Lawn mower operation control method and related device

Abstract

The application provides a mower operation control method and related device, and the method comprises the following steps: determining a first operation point and a second operation point according to a first operation boundary and a second operation boundary, wherein the first operation boundary is a boundary of operation before the mower turns, the second operation boundary is a boundary of operation after the mower turns, the first operation point is a starting point of turning of the mower, and the second operation point is an ending point of turning of the mower; determining an operation track of the mower according to the first operation boundary, the second operation boundary, the first operation point and the second operation point; and controlling the mower to operate in the operation track, so as to realize the turning operation of the mower during operation. In this way, the turning operation node and the operation track of the mower are dynamically determined, and the operation adaptability, operation quality and efficiency of the mower in a complex courtyard environment are improved.

Description

Technical Field

[0001] This application relates to the field of lawnmower technology, and in particular to lawnmower operation control methods and related devices. Background Technology

[0002] With the rapid development of smart garden equipment technology, autonomous walking smart lawnmowers have been widely used in lawn maintenance in home gardens and public green spaces. Boundary following and angled corner operation control are key technologies that determine their operation quality. Turning trajectory planning, as the core control method for wheeled lawnmowers' edge operation, is widely used in controlling lawnmowers' cornering and corner mowing. The cornering control methods used in existing lawnmowers are usually designed with fixed radius trajectories, which can only perform turning and mowing operations according to a single fixed rule.

[0003] It is evident that the existing lawnmower cornering control mechanism cannot simultaneously meet the multiple operational requirements of lawn abrasion protection, blind-spot-free operation in corner areas, and high-precision operation along the edge. It cannot adapt to the complex boundary environment of various angle bends in the yard, resulting in large areas of missed mowing when the lawnmower increases the turning radius, and excessive wear on the lawn when the turning radius decreases. Safety protection, passage effect and operation accuracy cannot be balanced. Summary of the Invention

[0004] To address the aforementioned technical problems, this application provides a lawnmower operation control method and related device. By dynamically planning turning nodes and multi-segment splicing mowing trajectories, the lawnmower's boundary turning operation takes into account both lawn protection and operational integrity, thereby improving the lawnmower's overall performance and environmental adaptability in edge operations.

[0005] In a first aspect, this application provides a lawnmower operation control method, comprising: The first work point and the second work point are determined based on the first work boundary and the second work boundary, wherein the first work boundary is the boundary for work before the lawnmower turns, the second work boundary is the boundary for work after the lawnmower turns, the first work point is the starting point for the lawnmower to turn, and the second work point is the ending point for the lawnmower to turn. The operating trajectory of the lawnmower is determined based on the first operating boundary, the second operating boundary, the first operating point, and the second operating point. The lawnmower is controlled to operate along the specified work trajectory to enable turning maneuvers during operation.

[0006] In one possible embodiment, determining the first work point and the second work point based on the first work boundary and the second work boundary includes: Based on the working width parameters of the lawnmower, determine the turning radius and turning center point of the lawnmower when the first working boundary and the second working boundary are used as turning boundaries, wherein the working width parameters refer to the lateral working width of the lawnmower when it travels to complete the operation; The first and second work points are determined based on the turning radius and the turning center point defining the turning trajectory.

[0007] In one possible embodiment, determining the turning radius and turning center point of the lawnmower when the first working boundary and the second working boundary are used as turning boundaries, based on the working width parameters of the lawnmower, includes: Construct boundary constraints based on the first operation boundary and the second operation boundary; Steering constraints are constructed based on the working width parameters of the lawnmower and the lawnmower's own steering parameters; Construct operational constraints based on the preset turning operation rules of the lawnmower; Based on the boundary constraints, the steering constraints, and the operational constraints, the turning radius and the turning center point are obtained.

[0008] In one possible embodiment, determining the mower's operating trajectory based on the first operating boundary, the second operating boundary, the first operating point, and the second operating point includes: The first sub-operation trajectory of the lawnmower is determined based on the first operation point and the second operation boundary; The second sub-operation trajectory of the lawnmower is determined based on the first operation point and the second operation point; The third sub-operation trajectory of the lawnmower is determined based on the second operation point and the first operation boundary; The first sub-operation trajectory, the second sub-operation trajectory, and the third sub-operation trajectory are spliced ​​and integrated in time sequence to obtain the operation trajectory of the lawnmower.

[0009] In one possible embodiment, determining the first sub-trajectory of the lawnmower based on the first work point and the second work boundary includes: Starting from the first work point, the lawnmower is controlled to move towards the second work boundary until the distance between the lawnmower and the second work boundary is less than or equal to a first threshold, thus obtaining a first travel trajectory; The lawnmower is controlled to move back and forth along the first travel trajectory to the first work point to obtain a second travel trajectory; The first sub-operation trajectory of the lawnmower is determined based on the first travel trajectory and the second travel trajectory.

[0010] In one possible embodiment, determining the third sub-task trajectory of the lawnmower based on the second work point and the first work boundary includes: Starting from the second work point, the lawnmower is controlled to move towards the first work boundary until the distance between the lawnmower and the first work boundary is less than or equal to the first threshold, thus obtaining the third travel trajectory; The lawnmower is controlled to move back and forth along the third travel trajectory to the second work point, thus obtaining the fourth travel trajectory; The third sub-operation trajectory of the lawnmower is determined based on the third and fourth travel trajectories.

[0011] In one possible embodiment, the method further includes: In response to the lawnmower moving along the work trajectory and the second work boundary being unable to support the lawnmower to complete a turning operation, the work trajectory of the lawnmower is re-determined based on the first work boundary and the third work boundary, wherein the third work boundary is connected to the second work boundary and indirectly connected to the first work boundary through the second work boundary.

[0012] In a second aspect, this application provides an electronic device, the device comprising: a memory, a processor, and executable program code stored in the memory and executable on the processor, wherein the processor executes the executable program code to perform the lawnmower operation control method as described in any one of the first aspects.

[0013] Thirdly, this application provides a lawnmower operation control device, the device comprising: a determining unit and a controlling unit; wherein, the determining unit is configured to determine a first operating point and a second operating point based on a first operating boundary and a second operating boundary, wherein the first operating boundary is the boundary for operation before the lawnmower turns, the second operating boundary is the boundary for operation after the lawnmower turns, the first operating point is the starting point for the lawnmower to turn, and the second operating point is the ending point for the lawnmower to turn; and to determine the operating trajectory of the lawnmower based on the first operating boundary, the second operating boundary, the first operating point, and the second operating point; the controlling unit is configured to control the lawnmower to operate along the operating trajectory to realize the turning operation of the lawnmower during operation.

[0014] Fourthly, this application provides a computer-readable storage medium storing a computer program that, when run on a processor, executes the lawnmower operation control method described in any of the foregoing embodiments.

[0015] Fifthly, embodiments of this application provide a computer program product, wherein the computer program product includes a non-transitory computer-readable storage medium storing a computer program operable to cause a computer to perform some or all of the steps described in the first aspect of embodiments of this application. The computer program product may be a software installation package.

