Mowing control method and apparatus, mower and storage medium

Abstract

The present application relates to the technical field of mowers, and in particular to a mowing control method and apparatus, a mower and a storage medium. The control method comprises: acquiring a target image of a target area, wherein the target area is located in front of a mower; when the target area comprises a mowing-completed area and a mowing pending area, determining a reference boundary between the mowing-completed area and the mowing pending area on the basis of the target image; determining a target path on the basis of a preset working distance between the reference boundary and the mower; and on the basis of the target path, controlling the mower to perform mowing. The traveling direction of the mower is adjusted and corrected in advance before a mowing action, thereby reducing missing mowing and repeated mowing, and improving the accuracy of the mowing target path of the mower; and the mower also can immediately perform mowing after entering a lawn without depending on the mapping process of a lawn area, thereby greatly improving the 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 202311840759.6 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] Currently, after a lawn mower completes mapping of a lawn area, it plans a mowing path based on the mapping results. The mower then drives and mows along the planned path. However, due to the complex surface conditions of grasslands, obstacles and uneven surfaces along the way can affect the mower, resulting in significant discrepancies between the actual mowing path and the planned path. This reduces the accuracy of the mower's driving path, leading to missed or repeated mowing, or requiring the mower to return to the missed area for another round of mowing. Furthermore, the mower's mapping process takes a long time.

[0004] Therefore, the prior art has the problem that the accuracy of the driving path of the lawn mower is low and the working efficiency of the lawn mower is low. Technical issues

[0005] The embodiments of the present application provide a mowing control method, device, lawn mower, and storage medium, which solve the problems of low accuracy of the lawn mower's driving path and low working efficiency of the lawn mower. Technical Solutions

[0006] 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:

[0007] acquiring a target image of a target area, wherein the target area is located in front of the lawn mower;

[0008] When the target area includes a mowed area and an area to be mowed, determining a reference boundary between the mowed area and the area to be mowed based on the target image;

[0009] determining a target path based on the reference boundary and a preset working distance of the lawn mower;

[0010] Based on the target path, the lawn mower is controlled to perform a lawn mowing operation.

[0011] In one embodiment, acquiring a target image of a target area includes:

[0012] A target image of the target area is acquired based on an image recognition sensor of the lawn mower, wherein the image recognition sensor includes at least one of a multispectral sensor, a full-color camera, or a depth recognition sensor.

[0013] In one embodiment, the image recognition sensor includes a multispectral sensor;

[0014] The determining, based on the target image, a reference boundary between the mowed area and the area to be mowed includes:

[0015] Based on the target image, the reference boundary between the mowed area and the to-be-mowed area is determined by identifying the chlorophyll content distribution in the target image through the multispectral sensor.

[0016] In one embodiment, determining the target path based on the reference boundary and the preset working distance of the lawn mower includes:

[0017] When the reference boundary is a line other than a straight line, determining a reference correction boundary based on the reference boundary;

[0018] determining a path translation amount based on the reference boundary and a preset working distance of the lawn mower;

[0019] The target path is determined based on the reference correction boundary and the path translation amount.

[0020] In one embodiment, determining a reference revised boundary based on the reference boundary includes:

[0021] Based on the reference boundary, a linear trend line of the reference boundary is determined, and the linear trend line is used as the reference correction boundary.

[0022] In one embodiment, determining the path translation amount based on the reference boundary and a preset working distance of the lawn mower includes:

[0023] determining a linear correlation of the linear trend line based on the reference boundary;

[0024] The path translation amount is determined based on a preset working distance of the lawn mower and the linear correlation.

[0025] In one embodiment, determining a reference revised boundary based on the reference boundary includes:

[0026] Based on the reference boundary, determining a linear correlation between a linear trend line of the reference boundary and the linear trend line;

[0027] When the linear correlation is greater than the preset linear correlation threshold, determining the linear trend line as the reference correction boundary;

[0028] When the linear correlation is less than or equal to a preset linear correlation threshold, the reference correction boundary is determined based on the reference boundary, the linear trend line, and a preset ratio.

[0029] In one embodiment, determining the reference correction boundary based on the reference boundary, the linear trend line, and a preset ratio includes:

[0030] Based on the reference boundary, along a direction perpendicular to the linear trend line, compressing the reference boundary according to the preset ratio with the linear trend line as a reference;

[0031] The compressed reference boundary is determined as the reference correction boundary.

[0032] In one embodiment, before determining a reference boundary between the mowed area and the area to be mowed based on the target image, the method further includes:

[0033] When the target area only includes the area to be mowed, the lawn mower is controlled to travel along a path in a forward direction based on the target image.

[0034] In one embodiment, before determining a reference boundary between the mowed area and the area to be mowed based on the target image, the method further includes:

[0035] When the target image only includes the mowed area, obtaining the position of the area to be mowed;

[0036] Based on the position of the area to be mowed, the lawn mower is controlled to perform mowing in the area to be mowed.

[0037] In one embodiment, when the target area includes only the mowed area, obtaining the position of the area to be mowed includes:

[0038] When the target area includes only the mowed area, the lawn mower is controlled to travel in a random direction until the reference boundary, the grass boundary, or the obstacle boundary is identified; and when the grass boundary or the obstacle boundary is identified and the reference boundary is not identified, the lawn mower is controlled to travel randomly in another direction.

[0039] In one embodiment, controlling the lawn mower to mow the lawn based on the target path includes:

[0040] During the mowing process of the lawn mower, determining the mowed area;

[0041] When the target area includes a boundary of a grassland, determining the boundary of the grassland based on the target image;

[0042] When the target area includes a boundary of an obstacle, determining the boundary of the obstacle based on the target image;

[0043] Wherein, when the target area includes only the mowed area, obtaining the position of the area to be mowed includes:

[0044] determining a boundary between the mowed area and the area to be mowed based on the boundary of the mowed area, the grassland boundary, and the obstacle boundary;

[0045] The step of controlling the lawn mower to mow the lawn in the area to be mowed comprises:

[0046] Based on a boundary between the mowed area and the area to be mowed, the lawn mower is controlled to travel to a position on the boundary between the mowed area and the area to be mowed that is closest to the lawn mower.

