Method for cutting along edges, automatic mower, and mapping method

Abstract

The present disclosure relates to a method for cutting along edges, an automatic mower, and a mapping method. The method for cutting along edges comprises: obtaining a work area feature map, wherein the work area feature map comprises a first area and a second area, the first area and the second area are adjacent to one another and are separated by a first boundary, a traversal cutting height of the automatic mower for the first area is a first cutting height, a traversal cutting height of the automatic mower for the second area is a second cutting height, and the first cutting height is less than the second cutting height; generating a target path on the basis of the first boundary; and controlling the automatic mower to cut along edges at the first cutting height along the target path, wherein cutting along edges forms a first cutting trajectory, and the first cutting trajectory has higher smoothness than the first boundary. When the automatic mower has a strong tracking capability, the effect of a smooth junction between grass patches of different heights can also be achieved, thereby improving the aesthetics of a work area.

Description

Edge cutting method, automatic mower and mapping method

[0001] This application claims priority to Chinese Patent Application No. 202410851207.3, filed on June 27, 2024, the entire contents of which are incorporated herein by reference. TECHNICAL FIELD

[0002] The present disclosure relates to the technical field of map processing, and particularly relates to an edge cutting method, an automatic mower and a mapping method. BACKGROUND

[0003] At present, the positioning accuracy of RTK (Real-Time Kinematic) gradually improves, and the tracking ability of the automatic mower for the path is also enhanced. The automatic mower with positioning function does not need to lay boundary lines, but needs to construct a work area feature map in advance. In the working process of the automatic mower, regardless of the actual boundary shape of the work area, the automatic mower will cut according to the boundary marked in the work area feature map, and the final effect may be difficult to achieve the ideal expectation. SUMMARY

[0004] Therefore, the embodiments of the present disclosure provide an edge cutting method, an automatic mower and a mapping method, which can avoid the problem of burr on the boundary line between different height grasslands.

[0005] In one aspect, the present specification provides an edge cutting method, comprising:

[0006] obtaining a work area feature map, the work area feature map comprising a first region and a second region, the first region and the second region being adjacent through a first boundary, the traversal cutting height of the automatic mower for the first region being a first cutting height, and the traversal cutting height of the automatic mower for the second region being a second cutting height, the first cutting height being less than the second cutting height;

[0007] generating a target path according to the first boundary;

[0008] controlling the automatic mower to perform edge cutting along the target path at the first cutting height, the edge cutting forming a first cutting track, and the curvature fluctuation amplitude of the first cutting track being less than 0.1 m -1 .

[0009] In another aspect, the present specification provides an automatic mower, comprising:

[0010] a moving assembly configured to drive the automatic mower to move;

[0011] a working head assembly configured to perform a cutting task;

[0012] the controller is configured to obtain a work area feature map, the work area feature map comprising a first region and a second region, the first region being adjacent to the second region by a first boundary, a traversal cutting height of the automatic lawn mower for the first region being a first cutting height, a traversal cutting height of the automatic lawn mower for the second region being a second cutting height, the first cutting height being less than the second cutting height;

[0013] generating a target path according to the first boundary;

[0014] controlling the automatic lawn mower to perform edge-cutting along the target path at the first cutting height, the edge-cutting forming a first cutting track, a curvature fluctuation amplitude of the first cutting track being less than 0.1 m -1 .

[0015] In another aspect, the present specification provides an edge-cutting method, comprising:

[0016] obtaining a work area feature map, the work area feature map comprising a first region and a second region, the first region being adjacent to the second region by a first boundary, a traversal cutting height of the automatic lawn mower for the first region being a first cutting height, a traversal cutting height of the automatic lawn mower for the second region being a second cutting height, the first cutting height being less than the second cutting height;

[0017] generating a target path according to the first boundary;

[0018] controlling the automatic lawn mower to perform edge-cutting along the target path at the first cutting height, the edge-cutting forming a first cutting track, the first cutting track having a higher smoothness than the first boundary.

[0019] In another aspect, the present specification provides an automatic lawn mower, comprising:

[0020] a moving assembly configured to drive the automatic lawn mower to move;

[0021] a working head assembly configured to perform a cutting task;

[0022] the controller is configured to obtain a work area feature map, the work area feature map comprising a first region and a second region, the first region being adjacent to the second region by a first boundary, a traversal cutting height of the automatic lawn mower for the first region being a first cutting height, a traversal cutting height of the automatic lawn mower for the second region being a second cutting height, the first cutting height being less than the second cutting height;

[0023] generating a target path according to the first boundary;

[0024] control the automatic mower to perform edge cutting along the target path at the first cutting height, the edge cutting forming a first cutting track, the first cutting track having a higher smoothness than the first boundary.

[0025] With the above scheme, when the automatic mower needs to perform edge cutting on the work area, the target path of the first boundary can be obtained, and the automatic mower is controlled to perform edge cutting along the target path at the first cutting height, the edge cutting forming a first cutting track, the curvature fluctuation range of the first cutting track being less than 0.1m -1 In this way, the smoothness at the first boundary is ensured, and the overall aesthetics of the work area are improved. BRIEF DESCRIPTION OF DRAWINGS

[0026] The above and other objects, features and advantages of the present disclosure will become more apparent from the following detailed description of embodiments of the present disclosure, taken in conjunction with the accompanying drawings. The drawings provided are for illustrative purposes only and, therefore, should not be considered to limit the present disclosure. In the drawings, like reference numerals refer to same or similar functionalities throughout the several views of the drawings. The drawings provided are for illustrative purposes only and, therefore, should not be considered to limit the present disclosure. In the drawings, like reference numerals refer to same or similar functionalities throughout the several views of the drawings.

[0027] FIG. 1 shows a side view schematic diagram of an automatic mower according to some embodiments of the present disclosure;

[0028] FIG. 2 shows a schematic diagram of a golf course according to some embodiments of the present disclosure;

[0029] FIG. 3 shows a side view of a golf course according to some embodiments of the present disclosure;

[0030] FIG. 4 shows a feature map of a work area according to some embodiments of the present disclosure;

[0031] FIG. 5 shows a schematic diagram of an edge cutting method according to some embodiments of the present disclosure;

[0032] FIG. 6 shows a schematic diagram of a smoothing method according to some embodiments of the present disclosure;

[0033] FIG. 7 shows a schematic diagram of dividing a first boundary path according to curvature according to some embodiments of the present disclosure;

[0034] FIG. 8 shows a schematic diagram of tracking according to some embodiments of the present disclosure;

[0035] FIG. 9 shows a schematic diagram of a single cutting width of a work head assembly according to some embodiments of the present disclosure;

[0036] FIG. 10 shows a schematic diagram of a missed grass area according to some embodiments of the present disclosure;

[0037] FIG. 11 shows a specific schematic diagram of edge cutting according to some embodiments of the present disclosure;

[0038] FIG. 12 shows a yard feature map according to some embodiments of the present disclosure;

[0039] FIG. 13 shows a mapping method according to some embodiments of the present disclosure;

[0040] FIG. 14 shows another edge-cutting method according to some embodiments of the present disclosure.

