Self-moving mower

Abstract

A self-moving mower, comprising: a mower body; a traveling wheel assembly, which is configured to support the mower body and drive the self-moving mower to travel; a blade assembly, which is operably attached to the mower body and is configured to cut grass; and a controller, which comprises a processor and a memory, and controls a traveling route of the self-moving mower, wherein the controller is configured to: on the basis of current position information of the self-moving mower, set a region in a preset shape as a first cutting region; set as a second cutting region a region that is in the preset shape and is adjacent to the first cutting region, the second cutting region sharing a common edge with the first cutting region; control the self-moving mower to travel in the first cutting region, so as to cut grass in the first cutting region; and after the self-moving mower finishes cutting the grass in the first cutting region, control the self-moving mower to travel in the second cutting region, so as to cut grass in the second cutting region.

Description

Self-moving mower

[0001] This application claims priority to Chinese Patent Application No. 202410449100.6, filed on April 12, 2024, Chinese Patent Application No. 202410444510.1, filed on April 12, 2024, Chinese Patent Application No. 202410444869.9, filed on April 12, 2024, and Chinese Patent Application No. 202410450707.6, filed on April 12, 2024, the contents of all of which are incorporated herein by reference in their entirety. TECHNICAL FIELD

[0002] The present application relates to the field of navigation of mowers, for example to a self-moving mower. BACKGROUND

[0003] Mowing robots are increasingly widely used in garden maintenance, and can automatically mow and charge in a user's lawn. Such self-moving devices can free users from tedious and time-consuming household chores such as cleaning and lawn maintenance.

[0004] There are many problems with the automatic navigation of current self-moving mowers, such as low work efficiency due to the navigation route, low coverage of grass cutting, deep ruts due to walking along the boundary line from the same path, and inability to accurately identify accurate signals when there are interference signals.

[0005] This section provides background information relating to the present application, which can not necessarily be prior art. SUMMARY

[0006] It is an object of the present application to solve or at least reduce some or all of the above problems. To this end, it is an object of the present application to provide a self-moving mower to improve the mowing efficiency of the self-moving mower.

[0007] According to an aspect of the present application, a self-moving mower is provided, comprising: a machine body; a walking wheel assembly configured to support the machine body and drive the self-moving mower to walk; a blade assembly operatively attached to the machine body and configured to cut grass; a controller comprising a processor and a memory, the controller being configured to control a walking route of the self-moving mower, the controller being configured to: set a preset shape region as a first cutting region according to current position information of the self-moving mower; set a preset shape region adjacent to the first cutting region as a second cutting region, the second cutting region sharing a common edge with the first cutting region; control the self-moving mower to walk in the first cutting region to cut grass in the first cutting region; and control the self-moving mower to walk in the second cutting region to cut grass in the second cutting region after the self-moving mower finishes cutting the grass in the first cutting region.

[0008] Optionally, the preset shape is a square or a regular hexagon.

[0009] Optionally, a side length of the preset shape is less than or equal to 15 m.

[0010] Optionally, in the first cutting region and / or the second cutting region, the self-moving mower walks in an "arch" shape to cut the grass.

[0011] Optionally, in the first cutting region and / or the second cutting region, the self-moving mower walks in a "turn" shape to cut the grass.

[0012] Optionally, in the first cutting region and / or the second cutting region, the self-moving mower walks in a random route to cut the grass.

[0013] Optionally, the controller is further configured to: in the first cutting region and / or the second cutting region, control the self-moving mower to acquire a boundary signal during walking; and control the self-moving mower to walk within a boundary line according to the boundary signal.

[0014] Optionally, the boundary line is a pre-buried boundary line.

[0015] Optionally, after the self-moving mower finishes cutting the grass in the first cutting region, and before the self-moving mower is controlled to walk in the second cutting region to cut the grass in the second cutting region, the controller is further configured to: acquire a coordinate set of a walking track of the self-moving mower in the first cutting region, and acquire a walking time of the self-moving mower in the first cutting region; and determine whether the self-moving mower finishes cutting the grass in the first cutting region according to the coordinate set and / or the walking time.

[0016] Optionally, the controller is further configured to: obtain a first distance between the self-moving mower and the second cutting area during the process of controlling the self-moving mower to move from the first cutting area to the second cutting area; determine whether the first distance is less than a first preset distance; if yes, determine that the self-moving mower has moved to the second cutting area; if no, determine that the self-moving mower has not moved to the second cutting area.

[0017] The self-moving mower provided in the application is based on the basic structure of the body, the walking wheel assembly, the blade assembly, the controller, etc., and the controller is configured to divide the grassland area into multiple cutting areas, and set the first cutting area where the self-moving mower currently locates adjacent to the second cutting area to be cut next. When the self-moving mower is controlled to cut the grass, the self-moving mower is first controlled to cut the grass in the first cutting area, and then the grass in the second cutting area is cut after the cutting of the grass in the first cutting area is completed. Therefore, the coverage rate of the cutting of the grass in the grassland area is high, and the cutting efficiency of the self-moving mower is effectively improved.

[0018] According to another aspect of the application, a self-moving mower is provided, comprising: a body; a walking wheel assembly configured to support the body and drive the self-moving mower to move; a blade assembly operatively attached to the body and configured to cut grass; a signal receiving assembly configured to receive a boundary signal emitted by a boundary line; a controller comprising a processor and a memory, the controller being configured in the body and electrically connected to the signal receiving assembly, and controlling the self-moving mower to move along the boundary line according to at least the boundary signal provided by the signal receiving assembly; the controller is configured to: obtain an actual measurement value of the boundary signal; obtain a target distance between the self-moving mower and the boundary line; obtain relevant parameters of the boundary line; calculate a target intensity of the boundary signal according to the target distance and the relevant parameters of the boundary line; and control the self-moving mower to move along the boundary line according to the actual measurement value of the boundary signal and the target intensity.

[0019] Optionally, the controller controls the self-moving mower to walk along the boundary line according to the actual measurement value of the boundary signal and the target intensity, including: obtaining an actual intensity of the boundary signal according to the actual measurement value; determining whether the actual intensity is less than the target intensity; if it is determined that the actual intensity is less than the target intensity, controlling the self-moving mower to walk towards the direction close to the boundary line; if it is determined that the actual intensity is not less than the target intensity, determining whether the actual measurement value is greater than a target measurement value; if it is determined that the actual intensity is greater than the target intensity, controlling the self-moving mower to walk towards the direction away from the boundary line; if it is determined that the actual intensity is equal to the target intensity, controlling the self-moving mower to walk along the direction parallel to the boundary line.

[0020] Optionally, the related parameter of the boundary line includes a burying depth of the boundary line.

[0021] Optionally, the controller calculates the target intensity of the boundary signal according to the target distance and the related parameter of the boundary line, including: obtaining a first vertical distance between the signal receiving component and the ground; determining an effective vertical distance between the signal receiving component and the boundary line as a sum of the first vertical distance and a burying depth of the boundary line; determining the target intensity of the boundary signal according to the effective vertical distance and the target distance.

[0022] Optionally, the controller obtains the actual intensity of the boundary signal according to the actual measurement value, including: determining the actual intensity of the boundary signal according to the actual measurement value based on a preset relationship between the magnetic field intensity and the measurement value.

[0023] Optionally, the controller obtains the target distance between the self-moving mower and the boundary line, including: obtaining a preset distance set by a user; and determining the preset distance as the target distance between the self-moving mower and the boundary line.

[0024] Optionally, the controller obtains the target distance between the self-moving mower and the boundary line, including: obtaining a preset distance range set by a user; and randomly determining a distance value in the preset distance range as the target distance between the self-moving mower and the boundary line.

[0025] Optionally, in the process of controlling the self-moving mower to walk along the boundary line, the controller is further configured to: determine whether there is a conflict boundary signal according to the actual measurement value of the boundary signal; if not, return to the step of obtaining the actual measurement value of the boundary signal.

[0026] Optionally, the controller is further configured to: if it is determined that there is a conflict boundary signal according to the actual measurement value of the boundary signal, send a conflict alarm signal.

[0027] Optionally, the controller controls the self-moving mower to walk along the boundary line according to the actual measurement value of the boundary signal and the target intensity, including: controlling the self-moving mower to return to the charging pile along the boundary line according to the actual measurement value of the boundary signal and the target intensity.

[0028] The self-moving mower provided by the application has the basic structure of a machine body, a walking wheel assembly, a blade assembly, a signal receiving assembly, and a controller. The controller can obtain the actual measurement value of the boundary signal, the target distance between the self-moving mower and the boundary line, and the related parameters of the boundary line during walking, and calculate the target intensity of the boundary signal according to the target distance and the related parameters of the boundary line. Therefore, the self-moving mower can be controlled to walk along the boundary line according to the actual measurement value of the boundary signal and the target intensity, which can improve the navigation accuracy of the self-moving mower when walking along the boundary line. In the application scenario of the self-moving mower walking along the boundary line, the target distance between the self-moving mower and the boundary line can be different each time the self-moving mower walks along the boundary line, which can effectively prevent ruts from being pressed on the lawn due to multiple walks along the same trajectory, thereby avoiding affecting the aesthetics of the lawn.

[0029] According to another aspect of the application, a self-moving mower is provided, including: a machine body; a walking wheel assembly configured to support the machine body and drive the self-moving mower to walk; a blade assembly operatively attached to the machine body and configured to cut grass; a positioning module configured to obtain position information of the self-moving mower; a controller including a processor and a memory, the controller being configured in the machine body and electrically connected to the positioning module, and controlling a walking route of the self-moving mower; the controller is configured to: control the self-moving mower to walk randomly in a working area, obtain and record a walking track of the self-moving mower; when a walking distance of the self-moving mower reaches a preset distance, or when a working time of the self-moving mower reaches a preset time, obtain an offset parameter of the positioning module according to the walking track and coordinate information of the working area; correct the walking track according to the offset parameter; and determine a mowing coverage rate of the self-moving mower in the working area according to the corrected walking track and the coordinate information of the working area.

[0030] Optionally, after determining the mowing coverage rate of the self-moving mower in the working area according to the modified walking track and the coordinate information of the working area, the controller is further configured to: determine whether the mowing coverage rate exceeds a preset coverage rate; if yes, control the self-moving mower to walk to the next working area; and return to execute the step of controlling the self-moving mower to randomly walk in the working area and acquiring and recording the walking track of the self-moving mower; if no, directly return to execute the step of controlling the self-moving mower to randomly walk in the working area and acquiring and recording the walking track of the self-moving mower.

[0031] Optionally, the offset parameter comprises an offset vector.

[0032] Optionally, the working area is defined by a boundary line; and the controller controlling the self-moving mower to randomly walk in the working area comprises: controlling the self-moving mower to walk in a straight line in the working area in a current walking direction; determining that the self-moving mower reaches the boundary line; controlling the walking direction of the self-moving mower to rotate a random angle; and returning to execute the step of controlling the self-moving mower to walk in a straight line in the working area in the current walking direction.

[0033] Optionally, the self-moving mower further comprises a signal receiving component configured to receive a boundary signal emitted by the boundary line; and the controller is further configured to: acquire the boundary signal provided by the signal receiving component during the process of controlling the self-moving mower to walk; and determine whether the self-moving mower reaches the boundary line according to the boundary signal.

[0034] Optionally, the controller acquiring and recording the walking track of the self-moving mower comprises: acquiring position information provided by the positioning module during the process of controlling the self-moving mower to randomly walk in the working area; and acquiring and recording the walking track of the self-moving mower according to the position information.

[0035] Optionally, the controller acquires the offset parameter of the positioning module according to the walking track and the coordinate information of the working area when the walking distance of the self-moving mower reaches a preset distance or when the working time of the self-moving mower reaches a preset time, comprising: pre-processing the position information of the walking track when the walking distance of the self-moving mower reaches the preset distance or when the working time of the self-moving mower reaches the preset time; and acquiring the offset parameter of the positioning module according to the pre-processed position information, the walking track and the coordinate information of the working area.

