Robot mower and control method therefor

Abstract

A control method for a robot mower, comprising the steps of: controlling a robot mower to leave a charging base to work in a first lawn; when a preset condition is met, controlling the robot mower to move to an exit of the first lawn; controlling the robot mower to move from the exit of the first lawn to an entrance of a second lawn; and when the robot mower moves to the entrance of the second lawn, controlling the robot mower to enter the second lawn from the entrance of the second lawn, so as to work in the second lawn. By using the control method for the robot mower, the robot mower can be controlled to more automatically move back and forth between two relatively distant lawns for mowing, without carrying the robot mower by a user, improving the user experience. Further involved is a robot mower.

Description

Lawn mowing robot and control method thereof Technical Field

[0001] The present invention relates to a lawn mowing robot, and in particular to a control method of the lawn mowing robot. Background Art

[0002] A lawn mower robot generally mows the lawn in a single area or two adjacent areas. When it is necessary to mow at least two lawns that are far apart, for example, the lawn includes the lawn in front of the house and the lawn behind the house, since the area between the two areas is not within the mowing work area and the road conditions between the two areas may be complicated, the user needs to move the lawn mower robot to the new area before continuing to mow the lawn. This is inconvenient to operate and has a low degree of automation, which reduces the user experience. Summary of the Invention

[0003] In order to solve the above-mentioned problem in the prior art that a lawn mower robot cannot mow across areas, an object of the present invention is to provide a lawn mower robot that can mow across two areas that are far apart and a control method thereof.

[0004] To achieve the above-mentioned object of the invention, an embodiment of the present invention provides a control method for a lawn mower robot, for controlling the lawn mower robot to move from a first lawn to a second lawn, the control method comprising the following steps:

[0005] controlling the lawn mowing robot to leave the charging base so as to work in the first lawn;

[0006] When a preset condition is met, controlling the lawn mowing robot to move to an exit of the first lawn;

[0007] controlling the mowing robot to move from an exit of the first lawn to an entrance of the second lawn, wherein the first lawn and the second lawn are not adjacent to each other, and an area through which the mowing robot passes when moving from the exit of the first lawn to the entrance of the second lawn is a non-lawn area;

[0008] When the mowing robot moves to the entrance of the second lawn, the mowing robot is controlled to enter the second lawn from the entrance of the second lawn to work in the second lawn.

[0009] As a further improvement of the present invention, controlling the mowing robot to move from the exit of the first lawn to the entrance of the second lawn includes:

[0010] Acquire a preset path between the exit of the first lawn and the entrance of the second lawn, wherein the preset path includes a plurality of coordinate points arranged in sequence;

[0011] The lawn mowing robot is controlled to pass through the plurality of coordinate points until it reaches the entrance of the second lawn.

[0012] As a further improvement of the present invention,

[0013] During the process of moving between the plurality of coordinate points, the visual data collected by the lawn mowing robot is continuously acquired, and a path to the next coordinate point is planned according to the visual data.

[0014] As a further improvement of the present invention, controlling the mowing robot to move to the exit of the first lawn includes:

[0015] Obtaining the current coordinates and orientation of the lawn mowing robot;

[0016] Obtaining the coordinates of the exit of the first lawn;

[0017] The orientation of the mowing robot is adjusted according to the current coordinates, the orientation posture, and the coordinates of the exit of the first lawn, and the mowing robot is controlled to move to the exit of the first lawn.

[0018] As a further improvement of the present invention, the following steps are also included:

[0019] When the distance between the current coordinates of the mowing robot and the exit coordinates of the first lawn reaches a first preset interval, acquiring binocular vision data of the mowing robot;

[0020] According to the binocular vision data, the lawn mowing robot is controlled to move to an exit of the first lawn.

[0021] As a further improvement of the present invention, the step of controlling the mowing robot to sequentially pass through the plurality of coordinate points until reaching the entrance of the second lawn includes:

[0022] Step S42: determining a current target point among the plurality of coordinate points;

[0023] Step S43: obtaining the current coordinates and current orientation of the lawn mowing robot;

[0024] Step S44: Calculating a rotation angle according to the current coordinates, the current orientation, and the current target point;

[0025] Step S45: controlling the lawn mowing robot to rotate at the rotation angle;

[0026] Step S46: controlling the lawn mowing robot to move;

[0027] Step S47: Repeat the above steps S43 to S46 until the current coordinates are the current target point;

[0028] Step S48: updating the current target point in the above step S42, and re-executing the above steps S42 to S47 until the current coordinates are located at the entrance of the second lawn.

