Obstacle avoidance method for self-propelled lawn mower, self-propelled lawn mower, medium and product

Abstract

Provided are an obstacle avoidance method for a self-propelled lawn mower (100), a self-propelled lawn mower (100), a medium, and a product, relating to the field of intelligent robots. The method comprises: a self-propelled lawn mower executing a lawn mowing task, a mower blade disc (102) having a first rotation speed, the self-propelled lawn mower (100) having a first traveling speed, the first rotation speed being greater than or equal to 1800 revolutions / minute and less than or equal to 3500 revolutions / minute, and the first traveling speed being greater than or equal to 0.3 meters / second and less than or equal to 0.6 meters / second; when the distance between the self-propelled lawn mower (100) and a living obstacle is less than 2 meters, executing an obstacle avoidance action so as to avoid the living obstacle; and, during the process of executing the obstacle avoidance action, controlling the rotation speed of the mower blade disc (102) to remain at the first rotation speed and the traveling speed of the self-propelled lawn mower (100) to remain at the first traveling speed.

Description

Self-propelled mower obstacle avoidance method, self-propelled mower, medium and product

[0001] Cross-reference to Related Applications

[0002] The present disclosure embodiments claim priority to the following Chinese patent application: Chinese Patent Application No. 202411224219.X, filed on September 3, 2024, entitled "Intelligent mower obstacle avoidance method, self-propelled mower, medium and product", and the entire contents of which are incorporated by reference into the present patent application. TECHNICAL FIELD

[0003] The present disclosure embodiments relate to the field of intelligent robots, and in particular to a self-propelled mower obstacle avoidance method, a self-propelled mower, a medium and a product. BACKGROUND

[0004] In related technologies, intelligent mowers usually adopt some obstacle avoidance strategies to avoid living body obstacles, such as the technical solution described in Chinese Patent Application for Invention No. CN114868095A, when the automatic mower obtains a recognition result that the front obstacle is a person, a control module controls the self-moving device to turn or make a U-turn to avoid the person, or stops moving to avoid colliding with the person; of course, when a person is identified in front, the self-moving device can first slow down to avoid colliding with the person by turning or making a U-turn at high speed.

[0005] For example, the technical solution described in Chinese Patent Application for Invention No. CN111684911A, the mower vehicle can obtain the detection result of the living body recognition module in real time or at regular intervals, and when the detection result is that there is a living body, the control mower disc stops rotating.

[0006] For example, the technical solution described in Chinese Utility Model Patent No. CN214126036U, by reducing the rotating speed of the cutting motor, the intelligent mower is switched from the cutting state to the non-cutting state (including the obstacle avoidance state), so that the blade will not cause a safety accident.

[0007] However, whether it is to avoid living body obstacles by controlling the self-moving device to slow down, controlling the self-moving device to slow down, controlling the mower disc to stop rotating, or controlling the cutting motor to slow down, it will all lead to a decrease in mowing quality, resulting in a larger area that needs to be re-mowed after single cutting, that is, a larger area of grass left, and thus lower mowing efficiency. SUMMARY

[0008] The present disclosure embodiments provide a self-propelled mower obstacle avoidance method, a self-propelled mower, a medium and a product.

[0009] In a first aspect, the embodiments of the present disclosure provide a self-walking mower obstacle avoidance method, the self-walking mower comprising a mower cutterhead and a walking device; the method comprising:

[0010] The self-walking mower performs a mowing task, the mower cutterhead has a first rotating speed, the self-walking mower has a first walking speed, the first rotating speed is greater than or equal to 1800 revolutions per minute and less than or equal to 3500 revolutions per minute, and the first walking speed is greater than or equal to 0.3 meters per second and less than or equal to 0.6 meters per second.

[0011] When the distance between the self-walking mower and the living obstacle is less than 2 meters, an obstacle avoidance action is performed to avoid the living obstacle; in the process of performing the obstacle avoidance action, the rotating speed of the mower cutterhead is maintained at the first rotating speed and the walking speed of the self-walking mower is maintained at the first walking speed.

[0012] Firstly, when the rotating speed of the mower cutterhead is below 1800 revolutions per minute, the cutting performance is poor, which will result in poor mowing effect of the self-walking mower, too much residual grass on the lawn or uneven cutting of the surface of the lawn, and the basic mowing demand of the user cannot be met.

[0013] When the rotating speed of the mower cutterhead is above 1800 revolutions per minute, the cutting performance is good, and when the lawn cutting operation is performed, the lawn can be fully cut, so that there is less residual grass on the lawn and the surface of the lawn is more uniform, and the basic mowing demand of the user can be met.

[0014] It should be noted that the working decibel of the self-walking mower refers to the noise level generated within a range of 1 meter around when it is running, which can reflect the sound pressure level of the noise generated by the blade rotation in the normal working state of the mower. When the working decibel generated by the self-walking mower is greater than 80 decibels when it is working, the human body will have obvious discomfort, and it will have a greater impact on other organisms around.

[0015] In some embodiments, as shown in FIG. 4, when the rotating speed of the mower cutterhead gradually increases and approaches 3500 revolutions per minute, the working decibel will also gradually increase, and when the rotating speed of the mower cutterhead is above 3500 revolutions per minute, the working decibel will exceed 80 decibels, which will cause the human body to have obvious discomfort and have a greater impact on other organisms around.

[0016] Moreover, the self-walking mower generally emits a broadcast sound during the working process to remind people around to pay attention to the working state of the self-walking mower or to warn other organisms to keep away from the self-walking mower, so that the people or other organisms around will not be harmed by the self-walking mower.

[0017] When the rotating speed of the mower cutter head is above 3500 rpm, the working noise generated by the mower cutter head will be too high due to the too high rotating speed, the broadcast sound will be easily covered by the working noise of the mower cutter head, and thus the broadcast sound will not be easily perceived by the surrounding people or other creatures, and the surrounding people or other creatures will be easily harmed by the mower.

[0018] Therefore, controlling the rotating speed of the mower cutter head to be between 1800 rpm and 3500 rpm can enable the self-walking mower to meet the basic mowing demand of the user, and will not make the surrounding people feel uncomfortable, will not greatly affect the surrounding creatures, and will not easily cause the broadcast sound to be covered so as to harm the surrounding people or other creatures, which is an ideal working state.

[0019] Meanwhile, in the process of performing the obstacle avoidance action, by controlling the self-walking mower to still maintain the original walking speed and the original rotating speed of the mower cutter head when the distance between the self-walking mower and the living obstacle is below 2 m, the self-walking mower can maintain the mowing effect, and due to the short distance between the self-walking mower and the living obstacle, the specific type of the living obstacle can be well and continuously identified, so as to ensure that the self-walking mower can accurately select different obstacle avoidance strategies for different types of living obstacles, and the user experience is good.

[0020] If the self-walking mower starts to perform the obstacle avoidance when the distance between the self-walking mower and the living obstacle is 2 m or greater, on the one hand, a large area of lawn will not be cut, the subsequent re-mowing area will be increased, and the user will mistakenly think that the self-walking mower has made a mistake in mapping, so that the user frequently performs the re-mapping operation, and the user experience is poor.

[0021] On the other hand, due to the long distance between the self-walking mower and the living obstacle, the self-walking mower is difficult to well identify the type of the living obstacle, and thus an error will be generated when the self-walking mower selects the obstacle avoidance strategy, for example, when the actual living obstacle is a pet type living obstacle (cat, dog), the self-walking mower is likely to mistakenly identify it as a non-human non-pet type obstacle (hedgehog), so that the repelling signal triggered by the self-walking mower causes the pet type living obstacle (cat, dog) to be frightened by the self-walking mower; or when the actual living obstacle is a non-human non-pet type obstacle (hedgehog), the self-walking mower is likely to mistakenly identify it as a pet type living obstacle (cat, dog), so that the repelling signal not triggered by the self-walking mower causes the non-human non-pet type obstacle (hedgehog) to not be effectively repelled, and the user experience is poor.

[0022] In some embodiments, when the walking speed of the self-walking mower is less than 0.3 m / s, the travel speed of the self-walking mower is too slow, and it takes a long time to cover the entire lawn, resulting in a long time for the self-walking mower to mow the lawn, thereby reducing the mowing efficiency and affecting the user experience.