[0036] Optionally, the controller pre-processes the position information of the walking trajectory, including: obtaining first position information of the self-moving mower at a first time and second position information when moving to a second time; the first time and the second time are adjacent position information sampling times of the positioning module; determining whether the distance difference between the first position information and the second position information is greater than a preset distance difference; if yes, the second position information is excluded from the position information.

[0037] Optionally, the controller is further configured to: if it is determined that the distance difference between the first position information and the second position information is less than or equal to the preset distance difference, the current second time is determined as the first time, and the current second position information is determined as the first position information; and returning to the step of obtaining the first position information of the self-moving mower at the first time and the second position information when moving to the second time.

[0038] Optionally, the positioning module includes a GPS.

[0039] The self-moving mower provided in the application has a body, a walking wheel assembly, a blade assembly, a positioning module, and a controller, and the controller is configured to obtain and record the walking trajectory of the self-moving mower during walking, and when the walking distance of the self-moving mower reaches a preset distance or the working time of the self-moving mower reaches a preset time, the controller obtains the offset parameter of the positioning module according to the walking trajectory and the coordinate information of the working area, so that the walking trajectory can be corrected according to the offset parameter, and then the coverage rate of the self-moving mower in the working area is determined according to the corrected walking trajectory and the coordinate information of the working area, which can improve the accuracy of the mowing coverage rate to make the final mowing coverage rate meet the user's expectation value.

[0040] According to another aspect of the application, a self-moving mower is provided, including: a body; a walking wheel assembly configured to support the body and drive the self-moving mower to walk; a blade assembly operatively attached to the body and configured to cut grass; a signal receiving assembly configured to receive a boundary signal emitted by a boundary line; a controller including a processor and a memory, the controller being configured in the body and electrically connected with the signal receiving assembly, and controlling the self-moving mower to walk at least according to the boundary signal; the controller is configured to: count the time interval of the boundary signal received by the signal receiving assembly; determine the boundary line conflict situation according to at least the statistical result of the time interval; and control the self-moving mower to walk according to the boundary signal when the boundary line conflict situation is that there is no boundary line conflict.

[0041] Optionally, the controller determines the boundary line conflict situation according to at least the statistical result of the time intervals, including: judging whether the average time interval of each of the time intervals is less than a first preset time interval; if yes, determining that the boundary line conflict situation is that there is a boundary line conflict; if no, determining that the boundary line conflict situation is that there is no boundary line conflict.

[0042] Optionally, the controller determines the boundary line conflict situation according to at least the statistical result of the time intervals, including: judging whether the mode time interval of each of the time intervals is less than a second preset time interval; if yes, determining that the boundary line conflict situation is that there is a boundary line conflict; if no, determining that the boundary line conflict situation is that there is no boundary line conflict.

[0043] Optionally, the signal receiving assembly includes a plurality of signal receivers; and the controller determines the boundary line conflict situation according to at least the statistical result of the time intervals, and further includes: obtaining the boundary line conflict situation according to the statistical result of the time intervals and the state switching situation of each of the boundary signals.

[0044] Optionally, the controller obtains the boundary line conflict situation according to the statistical result of the time intervals and the state switching situation of each of the boundary signals, including: when the boundary line conflict situation is determined to be that there is no boundary line conflict according to the statistical result of the time intervals, determining the boundary line conflict situation according to the state switching situation of each of the boundary signals.

[0045] Optionally, the signal receiving assembly includes a plurality of signal receivers configured to receive boundary signals, and each of the signal receivers is located at a different position of the self-moving mower; and the controller determines the boundary line conflict situation according to the state switching situation of each of the boundary signals, including: when the state of each of the boundary signals is simultaneously switched from a region-internal signal to a region-external signal, determining that there is a boundary line conflict; or when the state of each of the boundary signals is simultaneously switched from a region-external signal to a region-internal signal, determining that there is a boundary line conflict.

[0046] Optionally, the signal receiving assembly comprises a first signal receiver located at the front right of the self-moving mower, a second signal receiver located at the back right of the self-moving mower, a third signal receiver located at the front left of the self-moving mower, and a fourth signal receiver located at the back left of the self-moving mower; the controller determines the boundary line conflict according to the state switching of each boundary signal, comprising: when the state of any three of the boundary signals simultaneously switches from the region internal signal to the region external signal, it is determined that there is a boundary line conflict; or, when the state of any three of the boundary signals simultaneously switches from the region external signal to the region internal signal, it is determined that there is a boundary line conflict.

[0047] Optionally, the first signal receiver receives a first boundary signal, the second signal receiver receives a second boundary signal, the third signal receiver receives a third boundary signal, and the fourth signal receiver receives a fourth boundary signal; the controller determines the boundary line conflict according to the state switching of each boundary signal, and further comprises: when the state of the first boundary signal and the second boundary signal simultaneously switches from the region internal signal to the region external signal, it is determined that there is a boundary line conflict; or, when the state of the third boundary signal and the fourth boundary signal simultaneously switches from the region internal signal to the region external signal, it is determined that there is a boundary line conflict.

[0048] Optionally, the controller determines the boundary line conflict according to the state switching of each boundary signal, and further comprises: when the state of any one of the boundary signals switches from the region internal signal to the region external signal, and the state of the other three boundary signals remains as the region internal signal, it is determined that there is no boundary line conflict.

[0049] Optionally, the controller determines the boundary line conflict according to the state switching of each boundary signal, and further comprises: when the state of the first boundary signal and the third boundary signal simultaneously switches from the region internal signal to the region external signal, and the state of the second boundary signal and the fourth boundary signal remains as the region internal signal, it is determined that there is no boundary line conflict; or, when the state of the second boundary signal and the fourth boundary signal simultaneously switches from the region internal signal to the region external signal, and the state of the first boundary signal and the third boundary signal remains as the region internal signal, it is determined that there is no boundary line conflict.

[0050] The self-moving mower provided in the application has a machine body, a walking wheel assembly, a blade assembly, a signal receiving assembly, a controller and the like basic structure, and the controller is configured to count the time interval of the boundary signal received by the signal receiving assembly, to determine the boundary line conflict situation according to at least the counting result of the time interval, and to control the self-moving mower to walk according to the boundary signal when the boundary line conflict situation is that there is no boundary line conflict, thereby improving the working efficiency of the self-moving mower. BRIEF DESCRIPTION OF DRAWINGS

[0051] Fig. 1 is a structural schematic diagram of a self-moving mower provided in an embodiment of the application;

[0052] Fig. 2 is a system control diagram of a self-moving mower provided in an embodiment of the application;

[0053] Fig. 3 is a flowchart of a configuration method in a controller provided in an embodiment of the application;

[0054] Fig. 4 is a schematic diagram of a grassland area provided in an embodiment of the application;

[0055] Fig. 5 is a schematic diagram of another grassland area provided in an embodiment of the application;

[0056] Fig. 6 is a walking schematic diagram of a self-moving mower in a first cutting area provided in an embodiment of the application;

[0057] Fig. 7 is a walking schematic diagram of another self-moving mower in a first cutting area provided in an embodiment of the application;

[0058] Fig. 8 is a walking schematic diagram of still another self-moving mower in a first cutting area provided in an embodiment of the application;

[0059] Fig. 9 is a walking schematic diagram of still another self-moving mower in a first cutting area provided in an embodiment of the application;

[0060] Fig. 10 is a flowchart of another configuration method in a controller provided in an embodiment of the application;

[0061] Fig. 11 is a system control diagram of another self-moving mower provided in an embodiment of the application;

[0062] Fig. 12 is a flowchart of a configuration method in a controller provided in an embodiment of the application;

[0063] Fig. 13 is a flowchart of another configuration method in a controller provided in an embodiment of the application;

[0064] Fig. 14 is a positional relationship diagram of a boundary line and a signal receiving assembly provided in an embodiment of the application;

[0065] Fig. 15 is a flow chart of another method for configuring a controller according to an embodiment of the present application;

[0066] Fig. 16 is a flow chart of a method for configuring a controller according to an embodiment of the present application;

[0067] Fig. 17 is a schematic diagram of a working area according to an embodiment of the present application;

[0068] Fig. 18 is a schematic diagram of a mowing coverage deviation according to an embodiment of the present application;

[0069] Fig. 19 is a flow chart of another method for configuring a controller according to an embodiment of the present application;

[0070] Fig. 20 is a schematic diagram of another working area according to an embodiment of the present application;

[0071] Fig. 21 is a flow chart of a method for configuring a controller according to an embodiment of the present application;

[0072] Fig. 22 is a schematic diagram of a scenario when multiple users are using according to an embodiment of the present application;

[0073] Fig. 23 is a flow chart of another method for configuring a controller according to an embodiment of the present application;

[0074] Fig. 24 is a flow chart of yet another method for configuring a controller according to an embodiment of the present application;

[0075] Fig. 25 is a histogram of time interval statistics of boundary signals when a single charging pile is used according to an embodiment of the present application;

[0076] Fig. 26 is a histogram of time interval statistics of boundary signals when multiple charging piles are used according to an embodiment of the present application;

[0077] Fig. 27 is a flow chart of yet another method for configuring a controller according to an embodiment of the present application;

[0078] Fig. 28 is a state diagram of boundary signals when a single charging pile is used according to an embodiment of the present application;

[0079] Fig. 29 is a state diagram of boundary signals when multiple charging piles are used according to an embodiment of the present application. DETAILED DESCRIPTION

[0080] In order to enable persons skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by persons skilled in the art without creative labor should fall within the scope of protection of the present application.

[0081] Before any embodiments of the application are explained in detail, it is to be understood that the application is not limited in its application to the details of construction and the arrangement of components set forth in the following description or illustrated in the above-described drawings. It is being contemplated that the application can be implemented in other embodiments that do not depart from the spirit and scope of the claimed application.

[0082] In this application, the terms "include", "comprise", "have", or any other variant thereof are intended to cover a non-exclusive inclusion, such that processes, methods, articles, or apparatuses that include a series of elements are not limited to those elements, but can include other elements not expressly listed or inherent to such processes, methods, articles, or apparatuses. Without further limitation, an element defined by the phrase "comprising a" does not exclude the existence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0083] In this application, the term "and / or", is a descriptive association relationship of associated objects, which means that there can be three kinds of relationships. For example, A and / or B, can represent the three cases of A alone, A and B together, and B alone. In addition, the character " / " in this application generally represents a "and / or" relationship between the front and rear associated objects.

[0084] In this application, the terms "connect", "combine", "couple", "mount" can be direct connection, combination, coupling or mounting, or indirect connection, combination, coupling or mounting. Among them, direct connection refers to the connection of two parts or components without the need for an intermediate part, and indirect connection refers to the connection of two parts or components with at least one intermediate part. In addition, "connection" and "coupling" are not limited to physical or mechanical connection or coupling, and can include electrical connection or coupling.

[0085] In this application, those of ordinary skill in the art will understand that relative terms used in connection with quantities or conditions (for example, "about", "approximately", "substantially" and the like) include the values described and have the meaning indicated by the context. For example, the relative terms at least include the degree of error related to the measurement of a specific value, the tolerance caused by manufacturing, assembly, use, etc. related to a specific value. Such terms should also be considered to disclose the range defined by the absolute values of the two endpoints. The relative term can refer to a certain percentage (for example, 1%, 5%, 10% or more) of the indicated value. The numerical value without the relative term should also be disclosed as a specific value with a tolerance. In addition, "substantially" when expressing the relative angular positional relationship (for example, substantially parallel, substantially perpendicular), can refer to a certain degree (for example, 1 degree, 5 degrees, 10 degrees or more) added or subtracted from the indicated angle.

[0086] In the present application, it will be understood by those skilled in the art that the functions performed by a component can be performed by one component, multiple components, one part, or multiple parts. Similarly, the functions performed by a part can also be performed by one part, one component, or a combination of multiple parts.