[0029] As a further improvement of the present invention, when executing step S46, the following steps are further included:

[0030] continuously acquiring visual data collected by the lawn mowing robot during the movement of the lawn mowing robot;

[0031] Identifying the visual data and determining whether there is an obstacle within the moving range, wherein the obstacle includes an area with a drop greater than a drop threshold in the moving direction of the mowing robot, or an obstacle;

[0032] If there is an obstacle, controlling the mowing robot to move along a detour path, wherein the detour path is to first move in the reverse direction, rotate the detour angle, and then move forward;

[0033] If there is no obstacle, the lawn mowing robot is controlled to move straight.

[0034] As a further improvement of the present invention, the following steps are also included:

[0035] After the lawn mowing robot moves along the detour path, updating the current coordinates of the lawn mowing robot;

[0036] Calculating the distance between the current coordinate and the current target point and a plurality of other coordinate points following the coordinate point corresponding to the current target point;

[0037] If the distance between the current coordinate and the current target point is the smallest, the current target point is maintained; if the distance between the current coordinate and another coordinate point after the coordinate point corresponding to the current target point is the smallest, the coordinate point with the smallest distance is updated as the new current target point.

[0038] As a further improvement of the present invention, the method further includes the following steps: if the current target point is within the range of the obstacle, updating the next coordinate point after the coordinate point corresponding to the current target point as the new current target point.

[0039] To achieve one of the above-mentioned objects of the invention, an embodiment of the present invention provides a lawn mowing robot, comprising: a storage module storing a computer program;

[0040] The processing module can implement the steps of the above-mentioned control method of the lawn mowing robot when executing the computer program.

[0041] Compared with the prior art, the present invention has the following beneficial effects: through the control method of the lawn mower robot, the lawn mower robot can be controlled to move back and forth between two relatively distant lawns more automatically to mow the lawn, without the need for the user to carry the lawn mower robot, thereby improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] 1 is a schematic diagram of a lawn mowing robot moving between a first lawn and a second lawn according to an embodiment of the present invention;

[0043] FIG2 is a schematic diagram of a preset path and an actual path of a lawn mowing robot during movement according to an embodiment of the present invention;

[0044] 3 is a flow chart of a control method of a lawn mowing robot according to an embodiment of the present invention;

[0045] FIG4 is a flow chart of an embodiment of step S40 in FIG3 ;

[0046] FIG5 is a flow chart of an embodiment of step S46 in FIG4 ;

[0047] FIG6 is a schematic diagram of modules of a lawn mowing robot according to an embodiment of the present invention. DETAILED DESCRIPTION

[0048] The present invention will be described in detail below with reference to the specific embodiments shown in the accompanying drawings. However, these embodiments do not limit the present invention, and any structural, methodological, or functional changes made by those skilled in the art based on these embodiments are all within the scope of protection of the present invention.

[0049] An embodiment of the present invention provides a lawn mowing robot capable of mowing across two distant areas and a control method thereof.

[0050] In one embodiment, a lawn mower robot is provided that can mow lawns. The lawn mower robot may include a walking module, a mowing module, a positioning module, and a binocular vision module. The walking module drives the robot's movement, the mowing module cuts taller grass into shorter grass, the positioning module determines the robot's position, and the binocular vision module determines the robot's surroundings, including depth.

[0051] The positioning module of this embodiment can use relatively low-precision GPS navigation to locate the position, with a positioning accuracy of approximately 5 meters. This reduces equipment costs while also meeting user needs. However, due to the positioning module's insufficient accuracy, for example, there is a certain error compared to centimeter-level positioning accuracy, so the located position may not match the actual position. In this case, the binocular vision module can be used for auxiliary judgment. The specific working process of auxiliary judgment is described below.

[0052] In addition, on the one hand, the lawn mowing robot moves in tall grass, which is obstructed by the grass, and due to cost considerations, the selected binocular vision module has a limited visual range. For example, it can only judge the situation within a few meters. At that time, the lawn area was relatively large, for example, thousands of square meters, so it was impossible to directly see the entire area through the binocular vision module for path planning.

[0053] The lawn of this embodiment includes at least two lawns, namely a first lawn and a second lawn, as shown in Figure 1. The robotic lawnmower can move on both the first lawn and the second lawn, or between the first lawn and the second lawn. In this embodiment, the first lawn and the second lawn are not adjacent, and the area through which the robotic lawnmower passes when moving from the exit of the first lawn to the entrance of the second lawn is a non-lawn area.