[0047] In a second aspect, an embodiment of the present application provides a mowing control device, which is applied to a lawn mower, and the device includes:

[0048] an acquisition module, configured to acquire a target image of a target area, wherein the target area is located in front of the lawn mower;

[0049] a determination module configured to determine, when the target area includes a mowed area and an area to be mowed, a reference boundary between the mowed area and the area to be mowed based on the target image;

[0050] The determination module is further configured to determine a target path based on the reference boundary and a preset working distance of the lawn mower;

[0051] A control module is used to control the lawn mower to perform mowing based on the target path.

[0052] 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 when the processor executes the computer program, the method described in any one of the contents of the first aspect is implemented.

[0053] 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 contents of the first aspect above is implemented.

[0054] In a fifth aspect, an embodiment of the present application provides a computer program product, which, when executed on a control device, enables a lawn mower to execute any one of the methods described in the first aspect. Beneficial effects

[0055] Compared with the prior art, the embodiments of the present application have the following beneficial effects:

[0056] The mowing control method of the embodiment of the present application is applied to a lawn mower, and the method obtains a target image of a target area, where the target area is located in front of the lawn mower; when the target area includes a mowed area and an area to be mowed, a reference boundary between the mowed area and the area to be mowed is determined based on the target image; a target path is determined based on the reference boundary and a preset working distance of the lawn mower; and the lawn mower is controlled to perform mowing based on the target path; the embodiment of the present application can identify in real time the boundary between the mowed area and the area to be mowed in front of the lawn mower as a reference boundary, and determine the target path based on the reference boundary, so as to obtain the target path between the mowed area and the area to be mowed in front of the lawn mower. The boundary of the mowing area is used as a reference direction to guide and correct the subsequent mowing direction, that is, the driving direction of the lawn mower is adjusted and corrected in advance before the mowing action, instead of mechanically following the planned path to drive and mow after the grass area is mapped, and the driving direction is not adjusted and corrected laggingly after the mowing action has deviated or missed cutting. This reduces the situation of missed cutting and repeated mowing, improves the accuracy of the mowing target path of the lawn mower, and when it does not rely on the mapping process of the grass area, the lawn mower can start mowing immediately after entering the grass, which greatly improves the working efficiency of the lawn mower. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] 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.

[0058] FIG1 is a flow chart of a mowing control method provided by an embodiment of the present application;

[0059] FIG2 is a schematic diagram of three processing methods for a reference boundary provided in an embodiment of the present application;

[0060] FIG3 is a schematic diagram of a process for determining a target path based on a reference boundary and a preset working distance of a lawn mower according to an embodiment of the present application;

[0061] FIG4 is a schematic diagram of a process for determining a reference correction boundary based on a reference boundary according to another embodiment of the present application;

[0062] FIG5 is a schematic diagram of a process before determining a target path based on a reference boundary and a preset working distance of a lawn mower according to another embodiment of the present application;

[0063] FIG6 is a schematic diagram of a process for controlling a lawn mower to mow based on a target path according to another embodiment of the present application;

[0064] FIG7 is a flow chart of a mowing control method provided by a specific embodiment of the present application;

[0065] FIG8 is a schematic diagram of a driving trajectory of a lawn mower provided in one embodiment of the present application;

[0066] FIG9 is a schematic diagram of a driving trajectory of another lawn mower provided in an embodiment of the present application;

[0067] FIG10 is a schematic diagram of a driving trajectory of another lawn mower provided in an embodiment of the present application;

[0068] FIG11 is a structural block diagram of a control device for a lawn mower provided in one embodiment of the present application. Modes for Carrying Out the Invention

[0069] 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.

[0070] 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.

[0071] 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.

[0072] 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.

[0073] 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.

[0074] 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.

[0075] The intelligent lawn mower (hereinafter referred to as "lawn mower") can independently complete the task of mowing the lawn with low power consumption, low noise, exquisite and beautiful appearance, which effectively improves the mowing efficiency and saves human resources.

[0076] Currently, after a lawn mower completes mapping of a lawn area, it plans a mowing path based on the mapping results. The mower then drives and mows along the planned path. However, due to the complex surface conditions of grasslands, obstacles and uneven surfaces along the way can affect the mower, resulting in significant discrepancies between the actual mowing path and the planned path. This reduces the accuracy of the mower's path calibration, leading to missed or duplicate mowing areas, or requiring the mower to return to mow the missed area again. Furthermore, the mower's mapping process takes a long time.

[0077] In response to the above technical problems, the mowing control method of the embodiment of the present application is applied to a lawn mower, by acquiring a target image of a target area, where the target area is located in front of the lawn mower; when the target area includes a mowed area and an area to be mowed, based on the target image, a reference boundary between the mowed area and the area to be mowed is determined; based on the reference boundary and a preset working distance of the lawn mower, a target path is determined; and based on the target path, the lawn mower is controlled to perform mowing. The mowing control method provided in the embodiment of the present application can identify the boundary between the mowed area and the area to be mowed in front of the mower in real time as a reference boundary, and determine the target path based on the reference boundary, and use the boundary between the mowed area and the area to be mowed in front of the mower as a reference direction to guide and correct the subsequent mowing direction, that is, the driving direction of the mower is adjusted and corrected in advance before the mowing action, instead of mechanically following the planned path to drive and mow after the grass area is mapped, nor is the driving direction adjusted and corrected laggingly after the mowing action has deviated or missed cutting. In other words, the mowing control method provided in the embodiment of the present application reduces the situation of missed cutting and repeated mowing, improves the accuracy of the mowing target path of the mower, and when not relying on the mapping process of the grass area, the mower can start mowing immediately after entering the grass, greatly improving the working efficiency of the mower.

[0078] The technical solution of this application is described below through specific embodiments.

[0079] 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:

[0080] S100 , obtaining a target image of a target area, where the target area is located in front of the lawn mower.

[0081] In one embodiment, a target image of a target area is acquired, and the target area is located in front of the lawn mower, so that the driving direction of the lawn mower can be controlled by the target image in front of the lawn mower.