[0023] When the walking speed of the self-walking mower is greater than 0.6 m / s, the walking speed of the self-walking mower is too fast. On the one hand, the self-walking mower will pass through the lawn in a short time, making it difficult for the mower to fully cut the grass on the lawn, resulting in poor cutting efficiency and cutting effect. On the other hand, if the walking speed of the self-walking mower is too fast, when it encounters a living obstacle that appears instantaneously, the self-walking mower cannot avoid the collision with the living obstacle due to the fast walking speed, and it also does not have enough time to determine the type of obstacle, resulting in the adoption of an incorrect obstacle avoidance strategy and poor user experience.

[0024] Therefore, when the walking speed of the self-walking mower is greater than or equal to 0.3 m / s and less than or equal to 0.6 m / s, the travel speed of the self-walking mower is appropriate. It not only has good mowing efficiency and cutting effect, but also ensures that the self-walking mower can avoid the collision with the living obstacle when it encounters a living obstacle that appears instantaneously, and the self-walking mower can select the correct obstacle avoidance strategy to perform obstacle avoidance.

[0025] In some embodiments, by controlling the rotation speed of the mowing disc to maintain the first rotation speed and the walking speed of the self-propelled mower to maintain the first walking speed during the obstacle avoidance process, the self-propelled mower can ensure that the mowing effect of the self-propelled mower during the obstacle avoidance process is consistent with the mowing effect of the normal mowing task, and the area of the grass left during the obstacle avoidance process is low, which will not affect the mowing efficiency and mowing effect due to the obstacle avoidance action. Moreover, it can also avoid the situation that the mowing is uneven and a large area of missed cutting occurs during the obstacle avoidance process due to the reduction of the walking speed and the rotation speed of the mowing disc. At the same time, the self-propelled mower will not reduce the walking speed or the rotation speed of the mowing disc due to the encounter with the living obstacle, and will not frequently switch the walking speed and the rotation speed of the mowing disc, which will not affect the mowing efficiency and the stability of the mowing operation of the self-propelled mower, and can also make the operation of the self-propelled mower more smooth, thereby reducing the possible jamming and unnecessary operation time during the work process. Moreover, since the self-propelled mower will not frequently switch the walking speed and the rotation speed of the mowing disc, it can also reduce the mechanical wear caused by frequent adjustment of the walking device and the mowing disc, which is beneficial to prolong the service life of the self-propelled mower.

[0026] In summary, by making the self-propelled mower execute obstacle avoidance when the distance between the self-propelled mower and the living obstacle is less than 2 meters, the accuracy of the identification of the living obstacle by the self-propelled mower can be ensured to ensure the accuracy of the selection of different obstacle avoidance strategies for different types of living obstacles. In some embodiments, during the execution of the obstacle avoidance process, the rotation speed of the mowing disc of the self-propelled mower is controlled to maintain the first rotation speed, and the self-propelled mower is controlled to maintain the first walking speed, which not only enables the self-propelled mower to continue to execute the mowing task when the distance between the self-propelled mower and the living obstacle is less than 2 meters, effectively reducing the subsequent mowing area, but also enables the mowing effect and efficiency of the self-propelled mower during the obstacle avoidance process to be maintained at the level of normal execution of the mowing task. Moreover, by making the first rotation speed greater than or equal to 1800 rpm and less than or equal to 3500 rpm, and the first walking speed greater than or equal to 0.3 m / s and less than or equal to 0.6 m / s, the self-propelled mower can satisfy the basic mowing needs of the user while minimizing the impact on the surrounding living obstacles during the obstacle avoidance process, and the broadcast sound will not be covered to harm the surrounding living obstacles. Moreover, the self-propelled mower can ensure good mowing efficiency and good cutting effect while being able to timely avoid obstacles and select the correct obstacle avoidance strategy to execute obstacle avoidance when encountering a living obstacle that appears instantaneously.

[0027] In a second aspect, the embodiments of the present disclosure provide a self-propelled mower obstacle avoidance method, the self-propelled mower comprising a mowing disc and a walking device. The method comprises:

[0028] The self-walking mower performs a mowing task, the mowing cutter head has a first rotating speed, the self-walking mower has a first walking speed, the first rotating speed is greater than or equal to 1800 rpm and less than or equal to 3500 rpm, and the first walking speed is greater than or equal to 0.3 m / s and less than or equal to 0.6 m / s.

[0029] The self-walking mower is less than 2 meters away from a living obstacle in the shape of a human or a pet, and performs an obstacle avoidance action to avoid the living obstacle in the shape of a human or a pet.

[0030] In the process of performing the obstacle avoidance action, the rotating speed of the mowing cutter head is maintained at the first rotating speed, the walking speed of the self-walking mower is maintained at the first walking speed, and the self-walking mower is controlled not to generate a repelling signal to repel the living obstacle in the shape of a human or a pet.

[0031] In some embodiments, the self-walking mower performs a mowing task, the mowing cutter head has a first rotating speed, the self-walking mower has a first walking speed, the first rotating speed is greater than or equal to 1800 rpm and less than or equal to 3500 rpm, and the first walking speed is greater than or equal to 0.3 m / s and less than or equal to 0.6 m / s. In the process of performing the obstacle avoidance action, the rotating speed of the mowing cutter head is maintained at the first rotating speed, the walking speed of the self-walking mower is maintained at the first walking speed, and the self-walking mower is controlled not to generate a repelling signal to repel the living obstacle in the shape of a human or a pet.

[0032] In some embodiments, the self-walking mower performs a mowing task, the mowing cutter head has a first rotating speed, the self-walking mower has a first walking speed, the first rotating speed is greater than or equal to 1800 rpm and less than or equal to 3500 rpm, and the first walking speed is greater than or equal to 0.3 m / s and less than or equal to 0.6 m / s. In the process of performing the obstacle avoidance action, the rotating speed of the mowing cutter head is maintained at the first rotating speed, the walking speed of the self-walking mower is maintained at the first walking speed, and the self-walking mower is controlled not to generate a repelling signal to repel the living obstacle in the shape of a human or a pet.

[0033] In some embodiments, after the self-walking mower is at a position less than 2 meters away from a living obstacle in the shape of a human or a pet, the self-walking mower is controlled to continue performing a mowing task until the self-walking mower is at a position a first threshold distance away from the living obstacle in the shape of a human or a pet, and the self-walking mower is controlled to turn around to perform an obstacle avoidance action.

[0034] The self-walking mower can continue to perform the mowing task when the distance between the self-walking mower and the living obstacle is within 2 m, so that the mowing coverage area is ensured to be large, and a large lawn area that is not subjected to mowing operation due to the too-early execution of the obstacle avoidance action is reduced. Further, the self-walking mower is controlled to perform the obstacle avoidance action when the distance between the self-walking mower and the living obstacle is within the first threshold, so that the self-walking mower can continuously perform the mowing operation to ensure that the mowing coverage area is large enough. Moreover, the self-walking mower is caused to perform the obstacle avoidance when the distance between the self-walking mower and the living obstacle is within the position of the first threshold, so that the risk of collision between the self-walking mower and the living obstacle in the shape of a human or a pet is greatly reduced, and the safety of the living obstacle in the shape of a human or a pet is ensured as much as possible. In this way, the user can let the self-walking mower work in an environment with the living obstacle in the shape of a human or a pet with peace of mind, and the trust and satisfaction of the user are improved.

[0035] In addition, by setting the first threshold, the self-walking mower can perform the obstacle avoidance each time when the distance between the self-walking mower and the living obstacle is within the first threshold, so that the obstacle avoidance state of the self-walking mower each time when the obstacle avoidance is performed is kept consistent, and the mowing area each time when the obstacle avoidance action is performed is kept consistent.

[0036] In some embodiments, the first threshold is greater than 0.4 m and less than 2 m.

[0037] First, the self-walking mower is caused to perform the obstacle avoidance only when the distance between the self-walking mower and the living obstacle is less than 2 m, which corresponds to the related technical solution in the first aspect of the present disclosure, and the beneficial effects achieved are the same as those in the first aspect of the present disclosure, which will not be described here again.

[0038] Further, as shown in FIG. 6, FIG. 6 shows a relationship diagram between the distance between the self-walking mower and the living obstacle and the success rate of obstacle avoidance. It can be seen that when the self-walking mower starts to perform the obstacle avoidance when the distance between the self-walking mower and the living obstacle is greater than 0.4 m, the success rate of obstacle avoidance can reach more than 95%.

