Grass trimmer

Abstract

To obtain a grass mower capable of facilitating setting a travel route in consideration of depressions on the ground.SOLUTION: The grass mower includes: a grass mower body part which has a cutting blade for mowing grass; and a controller which specifies depressions on the ground across which the grass mower body part cannot travel, on the basis of three-dimensional point group data constituted of three-dimensional data of a plurality of positioning points within an object area and avoids the specified depressions to set a travel route of the grass mower body part.SELECTED DRAWING: Figure 6

Description

[Technical field]

[0001] The present invention relates to a grass cutter. [Background technology]

[0002] Patent Document 1 discloses a method of manually operating a lawnmower within a target area while simultaneously conducting surveying using a GPS, obtaining map data from the surveying data, and creating a travel path for the lawnmower. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 9-128045 Summary of the Invention [Problem to be solved by the invention]

[0004] Incidentally, it is desirable to create a route for the grass cutter so as to avoid places where the grass cutter cannot travel, such as areas where parts of the ridge have collapsed and parts of the ground have subsided.

[0005] However, when the entire target area is surveyed manually as in the technique described in Patent Document 1, it is not easy because a huge amount of work is required when a large area of ​​cultivated land is targeted. Therefore, the above prior art has room for improvement in this respect.

[0006] SUMMARY OF THE PRESENT DISCLOSURE In consideration of the above, an object of the present invention is to provide a grass mower that can easily set a travel route taking into account depressions in the ground surface. [Means for solving the problem]

[0007] The grass mower of claim 1 comprises a grass mower main body having a cutting blade for cutting grass, and a controller that identifies depressions in the ground surface through which the grass mower main body cannot travel, based on three-dimensional point cloud data composed of three-dimensional data of a plurality of positioning points within a target area, and sets a travel route for the grass mower main body while avoiding the identified depressions.

[0008] In the grass cutter according to claim 1, depressions on the ground surface that the grass cutter body cannot travel through are identified based on three-dimensional point cloud data composed of three-dimensional data of a plurality of positioning points. Then, a travel route for the grass cutter body is set while avoiding the identified depressions. This makes it easy to set a travel route that takes into account depressions on the ground surface, for example, by obtaining three-dimensional point cloud data from an aerial image of the target area.

[0009] The grass mower of claim 2 has the configuration described in claim 1, wherein the controller calculates the slope of a virtual route formed by connecting multiple data points of the three-dimensional point cloud data, and identifies a depression in the ground surface over which the grass mower main body cannot travel based on the magnitude of the slope of the virtual route.

[0010] In the grass mower according to claim 2, by calculating the inclination of the virtual route obtained from the three-dimensional point cloud data, it is possible to identify a depression through which the grass mower cannot travel, taking into account the traveling direction of the grass mower main body.

[0011] The grass mower of claim 3 has the configuration described in claim 2, and when the magnitude of the inclination of the virtual path is greater than a first threshold value and the path length of the virtual path is longer than a second threshold value, the controller identifies it as a depression in the ground beyond which the grass mower main body cannot travel.

[0012] Incidentally, even in areas where the depression is deep, if the path length through the depression is short, it may be possible to overcome the depression using a grass cutter without having to avoid the depression.

[0013] In the grass mower of claim 3, the second threshold value allows the driving route to be set taking into account the route length that passes through the recessed area, so that for small recesses that do not affect the driving of the grass mower main body, a driving route can be set that overcomes the recession.

[0014] A grass mower according to a fourth aspect of the present invention has the configuration according to the third aspect, wherein the second threshold value is half the vehicle length of the grass mower main body.

[0015] Incidentally, the potholes that can be overcome while traveling also differ depending on the size of the vehicle body of the grass cutter main body. For example, if the length of the path through the pothole is greater than half the length of the vehicle body of the grass cutter main body, it may be difficult to overcome the pothole while traveling.

[0016] Therefore, in the grass mower according to claim 4, the second threshold is set to half the vehicle length of the grass mower main body. This allows the grass mower to determine whether or not a cave-in has occurred that would prevent the grass mower main body from traveling, taking into account the size of the vehicle body of the grass mower main body.

[0017] The grass mower of claim 5 has the configuration described in any one of claims 1 to 4, wherein the three-dimensional point cloud data is three-dimensional point cloud data of an ortho-image of the target area, and the controller identifies areas within the target area where the grass mower main body does not travel as uncut areas by correlating them with the ortho-image data based on a set driving route.