[0041] Reference signs: 1, automatic mower; 11, moving assembly; 12, working head assembly; 13, controller; 14, sensor assembly; 15, communication assembly; 21, first area; 22, second area; 23, first boundary; 24, second boundary; 25, first cutting height; 26, second cutting height; 41, arc; 42, point; 43, right-angle polyline; 81-86, path points; 101, straight path segment; 102, turning path segment; 103, turning point; 104, missed cutting area. DETAILED DESCRIPTION

[0042] The technical solutions in the embodiments of the present disclosure will be described clearly and completely below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only some of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present disclosure.

[0043] In the present disclosure, there are several elements (boundaries) in the feature map of the working area, the attributes of each element are defined by the user in advance when mapping, and the attributes include area, safety boundary, island, passage and ramp line. The controller can select the first area and the second area in the whole feature map of the working area according to the attributes and prepare for processing.

[0044] In the present disclosure, the working area includes golf courses and home yards and other sites with aesthetic requirements. The present disclosure is described first with golf courses.

[0045] FIG. 1 is a side view of an automatic mower. Generally, the automatic mower 1 is suitable for performing at least one work task in a golf course. The automatic mower generally includes a moving assembly 11, a working head assembly 12, a controller 13, a sensor assembly 14 and a communication assembly 15.

[0046] The moving assembly 11 is configured to drive the automatic mower 1 to move, and the moving assembly 11 can currently perform traversal walking and edge walking, wherein the traversal walking is that the automatic mower 1 performs staggered, herringbone, spiral and the like full coverage cutting in the golf course, and the edge walking is that the automatic mower 1 walks at the boundary of the golf course, and in the disclosure, the moving assembly 11 includes wheels and tracks, and in four-wheel drive, the wheels include at least four driving wheels, and in two-wheel drive, the wheels include two driving wheels and two driven wheels.

[0047] The working head assembly 12 is configured to perform cutting, grass rolling, cleaning and weeding tasks, and in the disclosure, the working head assembly 12 includes a cutter head and cutting blades, the cutter head is connected with the output shaft of the driving motor, and the working head assembly 12 further includes at least one of a grass rolling roller, a grass suction device and a pesticide spraying device.

[0048] The sensor assembly 14 can include a camera, an RTK locator, an NRTK locator, a collision sensor, a lifting sensor and the like, and is configured to position the automatic mower and obtain environmental information around the automatic mower.

[0049] The communication assembly 15 is connected with a cloud server, sends a feature map acquisition request to the cloud server, and the cloud server sends a working area feature map to the communication assembly.

[0050] In the automatic mower 1 of the disclosure, the controller 13 is electrically connected with the moving assembly 11, the working head assembly 12, the communication assembly 15 and the sensor assembly 14, respectively, and the controller 13 is configured to obtain a working area feature map, and generally, the working area feature map includes a first area and a second area, the first area and the second area are adjacent through a first boundary, the traversal cutting height of the automatic mower for the first area is a first cutting height, and the traversal cutting height of the automatic mower for the second area is a second cutting height, the first cutting height is less than the second cutting height. The controller 13 is further configured to generate a target path according to the first boundary; and control the moving assembly to perform edge cutting along the target path at the first cutting height, and the edge cutting forms a first cutting track, and the first cutting track has higher smoothness than the first boundary.

[0051] As shown in the golf course plan view of FIG. 2 and the side view of FIG. 3, to provide different challenges and experiences, a golf course is usually divided into multiple work areas such as long grass area, fairway, green, and tee-off area. Taking the fairway and long grass area as examples, the fairway is defined as the first area 21 and the long grass area is defined as the second area 22 in the present disclosure. When the automatic mower traverses, the cutting height of the long grass area is usually higher than that of the fairway. To ensure the uniformity and aesthetics of the area mowing effect, the edge cutting height and the traversal cutting height of the same area are consistent. Therefore, the edge cutting height and the traversal cutting height of the first area 21 are both the first cutting height 25, and the boundary thereof is the first boundary 23; the edge cutting height and the traversal cutting height of the second area 22 are both the second cutting height 26, and the boundary thereof is the second boundary 24. In a golf course, the fairway lawn is usually trimmed more flat and lower in height so as to control the direction and rolling distance of the ball for the players; while the semi-long grass area (long grass area) lawn is trimmed higher in height so as to increase the difficulty of controlling the ball, so the first cutting height 25 is less than the second cutting height 26 in the present disclosure. The first boundary 23 encloses and defines the first area 21; the second boundary 24 is set around the first boundary 23, and the area surrounded between the first boundary 23 and the second boundary 24 is the second area 22. In the prior art, the automatic mower 1 has the work demand of meeting the edge cutting and the safety demand of preventing out-of-bound. Usually, the RTK locator is configured to strictly locate and track along the boundary defined by the user in advance, and to start the work head assembly to perform work in the tracking process, while controlling the automatic mower to be as close as possible to the boundary. With the continuous improvement of the RTK positioning accuracy, the tracking ability of the automatic mower on the driving path is also significantly enhanced, which provides a technical advantage for path planning: the automatic mower can travel along the boundary or the preset path map defined by the user with high accuracy, so that the first cutting track formed is highly consistent with the predetermined path. As shown in FIG. 4, it is a work area feature map of a golf course. In this scenario, although the automatic mower has strong path tracking ability, it also produces new drawbacks. Specifically, when the user holds the mapping device to walk along the real boundary (arc line 41), the positioning data collected will be stored in the grid map. Since the grid processing will convert the curves or inclined lines appearing in each grid unit into the center point 42 of the unit, and connect adjacent points with horizontal or vertical line segments, the boundary in the grid map usually appears as several straight-angle polyline 43.

[0052] In the early application of the RTK positioning accuracy, the automatic mower does not strictly drive along the polyline boundary, but "mistakes" to form a relatively smooth first cutting track due to path errors; but with the continuous improvement of the RTK accuracy, the mower can accurately travel along the polyline boundary, which leads to obvious "burr" mutation of the cutting track at the corner.

[0053] In a general yard trimming scenario, this "burr" effect is not significant due to the obstruction of barriers such as fences or soil; however, in a golf course with extremely high aesthetic requirements, especially at the boundary between the first area 21 and the second area 22, the "burr" effect is amplified, similar to the chromatic aberration amplification process, which is extremely likely to cause a visual sense of abruptness and is difficult to accept.

[0054] Although artificial can trim this kind of "burr" locally by hand-push lawn mower or grass trimmer, when the boundary line is long or the distance between adjacent areas is large, artificial repair is time-consuming and laborious. After a large number of tests and optimizations, the present disclosure proposes to smooth the first boundary 23 to eliminate the "burr" at the junction of the first area 21 and the second area 22, thereby ensuring the overall aesthetics of the golf course. After using the inner boundary smoothing method described in some embodiments of the present disclosure, when the automatic lawn mower 1 performs edge cutting of the golf course, the controller 13 can obtain a smoothed first boundary target path and drive the moving assembly 11 to implement cutting along the path. The cutting trajectory generated thereby is substantially coincident in spatial shape with the arc 41 shown in FIG. 4, that is, it can accurately fit the real boundary expected by the user. Especially at the junction of the first area 21 and the second area 22, cutting along the smoothed target path can effectively eliminate the "burr" like mutation caused by the angle of the broken line; even in the case that the automatic lawn mower 1 has high precision path tracking capability, smooth transition between different traversal cutting height areas can be achieved, thereby significantly improving the overall aesthetics of the golf course. As shown in FIG. 5, a schematic diagram of an edge cutting method includes:

[0055] Step 501, obtaining a work area feature map, the work area feature map including a first area and a second area, the first area and the second area being adjacent through a first boundary, a traversal cutting height of the automatic lawn mower for the first area being a first cutting height, and a traversal cutting height of the automatic lawn mower for the second area being a second cutting height, the first cutting height being less than the second cutting height.