[0054] In one embodiment, a control method for a lawn mower robot is provided. This method can be used to control the robot to move from a first lawn to a second lawn. However, due to the relatively low positioning accuracy of the positioning module of this embodiment's mobile lawn mower robot, it cannot follow a designated path like a high-precision robot. The movement process of the lawn mower robot driven by this control method is shown in Figure 2, where the robot moves from the exit of the first lawn to the entrance of the second lawn.

[0055] The following describes a control method for a lawn mowing robot provided by an embodiment of the present invention in conjunction with Figures 1 to 5. Although the present application provides method operation steps as shown in the following implementation manner or flowchart, based on conventional or no creative labor, the execution order of the steps in the method that do not logically have necessary causal relationships is not limited to the execution order provided in the implementation manner of the present application.

[0056] Specifically, the control method of the lawn mowing robot includes the following steps:

[0057] Step S10: controlling the lawn mowing robot to leave the charging base so as to work in the first lawn.

[0058] Step S20: Determine whether the preset conditions are met.

[0059] In this step, the preset condition may be that the mowing robot has been working on the first lawn for a preset time, or that the mowing coverage rate of the mowing robot on the first lawn has reached a predetermined ratio, that is, the mowing workload of the mowing robot on the first lawn has reached a certain requirement, and it is determined that the mowing robot can go to the second lawn.

[0060] Step S30: When a preset condition is met, control the lawn mowing robot to move to an exit of the first lawn.

[0061] Among them, the exit of the first lawn can be an arbitrarily selected location or a designated exit. In addition, when returning to the first lawn from other lawns, you can enter from any location of the first lawn or from the exit of the first lawn. The exit also becomes the entrance. The same applies to the entrance to the second lawn below. The exit and entrance are not limited to being used only for leaving or entering.

[0062] Step S30 may include the following steps S31 to S33:

[0063] Step S31: obtaining the current coordinates and orientation of the lawn mowing robot.

[0064] Step S32: Acquire the coordinates of the exit of the first lawn.

[0065] Step S33: adjusting the orientation of the mowing robot according to the current coordinates, the orientation posture, and the coordinates of the exit of the first lawn, and controlling the mowing robot to move to the exit of the first lawn.

[0066] Based on the current coordinates and the coordinates of the exit of the first lawn, the target vector and distance between the mowing robot and the target position can be determined. Based on the orientation posture, the orientation vector of the mowing robot can be determined. By calculating the angle between the target vector and the orientation vector, the angle required to rotate can be calculated. Based on the angle, the orientation of the mowing robot can be adjusted so that the mowing robot moves toward the exit of the first lawn.

[0067] Furthermore, step S30 may further include steps S34 to S35:

[0068] Step S34: when the distance between the current coordinates of the mowing robot and the exit coordinates of the first lawn reaches a first preset interval, obtaining binocular vision data of the mowing robot.

[0069] Step S35: controlling the mowing robot to move to an exit of the first lawn according to the binocular vision data.

[0070] Since the positioning accuracy of the positioning module of the lawn mower robot in this embodiment is relatively low, when the lawn mower robot is judged to have reached the exit of the first lawn, the lawn mower robot may not have actually reached that position. Therefore, when the distance between the current coordinates and the exit coordinates of the first lawn reaches within a first preset interval, it is converted to visual navigation, and navigation is performed using the binocular vision data provided by the binocular vision module.

[0071] The specific value of the first preset interval can be set by the user or determined according to the positioning accuracy of the positioning module. For example, if the positioning accuracy is 5 meters, the first preset interval can be around 5 meters. In this way, when the current coordinates of the lawn mower robot are within about 5 meters of the exit of the first lawn, it is located near the exit of the first lawn. At this time, through binocular vision data, precise movement to the exit of the first lawn can be achieved based on visual navigation.

[0072] In addition, in step S30, if the mowing robot is located at the exit of the first lawn, the above steps S31 to S35 are not performed and the following steps are directly performed.

[0073] Step S40: controlling the mowing robot to move from the exit of the first lawn to the entrance of the second lawn.

[0074] The specific execution steps of step S40 can be referred to as shown in FIG4 , which include the following steps S41 to S48:

[0075] Step S41: obtaining a preset path between the exit of the first lawn and the entrance of the second lawn, wherein the preset path includes a plurality of coordinate points arranged in sequence.

[0076] The method for generating a preset path may include the following two implementations.