[0018] In the mower according to claim 5, the uncut areas of the mower are identified in association with the orthoimage data based on the set travel route. This makes it easy to share information about uncut areas that need to be mowed manually.

[0019] A grass mower according to a sixth aspect of the present invention has the configuration according to the fifth aspect, wherein the controller updates the uncut area based on the travel history of the grass mower main body.

[0020] In the grass cutter according to claim 6, the uncut areas are updated based on the driving history of the grass cutter. This makes it possible to find uncut areas even if the set driving route is changed for some reason and some areas are not mowed. Effect of the Invention

[0021] As described above, the grass mower according to the present invention has the excellent effect of being able to set a travel route taking into account subsidence of the ground surface. [Brief description of the drawings]

[0022] [Figure 1] FIG. 2 is a perspective view of the grass cutter of the present embodiment, seen obliquely from above. [Diagram 2] 1 is a side cross-sectional view showing a grass mower according to an embodiment in a partially broken state as viewed from the side. [Diagram 3] 1 is a block diagram showing a hardware configuration of a grass mower according to an embodiment. [Figure 4] 1 is a block diagram showing a functional configuration of a grass mower according to an embodiment. [Diagram 5] 1 is a schematic diagram showing an example of a plurality of data points included in three-dimensional point cloud data and a virtual route connecting the data points; [Figure 6] This is a plan view showing the cultivated land and its surroundings. [Figure 7] 5 is a flowchart showing an example of the flow of a route setting process in the present embodiment. [Figure 8] 11 is a flowchart showing an example of the flow of an uncut area specification process in the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0023] Hereinafter, the mower 10 according to this embodiment will be described with reference to Figs. 1 to 8. Note that the arrow FR shown as appropriate in each figure indicates the front side in the front-rear direction of the mower 10, the arrow UP indicates the upper side in the up-down direction, and the arrow RH indicates the right side in the left-right direction (width direction). Furthermore, when the directions of front-rear, up-down, left-right are used in the following description unless otherwise specified, they refer to front-rear in the front-rear direction of the mower 10, up-down in the up-down direction, and left-right when facing the direction of travel.

[0024] 1 and 2, the grass cutter 10 of this embodiment is mainly composed of a main body 12, a cutting blade unit 14, and a control unit 16. The main body 12 corresponds to the "grass cutter main body" of the present invention.

[0025] (Main body 12) The main body 12 is formed in a generally rectangular parallelepiped shape with an open bottom, and is provided with crawler units 18 as a movement mechanism on the main body 12. The crawler units 18 are provided on both the left and right sides of the front end of the main body 12 and on both the left and right sides of the rear end.

[0026] Each crawler section 18 includes a rubber crawler 18A, a driving wheel 18B, a first idler wheel 18C, and a second idler wheel 18D. The rubber crawler 18A is formed in an endless belt shape and is wound around the driving wheel 18B, the first idler wheel 18C, and the second idler wheel 18D.

[0027] The drive wheel 18B is connected via a rotating shaft (not shown) to a drive motor 35 (see FIG. 3) disposed inside the main body 12. The drive motor 35 is configured to receive power from a battery (not shown), and by supplying power to operate the drive motor 35, the drive wheel 18B rotates and the rubber crawler 18A moves so as to circulate in one direction.

[0028] The first idler wheel 18C is disposed forward and below the drive wheel 18B, and is rotatably attached to a rotating shaft (not shown) extending in the left-right direction. The first idler wheel 18C rotates following the movement of the rubber crawler 18A. The second idler wheel 18D is disposed rearward of the first idler wheel 18C, and is rotatably attached to a rotating shaft (not shown) extending in the left-right direction. The second idler wheel 18D rotates following the movement of the rubber crawler 18A.

[0029] Here, the drive motor 35 is provided independently for each of the four crawler units 18, and the grass mower 10 can be moved in any direction by controlling the four drive motors 35. For ease of explanation, the four drive motors 35 are illustrated together in FIG. 3.

[0030] A cover 20 is provided on the front surface of the main body 12. The cover 20 is a generally flat plate-like member with a plate thickness direction in the front-rear direction, and extends in the vertical and horizontal directions. The lower end of the cover 20 is located lower than the lower end of the main body 12, and the cover 20 narrows the gap between the main body 12 and the ground. The cover 20 prevents foreign objects such as stones from entering the cutting blade unit 14, which will be described later.