[0039] That is, by causing the self-walking mower to perform the obstacle avoidance when the distance between the self-walking mower and the living obstacle is greater than 0.4 m and less than 2 m, the self-walking mower can maintain the mowing effect while ensuring the accuracy of the obstacle avoidance strategy selection of the self-walking mower, and can also avoid potential dangers, so that the safety of the self-walking mower is good, and the self-walking mower can take the obstacle avoidance measure before approaching the living obstacle in the shape of a human or a pet, effectively preventing the occurrence of collision accidents.

[0040] Moreover, the self-walking mower is caused to perform the obstacle avoidance only when the distance between the self-walking mower and the living obstacle in the shape of a human or a pet is less than 2 m, so that the self-walking mower can continue to perform the mowing operation for a distance, and the missed mowing area can be reduced while the obstacle avoidance is successful.

[0041] In some embodiments, the first threshold is greater than or equal to 0.2 meters and less than or equal to 0.4 meters.

[0042] It should be noted that the obstacle avoidance success rate of the self-walking mower needs to reach 80% or above to be considered a passing self-walking mower.

[0043] As shown in FIG. 6, FIG. 6 shows a graph of the distance between the self-walking mower and the living obstacle and the obstacle avoidance success rate. When the self-walking mower is at a distance of 0.2 meters from the living obstacle in the shape of a human or a pet, it starts to perform obstacle avoidance, and the obstacle avoidance success rate reaches 80%. When the self-walking mower is at a distance of less than 0.2 meters from the living obstacle in the shape of a human or a pet, it starts to perform obstacle avoidance, and the obstacle avoidance success rate is less than 80%, and the closer to 0 meters, the greater the decrease in the obstacle avoidance success rate.

[0044] In some embodiments, it can be seen that the turning point of the increase in the obstacle avoidance success rate occurs when the self-walking mower is at a distance of 0.2 meters from the living obstacle, and at this time, the obstacle avoidance success rate is 80%, which can be sufficient to deal with most cases of living obstacle avoidance. The closer to 0.4 meters, the higher the obstacle avoidance success rate, and when it is 0.4 meters, the obstacle avoidance success rate is as high as 95%.

[0045] Therefore, controlling the self-walking mower to start performing obstacle avoidance when it is at a distance of greater than or equal to 0.2 meters and less than or equal to 0.4 meters from the living obstacle in the shape of a human or a pet is an ideal state, which can ensure a high obstacle avoidance success rate while also making the missed cutting area small enough to achieve a relative balance between the obstacle avoidance success rate and the mowing efficiency of the self-walking mower.

[0046] In some embodiments, the method further comprises:

[0047] After the living obstacle in the shape of a human or a pet leaves the detection field of view of the self-walking mower, the self-walking mower is controlled to continue performing the mowing task.

[0048] Therefore, the embodiments of the present disclosure can ensure that the self-walking mower does not cause harm to humans or pets by controlling the self-walking mower to continue performing the mowing task after the living obstacle in the shape of a human or a pet has left the detection field of view of the self-walking mower, and by detecting in real time and avoiding obstacles in a timely manner, the self-walking mower can dynamically adjust the working path to ensure efficient mowing work in complex environments while ensuring the safety of the living obstacle.

[0049] In a third aspect, the embodiments of the present disclosure provide a self-walking mower obstacle avoidance method, the self-walking mower comprising a mowing cutter head and a walking device; the method comprising:

[0050] The self-walking mower performs a mowing task, the mowing cutter head has a first rotating speed, the self-walking mower has a first walking speed, the first rotating speed is greater than or equal to 1800 rpm and less than or equal to 3500 rpm, and the first walking speed is greater than or equal to 0.3 m / s and less than or equal to 0.6 m / s;

[0051] The self-walking mower is less than 2 meters away from a non-human and non-pet living obstacle, performs an obstacle avoidance action to avoid the non-human and non-pet living obstacle;

[0052] The process of performing the obstacle avoidance action controls the rotating speed of the mowing cutter head to maintain the first rotating speed, controls the walking speed of the self-walking mower to maintain the first walking speed, and controls the self-walking mower to generate a repelling signal to repel the non-human and non-pet living obstacle.

[0053] The self-walking mower performs a mowing task, the mowing cutter head has a first rotating speed, the self-walking mower has a first walking speed, the first rotating speed is greater than or equal to 1800 rpm and less than or equal to 3500 rpm, and the first walking speed is greater than or equal to 0.3 m / s and less than or equal to 0.6 m / s; in the process of performing the obstacle avoidance action, the rotating speed of the mowing cutter head is controlled to maintain the first rotating speed, the walking speed of the self-walking mower is controlled to maintain the first walking speed, and the self-walking mower generates a repelling signal to repel the non-human and non-pet living obstacle.

[0054] In addition, by generating the repelling signal, the non-human and non-pet living obstacle can be effectively repelled, and interference of the non-human and non-pet living obstacle to the mowing operation of the self-walking mower can be reduced, and the non-human and non-pet living obstacle (for example, a hedgehog) can be effectively protected to avoid being harmed by the self-walking mower.

[0055] It should be noted that the repelling signal can include a broadcast sound, and the self-walking mower repels the non-human and non-pet living obstacle by emitting the broadcast sound.

[0056] When the rotating speed of the mowing cutter head is above 3500 rpm, the working noise caused thereby can cover the broadcast sound, so that the non-human and non-pet living obstacle is difficult to perceive the repelling signal generated by the self-walking mower, and the non-human and non-pet living obstacle is difficult to be successfully repelled.

[0057] Therefore, by maintaining the mowing disc at the first rotating speed, i.e., at 3500 rpm or below, during the obstacle avoidance process, the repelling signal generated by the self-walking mowing machine during the obstacle avoidance process is less likely to be covered by the working noise of the mowing disc, and the non-humanoid and non-pet living obstacle can perceive the broadcast sound to successfully repel the non-humanoid and non-pet living obstacle.

[0058] In some embodiments, during the obstacle avoidance process, the self-walking mowing machine is controlled to continue performing the mowing task until the self-walking mowing machine is at a position at a first threshold distance from the non-humanoid and non-pet living obstacle, and then the self-walking mowing machine is controlled to turn around to perform the obstacle avoidance action.

[0059] In some embodiments, during the obstacle avoidance process, the self-walking mowing machine is controlled to continue performing the mowing task until the self-walking mowing machine is at a position at a first threshold distance from the non-humanoid and non-pet living obstacle, and then the self-walking mowing machine is controlled to turn around to perform the obstacle avoidance action.

[0060] In some embodiments, the first threshold is greater than 0.4 meters and less than 2 meters.

[0061] In some embodiments, the self-walking mowing machine is controlled to perform the obstacle avoidance action when the self-walking mowing machine is at a position at a distance greater than 0.4 meters and less than 2 meters from the living obstacle.

[0062] In addition, by causing the self-walking mowing machine to avoid obstacles within a reasonable range from the non-humanoid and non-pet living obstacle, the safety of the non-humanoid and non-pet living obstacle can be greatly ensured.

[0063] In some embodiments, the first threshold is greater than or equal to 0.2 meters and less than or equal to 0.4 meters.

[0064] In some embodiments, the first threshold is greater than or equal to 0.2 meters and less than or equal to 0.4 meters.

[0065] In some embodiments, the method further comprises:

[0066] When the non-humanoid and non-pet living obstacle is out of the detectable field of view of the self-walking mowing machine, the self-walking mowing machine is controlled to continue performing the mowing task.

[0067] Therefore, the embodiments of the present disclosure ensure the continuity of the mowing operation of the self-walking mower while ensuring that the self-walking mower will not cause harm to the non-human and non-pet living obstacle by controlling the self-walking mower to continue to perform the mowing task after the non-human and non-pet living obstacle has left the detection field of view of the self-walking mower, and the self-walking mower can also monitor the living obstacle in real time to facilitate timely obstacle avoidance.

[0068] In some embodiments, after the self-walking mower generates the repelling signal, the self-walking mower performs any of the following actions:

[0069] The repelling signal is issued while the obstacle avoidance action is performed, and the repelling signal is continued to be issued after the non-human and non-pet living obstacle is successfully repelled.

