Lawn mower and control method therefor

Abstract

The embodiments of the present disclosure relate to the technical field of cleaning apparatuses. Provided are a lawn mower and a control method therefor. The control method comprises: when a lawn mower travels on the basis of planned mowing paths and has reached an entry of a narrow channel, controlling a detection device to measure the entry width of the narrow channel and to detect position information of the narrow channel, the planned mowing paths at least comprising a first mowing path and a second mowing path; and, when the entry width of the narrow channel is greater than the passing sizes of the lawn mower, passing through the narrow channel, the passing sizes comprising a first passing size corresponding to the first mowing path and a second passing size corresponding to the second mowing path.

Description

A lawnmower and its control method

[0001] Cross-references to related applications

[0002] This disclosure claims priority to Chinese Patent Application No. 202411455449.7, filed on October 17, 2024, entitled "A Lawn Mower and Control Method Thereof," the contents of which are incorporated herein by reference in their entirety as part of this disclosure. Technical Field

[0003] This disclosure relates to the field of cleaning equipment technology, and more particularly to a lawnmower and its control method. Background Technology

[0004] With the development of intelligent cleaning technology, lawnmowers with autonomous movement and mowing functions are gradually replacing manual weeding.

[0005] When a lawnmower is moving, it inevitably encounters narrow passages with little space between obstacles. To avoid getting stuck in narrow passages, existing lawnmowers usually set a fixed threshold as the standard for determining whether to enter the narrow passage when they determine that they have reached the entrance of the narrow passage. As a result, they turn around to avoid obstacles in most narrow passages. This leads to a situation where, even if the lawnmower can pass through the narrow passage, it turns around to avoid the obstacle instead of cleaning the narrow passage, resulting in a low cleaning coverage rate. Summary of the Invention

[0006] This disclosure provides a lawnmower and its control method, which improves the passability of narrow passages and increases the cleaning coverage.

[0007] In a first aspect, embodiments of this disclosure provide a method for controlling a lawnmower, the method comprising:

[0008] The lawnmower travels according to a planned mowing path, which includes at least a first mowing path and a second mowing path. When the lawnmower reaches the entrance of a narrow passage, if the opening width of the narrow passage is greater than the lawnmower's passage width, the lawnmower passes through the narrow passage; if the opening width of the narrow passage is not greater than the lawnmower's passage width, the lawnmower either does not pass through the narrow passage or exits the narrow passage. The passage width includes a first passage width corresponding to the first mowing path and a second passage width corresponding to the second mowing path. The first passage width is positively correlated with the length of the lawnmower, and the second passage width is positively correlated with the width of the lawnmower.

[0009] Using the above method, the location information and opening width of the narrow passage are obtained, and the pre-set travel path is obtained. The corresponding passage size required for different travel path is analyzed, and then it is determined whether the lawnmower can pass. Since the lawnmower posture is different for different path, the passage size of the lawnmower is also different. By replacing the traditional single judgment and comparison size, the passability of the lawnmower is effectively improved. The operation of detecting and selecting the mowing path at the same time is completed, thereby determining the safe passage path. The processing logic is simple and effective, which can achieve effective cleaning of narrow passages, thereby improving the overall cleaning coverage of the lawn by the lawnmower.

[0010] The first mowing path includes a mowing path perpendicular to the length direction of the narrow passage; the first pass dimension is greater than the length of the machine body; or, the second mowing path includes a mowing path parallel to the length direction of the narrow passage; the second pass dimension is greater than the width of the machine body; or, the mowing path includes a third mowing path, which is a mowing path inclined to the length direction of the narrow passage; the pass dimension includes a third pass dimension corresponding to the third mowing path, and the third pass dimension includes the projected length of the machine body along the third mowing path in the width direction of the passage opening.

[0011] This implementation utilizes the size differences of the machine body in different directions to select a path from different pre-designed planned paths that meets the current narrow passage conditions. This makes it easier for the lawnmower to be adapted to narrow passage paths of different shapes, so that the lawnmower can make adaptive adjustments to its travel direction based on the machine body size, thereby improving the cleaning coverage in narrow passages.