[0082] In one embodiment, obtaining a target image of a target area includes: obtaining the target image of the target area based on an image recognition sensor of a lawn mower, wherein the image recognition sensor can generate an updated target image of the target area located in front of the lawn mower in real time based on the lawn mower's mowing process, thereby enabling the lawn mower's travel direction to be controlled in advance based on the target image. The image recognition sensor includes at least one of a multispectral sensor, a full-color camera, or a depth recognition sensor, and covers the target area in front of the lawn mower through its field of view and detection distance, thereby reducing the number of sensors, the structural complexity of the lawn mower, and the cost of the lawn mower. The scope of the target area is set according to the requirements of the lawn area, and this embodiment does not specifically limit the scope of the target area.

[0083] In one embodiment, the image recognition sensor includes a multispectral sensor, and based on a target image, determining a reference boundary between a mowed area and an area to be mowed includes: based on the target image, determining the reference boundary between the mowed area and the area to be mowed by identifying the chlorophyll content distribution in the target image using the multispectral sensor, that is, identifying an area with a relatively high chlorophyll content as the area to be mowed, and identifying an area with a relatively low chlorophyll content as the mowed area, and determining the boundary between the area to be mowed and the mowed area as the reference boundary.

[0084] In one embodiment, the field of view angle of the visual sensor or multispectral sensor ranges from 115° to 145°, further, the field of view angle is 135°, and the detection radius of the visual sensor or multispectral sensor ranges from 1m to 2.2m, further, the detection radius is 2m. The field of view angle and detection radius are set according to the requirements of the grassland area to improve the accuracy of the driving path of the lawn mower.

[0085] S200 : When the target area includes a mowed area and an area to be mowed, determining a reference boundary between the mowed area and the area to be mowed based on the target image.

[0086] In one embodiment, when the target area includes a mowed area and an area to be mowed, based on the target image, an image recognition algorithm is used to determine a reference boundary between the mowed area and the area to be mowed in the target image, and the driving path of the mowing machine is controlled according to the reference boundary, thereby improving mowing efficiency.

[0087] S300 : Determine a target path based on a reference boundary and a preset working distance of the lawn mower.

[0088] In one embodiment, a target path is determined based on a reference boundary and a preset working distance of the lawn mower. That is, there is no need to map the complete lawn boundary and plan the mowing route of the lawn mower according to the lawn boundary. This shortens the response time of the lawn mower in determining the target path, increases the speed at which the lawn mower determines the target path, and thus improves the working efficiency of the lawn mower.

[0089] S400: Control the lawn mower to mow the lawn based on the target path.

[0090] In one embodiment, a target path can be formed according to various conditions of the lawn, and then based on the target path, the lawn mower is controlled to perform mowing. Since the target path can be determined in real time, the boundary between the mowed area and the area to be mowed in front of the lawn mower is used as a reference direction to guide and correct the subsequent mowing direction. That is, the driving direction of the lawn mower is adjusted and corrected in advance before the mowing action, which reduces the situation of missed mowing and repeated mowing, improves the accuracy of the lawn mower's mowing target path, and when it does not rely on the mapping process of the lawn area, the lawn mower can start mowing immediately after entering the lawn, which greatly improves the working efficiency of the lawn mower.

[0091] In one embodiment, a target path is determined based on a reference boundary and a preset working distance of the lawn mower. The method includes: if the reference boundary is a straight line, translating the reference boundary between the mowed area and the area to be mowed by the preset working distance along the propulsion direction of the lawn mower, and determining the target path as a path obtained by translating the reference boundary between the mowed area and the area to be mowed by the preset working distance. The target path is a straight line parallel to the straight reference boundary, wherein the propulsion direction of the lawn mower is perpendicular to the reference boundary and points from the mowed area to the area to be mowed. Because the method for determining the target path provided in the embodiment of the application does not require path planning based on the entire lawn area, the calculation time for determining the target path is reduced, the response time of the lawn mower in determining the target path is further shortened, and the speed at which the lawn mower determines the target path is increased, thereby improving the operating efficiency of the lawn mower.

[0092] In one embodiment, the preset working spacing is the vertical distance between two adjacent, parallel mowing rows when the mower is performing a bow-shaped mowing operation. The preset working spacing is sometimes also referred to as row width or row spacing. Furthermore, the preset working spacing can have a value range that is less than or equal to the maximum mowing width of the mower. The closer the preset working spacing is to the maximum mowing width, the higher the mowing efficiency of the mower. In some embodiments, as shown in FIG2 , the width represented by x in the boundary processing method 1 in the figure is an example of the preset working spacing of the mower.

[0093] According to the technical solution for determining the target path when the reference boundary is a straight line, if the reference boundary is a line other than a straight line, the target path of the lawn mower will not be a straight line. For example, if a non-straight path is formed to avoid an obstacle, that is, the boundary between the mowed area and the area to be mowed is a non-straight boundary, if this non-straight boundary is still used as the reference boundary and the path obtained by translating the preset working distance along the propulsion direction of the lawn mower is used as the target path, then this target path will remain non-straight, and the lawn mower will continue to drive and mow non-straightly according to this target path (for example, the curved portion of Method 1 in Figure 2), which will make it difficult to ensure optimal target path accuracy and user experience.

[0094] To address the above problem, in one embodiment, as shown in FIG3 , determining a target path based on a reference boundary and a preset working distance of the lawn mower includes:

[0095] S310 : When the reference boundary is a line other than a straight line, determine a reference correction boundary based on the reference boundary.

[0096] In one embodiment, when the reference boundary is a line other than a straight line, a reference correction boundary is determined based on the reference boundary, and the non-straight reference boundary is processed as a reference correction boundary. For example, the non-straight reference boundary is adjusted to a straight line or a reference correction boundary that is closer to a straight line than the reference boundary, thereby improving the accuracy of the target path and enhancing the user experience.

[0097] In one embodiment, determining a reference correction boundary based on a reference boundary includes determining a linear trend line of the reference boundary based on the reference boundary, and using the linear trend line as the reference correction boundary. Adjusting and correcting the non-linear reference boundary to a linear trend line improves the accuracy of the target path and enhances the user experience.

[0098] In a specific embodiment, since the reference boundary is a collection of multiple position points, assuming that part of the reference boundary is a straight line and part of the reference boundary is a non-straight line, a linear trend line corresponding to the reference boundary can be determined based on the coordinates of each position point by linear regression, and the linear trend line is a straight line, and the boundary is corrected with reference to the linear trend line. For example, the dotted straight line on the left of method 2 in Figure 2 is the linear trend line.