[0016] The lawnmower operation control method provided in this application identifies the continuous boundary information of the lawnmower to be operated, including: the first operating boundary before turning, the second operating boundary after turning, and the boundary angle parameters. Then, based on the lawnmower's operating width parameters and its own steering performance parameters, combined with the geometric constraints constructed by the two operating boundaries, the optimal turning radius and turning center point are solved. Based on the turning radius, turning center point, and the two operating boundaries, the first and second operating points for the turning operation are determined, thereby generating a complete three-segment back-and-forth maneuvering operation trajectory. Finally, based on the generated complete operation trajectory, the lawnmower is controlled to sequentially perform back-and-forth mowing and turning maneuvers. In this way, when operating at right angles, the lawnmower covers corner blind spots by moving back and forth, reducing missed mowing at corners, and avoids excessive grass grinding by turning with the optimal radius. The optimal operating path can be dynamically matched in various angled turning scenarios, thus solving the problem of "difficulty in balancing grass grinding and missed mowing" in traditional fixed-radius turning schemes. This improves the quality, efficiency, and all-scenario adaptability of the lawnmower in complex yard boundary environments. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the working conditions of a lawnmower provided in an embodiment of this application; Figure 2 This is a schematic diagram illustrating the working condition of a lawnmower with a large fixed turning radius, as provided in an embodiment of this application. Figure 3 This is a schematic diagram illustrating the working condition of a lawnmower with a small fixed turning radius, as provided in an embodiment of this application. Figure 4 This is a schematic diagram of the functional system architecture of a lawnmower provided in an embodiment of this application; Figure 5 This is a flowchart illustrating a lawnmower operation control method provided in an embodiment of this application; Figure 6This is a flowchart illustrating the process of determining the working trajectory of a lawnmower, as provided in an embodiment of this application. Figure 7 This is a schematic diagram of a lawnmower's operating trajectory provided in an embodiment of this application; Figure 8 This is a schematic diagram of a lawnmower turning at a right-angle corner, provided in an embodiment of this application. Figure 9 This is a schematic diagram illustrating a scenario of a lawnmower turning at an obtuse angle, as provided in an embodiment of this application. Figure 10 This is a schematic diagram of a lawnmower turning at an acute angle, provided in an embodiment of this application. Figure 11 This is a functional unit block diagram of a lawnmower operation control device provided in an embodiment of this application; Figure 12 This is a schematic diagram of the structure of a lawnmower provided in an embodiment of this application. Detailed Implementation

[0019] 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 are within the scope of protection of the present application.

[0020] The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but in some embodiments includes steps or units not listed, or in some embodiments includes other steps or units inherent to these processes, methods, products, or apparatuses.

[0021] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0022] In the embodiments of this application, "and / or" describes the relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent the following three situations: A exists alone; A and B exist simultaneously; B exists alone. Among them, A and B can be singular or plural.

[0023] In this embodiment, the symbol " / " can indicate that the preceding and following objects are in an "or" relationship. Alternatively, the symbol " / " can also represent a division sign, i.e., performing a division operation. For example, A / B can mean A divided by B.

[0024] In the embodiments of this application, "at least one item" or its similar expression refers to any combination of these items, including any combination of a single item or a plurality of items. "One or more" means one or more, while "multiple" means two or more. For example, "at least one item" of a, b, or c can represent the following seven cases: a, b, c; a and b; a and c; b and c; a, b, and c. Each of a, b, and c can be an element or a set containing one or more elements.

[0025] In the embodiments of this application, "equal to" can be used with "greater than" and is applicable to technical solutions used when "greater than" is used; it can also be used with "less than" and is applicable to technical solutions used when "less than" is used. When "equal to" is used with "greater than", it is not used with "less than"; when "equal to" is used with "less than", it is not used with "greater than".

[0026] The following is an explanation of the relevant terms used in this application: Excessive grass abrasion: This refers to lawn cutting damage that occurs during the operation of an intelligent lawnmower, exceeding normal cutting requirements. Specifically, it refers to an abnormal working condition where the blades repeatedly cut the same lawn area more times than the standard operating procedure, resulting in excessive cutting, tearing, and damage to the grass blades. The core criterion for judgment is that the lawn cutting process exceeds the necessary limit for a single normal cut. Specifically, this is manifested by the same lawn area being cut more than twice consecutively by the blades, and the proportion of the over-cut area exceeding a preset threshold (usually 10%-15%). Local grass blades may show signs of tearing due to repeated cutting, and the plants may turn yellow and wither. Small overlapping cuts used to avoid missing any grass during normal operation do not fall under the category of excessive grass abrasion.

[0027] Turning radius: This refers to the radius of the arc trajectory formed by the center of the cutter head when the lawnmower is turning. It is a core parameter that determines the turning space requirements and work quality of the lawnmower. Reducing the turning radius will cause the overlap rate between the outer trajectory of the cutter head and the already cut area to increase non-linearly and drastically, resulting in a significant increase in the number of times the same lawn is repeatedly cut by the cutter head. If the turning radius is smaller than the radius of the cutter head itself, a dead zone will also be formed on the inner side of the corner, which will be continuously covered and cut by the cutter head. The repeated cutting caused by the multiple coverage of the cutter head will result in cutting damage exceeding the normal maintenance standard, thus causing excessive grass abrasion.

[0028] Please see Figure 1 , Figure 1 This is a schematic diagram of the working condition of a lawnmower provided in an embodiment of this application, as shown below. Figure 1 As shown, a typical working condition is as follows: A lawnmower using a fixed radius turning control scheme is performing automatic edge mowing in a home yard. This lawnmower is equipped with a circular rotating blade with a working radius of R1, and a fixed turning radius parameter is preset at the factory. During edge mowing, it maintains a constant safe distance between the edge of the blade and the working boundary. Currently, the lawnmower is moving upwards at a constant speed along the first working boundary L1 (the right side of the yard's vertical solid fence boundary) and completing edge mowing. It is about to reach a 90° standard right-angle corner formed by the perpendicular intersection of the first working boundary L1 and the second working boundary L2 (the upper horizontal solid fence boundary of the yard). The area around the corner is evenly distributed with lawn areas H to be mowed. Below the inner side of the right-angle vertex, there is a triangular corner lawn surrounded on three sides by the two working boundaries and the already mowed lawn. This is the core area most prone to quality defects during edge turning operations.

[0029] However, because existing lawnmowers typically use a fixed-radius cornering control scheme, they can only complete the turning operation according to a preset single smooth arc trajectory when reaching a right-angle corner. They cannot dynamically adjust the working path according to the geometric characteristics of the corner, and cannot achieve a balance between "preventing grass abrasion" and "preventing missed cutting". Specifically, this manifests in the following two typical failure conditions: For the first failure condition, please refer to [link / reference]. Figure 2 , Figure 2 This is a schematic diagram illustrating a working condition using a large fixed turning radius for cornering control, as provided in an embodiment of this application. Figure 2 As shown, to avoid the lawnmower's outer side crushing the lawn and to prevent excessive grass abrasion, the controller uses a large fixed turning radius. The lawnmower completes the turning operation from traveling along the first working boundary L1 to traveling along the second working boundary L2, following the trajectory of the black dotted arrow in the figure. During this turning process, the cutting head with a radius of R1 cannot cover the corner area near the right angle vertex where the first working boundary L1 and the second working boundary L2 intersect. Ultimately, a large triangular uncut area A is formed inside the angle between the two working boundaries. The lawn in this area H is completely uncut, becoming a significant blind spot that seriously affects the overall aesthetics and completeness of the lawn operation. For the second failure condition, please refer to [link / reference]. Figure 3 , Figure 3 This is a schematic diagram illustrating a working condition using a small fixed turning radius for cornering control, as provided in an embodiment of this application. Figure 3As shown, the controller forcibly reduces the fixed turning radius, allowing the blade's working range to be as close as possible to the right-angle vertex where the first working boundary L1 and the second working boundary L2 intersect. The lawnmower completes the turning operation from traveling along L1 to traveling along L2 along the trajectory of the black dotted arrow in the figure. This solution reduces the area of ​​the missed mowing region B, but it has obvious drawbacks: the excessively small turning radius causes a large overlap of the blade sweeping trajectory, and the lawn in the middle of the turning path is repeatedly cut by the blade, forming an over-grinding area caused by repeated cutting under the standard definition; at the same time, the width of the machine body is greater than the diameter of the blade, and the machine body is close to the fence, which poses a risk of colliding with the boundaries of L1 and L2, which can easily cause scratches on the outer shell and jamming of the wheels, resulting in work interruption. In addition, there are still residual missed mowing blind spots in region B that cannot be completely covered by the blade, and the problem of missed mowing cannot be completely eliminated.

[0030] It is evident that existing fixed-radius cornering control schemes cannot simultaneously resolve the inherent contradiction of "large-radius missed mowing and small-radius grass abrasion," making it difficult to meet the dual core needs of lawn ecological protection and full coverage of the operation area, and failing to adapt to the high-quality edge operation requirements in complex boundary scenarios of family courtyards.