[0012] In some embodiments, the first dimension is the width of the lawnmower's body, and the second dimension is the length of the lawnmower's body.

[0013] In some embodiments, the first pass dimension is greater than or equal to 43cm and less than 63cm, and the second pass dimension is greater than or equal to 63cm and less than or equal to 85cm. This dimension improves the lawnmower's maneuverability in narrow passages.

[0014] In some embodiments, the first clearance dimension is greater than or equal to 48cm and less than 55cm, and the second clearance dimension is greater than or equal to 68cm and less than or equal to 75cm. This range prevents the obstacle avoidance distance from being too small, thus affecting the lawnmower's obstacle avoidance performance, while also improving the lawnmower's maneuverability in narrow passages.

[0015] In some embodiments, the first passage size and the second passage size are preset thresholds, and the first passage size and the second passage size are not equal. By setting preset thresholds, the lawnmower can more accurately determine the corresponding passage size based on the mowing path, thereby improving the lawnmower's maneuverability.

[0016] In some embodiments, during the passage through a narrow passage, the lawnmower exits the active obstacle avoidance mode upon entering the narrow passage; the active obstacle avoidance mode is characterized by controlling the lawnmower to turn or reverse when the distance between the lawnmower and the obstacle meets the active obstacle avoidance distance.

[0017] Then, while traveling through narrow passages, the lawnmower turns or reverses based on obstacle boundaries sensed by its detection device. However, the space within narrow passages is limited; maintaining a normal obstacle avoidance distance would cause the lawnmower to repeatedly turn around, potentially leading to it getting stuck. Therefore, disabling the active obstacle avoidance mode increases the lawnmower's maneuverability in narrow passages. Before entering a narrow passage, the lawnmower recalculates the opening size based on a new obstacle avoidance logic to ensure it meets entry requirements, thus improving its maneuverability. This allows it to operate in narrow passages with small openings that traditional lawnmowers would not normally enter.

[0018] In some embodiments, the lawnmower includes a collision sensor and enters a passive obstacle avoidance mode while traveling in the narrow passage. The passive obstacle avoidance mode is used to control the lawnmower to turn or reverse when the collision sensor detects a collision with an obstacle or boundary. The collision distance in the passive obstacle avoidance mode is less than the active obstacle avoidance distance, thereby enabling the lawnmower to detect the boundary or obstacle in the narrow passage and avoid obstacles.

[0019] Since the lawnmower's active obstacle avoidance mode is off, but the passive obstacle avoidance mode is still on, to ensure the lawnmower's safety and the proper functioning of the passive obstacle avoidance mode, the ratio of the lawnmower's travel speed in narrow passages to the width of the narrow passage opening needs to be set to be greater than or equal to 0.2s. -1 And less than or equal to 0.8s -1 The ratio of vehicle speed to diameter is less than 0.2s. -1 At times, collision sensors may fail to detect the vehicle when the ratio of vehicle speed to width is greater than 0.8s. -1 At that time, safety cannot be guaranteed in narrow passages, and the mowing speed should be adjusted according to the diameter to ensure that the mowing efficiency is not too low.

[0020] Through the above implementation method, the obstacle avoidance distance between the lawnmower and obstacles on both sides of the narrow passage can be shortened by turning off the active obstacle avoidance mode, thereby increasing the cleaning area coverage of the lawnmower in the narrow passage. Furthermore, the lawnmower's speed is limited according to the opening width of the narrow passage, further precisely defining the relative relationship between the lawnmower and the boundary of the narrow passage. This allows the lawnmower to get as close as possible to the two sides of the narrow passage while ensuring safety, thus improving the lawnmower's passability through the narrow passage.