[0099] In another embodiment, as shown in FIG4 , determining a reference revised boundary based on the reference boundary includes:

[0100] S311 , based on the reference boundary, determining a linear trend line of the reference boundary and a linear correlation between the linear trend lines.

[0101] In another embodiment, based on multiple position points of the reference boundary, a linear trend line of the reference boundary is obtained, and a linear correlation between the linear trend line and the reference boundary is calculated. The linear correlation is expressed as R or R 2 Indicates that R 2 The linear regression goodness of fit of the linear trend line relative to the reference boundary. A greater linear correlation indicates a closer correlation between the reference boundary and the linear trend line, or in other words, a closer shape between the linear trend line and the reference boundary. The reference correction boundary is then determined based on the reference boundary. This allows for more non-linear reference boundaries to determine the target path, improving the mower's efficiency.

[0102] S312: When the linear correlation is greater than a preset linear correlation threshold, the linear trend line is determined as a reference correction boundary.

[0103] In another embodiment, the preset linear correlation threshold has a value range of greater than or equal to 0.90. It should be noted that in this embodiment, the specific value of the preset linear correlation threshold is not limited and is set according to the requirements of the lawn area or the lawn mower. For example, the preset linear correlation threshold can also have a value range of greater than or equal to 0.70, such as 0.75, 0.80, 0.85, 0.95, etc.

[0104] In another embodiment, when the linear correlation is greater than a preset linear correlation threshold, or the maximum fluctuation amplitude of the reference boundary relative to the linear trend line is less than the fluctuation threshold, and the value range of the fluctuation threshold is less than or equal to the preset working distance, it can be considered that the shape of the reference boundary is close to a straight line. In this case, the linear trend line of the straight line is directly used as the reference correction boundary, thereby improving the target path accuracy and user experience in subsequent mowing work. As shown in Figure 2, reference method 2, the solid line in the first column on the left is the reference boundary, and the dotted line is the linear trend line corresponding to the reference boundary in the first column on the left. If the linear correlation of the linear trend line with the reference boundary is greater than the preset linear correlation threshold, the linear trend line is directly determined as the reference correction boundary, so that the subsequent reference boundary is a straight line, improving the efficiency of the mower and improving the user experience.

[0105] S313 : When the linear correlation is less than or equal to the preset linear correlation threshold, a reference correction boundary is determined based on the reference boundary, the linear trend line, and the preset ratio.

[0106] In another specific embodiment, when the absolute value of the linear correlation is less than or equal to a preset linear correlation threshold, it indicates that the reference boundary fluctuates significantly relative to the linear trend line or the linear correlation between the reference boundary and the linear trend line is low. In other words, it can be considered that the shape of the reference boundary differs significantly from the shape of the straight line. If the target path of the next mowing row is directly changed to a straight line, a significant missed mowing problem may occur.

[0107] In another embodiment, a reference correction boundary is determined based on a reference boundary, a linear trend line, and a preset ratio, including: based on the reference boundary, compressing the reference boundary according to a preset ratio along a direction perpendicular to the linear trend line and with the linear trend line as a reference; and determining the compressed reference boundary as the reference correction boundary.

[0108] In another specific embodiment, as shown in method 3 in Figure 2, each dotted line in the figure represents a linear trend line corresponding to each reference boundary. When the absolute value of the linear correlation is less than or equal to the preset linear correlation threshold, based on the reference boundary, the reference boundary is compressed according to a preset ratio along a direction perpendicular to the linear trend line with the linear trend line as a reference, that is, multiple position points on the reference boundary are compressed according to a preset ratio along a direction perpendicular to the linear trend line, and the compressed reference boundary is determined to be the reference correction boundary. For example, when there is an arc-shaped protrusion or arc-shaped concave with a relatively large diameter on the reference boundary, the preset ratio is set to 0.5, that is, the arc-shaped protrusion or arc-shaped concave with a relatively large diameter is reduced by 0.5 times in the direction of the linear trend line based on the linear trend line. The arc-shaped solid line close to the dotted line in Figure 3 represents the reference correction boundary after the arc-shaped protrusion is reduced, and the arc-shaped solid line far from the dotted line represents the reference boundary. Therefore, the reference correction boundary is flatter than the reference boundary before correction, and the distance between the reference correction boundary and the linear trend line is smaller than the distance between the reference boundary and the linear trend line before correction. This means that when the mowing process is not affected by obstacles, as the number of mowing rows in the propulsion direction of the lawn mower increases, the arc-shaped protrusion or arc-shaped concave of the reference correction boundary will become smaller and flatter, so that each determined reference correction boundary gradually approaches a straight line instead of immediately becoming a straight line, avoiding the obvious problem of missed cutting while ensuring the efficiency of the lawn mower and user experience.

[0109] S320 : Determine a path translation amount based on a reference correction boundary and a preset working distance of the lawn mower.

[0110] In one embodiment, since the reference boundary has been corrected to form a reference correction boundary, it is necessary to determine a path translation amount based on the reference correction boundary and a preset working distance of the lawn mower to reconfirm the target path of the lawn mower.

[0111] In one embodiment, the path translation amount is less than or equal to a preset working distance, thereby avoiding missing part of the grass and completing the mowing work within the path translation amount.

[0112] In another embodiment, determining the path translation amount based on a reference boundary and a preset working distance of the lawn mower includes: determining a linear correlation of a linear trend line based on the reference boundary; and determining the path translation amount based on the preset working distance of the lawn mower and the linear correlation.

[0113] In another embodiment, in order to reduce the occurrence of missed cuts and ensure less repeated mowing, the linear correlation of the linear trend line is determined based on the reference boundary, and the preset working distance of the mower is adjusted according to the preset working distance of the mower and the linear correlation, thereby obtaining a path translation amount to reconfirm the target path of the mower, thereby reducing the occurrence of missed cuts and the occurrence of repeated mowing in the area, thereby improving mowing efficiency. As shown in Figure 2, in Method 2 and Method 3, x is the preset working distance, and the linear correlation is R or R 2 , then the path translation is Rx or R 2 x, since the maximum value of the linear correlation is 1, the width of the target path obtained by referring to the corrected boundary and the translation workload is smaller than the width of the preset working spacing.