[0031] In this embodiment, as an example, the cover 20 is provided only on the front surface of the main body 12, but the present invention is not limited to this. For example, a similar cover 20 may be provided on the rear surface and side surface of the main body 12. Also, a member for preventing the intrusion of foreign matter similar to the cover 20 may be provided on both side surfaces of the main body 12.

[0032] (Blade unit 14) 2, the cutting blade unit 14 is provided inside the main body 12. The cutting blade unit 14 includes a rotating member 22, a cutting blade 24, a rotating shaft 26, and a cutting blade motor 28.

[0033] The rotating member 22 is formed in a disk shape with its thickness direction in the up-down direction, and is disposed near the opening 12A on the lower side of the main body 12. The rotating member 22 is fixed to a rotating shaft 26, which will be described later, and is configured to be rotatable with respect to the main body 12 together with the rotating shaft 26.

[0034] The rotating member 22 is provided with a plurality of cutting blades 24. The cutting blades 24 are attached to the outer peripheral end portion of the rotating member 22, and in the present embodiment, as an example, four cutting blades 24 are provided at equal intervals along the circumferential direction of the rotating member 22.

[0035] Each of the cutting blades 24 is formed from a thin metal member with its thickness direction extending in the vertical direction, and is configured to be able to cut grass.

[0036] The rotating shaft 26 is disposed in the center of the main body 12 and extends in the vertical direction, and the rotating member 22 is attached to the lower end of the rotating shaft 26. In addition, the upper end of the rotating shaft 26 is connected to a blade motor 28.

[0037] The blade motor 28 is attached to the upper part of the main body 12, and is driven by power supplied from a battery (not shown) provided in the main body 12. The blade motor 28 also has an output shaft (not shown), and this output shaft is connected to the rotating shaft 26 via a gear or pulley (not shown). Therefore, when the blade motor 28 is driven, a rotational force is transmitted to the rotating member 22 via the rotating shaft 26, and the rotating member 22 rotates in one direction around the rotating shaft 26.

[0038] As shown in FIGS. 1 and 2, the control unit 16 is provided on the upper surface of the main body 12, and includes a housing 16A having a substantially rectangular parallelepiped shape.

[0039] A GPS (Global Positioning System) device 32 is attached to the top surface of the housing 16A. The GPS device 32 is a device that measures the current position of the mower 10, and is configured to include an antenna (not shown) that receives signals from GPS satellites.

[0040] A camera unit 34 serving as an imaging device is attached to the front surface of the housing 16A. The camera unit 34 is a unit formed by combining a plurality of cameras, and is capable of capturing images of the surrounding conditions including the traveling direction of the mower 10. The control unit 16 is also provided with a controller 36.

[0041] (Hardware configuration of the grass cutter 10) Fig. 3 is a block diagram showing the hardware configuration of the grass mower 10. As shown in Fig. 3, the controller 36 constituting the grass mower 10 is configured to include a CPU (Central Processing Unit: processor) 38, a ROM (Read Only Memory) 40, a RAM (Random Access Memory) 42, a storage 44, a communication I / F (communication interface) 46, and an input / output I / F (input / output interface) 48. Each component is connected to each other via a bus 49 so as to be able to communicate with each other.

[0042] The CPU 38 is a central processing unit that executes various programs and controls each part. That is, the CPU 38 reads a program from the ROM 40 or the storage 44, and executes the program using the RAM 42 as a working area. The CPU 38 also controls each of the above components and performs various arithmetic processing according to the program recorded in the ROM 40 or the storage 44.

[0043] The ROM 40 stores various programs and various data. The RAM 42 is a non-temporary recording medium that temporarily stores programs or data as a working area. The storage 44 is a non-temporary recording medium that is configured with an HDD (Hard Disk Drive) or an SSD (Solid State Drive) and stores various programs including an operating system and various data. In this embodiment, the storage 44 stores a program 44A that is an automatic driving program for the mower 10. By executing the program 44A, a route setting process and a left-mow area identification process, which will be described later, are executed. In addition, the storage 44 stores various data including orthoimage data 44B of the target area for mowing, three-dimensional point cloud data 44C, driving history data of the main body 12, and map data.

[0044] The communication I / F 46 is an interface that enables the grass mower 10 to communicate with other devices, and uses standards such as CAN (Controller Area Network), Ethernet (registered trademark), LTE (Long Term Evolution), FDDI (Fiber Distributed Data Interface), and Wi-Fi (registered trademark).