[0031] The method in this embodiment is applied to the controller of a lawnmower, combined with Figure 4 The lawnmower operation control method in the embodiments of this application will be described. Figure 4 This is a schematic diagram of the functional system architecture of a lawnmower provided in an embodiment of this application, such as... Figure 4 As shown, the lawnmower 100 includes: a controller 110, a monitoring device 120 communicatively connected to the controller 110, a travel drive device 130, and a mowing device 140.

[0032] Specifically, the controller 110 identifies the continuous boundary information of the lawnmower 100 to be operated, including the first operating boundary L1, the second operating boundary L2, and the boundary angle parameters. Next, the controller 110, based on the lawnmower 100's operating width parameters and its own steering performance parameters, and combined with the geometric constraints constructed by the two operating boundaries, solves for the optimal turning radius and turning center point. Then, based on the turning radius, turning center point, and the two operating boundaries, the controller 110 determines the first and second operating points for the turning operation, thereby generating a complete three-stage back-and-forth maneuvering trajectory. Finally, based on the generated complete operating trajectory, the controller 110 synchronously controls the travel drive device 130 and the mowing device 140 to perform corresponding walking and mowing actions.

[0033] Specifically, the controller 110 is the control core and processing unit of the lawnmower cornering operation system. It receives boundary perception and its own pose data sent by the monitoring device 120, analyzes and processes them, extracts the straight line equations and intersection coordinates of the first working boundary L1 and the second working boundary L2, and determines the turning type (right-angle turn, acute-angle turn, obtuse-angle turn). Based on boundary constraints, steering constraints and operation constraints, it constructs a multi-constraint solution model and dynamically calculates the turning parameters adapted to the current scenario. Then, it determines the starting and ending points of the turning operation, splits and generates the first sub-operating trajectory, the second sub-operating trajectory and the third sub-operating trajectory and completes the timing splicing. It synchronously sends speed and steering commands to the travel drive device 130 and speed and height adjustment commands to the mowing device 140 to ensure the timing matching of the walking action and the mowing action. At the same time, it monitors the operating status of the travel drive device 130 and the mowing device 140 in real time. If it detects that the second working boundary cannot support the turning operation, it automatically introduces the third working boundary to replan the working trajectory. If it detects abnormalities such as wheel slippage or motor overload, it automatically adjusts the control strategy to ensure the safety and stability of the operation.

[0034] The monitoring device 120 may include an electromagnetic boundary sensor, a vision camera, a single-line lidar, an inertial measurement unit, a wheel speed odometer, and a current sensor. It is used to collect information on the working boundary around the lawnmower 100, environmental obstacles, its own posture, and the operating status of each actuator. In this scheme, the monitoring device 120 predicts the turning type of the forward boundary in advance, triggering the cornering operation control process; it outputs in real time the distance and posture deviations of the lawnmower 100 relative to the first working boundary L1 and the second working boundary L2, providing closed-loop feedback for trajectory tracking; it detects the passage space of the second working boundary, identifying abnormal working conditions such as boundary obstacles and insufficient space; and it collects the motor current and speed data of the driving device 130 and the mowing device 140, providing real-time equipment performance parameters for dynamic constraint solving.

[0035] The driving unit 130 can be a permanent magnet synchronous hub motor system with independent left and right drives. Combined with an electromagnetic brake and motor drive board, it precisely executes control commands issued by the controller 110, achieving linear forward and backward movement, differential steering, and precise start-stop of the lawnmower 100 through differential control. Real-time feedback of motor speed, current, and travel distance is provided to the controller 110, forming a closed-loop control system.

[0036] The mowing device 140 includes a blade assembly (circular blade and cutting blades), a blade drive motor, a blade height adjustment motor, and a mowing motor drive board, used to perform lawn mowing operations and dynamically adjust operating parameters according to the operating scenario. In this solution, the mowing device 140 adjusts the blade speed and mowing height synchronously with the travel trajectory: during the reciprocating mowing phase between the first and third sub-trajectory, the blade speed is automatically increased to ensure the mowing quality in corner areas; during the smooth cornering phase of the second sub-trajectory, the blade speed and travel speed are appropriately reduced to avoid grass being thrown or abraded; when the controller 110 detects abnormal operating conditions, the blade rotation is immediately stopped to ensure operational safety.

[0037] As can be seen, in this embodiment, through the coordinated operation of the controller 110, monitoring device 120, travel drive device 130 and mowing device 140, dynamic trajectory planning and precise execution of the lawnmower's cornering operation are realized, solving the problem of "large radius missed mowing and small radius grass grinding" in the traditional fixed radius turning scheme. While preventing grass grinding, the area of ​​missed mowing area is minimized as much as possible, significantly improving the quality of the lawnmower's edge operation and its adaptability to complex courtyard boundary environments.

[0038] The following is combined Figure 5 This application describes a lawnmower operation control method according to an embodiment. Figure 5 This is a flowchart illustrating a lawnmower operation control method provided in an embodiment of this application. The method in this embodiment is applied to, for example... Figure 4 The controller 110 of the lawnmower 100 shown includes the following steps: Step S510: Determine the first work point and the second work point based on the first work boundary and the second work boundary.

[0039] Wherein, the first working boundary is the boundary of the lawnmower before it turns, the second working boundary is the boundary of the lawnmower after it turns, the first working point is the starting point of the lawnmower turning, and the second working point is the ending point of the lawnmower turning.

[0040] Specifically, in real life, the first working boundary is the boundary along which the lawnmower continues mowing before turning. Common examples include physical walls, wooden fences, and stone edges of flower beds in a yard, as well as virtual electronic fences defined by electromagnetic signals. The second working boundary is the next boundary along which the lawnmower continues mowing after completing the entire turning process. It intersects with the first working boundary to form various corners commonly seen in yards, such as right-angle bends and obtuse-angle bends. The first working point is the position where the lawnmower officially ends its straight-line mowing along the first working boundary and begins the back-and-forth mowing action before turning. The second working point is the position where the lawnmower completes the core smooth turning action and begins the back-and-forth mowing action after turning.

[0041] In one possible embodiment, determining the first working point and the second working point based on the first working boundary and the second working boundary includes: determining the turning radius and turning center point of the lawnmower when the first working boundary and the second working boundary are used as turning boundaries, based on the working width parameter of the lawnmower, wherein the working width parameter refers to the lateral working width of the lawnmower when it travels to complete the work; and determining the first working point and the second working point based on the turning trajectory defined by the turning radius and the turning center point.

[0042] The working width parameter is an inherent hardware parameter of the lawnmower, referring to the maximum lateral working width that the lawnmower can effectively cut during a single straight-line movement. Its value is usually determined by the physical dimensions of the blade head. In the industry, it is also directly referred to as "cutting width" or "blade head width," and numerically equal to the diameter of the circular blade head. Example: In this embodiment, the lawnmower is equipped with a circular rotating blade head with a radius R1 of 15cm, therefore the working width parameter of the lawnmower is 30cm. That is to say, for every 1 meter the lawnmower travels forward in a straight line, it can cover a rectangular lawn area that is 1 meter long and 30cm wide.

[0043] The turning radius refers to the radius of the arc along the smooth curve trajectory of the cutter head center when the lawnmower performs a cornering operation. This solution prioritizes dynamically solving for the optimal turning radius to suit the current corner by using the lawnmower's working width parameter (cutter head diameter) and the geometric constraints of the two working boundaries. Optionally, the turning radius can also be a directly preset fixed value. For example, for the most common 90° standard right-angle bend in a yard, three different standard turning radii of 30cm, 40cm, and 50cm can be preset. In scenarios with simple working environments and regular boundaries, preset values ​​can be directly called, simplifying the calculation process and improving work efficiency.

[0044] In one possible embodiment, determining the turning radius and turning center point of the lawnmower when the first working boundary and the second working boundary are used as turning boundaries, based on the lawnmower's working width parameters, includes: constructing boundary constraints based on the first working boundary and the second working boundary; constructing steering constraints based on the lawnmower's working width parameters and the lawnmower's own steering parameters; constructing working constraints based on preset turning working rules of the lawnmower; and solving for the turning radius and turning center point based on the boundary constraints, the steering constraints, and the working constraints.