[0070] Therefore, the embodiments of the present disclosure can issue the repelling signal during the obstacle avoidance process, so that the self-walking mower can issue the repelling signal while performing the obstacle avoidance, so that the self-walking mower can synchronize the performance of the obstacle avoidance action and the issuance of the repelling signal, without affecting the walking efficiency and mowing efficiency of the self-walking mower, and the non-human and non-pet living obstacle can also be effectively repelled.

[0071] Of course, the repelling signal can also be continued to be issued after the repelling is successful, so that the non-human and non-pet living obstacle can be prevented from approaching the self-walking mower again after moving away from the self-walking mower and being harmed by the self-walking mower, so as to ensure that the self-walking mower will not collide with the non-human and non-pet living obstacle as much as possible to ensure the safety of the living obstacle.

[0072] In some embodiments, the self-walking mower further comprises an obstacle detection sensor, a machine body, and a rear sensor;

[0073] The obstacle detection sensor is located on the front side of the machine body, and the rear sensor is located on the rear side of the machine body; the included angle between the lower boundary of the scannable range of the obstacle detection sensor and the horizontal line where the machine body is located is 55 degrees; and the included angle between the lower boundary of the scannable range of the rear sensor and the horizontal line where the machine body is located is 7 degrees.

[0074] Therefore, the embodiments of the present disclosure ensure that the self-walking mower can effectively detect the living obstacle during forward and reverse movement by the combination of the obstacle detection sensor and the rear sensor, realize all-around environmental perception, and optimize the scanning range of the sensor, so that the self-walking mower can more efficiently plan the path, reduce repeated mowing and missed areas, improve the overall work efficiency, and thus the self-walking mower can provide more stable and reliable mowing services to improve the user experience.

[0075] In some embodiments, the obstacle detection sensor comprises a camera and / or a time-of-flight (TOF) sensor; and the rear sensor is a radar.

[0076] Therefore, based on the camera and / or TOF sensor as the obstacle detection sensor, the accuracy and recognition precision of identifying the living obstacle can be improved, and the needs of various complex application scenarios can be met. The radar can detect the obstacle behind the self-walking mower, help the self-walking mower identify the boundary of the lawn or the preset working area, and also be used to improve the navigation and path planning algorithm of the self-walking mower; ensure that the self-walking mower works in the designated area, avoid entering the non-mowing area or the neighbor's lawn, and timely adjust the path to avoid collision and damage.

[0077] In some embodiments, the method further comprises: after performing the obstacle avoidance action, controlling the self-walking mower to continue performing the mowing task based on the preset path.

[0078] Therefore, after the self-walking mower performs the obstacle avoidance, the mowing operation can continue according to the preset path, ensuring the walking continuity of the self-walking mower along the preset path and the continuity of the mowing operation.

[0079] In some embodiments, the method further comprises:

[0080] After the self-walking mower performs the mowing task and the living obstacle leaves the original area, the self-walking mower is controlled to perform a supplementary mowing task on the original area.

[0081] Therefore, by controlling the self-walking mower to perform the supplementary mowing task, the overall mowing effect can be ensured to be consistent, and there will be no uneven or unmowed areas, so as to achieve comprehensive cutting of the lawn, ensure that the missed areas generated in the obstacle avoidance process are fully covered, and thus promote the uniform growth of the lawn and avoid uneven growth due to unmowed areas.

[0082] In some embodiments, when the living obstacle is a human-shaped or pet-shaped living obstacle, it includes: a human, a cat, and a dog; and when the living obstacle is a non-human-shaped and non-pet-shaped living obstacle, it includes: a hedgehog.

[0083] In the fourth aspect, the embodiments of the present disclosure provide a self-walking mower, which comprises a mowing cutter head and a walking device; the self-walking mower further comprises a controller, which is electrically connected with the mowing cutter head and the walking device, and is used to execute the method of any one of the first aspect to the third aspect.

[0084] In a fifth aspect, the embodiments of the present disclosure provide a computer-readable storage medium, which stores computer-executable instructions. When the computer-executable instructions are executed by a processor, the computer-executable instructions are used to implement the method according to any one of the first aspect to the third aspect.

[0085] In a sixth aspect, the embodiments of the present disclosure provide a computer program product, which comprises a computer program. When the computer program is executed by a processor, the computer program implements the method according to any one of the first aspect to the third aspect.

[0086] It should be understood that the fourth aspect to the sixth aspect of the embodiments of the present disclosure correspond to the technical solutions of the first aspect to the third aspect of the embodiments of the present disclosure. The beneficial effects achieved by each aspect and the corresponding feasible implementation manners are similar, and will not be described here again. BRIEF DESCRIPTION OF DRAWINGS

[0087] The accompanying drawings, which are incorporated herein and constitute part of the specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0088] FIG. 1 is a structural schematic diagram of a self-walking mower according to an embodiment of the present disclosure;

[0089] FIG. 2 is a schematic diagram of an application scenario according to an embodiment of the present disclosure;

[0090] FIG. 3 is a flowchart of a method for obstacle avoidance of a self-walking mower according to an embodiment of the present disclosure;

[0091] FIG. 4 is a schematic diagram of the relationship between the working decibel and the cutterhead speed of a self-walking mower according to an embodiment of the present disclosure;

[0092] FIG. 5 is a flowchart of another method for obstacle avoidance of a self-walking mower according to an embodiment of the present disclosure;

[0093] FIG. 6 is a correlation diagram of the success rate of obstacle avoidance and distance according to an embodiment of the present disclosure;

[0094] FIG. 7 is a flowchart of still another method for obstacle avoidance of a self-walking mower according to an embodiment of the present disclosure.

[0095] Through the above drawings, the specific embodiments of the present disclosure have been shown, and will be described in more detail hereinafter. These drawings and the written description are not intended to limit the scope of the present disclosure in any way, but to illustrate the concept of the present disclosure to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0096] In order to clearly describe the technical solutions of the embodiments of the present disclosure, in the embodiments of the present disclosure, the terms of "first", "second", and the like are used to distinguish the same or similar items with substantially the same functions and effects. For example, the first device and the second device are only used to distinguish different devices, and do not limit the sequence. Those skilled in the art can understand that the terms of "first", "second", and the like do not limit the quantity and execution sequence, and the terms of "first", "second", and the like do not necessarily mean different.

[0097] It should be noted that in the embodiments of the present disclosure, the words of "exemplary" or "for example" are used to represent an example, illustration, or description. Any embodiment or design scheme described as "exemplary" or "for example" in the embodiments of the present disclosure should not be interpreted as more preferred or more advantageous than other embodiments or design schemes. In fact, the words of "exemplary" or "for example" are intended to present the relevant concept in a specific manner.

[0098] In the embodiments of the present disclosure, "at least one" means one or more, and "multiple" means two or more. The association relationship of the associated objects is described, which means that there can be three kinds of relationships, for example, A and / or B, which can represent the following three cases: A exists alone, A and B exist together, and B exists alone, where A and B can be singular or plural. The character " / " generally represents an "or" relationship between the front and rear associated objects. "At least one of the following" or similar expressions means any combination of these items, including any combination of single item or multiple items. For example, at least one of a, b, or c can represent a, b, c, a-b, a-c, b-c, or a-b-c, where a, b, and c can be single or multiple.

[0099] In the related art, the obstacle avoidance strategy of the self-walking mower for the living obstacle is generally that when the camera of the self-walking mower identifies that the obstacle is a living obstacle, the driving speed is slowed down to approach the obstacle, and then a detour action is performed, and in the process of performing the detour action, the rotating speed of the cutter head is reduced or stopped to avoid injuring the living obstacle.

[0100] However, the strategy of stopping or slowing down the cutter head can be used to prevent the living obstacle from being injured, but this will also greatly reduce the mowing efficiency. Moreover, whether it is to slow down or accelerate to approach the living obstacle, or to reduce the rotating speed of the cutter head or stop it in the process of performing the detour, all of these will cause the mowing quality to decrease and the area that needs to be mowed to increase, thereby reducing the mowing efficiency. As can be seen, if the safety of the living obstacle is to be ensured, the mowing efficiency has to be abandoned. In summary, the above strategy is difficult to balance the mowing efficiency and safety.