[0114] S330 , determining a target path based on the reference correction boundary and the path translation amount.

[0115] In one embodiment, based on the corrected reference correction boundary and the updated path translation amount, a path obtained by translating the reference correction boundary in the propulsion direction of the mower by the path translation amount is determined as the target path, thereby reducing the phenomenon of missed mowing and the situation of mowing repeated areas, thereby improving mowing efficiency.

[0116] In some embodiments, as shown in FIG2 , method 2 in FIG2 uses the linear trend line directly as the reference correction boundary, and translates the linear trend line of the straight line toward the propulsion direction of the mower by the path translation amount to obtain the target path. When there are no obstacles and the ground is flat, the target path of the next column of the mower in the bow-shaped mowing process will directly become a straight line, thereby quickly restoring the accuracy of the target path and improving the mowing efficiency. Method 3 in FIG2 is to compress the arc-shaped convex reference boundary according to a preset ratio to form a reference correction boundary, and translate the compressed arc-shaped convex reference correction boundary toward the propulsion direction of the mower by the path translation amount to obtain the compressed arc-shaped convex target path. When there is no influence of obstacles, as the number of target paths in the propulsion direction of the mower increases, the target path will become flatter and flatter until the target path of the mower becomes a straight line, thereby quickly restoring the accuracy of the target path and improving the mowing efficiency.

[0117] In one embodiment, before determining the reference boundary between the mowed area and the area to be mowed based on the target image, the system further includes: when the target area only includes the area to be mowed, controlling the mower to travel along the path in the forward direction. Since the target area in front of the mower is the area to be mowed, the mower can directly travel and mow along the path in the forward direction based on the target image, eliminating the need for route planning and improving mowing efficiency. For example, when the mower first enters the lawn or leaves an obstacle, the target area only includes the area to be mowed, so the mower is controlled to travel along the path in the forward direction.

[0118] In another embodiment, before determining the reference boundary between the mowed area and the to-be-mowed area based on the target image, the method further includes:

[0119] S331: When the target image includes only mowed areas, the location of the area to be mowed is obtained. In another embodiment, when the target image includes only mowed areas, it indicates that the lawn mower has completed mowing the nearby lawn and needs to obtain the location of a new area to be mowed in order to complete mowing the entire lawn area.

[0120] In another specific embodiment, when the target area includes only mowed areas, obtaining the position of the area to be mowed includes:

[0121] If the target area only includes mowed areas, the mower is controlled to travel in a random direction until a reference boundary, a grass boundary, or an obstacle boundary is identified. If a grass boundary or an obstacle boundary is identified but the reference boundary is not identified, the mower is controlled to travel in another random direction. When the mower travels in the random direction until a reference boundary is identified, step S300 is executed. If a grass boundary or an obstacle boundary is identified but the reference boundary is not identified, the mower is controlled to travel in another random direction to avoid missing any areas to be mowed, thereby completing mowing of the entire grass area.

[0122] In some embodiments, when the target area includes only mowed areas, the mower is controlled to travel in a random direction. If the mower's travel in the random direction satisfies a preset condition, the mowing process is confirmed to be complete, and the mower is controlled to stop. The preset condition may include at least one of the following: the mower has not yet located the area to be mowed while traveling in the random direction; or the mower's travel time in the random direction is greater than or equal to a travel time threshold; or the mower's travel distance in the random direction is greater than or equal to a travel distance threshold; or the mower's number of direction changes in the random direction is greater than or equal to a direction change number threshold.

[0123] S332: Based on the location of the area to be mowed, control the lawn mower to mow the area to be mowed.

[0124] In another embodiment, after the location of the area to be mowed is acquired, the lawn mower is controlled to mow the area to be mowed, thereby avoiding missing the area to be mowed and completing the mowing of the entire lawn area.

[0125] Regarding steps S331 and S332 above, when the target image only includes mowed areas, the method for obtaining the location of the area to be mowed and the method for controlling the lawn mower to mow in the area to be mowed can also be implemented in another embodiment. Specifically, as shown in FIG5 , in step S400, controlling the lawn mower to mow based on the target path includes:

[0126] S410 , during the mowing process of the lawn mower, determining a mowed area.

[0127] S420 : When the target area includes a boundary of a grassland, determine the boundary of the grassland based on the target image.

[0128] In another embodiment, when the target area includes the boundary of the lawn, it indicates that the lawn mower has reached the boundary area of ​​the lawn. Therefore, the lawn boundary can be determined based on the target image, and the next step of mowing can be performed based on other information.

[0129] S430: When the target area includes a boundary of an obstacle, determine the boundary of the obstacle based on the target image.

[0130] In another embodiment, when the target area includes the boundary of the obstacle, it means that the lawn mower has reached the boundary area of ​​the obstacle. Therefore, the obstacle boundary can be determined based on the target image, and the next mowing operation can be performed based on other information.

[0131] After determining the mowed area, the grass boundary, and the obstacle boundary, in step S331, when the target area only includes the mowed area, obtaining the position of the area to be mowed includes:

[0132] S440 : Determine a boundary between the mowed area and the area to be mowed based on the boundary of the mowed area, the grassland boundary, and the obstacle boundary.

[0133] Specifically, when the target area only includes the mowed area, it means that the grass in front has been mowed and the next mowing work needs to be carried out according to other information. Based on the information of the boundary of the mowed area, the boundary of the grass and the boundary of the obstacle, the boundary position between the mowed area and the area to be mowed is determined by subtracting the boundary of the grass and the boundary of the obstacle from the boundary of the mowed area, thereby determining the position of the area to be mowed, avoiding missed mowing, and continuing mowing, thereby improving the efficiency of mowing.

[0134] After the location of the area to be mowed is obtained, in step S332, the lawn mower is controlled to mow the area to be mowed, including:

[0135] S450 : Based on the boundary between the mowed area and the area to be mowed, the lawn mower is controlled to move to a position on the boundary between the mowed area and the area to be mowed that is closest to the lawn mower.