[0045] The boundary constraints consist of the positions and angles of the first and second working boundaries, which limit the range of motion of the cutter head center, ensuring that the cutter head cuts along the edge and that the machine body does not cross the boundary or collide with the fence, while also preventing non-cutting parts of the machine body from contacting obstacles outside the working boundaries. The steering constraints are formed by combining the working width parameters and the lawnmower's own steering parameters, limiting the turning radius to within the physical range that the equipment can achieve, ensuring that the steering action is smooth and feasible, and avoiding abnormal working conditions such as wheel slippage, drive motor overload, and machine tipping. The operation constraints are established based on preset turning operation rules and are a multi-dimensional constraint system that includes missed cutting rate, double cutting rate, operation efficiency, and trajectory smoothness. Specific requirements include, but are not limited to, the missed cutting area at corners not exceeding a set threshold, the double cutting area not exceeding a preset upper limit, the turning path length not exceeding the maximum allowable value, and the steering acceleration not exceeding the equipment's tolerance limit. Based on different lawn maintenance standards, equipment models, operational scenario requirements, and user-specific needs, the specific dimensional constraint indicators of boundary constraints, turning constraints, and operational constraints, as well as the weight allocation of each indicator, can be flexibly selected and determined to balance cutting quality and operational efficiency, and to balance "preventing missed cutting" and "preventing excessive grass abrasion." This application does not impose any restrictions on this.

[0046] Among them, the inherent performance parameters of the lawnmower are the inherent performance parameters that reflect its steering ability. These mainly include the minimum turning radius, the maximum differential ratio between the left and right wheels, the wheelbase and track width, etc. They are determined by the structure and driving performance of the driving device and are the key basis for judging whether the turning radius is feasible and whether the trajectory is reasonable.

[0047] In one possible embodiment, the step of obtaining the turning radius and turning center point based on the boundary constraints, the steering constraints, and the operational constraints includes: transforming the boundary constraints, the steering constraints, and the operational constraints into constraints in the turning radius parameter space, wherein the inviolable boundary constraints and steering constraints are used as hard constraints to define the boundaries of the feasible domain of parameters, and the operational constraints are incorporated into the optimization objective function as multi-dimensional constraints with configurable weights; within the feasible domain of parameters, optimization is performed based on a preset optimization objective function to obtain the optimal turning radius that simultaneously satisfies all constraints; and based on the geometric correspondence between the optimal turning radius and the first operational boundary and the second operational boundary, the turning center point is determined such that the turning trajectory of the cutterhead center can smoothly connect with the straight operational trajectories on both sides and satisfies a preset geometric relationship with the operational boundary.

[0048] The optimization process can be implemented using any applicable technical means in this field, including but not limited to geometric analytical methods, one-dimensional extreme value search methods, numerical iterative methods, linear programming algorithms, quadratic programming algorithms, nonlinear programming algorithms, integer programming algorithms, gradient descent methods, particle swarm optimization algorithms, fuzzy inference algorithms, reinforcement learning algorithms, rule-based inference decision-making algorithms, and preset parameter lookup table matching algorithms, etc. This application does not impose any restrictions on these methods.

[0049] The process of determining the turning center point belongs to the analytical and trajectory planning algorithm based on geometric constraints. The core is to establish the geometric mapping relationship between the operation boundary and the turning trajectory, and solve for the center point coordinates that meet the preset conditions such as smooth trajectory connection and boundary safety distance. Specific technical means that can be used include, but are not limited to, the analytical method of tangency between a straight line and an arc, the two-point circle method, the trajectory tangent fitting algorithm, the Bézier curve control point solution method, the B-spline curve interpolation algorithm, the least squares trajectory fitting algorithm, the coordinate transformation and projection algorithm, and the polygon boundary distance calculation algorithm, etc. This application does not impose any restrictions on these.

[0050] For example, when the lawnmower's blade radius R1 = 10cm, its minimum turning radius R_min = 15cm, and its maximum allowable turning radius R_max = 30cm, and the operation requirement is routine maintenance of a household yard, firstly, boundary constraints are constructed based on the mutually perpendicular first operation boundary L1 and second operation boundary L2, which are transformed into the mathematical inequality x ≥ 10cm and y ≥ 10cm for the movement range of the blade center; secondly, steering constraints are constructed by combining the operation width parameter and the lawnmower's own steering parameter, which are transformed into the physically feasible range of the turning radius 15cm ≤ R ≤ 30cm; finally, operation constraints are constructed based on the preset turning operation rules. In this case, the weight of the missed cutting rate is set to 0.6, the weight of the over-cutting rate is set to 0.2, and the weight of the operation efficiency is set to 0.2. The specific requirements are that the missed cutting area at the corner is no more than 5cm², the proportion of the over-cutting area is no more than 10%, and the turning path length is no more than 1.2m.

[0051] The solution is based on the above three types of constraints. First, the boundary constraints and turning constraints are used as inviolable hard constraints to determine the boundary of the feasible region of parameters. The multi-dimensional indicators of the operation constraints are integrated into the optimization objective function according to the preset weights. The one-dimensional extreme value search method is used to optimize within the feasible region, and the optimal turning radius that satisfies all constraints is 15cm. Then, the analytical method of tangency between straight line and arc is used. According to the geometric correspondence between the optimal turning radius and the two operation boundaries, the coordinates of the turning center point (25cm, 25cm) that makes the turning trajectory of the cutter head center tangent to the two constraint lines x=10cm and y=10cm are calculated. The turning trajectory corresponding to this center point can smoothly connect the straight operation trajectory along L1 and L2. If the operation constraint requires that the corner missed cutting area is no more than 2cm², the corresponding turning radius should be no more than 12cm. At this time, the three constraints have no intersection. Therefore, the physical hard constraints of the equipment are given priority, and R_min=15cm is taken as the optimal turning radius.

[0052] It should be noted that this application only provides one specific implementation method for determining the turning radius and turning center point based on the working width parameter and boundary conditions. In addition, the turning parameters can also be determined by methods such as direct derivation by geometric analysis, quadratic programming optimization, nonlinear programming solution, model predictive control, rule-based reasoning decision-making, and grid path planning. It can also be achieved by pre-set parameter lookup, online adaptive correction, machine learning fitting, etc., and is not limited to the above-mentioned triple constraint solution method.

[0053] As can be seen, in this embodiment, the multi-constraint joint solution method can dynamically adapt to different boundary environments and equipment performance. Under the premise of strictly ensuring that the machine body does not cross the boundary, avoiding excessive grass abrasion, and conforming to the physical turning capability of the equipment, the optimal turning parameters that balance cutting quality and work efficiency are automatically found. Even if there are conflicting constraints, complete coverage can be achieved by prioritizing the unviolable hard constraints and combining them with subsequent recutting actions. This effectively solves the dilemma of traditional fixed turning radius solutions that either result in large-area missed cutting or cause excessive grass abrasion or even equipment collisions. It has strong scene scalability and solution compatibility.

[0054] Step S520: Determine the working trajectory of the lawnmower based on the first working boundary, the second working boundary, the first working point, and the second working point.

[0055] The work trajectory is the continuous movement path that the lawnmower follows from the first work point to the second work point when performing corner turning operations between adjacent work boundaries. Its core objective is to achieve the optimal balance between low missed cutting rate and avoiding excessive grass grinding, while strictly ensuring that the machine body does not cross the boundary and meets the physical turning capability of the equipment, so as to ensure that the target corner work area is cut reasonably and effectively.

[0056] For easier understanding, please refer to Figure 6 , Figure 6 This is a flowchart illustrating the process of determining the operating trajectory of a lawnmower, as provided in an embodiment of this application. Figure 6 As shown, determining the working trajectory of the lawnmower based on the first working boundary, the second working boundary, the first working point, and the second working point specifically includes the following steps: S610, determine the first sub-operation trajectory of the lawnmower based on the first operation point and the second operation boundary; S620, determine the second sub-operation trajectory of the lawnmower based on the first operation point and the second operation point; S630, determine the third sub-operation trajectory of the lawnmower based on the second operation point and the first operation boundary; S640, the first sub-operation trajectory, the second sub-operation trajectory, and the third sub-operation trajectory are spliced ​​and integrated in time sequence to obtain the operation trajectory of the lawnmower.

