Mowing control method and apparatus, mower, and storage medium

Abstract

The present application is applicable to the technical field of smart mowers, and particularly relates to a mowing control method and apparatus, a mower, and a storage medium. The control method is applied to a mower, and comprises: acquiring surrounding environment image information of the mower; if the surrounding environment image information comprises grassland boundary image information, determining a local boundary of a grassland on the basis of the grassland boundary image information; and during mapping, controlling the mower to travel along the local boundary of the grassland. Compared with the prior art, because an initial boundary of a grassland does not need to be acquired, the local boundary of the grassland is determined only from a surrounding environment image acquired by the mower, and the mower is controlled to travel along the local boundary of the grassland for mapping, so that the risk that the mower collides with an obstacle is avoided, the accuracy of recognizing the boundary of the grassland by the mower is improved, and the mowing accuracy of the mower along the boundary is also improved, thereby improving the mowing working efficiency of the mower.

Description

Mowing control method, device, lawn mower and storage medium

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on December 28, 2023, with application number 202311842037.4 and invention name “Mowing control method, device, lawn mower and storage medium”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the technical field of intelligent lawn mowers, and in particular to a lawn mowing control method, device, lawn mower, and storage medium. Background Art

[0003] Smart lawn mowers (hereinafter referred to as "lawn mowers") can autonomously complete the task of mowing the lawn with low power consumption, low noise, and a compact and beautiful appearance, effectively improving mowing efficiency and saving human resources.

[0004] In existing technologies, the initial boundary of the lawn is obtained by pre-embedded boundary lines or through electronic maps such as Baidu Maps and Google Maps. During the mapping process, the lawn mower is controlled to drive along this initial boundary. This method can easily cause the lawn mower to collide with obstacles or cross the actual boundary while driving along the edge. To avoid this, the lawn mower must maintain a large distance from the initial boundary while driving along the edge. However, this will result in inaccurate recognition of the measured boundary, reducing the accuracy of the lawn mower's mowing along the edge.

[0005] That is, the existing technology has the problem that the lawn mower recognizes the grass boundary inaccurately, which reduces the accuracy of the lawn mower in mowing along the edge and reduces the working efficiency. Technical issues

[0006] The embodiments of the present application provide a mowing control method, device, lawn mower and storage medium, which solve the problem that the lawn mower recognizes inaccurate grass boundaries, reduces the accuracy of the lawn mower mowing along the edge and reduces work efficiency. Technical Solutions

[0007] In a first aspect, an embodiment of the present application provides a mowing control method, which is applied to a lawn mower, and the method includes:

[0008] Acquiring image information of the surrounding environment of the lawn mower;

[0009] If the surrounding environment image information includes grassland boundary image information, determining a local grassland boundary according to the grassland boundary image information;

[0010] During the mapping process, the lawn mower is controlled to move along the local boundary of the grassland.

[0011] In one embodiment, the lawn mower includes a boundary recognition sensor;

[0012] The obtaining of image information of the surrounding environment of the lawn mower includes:

[0013] Obtaining a recognition result of the boundary recognition sensor;

[0014] determining surrounding environment image information according to the recognition result;

[0015] The boundary recognition sensor is arranged at any one of the left side, right side, front left side, or front right side of the lawn mower, and the boundary recognition sensor includes at least one of a multispectral sensor, a full-color camera, or a depth recognition sensor.

[0016] In one embodiment, controlling the lawn mower to travel along the local boundary of the lawn includes:

[0017] One side of the lawn mower is controlled to travel along a route that is kept within a preset distance range from a local boundary of the lawn.

[0018] In one embodiment, the preset distance includes a first preset distance and a second preset distance;

[0019] The step of controlling one side of the lawn mower to travel along a route that is within a preset distance from a local boundary of the lawn comprises:

[0020] If the difference between the height within the preset detection distance outside the local boundary of the lawn and the height of the local boundary of the lawn is less than or equal to a preset height threshold, controlling one side of the lawn mower to travel along a route that remains within the first preset distance range from the local boundary of the lawn;

[0021] If the difference between the height within the preset detection distance outside the local boundary of the lawn and the height of the local boundary of the lawn is greater than the preset height threshold, controlling one side of the lawn mower to travel along a route that remains within the second preset distance range from the local boundary of the lawn;

[0022] The absolute value of the first preset distance is smaller than the absolute value of the second preset distance.

[0023] In one embodiment, controlling the lawn mower to travel along the local boundary of the lawn includes:

[0024] Controlling the lawn mower to move along the local boundary of the lawn from a first position point, wherein the first position point is a position point on the local boundary of the lawn with the smallest distance from the lawn mower, or any position point on the local boundary of the lawn;

[0025] When the lawn mower reaches a second position point, the lawn mower stops being controlled to travel along the local boundary of the lawn; wherein the second position point is the first position point reached by the lawn mower again, or the second position point is the position point reached by the lawn mower after traveling a preset distance or a preset time from the first position point.

[0026] In one embodiment, the method further comprises:

[0027] During the mapping process, the overall boundary of the grassland is determined according to one or more local boundaries of the grassland determined during the driving of the lawn mower, wherein the overall boundary of the grassland is a collection of the local boundaries of the grassland.

[0028] In one embodiment, the method further includes: during the bow-shaped mowing process, controlling the lawn mower to perform bow-shaped mowing;

[0029] During the bow-shaped mowing process, controlling the lawn mower to perform the bow-shaped mowing operation includes:

[0030] The lawn mower is controlled to perform bow-shaped mowing along a preset mowing row starting from a third position point, wherein the third position point is a corner point in the total boundary of the lawn with the shortest distance from the lawn mower, or the third position point is a position point in the total boundary of the lawn with the shortest distance from the lawn mower, or the third position point is a random position point in the total boundary of the lawn and its internal area, or the third position point is the position point where the lawn mower is located.

[0031] In one embodiment, during the bow-shaped mowing process, controlling the lawn mower to perform the bow-shaped mowing operation further includes:

[0032] If the surrounding environment image information includes obstacle image information, determining the obstacle boundary according to the obstacle image information;

[0033] The overall boundary of the grassland is updated according to the determined obstacle boundary, wherein the updated overall boundary of the grassland includes the obstacle boundary and the overall boundary of the grassland before the update.

[0034] In one embodiment, during the bow-shaped mowing process, controlling the lawn mower to perform the bow-shaped mowing operation further includes:

[0035] During the process of the lawn mower performing bow-shaped mowing along the preset mowing row, if the lawn mower reaches the obstacle boundary for the first time, the control of the lawn mower to perform bow-shaped mowing along the preset mowing row is stopped, and the lawn mower is controlled to move along the obstacle boundary with a fourth position point as the starting point, wherein the fourth position point is the position point where the lawn mower reaches the obstacle boundary for the first time during the process of performing bow-shaped mowing along the preset mowing row.