[0021] In some embodiments, the first passage dimension is the sum of the lawnmower's body length and the reserved collision distance; or, the second passage dimension is the sum of the lawnmower's body width and the reserved collision distance; or, the third passage dimension is the sum of the projected length of the lawnmower's body along the third mowing path in the width direction of the passage opening and the reserved collision distance. Thus, by determining the lawnmower's passage dimension based on its planned path and combining it with the lawnmower's obstacle avoidance distance requirements, the lawnmower's obstacle avoidance operation in narrow passages is satisfied, thereby ensuring its passability in narrow passages.

[0022] In some embodiments, the reserved collision distance is greater than or equal to 3cm and less than or equal to 20cm. In some embodiments, the reserved collision distance is greater than 3cm and less than or equal to 15cm.

[0023] In some embodiments, the lawnmower includes a detection device, and the narrow-channel obstacle avoidance mode is a narrow-channel active obstacle avoidance mode. The narrow-channel active obstacle avoidance mode is characterized by controlling the lawnmower to turn or reverse when the detection device detects that the distance between the lawnmower and the obstacle meets the narrow-channel active obstacle avoidance distance. The narrow-channel active obstacle avoidance distance corresponding to the narrow-channel active obstacle avoidance mode is less than the active obstacle avoidance distance corresponding to the active obstacle avoidance mode.

[0024] Through the above implementation method, the narrow passage active obstacle avoidance mode can be used to control the lawnmower to turn or reverse in advance without collision, thus achieving precise obstacle avoidance in narrow passages.

[0025] In some embodiments, the system switches to a narrow-channel active obstacle avoidance mode. The narrow-channel active obstacle avoidance mode includes controlling the lawnmower to turn or reverse when the distance between the detected obstacle's location information and the lawnmower meets the active obstacle avoidance distance. The narrow-channel active obstacle avoidance distance is less than the active obstacle avoidance distance.

[0026] In addition to the aforementioned active obstacle avoidance mode in narrow passages, there is also a passive obstacle avoidance mode. In passive obstacle avoidance mode, when the collision sensor detects an obstacle, the lawnmower is controlled to turn or reverse. The collision distance in passive obstacle avoidance mode is less than that in active obstacle avoidance mode. Therefore, passive obstacle avoidance mode can also be used to avoid obstacles while traveling in narrow passages.

[0027] By utilizing the aforementioned different clearance dimensions, the machine body can adaptively adjust its direction of travel based on the collision sensor readings, thereby improving cleaning coverage within narrow passages.

[0028] Through the above implementation method, the identification and turning distance between the lawnmower and the obstacle in the original active obstacle avoidance mode can be shortened to the identification and turning distance between the lawnmower and the obstacle in the passive obstacle avoidance mode. This shortens the distance between the lawnmower and the two sides of the narrow passage, improves the lawnmower's passability in the narrow passage, and further improves the lawnmower's cleaning coverage in the narrow passage. Furthermore, the lawnmower's speed is limited according to the opening width of the narrow passage, which further precisely defines the relative relationship between the lawnmower and the boundary of the narrow passage, allowing the lawnmower to get as close as possible to the two sides of the narrow passage while ensuring safety.

[0029] In one possible implementation, the obstacles forming the narrow passage can include two types: ordinary obstacles and special obstacles. Ordinary obstacles can include walls, trees, rocks, and other obstacles that are not affected by the lawnmower's blades, while special obstacles can include animals, people, water pipes, and other obstacles that cannot be touched by the lawnmower's blades. Therefore, a detection device, such as a vision sensor, is needed to identify these two types of obstacles, and then process them accordingly based on their identification type.

[0030] In some embodiments, when entering a narrow passage and when the detection device detects that the obstacle is of the ordinary type, the lawnmower adopts a passive obstacle avoidance mode.

[0031] When entering a narrow passage, and when the detection device detects that the obstacle is a special type of obstacle, the lawnmower adopts an active obstacle avoidance mode;

[0032] Special obstacles include at least one or a combination of living beings, fragile objects, cliffs, and artificially created virtual boundaries, while ordinary obstacles are any obstacles other than special obstacles.