[0087] In the present application, the terms "upper", "lower", "left", "right", "front", "back", and the like are described in the orientation and positional relationship shown in the drawings, and should not be understood as limiting the embodiments of the present application. In addition, it should also be understood in the context that when referring to one element connected to another element "on" or "under", it can not only be directly connected to another element "on" or "under", but also indirectly connected to another element "on" or "under" through an intermediate element. It should also be understood that the terms "upper", "lower", "left", "right", "front", "back", and the like not only represent the positive direction, but also can be understood as the side direction. For example, the lower side can include the directly below, left below, right below, front below, and back below, etc.

[0088] In the present application, the terms "controller", "processor", "central processing unit", "CPU", and "MCU" can be interchangeable. When a unit "controller", "processor", "central processing unit", "CPU", or "MCU" is used to perform a specific function, unless otherwise specified, the function can be performed by a single unit or multiple units.

[0089] In the present application, the terms "device", "module", or "unit" can be implemented in the form of hardware or software to achieve a specific function.

[0090] In the present application, the terms "calculate", "determine", "control", "determine", "identify", and the like refer to the operations and processes of a computer system or similar electronic computing device (e.g., controller, processor, etc.).

[0091] FIG. 1 is a structural schematic diagram of a self-moving mower according to an embodiment of the present application, which can be used by a user to sit or stand on to control for mowing lawns and other vegetation. In the present specification, the directions of front, back, left, right, up and down are described as the directions shown in FIG. 1. For example, when a user sits on the self-moving mower 10 on the ground, the direction facing the user is defined as the front direction, the direction facing away from the user is defined as the back direction, the left-hand direction is defined as the left direction, the right-hand direction is defined as the right direction, the direction close to the ground is defined as the lower direction, and the direction away from the ground is defined as the upper direction.

[0092] Figure 2 is a system control diagram of a self-moving mower provided by an embodiment of the present application. In combination with reference to Figures 1 and 2, the self-moving mower 10 comprises a machine body 11; a walking wheel assembly 12 configured to support the machine body and drive the self-moving mower 10 to walk; a blade assembly 13 operatively attached to the machine body 11 and configured to cut grass; and a controller 14 comprising a processor and a memory, the controller 14 being configured in the machine body 11 and controlling a walking route of the self-moving mower 10. The controller is specifically configured to implement a method of controlling the self-moving mower to walk, and Figure 3 is a flowchart of a method of configuring the controller provided by an embodiment of the present application. In combination with reference to Figures 1-3, the controller 14 is configured to:

[0093] S110, set a region of a preset shape according to current position information of the self-moving mower as a first cutting region.

[0094] For example, the self-moving mower 10 can further be provided with a positioning module 15 configured to obtain position information of the self-moving mower 10 and send the obtained position information to the controller 14. In this way, the controller 14 can obtain the position information of the self-moving mower 10 through the positioning module 15. The position information can be coordinates that can reflect the position of the self-moving mower 10. The controller 14 can determine a region of a preset shape as a first cutting region according to current position information of the self-moving mower 10 before cutting the grass. Figure 4 is a schematic diagram of a grassland region provided by an embodiment of the present application. As shown in Figure 4, in the grassland region A1, the current position of the self-moving mower 10 is point Q1, and the position information of point Q1 can be used as a vertex of a preset shape, so that the first cutting region B1 can be determined according to the current position information of the self-moving mower 10. Alternatively, Figure 5 is another schematic diagram of a grassland region provided by an embodiment of the present application. As shown in Figure 5, the position information of the position Q1 where the self-moving mower 10 is located can be used as a center point of a preset shape, so that the first cutting region B1 of the preset shape can be determined according to the center point.

[0095] It can be understood that the present application only exemplarily shows the case of determining the first cutting region by using the current position information of the self-moving mower 10 as a vertex or a center point of a preset shape. In other feasible embodiments of the present application, the current position information of the self-moving mower 10 can also be other position points in the preset shape, or can be position points outside the preset shape and having a preset positional relationship with the preset shape, and the first cutting region of the preset shape can also be determined according to the current position information of the self-moving mower 10.

[0096] S120, set a region of a preset shape adjacent to the first cutting region as a second cutting region.

[0097] The second cutting area shares a common edge with the first cutting area.

[0098] For example, after the first cutting area B1 is determined, the area in which the grass is to be cut after the cutting of the grass in the first cutting area B1 is completed can be set as the second cutting area B2. The second cutting area B2 can share a common edge with the first cutting area B1 for forming the shape of the area, that is, the second cutting area B2 can be an area of a preset shape adjacent to the first cutting area B1.

[0099] S130, controlling the self-moving mower to walk in the first cutting area to cut the grass in the first cutting area.

[0100] S140, after the self-moving mower completes the cutting of the grass in the first cutting area, controlling the self-moving mower to walk in the second cutting area to cut the grass in the second cutting area.

[0101] For example, after the first cutting area B1 is determined and the second cutting area B2 is set, the walking wheel assembly can be controlled to walk to drive the self-moving mower 10 to walk in the first cutting area B1 to cut the grass in the first cutting area B1. After the cutting of the grass in the first cutting area B1 is completed, the self-moving mower can be controlled to move to the second cutting area B2 to cut the grass in the second cutting area B2. In this way, the grassland area A1 can be divided into multiple cutting areas, so that the self-moving mower 10 cuts the grass in one cutting area and then cuts the grass in the next cutting area, which can improve the coverage of the cutting of the grass in the grassland area A1 and effectively improve the cutting efficiency of the self-moving mower 10.

[0102] For example, after the self-moving mower 10 walks to the second cutting area B2, the second cutting area B2 in which the self-moving mower 10 is currently located can be determined as the first cutting area B1, and the step of setting the area of a preset shape adjacent to the first cutting area B1 as the second cutting area B2 is returned. In this way, after the cutting of the grass in the current area is completed, the self-moving mower 10 can continue to walk to the next cutting area to cut the grass, until the cutting of the grass in the entire grassland area A1 is completed, and the self-moving mower 10 can stop working to cut the grass.

[0103] The self-moving mower provided by the embodiments of the present application is based on the basic structure of the body, the walking wheel assembly, the blade assembly, the controller and the like, and the controller is configured to divide the grassland area into multiple cutting areas, and the first cutting area where the self-moving mower currently locates is adjacent to the second cutting area to be cut next. When the self-moving mower is controlled to cut the grass, the self-moving mower is first controlled to cut the grass in the first cutting area, and then the grass in the second cutting area is cut after the cutting of the grass in the first cutting area is completed. Therefore, the coverage of the cutting of the grass in the grassland area is improved, and the cutting efficiency of the self-moving mower is effectively improved.

[0104] With reference to FIG. 4, in an embodiment, the controller can be further configured to, on the basis of the above method, control the self-moving mower 10 to obtain a boundary signal during walking in the first cutting area B1 and / or the second cutting area B2, and control the self-moving mower 10 to walk in the boundary line 20 according to the boundary signal.

[0105] The boundary line 20 can be a pre-buried boundary line, and can emit a periodic electromagnetic signal as the boundary signal. The self-moving mower can further include a signal receiving assembly configured to receive the boundary signal sent by the boundary line and send the boundary signal to the controller. The controller can determine whether the self-moving mower 10 is in the grassland area A1 according to the boundary signal, and can control the self-moving mower 10 to walk in the boundary line 20 according to the boundary signal when the self-moving mower 10 is controlled to walk in the current cutting area, so as to avoid unnecessary work caused by walking of the self-moving mower out of the grassland area A1.

[0106] Optionally, with reference to FIG. 4, the preset shape can be a square, i.e., each cutting area divided in the grassland area is a square. Alternatively, with reference to FIG. 5, the preset shape can also be a regular hexagon, i.e., each cutting area divided in the grassland area is a regular hexagon.

[0107] Optionally, with reference to FIG. 4 or FIG. 5, the side length of the preset shape is less than or equal to 15 m. Optionally, the side length of the preset shape is 10 m, 12 m or 15 m. In this way, the cutting area can not be too large, the cutting effect can be improved, the missed cutting can be reduced, and the self-moving mower can complete the cutting of the grass in the current first cutting area A1 in a short time.

[0108] Optionally, FIG. 6 is a schematic view of the self-moving mower walking in the first cutting area according to an embodiment of the present application, and FIG. 7 is a schematic view of another self-moving mower walking in the first cutting area according to an embodiment of the present application. As shown in FIG. 6, in the first cutting area, the self-moving mower walks in an "arch" shape to cut the grass. Similarly, in the second cutting area, the self-moving mower can also walk in an "arch" shape to cut the grass. In the figures, the arrow direction represents the walking direction of the self-moving mower.

[0109] Optionally, FIG. 8 is a schematic view of yet another self-moving mower walking in the first cutting area according to an embodiment of the present application. As shown in FIG. 8, in the first cutting area B1, the self-moving mower walks in a "loop" shape to cut the grass. Similarly, in the second cutting area, the self-moving mower can also walk in a "loop" shape to cut the grass. When the self-moving mower walks in a "loop" shape, it can walk in a "loop" shape from the edge to the center of the cutting area, or walk in a "loop" shape from the inside to the edge of the cutting area, which is not limited in the present application.

[0110] Optionally, FIG. 9 is a schematic view of yet another self-moving mower walking in the first cutting area according to an embodiment of the present application. As shown in FIG. 9, in the first cutting area, the self-moving mower walks in a random route to cut the grass. Similarly, in the second cutting area, the self-moving mower can also walk in a random route to cut the grass.

[0111] Optionally, FIG. 10 is a flowchart of another configuration method of the controller according to an embodiment of the present application. In combination with FIGS. 1, 2, 4 and 10, the controller 14 is further configured to:

[0112] S210, setting a region of a preset shape as the first cutting area according to the current position information of the self-moving mower.

[0113] S220, setting a region of a preset shape adjacent to the first cutting area as the second cutting area, and the second cutting area and the first cutting area share a common edge.

[0114] S230, controlling the self-moving mower to walk in the first cutting area to cut the grass in the first cutting area.

[0115] S240, after the self-moving mower finishes cutting the grass in the first cutting area, obtaining a coordinate set of the walking track of the self-moving mower in the first cutting area, and obtaining the walking time of the self-moving mower in the first cutting area.

[0116] S250, determining whether the self-moving mower has completed cutting the grass in the first cutting area according to the coordinate set and / or the walking time; if yes, executing step S260; if no, returning to execute step S230.

[0117] S260, controlling the self-moving mower to walk in the second cutting area to cut the grass in the second cutting area.

[0118] For example, during the walking of the self-moving mower 10 in the first cutting area B1, the controller 14 can continuously acquire the position information of the self-moving mower 10 through the positioning module 15, and record and store the coordinate set of the walking track of the self-moving mower 10. In this way, the coordinate set can be compared with the coordinate set of the first cutting area B1 to determine whether the grass cutting coverage rate of the self-moving mower 10 in the first cutting area B1 reaches the target coverage rate. When it is determined that the grass cutting coverage rate reaches the target coverage rate, it is determined that the cutting of the grass in the first cutting area B1 is completed, and the self-moving mower 10 is controlled to walk to the second cutting area B2 to cut the grass in the second cutting area B2. If it is determined that the grass cutting coverage rate does not reach the target coverage rate, the self-moving mower 10 is controlled to continue walking in the first cutting area B1 until it is determined that the grass cutting coverage rate reaches the target coverage rate, and then the self-moving mower 10 is controlled to switch the cutting area.

[0119] During the walking of the self-moving mower 10 in the first cutting area B1, the controller 14 can also record the walking time of the self-moving mower 10 in the first cutting area B1. When the walking time reaches the set time, it is determined that the cutting of the grass in the first cutting area B1 is completed, and the self-moving mower 10 is controlled to walk to the second cutting area B2 to cut the grass in the second cutting area B2.