[0056] As some embodiments of the present disclosure, if the automatic lawn mower enters the work area feature map for the first time, the work area feature map can also be loaded from the cloud server, specifically including: the automatic lawn mower sends the current position to the cloud server; the cloud server calls a preset rule, uses the preset rule to send the work area feature map of the current position to the automatic lawn mower, and the automatic lawn mower receives and decodes the work area feature map.

[0057] In some embodiments of the present disclosure, the first boundary encloses the first area;

[0058] The second boundary surrounds the first boundary, and the area between the first boundary and the second boundary is the second area.

[0059] In this step, when the working area feature map is loaded for the second time, the working area feature map can also be extracted from the external storage, internal storage of the automatic mower, and the storage location of the working area feature map is not limited herein.

[0060] Some embodiments of the present disclosure do not limit the generation time of the working area feature map, which can be pre-generated or generated in real time.

[0061] In the present disclosure, the lawn height of most positions in the first area is less than the lawn height of most positions in the second area, and of course, the lawn height of some special positions in the first area can also not be the first cutting height, such as sand pits, tee boxes, greens, and secondary greens.

[0062] When it is necessary to smooth the golf course, it is necessary to keep the grass height "inconsistent" on both sides of the smooth path, and of course, this "inconsistency" does not mean that the grass height at the contact of both sides of the target path is inconsistent, but that the direction of the lawn on both sides is mostly inconsistent. The majority can be calculated according to the coverage area, for example, if more than half of the area of a region is the second cutting height, it can be considered that the cutting height of the region is the second cutting height.

[0063] Step 502, generating a target path according to the first boundary;

[0064] First, the first boundary is subjected to coordinate transformation to obtain a first boundary path;

[0065] In some embodiments of the present disclosure, the first boundary is of a grid type, and the coordinates of the grid type cannot be directly tracked by the automatic mower without coordinate system transformation. In order to enable the automatic mower to directly track, the first boundary of the grid type needs to be subjected to coordinate transformation. Generally, the grid type can be transformed into a local ENU coordinate system, specifically, the grid center point is mapped to a three-dimensional coordinate in the east (E)-north (N)-up (U) direction of a certain reference point (such as the origin of the working area), and then only the horizontal plane (e, n) is taken as the path coordinate, and accordingly, the first boundary path is obtained.

[0066] In addition, in some cases, if there is a body width difference between the mapping device and the automatic mower in the transverse direction, the first boundary also needs to be inwardly shrunk before being subjected to coordinate transformation to obtain the first boundary path.

[0067] Specifically, in some embodiments of the present disclosure, the vehicle width difference can be determined according to the center axis of the forward direction of the automatic mower and the center axis of the forward direction of the mapping device. Specifically, for example, the wheel on one side of the mapping device is close to the wall, and the width is measured to be 30 cm, so the center axis of the mapping device is 15 cm away. The wheel on one side of the automatic mower is close to the wall, and the width is measured to be 50 cm, so the center axis of the mapping device is 25 cm away. Then the vehicle width difference between the two is 10 cm. The first boundary needs to be reduced by 10 cm to obtain the first boundary path.

[0068] After obtaining the first boundary path, at least part of the first boundary path is smoothed to obtain a target path.

[0069] In the above manner, a smoothed path corresponding to the first boundary can be obtained, which has a higher smoothing degree relative to the first boundary. Therefore, when the automatic mower performs edge cutting using the same positioning accuracy, a better smoothing effect can be obtained, thereby improving the overall aesthetic level at the junction of the first region and the second region.

[0070] In some embodiments of the present disclosure, when the automatic mower smoothes the first boundary path, a recursive smoothing method is used. Since the calculation time of recursive smoothing has a quadratic correlation with the amount of data, some embodiments of the present disclosure propose segmenting the first boundary path to obtain a plurality of first boundary path segments, and then smoothing different first boundary path segments, which can significantly reduce the calculation time.

[0071] Preferably, as shown in the smoothing method schematic diagram of FIG. 6, the following operation can also be performed when smoothing the first boundary path to reduce the calculation time.

[0072] Step 601, dividing the first boundary path into a plurality of first boundary path segments;

[0073] In some embodiments of the present disclosure, two different division schemes are given:

[0074] As shown in the curvature division first boundary path schematic diagram of FIG. 7, the first scheme is to divide according to the curvature, which can avoid large protruding parts in the smoothed path points as much as possible, affecting the aesthetics. As shown in FIG. 7, a total of 10 preset path points A1-A10 are shown.

[0075] Determine the curvature of each path point of the first boundary path.

[0076] Specifically, as shown in Table 1, the curvature relationship table of each path point.

[0077] Table 1

[0078] In some embodiments of the present disclosure, the controller can segment the smoothed first boundary path by one of the following two schemes:

[0079] Scheme 1: Segmentation based on curvature threshold

[0080] The curvature threshold is set to 0.01;

[0081] Points on the path with a curvature lower than 0.01 (e.g. A3, A4, A5, A8, A9) are taken as segmentation points, in addition,

[0082] According to the segmentation points, the smoothed first boundary path is divided into a plurality of continuous path segments;

[0083] Through such segmentation, the load of the cutter head at the turning point can be significantly reduced. Compared with the non-segmentation scheme, the cutter head load in some embodiments of the present disclosure is reduced by about 12%.

[0084] Scheme 2: Segmentation based on distance threshold

[0085] The distance threshold (optionally 1 m, 2 m, 3 m or 4 m) is preset;

[0086] Segmentation points are inserted along the smoothed first boundary path at equal distances according to the distance threshold;

[0087] The path is divided into a plurality of path segments with similar lengths;

[0088] When the aesthetic requirement for the mowing edge is relatively loose, the uniform segmentation scheme can be preferred to improve the segmentation efficiency and reduce the residence time of the automatic mowing machine.

[0089] Step 602, smoothing at least part of each first boundary path segment to obtain a smoothed path segment;

[0090] Due to the limited computing power of the controller, only the first boundary path segments are smoothed to generate the final target path, thereby improving the working efficiency of the automatic mowing machine and avoiding long-term stagnation due to complex calculations.

[0091] In some embodiments of the present disclosure, the B-spline or Bezier curve algorithm can be used to smooth the first boundary path segment, and the B-spline algorithm is preferably used. After smoothing, a corresponding smoothed path segment can be generated for each first boundary path segment.

[0092] Step 603, combining each first boundary path segment with each smoothed path segment to obtain a target path.