[0136] In another embodiment, after obtaining the position of the area to be mowed, the lawn mower is controlled to travel to the position point closest to the boundary between the mowed area and the area to be mowed based on the position and boundary of the area to be mowed, that is, the lawn mower travels to the nearest position point where mowing can start, thereby reducing the mileage of the lawn mower in searching for the area to be mowed and improving the working efficiency of the lawn mower.

[0137] When the lawn mower reaches the boundary between the mowed area and the area to be mowed, the reference boundary between the mowed area and the area to be mowed can be determined based on the target image, and then the target path can be determined, and then mowing work can be performed based on the target path.

[0138] In yet another embodiment, as shown in FIG6 , before determining the target path based on the reference boundary and the preset working distance of the lawn mower, the method further includes:

[0139] S340: If an obstacle boundary or a grass boundary is identified within the preset danger distance of the lawn mower and no reference boundary is identified, the lawn mower is controlled to travel along the obstacle boundary or the grass boundary.

[0140] In another embodiment, the value range of the preset danger distance is greater than or equal to a preset multiple of the preset working distance, and the value range of the preset multiple is greater than or equal to 0.5. If an obstacle boundary or a grass boundary is identified within the preset danger distance of the lawn mower, and no reference boundary is identified, it means that the lawn mower has reached the edge of the area to be mowed, and the lawn mower is controlled to move along the obstacle boundary or the grass boundary to continue to determine a new target path.

[0141] S350, if the lawn mower starts from the first mowing row where the lawn mower is located and moves along the obstacle boundary or the grass boundary, and reaches the second mowing row that is at a preset working distance from the first mowing row, the lawn mower is controlled to turn in a direction opposite to the moving direction of the first mowing row until a reference boundary between the mowed area and the area to be mowed is identified.

[0142] In another embodiment, if the lawn mower starts from the first mowing row where the lawn mower is located and moves along the obstacle boundary or the grass boundary, and reaches the second mowing row with a preset working distance from the first mowing row, the lawn mower is controlled to turn in the direction opposite to the moving direction of the first mowing row until the reference boundary between the mowed area and the area to be mowed is identified, and the grass between the obstacle and the grass boundary is mowed, thereby reducing the possibility of missed mowing and improving the mowing efficiency.

[0143] S360: If the lawn mower starts from the first mowing row where the lawn mower is located and moves along the obstacle boundary or the grass boundary, and then returns to the extension line of the first mowing row, the lawn mower is controlled to move along the extension direction of the first mowing row.

[0144] In another embodiment, if the lawn mower starts from the first mowing row where the lawn mower is located and moves along the boundary of the obstacle or the boundary of the grass, and then returns to the extension line of the first mowing row, it means that the lawn mower has bypassed the obstacle and does not need to mow around the obstacle. The lawn mower is controlled to move along the extension direction of the first mowing row and continue to mow in a bow shape.

[0145] Based on the first aspect above, as shown in FIG7 , this embodiment further provides a mowing control method, including:

[0146] S1. Determine whether an obstacle boundary or a grass boundary is identified within a preset danger distance in front of the lawn mower.

[0147] In one embodiment, the boundary of the obstacle or the boundary of the grass is identified by a boundary recognition sensor provided on the lawn mower, wherein the boundary recognition sensor includes at least one of a laser radar or an image recognition sensor.

[0148] In another embodiment, when the boundary recognition sensor provided in the lawn mower is an image recognition sensor, a target image of the target area is acquired through the image recognition sensor, image analysis is performed on the target image, and it is determined whether there is an obstacle boundary or a grass boundary in the target area based on the analyzed target image.

[0149] S2. If the judgment result of S1 is no, that is, no obstacle boundary or grass boundary is identified within the preset danger distance in front of the lawn mower, it is determined whether a reference boundary between the mowed area and the area to be mowed is identified in the target area in front of the lawn mower.

[0150] S3. If the judgment result of S2 is yes, that is, a reference boundary between the mowed area and the area to be mowed is identified in the target area in front of the lawn mower, a target path is determined based on the reference boundary and the preset working distance of the lawn mower, and the lawn mower is controlled to perform mowing based on the target path, that is, the contents of S300 and S400 above are executed.

[0151] In another embodiment, the situation when the lawn mower is at position B in Figure 8 or 9 may correspond to step S3, where the thin solid line in Figure 8 or 9 is the mowing path of the lawn mower, the outer frame is the total boundary of the lawn, and the shaded parts of the circle and triangle are obstacles.

[0152] It should be noted that if the boundary recognition sensor recognizes an obstacle boundary or a grass boundary, but the recognized obstacle boundary or grass boundary does not enter the preset danger distance, the judgment result of S1 is also no.

[0153] If the determination result of S2 is negative, that is, the reference boundary between the mowed area and the unmowed area is not identified within the target area in front of the mower, then there is only the mowed area or only the unmowed area within the target area, and there may be an obstacle boundary and / or a grass boundary outside the target area. The situation in which there is only the mowed area or only the unmowed area corresponds to different mowing control methods, namely, S4 and S5, respectively.

[0154] S4. If the judgment result of S2 is no, that is, the reference boundary between the mowed area and the area to be mowed is not identified in the target area in front of the lawn mower, it is determined whether there is only the area to be mowed in the target area in front of the lawn mower, or whether there is only the area to be mowed in the target area in front of the lawn mower and there is an obstacle boundary or a grass boundary outside the target area.

[0155] S41 : If the judgment result of S4 is yes, then based on the target image, control the lawn mower to travel along the path in the forward direction.

[0156] In another embodiment, the situation when the lawn mower is at position C in Figure 8 or Figure 9 can correspond to steps S4 and S41. For example, in the scenarios such as the first row of bow-shaped mowing by the lawn mower, the first row of bow-shaped mowing after leaving an obstacle, etc., since there is only the area to be mowed in front and there is no boundary between the mowed area and the area to be mowed as a reference, the lawn mower is directly controlled to move along the path in the forward direction.

[0157] S5. If the judgment result of S2 is no, that is, the reference boundary between the mowed area and the area to be mowed is not identified in the target area in front of the lawn mower, it is determined whether the target area in front of the lawn mower only contains the mowed area, or whether the target area in front of the lawn mower only contains the mowed area and there is an obstacle boundary or a grass boundary outside the target area.