[0120] In a feasible embodiment, whether the cutting of the grass in the first cutting area B1 is completed can be determined according to both the coordinate set and the walking time of the self-moving mower 10. For example, when it is determined that the grass cutting coverage rate of the first cutting area B1 reaches the target coverage rate according to the coordinate set, and the walking time of the self-moving mower 10 in the first cutting area B1 reaches the set time, it is determined that the cutting of the grass in the first cutting area B1 is completed, and the self-moving mower 10 is controlled to switch from the first cutting area B1 to the second cutting area B2 to cut the grass. In this way, the detection accuracy of the grass cutting coverage rate can be improved, so that the grass cutting coverage rate in the current cutting area meets the user's demand, and thus the grass cutting coverage rate in the entire grassland area meets the user's demand.

[0121] When the self-moving mower 10 switches the cutting area, it can also detect whether the self-moving mower 10 successfully completes the switching of the cutting area.

[0122] For example, during the process of controlling the self-moving mower to move from the first cutting area to the second cutting area, the first distance between the self-moving mower and the second cutting area can be obtained; it is determined whether the first distance is less than the first preset distance; if yes, it is determined that the self-moving mower has moved to the second cutting area; if no, it is determined that the self-moving mower has not moved to the second cutting area.

[0123] For example, the current position coordinate of the self-moving mower 10 and the area coordinate of the second cutting area B2 can be distance calculated to obtain the first distance between the self-moving mower 10 and the second cutting area B2. The area coordinate of the second cutting area B2 can be the coordinates of each vertex of the second cutting area B2. When it is determined that the first distance is less than the first preset distance, it is determined that the self-moving mower has moved to the second cutting area B2, and the self-moving mower 10 can be controlled to perform the grass cutting work in the second cutting area B2. Conversely, if it is determined that the first distance is greater than or equal to the first preset distance, it is determined that the self-moving mower has not moved to the second cutting area B2, and the self-moving mower 10 can continue to move to the second cutting area B2 until the first distance is less than the first preset distance, and then the self-moving mower 10 is controlled to perform the grass cutting work in the second cutting area B2.

[0124] Referring to FIG. 4 or FIG. 5, it can be assumed that the cutting area having a common edge with the first cutting area B1 is the third cutting area B3. In a possible embodiment, after it is determined that the first distance is less than the first preset distance, the second distance between the self-moving mower and each third cutting area B3 can be obtained, and it is determined whether each second distance is greater than the second preset distance. If it is determined that each second distance is greater than the second preset distance, it is determined that the self-moving mower has moved to the second cutting area B2. In this way, the accuracy of the self-moving mower 10 switching the cutting area can be further improved.

[0125] The embodiment of the present application further provides another self-moving mower. FIG. 11 is a system control diagram of another self-moving mower provided by the embodiment of the present application. In combination with FIGS. 1 and 11, the self-moving mower 10 comprises a body 11; a walking wheel assembly 12 configured to support the body and drive the self-moving mower 10 to walk; a blade assembly 13 operatively attached to the body 11 and configured to cut grass; a signal receiving assembly 16 configured to receive a boundary signal emitted by a boundary line; and a controller 14 comprising a processor and a memory, which is configured in the body 11 and electrically connected to the signal receiving assembly 16, and controls the self-moving mower 10 to walk along the boundary line according to at least the boundary signal provided by the signal receiving assembly. The controller 14 is specifically configured to implement a method for controlling the self-moving mower to walk. FIG. 12 is a flowchart of a method for configuring the controller. In combination with FIGS. 1, 11 and 12, the controller 14 is further configured to:

[0126] S310, obtaining an actual measurement value of the boundary signal.

[0127] For example, the boundary signal transmitted by the boundary line can be a magnetic field intensity signal. The signal receiving assembly 16 can convert the detected magnetic field intensity signal into a corresponding detection signal and transmit the detection signal to the controller 14 as the actual measurement value of the boundary signal. In this way, the actual measurement value provided to the controller 14 can conform to the recognition ability of the controller 14, so that the controller 14 can recognize and receive the actual measurement value and determine the actual intensity of the boundary signal according to the received actual measurement value.

[0128] S320, obtaining a target distance between the self-moving mower and the boundary line.

[0129] For example, the target distance of the self-moving mower can be a default distance stored in the memory or a preset distance set by the user.

[0130] For example, when obtaining the target distance between the self-moving mower and the boundary line, the preset distance set by the user can be obtained, and the preset distance is determined as the target distance between the self-moving mower and the boundary line.

[0131] Alternatively, in a possible embodiment, when obtaining the target distance between the self-moving mower and the boundary line, a preset distance range set by the user can be obtained; and a distance value in the preset distance range is randomly determined as the target distance between the self-moving mower and the boundary line. It can be understood that the preset distance is a positive number greater than zero, and therefore when the user sets the preset distance range, the maximum value of the preset distance range can be set, and when obtaining the target distance, a distance value in the preset distance range can be selected as the target distance between the self-moving mower and the boundary line. In this way, the setting procedure of the preset distance range can be simplified, and the selectable range of the preset distance can be increased.

[0132] S330, acquire the related parameters of the boundary line.

[0133] Exemplarily, the related parameters of the boundary line can include the setting length, position and other parameters of the boundary line. In an embodiment, the related parameters of the boundary line include the burying depth of the boundary line, i.e. the depth of the boundary line buried in the ground.

[0134] S340, calculate the target intensity of the boundary signal according to the target distance and the related parameters of the boundary line.

[0135] Exemplarily, the target intensity of the boundary signal can be calculated according to the target distance and the related parameters of the boundary line based on the calculation formula of the magnetic field intensity, so as to ensure that the actual intensity of the boundary signal acquired by the controller 14 is equal to the target intensity when the self-moving mower 10 keeps the preset distance from the boundary line during walking.

[0136] S350, control the self-moving mower to walk along the boundary line according to the actual measured value and the target intensity of the boundary signal.

[0137] Exemplarily, after the target intensity of the boundary signal is acquired, the target intensity can be compared with the actual intensity of the boundary signal corresponding to the actual measured value, and the self-moving mower is controlled to walk along the boundary line according to the comparison. In this way, the navigation accuracy of the self-moving mower when walking along the boundary line can be improved, and in the application scenario of the self-moving mower walking along the boundary line, the target distance of the self-moving mower from the boundary line can be set to be different each time the self-moving mower walks along the boundary line, which can effectively prevent the rut from being pressed on the lawn due to multiple times of walking along the same trajectory, so as to avoid affecting the aesthetics of the lawn.

[0138] In an embodiment, in the application scenario of the self-moving mower returning to the charging pile, the self-moving mower can be controlled to return to the charging pile along the boundary line according to the actual measured value and the target intensity of the boundary signal, so that the self-moving mower walks along the expected distance from the boundary line until it returns to the charging column, which can prevent the rut from being pressed on the lawn due to multiple times of walking along the same trajectory, so as to avoid affecting the aesthetics of the lawn.

[0139] The self-moving mower provided in the embodiments of the present application has a body, a walking wheel assembly, a blade assembly, a signal receiving assembly, and a controller, and the controller is configured to obtain an actual measurement value of a boundary signal, a target distance between the self-moving mower and a boundary line, and related parameters of the boundary line during walking, and calculate a target intensity of the boundary signal according to the target distance and the related parameters of the boundary line, so that the self-moving mower can be controlled to walk along the boundary line according to the actual measurement value and the target intensity of the boundary signal, the navigation accuracy of the self-moving mower when walking along the boundary line can be improved, and in the application scenario of the self-moving mower walking along the boundary line, the target distance between the self-moving mower and the boundary line can be set to be different each time the self-moving mower walks along the boundary line, so that the rut caused by multiple times of walking along the same trajectory on the lawn can be effectively prevented, and the aesthetic appearance of the lawn can be avoided from being affected.

[0140] Optionally, FIG. 14 is a flowchart of a configuration method of another controller provided in the embodiments of the present application, in combination with FIGS. 1, 11, and 13, the controller 14 is further configured to:

[0141] S411, obtaining an actual measurement value of a boundary signal.

[0142] S412, obtaining a target distance between the self-moving mower and a boundary line.

[0143] For example, FIG. 13 is a position relationship diagram of a boundary line and a signal receiving assembly provided in the embodiments of the present application, as shown in FIG. 13, the target distance between the self-moving mower and the boundary line is D0. The signal receiving assembly 16 can be arranged on one side of the self-moving mower 10 close to the boundary line 20, and the target distance between the signal receiving assembly 16 and the boundary line is D0, that is, the target distance between the self-moving mower and the boundary line is D0.

[0144] S413, obtaining related parameters of the boundary line.

[0145] The related parameters of the boundary line include the burying depth of the boundary line. The burying depth of the boundary line 20 is H1. It can be understood that the cross section of the boundary line 20 is shown in FIG. 13, the dashed line L1 is the ground, and the related parameters of the boundary line 20 can be stored in the memory and directly called in use.

[0146] S414, obtaining a first vertical distance between the signal receiving assembly and the ground.

[0147] For example, the first vertical distance H2 between the signal receiving assembly 16 and the ground L1 in FIG. 13 can be obtained by the positioning module 15 in the self-moving mower 10, or a distance measuring device can be arranged on the signal receiving assembly 16 to obtain the first vertical distance H2 between the signal receiving assembly 16 and the ground L1.

[0148] S415: Determine the sum of the first vertical distance and the buried depth of the boundary line as the effective vertical distance between the signal receiving component and the boundary line.

[0149] For example, the effective vertical distance H0 can be understood as the sum of the first vertical distance H2 and the buried depth H1 of the boundary line 20, that is, H0=H1+H2.

[0150] S416. Determine the target strength of the boundary signal according to the effective vertical distance and the target distance.

[0151] For example, the target strength B0 of the boundary signal can be determined based on the calculation formula of the magnetic field strength according to the effective vertical distance H0 and the target distance D0. The calculation formula of the magnetic field strength is: B0 = μ 0* D0*L / (2*π*R 2 ). In the formula, R 2 =H0 2 +D0 2 , B0 is the target strength of the boundary signal received by the signal receiving component 16, I is the current flowing through the boundary line 20, μ0 is the vacuum magnetic permeability, the current flowing through the charging pile I can be sent to the controller of the self-propelled lawn mower via wireless communication, and the vacuum magnetic permeability μ0 can be pre-stored in the memory as a relevant parameter of the boundary line 20.

[0152] S417: Obtain the actual strength of the boundary signal according to the actual measurement value.

[0153] For example, the actual strength of the boundary signal can be determined based on the actual measured value based on a preset relationship between the magnetic field strength and the measured value. The preset relationship between the magnetic field strength and the measured value can be Vsen = k*B0 + b. Parameters k and b can be calibrated using a large number of data fitting methods.

[0154] In another feasible embodiment, instead of measuring the buried depth H1 of the boundary line 20 and the first vertical distance H2 between the signal receiving component 16 and the ground L1, the effective vertical distance H0 between the signal receiving component and the boundary line can be calibrated using a test calibration method.

[0155] One calibration method is to set B = μ 0* I*D / (2*π*R 2 ) and R 2 =H0 2 +D 2 Substituting into the formula Vsen=k*B0+b, we can get Vsen′=μ0*D*k0 / [2*π*(H0 2 +D 2) + b is the calibration formula, where k0= I * k, D is the horizontal distance between the self-moving mower and the long straight boundary line, and the target distance D0 between the self-moving mower and the boundary line 20 is known, a most optimal long straight boundary line that meets the test conditions can be first selected, the self-moving mower is controlled to travel to the vicinity of the long straight boundary line, the forward direction of the self-moving mower is rotated to face the long straight boundary line, and the self-moving mower is controlled to travel to above the long straight boundary line, so that the signal receiving assembly of the self-moving mower is located above the boundary line (whether the signal receiving assembly is located above the boundary line can be determined by the actual measurement value of the boundary signal), after it is determined that the signal receiving assembly is located above the boundary line, the self-moving mower is controlled to slowly retreat, and the actual measurement value Vsen' of the boundary signal and the moving distance (i.e. the distance D between the self-moving mower and the long straight boundary line) during the retreat are recorded, so that multiple sets of actual measurement values Vsen' and moving distance values D can be recorded. Each set of data is substituted into the calibration formula to obtain multiple sets of relational expressions about H0, k0 and b. The values of H0, k0 and b can be estimated by an optimal method, and the empirical values and the estimated values of H0, k0 and b are subjected to error verification. If the error is less than or equal to a preset error, the estimated values of H0, k0 and b are determined as the corresponding values of each parameter, and if the error is greater than the preset error, the initial default values of H0, k0 and b are determined as the corresponding values of each parameter, so that the calibration of the effective vertical distance H0 between the signal receiving assembly and the boundary line can be realized.

