For example, when the statistical results of the time interval determine that there is no boundary line conflict, the boundary line conflict can be determined based on the state switching of each boundary signal. Thus, using the state switching of the boundary signals as an auxiliary condition for judging boundary line conflict can reduce misjudgments and improve the accuracy of boundary line conflict detection.

[0221] S1130. When there is no boundary line conflict, the self-moving lawnmower is controlled to move according to the boundary signal.

[0222] Specifically, in this embodiment, the area enclosed by the boundary line of a charging pile is a working area. The corresponding self-propelled lawnmower moves within the working area to perform mowing. When the self-propelled lawnmower is within the working area, the boundary signal received by its controller indicates that it is inside the working area; when the self-propelled lawnmower is outside the working area, the boundary signal received by its controller indicates that it is outside the working area. For example, when the boundary signal is inside the area, its status signal is "1"; when the boundary signal is outside the area, its status signal is "2". In the case of multiple charging piles, the area enclosed by the boundary line of each charging pile is different. Assuming a certain self-propelled lawnmower is the first self-propelled lawnmower, and the charging pile matched with it is the first charging pile, the working area enclosed by the boundary line of the first charging pile is the first working area. Then, when the signal received by the controller of the first self-propelled lawnmower is the boundary signal sent by the first charging pile, the status of the boundary signal is related to the position of the first self-propelled lawnmower and the position of the first working area. When the first self-propelled lawnmower is within the first working area, it appears to be outside the working area from the perspective of other working areas. Similarly, when the first self-propelled lawnmower is outside the first working area, it may appear to be inside the first working area from the perspective of other working areas. Therefore, the state of the boundary signal of the first charging pile received by the controller of the first self-propelled lawnmower is opposite to the state of other charging piles. Based on this, the boundary line conflict situation can be obtained according to the statistical results of the time interval and the state switching of each boundary signal.

[0223] For example, in another feasible embodiment, the boundary line conflict situation can be determined solely based on the state switching situation of each boundary signal without considering the statistics of the time interval. This simplifies the determination process compared to determining the boundary line conflict situation based on the statistics of the time interval and the state switching situation of each boundary signal.

[0224] The signal receiving component may include multiple signal receivers for receiving boundary signals, each of which may be located at different positions on the automatic lawnmower. Due to the different positions of the receivers, the state of the boundary signals received by each receiver may vary. Therefore, when determining the boundary line conflict situation based on the state switching of each boundary signal, the determination result of the boundary line conflict situation will differ depending on the state of each boundary signal. The following embodiments provide a detailed analysis of the possible states of each boundary signal.

[0225] Optionally, a boundary line conflict is determined when the state of each boundary signal simultaneously switches from an internal signal to an external signal; or, a boundary line conflict is determined when the state of each boundary signal simultaneously switches from an external signal to an internal signal.

[0226] Specifically, each signal receiver is located at a different position on the self-propelled lawnmower. When the self-propelled lawnmower moves from inside to outside the working area, or vice versa, the state of the boundary signals will switch. For example, when the self-propelled lawnmower moves from inside to outside the working area, at least some of the signal receivers should sequentially switch the state of the boundary signals from inside the area to outside the area. Similarly, when the self-propelled lawnmower moves from outside to inside the working area, at least some of the signal receivers should sequentially switch the state of the boundary signals received from outside the area to inside the area. Since the self-propelled lawnmower does not move in jumps, there will be no situation where all boundary signals simultaneously switch from inside to outside the area, nor will there be a situation where all boundary signals simultaneously switch from outside to inside the area. Therefore, when all boundary signals simultaneously switch from signals inside the region to signals outside the region, or when all boundary signals simultaneously switch from signals outside the region to signals inside the region, it can be determined that the boundary signals received by the controller include boundary signals sent by other charging piles, and thus it can be further determined that there is a boundary conflict.

[0227] Optionally, the signal receiving component includes a first signal receiver located to the right front of the self-propelled lawnmower, a second signal receiver located to the right rear of the self-propelled lawnmower, a third signal receiver located to the left front of the self-propelled lawnmower, and a fourth signal receiver located to the left rear of the self-propelled lawnmower. When determining boundary line conflict based on the state switching of each boundary signal, a boundary line conflict is determined to exist when the state of any three boundary signals simultaneously switches from an internal area signal to an external area signal; or, a boundary line conflict is determined to exist when the state of any three boundary signals simultaneously switches from an external area signal to an internal area signal.