[0057] The first sub-operation trajectory is the entry adjustment section before the lawnmower enters the corner turning operation. It is determined by the relative positional relationship between the first operation point and the second operation boundary. It is used to guide the lawnmower to smoothly transition from the straight operation state along the first operation boundary to the turning preparation state, so that the center of the cutter head reaches the preset arc turning starting position, and ensures that the cutter head and the second operation boundary maintain a preset safe cutting distance during the subsequent turning process.

[0058] In one possible embodiment, determining the first sub-operation trajectory of the lawnmower based on the first operating point and the second operating boundary includes: starting from the first operating point, controlling the lawnmower to move towards the second operating boundary until the distance between the lawnmower and the second operating boundary is less than or equal to a first threshold, thereby obtaining a first travel trajectory; controlling the lawnmower to turn back along the first travel trajectory to the first operating point, thereby obtaining a second travel trajectory; and determining the first sub-operation trajectory of the lawnmower based on the first travel trajectory and the second travel trajectory.

[0059] Specifically, the lawnmower employs a reciprocating boundary calibration method: starting from the first work point, the lawnmower moves at a preset low and constant speed along a direction perpendicular to the second work boundary. This initial trajectory serves two purposes: firstly, it accurately calibrates the true position of the second work boundary through actual movement, eliminating map positioning errors and inherent deviations in the boundary perception system, providing a precise boundary reference for subsequent dynamic adjustments to the turning radius; secondly, it maintains normal blade rotation during movement, completing pre-cutting of the area it traverses to prevent the formation of isolated uncut strips, until the boundary perception module detects the distance between the lawnmower and the second work boundary. When the distance is less than or equal to the first threshold, the mower immediately stops moving forward. Then, it controls the mower to return to the first work point at the same constant speed along the original path of the first travel trajectory. The second travel trajectory serves two purposes: firstly, it precisely resets the mower to the preset arc turning starting point, ensuring the accuracy of the starting point of the subsequent core turning trajectory; secondly, during the return process, it performs secondary coverage on the edge area of ​​the first travel trajectory, replenishing the lawn that was not completely cut due to boundary obstruction or sensor blind spots, while avoiding excessive damage to the lawn caused by a single compaction. Integrating these two complementary, continuous reciprocating travel trajectories constitutes the first sub-work trajectory. For example, the preset first threshold is 12cm, the calibrated moving speed is 0.2m / s, and the mower uses an infrared distance sensor at the front of the machine to detect the distance to the second work boundary fence in real time. When the detected value drops to 12cm, it stops moving forward and initiates the return action.

[0060] The second sub-trajectory is the core transition section for corner turning operations. It is determined by the spatial positions of the first and second work points and the preset turning parameters. Its shape is a smooth curve that meets the requirements of equipment turning capability and work quality. It is used to achieve a smooth turn of the lawnmower from the direction of travel along the first work boundary to the direction of travel along the second work boundary. It is a key trajectory segment that affects the corner missed mowing rate and the degree of grass grinding.

[0061] Specifically, the lawnmower employs a fixed-radius circular arc smooth turning method: the lawnmower takes the first working point as the starting point of the arc, and based on the optimal turning radius and the coordinates of the turning center point obtained from the aforementioned dynamic calculation, it performs a fixed-radius circular arc turn at a preset uniform speed and constant turning angular velocity. During the turning process, the cutter head continues to rotate and cut, and the movement of the cutter head center along the preset circular arc trajectory is strictly controlled until the second working point is reached to complete the 90-degree directional switch. This movement method precisely controls the distance between the cutter head center and the two working boundaries to always meet the boundary constraint requirements. It can maximize the coverage of the corner working area without crossing the boundary or causing excessive grass abrasion, while ensuring smooth turning action and avoiding abnormal working conditions such as wheel slippage and drive motor overload. It is the core link to achieve the optimal balance between low missed cutting rate and prevention of excessive grass abrasion. For example, based on the aforementioned optimal turning radius R=15cm and the turning center point (25,25)cm, the lawnmower starts from the first working point (10,25)cm and travels along a quarter-circle arc trajectory with a radius of 15cm at a constant speed of 0.3m / s. During the turning process, the minimum distance between the center of the cutter head and the two working boundaries is always maintained at 10cm, and finally reaches the second working point (25,10)cm, completing a smooth turn from the y-axis direction to the x-axis direction.

[0062] The third sub-operation trajectory is the transition section after the lawnmower completes the corner turn. It is determined by the relative positional relationship between the second operation point and the first operation boundary. It is used to guide the lawnmower to smoothly transition from the turning state to the straight operation state along the second operation boundary, so that the center of the cutter head is kept within the preset safe operation range, and the subsequent edge cutting operation can be performed continuously and stably after exiting the corner.

[0063] In one possible embodiment, determining the third sub-operation trajectory of the lawnmower based on the second operating point and the first operating boundary includes: starting from the second operating point, controlling the lawnmower to move towards the first operating boundary until the distance between the lawnmower and the first operating boundary is less than or equal to a first threshold, thus obtaining a third travel trajectory; controlling the lawnmower to turn back along the third travel trajectory to the second operating point, thus obtaining a fourth travel trajectory; and determining the third sub-operation trajectory of the lawnmower based on the third travel trajectory and the fourth travel trajectory.

[0064] Specifically, the lawnmower employs a reciprocating boundary calibration method: starting from the second work point, the lawnmower moves forward at a preset low and constant speed along a direction perpendicular to the first work boundary. The third travel trajectory serves two purposes: firstly, it accurately calibrates the true position of the first work boundary through actual movement, eliminating positional drift and accumulated attitude errors during turns, providing a precise boundary reference for subsequent straight-line operations along the first work boundary; secondly, it maintains normal blade rotation during movement, completing pre-cutting of the traversed area and avoiding large gaps between the exit curve and subsequent straight-line sections, until the boundary sensing module detects the lawnmower's alignment with the first work boundary. When the distance to the work boundary is less than or equal to the first threshold, the lawnmower immediately stops moving forward. Then, it is controlled to return to the second work point at the same speed along the original path of the third travel trajectory. The fourth travel trajectory serves two purposes: firstly, it precisely resets the lawnmower to the preset straight-line work starting point, ensuring seamless transition to subsequent edge-cutting operations after exiting the curve; secondly, it performs secondary coverage of the edge area of ​​the third travel trajectory during the return process, replenishing areas of lawn not completely cut due to boundary obstruction or sensor blind spots, while avoiding excessive damage to the lawn caused by a single compaction. The integration of these two complementary, continuous reciprocating travel trajectories constitutes the third sub-work trajectory. For example, the preset first threshold is 12cm, the calibrated moving speed is 0.2m / s, and the lawnmower uses an infrared distance sensor on the side of the machine facing the first work boundary to detect the distance to the first work boundary fence in real time. When the detected value drops to 12cm, it stops moving forward and initiates the return action.

[0065] The distance determination method between the lawnmower and the work boundary can be implemented through any applicable boundary sensing module mounted on the lawnmower, and this application does not impose any restrictions on this. Specific sensing methods that can be used include, but are not limited to, infrared ranging, ultrasonic ranging, lidar scanning, visual image recognition, electromagnetic boundary sensing, and UWB positioning ranging. A single sensing method can be used, or multiple sensing methods can be fused together to improve distance detection accuracy and reliability. In one possible embodiment, a set of infrared ranging sensors can be installed at the front of the lawnmower facing the work boundary to detect the straight-line distance between the front of the lawnmower and the work boundary fence in real time. When the detected distance is less than or equal to a preset threshold, the lawnmower immediately stops moving forward and triggers a reversal action. If an electromagnetic boundary system is used, the alternating magnetic field strength generated by the pre-buried boundary wire is detected by the induction coil at the bottom of the lawnmower. When the magnetic field strength reaches a preset value corresponding to the threshold, it is determined that the lawnmower has reached the designated distance position.