[0158] S51 : If the judgment result of S5 is yes, after determining the position of the area to be mowed, control the lawn mower to mow the area to be mowed.

[0159] In another embodiment, this step corresponds to steps S5 and S51 when the mower is at position D1 in Figure 8 or D2 in Figure 9 . The arrow indicates the mower's subsequent direction of travel. Position D1 or D2 marks the end of the arc-shaped mowing pattern. Within the target area at position D1 or D2, only mowed areas have been mowed. The mower determines a new area to mow and then proceeds to the next arc-shaped mowing pattern. The cutterhead can be turned off during the search for or movement toward the new area to mow to reduce energy consumption.

[0160] There are two methods for determining a new area to be mowed, as follows:

[0161] In another embodiment, as in method 1 at position D1 in FIG8 , when the target area includes only mowed areas, the mower is controlled to travel in a random direction until an area to be mowed is identified. If travel in the random direction satisfies a preset condition, mowing is confirmed to be complete, and the mower is controlled to stop. The preset condition includes at least one of the following: the location of the area to be mowed is not obtained in the random direction; or the travel time in the random direction is greater than or equal to a travel time threshold; or the travel distance in the random direction is greater than or equal to a travel distance threshold; or the number of direction changes in the random direction is greater than or equal to a direction change threshold.

[0162] In yet another embodiment, as shown in method 2 of position point D2 in FIG9 , when the target area only includes the mowed area, the lawn mower is controlled to travel toward the acquired position of the area to be mowed; the bow-shaped thin solid line in FIG9 is the mowing path of the lawn mower, the outer frame is the overall boundary of the grassland, the shaded circle and the shaded triangle are obstacles, and the blank area is the area to be mowed; based on the mowing trajectory that has been traveled, the boundaries of the mowed area and the mowed area, the obstacle boundary and the grassland boundary are respectively determined, and then the identified obstacle boundary and grassland boundary are subtracted from the boundary of the mowed area to obtain the reference boundary between the mowed area and the area to be mowed. The obstacle boundary and grass boundary identified during the mowing process are referred to as the first boundary. For example, the thin dashed line surrounding the upper boundary of the triangular obstacle through point A2 and the thin dashed line outside the right boundary of the triangular obstacle in Figure 9 are the obstacle boundary. The thin dashed line surrounding the mowed area, extending from point A1 in the upper part of the figure along the right boundary of the mowed area to point D2 and then to the obstacle boundary, and the thin dashed line from the starting point to the right boundary of the mowed area in the figure are referred to as the first boundary. The second boundary in Figure 9 is the thick dashed line indicating the boundary between the mowed area and the area to be mowed. The boundary between the mowed area and the area to be mowed is determined based on the boundary of the area to be mowed, the obstacle boundary, and the grass boundary. The mower is controlled to travel to the point on the boundary closest to the mower. From this point, the mower is controlled to begin mowing the area to be mowed based on the target path, thus executing steps S410 to S450.

[0163] If the boundary of the mowed area minus the identified obstacle boundary or grassland boundary is empty, then all areas of the grassland total boundary are considered to be mowed areas, that is, the mowing work is completed, and the mower is controlled to stop mowing.

[0164] S6. If the judgment result of S1 is yes, that is, an obstacle boundary or a grass boundary is identified within the preset danger distance in front of the lawn mower, the lawn mower is controlled to move along the obstacle boundary or the grass boundary based on the target image, that is, the content of the above S340 is executed, and it is determined whether to end moving along the obstacle boundary or the grass boundary during the process.

[0165] In another embodiment, the situation when the lawn mower is at position A1 and A2 in FIG. 8 or FIG. 9 , or position E1 , E2 , or E3 in FIG. 10 may correspond to step S6 .

[0166] S61. In the process of controlling the lawn mower to travel along the edge in S6, if the lawn mower starts to travel along the obstacle boundary or the grass boundary from the first mowing row where the lawn mower is located and reaches the second mowing row that is spaced apart from the first mowing row by a preset working distance, the lawn mower is controlled to turn in the direction opposite to the direction of travel of the first mowing row, for example, from position point E2 to position point F2 in Figure 10, until the reference boundary between the mowed area and the area to be mowed is identified, and the grass between the obstacle and the grass boundary is mowed in a bow shape, that is, the content of the above-mentioned S350 is executed; if the lawn mower starts to travel along the obstacle boundary or the grass boundary from the first mowing row where the lawn mower is located and does not reach the second mowing row that is spaced apart from the first mowing row by a preset working distance, the lawn mower continues to travel along the obstacle boundary or the grass boundary.

[0167] S62. During the process of controlling the lawn mower to move along the edge in S6, if the lawn mower starts moving along the obstacle boundary or the grass boundary from the first mowing row where the lawn mower is located and then returns to the extension line of the first mowing row, the lawn mower is controlled to move along the extension direction of the first mowing row and continue mowing in a bow shape. For example, in FIG10 , if the lawn mower moves from position E1 to position F1 and from position E3 to position F3, it means that the lawn mower has left the obstacle and thus continues mowing in a bow shape. If the lawn mower starts moving along the obstacle boundary or the grass boundary from the first mowing row where the lawn mower is located and does not return to the extension line of the first mowing row, it continues moving along the obstacle boundary or the grass boundary.

[0168] The mowing control method provided in this embodiment mainly relies on the recognition results of the image recognition sensor to control the lawn mower in real time, so that in the process of controlling the operation of the lawn mower, there is no need to perform edge mapping and mowing route planning according to the grassland boundary, which saves time for edge mapping and mowing route planning and improves mowing efficiency.

[0169] 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.