[0036] In one embodiment, after controlling the lawn mower to move along the obstacle boundary starting from the fourth position point, the method further includes:

[0037] When the lawn mower reaches the fourth position point again, the lawn mower is stopped from being controlled to move along the obstacle boundary, and the lawn mower is controlled to perform bow-shaped mowing again along the preset mowing row starting from the fourth position point.

[0038] In one embodiment, after controlling the lawn mower to move along the obstacle boundary starting from the fourth position point, the method further includes:

[0039] When the lawn mower reaches the fifth position point, the lawn mower is stopped from being controlled to move along the obstacle boundary, and the lawn mower is controlled to resume mowing in a bow shape along the preset mowing row where the fourth position point is located, starting from the fifth position point, wherein the intersection of the obstacle boundary and the preset mowing row where the fourth position point is located includes the fourth position point and the fifth position point;

[0040] and / or,

[0041] When the lawn mower reaches the sixth position point, the control of the lawn mower to travel along the obstacle boundary is stopped, and the lawn mower is controlled to start from the sixth position point and re-perform bow-shaped mowing along the preset mowing row where the sixth position point is located in the opposite direction of travel to that when the lawn mower reaches the fourth position point, wherein the preset mowing row where the sixth position point is located is parallel to the preset mowing row where the fourth position point is located, and the distance between the preset mowing row where the sixth position point is located and the preset mowing row where the fourth position point is located is the preset working spacing, and the sixth position point is the intersection of the preset mowing row where the sixth position point is located and the obstacle boundary.

[0042] In one embodiment, during the bow-shaped mowing process, controlling the lawn mower to perform the bow-shaped mowing operation further includes:

[0043] If the lawn mower reaches the total boundary of the lawn, controlling the lawn mower to perform the bow-shaped mowing operation and turn around;

[0044] If the lawn mower fails to identify the area to be mowed within the preset interval distance of the lawn mower before, during, or after the lawn mower performs the U-turn, the lawn mower stops controlling the lawn mower to perform bow-shaped mowing along the preset mowing row.

[0045] In one embodiment, if a mowed area is identified within a preset distance from the lawn mower before, during, and after the lawn mower performs the U-turn, and after the lawn mower stops controlling the lawn mower to perform bow-shaped mowing along the preset mowing row, the method includes:

[0046] determining that the driving trajectory of the lawn mower during the mowing operation is a mowed trajectory;

[0047] Determining an area to be mowed based on the total boundary of the grassland and the mowed track;

[0048] According to the area to be mowed, the lawn mower is controlled to re-perform bow-shaped mowing along the preset mowing row with the seventh position point as the starting point, wherein the seventh position point is a corner point on the boundary of the area to be mowed with the smallest distance from the lawn mower, or the seventh position point is a position point on the boundary of the area to be mowed with the smallest distance from the lawn mower, or the seventh position point is a random position point on the boundary of the area to be mowed.

[0049] In one embodiment, after determining the area to be mowed based on the total boundary of the grassland and the mowed track, the method further includes:

[0050] If the area of ​​the to-be-mowed area is less than or equal to a preset area threshold, the lawn mower is controlled to stop mowing.

[0051] In one embodiment, the local boundary of the grassland has a corresponding confidence level;

[0052] If the surrounding environment image information includes grassland boundary image information, after determining the local boundary of the grassland according to the grassland boundary image information, the method further includes:

[0053] If the grassland local boundary corresponding to a history exists in the grassland overall boundary, obtaining a first confidence level corresponding to the currently determined grassland local boundary and obtaining a second confidence level corresponding to the historically determined grassland local boundary; wherein the historically determined grassland local boundary and the currently determined grassland local boundary have a positional correspondence relationship;

[0054] If the first confidence level is greater than the second confidence level, the historically corresponding local grassland boundary in the overall grassland boundary is replaced with the currently determined local grassland boundary.

[0055] In a second aspect, an embodiment of the present application provides a mowing control device, which is applied to a lawn mower, comprising:

[0056] An acquisition module, configured to acquire image information of the surrounding environment of the lawn mower;

[0057] a first determining module, configured to determine a local boundary of a grassland according to the grassland boundary image information if the surrounding environment image information includes grassland boundary image information;

[0058] The second determining module is used to control the lawn mower to move along the local boundary of the grassland during the mapping process.

[0059] In a third aspect, an embodiment of the present application provides a lawn mower, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method as described in any one of the first aspects when executing the computer program.

[0060] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method as described in any one of the first aspects is implemented.

[0061] In a fifth aspect, an embodiment of the present application provides a computer program product, which, when executed on a lawn mower, enables the lawn mower to execute any one of the methods described in the first aspect. Beneficial effects

[0062] Compared with the prior art, the embodiments of the present application have the following beneficial effects:

[0063] A lawn mowing control method provided in an embodiment of the present application is applied to a lawn mower, by acquiring image information of the lawn mower's surrounding environment; if the surrounding image information includes grassland boundary image information, determining the local grassland boundary based on the grassland boundary image information; during the mapping process, controlling the lawn mower to travel along the local grassland boundary. Compared with the existing technology, since there is no need to acquire the initial grassland boundary, the local grassland boundary is determined only from the surrounding environment image acquired by the lawn mower itself, and the lawn mower is controlled to travel along the local grassland boundary to perform mapping. This not only avoids the risk of the lawn mower colliding with obstacles, but also improves the accuracy of the lawn mower in identifying grassland boundaries, and at the same time improves the accuracy of the lawn mower in mowing along the edge, thereby improving the lawn mowing efficiency of the lawn mower. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0065] FIG1 is a flow chart of a mowing control method provided by an embodiment of the present application;

[0066] FIG2 is a schematic diagram of a process for controlling one side of a lawn mower to travel along a route within a preset distance from a local boundary of a lawn, according to an embodiment of the present application;

[0067] FIG3 is a schematic diagram of a flow chart of controlling a lawn mower to move along a local boundary of a lawn according to an embodiment of the present application;

[0068] FIG4 is a schematic diagram of a driving trajectory of a lawn mower provided in one embodiment of the present application;

[0069] FIG5 is a schematic diagram of a driving trajectory of another lawn mower provided in an embodiment of the present application;

[0070] FIG6 is a schematic diagram of a flow chart of controlling a lawn mower to perform bow-shaped mowing during bow-shaped mowing according to an embodiment of the present application;

[0071] FIG7 is a schematic diagram of a process of controlling a lawn mower to move along an obstacle boundary starting from a fourth position point according to an embodiment of the present application;

[0072] FIG8 is a schematic diagram of a flow chart of controlling a lawn mower to perform bow-shaped mowing during a bow-shaped mowing process according to another embodiment of the present application;

[0073] FIG9 is a schematic diagram of a process for determining a local boundary of a grassland based on the grassland boundary image information if the surrounding environment image information includes grassland boundary image information, according to an embodiment of the present application;

[0074] FIG10 is a structural block diagram of a lawn mowing control device provided in one embodiment of the present application. Modes for Carrying Out the Invention

[0075] In the following description, specific details such as specific system structures and techniques are provided for purposes of illustration rather than limitation to facilitate a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid obscuring the description of the present application with unnecessary detail.