[0101] To solve the above problems, the embodiment of the present disclosure provides a self-walking mower obstacle avoidance method, the self-walking mower comprises a mower cutter head and a walking device; the method comprises the following steps: the self-walking mower performs a mowing task, the mower cutter head has a first rotating speed, the self-walking mower has a first walking speed, the first rotating speed is greater than or equal to 1800 revolutions per minute and less than or equal to 3500 revolutions per minute, and the first walking speed is greater than or equal to 0.3 meters per second and less than or equal to 0.6 meters per second; the distance between the self-walking mower and a living obstacle is less than 2 meters, an obstacle avoidance action is performed to avoid the living obstacle; in the process of performing the obstacle avoidance action, the rotating speed of the mower cutter head is maintained at the first rotating speed; and the walking speed of the self-walking mower is maintained at the first walking speed.

[0102] For example, FIG. 1 is a structural schematic diagram of a self-walking mower provided by the embodiment of the present disclosure, as shown in FIG. 1, the self-walking mower 100 can comprise an obstacle detection sensor 101, a mower cutter head 102, a rear sensor 103, a walking device 104 and a controller; the controller is electrically connected with the obstacle detection sensor 101, the mower cutter head 102, the walking device 104 and the rear sensor 103; and the controller is used to perform the self-walking mower obstacle avoidance method provided by the embodiment of the present disclosure.

[0103] The obstacle detection sensor 101 is used to detect whether there is a living obstacle in the front area of the self-walking mower 100, the obstacle detection sensor 101 can be a camera and / or a time of flight (TOF) sensor, the camera can be a visual sensor, an infrared sensor and the like, and the type of the obstacle detection sensor 101 is not limited in the embodiment of the present disclosure, which can be used for obstacle recognition and distance measurement between the living obstacle.

[0104] It should be noted that in the embodiment of the present disclosure, the positions of the various components or assemblies of the self-walking mower 100 are only illustrative, and the deployment positions of the various components or assemblies are not limited in the embodiment of the present disclosure.

[0105] In the embodiment of the present disclosure, by using a camera as the obstacle detection sensor 101, a high-resolution image can be captured, different types of obstacles can be recognized and classified, the accuracy of recognition can be improved, and a high-resolution camera can detect and recognize a living obstacle at a long distance, which is suitable for large-scale environment monitoring; the embodiment of the present disclosure can also detect a living obstacle based on a TOF sensor, the TOF sensor obtains accurate depth information by measuring the flight time of a light pulse to generate three-dimensional point cloud data, and has a fast response time, which can update the depth information in real time and is suitable for obstacle detection in a dynamic environment.

[0106] The TOF sensor is further configured to determine a distance between the self-propelled mower and the living obstacle.

[0107] In some embodiments, the TOF sensor can be a TOF ranging sensor or a TOF camera, and the type of the TOF sensor is not limited in the embodiments of the present disclosure.

[0108] Therefore, based on the camera and / or the TOF sensor as the obstacle detection sensor 101, the embodiments of the present disclosure can improve the accuracy and precision of identifying the living obstacle, and meet the needs of various complex application scenarios.

[0109] In some embodiments, as shown in FIG. 1, the self-propelled mower 100 further comprises a body 105.

[0110] The obstacle detection sensor 101 is located on the front side of the body 105, and the rear sensor 103 is located on the rear side of the body 105. The included angle between the lower boundary of the scan range of the obstacle detection sensor 101 and the horizontal line where the body 105 is located is 55 degrees. The included angle between the lower boundary of the scan range of the rear sensor 103 and the horizontal line where the body 105 is located is 7 degrees.

[0111] The horizontal line where the body 105 is located is any straight line parallel to the surface where the self-propelled mower 100 is located or the lawn to be mowed.

[0112] In the embodiments of the present disclosure, by setting the deployment position of the obstacle detection sensor 101, the included angle between the lower boundary of the scan range of the obstacle detection sensor 101 and the horizontal line where the body 105 is located is 55 degrees, so as to cover a larger front area. This setting can ensure that the components or devices located in the area below the obstacle detection sensor 101 on the body 105 are not enough to block the scan range of the obstacle detection sensor 101, and ensure that the obstacle detection sensor 101 has sufficient scan range to scan the lawn or the front area.

[0113] By setting the included angle between the lower boundary of the scan range of the rear sensor 103 and the horizontal line where the body 105 is located to be 7 degrees, the rear sensor 103 can focus on detecting low obstacles behind the self-propelled mower 100. This can ensure that the self-propelled mower 100 avoids collision when reversing or turning, and the 7-degree included angle can also enable the rear sensor 103 to detect a living obstacle close by, thereby assisting the obstacle detection sensor 101 in detection, so as to improve the safety of the operation of the self-propelled mower 100 and prevent accidental collision and harm to the living obstacle.

[0114] In some embodiments, the rear sensor 103 can be a radar that can detect obstacles behind the self-propelled mower 100, help the self-propelled mower 100 identify the boundary of the lawn or the preset working area, and also be used to improve the navigation and path planning algorithm of the self-propelled mower 100; ensure that the self-propelled mower 100 works within the specified area, avoid entering non-mowing areas or neighbors' lawns, and adjust the path in time to avoid collision and damage.

[0115] It can be understood that the radar can also work cooperatively with the obstacle detection sensor 101, and can also be used to detect approaching living obstacles to improve operational safety and prevent accidental collisions and injuries. The type of radar is not specifically limited in the embodiments of the present disclosure, and the radar can be a linear laser radar.

[0116] Therefore, through the combination design of the obstacle detection sensor 101 and the rear sensor as described above, the embodiments of the present disclosure ensure that the self-propelled mower can effectively detect living obstacles during forward and reverse movement, realize all-around environmental perception, and through optimization of the scanning range of the sensor, the self-propelled mower can more efficiently plan the path, reduce repeated mowing and missed areas, and improve overall work efficiency, so that the self-propelled mower can provide more stable and reliable mowing services to improve user experience.

[0117] For example, FIG. 2 is a schematic diagram of an application scenario provided by the embodiments of the present disclosure, as shown in FIG. 2, the application scenario includes a self-propelled mower 100, a person 200 and a lawn 300; the self-propelled mower 100 includes an obstacle detection sensor 101, a mowing cutter head 102 and a walking device 104.

[0118] When the self-propelled mower 100 performs a mowing task on the lawn 300, when the self-propelled mower 100 encounters the person 200, the self-propelled mower 100 can mow according to the preset mowing path, and when approaching the person 200, such as when the distance between the self-propelled mower 100 and the person 200 is less than 2 meters, an obstacle avoidance action is performed to avoid the person 200 and continue to perform the mowing task.

[0119] In the obstacle avoidance action, the rotation speed of the mowing cutter head 102 is maintained at a first rotation speed, and the walking speed of the self-propelled mower 100 is maintained at a first walking speed; the first rotation speed is greater than or equal to 1800 revolutions per minute and less than 3500 revolutions per minute; the first walking speed is greater than or equal to 0.3 meters per second and less than or equal to 0.6 meters per second, so that the safety of the person 200 is ensured while the normal mowing effect is maintained.

[0120] In the process of performing the obstacle avoidance action, the first rotation speed and the first walking speed are not specifically limited in the embodiments of the present disclosure, and the self-propelled mower 100 walks based on the walking device 104.

[0121] For example, based on the structure of the self-walking mower 100 shown in FIG. 1, FIG. 3 is a flowchart of a method for obstacle avoidance of the self-walking mower 100 according to an embodiment of the present disclosure. As shown in FIG. 3, the method for obstacle avoidance of the self-walking mower 100 includes the following steps.

[0122] In S301, when the self-walking mower 100 is performing a mowing task, the mowing cutterhead 102 has a first rotating speed, and the self-walking mower 100 has a first walking speed. The first rotating speed is greater than or equal to 1800 rpm and less than or equal to 3500 rpm, and the first walking speed is greater than or equal to 0.3 m / s and less than or equal to 0.6 m / s. When the distance between the self-walking mower 100 and a living obstacle is less than 2 m, an obstacle avoidance action is performed to avoid the living obstacle.

[0123] In an embodiment of the present disclosure, the type of the living obstacle can include a person, a pet, and a non-pet type obstacle with a life feature. The living obstacle can be identified based on an artificial intelligence (AI) model or based on a type of the living obstacle set by a user in advance. The present disclosure does not make a specific limitation thereon. For example, the living obstacle can be a person, a cat, a dog, or the like.