[0156] Generally, the signal receiving assemblies are arranged on the left and right sides (the two sides along the forward direction) of the self-moving mower, and the parameters k and b are related to software design and hardware design, and the values can be pre-calibrated in theory. Based on this, another calibration method is to control the self-moving mower to walk along the boundary line, when the actual measurement values of the boundary signal received by the signal receiving assemblies on the left and right sides are close, it can be considered that the boundary line is located directly below the midpoint of the line connecting the signal receiving assemblies on the left and right sides at this time, and the distance D between the signal receiving assembly and the boundary line at this time is half of the distance between the signal receiving assemblies on the left and right sides. The distance D between the signal receiving assembly and the boundary line at this time and the actual measurement value of the boundary signal are substituted into the above calibration formula to determine the effective vertical distance H0 between the signal receiving assembly and the boundary line, so that the calibration of the effective vertical distance H0 between the signal receiving assembly and the boundary line can be realized.

[0157] S418, determining whether the actual intensity is less than the target intensity; if yes, performing step S419; if no, performing step S420.

[0158] S419, controlling the self-moving mower to walk towards the direction close to the boundary line.

[0159] Exemplarily, after the current actual intensity and the target intensity of the boundary signal are acquired, the actual intensity and the target intensity can be compared. If it is determined that the actual intensity is less than the target intensity, it indicates that the self-moving mower is far away from the boundary line, and the self-moving mower needs to be controlled to walk in the direction of approaching the boundary line, so that the distance between the self-moving mower and the boundary line is the set target distance.

[0160] S420, determining whether the actual intensity is greater than the target intensity; if yes, executing step S421; if no, executing step S422.

[0161] S421, controlling the self-moving mower to walk in the direction of moving away from the boundary line.

[0162] S422, controlling the self-moving mower to walk in the direction parallel to the boundary line.

[0163] Exemplarily, if it is determined that the actual intensity is greater than the target intensity, it indicates that the self-moving mower is close to the boundary line, and the self-moving mower needs to be controlled to walk in the direction of moving away from the boundary line, so that the distance between the self-moving mower and the boundary line is the set target distance. If it is determined that the actual intensity is equal to the target intensity, it indicates that the distance between the self-moving mower and the boundary line is the target distance, and at this time, the self-moving mower can be controlled to continue to walk in the direction parallel to the boundary line. In this way, the self-moving mower can always maintain the target distance from the boundary line during walking along the boundary line, which can ensure that the self-moving mower walks along the set route, and when the target distance between the self-moving mower and the boundary line is different each time the self-moving mower walks along the boundary line, it can effectively prevent ruts from being pressed on the lawn due to multiple walks along the same trajectory, thereby avoiding affecting the aesthetics of the lawn.

[0164] Optionally, FIG. 15 is a flowchart of a configuration method of another kind of controller provided by the embodiment of the application. In combination with FIGS. 1, 11 and 15, the controller 14 is further configured to:

[0165] S510, acquiring an actual measurement value of the boundary signal.

[0166] S520, acquiring a target distance between the self-moving mower and the boundary line.

[0167] S530, acquiring a related parameter of the boundary line.

[0168] S540, calculating a target intensity of the boundary signal according to the target distance and the related parameter of the boundary line.

[0169] S550, controlling the self-moving mower to walk along the boundary line according to the actual measurement value of the boundary signal and the target intensity.

[0170] S560, in the process of controlling the self-moving mower to walk along the boundary line, judging whether there is a conflict boundary signal according to the actual measurement value of the boundary signal; if yes, executing step S570; if no, returning to execute step S510.

[0171] S570, sending a conflict alarm signal.

[0172] For example, the self-moving mower can be configured with a charging pile alone, and the boundary signal is sent to the self-moving mower from the charging pile leading out of the boundary line. In the case of multi-user use, the same self-moving mower can receive the boundary signal from two or even multiple charging piles, and the boundary signal from other charging piles is the conflict boundary signal. Based on the above problem, in the process of controlling the self-moving mower to walk along the boundary line, it can also be judged whether there is a conflict boundary signal according to the actual measurement value of the boundary signal. For example, if the actual measurement value changes too much in a short time (for example, adjacent two sampling time points), it can be determined that there is a conflict boundary signal. When it is determined that there is a conflict boundary signal, a conflict alarm signal can be sent to prompt the user to take measures manually. If it is determined that there is no conflict boundary signal, the actual measurement value of the boundary signal can be returned to be re-acquired, the distance between the self-moving mower and the boundary line is monitored in real time, and the route control of the self-moving mower walking along the boundary line is realized. In this way, the boundary signal of other charging piles can be avoided to interfere with the walking route of the self-moving mower, and the accuracy of the walking route of the self-moving mower is ensured.

[0173] The self-moving mower provided by the embodiment of the application also has another structure which is substantially the same as the structure of the self-moving mower provided by the above-mentioned embodiments, that is, in combination with reference to FIG. 1 and FIG. 2, or in combination with reference to FIG. 1 and FIG. 11, the self-moving mower comprises a machine body 11; a walking wheel assembly 12 configured to support the machine body and drive the self-moving mower 10 to walk; a blade assembly 13 operatively attached to the machine body 11 and configured to cut grass; a positioning module 15 configured to acquire position information of the self-moving mower 10; and a controller 14 comprising a processor and a memory, the controller 14 being configured in the machine body 11 and electrically connected with the positioning module 15, and controlling the walking route of the self-moving mower 10. The controller 14 is specifically configured to implement a method for controlling the self-moving mower to walk, and FIG. 16 is a flow chart of a method for configuring the controller according to an embodiment of the application. In combination with reference to FIG. 1, FIG. 11 and FIG. 16, the controller 14 is further configured to:

[0174] S610, controlling the self-moving mower to walk randomly in the working area, and simultaneously acquiring and recording the walking track of the self-moving mower.

[0175] Exemplarily, in the present application, when the self-moving mower 10 is controlled to move to cut the grass in the working area, the self-moving mower 10 can be controlled to move in a random route, i.e., without setting a fixed moving route and moving mode.

[0176] Exemplarily, FIG. 17 is a schematic diagram of a working area according to an embodiment of the present application. As shown in FIG. 17, the working area A2 can be defined by the boundary line 20. The arrowed line in the figure represents the moving track of the self-moving mower, and the direction indicated by the arrow is the moving direction of the self-moving mower. When the self-moving mower is controlled to move randomly in the working area, the self-moving mower can be controlled to move in a straight line in the current moving direction in the working area. When it is determined that the self-moving mower reaches the boundary line, the moving direction of the self-moving mower is controlled to rotate a random angle, and then the self-moving mower moves in a straight line in the current moving direction again until it reaches the boundary line again, and the cycle is repeated. When the moving direction of the self-moving mower is controlled to rotate a random angle, for example, the self-moving mower is controlled to rotate in any direction into the working area A2, so as to ensure that the self-moving mower always moves in the working area.

[0177] With reference to FIG. 11, the self-moving mower 10 further comprises a signal receiving assembly 16 configured to receive the boundary signal emitted by the boundary line. In a feasible embodiment, during the process of controlling the self-moving mower to move, the boundary signal provided by the signal receiving assembly is acquired, and whether the self-moving mower reaches the boundary line is determined according to the boundary signal. For example, if the actual intensity of the boundary signal reaches the preset intensity, it can be determined that the self-moving mower has reached the boundary line, and at this time, the moving direction of the self-moving mower can be controlled to rotate a random angle.

[0178] During the process of controlling the self-moving mower to move randomly in the working area, the moving track of the self-moving mower can be acquired and recorded simultaneously. Exemplarily, during the process of controlling the self-moving mower to move randomly in the working area, the position information provided by the positioning module is acquired; and the moving track of the self-moving mower is acquired and recorded according to the position information, i.e., the moving track is a set of position information of the self-moving mower. The positioning module can comprise a GPS.

[0179] S620, when the moving distance of the self-moving mower reaches a preset distance, or the working time of the self-moving mower reaches a preset time, the offset parameter of the positioning module is acquired according to the moving track and the coordinate information of the working area.

[0180] For example, the position information detected by the positioning module may deviate from the actual position information of the self-moving mower. If the deviation is too large, it will result in a large error in the calculation of the mowing coverage of the working area, and thus the actual mowing area of the working area will not reach the expected mowing area. FIG. 18 is a diagram illustrating the deviation of the mowing coverage according to an embodiment of the present application. As shown in FIG. 18, the shaded area is the actual mowing area M1 of the self-moving mower, and the black frame area formed by the arrowed line represents the detected mowing area M2 of the self-moving mower by the positioning module. Due to the detection deviation of the positioning module, the detected mowing area M2 deviates from the actual mowing area M1 by a deviation M3. Based on the above technical problem, when the travel distance of the self-moving mower reaches a preset distance, the travel trajectory of the self-moving mower within the preset distance is obtained, and the travel trajectory within the preset distance is compared with the coordinate information of the working area to calculate the deviation between the working area and the area traversed by the travel trajectory, so that the deviation of the positioning module can be determined according to the deviation. The preset distance can be set to be long enough to achieve the target coverage of the grass cutting in the working area.

[0181] Alternatively, when the working time of the self-moving mower reaches a preset time, the travel trajectory of the self-moving mower within the preset time is obtained, and the travel trajectory within the preset time is compared with the coordinate information of the working area to calculate the deviation between the working area and the area traversed by the travel trajectory, so that the deviation of the positioning module can be determined according to the deviation. At this time, the preset time can be set to be long enough to achieve the target coverage of the grass cutting in the working area.

[0182] For example, the deviation parameter includes a deviation vector, and the deviation vector includes a deviation direction and a deviation amount, so that the deviation amount of the position information detected by the positioning module and the deviation parameter can be determined.

[0183] S630, correcting the travel trajectory according to the deviation parameter.

[0184] For example, after obtaining the deviation parameter, the travel trajectory of the preset distance can be corrected by the deviation parameter, that is, each coordinate in the coordinate set is corrected, so that the actual travel trajectory of the self-moving mower within the preset distance and / or the preset time can be obtained.

[0185] S640, determining the coverage of the self-moving mower in the working area according to the corrected travel trajectory and the coordinate information of the working area.

[0186] For example, after the walking trajectory is corrected, the corrected walking trajectory (i.e., the coordinate set) and the coordinate information of the working area are subjected to coincidence calculation, and the calculation result is determined as the mowing coverage of the self-moving mower in the working area, so that the calculated mowing coverage is more accurate. In this way, after the self-moving mower completes the preset distance or the preset mowing work, when the detected coverage reaches the expected value but the actual mowing coverage does not reach the expected value, the self-moving mower is controlled to continue mowing in the working area so that the mowing coverage reaches the expected value, or when the detected coverage does not reach the expected value but the actual mowing coverage has reached the expected value, the self-moving mower is controlled to stop mowing to avoid unnecessary work of the mower. The coordinate set of the uncorrected walking trajectory and the coordinate information of the working area are subjected to coincidence calculation, and the determined result is the detected coverage of the self-moving mower in the working area.

[0187] In a feasible embodiment, the first outer contour can also be determined according to the corrected walking trajectory, i.e., the approximate contour formed by the walking trajectory of the self-moving mower is determined according to the corrected walking trajectory, and the area of the first outer contour is subjected to division calculation with the area of the working area, and the calculation result is the coverage of the self-moving mower in the working area. Similarly, the second outer contour can also be determined according to the uncorrected walking trajectory, i.e., the approximate contour formed by the walking trajectory of the self-moving mower is determined according to the uncorrected walking trajectory, and the area of the second outer contour is subjected to division calculation with the area of the working area, and the calculation result is the detected coverage of the self-moving mower in the working area.