[0076] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or collections thereof.

[0077] It will also be understood that the term "and / or" used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0078] As used in this specification and the appended claims, the term "if" can be interpreted as "when" or "upon" or "in response to determining" or "in response to detecting," depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "upon determination" or "in response to determining" or "upon detection of [described condition or event]" or "in response to detecting [described condition or event]," depending on the context.

[0079] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0080] References to "one embodiment" or "some embodiments" in this specification mean that a particular feature, structure, or characteristic described in conjunction with that embodiment is included in one or more embodiments of the present application. Thus, phrases such as "in one embodiment," "in some embodiments," "in other embodiments," and "in other embodiments" appearing in various places in this specification do not necessarily refer to the same embodiment, but rather mean "one or more but not all embodiments," unless otherwise specifically emphasized. The terms "including," "comprising," "having," and variations thereof all mean "including but not limited to," unless otherwise specifically emphasized.

[0081] The lawn mower can complete the task of mowing the lawn independently due to its automatic working characteristics. It has low power consumption, low noise, exquisite and beautiful appearance, saving a lot of human resources and has broad application prospects.

[0082] In the prior art, before controlling a lawn mower to mow along the edge, the initial boundary of the lawn is obtained by pre-embedding boundary lines in the lawn or through electronic maps such as Baidu Maps and Google Maps. The lawn mower is then controlled to travel along the initial boundary during the mapping process. This method can easily cause the lawn mower to collide with obstacles or cross the actual boundary while traveling along the edge. To avoid the above situation, the lawn mower needs to be controlled to maintain a large distance from the initial boundary while traveling along the edge, but this will result in inaccurate identification of the measured boundary, reducing the accuracy of the lawn mower's mowing along the edge. In addition, the cutter disc needs to be turned off when the lawn mower is traveling along the edge, making it impossible for the lawn mower to mow during the boundary detection process, reducing the efficiency of the lawn mower's mowing along the edge.

[0083] In order to solve the above technical problems, an embodiment of the present application provides a mowing control method, which is applied to a lawn mower, by obtaining image information of the surrounding environment of the lawn mower; if the surrounding environment image information includes grassland boundary image information, the local boundary of the grassland is determined according to the grassland boundary image information; during the mapping process, the lawn mower is controlled to travel along the local boundary of the grassland. Compared with the existing technology, since there is no need to obtain the initial boundary of the grassland, the local boundary of the grassland is determined only from the surrounding environment image obtained by the lawn mower itself, and the lawn mower is controlled to travel along the local boundary of the grassland for mapping. This not only avoids the risk of collision between the lawn mower and obstacles, but also improves the accuracy of the lawn mower in identifying the grassland boundary, and at the same time improves the accuracy of the lawn mower in mowing along the edge, thereby improving the mowing efficiency of the lawn mower.

[0084] The technical solution of this application is described below through specific embodiments.

[0085] In a first aspect, as shown in FIG1 , this embodiment provides a mowing control method, which is applied to a lawn mower. The method includes:

[0086] S100: Acquire image information of the surrounding environment of the lawn mower.

[0087] In one embodiment, the lawn mower includes a boundary recognition sensor, which is used to obtain image information of the surrounding environment of the lawn mower, so that the lawn mower can obtain environmental image information of the grassland in real time.

[0088] In one embodiment, a boundary recognition sensor is located on the left side, right side, front left, or front right of the lawn mower, meeting the requirements of a wider range of lawn boundary scenarios. For example, if the boundary recognition sensor is located on the left side or front left of the lawn mower, the lawn mower travels clockwise along the lawn boundary and counterclockwise along the boundary of obstacles in the lawn. Alternatively, if the boundary recognition sensor is located on the right side or front right of the lawn mower, the lawn mower travels counterclockwise along the lawn boundary and clockwise along the boundary of obstacles in the lawn. This reduces the distance between the boundary recognition sensor and the lawn boundary, or between the boundary recognition sensor and the obstacle boundary, thereby improving the recognition accuracy of the boundary recognition sensor. The boundary recognition sensor includes at least one of a multispectral sensor, a full-color camera, or a depth recognition sensor, thereby enabling boundary recognition to be tailored to the needs of the user or the requirements of the lawn scene.

[0089] In one embodiment, obtaining image information of the surrounding environment of a lawn mower includes: obtaining recognition results of a boundary recognition sensor; determining the surrounding environment image information based on the recognition results; facilitating the lawn mower to travel along the recognized boundary and its extension direction, and also avoiding collisions with obstacles, thereby improving the safety of the lawn mower in mowing and improving the efficiency of mowing.

[0090] S200 : If the surrounding environment image information includes grassland boundary image information, determine a local grassland boundary according to the grassland boundary image information.

[0091] In one embodiment, if the surrounding environment image information includes grassland boundary image information, the local boundary of the grassland is determined based on the grassland boundary image information, wherein the local boundary of the grassland is the specific boundary of the grassland identified in the surrounding environment image, or the coordinate position information of multiple position points of the grassland boundary, so that the lawn mower can use the local boundary of the grassland according to the requirements of the grassland scene, thereby improving the recognition accuracy of the grassland boundary.

[0092] In one embodiment, during the mapping process, if the surrounding environment image information does not include the grass boundary image information, the lawn mower is controlled to rotate and / or move until the surrounding environment image information includes the grass boundary image information.

[0093] In another embodiment, during the mapping process, if the surrounding environment image information does not include the grass boundary image information, the lawn mower is first controlled to rotate one circle. If the surrounding environment image information still does not include the grass boundary image information, the lawn mower is controlled to move straight until the surrounding environment image information includes the grass boundary image information.

[0094] In another embodiment, during the mapping process, if the surrounding environment image information does not include grassland boundary image information, the lawn mower is first controlled to rotate one circle or any angle. If the surrounding environment image information still does not include grassland boundary image information, the lawn mower is controlled to go straight in the current direction or a random direction for a preset mileage. If the surrounding environment image information still does not include grassland boundary image information, the lawn mower is controlled to rotate one circle or any angle again, and this cycle is repeated until the surrounding environment image information includes grassland boundary image information.