[0124] For example, when the self-walking mower 100 is performing a normal mowing task, a camera can be used for visual identification to determine whether the obstacle is a living obstacle. When it is determined that the detected obstacle is a living obstacle and the distance between the self-walking mower 100 and the living obstacle is less than 2 m, the self-walking mower 100 is controlled to perform an obstacle avoidance action to avoid the living obstacle.

[0125] In an embodiment of the present disclosure, the condition that the distance between the self-walking mower 100 and the living obstacle is less than 2 m can be understood as the condition that the distance between the self-walking mower 100 and the living obstacle is about 2 m. The specific value can be set as needed. For example, 2 m can be replaced by 2.1 m, 2.5 m, 2.3 m, or 2.8 m required by the self-walking mower, and the like. For example, the distance threshold corresponding to a large self-walking mower can be changed from 2 m to 2.8 m or 3 m, and the like. The distance threshold corresponding to a small self-walking mower can be reduced to 1.8 m or 1.7 m, and the like.

[0126] In S3011, during the execution of the obstacle avoidance action, the rotating speed of the mowing cutterhead 102 is maintained at the first rotating speed, and the walking speed of the self-walking mower 100 is maintained at the first walking speed.

[0127] In the process of performing the obstacle avoidance action by the self-walking mower 100, the rotating speed of the mowing cutter head 102 is kept at a specific rotating speed, i.e., the first rotating speed, which means that the rotating speed of the mowing cutter head 102 is kept at the first rotating speed during the obstacle avoidance process and will not change due to the obstacle avoidance action. In the process of performing the obstacle avoidance action by the self-walking mower 100, the walking speed of the mower is kept at a specific speed, i.e., the first walking speed, which means that the walking speed of the self-walking mower 100 is kept at the first walking speed during the obstacle avoidance process and will not change due to the obstacle avoidance action.

[0128] For example, based on the structure of the self-walking mower 100 shown in FIG. 1, FIG. 5 is a flowchart of another obstacle avoidance method of the self-walking mower 100 provided by the embodiments of the present disclosure. As shown in FIG. 5, the obstacle avoidance method of the self-walking mower 100 includes the following steps.

[0129] S501, when the self-walking mower 100 performs a mowing task, the mowing cutter head 102 has a first rotating speed, and the self-walking mower 100 has a first walking speed, the first rotating speed is greater than or equal to 1800 rpm and less than or equal to 3500 rpm; the first walking speed is greater than or equal to 0.3 m / s and less than or equal to 0.6 m / s; in the case that the distance between the self-walking mower 100 and a living obstacle in the shape of a human or a pet is less than 2 meters, an obstacle avoidance action is performed to avoid the living obstacle in the shape of a human or a pet.

[0130] In the embodiments of the present disclosure, the living obstacle in the shape of a human or a pet can refer to a moving obstacle with a life feature that can appear in the working area of the self-walking mower 100, such as a human-shaped living obstacle which can be a human, and a pet-shaped living obstacle which can be a cat, a dog, etc. The specific type of the living obstacle in the shape of a human or a pet is not limited in the embodiments of the present disclosure.

[0131] In some embodiments, the living obstacle in the shape of a human or a pet in the image detected by the obstacle detection sensor 101 can be identified by training an AI model, and the living obstacle in the shape of a human or a pet can also be identified by manually presetting the living obstacle in the shape of a human or a pet. The way of identifying the living obstacle in the shape of a human or a pet is not limited in the embodiments of the present disclosure, such as identifying the living obstacle in the shape of a human or a pet based on a multi-sensor fusion manner.

[0132] In some embodiments, the living obstacle in the shape of a human or a pet can be identified by using a sound sensor to detect sound features in the environment based on a microphone array and a sound recognition algorithm, such as human voice, pet sound, etc.

[0133] S5011、In the process of performing the obstacle avoidance action, the rotating speed of the mowing disc 102 is controlled to maintain the first rotating speed, the walking speed of the self-walking mowing machine 100 is controlled to maintain the first walking speed, and the self-walking mowing machine 100 is controlled not to generate the repelling signal to repel the living obstacle in the form of a human or a pet.

[0134] In the embodiments of the present disclosure, the self-walking mowing machine 100 can repel the living obstacle based on the repelling signal based on the sound sensor such as the buzzer or the speaker to emit the repelling sound.

[0135] For example, when the self-walking mowing machine 100 encounters the living obstacle in the form of a human or a pet such as a human or a cat or a dog, and the distance between the self-walking mowing machine 100 and the living obstacle is less than 2 meters, the obstacle avoidance action is performed, and in the process of avoiding the obstacle, the rotating speed of the mowing disc 102 is controlled to maintain the first rotating speed, the walking speed of the self-walking mowing machine 100 is controlled to maintain the first walking speed, and the self-walking mowing machine 100 is controlled not to generate the repelling signal to repel the living obstacle in the form of a human or a pet.

[0136] For example, the not generating the repelling signal can include but is not limited to at least one of the following: the signal generator of the repelling signal is turned off or turned on but does not perform the signal sending operation (for example, in a dormant state or a silent state).

[0137] In the process of avoiding the obstacle, the self-walking mowing machine 100 is controlled not to generate the repelling signal can be that the buzzer or the speaker is always in a state of not emitting the repelling broadcast sound, so as to avoid shocking the living obstacle in the form of a human or a pet (a human or a cat or a dog).

[0138] In some embodiments, after the self-walking mowing machine 100 is at a position with a distance less than 2 meters from the living obstacle in the form of a human or a pet, the self-walking mowing machine 100 is controlled to continue to perform the mowing task, and when the self-walking mowing machine 100 is at a position with a distance of a first threshold value from the living obstacle in the form of a human or a pet, the self-walking mowing machine 100 is controlled to turn around to perform the obstacle avoidance action.

[0139] It should be noted that when the self-walking mowing machine 100 identifies the living obstacle in the form of a human or a pet, the self-walking mowing machine 100 can be at a certain predetermined distance from the living obstacle in the form of a human or a pet, and at this time, if the obstacle avoidance action is immediately performed, there can be a larger area to be mowed. Therefore, the first threshold value can be set, which is a predetermined distance of the self-walking mowing machine 100, and if the predetermined distance is less than the first threshold value, the living obstacle can be damaged.

[0140] In the embodiments of the present disclosure, the first threshold value can refer to a preset distance from the self-walking mower 100 to the living obstacle. When the self-walking mower 100 identifies the living obstacle, and the self-walking mower 100 is at a position at a distance of the first threshold value from the living obstacle in the form of a human or a pet, the self-walking mower 100 can start to perform the obstacle avoidance action.

[0141] In some embodiments, when the self-walking mower 100 identifies the living obstacle in the form of a human or a pet based on the obstacle detection sensor 101, and determines that the self-walking mower 100 is at a position at a distance of the first threshold value from the living obstacle in the form of a human or a pet, the obstacle avoidance action is started, that is, the self-walking mower 100 is controlled to turn and walk around. During the obstacle avoidance process, the rotating speed of the mower cutter head 102 is maintained at the first rotating speed, the walking speed of the self-walking mower 100 is maintained at the first walking speed, and the self-walking mower 100 is controlled not to generate a repelling signal to repel the living obstacle in the form of a human or a pet.

[0142] In some embodiments, the first rotating speed is greater than or equal to 1800 revolutions per minute and less than or equal to 3500 revolutions per minute, and the first walking speed is greater than or equal to 0.3 meters per second and less than or equal to 0.6 meters per second.

[0143] In some embodiments, the first threshold value is greater than 0.4 meters and less than 2 meters.

[0144] If the self-walking mower 100 is in a range interval of a distance of 2 meters from the living obstacle in the form of a human or a pet, that is, in a range interval of less than 2 meters and greater than 0.4 meters, the self-walking mower 100 can be controlled to perform the obstacle avoidance action, that is, the self-walking mower 100 is controlled to turn and walk around.

[0145] The first threshold value can be any point value between less than 2 meters and greater than 0.4 meters.

[0146] In some embodiments, the first threshold value is greater than or equal to 0.2 meters and less than or equal to 0.4 meters.

[0147] In some embodiments, the method further comprises:

[0148] After the living obstacle in the form of a human or a pet leaves the field of view range that can be detected by the self-walking mower 100, the self-walking mower 100 is controlled to continue to perform the mowing task.