[0033] Since you still need to move through narrow passages after exiting active obstacle avoidance mode, you can use passive obstacle avoidance mode, which has a relatively shorter obstacle avoidance distance compared to active obstacle avoidance mode.

[0034] The above implementation methods further subdivide the types of obstacles that form narrow channels, thereby improving cleaning safety while ensuring increased cleaning coverage.

[0035] In some embodiments, the lawnmower can move and mow simultaneously, or it can simply perform the movement task. Therefore, after entering a narrow passage, controlling the lawnmower to move along a first mowing path, or controlling the lawnmower to mow along the first mowing path, allows the lawnmower to attempt to pass through first, and then perform the mowing task based on the path taken during passage. This ensures increased cleaning coverage while improving the safety of the cleaning task, enabling cleaning tasks that involve both detection and mowing, or detection followed by mowing, thus increasing the possibility of multiple ways to perform the cleaning task and improving the universality of cleaning needs.

[0036] In some embodiments, when passing through a narrow passage, the active obstacle avoidance mode can be exited and switched to the narrow passage active obstacle avoidance mode. Since the active obstacle avoidance distance in a narrow passage is less than the active obstacle avoidance distance, the turning or backing distance between the lawnmower and the boundary of the narrow passage can be reduced, thereby improving the coverage of the lawnmower when passing through the narrow passage and thus improving the cleaning coverage.

[0037] In some embodiments, if the active obstacle avoidance distance in a narrow passage is too large, it will hinder the improvement of passability; if the stopping distance is too small, it will not be able to achieve timely braking and stopping. Therefore, the ratio of the travel speed in a narrow passage to the obstacle avoidance distance in passive obstacle avoidance mode is greater than or equal to 1.5s. -1 And less than or equal to 6s -1 .

[0038] Alternatively, if the detection device has a 3-5cm error or a delay in detection results, to improve safety, the scope should be further narrowed, and the ratio of the travel speed in the narrow passage to the active obstacle avoidance distance in the narrow passage should be greater than or equal to 2s. -1 And less than or equal to 4s -1 .

[0039] In some embodiments, the lawnmower may be equipped with a movable blade disc, on which a cutting device for cutting the lawn is fixed. Exemplarily, the blade disc has a first state and a second state. When the blade disc is in the first state, the overall width of the lawnmower is greater than when the blade disc is in the second state. Regardless of whether the blade disc is in the first or second state, the cutting device on the blade disc can perform the lawn cutting and cleaning operation on the area covered by the blade disc. For example, the first state is a position where the blade disc is extended relative to the lawnmower body, and the second state is a position where the blade disc is retracted relative to the lawnmower body.

[0040] Therefore, when the lawnmower is moving to the entrance of a narrow passage, the lawnmower is controlled to enter the narrow passage in the second state of the blade, thereby increasing the likelihood of the lawnmower passing through the narrow passage. Passing through means that cleaning can be carried out, thus further improving the cleaning coverage of the narrow passage.

[0041] In some embodiments, the retractable blade head allows the lawnmower to expand the cleaning area as it moves. For example, when the lawnmower travels along a preset path, the blade head is controlled to extend and cut grass; the preset path includes a turning path, or the opening width of the preset path is greater than the passage size of the lawnmower in its first state.

[0042] The above implementation method further expands the cleaning coverage, allowing the lawnmower to increase the cleaning coverage area on both sides without changing the travel path. At the same time, the telescopic control can better clean the lawn at the bend and avoid interference or collision between the lawnmower and the protrusion at the bend.

[0043] In some embodiments, when the opening width of the narrow channel is greater than the passage size of the lawnmower in the second state and less than or equal to the passage size of the lawnmower in the first state, the lawnmower is controlled to move left and right in the second state of the blade disc to mow the grass.

[0044] This implementation method can achieve lawn cleaning in a narrow passage during a single pass by moving the machine body left and right without extending the cutter head. At the same time, it can improve the cleaning coverage by utilizing the passive obstacle avoidance function of the lawnmower, and also help protect the cutter head from collision damage.