[0095] In another embodiment, during the mapping process, if the surrounding environment image information does not include the grassland boundary image information, the lawn mower is controlled to move straight until the surrounding environment image information includes the grassland boundary image information.

[0096] S300, during the mapping process, controlling the lawn mower to move along the local boundary of the grassland.

[0097] In one embodiment, during the mapping process, the lawn mower is controlled to travel along the local boundary of the lawn, thereby controlling the lawn mower to travel and mow along the identified local boundary of the lawn and the extension direction. Compared with the existing technology, since there is no need to obtain the initial boundary of the lawn, the local boundary of the lawn is determined only from the surrounding environment image obtained by the lawn mower itself, and then the lawn mower is controlled to travel along the local boundary of the lawn to perform mapping. At the same time, mowing or not mowing can be performed in this process, which not only avoids the risk of collision between the lawn mower and obstacles, but also improves the accuracy of the lawn mower in identifying the boundary of the lawn, and at the same time improves the accuracy of the lawn mower in mowing along the edge, thereby improving the mowing efficiency of the lawn mower.

[0098] In one embodiment, controlling a lawn mower to travel along a local boundary of a lawn includes: controlling one side of the lawn mower to travel along a route that is within a preset distance range from the local boundary of the lawn, wherein the distance between one side of the lawn mower and the local boundary of the lawn is the minimum distance between each point on the side of the lawn mower and each point on the local boundary of the lawn, thereby preventing the lawn mower from colliding with edge obstacles at the lawn boundary or falling outside the lawn boundary, and also mowing areas close to the local boundary of the lawn to avoid missing mowing, thereby improving the accuracy of identifying the lawn boundary and improving the mowing efficiency of the lawn mower. Furthermore, the absolute value of the preset distance ranges from less than or equal to 100 cm. It should be noted that in this embodiment, the specific value of the preset distance range is not limited and is set according to the model of the lawn mower and the requirements of the lawn scene.

[0099] In one embodiment, when controlling the lawn mower to travel along the identified local boundary of the lawn, the lawn mower identifies the external environment of the local boundary of the lawn through a boundary recognition sensor, thereby adjusting the positional relationship between the lawn mower and the external environment of the boundary according to the external environment of the boundary.

[0100] In one embodiment, the preset distance includes a first preset distance and a second preset distance, so that the lawn mower can select a suitable preset distance according to different lawn scenes, thereby improving the safety of the lawn mower.

[0101] In one embodiment, as shown in FIG2 , at S310 , controlling one side of the lawn mower to travel along a route that is within a preset distance from a local boundary of the lawn includes:

[0102] S311: If the difference between the height within the preset detection distance outside the local boundary of the lawn and the height of the local boundary of the lawn is less than or equal to the preset height threshold, control one side of the lawn mower to travel along a route that remains within a first preset distance range from the local boundary of the lawn.

[0103] In one embodiment, if the external environment type of the local boundary of the lawn is a road surface that is substantially flush with the lawn, i.e., the difference between the height within a preset detection distance outside the local boundary of the lawn and the height of the local boundary of the lawn is less than or equal to a preset height threshold, the external environment type of the local boundary of the lawn is determined to be a safe boundary, and one side of the lawn mower is controlled to travel along a route that remains within a first preset distance range from the local boundary of the lawn. In other words, one side of the lawn mower is within the local boundary of the lawn, and the first preset distance is a positive value. Furthermore, the lawn mower can be controlled to travel across the local boundary of the lawn, i.e., one side of the lawn mower is outside the local boundary of the lawn, and the first preset distance is a negative value. This avoids missed cuts and improves mowing efficiency. The preset detection distance ranges from 0.8 m to 1.2 m, and furthermore, the preset detection distance is 1 m. The preset height threshold ranges from 5 cm to 15 cm, and furthermore, the preset height threshold is 10 cm. The absolute value of the first preset distance ranges from 0 cm to 50 cm, and furthermore, the first preset distance is 5 cm. It should be noted that, in this embodiment, there is no restriction on the specific values ​​of the preset detection distance, the preset height threshold, and the first preset distance, and they are set according to the model of the lawn mower and the requirements of the grass scene.

[0104] S312: If the difference between the height within the preset detection distance outside the local boundary of the lawn and the height of the local boundary of the lawn is greater than a preset height threshold, control one side of the lawn mower to travel along a route that remains within a second preset distance range from the local boundary of the lawn.

[0105] In one embodiment, if the external environment type of the local boundary of the lawn is a wall, fence, or steps that is higher than the lawn, or a pool, river, or steps that is lower than the lawn, that is, the difference between the height within the preset detection distance outside the local boundary of the lawn and the height of the local boundary of the lawn is greater than a preset height threshold, then the external environment type of the local boundary of the lawn is determined to be a dangerous boundary, and one side of the lawn mower is controlled to travel along a route that remains within a second preset distance range from the local boundary of the lawn, thereby improving the safety of the lawn mower. The absolute value of the second preset distance ranges from 10 cm to 100 cm, and further, the second preset distance is 30 cm. It should be noted that in this embodiment, the specific value of the second preset distance is not limited and is set according to the model of the lawn mower and the requirements of the lawn scene. Furthermore, the absolute value of the first preset distance is less than the absolute value of the second preset distance, further improving the safety of the lawn mower.

[0106] In one embodiment, as shown in FIG3 , controlling the lawn mower to travel along a local boundary of a lawn includes:

[0107] S321: Control the lawn mower to move along a local boundary of the lawn starting from a first position point.

[0108] S322: When the lawn mower reaches the second position, stop controlling the lawn mower to move along the local boundary of the lawn.

[0109] In one embodiment, the first position point is the position point in the local boundary of the lawn with the smallest distance from the lawn mower, or the first position point is any position point in the local boundary of the lawn; the lawn mower is controlled to move along the local boundary of the lawn starting from the first position point, that is, the lawn mower does not need to map the lawn and preset the mowing path. According to the position of the lawn mower, it directly moves along the local boundary of the lawn from the position point in the local boundary of the lawn with the smallest distance from the lawn mower or from any position point in the local boundary of the lawn, and mows at the same time, thereby improving the efficiency of mowing.

[0110] In one embodiment, before the lawn mower travels from a first position point along a local boundary of the grassland, the lawn mower identifies and records the coordinate information of the first position point based on the relative position relationship between its own coordinates and the first position point. In the process of controlling the lawn mower to travel from the first position point along the local boundary of the grassland, the coordinates of the points on the boundary are identified and recorded in real time. When the coordinates of the identified points are the same as the coordinates of the first position point, it is considered that the lawn mower has reached the first position point again.