[0066] It is understandable that a single-form trajectory cannot simultaneously meet the needs of edge preparation before entering a curve, smooth steering during the turn, and operation connection after exiting the curve. Segmented trajectory design can achieve multi-objective optimization through the combination of different functional segments. The core requirement of the operation trajectory temporal splicing process is to ensure the continuity of position, velocity, and acceleration of adjacent sub-trajectories at the connection point, so as to avoid problems such as equipment vibration, wheel slippage, or reduced operation quality caused by abrupt trajectory changes. Specific technical means that can be adopted include, but are not limited to, trajectory point linear interpolation method, cubic spline curve smooth transition method, Bézier curve splicing method, velocity planning connection method, and trajectory fusion algorithm based on kinematic model, etc. This application does not impose any restrictions on these.

[0067] In one possible embodiment, the method further includes: in response to the second working boundary being unable to support the lawnmower to complete a turning operation when the lawnmower moves along the working trajectory, the working trajectory of the lawnmower is re-determined based on the first working boundary and the third working boundary, wherein the third working boundary is connected to the second working boundary and indirectly connected to the first working boundary through the second working boundary.

[0068] Specifically, lawnmowers need to reserve turning space matching the optimal turning radius when turning. If, upon inspection, it is found that the second working boundary has insufficient straight segment length, boundary curvature exceeding the equipment's turning capacity, or the included angle between the two boundaries is too small, resulting in the boundary distance being less than the lawnmower's minimum turning radius, then the boundary constraints built based on the first and second working boundaries do not intersect with the equipment's turning constraints. When the lawnmower relies on the second working boundary to turn, it will inevitably experience body scraping, wheel jamming, or be unable to complete a complete turning action. In this case, it is determined that the second working boundary cannot support the lawnmower to complete the turning operation. At this time, the controller automatically identifies the third working boundary directly connected to the second working boundary, switches the boundary combination for the turning operation from "first working boundary, second working boundary" to "first working boundary, third working boundary", reconstructs the triple constraint system, and solves for the turning parameters and working trajectory adapted to the new boundary combination, ensuring that the turning operation can be completed safely and with high quality.

[0069] For example, the lawnmower's blade radius R1 = 10cm, and the minimum turning radius R_min = 15cm. When operating at a corner in the yard, the first operating boundary is detected as a straight fence with a length of 2m, the second operating boundary is a short straight segment of only 10cm (the transition edge connecting the first and third operating boundaries), and the third operating boundary is a straight fence with a length of 3m. Since the length of the straight segment of the second operating boundary (10cm) is less than the minimum turning radius of the lawnmower (15cm), the boundary constraint constructed based on the first and second operating boundaries requires the turning radius to be less than 10cm, which has no intersection with the turning constraint 15cm≤R≤30cm. Therefore, it is determined that the second operating boundary cannot support the turning operation. At this time, the controller automatically switches the relying boundary to the first and third operating boundaries, reconstructs the boundary constraints, and solves to obtain the optimal turning radius of 18cm, generating the corresponding three-segment operating trajectory, guiding the lawnmower to bypass the short transition segment to complete the turn, and avoiding the collision between the machine body and the short fence.

[0070] As can be seen, in this embodiment, the optimal balance between preventing excessive grass abrasion and minimizing missed mowing rate is precisely achieved through a three-segment trajectory design: the core turning segment adopts an arc trajectory based on a dynamic optimal radius, which maximizes coverage of the core corner area while strictly ensuring that the machine body does not cross the boundary and does not crush the boundary grass to cause excessive grass abrasion; the two round-trip calibration trajectories for entering and exiting the turn are specifically designed to address the missed mowing problem. By actually moving to calibrate the boundary position to eliminate positioning perception errors, pre-cutting the round-trip path area to avoid independent missed mowing strips, filling the blind spots at the edge to solve sensor occlusion and missed mowing, and accurately resetting to ensure seamless trajectory connection, the missed mowing rate at the corner is minimized while avoiding excessive grass abrasion.

[0071] Step S530: Control the lawnmower to operate along the working trajectory to achieve turning operation of the lawnmower during operation.

[0072] Specifically, in the final execution stage of corner turning operations, the controller obtains the current position and attitude information in real time based on the posture sensor on the lawnmower. It uses a closed-loop control algorithm to drive the walking mechanism and steering mechanism to work together. It strictly follows the three-segment operation trajectory generated above to perform the entry calibration, core arc steering and exit calibration actions in sequence. During the process, the cutter head is kept rotating and cutting continuously to ensure that the lawnmower can smoothly complete the direction change while accurately maintaining the optimal distance between the cutter head and the operation boundary. In the end, it achieves high-quality corner turning operations that avoid excessive grass grinding and low missed cutting rate.

[0073] As can be seen, in this embodiment, by constructing a configurable constraint system of boundary safety, equipment performance, and operation quality to dynamically solve the optimal turning parameters, the dilemma of traditional fixed turning radius schemes—either large-area missed mowing or excessive grass abrasion—is fundamentally solved. Combined with a three-stage functional trajectory design of entry-turn calibration, core turning, and exit-turn calibration, the core arc turning segment maximizes coverage of the corner area without crossing the boundary and crushing the grass. The reciprocating calibration actions for entry and exit turns reduce the risk of missed mowing at trajectory junctions and boundary blind spots through online boundary position calibration, pre-cutting and supplementary mowing, and precise resetting. Simultaneously, an automatic boundary switching fault-tolerant mechanism is introduced to effectively adapt to irregular boundary scenarios such as short-side transition sections and small-angle corners. Ultimately, while ensuring smooth turning and safe equipment operation, the optimal balance between low missed mowing rate and avoiding excessive grass abrasion in corner operations is achieved, significantly improving the lawnmower's operation quality and environmental adaptability.

[0074] Specifically, please refer to Figure 7 , Figure 7 This is a schematic diagram of a lawnmower's operating trajectory provided in an embodiment of this application, such as... Figure 7 As shown, L1 is the first working boundary, L2 is the second working boundary, and they are perpendicular to each other, forming a right-angle corner. P1 is the first working point, and P2 is the second working point. The entire working trajectory is divided into three functional sub-trajectories according to the time sequence. Path 1 and Path 2 together form the first sub-trajectory, Path 3 corresponds to the second sub-trajectory, and Path 4 and Path 5 together form the third sub-trajectory. Among them, Path 1 is the first travel trajectory, where the lawnmower travels straight from P1 towards the second working boundary L2. Path 2 is the second travel trajectory, which returns to the first working point P1 along the original path of Path 1, completing the calibration and pre-cutting of the exit side boundary. Path 3 is the second sub-trajectory, where the lawnmower turns from the first working point P1 to the second working point P2 along a smooth arc with the optimal turning radius, serving as the core turning section to balance the problems of missed mowing and excessive grass abrasion. Path 4 is the third travel trajectory, which travels straight from P2 towards the first working boundary L1. Path 5 is the fourth travel trajectory, which returns to the second working point P2 along the original path of Path 4, completing the calibration and supplementary mowing of the entry side boundary. The three sub-trajectories are smoothly spliced ​​together in the sequence of path 1 → path 2 → path 3 → path 4 → path 5 to form a complete corner operation trajectory. This not only eliminates boundary positioning errors and reduces corner missed cutting rate through back-and-forth travel calibration, but also relies on the optimal turning radius of the arc segment to constrain the overlap cutting ratio of the cutter head, avoiding excessive grass abrasion, thus achieving smooth and high-quality right-angle corner turning operations.

[0075] Furthermore, based on Figure 7 The standardized three-segment trajectory generation approach shown can also be adapted to corner conditions with different angle types. The following section will combine... Figures 8-10 This paper describes the turning operation scenarios of lawnmowers at three typical corners: right angle, obtuse angle, and acute angle. Figure 8This is a schematic diagram illustrating a lawnmower turning at a right-angle corner. Figure 9 This is a schematic diagram illustrating a lawnmower turning at an obtuse angle. Figure 10 This is a schematic diagram illustrating a lawnmower turning at an acute angle.