[0045] The input / output I / F 48 is electrically connected to the GPS device 32, the camera unit 34, the drive motor 35, and the blade motor 28. The controller 36 controls the drive motor 35 based on images of the surroundings detected by the camera unit 34 and information such as the current position of the grass mower 10 acquired by the GPS device 32, thereby causing the grass mower 10 to travel automatically.

[0046] The controller 36 may automatically drive the grass mower 10 based on a driving plan for the grass mower 10 acquired from an external source and the remaining charge of a battery (not shown), etc.

[0047] (Functional configuration of the grass cutter 10) The grass mower 10 uses the above hardware resources to realize various functions. The functional configuration realized by the grass mower 10 will be described with reference to FIG.

[0048] 4, the grass mower 10 is configured to include, as functional components, a depression identification unit 50, a travel route setting unit 52, and an uncut area identification unit 54. Each functional component is realized by the CPU 38 reading and executing the program 44A stored in the ROM 40 or the storage 44.

[0049] The depression identifying unit 50 identifies depressions in the ground surface where the main body unit 12 cannot travel, based on the three-dimensional point cloud data 44C of the area to be mowed stored in the storage 44.

[0050] The three-dimensional point cloud data 44C is composed of three-dimensional data of multiple positioning points within the target area for mowing, and is obtained, for example, in the process of creating the orthoimage data 44B by aerial photogrammetry. Specifically, a control point that serves as a reference for horizontal position and height is set at a position that can be clearly confirmed on an aerial photograph taken of the target area for mowing. Then, the target area is photographed by a camera mounted on a drone or the like. After that, various data such as the image data of the aerial photograph taken by the drone, the exterior control elements of the image data, and the survey data of the control points (control point result table data) are imported into a known digital stereo plotter and image analysis is performed to measure the elevation value of each point on the image data. As a result, three-dimensional point cloud data 44C of multiple positioning points within the target area for mowing is obtained.

[0051] The orthoimage data 44B is created by creating a digital elevation model of the target area based on the three-dimensional point cloud data 44C, and using the digital elevation model to perform orthogonal transformation to correct the position of the subject from the image data of the aerial photograph taken by the drone. The digital elevation model is model data that represents the elevation in an equally spaced grid by forming a triangular TIN (Triangulated Irregular Network) by connecting three adjacent data points among the multiple data points included in the three-dimensional point cloud data 44C and applying interpolation to the shape of the earth's surface. Therefore, the orthoimage data 44B obtained using the digital elevation model is displayed in the correct size and position without tilting as if the subject was viewed from directly above, and is therefore geospatial information that can be used by overlaying it with map data, etc.

[0052] 5, the depression identification unit 50 forms a virtual route R1 by connecting a plurality of data points (D1, D2) included in the three-dimensional point cloud data 44C, and calculates the inclination θ of the virtual route R1 with respect to a reference horizontal position H. Then, based on the calculated inclination θ and the path length L of the virtual route R1, a depression in the ground surface over which the main body unit 12 of the mower 10 cannot travel is identified. In this embodiment, when the inclination of the virtual route R1 is greater than a first threshold value and the path length L of the virtual route R1 is longer than a second threshold value, the virtual route R1 is identified as a route on which a depression in the ground surface over which the main body unit 12 cannot travel exists.

[0053] The travel route setting unit 52 sets a travel route for the main body 12 of the mower 10, avoiding the subsidences in the ground identified by the subsidence identification unit 50. Specifically, the travel route setting unit 52 sets a travel route by connecting data points of the three-dimensional point cloud data 44C of the target area. At this time, among the multiple virtual routes R1 formed by the subsidence identification unit 50, virtual routes R1 that pass through subsidences in the ground that the main body 12 cannot travel through are excluded from the candidates for the travel route. This makes it possible to set a travel route that avoids subsidences in the ground that the main body 12 cannot travel through.

[0054] 6 shows an example of a travel route R2 set on orthoimage data 44B showing a plan view of cultivated land, which is a target area for mowing. Here, the area indicated by reference symbol P1 is cultivated land such as a rice field or a field. The areas indicated by reference symbols P2 to P5 are ridges formed to surround the cultivated land. As shown in this figure, a travel route R2 that travels in a straight line along the ridge P2 is set so as to connect multiple data points included in the three-dimensional point cloud data 44C within the area.