[0111] In another embodiment, before the lawn mower moves from a first position point along the boundary of the area to be mowed, an image of the lawn mower at the first position point is identified and recorded based on a boundary recognition sensor. In the process of controlling the lawn mower to move from the first position point along the boundary of the area to be mowed, the image of the lawn mower at any position point on the boundary is identified and recorded in real time. When the identified image is the same as or similar to the image of the lawn mower at the first position point, it is considered that the lawn mower has reached the first position point or near the first position point again.

[0112] In one embodiment, when the lawn mower reaches a second position, the control of the lawn mower to travel along the local boundary of the lawn is stopped. The second position is the first position that the lawn mower reaches again, or the second position is the position that the lawn mower reaches after traveling a preset distance or a preset time from the first position. In one embodiment, when the lawn mower reaches the first position again, it means that the lawn mower has circled the lawn along the local boundary and returned to the starting point again, completing the mapping of the overall boundary of the lawn and mowing the outer circle of the lawn boundary, thereby improving the working efficiency of the lawn mower. In another embodiment, when the second position is the position that the lawn mower reaches after traveling a preset distance or a preset time from the first position, it is considered that the lawn mower has completed one stage of mapping and determined some local boundaries of the lawn. At this time, the lawn mower can mow according to the determined local boundaries of the lawn, or perform other tasks. In another embodiment, the second location point may also be the location point where other terminals (base stations, APP installation terminals, etc.) send a stop command or start other action commands to the lawn mower; the second location point may also be the location point where the lawn mower was before it was moved away manually.

[0113] In one embodiment, as shown in Figures 4 and 5, the starting point in each figure is the first position point, point A in Figure 4 or point A1 in Figure 5 is the second position point, the thick solid line outer frame in the figure is the total boundary of the grassland, the bow-shaped thin solid line and thin dotted line in the figure are the driving trajectory of the lawn mower, the circular shaded area and the triangular shaded area in the figure are obstacles, the thick dotted line is the obstacle boundary, and the obstacle boundary is the boundary line at a preset distance from one side of the lawn mower to the obstacle.

[0114] In one embodiment, the mowing control method further includes: during the mapping process, determining a total boundary of the lawn based on one or more local boundaries of the lawn determined during the driving process of the lawn mower, wherein the total boundary of the lawn is the collection of the local boundaries of each lawn; thereby, the total boundary of the lawn can be gradually constructed while mowing, thereby improving the efficiency of mowing.

[0115] In one embodiment, in the process of controlling a lawn mower to travel along an identified local boundary of a lawn, the coordinates of the position points on the identified local boundary of the lawn are identified based on the relative position relationship (including angle and distance) between the lawn mower's own coordinates and the position points, and recorded as the coordinates of the points on the overall boundary of the lawn. The overall boundary of the lawn is continuously updated based on the set of point coordinates of multiple identified local boundaries of the lawn.

[0116] In one embodiment, the mowing control method further includes: controlling the mower to perform a mowing operation in a "bow" pattern during mowing. Controlling the mower to perform a mowing operation in a "bow" pattern during mowing includes controlling the mower to perform a mowing operation in a "bow" pattern starting from a third position along a preset mowing row, wherein the third position is a corner point on the overall boundary of the lawn with the smallest distance from the mower, or a position point on the overall boundary of the lawn with the smallest distance from the mower, or a random position point on the overall boundary of the lawn and its interior, or a position point at which the mower is located. That is, during mowing in a "bow" pattern, the mower can begin mowing in a "bow" pattern at a corner point on the overall boundary of the lawn with the smallest distance from the mower, at a position point on the overall boundary of the lawn with the smallest distance from the mower, at other positions on the overall boundary of the lawn, or at any position within the overall boundary of the lawn, thereby expanding the mower's adaptability to lawn scenarios and improving its mowing efficiency. Among them, the preset mowing row is defined as automatically planning multiple target driving trajectories within the overall boundary of the grassland based on the starting point of the bow-shaped mowing process. The distance between adjacent target driving trajectories is the preset working spacing, which makes it easy for the mower to mow according to the target driving trajectory, or continue mowing along the target driving trajectory after bypassing obstacles.

[0117] In one embodiment, the corner points of the grassland's overall boundary are positions where the change in tangent angle before and after each position point of the grassland's overall boundary is greater than an angle threshold, wherein the angle threshold ranges from 60° to 100°, and further, the angle threshold is 90°.

[0118] In one embodiment, as shown in Figures 4 and 5, the lawn mower is controlled to perform bow-shaped mowing along a preset mowing row starting from a third position point, wherein the third position point is a corner point in the total boundary of the lawn with the smallest distance from the lawn mower (for example, point B in Figure 4, or point B1 in Figure 5), or, the third position point is a position point in the total boundary of the lawn with the smallest distance from the lawn mower (for example, point A in Figure 4, or point A1 in Figure 5), or, the third position point is a random position point in the total boundary of the lawn and its internal area (for example, point E in the total boundary of the lawn and point F in the internal area of ​​the total boundary of the lawn in Figure 4).

[0119] In one embodiment, as shown in FIG6 , during the bow-shaped mowing process, controlling the lawn mower to perform the bow-shaped mowing operation further includes:

[0120] S331: If the surrounding environment image information includes obstacle image information, determine the obstacle boundary according to the obstacle image information.

[0121] S332: Update the overall boundary of the grassland according to the determined obstacle boundary, wherein the updated overall boundary of the grassland includes the obstacle boundary and the overall boundary of the grassland before the update.

[0122] In one embodiment, the overall boundary of the grassland is updated according to the determined obstacle boundary. That is, the grassland area corresponding to the updated overall boundary of the grassland excludes the area where the obstacle is located, thereby improving the accuracy of the overall boundary of the grassland.

[0123] In one embodiment, during the bow-shaped mowing process, controlling the lawn mower to perform bow-shaped mowing also includes: during the process of the lawn mower performing bow-shaped mowing along a preset mowing row, if the lawn mower reaches an obstacle boundary for the first time, stopping controlling the lawn mower to perform bow-shaped mowing along the preset mowing row, and controlling the lawn mower to move along the obstacle boundary with a fourth position point as a starting point, wherein the fourth position point is the position point where the lawn mower reaches the obstacle boundary for the first time during the process of performing bow-shaped mowing along the preset mowing row; that is, when the lawn mower encounters an obstacle and reaches the obstacle boundary during the bow-shaped mowing process, the lawn mower moves around the obstacle boundary with the fourth position point, which is the intersection point of the preset mowing row where the lawn mower is located during the bow-shaped mowing process and the obstacle boundary, as a starting point, and recording the coordinate points of the obstacle boundary so that the lawn mower does not need to move around the edge again when it reaches the obstacle boundary again. At the same time, the area to be mowed in the total boundary of the lawn is also updated, thereby improving the mowing work efficiency.