[0149] For example, based on the structure of the self-walking mower 100 shown in FIG. 1, FIG. 7 is a flowchart of another self-walking mower 100 obstacle avoidance method provided by the embodiments of the present disclosure, as shown in FIG. 7, the self-walking mower 100 obstacle avoidance method comprises:

[0150] S701, when the self-walking mower 100 is performing the mowing task, the mowing cutterhead 102 has a first rotating speed, and the self-walking mower 100 has a first walking speed, the first rotating speed is greater than or equal to 1800 revolutions per minute and less than or equal to 3500 revolutions per minute, and the first walking speed is greater than or equal to 0.3 meters per second and less than or equal to 0.6 meters per second; when the self-walking mower 100 encounters a living obstacle that is a non-human and non-pet type, and at least in the case where the distance between the self-walking mower 100 and the living obstacle that is a non-human and non-pet type is less than 2 meters, an obstacle avoidance action is performed to avoid the living obstacle that is a non-human and non-pet type.

[0151] In the embodiments of the present disclosure, the living obstacle that is a non-human and non-pet type can refer to a living obstacle that neither belongs to a human nor a pet, such as a hedgehog, which can also be identified based on an AI model or based on the type of living obstacle set by the user in advance, and the present disclosure does not make specific limitations on this.

[0152] It should be noted that the manner of determining the living obstacle that is a non-human and non-pet type is similar to the manner of determining the living obstacle that is a human or pet type in S501, which will not be described here again, and the details can be referred to the description of S501 above.

[0153] S7011, in the process of performing the obstacle avoidance action, the rotating speed of the mowing cutterhead 102 is controlled to maintain the first rotating speed, the walking speed of the self-walking mower 100 is controlled to maintain the first walking speed, and the self-walking mower 100 is controlled to generate a repelling signal to repel the living obstacle that is a non-human and non-pet type.

[0154] For example, when the self-walking mower 100 encounters a living obstacle that is a non-human and non-pet type, such as a hedgehog, the obstacle avoidance action is performed, and the repelling action is performed throughout the obstacle avoidance process, that is, in the process of performing the obstacle avoidance action, the rotating speed of the mowing cutterhead 102 is controlled to maintain the first rotating speed, the walking speed of the self-walking mower 100 is controlled to maintain the first walking speed, and the self-walking mower 100 is controlled to generate a repelling signal to repel the living obstacle that is a non-human and non-pet type.

[0155] Wherein, it can be controlled to start the buzzer or speaker at intervals, or to control the buzzer or speaker to always be in a state of emitting the repelling sound, and the present disclosure does not make specific limitations on the manner of generating the repelling signal, such as the repelling sound can be a broadcast sound.

[0156] In some embodiments, after the self-walking mower 100 generates the repelling signal, the self-walking mower 100 performs any one of the following actions:

[0157] The repelling signal is sent while the obstacle avoidance action is performed; after the non-human and non-pet living obstacle is successfully repelled, the repelling signal is continuously sent.

[0158] For example, when the self-walking mower 100 identifies a non-human and non-pet living obstacle, the repelling action can be continuously performed throughout the entire obstacle avoidance process, can be uninterruptedly performed, or can be performed while the obstacle avoidance action is performed.

[0159] The repelling action can refer to sending a repelling signal, such as a sound emitted by a buzzer or a speaker, or the repelling action can also be generating a repelling action, which is not specifically limited in the embodiments of the present disclosure. It can be understood that generating a repelling action can affect normal obstacle avoidance actions or require new components, and therefore, the implementation logic of sending a repelling signal is relatively simple.

[0160] In some embodiments, after the self-walking mower 100 is located at a position at a distance of less than 2 meters from the non-human and non-pet living obstacle, the self-walking mower 100 is controlled to continue performing the mowing task until the self-walking mower 100 is located at a position at a distance of the first threshold value from the non-human and non-pet living obstacle, and the self-walking mower 100 is controlled to turn around to perform the obstacle avoidance action.

[0161] In some embodiments, the first threshold value is greater than 0.4 meters and less than 2 meters.

[0162] In some embodiments, the first threshold value is greater than or equal to 0.2 meters and less than or equal to 0.4 meters.

[0163] In some embodiments, the method further includes:

[0164] After the non-human and non-pet living obstacle leaves the field of view range that can be detected by the self-walking mower 100, the self-walking mower 100 is controlled to continue performing the mowing task.

[0165] In some embodiments, the method further includes: after the obstacle avoidance action is performed, the self-walking mower 100 is controlled to continue performing the mowing task based on a preset path.

[0166] In the embodiments of the present disclosure, the preset path is a path for mowing that is preset in advance. The preset path can be a U-shaped mowing path, a back-shaped mowing path, or the like, and the preset path is not specifically limited in the embodiments of the present disclosure. The preset path can ensure comprehensive coverage of the lawn, help the self-walking mower 100 avoid repeated mowing, and improve work efficiency and energy management.

[0167] By continuing the mowing task based on the preset path, path deviations caused by obstacle avoidance actions can be reduced, ensuring the efficient completion of the mowing task. Furthermore, the preset path can be restored immediately after obstacle avoidance, avoiding time waste caused by path replanning and improving overall work efficiency.

[0168] In some embodiments, the method further includes:

[0169] After the self-propelled lawnmower 100 has completed its mowing task and the living obstacle has left its original location, the self-propelled lawnmower 100 is controlled to perform a re-mowing task in the original location.

[0170] In this embodiment of the disclosure, the re-cutting task can ensure that all areas are cut evenly, avoiding missed cuts due to the presence of living obstacles.

[0171] For example, after the self-propelled lawnmower 100 has finished mowing, it can perform a bow-shaped re-mowing task based on the location of the living obstacle.

[0172] In some embodiments, the self-propelled lawnmower 100 can automatically detect and re-mow missed areas, reducing the need for manual intervention and improving work efficiency. As a result, users can confidently let the self-propelled lawnmower 100 perform mowing tasks without worrying about missed areas, thus improving user satisfaction.

[0173] This disclosure also discloses a self-propelled lawnmower 100, which includes a cutting disc 102 and a walking device 104; the self-propelled lawnmower 100 also includes:

[0174] The controller is electrically connected to both the lawn mower blade 102 and the walking device 104 to perform the above-described method.

[0175] It should be noted that the specific implementation principle and effect of the self-propelled lawn mower 100 described above can be found in the relevant descriptions and effects of the above embodiments, and will not be elaborated further here.

[0176] This disclosure also provides a computer-readable storage medium storing computer program execution instructions, which, when executed by a processor, are used to implement the methods described in any of the foregoing embodiments of this disclosure.

[0177] This disclosure also provides a chip for executing instructions, which is used to perform the methods described in any of the foregoing embodiments of this disclosure as executed by an electronic device.

[0178] The embodiment of the present disclosure further provides a computer program product, which comprises a computer program, and the computer program can implement the method described in any one of the preceding embodiments executed by the self-walking mower 100 when executed by a processor.

[0179] In several embodiments provided by the present disclosure, it should be understood that the disclosed and method can be implemented in other ways.

[0180] The modules illustrated as separate components can or can not be physically separate, and the components illustrated as modules can or can not be physical units, that is, can be located in one place, or can be distributed to multiple network units. Part or all of the modules can be selected to implement the present embodiment scheme according to actual needs.

[0181] In addition, each functional module in each embodiment of the present disclosure can be integrated in one processing unit, or each module can be physically present alone, or two or more modules can be integrated in one unit. The unit formed by the above modules can be realized in the form of hardware, or in the form of hardware plus software function unit.

[0182] The integrated modules realized in the form of software function modules can be stored in a computer readable storage medium. The software function modules stored in the storage medium include a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to execute part of the steps of the method described in each embodiment of the present disclosure.

[0183] It should be understood that the processor can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), etc. The general-purpose processor can be a microprocessor or the processor can be any conventional processor. The steps of the method disclosed in the application can be directly embodied as hardware processor execution, or executed by a combination of hardware and software modules in the processor.

[0184] The memory can include a high-speed random access memory (RAM) and can also include a non-volatile memory (NVM), such as at least one disk memory, and can also be a U disk, a mobile hard disk, a read-only memory, a magnetic disk or an optical disk, etc.

[0185] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of the embodiments of the present disclosure is not limited to only one bus or one type of bus.