[0077] Embodiment 1: receiving a driving signal, wherein the driving signal is used to drive the mowing robot to move from an exit of the first lawn to an entrance of the second lawn;

[0078] The movement trajectory of the self-moving device is recorded to generate the preset path.

[0079] In this real-time mode, the user first guides the mowing robot to move from the exit of the first lawn to the entrance of the second lawn, and then stores the movement trajectory, which becomes the preset path for subsequent unmanned movement.

[0080] Implementation method 2: receiving movement path data, wherein the movement path data is a path drawn on a map;

[0081] The preset path is generated according to the moving path and the scale of the map.

[0082] In this real-time method, the user draws a moving path on a map on a client, such as a computer or an app, and then generates a preset path based on the path.

[0083] The obtained preset path is shown as the circles in Figure 2. The dotted line formed by these circles becomes the preset path. Ideally, the lawn mower robot can move along the dotted line. However, in the subsequent movement process, on the one hand, the positioning accuracy of the lawn mower robot is not high enough, and the positioning position may not match the actual position. On the other hand, there may be various emergencies such as pedestrians, animals, obstacles, depressions, etc. on the preset path. Therefore, the preset path is only used as a reference for movement.

[0084] After executing step S41, the mowing robot may be controlled to pass through the plurality of coordinate points until reaching the entrance of the second lawn. Specifically, the process may include the following steps.

[0085] Step S42: Determine the current target point among the multiple coordinate points.

[0086] Step S43: obtaining the current coordinates and current orientation of the lawn mowing robot.

[0087] Step S44: Calculate the rotation angle according to the current coordinates, the current orientation and the current target point.

[0088] The calculation method of the rotation angle is the same as the calculation of the angle between the target vector and the heading vector above.

[0089] Step S45: controlling the lawn mowing robot to rotate at the rotation angle.

[0090] Step S46: controlling the lawn mowing robot to move.

[0091] In step S46, the robot continuously acquires visual data while moving between multiple coordinate points, and plans a path to the next coordinate point based on the visual data. The visual data is acquired through a binocular vision module.

[0092] Specifically, step S46 may be as shown in FIG5 , including the following steps S461 to S464.

[0093] Step S461: continuously acquiring visual data collected by the lawn mowing robot during the movement of the lawn mowing robot.

[0094] Step S462: Identify the visual data and determine whether there are obstacles within the range of motion. Obstacles include areas with a drop greater than a drop threshold in the direction of motion of the robotic lawn mower, or obstacles. Obstacles can include various emergencies, such as the pedestrians, animals, obstructions, and depressions described above. Areas with a drop greater than a drop threshold are considered depressions, and obstacles include pedestrians, animals, roadblocks, and tree branches.

[0095] Step S463: If there is no obstacle, control the lawn mowing robot to move straight.

[0096] Step S464: If there is an obstacle, control the mowing robot to move along a detour path, wherein the detour path is to first move in the reverse direction, rotate the detour angle, and then move in the forward direction.

[0097] The detour path of this embodiment is different from the circular motion required to encounter an obstacle. Instead, as shown in Figure 2, the robot first moves in the opposite direction for a certain distance, then turns a certain angle (e.g., a system-preset detour angle), and then moves forward. Because the positioning and visual navigation accuracy of the lawn mower robot in this embodiment are not high enough, turning in a circular manner is inefficient when accuracy is low. The turning method of this embodiment is more efficient. In addition, after moving forward for a certain distance, the robot can continue to move to the current target point.

[0098] After the mowing robot completes step S464 of moving along the detour path, the following steps S4641 to S4644 may be further included:

[0099] Step S4641: Acquire the current coordinates of the lawn mowing robot.

[0100] Step S4642: Calculate the distance between the current coordinate and the current target point, as well as several other coordinate points following the coordinate point corresponding to the current target point.

[0101] Step S4643: If the distance between the current coordinates and the current target point is the smallest, maintain the current target point.

[0102] Step S4644: If the distance between the current coordinate and a certain coordinate point after the coordinate point corresponding to the current target point is the smallest, the coordinate point with the smallest distance is updated as the new current target point.

[0103] In steps S4641-S4644, it's possible that after the robot mower has moved along the detour path, it's already closer to a subsequent target point. Therefore, it doesn't need to return to the current target point, but instead moves directly to the subsequent target point. Because the target points on the preset path are arranged sequentially, the robot mower can be controlled to move to a target point after the current target point, rather than returning to a target point before the current target point.