[0188] The self-moving mower provided by the embodiments of the present application has the basic structure of a body, a walking wheel assembly, a blade assembly, a positioning module, and a controller, and the controller is configured to acquire and record the walking trajectory of the self-moving mower during walking, and when the walking distance of the self-moving mower reaches a preset distance or the working time of the self-moving mower reaches a preset time, the offset parameter of the positioning module is acquired according to the walking trajectory and the coordinate information of the working area, so that the walking trajectory can be corrected according to the offset parameter, and then the coverage of the self-moving mower in the working area is determined according to the corrected walking trajectory and the coordinate information of the working area, which can improve the accuracy of the mowing coverage to make the final mowing coverage meet the expected value of the user.

[0189] Optionally, FIG. 19 is a flowchart of another configuration method of the controller provided by the embodiments of the present application. In combination with FIGS. 1, 11, and 19, the controller 14 is further configured to:

[0190] S710, controlling the self-moving mower to randomly walk in the working area.

[0191] S720, when the walking distance of the self-moving mower reaches the preset distance, or when the working time of the self-moving mower reaches the preset time, pre-process the position information of the walking track.

[0192] S730, according to the pre-processed position information and the walking track and the coordinate information of the working area, obtain the offset parameter of the positioning module.

[0193] S740, correct the walking track according to the offset parameter.

[0194] S750, determine the mowing coverage rate of the self-moving mower in the working area according to the corrected walking track and the coordinate information of the working area.

[0195] S760, determine whether the mowing coverage rate exceeds the preset coverage rate; if yes, execute step S770; if no, return to execute step S710.

[0196] S770, control the self-moving mower to walk to the next working area.

[0197] For example, the position information of the self-moving mower detected by the positioning module may have abnormal conditions. In order to avoid affecting the calculation accuracy of the offset parameter, the position information of the walking track is pre-processed before the offset parameter is calculated, that is, the coordinates in the coordinate set contained in the walking track are pre-processed, and the abnormal coordinates are eliminated.

[0198] For example, when preprocessing the position information of the walking trajectory, the first position information of the self-moving mower at a first time and the second position information of the self-moving mower when moving to a second time can be obtained; the first time and the second time are two adjacent position information sampling times of the positioning module; it is determined whether the distance difference between the first position information and the second position information is greater than a preset distance difference; if it is determined that the distance difference between the first position information and the second position information is greater than the preset distance difference, the second position information is removed from the position information; after the removal, the position information at the next sampling time is searched as the first position information, and the second position information is further obtained, and the distance difference calculation of the position information is re-performed. If it is determined that the distance difference between the first position information and the second position information is less than or equal to the preset distance difference, the current second time is directly determined as the first time, and the current second position information is directly determined as the first position information, and the step of obtaining the first position information of the self-moving mower at the first time and the second position information of the self-moving mower when moving to the second time is returned to perform the distance difference calculation of the position information. In this way, the coordinate information of the coordinate set contained in the walking trajectory can be traversed, and the abnormal position information can be removed one by one, so that the calculation accuracy of the offset parameter of the positioning module can be effectively improved when the offset parameter of the positioning module is calculated subsequently. FIG. 20 is another schematic diagram of a working area provided by an embodiment of the present application. As shown in FIG. 20, the distance difference between the position point Q3 and the position point Q2 at the previous time is too large, and the distance difference between the position point Q5 and the position point Q4 at the previous time is too large, so the coordinate information of the position point Q3 and the position point Q5 can be removed from the coordinate set, and the area traversed by the walking trajectory of the self-moving mower is determined according to the position information after removing the position point Q3 and the position point Q5.

[0199] The self-moving mower provided by another embodiment of the present application has substantially the same structure as the self-moving mower provided by the above-mentioned embodiments, that is, in combination with reference to FIG. 1 and FIG. 2, or in combination with reference to FIG. 1 and FIG. 11, the self-moving mower comprises a machine body 11; a walking wheel assembly 12 configured to support the machine body and drive the self-moving mower 10 to walk; a blade assembly 13 operatively attached to the machine body 11 and configured to cut grass; a signal receiving assembly 16 configured to receive a boundary signal emitted by a boundary line; and a controller 14 comprising a processor and a memory, the controller 14 being configured in the machine body 11 and electrically connected with the signal receiving assembly 16, and controlling the self-moving mower to walk according to at least the boundary signal. The controller 14 is specifically configured to implement a method for controlling the self-moving mower to walk, and FIG. 21 is a flow chart of a method for configuring the controller according to an embodiment of the present application. In combination with reference to FIG. 1, FIG. 11 and FIG. 21, the controller 14 is further configured to:

[0200] S810, count the time interval of the boundary signal received by the signal receiving assembly.

[0201] For example, the controller can record and count the time intervals of the obtained boundary signals in the process of obtaining the boundary signals, and specifically can count the time intervals of the received boundary signals in a preset time period. The time intervals can be counted by a histogram.

[0202] S820, determining a boundary line conflict situation according to at least the counting result of the time intervals.

[0203] For example, as introduced in the above embodiment, each self-moving mower is separately configured with a charging pile, and the boundary line from the charging pile is used to send the boundary signal to the corresponding self-moving mower. In the case of multi-user use, the same self-moving mower can receive the boundary signals of multiple charging piles. FIG. 22 is a schematic diagram of a scenario in the case of multi-user use provided by an embodiment of the present application. As shown in FIG. 22, in the case of multi-user use, the areas surrounded by the boundary lines 20 from the charging piles can be adjacent and close to each other. For example, the area M4 is surrounded by the boundary line 20 from the charging pile 31, and the area M5 is surrounded by the boundary line 20 from the charging pile 32. The areas M4 and M5 are adjacent to each other. At this time, the self-moving mower 10 located in the area M4 receives the boundary signals that can include the boundary signals from the charging pile 31 and the charging pile 32. Therefore, the boundary signals received by the self-moving mower 10 are interfered, that is, there is a boundary line conflict, and the self-moving mower 10 cannot work normally. At this time, the counting result of the time result can be compared and analyzed to determine the boundary line conflict situation.

[0204] S830, controlling the self-moving mower to walk according to the boundary signal when the boundary line conflict situation is that there is no boundary line conflict.

[0205] For example, when it is determined that there is no boundary line conflict, the self-moving mower can continue to walk and work according to the received boundary signal, so that the controller can control the self-moving mower to walk according to the accurate boundary signal, which is beneficial to improve the working efficiency of the self-moving mower. If there is a boundary line conflict, a boundary conflict alarm signal can be sent to prompt the user to timely interfere and process manually, so as to avoid the influence of the incorrect and disordered boundary signal on the normal cutting work of the self-moving mower, thereby affecting the walking route of the self-moving mower and further affecting the working efficiency.

[0206] The self-moving mower provided by the embodiment of the present application has the basic structures of a body, a walking wheel assembly, a blade assembly, a signal receiving assembly, and a controller. The controller can count the time intervals of the boundary signals received by the signal receiving assembly, determine a boundary line conflict situation according to at least the counting result of the time intervals, and control the self-moving mower to walk according to the boundary signal when the boundary line conflict situation is that there is no boundary line conflict, which is beneficial to improve the working efficiency of the self-moving mower.

[0207] Optionally, FIG. 23 is a flowchart of another configuration method of a controller according to an embodiment of the present application. In combination with FIGS. 1, 11 and 23, the controller 14 is further configured to:

[0208] S910, count time intervals of boundary signals received by the signal receiving component.

[0209] S920, determine whether an average time interval of the counted time intervals is less than a first preset time interval; if yes, execute step S950; if no, execute step S930.

[0210] S930, determine that the boundary line conflict situation is that there is no boundary line conflict.

[0211] S940, control the self-moving mower to move according to the boundary signals.

[0212] S950, determine that the boundary line conflict situation is that there is a boundary line conflict.

[0213] For example, for the counted time intervals between the boundary signals, an average of all the time intervals can be calculated, i.e. the time values of the time intervals are added and divided by the number of the time intervals, and the calculated average is the average time interval. The average time interval can be compared with the first preset time interval. If the average time interval is less than the first preset time interval, it means that the frequency of the boundary signals received by the controller is too high, and the received boundary signals can be boundary signals sent by multiple charging piles, so it can be determined that there is a boundary conflict. If the average time interval is greater than or equal to the first preset time interval, it means that the frequency of the boundary signals received by the controller is within a normal range, and only boundary signals sent by one charging pile are received, so it can be determined that there is no boundary conflict, and thus the self-moving mower can continue to move.

[0214] Optionally, FIG. 24 is a flowchart of another configuration method of a controller according to an embodiment of the present application. In combination with FIGS. 1, 11 and 24, the controller 14 is further configured to:

[0215] S1010, count time intervals of boundary signals received by the signal receiving component.

[0216] S1020, determine whether a mode time interval of the counted time intervals is less than a second preset time interval; if yes, execute step S1050; if no, execute step S1030.

[0217] S1030, determine that the boundary line conflict situation is that there is no boundary line conflict.

[0218] S1040, control the self-moving mower to move according to the boundary signals.

[0219] S1050, determine that the boundary line conflict situation is that there is a boundary line conflict.

[0220] Exemplarily, for the time intervals between the counted boundary signals, the mode of the time intervals can also be counted, and the time interval with the largest quantity is the mode time interval, or the time intervals can be divided according to time ranges, and the quantity of the time intervals in each time range is counted, so that it can be determined which time range has the largest quantity of time intervals by comparison, and at this time, the time range can be regarded as the mode time interval. If the mode time interval is less than the second preset time interval, it indicates that the frequency of the controller receiving the boundary signals is too high, and the received boundary signals can be the boundary signals sent by multiple charging piles, at this time, it can be determined that there is a boundary conflict. If the mode time interval is greater than or equal to the second preset time interval, it indicates that the frequency of the controller receiving the boundary signals is in a normal range, and only the boundary signal sent by one charging pile is received, at this time, it can be determined that there is no boundary conflict, so that the self-moving mower can continue to be controlled to walk.

[0221] FIG. 25 is a time interval statistical histogram of the boundary signals when there is one charging pile according to an embodiment of the application, in which the horizontal coordinate is time (unit: ms), and the vertical coordinate is the quantity of time intervals. As shown in FIG. 25, when there is one charging pile, the boundary signals received by the self-moving mower all come from one charging pile, and the time intervals are mainly distributed between 50 ms and 80 ms, so the second preset time interval can be set to 50 ms. FIG. 26 is a time interval statistical histogram of the boundary signals when there are multiple charging piles according to an embodiment of the application, as shown in FIG. 26, when there are multiple charging piles, the quantity of time intervals less than 40 ms is relatively large, that is, the frequency of the controller receiving the boundary signals is too high, at this time, it can be determined that there is a boundary conflict.

[0222] Optionally, FIG. 27 is a flow chart of another configuration method of the controller according to an embodiment of the application, in combination with FIG. 1, FIG. 11 and FIG. 27, the controller 14 is further configured to:

[0223] S1110, count the time intervals of the boundary signals received by the signal receiving assembly.

[0224] S1120, obtain the boundary line conflict situation according to the counting result of the time intervals and the state switching situation of the boundary signals.

[0225] Exemplarily, when it is determined according to the counting result of the time intervals that the boundary line conflict situation is that there is no boundary line conflict, the boundary line conflict situation can be determined according to the state switching situation of the boundary signals. In this way, the state switching situation of the boundary signals is taken as an auxiliary judgment condition for assisting in determining the boundary line conflict situation, which can reduce the misjudgment of the boundary line conflict situation and improve the detection accuracy of the boundary line conflict situation.

[0226] S1130, in the case of no border line conflict, the self-moving mower is controlled to move according to the border signal.