[0186] The storage medium described above can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as Static Random-Access Memory (SRAM), Electrically Erasable Programmable Read Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk. The storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0187] An exemplary storage medium is coupled to the processor, thereby enabling the processor to read information from the storage medium and to write information to the storage medium. Of course, the storage medium can also be part of the processor. The processor and the storage medium can be located in an Application Specific Integrated Circuits (ASIC). Of course, the processor and the storage medium can also exist as discrete components in an electronic device or a host device.

[0188] It should be noted that, for the foregoing method embodiments, for the sake of simple description, they are all described as a combination of a series of actions, but those skilled in the art should know that the embodiments of the disclosure are not limited to the order of the actions described, because according to the embodiments of the disclosure, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should know that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required by the embodiments of the disclosure.

[0189] Further, it should be noted that although the steps in the flowchart are shown in sequence according to the arrows, these steps are not necessarily executed in sequence according to the arrows. Unless otherwise specified in this article, the execution of these steps has no strict order limit, and these steps can be executed in other orders. Moreover, at least part of the steps in the flowchart can include multiple sub-steps or multiple stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution order of these sub-steps or stages is not necessarily sequential, but can be executed alternately or alternately with at least part of other steps or other steps. Sub-steps or stages.

[0190] In the above embodiments, the description of each embodiment has its own emphasis, and the parts not described in detail in a certain embodiment can be referred to the related description of other embodiments. The technical features of the above embodiments can be combined arbitrarily, and in order to make the description concise, not all possible combinations of technical features in the above embodiments are described, but as long as the combination of these technical features does not exist Contradiction, it should be considered as the scope disclosed in this specification.

[0191] Those skilled in the art will readily conceive other embodiments of the present disclosure upon considering the specification and practicing the invention disclosed herein. The present disclosure is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or conventional technical means in the art that are not disclosed in the present disclosure. The specification and examples are only considered as exemplary, and the true scope and spirit of the present disclosure are indicated by the claims.

[0192] The above is only a specific implementation of the embodiments of the present disclosure, but the protection scope of the embodiments of the present disclosure is not limited to this. Any change or replacement within the technical scope disclosed by the embodiments of the present disclosure should be covered within the protection scope of the embodiments of the present disclosure. Therefore, the protection scope of the embodiments of the present disclosure should be subject to the protection scope of the claims.

Claims

1. A method of obstacle avoidance for a self-propelled lawnmower, wherein, The self-walking mower comprises a mowing cutter head and a walking device; the method comprises: The self-walking mower performs a mowing task, the mowing cutter head has a first rotating speed, the self-walking mower has a first walking speed, the first rotating speed is greater than or equal to 1800 revolutions per minute and less than or equal to 3500 revolutions per minute, and the first walking speed is greater than or equal to 0.3 meters per second and less than or equal to 0.6 meters per second; The self-walking mower is less than 2 meters away from a living obstacle, performs an obstacle avoidance action to avoid the living obstacle, and in the process of performing the obstacle avoidance action, the rotating speed of the mowing cutter head is maintained at the first rotating speed and the walking speed of the self-walking mower is maintained at the first walking speed.

2. A method of obstacle avoidance for a self-propelled lawnmower, wherein, The self-walking mower comprises a mowing cutter head and a walking device; the method comprises: The self-walking mower performs a mowing task, the mowing cutter head has a first rotating speed, the self-walking mower has a first walking speed, the first rotating speed is greater than or equal to 1800 revolutions per minute and less than or equal to 3500 revolutions per minute, and the first walking speed is greater than or equal to 0.3 meters per second and less than or equal to 0.6 meters per second; The self-walking mower is less than 2 meters away from a living obstacle, performs an obstacle avoidance action to avoid the living obstacle, and in the process of performing the obstacle avoidance action, the rotating speed of the mowing cutter head is maintained at the first rotating speed and the walking speed of the self-walking mower is maintained at the first walking speed. The method further comprises:

3. The method of claim 2, wherein, In the process of performing the obstacle avoidance action, the mowing task is continuously performed until the self-walking mower is at a position that is a first threshold value away from the living obstacle, and the self-walking mower is controlled to turn around to perform the obstacle avoidance action. The first threshold value is greater than 0.4 meters and less than 2 meters.

4. The method of claim 3, wherein, The first threshold value is greater than or equal to 0.2 meters and less than or equal to 0.4 meters.

5. The method of claim 3, wherein, The method further comprises:

6. The method of claim 2, wherein, After the living obstacle of the pet type leaves the field of view range that the self-walking mower can detect, the self-walking mower is controlled to continue performing the mowing task. The self-walking mower comprises a mowing cutter head and a walking device; the method comprises:

7. A method of obstacle avoidance for a self-propelled lawnmower, wherein, The self-walking mower performs a mowing task, the mowing cutter head has a first rotating speed, the self-walking mower has a first walking speed, the first rotating speed is greater than or equal to 1800 revolutions per minute and less than or equal to 3500 revolutions per minute, and the first walking speed is greater than or equal to 0.3 meters per second and less than or equal to 0.6 meters per second; The self-walking mower is less than 2 meters away from a living obstacle, performs an obstacle avoidance action to avoid the living obstacle, and in the process of performing the obstacle avoidance action, the rotating speed of the mowing cutter head is maintained at the first rotating speed and the walking speed of the self-walking mower is maintained at the first walking speed. The method further comprises: In the process of performing the obstacle avoidance action, the rotating speed of the mowing cutter head is maintained at the first rotating speed and the walking speed of the self-walking mower is maintained at the first walking speed, and the self-walking mower is controlled to generate a repelling signal to repel the living obstacle of the pet type.

8. The method of claim 7, wherein, In the process of performing the obstacle avoidance action, the self-walking mower is controlled to continue performing the mowing task until the self-walking mower is at a position at a first threshold distance from the non-human and non-pet living obstacle, and the self-walking mower is controlled to turn around to perform the obstacle avoidance action.

9. The method of claim 8, wherein, The first threshold is greater than 0.4 meters and less than 2 meters.

10. The method of claim 8, wherein, The first threshold is greater than or equal to 0.2 meters and less than or equal to 0.4 meters.

11. The method of claim 7, wherein, The method further comprises: The non-human and non-pet living obstacle is out of the detectable field of view of the self-walking mower, and the self-walking mower is controlled to continue performing the mowing task.

12. The method of claim 7, wherein, After the self-walking mower generates the repelling signal, the self-walking mower performs any one of the following actions: The obstacle avoidance action is performed while the repelling signal is emitted; the non-human and non-pet living obstacle is successfully repelled and continues to emit the repelling signal.

13. The method of any one of claims 1, 2, or 7, wherein, The self-walking mower further comprises an obstacle detection sensor, a machine body, and a rear sensor; The obstacle detection sensor is located on the front side of the machine body, and the rear sensor is located on the rear side of the machine body; the included angle between the lower boundary of the scannable range of the obstacle detection sensor and the horizontal line where the machine body is located is 55 degrees; and the included angle between the lower boundary of the scannable range of the rear sensor and the horizontal line where the machine body is located is 7 degrees.

14. The method of claim 13, wherein, The obstacle detection sensor comprises a camera and / or a time-of-flight (TOF) sensor; and the rear sensor is a radar.

15. The method of any one of claims 1, 2, or 7, wherein, The method further comprises: after performing the obstacle avoidance action, controlling the self-walking mower to continue performing the mowing task based on a preset path.

16. The method of any one of claims 1, 2, or 7, wherein, The method further comprises: After the self-walking mower performs the mowing task and the living obstacle leaves the original area, the self-walking mower is controlled to perform a supplementary mowing task on the original area.

17. The method of any one of claims 1, 2, or 7, wherein, When the living obstacle is a human-shaped or pet-type living obstacle, it includes a human, a cat, and a dog; and when the living obstacle is a non-human and non-pet type living obstacle, it includes a hedgehog.

18. A self-propelled lawnmower, wherein, The self-walking mower comprises a mowing cutter head and a walking device; and the self-walking mower further comprises: A controller electrically connected to the mowing cutter head and the walking device for performing the method of any one of claims 1 to 17.

19. A computer readable storage medium, wherein, The computer readable storage medium stores computer execution instructions, which are executed by a processor to implement the method of any one of claims 1 to 17.

20. A computer program product, wherein, A computer program is included, which is executed by a processor to implement the method of any one of claims 1 to 17.

Images