[0093] In some embodiments of the present disclosure, since the end points of the first boundary path segments may not match after being smoothed, the two segments with inconsistent end points can be connected in a straight line manner, and then all the smoothed path segments are combined into a complete target path.

[0094] By using the above-mentioned segmented smoothing method, the smoothing operation efficiency is greatly improved, and the path "burr" is effectively eliminated, and the overall appearance of the edge-cutting trajectory is significantly improved.

[0095] In step 503, the automatic mower is controlled to perform edge cutting along the target path at a first cutting height, and the edge cutting forms a first cutting trajectory, and the first cutting trajectory has a higher smoothness than the first boundary.

[0096] By using the above-mentioned scheme, when the automatic mower needs to perform edge cutting on the working area, the target path of the first boundary can be obtained, and the automatic mower is controlled to perform edge cutting along the target path at a first cutting height, and the edge cutting forms a first cutting trajectory, and the first cutting trajectory has a higher smoothness than the first boundary, which ensures that the first cutting trajectory is relatively smooth and improves the overall appearance of the working area.

[0097] In some embodiments of the present disclosure, the smoothness of the cutting trajectory and the first boundary can be characterized as follows:

[0098] The smoothing parameter is selected, and the smoothing parameter at least includes one or more of the following:

[0099] The path curvature change rate, the angle change amount of adjacent path points, the path deviation variance, and the curvature fluctuation amplitude.

[0100] As some embodiments of the present disclosure, the path curvature change rate is preferably used to characterize the smoothness difference between the cutting trajectory and the first boundary, which is specifically reflected in that:

[0101] The maximum value of the curvature change rate of the target path is lower than the maximum value of the curvature change rate of the first boundary; or

[0102] The average value of the curvature change rate of all path points on the target path is lower than the average value of the curvature change rate of all path points on the first boundary.

[0103] The determination criterion is that when the automatic mower performs the edge cutting task, if the average curvature change rate or the maximum curvature change rate on either side of the actual cutting trajectory is lower than the corresponding first boundary value, it is considered that the technical scheme disclosed in some embodiments of the present disclosure is implemented, and the expected smoothing effect is achieved.

[0104] In some embodiments of the present disclosure, to further improve the visual effect of the site, the forward viewing distance of the automatic mower can be increased. When the forward viewing distance is small, the instantaneous tracking ability of the mower to the path is very strong, and the mower will still travel along the path segment with significant curvature change close to the target path. Since the curvature change rate reflects the smoothness of the path, too strong tracking ability may produce "burr" or unsmooth trajectory mutation at this place.

[0105] In embodiments of the present disclosure, after obtaining the target path, the forward viewing distance of the automatic mower can be increased to control the tracking of the automatic mower along the target path, thereby improving the smoothness of the first cutting trajectory. As can be seen, this scheme can on the one hand combine the smoothing of the first boundary, and on the other hand increase the forward viewing distance to obtain a more smooth cutting trajectory; on the other hand, without smoothing the first boundary, only by increasing the forward viewing distance, the significant smoothing of the cutting trajectory can also be realized. For ease of description, in the following embodiments, the smoothed or unsmoothed path is collectively referred to as "target path", and those skilled in the art should understand that increasing the forward viewing distance is sufficient to significantly improve the smoothness of the first cutting trajectory relative to the first boundary.

[0106] To solve this problem, some embodiments of the present disclosure combine the vehicle body structure and the speed to design the forward viewing distance, specifically:

[0107] The navigation path point on the target path is updated with the preset forward viewing distance, and the preset forward viewing distance satisfies the following formula:

[0108] V is the driving speed of the automatic mower, L is the distance from the center of the driving wheel of the automatic mower to the front end of the vehicle body, L0 is the preset forward viewing distance;

[0109] In some embodiments of the present disclosure, the product V·L of the driving speed V of the automatic mower and the distance L from the center of the driving wheel to the front end of the vehicle body is less than the preset forward viewing distance L0, which can provide a larger steering margin for the mower; and as the driving speed increases, the preset forward viewing distance can be increased accordingly to ensure stable posture and avoid steering jitter.

[0110] In addition, the automatic mower is controlled to move along the direction of the navigation path point at the first cutting height and perform edge cutting.

[0111] More preferably, the preset forward viewing distance satisfies the following formula:

[0112] In some embodiments of the present disclosure, the preset forward distance can be further increased, so that the product of the driving speed V of the automatic mower and the distance L from the center of the driving wheel to the front end of the mower body V·L is significantly smaller than the preset forward distance L0, thereby effectively eliminating the road section with significant curvature change on the target path. The preset forward distance L0 can remain constant during the edge-following task of the automatic mower, and the forward distance L0 is not adjusted even if the driving speed V changes.

[0113] As another embodiment, the forward distance L0 can also be adaptively adjusted based on the driving speed v during the edge-following process to reduce the corner tracking error. Compared with the fixed forward distance, the adaptive forward distance of some embodiments of the present disclosure can reduce the corner error by about 35%.

[0114] As shown in the automatic mower tracking diagram of FIG. 8, the target path and the automatic mower are included in the diagram, and the automatic mower continuously updates the nearest path point during movement and finds the navigation path point based on the nearest path point and the preset forward distance.

[0115] As shown in FIG. 8, when the automatic mower 1 drives on the target path, the path point 81 with the shortest distance to itself is first calculated. Based on the path point 81 and the preset forward distance L, the path point 82 can be determined as the current navigation target, and the automatic mower 1 moves from the current position to the path point 82.

[0116] Between the path point 81 and the path point 82, there is also a path point 83 with equal distance to the two. When the automatic mower 1 passes the path point 83, the path point with the shortest distance to itself is updated to the path point 82; at this time, the new navigation target path point 84 is calculated again based on the path point 82 and combined with the preset forward distance L, and the automatic mower continuously moves from the current position to the path point 84. In some cases, when the automatic mower moves from the path point 84 to the path point 85, the speed is V1, the preset forward distance is L1 at this time, and when the automatic mower moves from the path point 85 to the path point 86, the speed is V2, V2>V1, the preset forward distance is L2 at this time, and therefore L2>L1. As can be seen from the diagram, the distance between the path point 84 and the path point 85 is significantly smaller than the distance between the path point 85 and the path point 86.

[0117] As shown in the single-cutting width diagram of the working head assembly of FIG. 9, the maximum cutting width D1 of the working head assembly during single cutting is shown in FIG. 9.

[0118] As shown in the grass missing area diagram of FIG. 10, in order to ensure that the first area 21 does not miss grass and the first cutting track effect at the first boundary 23 is relatively smooth, some embodiments of the present disclosure give the detailed working process of the automatic mower in combination with the traversal cutting and the edge-following cutting.

[0119] In some embodiments of the present disclosure, the working area includes the edge-cutting and the traverse-cutting, the edge-cutting means that the automatic mower cuts the boundary, and the traverse-cuting means that the automatic mower cuts the lawn in the working area outside the boundary.