[0227] For example, in the embodiment, the area surrounded by the border line of one charging pile is a working area, and the self-moving mower moves in the working area to mow. When the self-moving mower is in the working area, the state of the border signal received by the controller of the self-moving mower is inside the working area, and when the self-moving mower is outside the working area, the state of the border signal received by the controller of the self-moving mower is outside the working area. For example, when the border signal is an inside signal, the state signal is "1", and when the border signal is an outside signal, the state signal is "2". For the case of multiple charging piles, the areas surrounded by the border lines of the charging piles are different. Assuming that a self-moving mower is a first self-moving mower, the charging pile matched with the first self-moving mower is a first charging pile, and the working area surrounded by the border line of the first charging pile is a first working area. When the controller of the first self-moving mower receives the border signal sent by the first charging pile, the state of the border signal is related to the position of the first self-moving mower and the position of the first working area. When the first self-moving mower is in the first working area, the first self-moving mower is outside the working area for other working areas, and when the first self-moving mower is outside the first working area, the first self-moving mower may be inside the first working area for other working areas. Therefore, the state of the border signal of the first charging pile received by the controller of the first self-moving mower is opposite to the state of the other charging piles. Accordingly, the border line conflict situation can be obtained according to the statistical result of the time interval and the state switching of the border signals.

[0228] For example, in another possible embodiment, the border line conflict situation can also be determined only according to the state switching of the border signals without considering the statistical result of the time interval, which can simplify the determination step compared with the way of determining the border line conflict situation according to the statistical result of the time interval and the state switching of the border signals.

[0229] The signal receiving assembly can include a plurality of signal receivers configured to receive the border signals, and each signal receiver can be located at a different position of the automatic mower. Because the positions of the signal receivers are different, the states of the border signals received by the signal receivers can be in multiple cases. Therefore, when the border line conflict situation is determined according to the state switching of the border signals, the determination result of the border line conflict situation corresponding to the different states of the border signals is also different, and the following embodiments specifically analyze the possible cases of the border signals.

[0230] Optionally, the boundary line conflict is determined when the states of the boundary signals are simultaneously switched from the region-internal signals to the region-external signals; or the boundary line conflict is determined when the states of the boundary signals are simultaneously switched from the region-external signals to the region-internal signals.

[0231] For example, when the self-moving mower moves from the inside of the working area to the outside of the working area, the states of the boundary signals received by at least some of the signal receivers should be switched from the region-internal signals to the region-external signals in sequence. Similarly, when the self-moving mower moves from the outside of the working area to the inside of the working area, the states of the boundary signals received by at least some of the signal receivers should be switched from the region-external signals to the region-internal signals in sequence. Since the self-moving mower does not move in a leapfrog manner, the states of all the boundary signals are not simultaneously switched from the region-internal signals to the region-external signals, and the states of all the boundary signals are not simultaneously switched from the region-external signals to the region-internal signals. Therefore, when the states of the boundary signals are simultaneously switched from the region-internal signals to the region-external signals, or the states of the boundary signals are simultaneously switched from the region-external signals to the region-internal signals, it can be determined that the boundary signals received by the controller include the boundary signals sent by other charging piles, and it can be further determined that the boundary line conflict exists.

[0232] Optionally, the signal receiving assembly includes a first signal receiver located at the front right of the self-moving mower, a second signal receiver located at the back right of the self-moving mower, a third signal receiver located at the front left of the self-moving mower, and a fourth signal receiver located at the back left of the self-moving mower. When the boundary line conflict is determined according to the state switching of the boundary signals, the boundary line conflict is determined when the states of any three of the boundary signals are simultaneously switched from the region-internal signals to the region-external signals; or the boundary line conflict is determined when the states of any three of the boundary signals are simultaneously switched from the region-external signals to the region-internal signals.

[0233] For example, based on the same principle as the above embodiment, the self-moving mower does not jump, and when the four signal receivers are located at the right front, right rear, left front and left rear of the self-moving mower, there is no case that the states of any three boundary signals are simultaneously switched from the region-internal signal to the region-external signal, and there is also no case that the states of the boundary signals are simultaneously switched from the region-external signal to the region-internal signal. Therefore, when the states of any three boundary signals among the boundary signals are simultaneously switched from the region-internal signal to the region-external signal, or when the states of any three boundary signals among the boundary signals are simultaneously switched from the region-external signal to the region-internal signal, it can be determined that the boundary signals received by the controller include the boundary signals sent by other charging piles, and it can be further determined that there is a boundary conflict.

[0234] Optionally, the boundary signal received by the first signal receiver is a first boundary signal, the boundary signal received by the second signal receiver is a second boundary signal, the signal received by the third signal receiver is a third boundary signal, and the signal received by the fourth signal receiver is a fourth boundary signal. When determining the boundary line conflict based on the state switching of the boundary signals, when the states of the first boundary signal and the second boundary signal are simultaneously switched from the region-internal signal to the region-external signal, it is determined that there is a boundary line conflict; or when the states of the third boundary signal and the fourth boundary signal are simultaneously switched from the region-internal signal to the region-external signal, it is determined that there is a boundary line conflict.

[0235] For example, it is known that the first signal receiver is located at the right front of the self-moving mower, the second signal receiver is located at the right rear of the self-moving mower, the third signal receiver is located at the left front of the self-moving mower, and the fourth signal receiver is located at the left rear of the self-moving mower. The moving mode of the self-moving mower includes forward movement and backward movement, and does not include lateral movement, so there is no case that the first boundary signal and the second boundary signal are simultaneously switched from the region-internal signal to the region-external signal, and there is also no case that the third boundary signal and the fourth boundary signal are simultaneously switched from the region-internal signal to the region-external signal. Therefore, when the states of the first boundary signal and the second boundary signal are simultaneously switched from the region-internal signal to the region-external signal, or when the states of the third boundary signal and the fourth boundary signal are simultaneously switched from the region-internal signal to the region-external signal, it can be determined that the boundary signals received by the controller include the boundary signals sent by other charging piles, and it can be further determined that there is a boundary conflict.

[0236] Optionally, when the states of the first boundary signal and the third boundary signal are simultaneously switched from the region-internal signal to the region-external signal, and the states of the second boundary signal and the fourth boundary signal remain the region-internal signal, it indicates that the self-moving mower is moving forward from the inside of the working area to the outside of the working area, and it can be determined that there is no boundary line conflict; or, when the states of the second boundary signal and the fourth boundary signal are simultaneously switched from the region-internal signal to the region-external signal, and the states of the first boundary signal and the third boundary signal remain the region-internal signal, it indicates that the self-moving mower is moving backward from the inside of the working area to the outside of the working area, and it can be determined that there is no boundary line conflict.

[0237] Optionally, when the state of any one of the boundary signals is switched from the region-internal signal to the region-external signal, and the states of the other three boundary signals remain the region-internal signal, it indicates that the self-moving mower is possibly moving forward from the inside of the working area to the outside of the working area, and the walking direction is not perpendicular to the extension direction of the boundary line, and it can be determined that there is no boundary line conflict.

[0238] Optionally, FIG. 28 is a state diagram of the boundary signals when there is one charging pile, and FIG. 29 is a state diagram of the boundary signals when there are multiple charging piles, wherein the horizontal coordinate is time (unit: ms), and the vertical coordinate is the state value of the boundary signal. The first gray line represents the first boundary signal received by the first signal receiver, the second gray line represents the second boundary signal received by the second signal receiver, the third gray line represents the third boundary signal received by the third signal receiver, and the fourth gray line represents the fourth boundary signal received by the fourth signal receiver. In combination with FIGS. 28 and 29, when the self-moving mower is located in the working area, when the controller receives only one boundary signal sent by a charging pile, the state value of each boundary signal is “1”, and when the controller receives multiple boundary signals sent by multiple charging piles, the state value of each boundary signal frequently jumps between “1” and “2”, and is relatively disordered, and thus the boundary line conflict can be determined according to the state switching of the boundary signals.

[0239] After the conflict is determined, the user can be prompted to change the signal parameters sent by the charging pile, or the charging pile can be notified to change the signal parameters by wireless communication, so that the self-moving mower can effectively identify the signal of the charging pile matched with itself, and solve the boundary conflict.

[0240] The above shows and describes the basic principles, main features and advantages of the present application. Those skilled in the art should understand that the above embodiments do not limit the present application in any form, and any technical solutions obtained by equivalent replacement or equivalent transformation fall within the scope of the present application.

Claims

1. A self-propelled lawn mower comprising: body; A travel wheel assembly, configured to support the body and drive the self-propelled lawn mower to travel; a blade assembly operably attached to the body and configured to cut grass; a controller, comprising a processor and a memory, the controller being disposed in the body and controlling a travel route of the self-propelled lawn mower; The controller is configured as follows: setting an area of ​​a preset shape as a first cutting area according to current position information of the self-propelled lawn mower; Setting the area of ​​the preset shape adjacent to the first cutting area as a second cutting area, wherein the second cutting area and the first cutting area share a common edge; controlling the self-propelled lawn mower to move within the first cutting area to cut grass plants within the first cutting area; After the self-moving lawn mower finishes cutting the grass in the first cutting area, the self-moving lawn mower is controlled to move in the second cutting area to cut the grass in the second cutting area.

2. The self-propelled lawn mower according to claim 1, wherein: The preset shape is a square or a regular hexagon.

3. The self-propelled lawn mower according to claim 1, wherein: The side length of the preset shape is less than or equal to 15m.

4. The self-propelled lawn mower according to claim 1, wherein: In the first cutting area and / or the second cutting area, the self-propelled lawn mower moves in a bow shape to cut grass plants.

5. The self-propelled lawn mower according to claim 1, wherein In the first cutting area and / or the second cutting area, the self-propelled lawn mower moves in a U-shaped pattern to cut grass plants.

6. The self-propelled lawn mower according to claim 1, wherein: In the first cutting area and / or the second cutting area, the self-propelled lawn mower moves in a random route to cut grass plants.

7. The self-propelled lawn mower according to claim 1, wherein: The controller is further configured to: In the first cutting area and / or the second cutting area, controlling the self-propelled lawn mower to obtain a boundary signal during the moving process; According to the boundary signal, the self-propelled lawn mower is controlled to move within the boundary line.

8. The self-propelled lawn mower according to claim 7, wherein: The boundary line is a pre-buried boundary line.

9. The self-moving lawn mower according to claim 1 , wherein after the self-moving lawn mower completes cutting the grass in the first cutting area and before controlling the self-moving lawn mower to move within the second cutting area to cut the grass in the second cutting area, the controller is further configured to: Acquire a coordinate set of a walking trajectory of the self-propelled lawn mower in the first cutting area, and acquire a walking time of the self-propelled lawn mower in the first cutting area; It is determined whether the self-propelled lawn mower has completed cutting the grass in the first cutting area according to the coordinate set and / or the travel time.

10. The self-propelled lawn mower according to claim 1, wherein The controller is further configured to: In the process of controlling the self-moving lawn mower to move from the first cutting area to the second cutting area, obtaining a first distance between the self-moving lawn mower and the second cutting area; Determining whether the first distance is less than a first preset distance; If yes, it is determined that the self-propelled lawn mower has moved to the second cutting area; If not, it is determined that the self-propelled lawn mower has not moved to the second cutting area.

11. A self-propelled lawn mower comprising: body; A travel wheel assembly, configured to support the body and drive the self-propelled lawn mower to travel; a blade assembly operably attached to the body and configured to cut grass; a signal receiving component configured to receive a boundary signal emitted by a boundary line; a controller, comprising a processor and a memory, the controller being disposed within the body, electrically connected to the signal receiving component, and controlling the self-propelled lawn mower to move along the boundary line at least based on the boundary signal provided by the signal receiving component; The controller is configured as follows: Get the actual measurement value of the boundary signal; obtaining a target distance between the self-propelled lawn mower and the boundary line; Obtaining relevant parameters of the boundary line; Calculating the target strength of the boundary signal according to the target distance and relevant parameters of the boundary line; The self-propelled lawn mower is controlled to move along the boundary line according to the actual measurement value of the boundary signal and the target strength.