[0045] In some embodiments, when the lawnmower travels to the entrance of a narrow passage, the lawnmower is controlled to cut grass along the boundary of the narrow passage in a first-state blade state; the distance the lawnmower extends in the first-state blade state is less than the lawnmower's reserved collision distance.

[0046] This embodiment can further improve the cleaning coverage by using the extended blade disc to supplement the cleaning of areas missed due to obstacle avoidance distance limitations between the machine body and obstacles, provided that the machine body has already moved close to the edge.

[0047] Secondly, embodiments of this disclosure provide a control method for a lawnmower. The lawnmower includes a body and a detection device mounted on the body, the detection device being used to detect obstacle information on the lawnmower's travel path. The method includes first performing a mapping operation and identifying narrow channels during the mapping process; obtaining the opening width of the narrow channel and generating at least one passable mowing path based on the opening width of the narrow channel; generating at least one passable mowing path based on the opening width of the narrow channel includes: the mowing path includes at least a first mowing path and a second mowing path, the first mowing path corresponding to a first passage dimension of the lawnmower, the second mowing path corresponding to a second passage dimension of the lawnmower, the first passage dimension being positively correlated with the length dimension of the lawnmower, and the second passage dimension being positively correlated with the width dimension of the lawnmower. When the opening width of the narrow channel is greater than the passage dimension of the lawnmower, the mowing path is determined to be a passable mowing path.

[0048] In this implementation, without a pre-planned path, the location of the narrow passage is first located and marked through mapping. This allows the lawnmower to quickly switch to the narrow passage control logic when it reaches the location. Then, under the narrow passage control logic, it moves along the preset mowing path while detecting, so that the cleaning task of the narrow passage can be performed later based on the detected path, thereby improving the overall coverage of lawn cleaning.

[0049] Using the above method, the location information and opening width of the narrow passage are obtained, and the pre-set travel path is obtained. The corresponding passage size required for different travel path is analyzed, and then it is determined whether the lawnmower can pass. Since the lawnmower posture is different for different path, the passage size of the lawnmower is also different. By replacing the traditional single judgment and comparison size, the passability of the lawnmower is effectively improved. The operation of detecting and selecting the mowing path at the same time is completed, thereby determining the safe passage path. The processing logic is simple and effective, which can achieve effective cleaning of narrow passages, thereby improving the overall cleaning coverage of the lawn by the lawnmower.

[0050] The first mowing path includes a mowing path perpendicular to the length direction of the narrow passage; the first pass dimension is greater than the length of the machine body; or, the second mowing path includes a mowing path parallel to the length direction of the narrow passage; the second pass dimension is greater than the width of the machine body; or, the mowing path includes a third mowing path, which is a mowing path inclined to the length direction of the narrow passage; the pass dimension includes a third pass dimension corresponding to the third mowing path, and the third pass dimension includes the projected length of the machine body along the third mowing path in the width direction of the passage opening.

[0051] This embodiment utilizes the size differences of the machine body in different directions to adjust the posture of the machine body according to the narrow passage path of different shapes, so that the lawnmower can enter the narrow passage based on the appropriate machine body size, obtain different passable mowing paths, and thus improve the clean coverage in the narrow passage.

[0052] In some embodiments, when passing through narrow passages, the active obstacle avoidance mode will turn around when an obstacle is detected. In order to reduce the risk of large areas of lawn being missed due to premature turning around, it is necessary to first exit the active obstacle avoidance mode. The active obstacle avoidance mode is to control the lawnmower to turn or reverse when the distance between the detected obstacle's location information and the lawnmower meets the active obstacle avoidance distance.

[0053] In some embodiments, since the lawnmower's active obstacle avoidance mode is off, but the passive obstacle avoidance mode is still on, to ensure the lawnmower's safety and the normal operation of the passive obstacle avoidance mode, the ratio of the lawnmower's travel speed in a narrow passage to the opening width of the narrow passage needs to be set to be greater than or equal to 0.2s. -1 And less than or equal to 0.8s-1 .