[0120] When the automatic mower performs the traverse-cutting planning, it moves along the traverse path and cuts straight, the traverse path includes a plurality of straight path segments 101 and a plurality of turning path segments 102, each turning path segment 102 is connected with an adjacent straight path segment 101 through a turning point 103. In some embodiments of the present disclosure, the turning path segment 102 can be a straight line, an arc or a continuous curve.

[0121] For the convenience of description, some embodiments of the present disclosure respectively illustrate the process of the automatic mower performing the traverse-cutting in the first area 21 and the second area 22.

[0122] In the first area, the traverse-cutting is performed as follows:

[0123] In some embodiments of the present disclosure, since the cutting height of the first area 21 is lower than that of the second area 22, in order to ensure the smooth and beautiful effect of the edge-cutting of the first area 21 to the first boundary 23, when performing the traverse-cutting of the first area 21, the position of the working head assembly 12 in the turning path segment 102 should be controlled to prevent the occurrence of non-smooth or abrupt cutting track. Specifically, as some embodiments of the present disclosure, some embodiments of the present disclosure also include that when the automatic mower 1 performs the traverse-cutting along the turning path segment 102, the working head assembly of the automatic mower 1 does not exceed the first boundary 23, and the vertical distance from any turning point 103 to the first boundary 23 does not exceed twice the single cutting width of the working head assembly 1. By controlling the working head assembly not to exceed the first boundary, the smooth quality can be ensured, and by controlling the vertical distance from any turning point to the first boundary, the range of the missed cutting area 104 can be adjusted to make the missed cutting area 104 cut through twice edge-cutting, so as to ensure the edge-cutting efficiency, and thus through this embodiment, the edge-cutting quality and efficiency can be considered at the same time.

[0124] In order to solve the missed cutting area 104 and improve the beauty, some embodiments of the present disclosure give a specific diagram of edge-cutting as shown in FIG. 11, as some embodiments of the present disclosure, in order to ensure the neatness and beauty of the boundary, some embodiments of the present disclosure perform inward shrinkage and multiple edge-cutting on the first boundary, specifically including:

[0125] Step 111, obtaining the first boundary;

[0126] In this step, the controller can obtain the first boundary from the memory, or obtain the first boundary from the cloud server, and some embodiments of the present disclosure do not limit this.

[0127] Step 112, obtaining an adjustment vector pointing to the first region;

[0128] In some embodiments of the present disclosure, the adjustment vector can be determined according to the single cutting width of the working head assembly of the automatic mower and the preset overlap width. Specifically, in some embodiments of the present disclosure, the adjustment vector of the automatic mower can be the working head radius, in addition to the working head radius, it can also be half of the width of the working head assembly projected on the ground, for example, the automatic mower is provided with double working heads, each working head has a diameter of 20 cm, and the preset overlap width is 4 cm, then the first preset distance should be (20+20-4) / 2=18 cm. Finally, the adjustment vector is obtained as 18 cm.

[0129] Of course, those skilled in the art can adjust the preset overlap width to obtain other adjustment vectors, or use other working head assemblies, and the technical principles are the same as the above, which will not be repeated here.

[0130] Step 113, at least according to the adjustment vector, the first boundary is inwardly retracted to obtain an inwardly retracted path;

[0131] The first boundary is inwardly retracted to the first region to obtain an inwardly retracted path, which can be a path without smoothing processing or a path with smoothing processing.

[0132] Preferably, at least according to the adjustment vector, the first boundary is inwardly retracted;

[0133] The inwardly retracted first boundary is smoothed to obtain an inwardly retracted path.

[0134] In some embodiments of the present disclosure, the smoothing manner of the inwardly retracted first boundary is the same as the above, which will not be repeated here.

[0135] Step 114, controlling the automatic mower to perform edge cutting along the inwardly retracted path at the first cutting height, and the edge cutting forms a second cutting track, and the second cutting track at least partially coincides with the first cutting track and the traversal track respectively.

[0136] In some embodiments of the present disclosure, the automatic mower 1 performs edge cutting along the smoothed target path at the first cutting height to form a first cutting track, thereby solving the boundary smoothing problem between the first region 21 and the second region 22. Subsequently, the automatic mower 1 performs traversal cutting on the first region 21 and the second region 22 to obtain a traversal cutting track.

[0137] In view of the fact that the missing cutting area 104 can occur in the traversal cutting process of the first area 21 due to the limitation of the boundary aesthetic requirement, in some embodiments of the present disclosure, the automatic mower 1 is further controlled to perform the edge-cutting along the inner shrinking path at the first cutting height to generate a second cutting track; within the preset track overlap size range, the second cutting track can at least partially coincide with the first cutting track and the traversal cutting track.

[0138] Through the second cutting track, the missing cutting area 104 between the traversal cutting track and the first cutting track can be effectively compensated; thus, relying on the combination of the first cutting track and the second cutting track, the smoothness of the boundary of the field is ensured, and the problem of missing cutting is avoided.

[0139] As shown in FIG. 10, the automatic mower 1 comprises a moving assembly 11 and a working head assembly 12, and the working head assembly 12 is generally arranged between the front and rear moving assemblies 11 along the travel direction of the automatic mower 1. In a two-drive system, the moving assembly 11 only contains two driving wheels, and the driving wheels will generate a relatively large friction force in the process of driving and steering. In view of the fact that the traversal cutting height of the first area 21 is lower than that of the second area 22, the lawn of the first area 21 is relatively more fragile, and if the driving wheels frequently steer in the first area 21, the lawn can be easily damaged. Therefore, in some embodiments of the present disclosure, when the automatic mower 1 performs the traversal cutting along the steering path segment 102 in the second area 22, the following conditions must be met:

[0140] The driving wheels of the automatic mower 1 cannot cross the first boundary 23;

[0141] The vertical distance from any steering point 103 to the first boundary 23 is not greater than the single cutting width of the working head assembly 12.

[0142] Through the above limitation, the range of the missing cutting area 104 can be effectively controlled to complete the missing cutting compensation in one edge-cutting, so as to balance the edge-cutting efficiency and the boundary aesthetics.

[0143] Preferably, the target path can also be fine-tuned so that one side of the driving wheels of the automatic mower 1 travels close to the first boundary 23; then, the edge-cutting along the first boundary 23 is performed again at the second cutting height 26 to form a second cutting track, which at least partially coincides with the previously generated first cutting track and the traversal cutting track. Further, the “cross-cutting” of the working head assembly 12 can be realized by arranging the first boundary 23 between the two driving wheels, so that the missing cutting area 104 is cut again at the second cutting height, and the driving wheel marks do not overlap with the marks at the first cutting height, thereby maximizing the protection of the lawn in the first area 21.

[0144] In some embodiments of the present disclosure, after the target path is generated, the automatic mower 1 can upload the path to the cloud server through the communication component 15, and the cloud server can broadcast the target path to other automatic mowers in the same working area, so that each mower does not need to process the first boundary 23 repeatedly, and the overall working efficiency is significantly improved; when multiple mowers are deployed in the area, the target path can also be uniformly modified through the cloud to flexibly adjust the working strategy.

[0145] In some embodiments of the present disclosure, the starting mode of the edge cutting task can selectively include:

[0146] Automatic triggering: the automatic mower 1 switches to the edge cutting mode when approaching the first boundary 23 or meeting the preset conditions;

[0147] Terminal instruction triggering: the control terminal (such as a management platform or a handheld device) sends an edge cutting instruction to the automatic mower 1, and the mower switches to the edge cutting mode.