[0124] In one embodiment, after controlling the lawn mower to move along the obstacle boundary starting from the fourth position point, the method further includes: when the lawn mower reaches the fourth position point again, stopping controlling the lawn mower to move along the obstacle boundary, and controlling the lawn mower to re-perform bow-shaped mowing along the preset mowing row starting from the fourth position point; that is, the lawn mower has circled the obstacle boundary and returned to the fourth position point, then controlling the lawn mower to re-perform bow-shaped mowing along the preset mowing row in the opposite direction of the obstacle.

[0125] In one embodiment, when the boundary recognition sensor is set on the right side of the lawn mower, as shown in Figure 4, if the lawn mower reaches the obstacle boundary for the first time, the lawn mower is controlled to move clockwise along the obstacle boundary starting from the fourth position point (for example, point C in Figure 4) until the lawn mower reaches point C or point D again, and the obstacle area and obstacle boundary are determined.

[0126] In one embodiment, as shown in FIG7 , after controlling the lawn mower to move along the obstacle boundary starting from the fourth position point, the method further includes:

[0127] S341, when the lawn mower reaches the fifth position point, stop controlling the lawn mower to move along the obstacle boundary, and control the lawn mower to start from the fifth position point and start mowing again along the preset mowing row where the fourth position point is located in a bow shape.

[0128] and / or,

[0129] S342, when the lawn mower reaches the sixth position point, stop controlling the lawn mower to move along the obstacle boundary, and control the lawn mower to start from the sixth position point and move in the opposite direction to that when the lawn mower reaches the fourth position point to re-perform bow-shaped mowing along the preset mowing row where the sixth position point is located.

[0130] In one embodiment, the intersection of the obstacle boundary and the preset mowing row where the fourth position point is located includes the fourth position point and the fifth position point. That is, the obstacle boundary occupies a portion of the preset mowing row where the fourth position point is located. After the lawn mower travels around the obstacle boundary, it returns to the extension line of the preset mowing row where the fourth position point is located on the other side of the obstacle. The lawn mower is then controlled to resume mowing in a bow-shaped pattern along the preset mowing row in the same direction as before encountering the obstacle.

[0131] In one embodiment, the preset mowing row at the sixth position point is parallel to the preset mowing row at the fourth position point, and the distance between the preset mowing row at the sixth position point and the preset mowing row at the fourth position point is a preset working distance. The sixth position point is the intersection of the preset mowing row at the sixth position point and the obstacle boundary. That is, when the lawn mower travels around the obstacle, it reaches the intersection of another preset mowing row at a distance from the preset mowing row at the fourth position point by the preset working distance and the obstacle boundary. Therefore, the lawn mower is controlled to start from the sixth position point and proceed in the opposite direction of travel to the fourth position point to re-perform a bow-shaped mowing operation along the preset mowing row at the sixth position point, thereby mowing the grass on the same side of the obstacle, thereby avoiding missed mowing and improving mowing efficiency.

[0132] In one embodiment, as shown in FIG5 , when the lawn mower reaches point C1 of the obstacle boundary for the first time during the bow-shaped mowing operation before point C1, point C1 is the fourth position point. At this time, the lawn mower stops the bow-shaped mowing operation, and controls the lawn mower to move along the obstacle boundary starting from point C1, the fourth position point, until it reaches point D1, the lawn mower stops controlling the lawn mower to move along the obstacle boundary, and controls the lawn mower to start from point D1 and re-move the bow-shaped mowing operation along the preset mowing row where point C1 is located. When the lawn mower encounters the total boundary of the lawn, the lawn mower is controlled to stop controlling the lawn mower to move along the obstacle boundary. The mower turns around and continues to perform bow-shaped mowing along the preset mowing row where point C2 is located. When point C2, which is the boundary of the obstacle, is encountered for the first time during this new bow-shaped mowing process, point C2 becomes the new fourth position point. At this time, the mower stops performing bow-shaped mowing, and is controlled to move along the boundary of the obstacle starting from point C2, the fourth position point, until it reaches point D2, the sixth position point. Then, the mower stops controlling the obstacle boundary, and is controlled to continue performing bow-shaped mowing along the preset mowing row where point D2 is located starting from point D2.

[0133] In another embodiment, as shown in FIG8 , during the bow-shaped mowing process, controlling the lawn mower to perform the bow-shaped mowing operation further includes:

[0134] S351, if the lawn mower reaches the total boundary of the lawn, control the lawn mower to turn around and perform a bow-shaped mowing operation;

[0135] S352: If the lawn mower does not identify the area to be mowed within the preset interval distance before, during, or after the lawn mower performs a U-turn, stop controlling the lawn mower to perform bow-shaped mowing along the preset mowing row.

[0136] In another embodiment, if the lawn mower fails to identify the area to be mowed within the preset spacing distance before, during, or after the lawn mower performs a U-turn, after stopping controlling the lawn mower to perform bow-shaped mowing along the preset mowing row, the method includes:

[0137] S353: Determine that the driving trajectory of the lawn mower during the mowing process is a mowed trajectory.

[0138] S354: Determine the area to be mowed based on the total boundary of the grassland and the mowed track.

[0139] S355: Based on the area to be mowed, the lawn mower is controlled to start from the seventh position point and to perform mowing in a bow shape along the preset mowing row.

[0140] In another embodiment, the seventh position point is a corner point on the boundary of the area to be mowed that is at the shortest distance from the lawn mower, or the seventh position point is a random position point on the boundary of the area to be mowed that is at the shortest distance from the lawn mower; that is, the area of ​​the total boundary of the lawn minus the area where the mowed track and the area where the obstacle are located is the area to be mowed, and the remaining area is the area to be mowed. At the same time, the boundary of the area to be mowed is also confirmed, and the lawn mower is controlled to reach the seventh position point to re-mow the grass in a bow shape in the area to be mowed, so as to avoid missed mowing and improve the efficiency of mowing.

[0141] In another embodiment, as shown in FIG4 , if the lawn mower reaches the total boundary of the lawn (for example, reaches line E in FIG4 ), the lawn mower is controlled to turn around and perform a bow-shaped mowing operation. If, before, during, or after the lawn mower performs the U-turn, no area to be mowed is identified within the range of a preset interval distance of the lawn mower, it indicates that the lawn mower is at the total boundary of the lawn and the surrounding lawns are all mowed areas. Therefore, the lawn mower is stopped from performing a bow-shaped mowing operation along the preset mowing row and starts to search for a new area to be mowed. At this time, the thin solid lines in Figure 4 are all mowed tracks. The area of ​​the total boundary of the lawn minus the area where the mowed track and the area where the obstacle is located, the remaining area is the area to be mowed, that is, the area where the thin dotted line in Figure 4 is located. The lawn mower is controlled from point E to the seventh position point (for example, point F in Figure 4), and starts from point F to re-perform bow-shaped mowing along the preset mowing row; the area to be mowed may include one or more areas. If there are several areas to be mowed, after mowing one area, it will go to another area to be mowed (for example, the thin dotted area above the circular obstacle in Figure 4), so that the lawn mower can find the area to be mowed as soon as possible, thereby improving the mowing efficiency of the lawn mower.