[0055] The left-cut area identifying unit 54 identifies left-cut areas within the target mowing area that will not be mowed by the mower 10. Specifically, it identifies areas that cannot be mowed for topographical reasons, i.e., areas where the main body unit 12 cannot travel, from the route information of the set travel route R2 and the orthoimage data 44B of the target area. Then, it stores the identified areas as "left-cut areas" in association with the orthoimage data 44B. By sharing the stored data with an external terminal via wired or wireless communication, it is possible to visually and simply share left-cut areas that require manual mowing with the outside.

[0056] Furthermore, the uncut area identifying unit 54 acquires the travel history of the main unit 12 at the user's request or at a predetermined time cycle, and updates the uncut area based on information about the route actually traveled by the main unit 12. This makes it possible to find uncut grass even if the set travel route R2 is changed for some reason and some areas are not mowed.

[0057] (action) Next, the operation of this embodiment will be described.

[0058] (Route setting process) 7 is a flowchart showing an example of the flow of a route setting process by the grass mower 10. This route setting process is executed by the CPU 38 reading out the program 44A from the ROM 40 or the storage 44 and expanding it in the RAM 42.

[0059] As shown in FIG. 7, the CPU 38 acquires the three-dimensional point cloud data 44C stored in the storage 44 in step S100.

[0060] In step S101, the CPU 38 sets a virtual route R1. Specifically, as shown in Fig. 5, the CPU 38 forms the virtual route R1 by connecting a plurality of data points included in the three-dimensional point cloud data 44C, and calculates the inclination θ and the route length L of the virtual route R1.

[0061] In step S102, the CPU 38 determines whether the inclination θ of the virtual route R1 is greater than a first threshold. If the inclination θ calculated in step S101 is greater than the first threshold, the process proceeds to step S103. On the other hand, if the CPU 38 determines that the inclination θ is equal to or less than the first threshold, the process proceeds to step S105 and sets the travel route. That is, if the inclination θ is equal to or less than the first threshold, the main body 12 is determined to be able to travel through the virtual route R1, and the travel route R2 (see FIG. 6) can be set without excluding the virtual route R1.

[0062] In step S103, the CPU 38 determines whether the path length L of the virtual path R1 is longer than the second threshold. If the path length L calculated in step S101 is longer than the second threshold, the process proceeds to step S104 to identify a subsidence on the ground surface. That is, the identified virtual path R1 is identified as a path along which the main body unit 12 cannot travel. On the other hand, if the CPU 38 determines that the path length L is equal to or less than the second threshold, the process proceeds to step S105 to set a travel path. That is, if the path length L is equal to or less than the second threshold, even if the subsidence is deep, it is determined that the subsidence is small enough to be overcome by the main body unit 12, and the travel path R2 can be set without excluding the virtual path R1.

[0063] The CPU 38 proceeds to step S105, sets a travel route R2 for the main body 12, and ends the route setting process. Specifically, the travel route R2 is set by connecting a plurality of data points included in the three-dimensional point cloud data 44C acquired in step S100. Here, the CPU 38 sets the travel route R2 by excluding the virtual route R1 that passes through the depression in the ground identified in step S104. This makes it possible to set a route that avoids the depression in the ground that the main body 12 cannot travel through.

[0064] (Processing to identify areas left uncut) Next, an example of the flow of the uncut area identification process by the mower 10 will be described with reference to the flowchart in Fig. 8. This uncut area identification process is executed by the CPU 38 reading out the program 44A from the ROM 40 or storage 44 and expanding it in the RAM 42.

[0065] As shown in FIG. 8, the CPU 38 acquires route information regarding the travel route R2 set based on the function of the travel route setting unit 52 in step S200.

[0066] In step S201, the CPU 38 acquires orthoimage data 44B of the grass cutting target area corresponding to the acquired route information.

[0067] In step S202, the CPU 38 identifies the uncut area based on the acquired route information and the orthoimage data 44B. Specifically, areas where mowing is not possible for some topographical reason, such as a place where there is a large depression on the ground surface or a place where the road width of the ridge is narrow, that is, areas where the main body unit 12 cannot travel, are identified as "uncut areas." The CPU 38 then identifies and stores the "uncut areas" in association with the orthoimage data 44B.

[0068] In step S203, the CPU 38 acquires the travel history of the main body 12, proceeds to step S204, updates the stored information on the uncut area, and ends the process.