[0054] Through the above implementation method, the obstacle avoidance distance between the lawnmower and obstacles on both sides of the narrow passage can be shortened by turning off the active obstacle avoidance mode, thereby increasing the cleaning area coverage of the lawnmower in the narrow passage and improving the lawnmower's passability in the narrow passage. Furthermore, the lawnmower's speed is limited according to the opening width of the narrow passage, further precisely defining the relative relationship between the lawnmower and the boundary of the narrow passage, so that the lawnmower can get as close as possible to the two sides of the narrow passage while ensuring safety.

[0055] In some embodiments, while traveling in a narrow passage, the system can switch to a narrow passage active obstacle avoidance mode. The narrow passage active obstacle avoidance mode includes controlling the lawnmower to turn or reverse when the distance between the detected obstacle's location information and the lawnmower meets the active obstacle avoidance distance. The narrow passage active obstacle avoidance distance is less than the active obstacle avoidance distance.

[0056] In addition to the aforementioned active obstacle avoidance mode in narrow passages, there is also a passive obstacle avoidance mode. In passive obstacle avoidance mode, when the collision sensor detects an obstacle, the lawnmower is controlled to turn or reverse. The collision distance in passive obstacle avoidance mode is less than that in active obstacle avoidance mode. Therefore, passive obstacle avoidance mode can also be used to avoid obstacles while traveling in narrow passages.

[0057] In the aforementioned passive obstacle avoidance mode, the clearance dimensions satisfy the following conditions: First, the clearance dimension is the sum of the lawnmower's body length and the reserved collision distance; or, second, the clearance dimension is the sum of the lawnmower's body width and the reserved collision distance; or, third, the clearance dimension is the sum of the lawnmower's body projection length along the third mowing path in the width direction of the passage opening and the reserved collision distance. Therefore, by determining the lawnmower's clearance dimensions based on its planned path and combining this with the obstacle avoidance distance requirements, the lawnmower's obstacle avoidance operation in narrow passages is satisfied, thus ensuring its passability in narrow passages.

[0058] By utilizing the aforementioned different clearance dimensions, the machine body can adaptively adjust its direction of travel based on the collision sensor readings, thereby improving cleaning coverage within narrow passages.

[0059] In some embodiments, if the active obstacle avoidance distance in a narrow passage is too large, it will hinder the improvement of passability; if the stopping distance is too small, it will not be able to achieve timely braking and stopping. Therefore, the ratio of the travel speed in a narrow passage to the obstacle avoidance distance in passive obstacle avoidance mode is greater than or equal to 1.5s. -1 And less than or equal to 6s -1 .

[0060] Alternatively, if the detection device has a 3-5cm error or a delay in detection results, to improve safety, the scope should be further narrowed, and the ratio of the travel speed in the narrow passage to the active obstacle avoidance distance in the narrow passage should be greater than or equal to 2s. -1 And less than or equal to 4s -1 .

[0061] Through the above implementation method, the identification and turning distance between the lawnmower and the obstacle in the original active obstacle avoidance mode can be shortened to the identification and turning distance between the lawnmower and the obstacle in the passive obstacle avoidance mode. This shortens the distance between the lawnmower and the two sides of the narrow passage, improves the lawnmower's passability in the narrow passage, and further improves the lawnmower's cleaning coverage in the narrow passage. Furthermore, the lawnmower's speed is limited according to the opening width of the narrow passage, which further precisely defines the relative relationship between the lawnmower and the boundary of the narrow passage, allowing the lawnmower to get as close as possible to the two sides of the narrow passage while ensuring safety.

[0062] In one possible implementation, the obstacles forming the narrow passage can include two types: ordinary obstacles and special obstacles. Ordinary obstacles can include walls, trees, rocks, and other obstacles that are not affected by the lawnmower's blades, while special obstacles can include animals, people, water pipes, and other obstacles that cannot be touched by the lawnmower's blades. Therefore, a detection device, such as a vision sensor, is needed to identify these two types of obstacles, and then process them accordingly based on their identification type.