[0142] In one embodiment, after determining the area to be mowed based on the total boundary of the lawn and the mowed track, the following further includes: if the area of ​​the area to be mowed is less than or equal to a preset area threshold, controlling the mower to stop mowing; that is, after the mower has performed bow-shaped mowing multiple times, there may still be some blind spots or dangerous areas where mowing cannot be performed automatically, requiring manual control or manual mowing. Therefore, when the area of ​​the area to be mowed is less than or equal to the preset area threshold, controlling the mower to stop mowing avoids damage to the mower and improves the safety of the mower. Furthermore, the preset area threshold has a value range of less than or equal to 100 cm 2 .

[0143] In one embodiment, as shown in FIG9 , the local boundary of the grass has a corresponding confidence level. If the surrounding environment image information includes grass boundary image information, after determining the local boundary of the grass according to the grass boundary image information, the method further includes:

[0144] S400: If a historically corresponding local grassland boundary exists in the overall grassland boundary, obtaining a first confidence level corresponding to the currently determined local grassland boundary and obtaining a second confidence level corresponding to the historically corresponding local grassland boundary; wherein the historically corresponding local grassland boundary and the currently determined local grassland boundary have a positional correspondence;

[0145] S500: If the first confidence level is greater than the second confidence level, the historically corresponding grassland local boundary in the grassland overall boundary is replaced with the currently determined grassland local boundary.

[0146] In one embodiment, the confidence level represents the position accuracy, that is, due to signal reasons, the position accuracy of the currently determined local boundary of the grassland is greater than the historically corresponding local boundary of the grassland, so the currently determined local boundary of the grassland replaces the historically corresponding local boundary of the grassland, or the weight of the historically corresponding local boundary of the grassland is reduced and the weight of the currently determined local boundary of the grassland is increased, thereby improving the position accuracy of the local boundary of the grassland and also improving the safety of the lawn mower.

[0147] In one embodiment, the obstacle boundary also has a corresponding confidence level. If the position confidence level of the currently determined obstacle boundary is greater than that of the historically corresponding obstacle boundary, the currently determined obstacle boundary replaces the historically corresponding obstacle boundary. Alternatively, the weight of the historical obstacle boundary is reduced while the weight of the currently determined obstacle boundary is increased. This improves the position accuracy of the obstacle boundary and also improves the safety of the lawn mower.

[0148] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean 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.

[0149] Compared with the prior art, the embodiments of the present application have the following beneficial effects:

[0150] A lawn mowing control method provided in an embodiment of the present application is applied to a lawn mower, by acquiring image information of the lawn mower's surrounding environment; if the surrounding image information includes grassland boundary image information, determining the local grassland boundary based on the grassland boundary image information; during the mapping process, controlling the lawn mower to travel along the local grassland boundary. Compared with the existing technology, since there is no need to acquire the initial grassland boundary, the local grassland boundary is determined only from the surrounding environment image acquired by the lawn mower itself, and the lawn mower is controlled to travel along the local grassland boundary to perform mapping. This not only avoids the risk of the lawn mower colliding with obstacles, but also improves the accuracy of the lawn mower in identifying grassland boundaries, and at the same time improves the accuracy of the lawn mower in mowing along the edge, thereby improving the lawn mowing efficiency of the lawn mower.

[0151] In a second aspect, as shown in FIG10 , this embodiment provides a mowing control device 100, which is applied to a lawn mower, and includes:

[0152] The acquisition module 110 is used to acquire image information of the surrounding environment of the lawn mower.

[0153] The first determining module 120 is configured to determine a local boundary of the grassland according to the grassland boundary image information if the surrounding environment image information includes grassland boundary image information.

[0154] The second determining module 130 is configured to control the lawn mower to travel along a local boundary of the lawn during the mapping process.

[0155] It should be noted that the information interaction, execution process, etc. between the above-mentioned modules / units are based on the same concept as the method embodiment of this application. Their specific functions and technical effects can be found in the method embodiment section and will not be repeated here.

[0156] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0157] In a third aspect, an embodiment of the present application provides a lawn mower, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method as described in any one of the first aspects when executing the computer program.

[0158] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method as described in any one of the first aspects is implemented.

[0159] In a fifth aspect, an embodiment of the present application provides a computer program product, which, when executed on a lawn mower, enables the lawn mower to execute any one of the methods described in the first aspect.

[0160] It can be understood that the beneficial effects of the second to fifth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here.

[0161] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and when the computer program is executed by a processor, it can implement the steps of the above-mentioned various method embodiments. Among them, the computer program includes computer program code, which can be in source code form, object code form, executable file or some intermediate form.

[0162] The computer-readable medium may include at least any entity or device capable of carrying computer program code to the camera / lawn mower, a recording medium, computer memory, read-only memory (ROM), random access memory (RAM), an electrical carrier signal, a telecommunications signal, and a software distribution medium, such as a USB flash drive, a removable hard drive, a magnetic disk, or an optical disk.

[0163] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0164] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0165] In the embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the modules or units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0166] The units described as separate components may or may not be physically separate, and 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 these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0167] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the scope of protection of the present application.

Claims

1. A control method for mowing, characterized in that, Applied to a lawn mower, the method includes: Obtaining image information of the surrounding environment of the lawn mower; If the image information of the surrounding environment includes image information of the grassland boundary, determining the local grassland boundary according to the image information of the grassland boundary; During the map building process, controlling the lawn mower to travel along the local grassland boundary.

2. The method according to claim 1, characterized in that, The lawn mower includes a boundary recognition sensor; The obtaining the image information of the surrounding environment of the lawn mower includes: Obtaining the recognition result of the boundary recognition sensor; Determining the image information of the surrounding environment according to the recognition result; Wherein, the boundary recognition sensor is disposed at any one of the left side, the right side, the front left side, or the front right side of the lawn mower, and the boundary recognition sensor includes at least one of a multispectral sensor, a full-color camera, or a depth recognition sensor.

3. The method according to claim 1, characterized in that, The controlling the lawn mower to travel along the local grassland boundary includes: Controlling one side of the lawn mower to travel along a route that maintains a preset distance range from the local grassland boundary.