[0076] like Figure 8 As shown, the first working boundary L1 and the second working boundary L2 are orthogonal, forming a 90° right-angle corner. Region C is the residual uncut area at the corner vertex under the trajectory control of this application. (Continued...) Figure 7 The three-segment trajectory architecture and timing logic in this application achieve the first operational boundary L1 position calibration through the first sub-trajectory composed of paths 1 and 2, the adaptive matching of the optimal turning radius for right-angle corners to complete the arc turning through path 3, and the completion of blind zone filling for the second operational boundary L2 through the third sub-trajectory composed of paths 4 and 5. Compared with the traditional fixed large turning radius scheme, this application effectively reduces the area of ​​the missed cutting region C through boundary back-and-forth calibration; compared with the traditional fixed small turning radius scheme, this application, through trajectory segmentation design, combined with straight back-and-forth movement along the boundary and optimal radius turning, can effectively avoid excessive grass abrasion caused by repeated cutting by the cutter head, ultimately achieving a balance between low missed cutting rate and no excessive grass abrasion, significantly improving the quality of right-angle corner operations.

[0077] like Figure 9 As shown, the first working boundary L1 and the second working boundary L2 intersect to form an obtuse angle greater than 90°. The turning space at the corner is open, and region D is the residual uncut area at the corner apex under the trajectory control of this application. (Reuse) Figure 7 The standardized three-segment trajectory generation logic maintains the same operation sequence and segmentation function, while adaptively solving for a larger optimal turning radius based on obtuse angle characteristics. Compared to the traditional fixed large turning radius scheme, the round-trip calibration can further reduce the missed cutting area D; compared to the traditional fixed small turning radius scheme, the segmented trajectory and large optimal radius can significantly reduce the overlap of the cutter head, avoid excessive grass abrasion, and ultimately achieve a balance between missed cutting control and grass abrasion suppression at obtuse angle corners, making it more suitable for efficient operation at wide-angle corners.

[0078] like Figure 10 As shown, the first working boundary L1 and the second working boundary L2 intersect to form an acute angle less than 90°. The turning space at the corner vertex is narrow, and region E is the residual uncut area at the corner vertex under the trajectory control of this application. Figure 7The complete three-stage operation process ensures that the segmented execution logic and operation sequence remain unchanged regardless of the corner angle. It adaptively solves for the optimal turning radius in acute angled and confined spaces while taking into account turning constraints. Compared to the traditional fixed large turning radius scheme, boundary round trips can significantly reduce the missed cutting area E. Compared to the traditional fixed small turning radius scheme, the segmented trajectory and optimal radius can avoid large-area repeated cutting caused by forced small-radius turns, suppress excessive grass abrasion, and ultimately achieve a comprehensive balance between missed cutting and excessive grass abrasion in acute angled and confined corners, ensuring safe and stable equipment operation while improving operational efficiency.

[0079] As can be seen, in this embodiment, when adapting to corner turning operations with different angle types such as right angle, obtuse angle, and acute angle, there is no need to reconstruct the trajectory structure and control flow. The three-segment trajectory mechanism of boundary straight-line reciprocating calibration and optimal radius arc turning is always adopted. That is, the complete process of sequentially executing one side boundary reciprocating calibration, core arc turning, and the other side boundary reciprocating calibration remains unchanged. The operation sequence, trajectory segmentation method, reciprocating re-cutting and anti-abrasion control logic remain unchanged. Only the optimal turning radius adaptive solution algorithm needs to be modified according to the angular characteristics of different corners. For example, the optimal turning radius value is increased in the obtuse angle scenario, and the optimal turning radius is dynamically optimized in the acute angle scenario in combination with the turning limit constraint. This can adapt to the spatial constraints and operation coverage requirements of different angles, and achieve efficient adaptation to various corner working conditions while ensuring the universality and stability of the solution.

[0080] This application embodiment can divide the electronic device into functional units according to the above method example. For example, each function can be divided into a separate functional unit, or two or more functions can be integrated into one processing unit. The integrated unit can be implemented in hardware or as a software functional unit. It should be noted that the unit division in this application embodiment is illustrative and only represents one logical functional division. In actual implementation, there may be other division methods.

[0081] and Figure 4 The implementation is consistent with the previous one; please refer to [link / reference]. Figure 11 , Figure 11This is a functional unit block diagram of a lawnmower operation control device provided in this application embodiment. The lawnmower operation control device 1000 includes: a determining unit 1010 and a controlling unit 1020; wherein, the determining unit 1010 is used to determine a first operating point and a second operating point according to a first operating boundary and a second operating boundary, wherein the first operating boundary is the boundary of the lawnmower's operation before turning, the second operating boundary is the boundary of the lawnmower's operation after turning, the first operating point is the starting point of the lawnmower's turning, and the second operating point is the ending point of the lawnmower's turning; and to determine the operating trajectory of the lawnmower according to the first operating boundary, the second operating boundary, the first operating point, and the second operating point; the controlling unit 1020 is used to control the lawnmower to operate along the operating trajectory to realize the turning operation of the lawnmower during operation.

[0082] In one possible embodiment, the first working point and the second working point are determined based on the first working boundary and the second working boundary. The determining unit 1010 is specifically used to: determine the turning radius and turning center point of the lawnmower when the first working boundary and the second working boundary are used as turning boundaries, based on the working width parameter of the lawnmower, wherein the working width parameter refers to the lateral working width of the lawnmower when it travels to complete the work; and determine the first working point and the second working point based on the turning trajectory defined by the turning radius and the turning center point.

[0083] In one possible embodiment, based on the mower's working width parameters, the turning radius and turning center point of the mower when the first working boundary and the second working boundary are used as turning boundaries are determined. The determining unit 1010 is specifically used to: construct boundary constraints based on the first working boundary and the second working boundary; construct steering constraints based on the mower's working width parameters and the mower's own steering parameters; construct working constraints based on preset turning working rules of the mower; and solve for the turning radius and turning center point based on the boundary constraints, the steering constraints, and the working constraints.

[0084] In one possible embodiment, the operating trajectory of the lawnmower is determined based on the first operating boundary, the second operating boundary, the first operating point, and the second operating point. The determining unit 1010 is specifically used to: determine a first sub-operating trajectory of the lawnmower based on the first operating point and the second operating boundary; determine a second sub-operating trajectory of the lawnmower based on the first operating point and the second operating point; determine a third sub-operating trajectory of the lawnmower based on the second operating point and the first operating boundary; and splice and integrate the first sub-operating trajectory, the second sub-operating trajectory, and the third sub-operating trajectory in a time sequence to obtain the operating trajectory of the lawnmower.

[0085] In one possible embodiment, the first sub-operation trajectory of the lawnmower is determined based on the first operating point and the second operating boundary. The determining unit 1010 is specifically used to: control the lawnmower to move towards the second operating boundary from the first operating point until the distance between the lawnmower and the second operating boundary is less than or equal to a first threshold, thereby obtaining a first travel trajectory; control the lawnmower to turn back along the first travel trajectory to the first operating point, thereby obtaining a second travel trajectory; and determine the first sub-operation trajectory of the lawnmower based on the first travel trajectory and the second travel trajectory.

[0086] In one possible embodiment, a third sub-operation trajectory of the lawnmower is determined based on the second operating point and the first operating boundary. The determining unit 1010 is specifically configured to: control the lawnmower to move towards the first operating boundary from the second operating point until the distance between the lawnmower and the first operating boundary is less than or equal to a first threshold, thereby obtaining a third travel trajectory; control the lawnmower to turn back along the third travel trajectory to the second operating point, thereby obtaining a fourth travel trajectory; and determine the third sub-operation trajectory of the lawnmower based on the third travel trajectory and the fourth travel trajectory.

[0087] In one possible embodiment, the determining unit 1010 is further configured to: in response to the second working boundary being unable to support the lawnmower to complete a turning operation when the lawnmower moves along the working trajectory, redetermine the working trajectory of the lawnmower based on the first working boundary and the third working boundary, wherein the third working boundary is connected to the second working boundary and indirectly connected to the first working boundary through the second working boundary.

[0088] As can be seen, in this embodiment, the lawnmower covers corner blind spots by moving back and forth when working on right-angle bends, reducing missed mowing at bends, and avoids excessive grass grinding by turning according to the optimal radius. It can dynamically match the optimal working path in various angle bend scenarios, thereby solving the problem of "difficulty in balancing grass grinding and missed mowing" in traditional fixed radius bend solutions, and improving the quality of lawnmower's edge operation and all-scenario adaptability in complex yard boundary environments.