[0104] In addition, step S46 may further include step S465: if the current target point is within the range of the obstacle, updating the next coordinate point after the coordinate point corresponding to the current target point as the new current target point.

[0105] Step S47: Repeat the above steps S43 to S46 until the current coordinates are the current target point.

[0106] Step S48: updating the current target point in the above step S42, and re-executing the above steps S42 to S47 until the current coordinates are located at the entrance of the second lawn.

[0107] Here, among a series of target points arranged in sequence on the preset path, the next target point of the current target point is determined as a new current target point.

[0108] Step S50: determining whether the mowing robot has moved to the entrance of the second lawn.

[0109] If the current coordinates of the mowing robot are consistent with the coordinates of the entrance to the second lawn, or if the two are within a certain range, it can be determined that the mowing robot has moved to the entrance of the second lawn.

[0110] In step S50, when the distance between the current target point of the mowing robot and the coordinates of the entrance to the second lawn reaches a second preset interval, the mowing robot's binocular vision data can be acquired again. Based on the binocular vision data, the mowing robot is controlled to move to the entrance of the second lawn. This is consistent with the principle of controlling the mowing robot to move from the inside of the first lawn to the exit of the first lawn.

[0111] Step S60: controlling the lawn mowing robot to enter the second lawn from the entrance of the second lawn to work in the second lawn.

[0112] Compared with the prior art, this embodiment has the following beneficial effects:

[0113] (1) Through the control method of the lawn mower robot, the lawn mower robot can be controlled to move back and forth between two relatively distant lawns more automatically to mow the lawns, without the need for the user to carry the lawn mower robot, thereby improving the user experience.

[0114] (2) In the control method of this embodiment, since the positioning accuracy of the lawn mower robot is not high, the lawn mower robot is not controlled to move directly along the preset path at one time. Instead, the preset path is divided into a series of target points, and then the lawn mower robot moves one by one between each target point, thereby minimizing the displacement error of the lawn mower robot and making its motion trajectory move roughly along the preset path.

[0115] (3) In the process of moving between each target point one by one, it is assisted by visual recognition judgment. The binocular vision module only needs to meet the requirements of whether there are obstacles, depressions, etc. in front of the lawn mower robot, and whether it can move to the exit of the first lawn. The accuracy requirements of the binocular vision module are not high, and the visual range requirements are also small, so a lower-priced binocular vision module can be selected. The cost of the lawn mower robot is further reduced on the basis of meeting this control method, which increases the competitiveness of the product.

[0116] In addition, the module schematic diagram of the lawn mowing robot is shown in Figure 6. In addition to the above-mentioned walking module, mowing module, positioning module and binocular vision module, it also includes a storage module and a processing module. When the processing module executes the computer program, it can implement the steps in the above-mentioned control method of the lawn mowing robot, that is, implement the steps in any one of the technical solutions in the above-mentioned control method of the lawn mowing robot.

[0117] The processing module can be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), off-the-shelf programmable gate arrays (FPGAs), other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor. The processing module is the control center of the lawn mower robot, connecting all its components via various interfaces and circuits.

[0118] The storage module can be used to store the computer programs and / or modules. The processing module implements the various functions of the lawn mower robot by running or executing the computer programs and / or modules stored in the storage module and accessing the data stored in the storage module. The storage module may primarily include a program storage area and a data storage area, wherein the program storage area may store an operating system, at least one application required for a function, and the like. Furthermore, the storage module may include high-speed random access memory and non-volatile memory, such as a hard disk, internal memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card, a flash memory card, at least one disk storage device, a flash memory device, or other volatile solid-state storage device.

[0119] For example, the computer program can be divided into one or more modules / units, which are stored in a storage module and executed by a processing module to implement the present invention. The one or more modules / units can be a series of computer program instruction segments capable of performing specific functions, and the instruction segments are used to describe the execution process of the computer program in the lawn mowing robot.

[0120] It should be noted that for details not disclosed in the lawn mowing robot in the embodiment of the present invention, please refer to the details disclosed in the control method in the embodiment of the present invention.

[0121] It should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each implementation method can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0122] The series of detailed descriptions listed above are only specific descriptions of feasible implementation methods of the present invention. They are not intended to limit the scope of protection of the present invention. Any equivalent implementation methods or changes that do not deviate from the technical spirit of the present invention should be included in the scope of protection of the present invention.