[0228] Specifically, based on the same principle as the above embodiments, the self-propelled lawnmower will not move in leaps. When the four signal receivers are located at the right front, right rear, left front, and left rear of the self-propelled lawnmower, respectively, there will be no situation where the state of any three boundary signals simultaneously switches from an internal area signal to an external area signal, nor will there be a situation where the state of each boundary signal simultaneously switches from an external area signal to an internal area signal. Therefore, when the state of any three boundary signals simultaneously switches from an internal area signal to an external area signal, or when the state of any three boundary signals simultaneously switches from an external area signal to an internal area signal, it can be determined that the boundary signals received by the controller include boundary signals sent by other charging piles, and thus a boundary conflict can be further determined.

[0229] Optionally, the boundary signal received by the first signal receiver is the first boundary signal, the boundary signal received by the second signal receiver is the second boundary signal, the signal received by the third signal receiver is the third boundary signal, and the signal received by the fourth signal receiver is the fourth boundary signal. When determining the boundary line conflict situation based on the state switching of each boundary signal, a boundary line conflict is determined to exist when the states of the first and second boundary signals simultaneously switch from signals inside the region to signals outside the region; or, a boundary line conflict is determined to exist when the states of the third and fourth boundary signals simultaneously switch from signals inside the region to signals outside the region.

[0230] Specifically, it is known that the first signal receiver is located to the right front of the self-propelled lawnmower, the second signal receiver is located to the right rear of the self-propelled lawnmower, the third signal receiver is located to the left front of the self-propelled lawnmower, and the fourth signal receiver is located to the left rear of the self-propelled lawnmower. The self-propelled lawnmower moves forward and backward, but does not move laterally. Therefore, there will be no situation where the first and second boundary signals simultaneously switch from being inside the area to being outside the area, nor will there be a situation where the third and fourth boundary signals simultaneously switch from being inside the area to being outside the area. Therefore, if the first and second boundary signals simultaneously switch from being inside the area to being outside the area, or if the third and fourth boundary signals simultaneously switch from being inside the area to being outside the area, it can be determined that the boundary signals received by the controller include boundary signals sent by other charging piles, thus further confirming the existence of a boundary conflict.

[0231] Optionally, when the state of the first boundary signal and the third boundary signal simultaneously switches from an internal signal to an external signal, and the state of the second boundary signal and the fourth boundary signal remains an internal signal, it indicates that the self-propelled lawnmower is moving from inside the working area to outside the working area, and it can be determined that there is no boundary line conflict; or, when the state of the second boundary signal and the fourth boundary signal simultaneously switches from an internal signal to an external signal, and the state of the first boundary signal and the third boundary signal remains an internal signal, it indicates that the self-propelled lawnmower is moving from inside the working area to outside the working area, and it can be determined that there is no boundary line conflict.

[0232] For example, if the state of any one of the boundary signals changes from an inside-area signal to an outside-area signal, while the states of the other three boundary signals remain inside-area signals, it indicates that the self-propelled lawnmower may be moving from inside the work area to outside the work area, and the direction of movement is not perpendicular to the extension direction of the boundary line, thus confirming that there is no boundary line conflict.

[0233] For example, Figure 28 This is a state diagram of boundary signals for a single charging pile, provided in an embodiment of this application. Figure 29 This is a state diagram of boundary signals when multiple charging piles are used, provided in an embodiment of this application. The horizontal axis represents time (in milliseconds), and the vertical axis represents the boundary signal state value. The blue line represents the third boundary signal received by the third signal receiver, the orange line represents the first boundary signal received by the first signal receiver, the gray line represents the fourth boundary signal received by the fourth signal receiver, and the yellow line represents the second boundary signal received by the second signal receiver. (Refer to the reference...) Figure 28 and Figure 29When the self-propelled lawnmower is moving within the working area, if the signal received by the controller only includes the boundary signal sent by one charging pile, the state value of each boundary signal is "1". When the signal received by the controller includes the boundary signals sent by multiple charging piles, the state value of each boundary signal jumps frequently between "1" and "2", which is quite chaotic. Therefore, the boundary line conflict situation can be determined based on the state switching of each boundary signal.