12. The self-propelled lawn mower according to claim 11, wherein: The controller controls the self-propelled lawn mower to move along the boundary line according to the actual measurement value of the boundary signal and the target strength, including: Acquire the actual strength of the boundary signal according to the actual measurement value; Determining whether the actual intensity is less than the target intensity; If it is determined that the actual intensity is less than the target intensity, controlling the self-propelled lawn mower to move in a direction close to the boundary line; If it is determined that the actual intensity is not less than the target intensity, determining whether the actual measurement value is greater than the target measurement value; If it is determined that the actual intensity is greater than the target intensity, controlling the self-propelled lawn mower to move in a direction away from the boundary line; If it is determined that the actual intensity is equal to the target intensity, the self-propelled lawn mower is controlled to move in a direction parallel to the boundary line.

13. The self-propelled lawn mower according to claim 11, wherein: The relevant parameters of the boundary line include the buried depth of the boundary line.

14. The self-propelled lawn mower according to claim 13, wherein: The controller calculates the target strength of the boundary signal according to the target distance and relevant parameters of the boundary line, including: Obtaining a first vertical distance between the signal receiving component and the ground; Determine the sum of the first vertical distance and the buried depth of the boundary line as the effective vertical distance between the signal receiving component and the boundary line; The target strength of the boundary signal is determined according to the effective vertical distance and the target distance.

15. The self-propelled lawn mower according to claim 12, wherein: The controller obtains the actual strength of the boundary signal according to the actual measurement value, including: Based on a preset relationship between magnetic field strength and measurement value, the actual strength of the boundary signal is determined according to the actual measurement value.

16. The self-propelled lawn mower of claim 11, wherein: The controller obtains a target distance between the self-propelled lawn mower and the boundary line, including: Get the preset distance set by the user; The preset distance is determined as a target distance between the self-propelled lawn mower and the boundary line.

17. The self-propelled lawn mower of claim 11, wherein: The controller obtains a target distance between the self-propelled lawn mower and the boundary line, including: Get the preset distance range set by the user; A distance value within the preset distance range is randomly determined as a target distance between the self-propelled lawn mower and the boundary line.

18. The self-propelled lawn mower of claim 11, wherein: In the process of controlling the self-propelled lawn mower to move along the boundary line, the controller is further configured to: determining whether there is a conflicting boundary signal according to an actual measurement value of the boundary signal; If not, the process returns to the step of obtaining the actual measured value of the boundary signal.

19. The self-propelled lawn mower of claim 18, wherein: The controller is further configured to: If it is determined according to the actual measured value of the boundary signal that a conflicting boundary signal exists, a conflict alarm signal is sent.

20. The self-propelled lawn mower of claim 11, wherein: The controller controls the self-propelled lawn mower to move along the boundary line according to the actual measurement value of the boundary signal and the target strength, including: The self-propelled lawn mower is controlled to return to the charging station along the boundary line according to the actual measurement value of the boundary signal and the target strength.

21. A self-propelled lawn mower comprising: body; A travel wheel assembly, configured to support the body and drive the self-propelled lawn mower to travel; a blade assembly operably attached to the body and configured to cut grass; a positioning module configured to obtain position information of the self-propelled lawn mower; a controller, comprising a processor and a memory, the controller being disposed in the body and electrically connected to the positioning module to control the travel route of the self-propelled lawn mower; The controller is configured as follows: Controlling the self-propelled lawn mower to randomly move within a working area, and obtaining and recording a moving trajectory of the self-propelled lawn mower; When the walking distance of the self-propelled lawn mower reaches a preset distance, or when the working time of the self-propelled lawn mower reaches a preset time, obtaining an offset parameter of the positioning module according to the walking trajectory and the coordinate information of the working area; Correcting the walking trajectory according to the offset parameter; The grass coverage rate of the self-propelled lawn mower in the working area is determined according to the corrected walking trajectory and the coordinate information of the working area.

22. The self-propelled lawn mower according to claim 21, wherein after determining the grass coverage rate of the self-propelled lawn mower in the working area based on the corrected walking trajectory and the coordinate information of the working area, the controller is further configured to: determining whether the mowing coverage rate exceeds a preset coverage rate; If so, control the self-moving lawn mower to move to the next working area; and return to the step of controlling the self-moving lawn mower to move randomly in the working area, and obtaining and recording the walking trajectory of the self-moving lawn mower; If not, the method directly returns to executing the step of controlling the self-moving lawn mower to randomly walk in the working area, and obtaining and recording the walking trajectory of the self-moving lawn mower.

23. The self-propelled lawn mower of claim 21, wherein: The offset parameters include an offset vector.

24. The self-propelled lawn mower of claim 21, wherein: The working area is defined by a boundary line; The controller controls the self-propelled lawn mower to move randomly within a working area, including: Controlling the self-propelled lawn mower to move in a straight line in a current moving direction within a working area; When it is determined that the self-moving lawn mower has reached the boundary line, controlling the traveling direction of the self-moving lawn mower to rotate by a random angle; Return to the step of controlling the self-propelled lawn mower to move in a straight line in the current moving direction within the working area.

25. The self-propelled lawn mower according to claim 24, further comprising a signal receiving component configured to receive a boundary signal emitted by the boundary line; The controller is further configured to: In the process of controlling the self-propelled lawn mower to move, obtaining the boundary signal provided by the signal receiving component; It is determined whether the self-propelled lawn mower has reached a boundary line according to the boundary signal.

26. The self-propelled lawn mower of claim 21, wherein: The controller obtains and records the walking trajectory of the self-propelled lawn mower, including: In the process of controlling the self-propelled lawn mower to randomly walk in the working area, obtaining position information provided by the positioning module; The walking track of the self-propelled lawn mower is acquired and recorded according to the position information.

27. The self-propelled lawn mower of claim 26, wherein: When the walking distance of the self-propelled lawn mower reaches a preset distance, or when the working time of the self-propelled lawn mower reaches a preset time, the controller obtains the offset parameter of the positioning module according to the walking trajectory and the coordinate information of the working area, including: When the walking distance of the self-propelled lawn mower reaches a preset distance, or when the working time of the self-propelled lawn mower reaches a preset time, pre-processing the position information of the walking trajectory; The offset parameters of the positioning module are obtained according to the preprocessed position information and the coordinate information of the walking trajectory and the working area.

28. The self-propelled lawn mower of claim 27, wherein: The controller pre-processes the position information of the walking trajectory, including: Acquire first position information of the self-moving lawn mower at a first moment and second position information of the self-moving lawn mower when it moves to a second moment; the first moment and the second moment are two adjacent position information sampling moments of the positioning module; Determining whether a distance difference between the first location information and the second location information is greater than a preset distance difference; If so, the second location information is removed from the location information.

29. The self-propelled lawn mower of claim 28, wherein: The controller is further configured to: If it is determined that the distance difference between the first position information and the second position information is less than or equal to the preset distance difference, determining the current second moment as the first moment, and determining the current second position information as the first position information; Return to the step of obtaining the first position information of the self-moving lawn mower at the first moment and the second position information when the self-moving lawn mower moves to the second moment.

30. The self-propelled lawn mower of claim 21, wherein: The positioning module includes GPS.

31. A self-propelled lawn mower comprising: body; A travel wheel assembly, configured to support the body and drive the self-propelled lawn mower to travel; a blade assembly operably attached to the body and configured to cut grass; a signal receiving component configured to receive a boundary signal emitted by a boundary line; a controller, comprising a processor and a memory, the controller being disposed in the body, electrically connected to the signal receiving component, and controlling the self-propelled lawn mower to move according to at least the boundary signal; The controller is configured as follows: Counting the time intervals of the boundary signals received by the signal receiving component; determining a boundary line conflict situation based on at least the statistical results of the time interval; When the boundary line conflict situation is that there is no boundary line conflict, the self-propelled lawn mower is controlled to move according to the boundary signal.

32. The self-propelled lawn mower of claim 31 , wherein: The controller determines the boundary line conflict situation based on at least the statistical result of the time interval, including: Determining whether an average time interval of the counted time intervals is less than a first preset time interval; If so, determining that the boundary line conflict situation is a boundary line conflict; If not, it is determined that the boundary line conflict situation is that there is no boundary line conflict.

33. The self-propelled lawn mower of claim 31 , wherein: The controller determines the boundary line conflict situation based on at least the statistical result of the time interval, including: Determining whether a mode time interval of the counted time intervals is less than a second preset time interval; If so, determining that the boundary line conflict situation is a boundary line conflict; If not, it is determined that the boundary line conflict situation is that there is no boundary line conflict.

34. The self-propelled lawn mower of claim 31 , wherein: The signal receiving component includes a plurality of signal receivers; The controller determines the boundary line conflict situation at least according to the statistical result of the time interval, and further includes: The boundary line conflict situation is obtained according to the statistical result of the time interval and the state switching situation of each boundary signal.

35. The self-propelled lawn mower of claim 34, wherein: The controller obtains the boundary line conflict status according to the statistical result of the time interval and the state switching status of each boundary signal, including: When it is determined according to the statistical result of the time interval that there is no boundary line conflict, the boundary line conflict is determined according to the state switching of each boundary signal.

36. The self-propelled lawn mower of claim 35, wherein: The signal receiving assembly includes a plurality of signal receivers configured to receive boundary signals, each of the signal receivers being located at a different position of the self-propelled lawn mower; The controller determines the boundary line conflict situation according to the state switching situation of each boundary signal, including: When the states of the boundary signals are simultaneously switched from region-internal signals to region-external signals, it is determined that a boundary line conflict exists; Alternatively, when the states of the boundary signals are simultaneously switched from area-outside signals to area-inside signals, it is determined that there is a boundary line conflict.

37. The self-propelled lawn mower of claim 35, wherein: The signal receiving assembly includes a first signal receiver located at the right front of the self-moving lawn mower, a second signal receiver located at the right rear of the self-moving lawn mower, a third signal receiver located at the left front of the self-moving lawn mower, and a fourth signal receiver located at the left rear of the self-moving lawn mower; The controller determines the boundary line conflict situation according to the state switching situation of each boundary signal, including: When the states of any three boundary signals among the boundary signals are simultaneously switched from region-internal signals to region-external signals, it is determined that a boundary line conflict exists; Alternatively, when the states of any three boundary signals among the boundary signals are simultaneously switched from area-outside signals to area-inside signals, it is determined that there is a boundary line conflict.

38. The self-propelled lawn mower of claim 37, wherein: The boundary signal received by the first signal receiver is a first boundary signal, the boundary signal received by the second signal receiver is a second boundary signal, the signal received by the third signal receiver is a third boundary signal, and the signal received by the fourth signal receiver is a fourth boundary signal; The controller determines the boundary line conflict situation according to the state switching situation of each boundary signal, and further includes: When the states of the first boundary signal and the second boundary signal are simultaneously switched from region-inside signals to region-outside signals, determining that a boundary line conflict exists; Alternatively, when the states of the third boundary signal and the fourth boundary signal are simultaneously switched from area-internal signals to area-external signals, it is determined that the boundary line conflict exists.

39. The self-propelled lawn mower of claim 37, wherein: The controller determines the boundary line conflict situation according to the state switching situation of each boundary signal, and further includes: When the state of any one of the boundary signals switches from an internal region signal to an external region signal and the states of the other three boundary signals remain internal region signals, it is determined that there is no boundary line conflict.

40. The self-propelled lawn mower of claim 38, wherein: The controller determines the boundary line conflict situation according to the state switching situation of each boundary signal, and further includes: When the states of the first boundary signal and the third boundary signal are simultaneously changed from the region internal signal to the region external signal, and the states of the second boundary signal and the fourth boundary signal remain the region internal signal, determining that there is no boundary line conflict; Alternatively, when the states of the second boundary signal and the fourth boundary signal are simultaneously switched from region internal signals to region external signals, and the states of the first boundary signal and the third boundary signal remain region internal signals, it is determined that there is no boundary line conflict.

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