Claims

1. A control method for a lawn mowing robot, used to control the lawn mowing robot to move from a first lawn to a second lawn, characterized in that: The control method comprises the following steps: Controlling the lawn mowing robot to leave the charging base so as to work in the first lawn; When a preset condition is met, controlling the lawn mowing robot to move to an exit of the first lawn; Controlling the mowing robot to move from an exit of the first lawn to an entrance of the second lawn, wherein the first lawn is not adjacent to the second lawn, and an area through which the mowing robot moves from the exit of the first lawn to the entrance of the second lawn is a non-lawn area; When the lawn mowing robot moves to the entrance of the second lawn, the lawn mowing robot is controlled to enter the second lawn from the entrance of the second lawn to work in the second lawn.

2. The control method of the lawn mowing robot according to claim 1, characterized in that: The controlling the lawn mowing robot to move from the exit of the first lawn to the entrance of the second lawn comprises: Acquire a preset path between the exit of the first lawn and the entrance of the second lawn, wherein the preset path includes a plurality of coordinate points arranged in sequence; The lawn mowing robot is controlled to pass through the plurality of coordinate points until it reaches the entrance of the second lawn.

3. The control method of the lawn mowing robot according to claim 2, characterized in that: In the process of moving between the plurality of coordinate points, the visual data collected by the lawn mowing robot is continuously acquired, and a path to the next coordinate point is planned according to the visual data.

4. The control method of the lawn mowing robot according to any one of claims 1 to 3, characterized in that: The controlling the lawn mowing robot to move to the exit of the first lawn comprises: Obtaining the current coordinates and orientation of the lawn mowing robot; Obtaining the coordinates of the exit of the first lawn; The orientation of the lawn mowing robot is adjusted according to the current coordinates, the orientation posture and the coordinates of the exit of the first lawn, and the lawn mowing robot is controlled to move to the exit of the first lawn.

5. The control method of the lawn mowing robot according to claim 4, characterized in that: Also includes the steps: When the distance between the current coordinates of the mowing robot and the exit coordinates of the first lawn reaches a first preset interval, acquiring binocular vision data of the mowing robot; According to the binocular vision data, the lawn mowing robot is controlled to move to an exit of the first lawn.

6. The control method of the lawn mowing robot according to claim 2 or 3, characterized in that: The step of controlling the lawn mowing robot to sequentially pass through the plurality of coordinate points until reaching the entrance of the second lawn comprises: Step S42: determining a current target point among the plurality of coordinate points; Step S43: obtaining the current coordinates and current orientation of the lawn mowing robot; Step S44: calculating a rotation angle according to the current coordinates, the current orientation and the current target point; Step S45: controlling the lawn mowing robot to rotate at the rotation angle; Step S46: controlling the lawn mowing robot to move; Step S47: repeat the above steps S43 to S46 until the current coordinates are the current target point; Step S48: updating the current target point in the above step S42, and re-executing the above steps S42 to S47 until the current coordinates are located at the entrance of the second lawn.

7. The control method of the lawn mowing robot according to claim 6, characterized in that: When executing step S46, the following steps are also included: Continuously acquiring visual data collected by the lawn mowing robot during the movement of the lawn mowing robot; Identify the visual data and determine whether there is an obstacle within the moving range, wherein the obstacle includes an area with a drop greater than a drop threshold in the moving direction of the mowing robot, or an obstacle; If there is an obstacle, the lawn mowing robot is controlled to move along a detour path, wherein the detour path is to first move in the reverse direction, rotate the detour angle, and then move forward; If there is no obstacle, the lawn mowing robot is controlled to go straight.

8. The control method of the lawn mowing robot according to claim 7, characterized in that: Also includes the steps: After the lawn mowing robot moves along the detour path, updating the current coordinates of the lawn mowing robot; Calculating the distance between the current coordinate and the current target point and a number of other coordinate points after the coordinate point corresponding to the current target point; If the distance between the current coordinates and the current target point is the smallest, maintaining the current target point; If the distance between the current coordinate and a certain coordinate point after the coordinate point corresponding to the current target point is the smallest, the coordinate point with the smallest distance is updated as the new current target point.

9. The control method of the lawn mowing robot according to claim 7, characterized in that: The method further includes the following steps: if the current target point is within the range of the obstacle, updating the next coordinate point after the coordinate point corresponding to the current target point as the new current target point.

10. A lawn mowing robot, characterized in that: include: A storage module storing a computer program; The processing module can implement the steps of the control method of the lawn mowing robot as claimed in any one of claims 1 to 9 when executing the computer program.

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