[0148] This scheme can provide users with greater control freedom and enhance the human-machine interaction experience.

[0149] In some embodiments of the present disclosure, in order to reduce the delay of obtaining the feature map of the working area for the first time, the automatic mower 1 can pre-load the relevant feature map according to the working order: when the pre-positioned working task corresponding to the first boundary 23 is completed, the mower 1 can extract and process the feature map of the area in real time, and generate the target path when moving to the vicinity of the first boundary 23, without stopping at the boundary to wait, thereby further improving the continuity and working efficiency of the edge cutting.

[0150] As shown in FIG. 12, the feature map of the courtyard, in other application scenarios of some embodiments of the present disclosure, the first area 21 and the second area 22 are adjacent to each other on the left and right, the second boundary 24 forms a closed area, and the first boundary 23 divides the closed area into the first area 21 and the second area 22. If the user needs to achieve different cutting effects on the lawns (the first area 21 and the second area 22) on the left and right sides, the first boundary 23 will also have a "burr" mutation, and thus the first boundary 23 needs to be smoothed. As shown in FIG. 12, there are many obvious "burr" on the first boundary 23, and some embodiments of the present disclosure can eliminate the mutation by smoothing the boundary, thereby significantly improving the overall aesthetics of the courtyard landscape. In FIG. 12, the first boundary can be edge-cut in the same way as described above, and the specific content has been disclosed above, and thus will not be described here.

[0151] On the other hand, as shown in FIG. 13, some embodiments of the present disclosure also provide a method for constructing a work area feature map. Since the traditional grid map is usually stored at a resolution of about 5 cm, the path generated after coordinate conversion of the first boundary curve has many right-angle "burr", which is difficult to meet the high requirements of golf course on boundary smoothness. Some embodiments of the present disclosure improve the grid resolution and optimize the grid processing flow to eliminate the path burr and improve the smoothness of the cutting trajectory along the edge. Specifically, it includes:

[0152] Step 131, obtaining a positioning signal when the mapping device moves along the boundary of the work area, the positioning signal including at least one of a satellite signal, an inertial navigation signal and an image signal;

[0153] Step 132, obtaining a work area feature map according to the positioning signal, the work area feature map being composed of a plurality of grid units, the side length of the grid unit being G, wherein 1 mm < G < 50 mm.

[0154] In some embodiments of the present disclosure, the resolution of the work area feature map can be improved by 1-50 times by reducing the side length of the grid unit, so as to improve the smoothness of the boundary. The resolution improvement multiple can be adjusted according to the processing capacity of the controller 13 of the automatic mower 1: when the controller 13 has strong computing power, a higher resolution can be set; when the computing power is weak, a lower resolution can be set, without further limitation. Since the improvement of the overall map resolution will significantly increase the data amount of the feature map, some embodiments of the present disclosure only improve the resolution in the area where the first boundary 23 is located, while keeping the original resolution unchanged in other parts of the work area feature map.

[0155] Specifically, the work area feature map includes a first area 21 and a second area 22, and the first area 21 and the second area 22 are adjacently arranged by the first boundary 23; the first boundary 23 encloses the first area 21, the second boundary 24 surrounds the first boundary 23, and the area between the first boundary 23 and the second boundary 24 is the second area 22. The first boundary 23 is composed of first grid, and the rest of the map is composed of second grid, and the side length G1 of the first grid is smaller than the side length G2 of the second grid (G1 < G2).

[0156] Therefore, in the same work area feature map, the resolution of the first grid is higher than that of the second grid. When the automatic mower 1 performs edge cutting, the first boundary 23 with high resolution can be directly used for coordinate conversion without additional smoothing processing, which not only reduces the computing load of the controller 13, but also shortens the waiting time of the mower 1, thereby improving the work efficiency of edge cutting.

[0157] In some embodiments of the present disclosure, the work area feature map can be generated by a hand-held mapping device or a mapping device of the automatic mower 1 itself.

[0158] As shown in another schematic diagram of the edge-cutting method in FIG. 14, in addition to the above, the present disclosure also provides an embodiment different from the method corresponding to FIG. 5, which is described from the rate of change of the curvature of the first cutting trajectory, specifically:

[0159] Step 141, obtaining a work area feature map, the work area feature map including a first area and a second area, the first area and the second area being adjacent through a first boundary, a traversal cutting height of the automatic mower on the first area being a first cutting height, and a traversal cutting height of the automatic mower on the second area being a second cutting height, the first cutting height being less than the second cutting height;

[0160] Step 142, generating a target path according to the first boundary;

[0161] Step 143, controlling the automatic mower to perform edge-cutting along the target path at the first cutting height, the edge-cutting forming a first cutting trajectory, a curvature fluctuation amplitude of the first cutting trajectory being less than 0.1 m-1.

[0162] In some embodiments of the present disclosure, the curvature fluctuation amplitude reflects the change range of the turning strength of the cutting trajectory of the automatic mower in a certain sampling window, and the smoothness of the entire trajectory is quantified by the curvature fluctuation amplitude. Specifically, a sampling window is preset, for example, all path points in a certain arc length interval are collected, and in some embodiments, the arc length interval length can be 0.5 m, 1 m, 2 m, 3 m, or 4 m, etc.; the difference between the maximum curvature and the minimum curvature of each path point in the arc length interval is calculated, which is the curvature fluctuation amplitude. According to the experiments of the present applicant, it is considered that when the curvature fluctuation amplitude is less than 0.1 m-1, the smoothness of the cutting trajectory is more acceptable to users, of course, according to the different working environments and the tracking capabilities of the automatic mower, the curvature fluctuation amplitude can also be adjusted to 0.05 m-1, 0.2 m-1, 0.5 m-1, or 1 m-1, which is not limited by the present disclosure.

[0163] Similar to FIG. 5, this embodiment can be combined with all the above embodiments, and the first cutting trajectory is limited by the rate of change of the curvature, which can ensure that the first cutting trajectory is relatively smooth, and the overall aesthetics of the work area is improved.

[0164] In addition to the above methods and devices, some embodiments of the present disclosure can also be a computer program product, which includes computer program instructions, which, when executed by a processor, causes the processor to perform the steps of the methods according to various embodiments of some embodiments of the present disclosure described above.

[0165] A computer program product can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computing device, partly on the user's computing device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device or entirely on the remote computing device or server. The embodiments of methods described herein are implemented as computer programs, i.e., as one or more sequences of instructions designed for execution on a computing device. The computer program includes program instructions, such as computer software, firmware, resident software, or microcode. The program instructions are a sequence of instructions, executable on a computing device, for causing a processor to perform a method. The program instructions may

[0166] Furthermore, embodiments of the present disclosure can also be a computer readable storage medium, having stored thereon computer program instructions which, when executed by a processor, cause the processor to perform the steps described above in the methods according to the present disclosure various embodiments.