4. The method according to claim 3, characterized in that, The preset distance includes a first preset distance and a second preset distance; The controlling one side of the lawn mower to travel along a route that maintains a preset distance range from the local grassland boundary includes: If the difference in height within a preset detection distance outside the local grassland boundary and the height of the local grassland boundary is less than or equal to a preset height threshold, controlling one side of the lawn mower to travel along a route that maintains within the first preset distance range from the local grassland boundary; If the difference in height within a preset detection distance outside the local grassland boundary and the height of the local grassland boundary is greater than the preset height threshold, controlling one side of the lawn mower to travel along a route that maintains within the second preset distance range from the local grassland boundary; Wherein, the absolute value of the first preset distance is less than the absolute value of the second preset distance.

5. The method according to claim 1, characterized in that, The controlling the lawn mower to travel along the local grassland boundary includes: Controlling the lawn mower to start traveling along the local grassland boundary from a first position point, wherein the first position point is the position point with the minimum distance between the local grassland boundary and the lawn mower, or any position point on the local grassland boundary; When the lawn mower reaches a second position point, stopping controlling the lawn mower to travel along the local grassland boundary; wherein, the second position point is the first position point that the lawn mower reaches again, or the position point that the lawn mower reaches after traveling a preset distance or for a preset time starting from the first position point.

6. The method according to claim 1, wherein The method further includes: During the map building process, determining the total grassland boundary according to one or more of the local grassland boundaries determined during the traveling process of the lawn mower, wherein the total grassland boundary is a set of each of the local grassland boundaries.

7. The method according to claim 1, characterized in that, The method further includes: During the zigzag mowing process, controlling the lawn mower to perform zigzag mowing work; The controlling the lawn mower to perform zigzag mowing work during the zigzag mowing process includes: Control the lawn mower to perform zigzag mowing work along a preset mowing line starting from a third position point, where the third position point is the corner point on the total boundary of the lawn with the smallest distance from the lawn mower, or the third position point is the position point on the total boundary of the lawn with the smallest distance from the lawn mower, or the third position point is a random position point in the total boundary of the lawn and its internal area, or the third position point is the position point where the lawn mower is located.

8. The method according to claim 7, wherein During the zigzag mowing process, controlling the lawn mower to perform zigzag mowing work further includes: If the surrounding environment image information includes obstacle image information, determine the obstacle boundary according to the obstacle image information; Update the total boundary of the lawn according to the determined obstacle boundary, where the updated total boundary of the lawn includes the obstacle boundary and the total boundary of the lawn before the update.

9. The method according to claim 8, wherein During the zigzag mowing process, controlling the lawn mower to perform zigzag mowing work further includes: During the process of the lawn mower performing zigzag mowing work along the preset mowing line, if the lawn mower reaches the obstacle boundary for the first time, stop controlling the lawn mower to perform zigzag mowing work along the preset mowing line, and control the lawn mower to travel along the obstacle boundary starting from a fourth position point, where the fourth position point is the position point where the lawn mower is located when it reaches the obstacle boundary for the first time during the process of performing zigzag mowing along the preset mowing line.

10. The method according to claim 9, characterized in that, After controlling the lawn mower to travel along the obstacle boundary starting from the fourth position point, the method further includes: When the lawn mower reaches the fourth position point again, stop controlling the lawn mower to travel along the obstacle boundary, and control the lawn mower to perform zigzag mowing work again along the preset mowing line starting from the fourth position point.

11. The method according to claim 9, characterized in that, After controlling the lawn mower to travel along the obstacle boundary starting from the fourth position point, it further includes: When the lawn mower reaches a fifth position point, stop controlling the lawn mower to travel along the obstacle boundary, and control the lawn mower to perform zigzag mowing work again along the preset mowing line where the fourth position point is located starting from the fifth position point, where the intersection points of the obstacle boundary and the preset mowing line where the fourth position point is located include the fourth position point and the fifth position point; and / or, When the lawn mower reaches a sixth position point, stop controlling the lawn mower to travel along the obstacle boundary, and control the lawn mower to perform zigzag mowing work again along the preset mowing line where the sixth position point is located in the opposite driving direction to when the lawn mower reaches the fourth position point, where the preset mowing line where the sixth position point is located is parallel to the preset mowing line where the fourth position point is located, and the distance between the preset mowing line where the sixth position point is located and the preset mowing line where the fourth position point is located is a preset working distance, and the sixth position point is the intersection point of the preset mowing line where the sixth position point is located and the obstacle boundary.

12. The method according to claim 7, wherein During the zigzag mowing process, controlling the mower to perform zigzag mowing work further includes: If the mower reaches the total boundary of the grassland, controlling the mower to perform a turning action for the zigzag mowing work; If no area to be mowed is recognized within the preset interval distance of the mower before, during, and after the turning action of the mower, stop controlling the mower to perform zigzag mowing work along the preset mowing row.

13. The method according to claim 12, wherein After the step of stopping controlling the mower to perform zigzag mowing work along the preset mowing row if no area to be mowed is recognized within the preset interval distance of the mower before, during, and after the turning action of the mower, it includes: Determine the driving trajectory of the mower during the mowing work as the mowed trajectory; Determine the area to be mowed according to the total boundary of the grassland and the mowed trajectory; Control the mower to re-perform zigzag mowing work along the preset mowing row starting from the seventh position point according to the area to be mowed, where the seventh position point is the corner point on the boundary of the area to be mowed with the smallest distance from the mower, or the seventh position point is the position point on the boundary of the area to be mowed with the smallest distance from the mower, or the seventh position point is a random position point on the boundary of the area to be mowed.

14. The method according to claim 13, wherein After determining the area to be mowed according to the total boundary of the grassland and the mowed trajectory, it further includes: If the area of the area to be mowed is less than or equal to the preset area threshold, control the mower to stop the mowing work.

15. The method according to claim 1, wherein The local boundary of the grassland has a corresponding confidence level; After determining the local boundary of the grassland according to the grassland boundary image information if the surrounding environment image information includes the grassland boundary image information, the method further includes: If there is a historically corresponding local boundary of the grassland in the total boundary of the grassland, obtain the first confidence level corresponding to the currently determined local boundary of the grassland, and obtain the second confidence level corresponding to the historically corresponding local boundary of the grassland; where there is a position corresponding relationship between the historically corresponding local boundary of the grassland and the currently determined local boundary of the grassland; If the first confidence level is greater than the second confidence level, replace the historically corresponding local boundary of the grassland in the total boundary of the grassland with the currently determined local boundary of the grassland.

16. A control device for mowing, characterized in that, Applied to a mower, it includes: An acquisition module for acquiring the surrounding environment image information of the mower; A first determination module for determining the local boundary of the grassland according to the grassland boundary image information if the surrounding environment image information includes the grassland boundary image information; A second determination module for controlling the mower to travel along the local boundary of the grassland during the map building process.

17. A lawn mower, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the method according to any one of claims 1 to 15.

18. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the method according to any one of claims 1 to 15.

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