[0170] Compared with the prior art, the embodiments of the present application have the following beneficial effects:

[0171] The mowing control method of the embodiment of the present application is applied to a lawn mower, by acquiring a target image of a target area, the target area being located in front of the lawn mower; when the target area includes an area that has been mowed and an area to be mowed, a reference boundary between the area that has been mowed and the area to be mowed is determined based on the target image; a target path is determined based on the reference boundary and a preset working distance of the lawn mower; based on the target path, the lawn mower is controlled to perform mowing work; compared with the prior art, which can only mechanically follow the initially planned path to drive and mow after the lawn area is mapped, and the driving direction is adjusted laggingly after the mowing action has deviated or missed cutting Correction: The embodiment of the present application can identify the boundary between the mowed area and the area to be mowed in front of the lawn mower in real time as a reference boundary, and determine the target path based on the reference boundary. The boundary between the mowed area and the area to be mowed in front of the lawn mower is used as a reference direction to guide and correct the subsequent mowing direction. That is, the driving direction of the lawn mower is adjusted and corrected in advance before the mowing action, which reduces the situation of missed mowing and repeated mowing, improves the accuracy of the mowing target path of the lawn mower, and when not relying on the mapping process of the lawn area, the lawn mower can start mowing immediately after entering the lawn, thereby greatly improving the working efficiency of the lawn mower.

[0172] In a second aspect, as shown in FIG11 , this embodiment provides a mowing control device 100, which is applied to a lawn mower. The device includes:

[0173] The acquisition module 110 is configured to acquire a target image of a target area, where the target area is located in front of the lawn mower.

[0174] The first determining module 120 is configured to determine a reference boundary between the mowed area and the area to be mowed based on the target image when the target area includes the mowed area and the area to be mowed.

[0175] The second determining module 130 is further configured to determine a target path based on the reference boundary and a preset working distance of the lawn mower.

[0176] The control module 140 is configured to control the lawn mower to mow the lawn based on the target path.

[0177] 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.

[0178] 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.

[0179] 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 when the processor executes the computer program, the method described in any one of the contents of the first aspect is implemented.

[0180] 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 contents of the first aspect above is implemented.

[0181] In a fifth aspect, an embodiment of the present application provides a computer program product, which, when executed on a control device, enables a lawn mower to execute any one of the methods described in the first aspect.

[0182] 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.

[0183] 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 by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. 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. The computer-readable medium can at least include: any entity or device that can carry the computer program code to the camera / control device, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunications signal and a software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk.

[0184] 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.

[0185] 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.

[0186] 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.

[0187] 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.

[0188] 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 a target image of a target area, where the target area is in front of the lawn mower; When the target area includes a mowed area and an area to be mowed, based on the target image, determining a reference boundary between the mowed area and the area to be mowed; Based on the reference boundary and a preset working spacing of the lawn mower, determining a target path; Based on the target path, controlling the lawn mower to perform mowing work.

2. The method according to claim 1, characterized in that, The obtaining the target image of the target area includes: Obtaining the target image of the target area based on an image recognition sensor of the lawn mower, where the image 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, wherein The determining the target path based on the reference boundary and the preset working spacing of the lawn mower includes: When the reference boundary is a line other than a straight line, based on the reference boundary, determining a reference correction boundary; Based on the reference boundary and the preset working spacing of the lawn mower, determining a path translation amount; Based on the reference correction boundary and the path translation amount, determining the target path.

4. The method according to claim 3, wherein The determining the reference correction boundary based on the reference boundary includes: Based on the reference boundary, determining a linear trend line of the reference boundary and using the linear trend line as the reference correction boundary; Or, The determining the reference correction boundary based on the reference boundary includes: Based on the reference boundary, determining a linear trend line of the reference boundary and the linear correlation degree of the linear trend line; When the linear correlation degree is greater than a preset linear correlation degree threshold, determining the linear trend line as the reference correction boundary; When the linear correlation degree is less than or equal to the preset linear correlation degree threshold, based on the reference boundary, along a direction perpendicular to the linear trend line, compressing the reference boundary by a preset ratio with the linear trend line as a benchmark, and determining the compressed reference boundary as the reference correction boundary; Wherein, the determining the path translation amount based on the reference boundary and the preset working spacing of the lawn mower includes: Based on the reference boundary, determining the linear correlation degree of the linear trend line of the reference boundary; Based on the preset working spacing of the lawn mower and the linear correlation degree, determining the path translation amount.

5. The method according to claim 1, wherein Before the determining the reference boundary between the mowed area and the area to be mowed based on the target image, the method further includes: When the target area only includes the area to be mowed, controlling the lawn mower to travel along the path in the forward direction.

6. The method according to claim 1, wherein Before the determining the reference boundary between the mowed area and the area to be mowed based on the target image, the method further includes: When the target area only includes the mowed area, obtaining the position of the area to be mowed; Controlling the lawn mower to perform mowing work in the area to be mowed.

7. The method according to claim 6, wherein The obtaining the position of the area to be mowed when the target area only includes the mowed area includes: When only the mowed area is included in the target area, control the lawn mower to travel in a random direction until the reference boundary, the grassland boundary or the obstacle boundary is recognized. When the grassland boundary or the obstacle boundary is recognized and the reference boundary is not recognized, control the lawn mower to travel in another random direction.

8. The method according to claim 6, characterized in that, The controlling the lawn mower to perform mowing work based on the target path includes: During the process of the lawn mower performing mowing work, determine the mowed area. When the target area includes the boundary of the grassland, determine the grassland boundary based on the target image. When the target area includes the boundary of the obstacle, determine the obstacle boundary based on the target image. Wherein, the obtaining the position of the area to be mowed when only the mowed area is included in the target area includes: Based on the boundary of the mowed area, the grassland boundary and the obstacle boundary, determine the boundary between the mowed area and the area to be mowed. Wherein, the controlling the lawn mower to perform mowing work in the area to be mowed includes: Based on the boundary between the mowed area and the area to be mowed, control the lawn mower to travel to the position closest to the lawn mower on the boundary between the mowed area and the area to be mowed.

9. A control device for mowing, characterized in that, Applied to a lawn mower, the device includes: An acquisition module, configured to acquire a target image of a target area, where the target area is in front of the lawn mower. A determination module, configured to, when the target area includes a mowed area and an area to be mowed, determine a reference boundary between the mowed area and the area to be mowed based on the target image. The determination module is further configured to determine a target path based on the reference boundary and a preset working spacing of the lawn mower. A control module, configured to control the lawn mower to perform mowing work based on the target path.

10. 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, the method according to any one of claims 1 to 8 is implemented.

11. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, the method according to any one of claims 1 to 8 is implemented.

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