[0167] The computer readable storage medium can be a combination of one or more computer readable media. The computer readable media can be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium can include, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the above. More specific examples (a non-exhaustive list) of the computer readable storage medium include an electrical connection having one or more wires, a portable disc, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0168] The above describes the basic principles of the present disclosure in combination with specific embodiments, but it should be noted that the advantages, advantages, effects and the like mentioned in the present disclosure are only examples and are not limiting, and these advantages, advantages, effects and the like cannot be considered as the various embodiments of the present disclosure must have. In addition, the above specific details are only for the purpose of example and for the purpose of understanding, and the above details do not limit the present disclosure to the above specific details.

[0169] The block diagrams of devices, apparatuses, devices, and systems disclosed herein are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, devices, and systems can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the terms “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it.

[0170] It should also be noted that in the apparatus, devices, and methods of this disclosure, the components or steps can be disassembled and / or recombined. These disassemblies and / or recombinations should be considered as equivalent solutions to this disclosure.

[0171] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use this disclosure. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of this disclosure. Therefore, this disclosure is not intended to be limited to the aspects shown herein, but rather to be carried out within the widest scope consistent with the principles and novel features disclosed herein.

[0172] The above description has been given for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of this disclosure to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations therein.

Claims

1. A method for edge cutting, characterized in that, include: A working area feature map is obtained, which includes a first area and a second area. The first area and the second area are adjacent through a first boundary. The automatic lawnmower cuts the first area at a first cutting height and cuts the second area at a second cutting height. The first cutting height is less than the second cutting height. Generate the target path based on the first boundary; The automatic lawnmower is controlled to perform edge cutting along the target path at the first cutting height, the edge cutting forming a first cutting trajectory, the curvature fluctuation amplitude of the first cutting trajectory being less than 0.1m. -1 .

2. The edge-cutting method according to claim 1, characterized in that, include: The first boundary encloses the first region; The second boundary surrounds the first boundary, and the area between the first boundary and the second boundary is the second area. The first area is the fairway area in a golf course, and the second area is the rough area in a golf course.

3. The edge-cutting method according to claim 1 or 2, characterized in that, The step of generating a target path based on the first boundary includes: Perform coordinate transformation on the first boundary to obtain the first boundary path; The first boundary path is at least partially smoothed to obtain the target path.

4. The edge-cutting method according to claim 3, characterized in that, The step of smoothing at least a portion of the first boundary path to obtain the target path includes: The first boundary path is divided into several first boundary path segments; At least a portion of the first boundary path segments are smoothed to obtain smoothed path segments; The target path is obtained by combining each of the first boundary path segments with each of the smooth path segments.

5. The edge-cutting method according to claim 4, characterized in that, The step of dividing the first boundary path into several first boundary path segments includes: Determine the curvature of each path point on the first boundary path; Path points with curvature lower than a preset curvature threshold are used as segmentation points, and the distance between two adjacent segmentation points is greater than a preset distance threshold. Based on the segmentation points, the first boundary path is divided into several first boundary path segments.

6. The edge-cutting method according to claim 4 or 5, characterized in that, The step of dividing the first boundary path into several first boundary path segments includes: The first boundary path is divided into several first boundary path segments according to a preset distance threshold.

7. The edge-cutting method according to any one of claims 1-6, characterized in that, The control of the automatic lawnmower to perform edge cutting along the target path at the first cutting height includes: The navigation waypoints on the target path are updated with a preset look-forward distance, which satisfies the following formula: V is the driving speed of the automatic lawnmower, L is the distance from the center point of the drive wheel of the automatic lawnmower to the front end of the machine body, and L0 is the preset forward sight distance; The automatic lawnmower is controlled to move toward the navigation path point at the first cutting height and perform the edge cutting.

8. The edge-cutting method according to claim 7, characterized in that, The preset forward look-ahead distance satisfies the following formula:

9. The edge-cutting method according to any one of claims 1-8, characterized in that, It also includes, Obtain the first boundary; Obtain the adjustment vector pointing to the first region; The first boundary is shrunk inward at least according to the adjustment vector to obtain the shrunk path; The automatic lawnmower is controlled to perform edge cutting along the inward path at the first cutting height, and the edge cutting forms a second cutting trajectory, which at least partially overlaps with the first cutting trajectory and the traversal trajectory.

10. The edge-cutting method according to claim 9, characterized in that, The step of shrinking the first boundary at least according to the adjustment vector to obtain the shrinkage path includes: The first boundary is shrunken inward at least according to the adjustment vector; The first boundary after shrinkage is smoothed to obtain the shrinkage path.

11. The edge-cutting method according to any one of claims 1-10, characterized in that, It also includes controlling the automatic lawnmower to perform traversal cutting on the first area along a traversal path, the traversal path including several straight path segments and several turning path segments, each turning path segment being connected to an adjacent straight path segment through a turning point; When the automatic lawnmower performs the traversal cutting along the turning path segment, the working head assembly of the automatic lawnmower does not exceed the first boundary.

12. The edge-cutting method according to claim 11, characterized in that, It also includes the following: when the automatic lawnmower performs the traversal cutting along the turning path segment, the vertical distance from any turning point to the first boundary does not exceed twice the single cutting width of the working head assembly.

13. The edge-cutting method according to any one of claims 1-12, characterized in that, It also includes controlling the automatic lawnmower to perform traversal cutting on the second area along a traversal path, the traversal path including several straight path segments and several turning path segments, each turning path segment being connected to an adjacent straight path segment through a turning point; When the automatic lawnmower performs the traversal cutting along the turning path segment, the drive wheel of the automatic lawnmower does not exceed the first boundary, and the vertical distance from any turning point to the first boundary is less than the single cutting width of the working head assembly.

14. The edge-cutting method according to claim 13, characterized in that, It also includes the fact that when the automatic lawnmower performs the traversal cutting along the turning path segment, the vertical distance from any turning point to the first boundary is less than the single cutting width of the working head assembly.

15. The edge-cutting method according to any one of claims 1-14, characterized in that, include: The second boundary encloses a closed area; The first boundary divides the enclosed area into the first region and the second region.

16. The edge-cutting method according to any one of claims 1-15, characterized in that, The maximum value of the rate of change of curvature of the edge cutting trajectory is less than the maximum value of the rate of change of curvature of the first boundary.

17. The edge-cutting method according to any one of claims 1-16, characterized in that, The method for creating the feature map of the working area includes, Acquire positioning signals as the mapping device moves along the boundary of the working area, wherein the positioning signals include at least one of satellite signals, inertial navigation signals, and image signals; Based on the positioning signal, a feature map of the working area is obtained. The feature map of the working area is composed of several grid cells, and the side length of each grid cell is G, where 1 mm <G<50mm。 18. The mapping method according to claim 17, characterized in that, The first boundary is composed of a first grid, and at least other parts of the working area feature map are composed of a second grid. The side length of the first grid is G1, and the side length of the second grid is G2, wherein G1 <G2。 19. The mapping method according to claim 17, characterized in that, The mapping device includes at least one of a push-type mapping device and an automatic lawnmower.