[0069] As described above, the mower 10 of this embodiment identifies depressions on the ground surface that the main body unit 12 cannot travel through based on the three-dimensional point cloud data 44C within the target area for mowing. Then, a travel route for the main body unit 12 is set while avoiding the identified depressions. This makes it easy to set a travel route that takes into account depressions on the ground surface, for example, by obtaining the three-dimensional point cloud data 44C from an aerial image of the target area.

[0070] 5, the mower 10 calculates the gradient θ and the path length L of a virtual path R1 formed by connecting multiple data points of the three-dimensional point cloud data 44C. If the magnitude of the gradient θ is greater than a first threshold value and the path length L is longer than a second threshold value, the position of the virtual path R1 is identified as a depression in the ground surface through which the main body 12 cannot travel.

[0071] In this way, by calculating the inclination of the virtual route R1 obtained from the three-dimensional point cloud data 44C, it is possible to identify a depression through which the vehicle cannot travel, taking into consideration the traveling direction of the main body unit 12. In addition, since the second threshold value allows a travel route to be set in consideration of the route length that passes through the depressed portion, for a small depression that does not affect the traveling of the main body unit 12, a travel route that overcomes the depression can be set.

[0072] Incidentally, the depression that can be overcome while traveling also differs depending on the size of the body of the main body 12. For example, if the path length L passing through the depression is greater than half the length of the body of the main body 12, it may be difficult to overcome the depression while traveling.

[0073] Therefore, in the grass mower 10 according to this embodiment, the second threshold value is set to half the vehicle length of the main body 12. This allows the grass mower 10 to determine whether or not a depression has occurred that would prevent the main body 12 from traveling, taking into account the vehicle size of the main body 12.

[0074] In the mower 10, the uncut areas of the mower 10 are identified in association with the orthoimage data 44B based on the set travel route R2. This makes it easy to share information about uncut areas that require manual mowing with an external terminal.

[0075] Furthermore, information regarding uncut areas is updated based on the travel history of the mower 10 (main body 12). This makes it possible to find uncut areas even if the set travel route R2 is changed for some reason and some areas are not mowed.

[0076] In addition, the processes executed by the CPU after reading the software (program) in each of the above embodiments may be executed by various processors other than the CPU. Examples of the processor in this case include a PLD (Programmable Logic Device) such as an FPGA (Field-Programmable Gate Array) whose circuit configuration can be changed after manufacture, and a dedicated electric circuit such as an ASIC (Application Specific Integrated Circuit) which is a processor having a circuit configuration designed exclusively for executing a specific process. Each process may be executed by one of these various processors, or may be executed by a combination of two or more processors of the same or different types (for example, a plurality of FPGAs, a combination of a CPU and an FPGA, etc.). The hardware structure of these various processors is, more specifically, an electric circuit that combines circuit elements such as semiconductor elements. In addition, in each of the above embodiments, various programs and data are stored in the storage 44, but this is not limiting. These programs and data may be provided in a form recorded on a non-transitory recording medium such as a CD-ROM (Compact Disk Read Only Memory), a DVD-ROM (Digital Versatile Disk Read Only Memory), or a USB (Universal Serial Bus) memory. Furthermore, these programs and data may be downloaded from an external device via a network. [Explanation of symbols]

[0077] 10. Grass trimmer 12 Main body (grass trimmer main body) 24 cutting blade 36 Controller 44B Ortho image data 44C 3D point cloud data D data points (D1,D2) R1 Virtual Route θ Tilt L Path length R2 Travel route

Claims

1. A grass cutter main body having a cutting blade for cutting grass; a controller that identifies a depression on the ground surface on which the grass cutter main body cannot travel, based on three-dimensional point cloud data composed of three-dimensional data of a plurality of positioning points within a target area, and sets a travel route for the grass cutter main body while avoiding the identified depression; having The controller calculates the slope of a virtual route formed by connecting multiple data points of the three-dimensional point cloud data, and when the magnitude of the slope of the virtual route is greater than a first threshold and the route length of the virtual route is longer than a second threshold, identifies it as a depression in the ground surface over which the lawnmower main body cannot travel.

2. A lawnmower as described in claim 1, wherein the second threshold value is half the body length of the lawnmower main body.

3. The three-dimensional point cloud data is three-dimensional point cloud data of an orthoimage of the target area, The mower according to claim 1 or 2, wherein the controller identifies areas within the target area in which the mower main body does not travel as uncut areas by associating the areas with orthoimage data based on a set travel route.

4. A lawnmower as described in claim 3, wherein the controller updates the uncut area based on the driving history of the lawnmower main body.

Images