[0063] In some embodiments, when the detection device detects that the obstacle is a common obstacle, the passive obstacle avoidance mode is activated and the active obstacle avoidance mode is deactivated; while when the detection device detects that the obstacle is a special obstacle, in order to improve safety, the obstacle avoidance distance needs to be increased, so both the active and passive obstacle avoidance modes need to be activated.

[0064] In cases where the detection device detects that the obstacle is a common obstacle, it is necessary to shorten the obstacle avoidance distance between the lawnmower and the obstacle when turning or moving backward. Therefore, it is necessary to exit the active obstacle avoidance mode with a larger obstacle avoidance distance.

[0065] Since you still need to move through narrow passages after exiting active obstacle avoidance mode, you can use passive obstacle avoidance mode, which has a relatively shorter obstacle avoidance distance compared to active obstacle avoidance mode.

[0066] The above implementation methods further subdivide the types of obstacles that form narrow channels, thereby improving cleaning safety while ensuring increased cleaning coverage.

[0067] In some embodiments, the lawnmower can move and mow simultaneously, or it can simply perform the movement task. Therefore, after entering a narrow passage, controlling the lawnmower to move along a first mowing path, or controlling the lawnmower to mow along the first mowing path, allows the lawnmower to attempt to pass through first, and then perform the mowing task based on the path taken during passage. This ensures increased cleaning coverage while improving the safety of the cleaning task, enabling cleaning tasks that involve both detection and mowing, or detection followed by mowing, thus increasing the possibility of multiple ways to perform the cleaning task and improving the universality of cleaning needs.

[0068] In some embodiments, when passing through a narrow passage, the active obstacle avoidance mode can be exited and switched to the narrow passage active obstacle avoidance mode. Since the active obstacle avoidance distance in a narrow passage is less than the active obstacle avoidance distance, the turning or backing distance between the lawnmower and the boundary of the narrow passage can be reduced, thereby improving the coverage of the lawnmower when passing through the narrow passage and thus improving the cleaning coverage.

[0069] In some embodiments, the lawnmower may be equipped with a movable blade disc, on which a cutting device for cutting the lawn is fixed to achieve the mowing action.

[0070] For example, the cutter head has a first state and a second state. When the cutter head is in the first state, the overall width of the lawnmower is greater than the overall width of the lawnmower when the cutter head is in the second state. Regardless of whether the cutter head is in the first or second state, the cutting device on the cutter head can perform lawn cutting and cleaning operations on the area covered by the cutter head. For example, the first state is the position where the cutter head is extended relative to the lawnmower body, and the second state is the position where the cutter head is retracted relative to the lawnmower body.

[0071] Therefore, when the lawnmower is moving to the entrance of a narrow passage, the lawnmower is controlled to enter the narrow passage in the second state of the blade, thereby increasing the likelihood of the lawnmower passing through the narrow passage. Passing through means that cleaning can be carried out, thus further improving the cleaning coverage of the narrow passage.

[0072] In some embodiments, the retractable blade head allows the lawnmower to expand the cleaning area as it moves. For example, when the lawnmower travels along a preset path, the blade head is controlled to extend and begin mowing; the preset path includes a turning path, or the opening width of the preset path is greater than the passage size of the lawnmower in its first state.

[0073] The above implementation method further expands the cleaning coverage, allowing the lawnmower to increase the cleaning coverage area on both sides without changing the travel path. At the same time, the telescopic control can better clean the lawn at the bend and avoid interference or collision between the lawnmower and the protrusion at the bend.

[0074] In some embodiments, when the opening width of the narrow channel is greater than the passage size of the lawnmower in the second state and less than or equal to the passage size of the lawnmower in the first state, the lawnmower is controlled to move left and right in the second state of the blade disc to mow the grass.