20. An automatic lawnmower, characterized in that, include: A moving component is configured to move the automatic lawnmower; The workhead component is configured to perform cutting tasks; The controller is configured to acquire a working area feature map, the working area feature map including a first area and a second area, the first area and the second area being adjacent through a first boundary, the automatic lawnmower traversing the first area with a first cutting height, and traversing the second area with a second cutting height, the first cutting height being less than the second cutting height; Generate the target path based on the first boundary; The automatic lawnmower is controlled to perform edge cutting along the target path at the first cutting height, the edge cutting forming a first cutting trajectory, the curvature fluctuation amplitude of the first cutting trajectory being less than 0.1m. -1 .

21. A method for edge cutting, characterized in that, include: A working area feature map is obtained, which includes a first area and a second area. The first area and the second area are adjacent through a first boundary. The automatic lawnmower cuts the first area at a first cutting height and cuts the second area at a second cutting height. The first cutting height is less than the second cutting height. Generate the target path based on the first boundary; The automatic lawnmower is controlled to perform edge cutting along the target path at the first cutting height, and the edge cutting forms a first cutting trajectory, which has a higher smoothness than the first boundary.

22. The edge-cutting method according to claim 21, characterized in that, include: The first boundary encloses the first region; The second boundary surrounds the first boundary, and the area between the first boundary and the second boundary is the second area. The first area is the fairway area in a golf course, and the second area is the rough area in a golf course.

23. The edge-cutting method according to claim 21 or 22, characterized in that, The step of generating a target path based on the first boundary includes: Perform coordinate transformation on the first boundary to obtain the first boundary path; The first boundary path is at least partially smoothed to obtain the target path.

24. The edge-cutting method according to claim 23, characterized in that, The step of smoothing at least a portion of the first boundary path to obtain the target path includes: The first boundary path is divided into several first boundary path segments; At least a portion of the first boundary path segments are smoothed to obtain smoothed path segments; The target path is obtained by combining each of the first boundary path segments with each of the smooth path segments.

25. The edge-cutting method according to claim 24, characterized in that, The step of dividing the first boundary path into several first boundary path segments includes: Determine the curvature of each path point on the first boundary path; Path points with curvature lower than a preset curvature threshold are used as segmentation points, and the distance between two adjacent segmentation points is greater than a preset distance threshold. Based on the segmentation points, the first boundary path is divided into several first boundary path segments.

26. The edge-cutting method according to claim 24, characterized in that, The step of dividing the first boundary path into several first boundary path segments includes: The first boundary path is divided into several first boundary path segments according to a preset distance threshold.

27. The edge-cutting method according to any one of claims 21-26, characterized in that, The control of the automatic lawnmower to perform edge cutting along the target path at the first cutting height includes: The navigation waypoints on the target path are updated with a preset look-forward distance, which satisfies the following formula: V is the driving speed of the automatic lawnmower, L is the distance from the center point of the drive wheel of the automatic lawnmower to the front end of the machine body, and L0 is the preset forward sight distance; The automatic lawnmower is controlled to move toward the navigation path point at the first cutting height and perform the edge cutting.

28. The edge-cutting method according to claim 27, characterized in that, The preset forward look-ahead distance satisfies the following formula:

29. The edge-cutting method according to any one of claims 21-28, characterized in that, The smoothness of the first cutting trajectory and the first boundary is characterized by smoothing parameters, which include at least one of the following: path curvature change rate, angle change of adjacent path points, path deviation variance, and curvature fluctuation amplitude.

30. The edge-cutting method according to claim 29, characterized in that, The curvature fluctuation amplitude of the first cutting trajectory is less than 0.1m-1.

31. The edge-cutting method according to any one of claims 21-30, characterized in that, It also includes, Obtain the first boundary; Obtain the adjustment vector pointing to the first region; The first boundary is shrunk inward at least according to the adjustment vector to obtain the shrunk path; The automatic lawnmower is controlled to perform edge cutting along the inward path at the first cutting height, and the edge cutting forms a second cutting trajectory, which at least partially overlaps with the first cutting trajectory and the traversal trajectory.

32. The edge-cutting method according to any one of claims 21-31, characterized in that, The step of shrinking the first boundary at least according to the adjustment vector to obtain the shrinkage path includes: The first boundary is shrunken inward at least according to the adjustment vector; The first boundary after shrinkage is smoothed to obtain the shrinkage path.

33. The edge-cutting method according to any one of claims 21-32, characterized in that, It also includes controlling the automatic lawnmower to perform traversal cutting on the first area along a traversal path, the traversal path including several straight path segments and several turning path segments, each turning path segment being connected to an adjacent straight path segment through a turning point; When the automatic lawnmower performs the traversal cutting along the turning path segment, the working head assembly of the automatic lawnmower does not exceed the first boundary.

34. The edge-cutting method according to claim 32, characterized in that, It also includes the following: when the automatic lawnmower performs the traversal cutting along the turning path segment, the vertical distance from any turning point to the first boundary does not exceed twice the single cutting width of the working head assembly.

35. The edge-cutting method according to any one of claims 21-34, characterized in that, It also includes controlling the automatic lawnmower to perform traversal cutting on the second area along a traversal path, the traversal path including several straight path segments and several turning path segments, each turning path segment being connected to an adjacent straight path segment through a turning point; When the automatic lawnmower performs the traversal cutting along the turning path segment, the drive wheel of the automatic lawnmower does not exceed the first boundary, and the vertical distance from any turning point to the first boundary is less than the single cutting width of the working head assembly.

36. The edge-cutting method according to claim 35, characterized in that, It also includes the fact that when the automatic lawnmower performs the traversal cutting along the turning path segment, the vertical distance from any turning point to the first boundary is less than the single cutting width of the working head assembly.

37. The edge-cutting method according to any one of claims 21-36, characterized in that, include: The second boundary encloses a closed area; The first boundary divides the enclosed area into the first region and the second region.

38. The edge-cutting method according to any one of claims 21-37, characterized in that, The method for creating the feature map of the working area includes, Acquire positioning signals as the mapping device moves along the boundary of the working area, wherein the positioning signals include at least one of satellite signals, inertial navigation signals, and image signals; Based on the positioning signal, a feature map of the working area is obtained. The feature map of the working area is composed of several grid cells, and the side length of each grid cell is G, where 1 mm <G<50mm。 39. The mapping method according to claim 38, characterized in that, The first boundary is composed of a first grid, and at least other parts of the working area feature map are composed of a second grid. The side length of the first grid is G1, and the side length of the second grid is G2, wherein G1 <G2。 40. The mapping method according to claim 38, characterized in that, The mapping device includes at least one of a push-type mapping device and an automatic lawnmower.

41. An automatic lawnmower, characterized in that, include: A moving component is configured to move the automatic lawnmower; The workhead component is configured to perform cutting tasks; The controller is configured to acquire a working area feature map, the working area feature map including a first area and a second area, the first area and the second area being adjacent through a first boundary, the automatic lawnmower traversing the first area with a first cutting height, and traversing the second area with a second cutting height, the first cutting height being less than the second cutting height; Generate the target path based on the first boundary; The automatic lawnmower is controlled to perform edge cutting along the target path at the first cutting height, the edge cutting forming a first cutting trajectory, the first cutting trajectory having a higher smoothness than the first boundary.

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