[0234] Once a conflict is identified, the user can be prompted to change the signal parameters emitted by the charging station, or the charging station can be notified to change its signal parameters via wireless communication, thereby enabling the self-propelled lawnmower to effectively identify the signal of the charging station that matches it and resolve the boundary conflict.

[0235] The foregoing has shown and described the basic principles, main features, and advantages of this application. Those skilled in the art should understand that the above embodiments do not limit this application in any way, and all technical solutions obtained by equivalent substitution or equivalent transformation fall within the protection scope of this application.

Claims

1. A self-propelled lawnmower, comprising: body; The walking wheel assembly is configured to support the body and is used to drive the self-propelled lawnmower to move. A blade assembly, operably attached to the body, is used for cutting grass stalks; A signal receiving component configured to receive boundary signals emitted by the boundary line; A controller, including a processor and a memory, is disposed within the body, electrically connected to the signal receiving component, and controls the self-propelled lawnmower to move along the boundary line based at least on the boundary signal provided by the signal receiving component; The controller is characterized in that it is configured to: Obtain the actual measured value of the boundary signal; Obtain the target distance between the self-propelled lawnmower and the boundary line; Obtain the relevant parameters of the boundary line; The target intensity of the boundary signal is calculated based on the target distance and relevant parameters of the boundary line. Based on the actual measured value of the boundary signal and the target intensity, the self-propelled lawnmower is controlled to move along the boundary line.

2. The self-propelled lawnmower according to claim 1, characterized in that, Based on the actual intensity and the target intensity, controlling the self-propelled lawnmower to move along the boundary line includes: The actual strength of the boundary signal is obtained based on the actual measured value; Determine whether the actual strength is less than the target strength; If it is determined that the actual intensity is less than the target intensity, then the self-propelled lawnmower is controlled to move towards the boundary line; If it is determined that the actual strength is not less than the target strength, then it is determined whether the actual measured value is greater than the target measured value; If it is determined that the actual intensity is greater than the target intensity, then the self-propelled lawnmower is controlled to move away from the boundary line; If the actual intensity is determined to be equal to the target intensity, then the self-propelled lawnmower is controlled to move in a direction parallel to the boundary line.

3. The self-propelled lawnmower according to claim 1, characterized in that, The relevant parameters of the boundary line include the embedment depth of the boundary line.

4. The self-propelled lawnmower according to claim 3, characterized in that, Calculating the target intensity of the boundary signal based on the target distance and relevant parameters of the boundary line includes: Obtain the first vertical distance between the signal receiving component and the ground; The sum of the first vertical distance and the burial depth of the boundary line is determined as the effective vertical distance between the signal receiving component and the boundary line; The target strength of the boundary signal is determined based on the effective vertical distance and the target distance.

5. The self-propelled lawnmower according to claim 2, characterized in that, Obtaining the actual strength of the boundary signal based on the actual measured value includes: Based on the preset relationship between magnetic field strength and measured value, the actual strength of the boundary signal is determined according to the actual measured value.

6. The self-propelled lawnmower according to claim 1, characterized in that, Obtaining the target distance between the self-propelled lawnmower and the boundary line includes: Obtain the preset distance set by the user; The preset distance is determined as the target distance between the self-propelled lawnmower and the boundary line.

7. The self-propelled lawnmower according to claim 1, characterized in that, Obtaining the target distance between the self-propelled lawnmower and the boundary line includes: Get the user-defined preset distance range; A distance value within the preset distance range is randomly determined as the target distance between the self-propelled lawnmower and the boundary line.

8. The self-propelled lawnmower according to claim 1, characterized in that, The process of controlling the self-propelled lawnmower to move along the boundary line also includes: Determine whether there is a conflict boundary signal based on the actual measured value of the boundary signal; If not, return to the step of obtaining the actual measured value of the boundary signal.

9. The self-propelled lawnmower according to claim 8, characterized in that, The controller is also configured to: If a conflict boundary signal is determined to exist based on the actual measured value of the boundary signal, a conflict alarm signal is sent.

10. The self-propelled lawnmower according to claim 1, characterized in that, Based on the actual measured value of the boundary signal and the target intensity, controlling the self-propelled lawnmower to move along the boundary line includes: Based on the actual measured value of the boundary signal and the target intensity, the self-propelled lawnmower is controlled to return to the charging station along the boundary line.

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