[0089] Please see Figure 12 This application also provides a lawnmower 100, including a memory 1102 and a processor 1101. The memory 1102 stores a computer program, and the computer program executes the lawnmower operation control method provided in any embodiment of this application when the processor 1101 is running.

[0090] The processor 1101 is the arithmetic control unit of the lawnmower. It can be an embedded microprocessor, a microcontroller unit (MCU), or an advanced RISC machine chip (ARM chip) with real-time computing capabilities. It is used to perform processing operations such as environmental perception information recognition, corner angle type determination, operation boundary positioning, pose information calculation, optimal turning radius adaptive solution, three-segment operation trajectory generation, reciprocating calibration path planning, blade overlap cutting ratio constraint, and closed-loop control of the turning process. The memory 1102 is a non-volatile storage unit used to store computer programs, operation map data, boundary coordinate information, corner angle thresholds, optimal turning radius constraint parameters, excessive grass abrasion judgment thresholds, three-segment trajectory control logic, reciprocating calibration travel parameters, and historical operation data, ensuring stable storage and rapid retrieval of control programs and operation data.

[0091] In one possible embodiment, the lawnmower robot can collect environmental perception information through a multi-sensor fusion system, including a visual camera, millimeter-wave radar, ultrasonic sensor, inertial measurement unit (IMU), and wheel speed odometer. Based on positioning methods such as Simultaneous Localization and Mapping (SLAM) or LiDAR, it can obtain data such as the current position of the lawnmower, the first working boundary L1, the second working boundary L2, corner angles, and working points (P1, P2), which are used to identify different corner types such as right angles, obtuse angles, and acute angles and determine the corresponding working constraints.

[0092] In this embodiment, when the computer program is loaded and run by the processor 1101, it can realize the process control logic of corner angle discrimination, optimal turning radius adaptive solution, three-stage operation trajectory planning, boundary reciprocating calibration, and anti-excessive grass abrasion during the turning process. This enables the lawnmower to dynamically adjust the turning radius parameters according to different corner angle characteristics, and always maintain the core three-stage operation mechanism of "boundary straight reciprocating calibration and optimal radius arc turning". While effectively reducing the corner missed area, it strictly controls the overlapping cutting ratio of the blades within the excessive grass abrasion judgment threshold, taking into account the low missed cutting rate and lawn integrity of corner operation, and stably adapting to the high-quality turning operation requirements under various corner conditions such as right angle, obtuse angle, and acute angle.

[0093] This application also provides a computer storage medium storing a computer program / instructions thereon, which, when executed by a processor, implements some or all of the steps of any of the methods described in the above method embodiments.

[0094] This application also provides a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program operable to cause a computer to perform some or all of the steps of any of the methods described in the above method embodiments.

[0095] It should be understood that in the various embodiments of this application, the order of the above-mentioned processes does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0096] In the several embodiments provided in this application, it should be understood that the disclosed methods, apparatuses, and systems can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for example, the division of units is merely a logical functional division, and there may be other division methods in actual implementation; for example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0097] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0098] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can be physically comprised separately, or two or more units can be integrated into one unit. The integrated unit described above can be implemented in hardware or in the form of hardware plus software functional units.

[0099] The integrated units implemented as software functional units described above can be stored in a computer-readable storage medium. These software functional units, stored in a storage medium, include several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute partial steps of the methods of the various embodiments of the present invention. The aforementioned storage medium includes: a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, volatile memory, or non-volatile memory. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of random access memory (RAM) are available, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous linked DRAM (SLDRAM), and direct rambus RAM (DR RAM), etc., which are various media capable of storing program code.

[0100] While the present invention has been disclosed above, it is not limited thereto. Any person skilled in the art can easily conceive of variations or substitutions without departing from the spirit and scope of the present invention, and various modifications and alterations can be made, including combinations of the different functions and implementation steps described above, as well as software and hardware implementation methods, all of which are within the protection scope of the present invention.

Claims

1. A method for controlling the operation of a lawnmower, characterized in that, include: The first work point and the second work point are determined based on the first work boundary and the second work boundary, wherein the first work boundary is the boundary for work before the lawnmower turns, the second work boundary is the boundary for work after the lawnmower turns, the first work point is the starting point for the lawnmower to turn, and the second work point is the ending point for the lawnmower to turn. The operating trajectory of the lawnmower is determined based on the first operating boundary, the second operating boundary, the first operating point, and the second operating point. The lawnmower is controlled to operate along the specified work trajectory to enable turning maneuvers during operation.

2. The method as described in claim 1, characterized in that, The step of determining the first work point and the second work point based on the first work boundary and the second work boundary includes: Based on the working width parameters of the lawnmower, determine the turning radius and turning center point of the lawnmower when the first working boundary and the second working boundary are used as turning boundaries, wherein the working width parameters refer to the lateral working width of the lawnmower when it travels to complete the operation; The first and second work points are determined based on the turning radius and the turning center point defining the turning trajectory.

3. The method as described in claim 2, characterized in that, The step of determining the turning radius and turning center point of the lawnmower when the first working boundary and the second working boundary are used as turning boundaries, based on the working width parameters of the lawnmower, includes: Construct boundary constraints based on the first operation boundary and the second operation boundary; Steering constraints are constructed based on the working width parameters of the lawnmower and the lawnmower's own steering parameters; Construct operational constraints based on the preset turning operation rules of the lawnmower; Based on the boundary constraints, the steering constraints, and the operational constraints, the turning radius and the turning center point are obtained.

4. The method as described in claim 1, characterized in that, Determining the operating trajectory of the lawnmower based on the first operating boundary, the second operating boundary, the first operating point, and the second operating point includes: The first sub-operation trajectory of the lawnmower is determined based on the first operation point and the second operation boundary; The second sub-operation trajectory of the lawnmower is determined based on the first operation point and the second operation point; The third sub-operation trajectory of the lawnmower is determined based on the second operation point and the first operation boundary; The first sub-operation trajectory, the second sub-operation trajectory, and the third sub-operation trajectory are spliced ​​and integrated in time sequence to obtain the operation trajectory of the lawnmower.

5. The method as described in claim 4, characterized in that, Determining the first sub-trajectory of the lawnmower based on the first work point and the second work boundary includes: Starting from the first work point, the lawnmower is controlled to move towards the second work boundary until the distance between the lawnmower and the second work boundary is less than or equal to a first threshold, thus obtaining a first travel trajectory; The lawnmower is controlled to move back and forth along the first travel trajectory to the first work point to obtain a second travel trajectory; The first sub-operation trajectory of the lawnmower is determined based on the first travel trajectory and the second travel trajectory.

6. The method as described in claim 4, characterized in that, Determining the third sub-trajectory of the lawnmower based on the second work point and the first work boundary includes: Starting from the second work point, the lawnmower is controlled to move towards the first work boundary until the distance between the lawnmower and the first work boundary is less than or equal to the first threshold, thus obtaining the third travel trajectory; The lawnmower is controlled to move back and forth along the third travel trajectory to the second work point, thus obtaining the fourth travel trajectory; The third sub-operation trajectory of the lawnmower is determined based on the third and fourth travel trajectories.

7. The method according to any one of claims 1-6, characterized in that, The method further includes: In response to the lawnmower moving along the work trajectory and the second work boundary being unable to support the lawnmower to complete a turning operation, the work trajectory of the lawnmower is re-determined based on the first work boundary and the third work boundary, wherein the third work boundary is connected to the second work boundary and indirectly connected to the first work boundary through the second work boundary.

8. An electronic device, characterized in that, The device includes: The method includes a memory, a processor, and executable program code stored in the memory and executable on the processor, wherein the processor executes the executable program code to perform the steps of the lawnmower operation control method as described in any one of claims 1-7.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores executable program code, the executable program code including execution instructions for performing the steps of the lawnmower operation control method as described in any one of claims 1-7.

10. A computer program product, characterized in that, The computer program product includes a computer program for causing a computer to perform the steps of the lawnmower operation control method as described in any one of claims 1-7.

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