[0075] This implementation method can achieve lawn cleaning in a narrow passage during a single pass by moving the machine body left and right without extending the cutter head. At the same time, it can improve the cleaning coverage by utilizing the passive obstacle avoidance function of the lawnmower, and also help protect the cutter head from collision damage.

[0076] In some embodiments, when the lawnmower travels to the entrance of a narrow passage, the lawnmower is controlled to cut grass along the boundary of the narrow passage in a first state with the blade in the blade state; the distance from the extended blade to the boundary of the narrow passage is less than the lawnmower's reserved collision distance.

[0077] This embodiment can further improve the cleaning coverage by using the extended blade disc to supplement the cleaning of areas missed due to obstacle avoidance distance limitations between the machine body and obstacles, provided that the machine body has already moved close to the edge.

[0078] Thirdly, embodiments of this disclosure provide a method for controlling a lawnmower.

[0079] The lawnmower includes a body and a detection device mounted on the body, which is used to detect obstacles in the path of the lawnmower; the method includes:

[0080] When the lawnmower reaches the entrance of a narrow passage, if the opening width of the narrow passage is greater than the lawnmower's passage width, the lawnmower passes through the narrow passage; if the opening width of the narrow passage is not greater than the lawnmower's passage width, the lawnmower is controlled to either not pass through the narrow passage or exit the narrow passage. The lawnmower's passage width is the sum of the lawnmower's body posture at the opening of the narrow passage projected in the direction of the narrow passage's opening width and the lawnmower's obstacle avoidance distance in the narrow passage.

[0081] Among them, the active obstacle avoidance distance in narrow passage is less than the obstacle avoidance distance in active obstacle avoidance mode, so as to ensure the safety of the lawnmower while minimizing the area of ​​the area left uncleaned between the machine body and the boundary of the narrow passage.

[0082] The passing dimensions include a first passing dimension corresponding to the first mowing posture, a second passing dimension corresponding to the second mowing posture, and a third passing dimension corresponding to the third mowing posture. The first passing dimension is the sum of the mower's body length and the narrow passage obstacle avoidance distance; the second passing dimension is the sum of the mower's body width and the narrow passage obstacle avoidance distance; and the third passing dimension is the sum of the projected length of the mower's body along the third mowing path in the direction of the passage opening width and the narrow passage obstacle avoidance distance.

[0083] In some embodiments, the obstacle avoidance distance in the narrow passage is greater than or equal to 3cm and less than or equal to 20cm.

[0084] In some embodiments, the obstacle avoidance distance in the narrow passage is greater than or equal to 3cm and less than or equal to 15cm.

[0085] In this embodiment, when the lawnmower confirms that it has reached the entrance of a narrow passage, it can directly compare the width of the narrow passage opening obtained by the detection device with the projected width of the current body posture in the direction of the narrow passage opening to directly determine whether the lawnmower can pass through. This reduces the complexity of the judgment logic, eliminates the need to preset the mowing path, improves the passing efficiency, and thus improves the overall cleaning coverage and cleaning efficiency.

[0086] Fourthly, this disclosure provides a control method for a lawnmower. The lawnmower includes a body and a collision sensor mounted on the body. The collision sensor is used to detect the boundary of an obstacle. The method includes: exiting an active obstacle avoidance mode when entering a narrow passage; the active obstacle avoidance mode is used to control the lawnmower to turn or reverse when the distance between the lawnmower and the obstacle meets the active obstacle avoidance distance; based on the boundary of the narrow passage sensed by the collision sensor, when the distance between the lawnmower and the narrow passage meets the reserved collision distance, the lawnmower is controlled to turn or reverse to pass through the narrow passage.

[0087] Among them, collision sensors, such as anti-collision plates, can be set in two, respectively, on both sides of the front of the lawnmower body in the direction of travel. This allows the anti-collision plates to determine the specific location of the obstacle boundary based on the collision information, and thus mark the obstacle information on the map based on the obstacle boundary perceived by the collision sensors during travel in narrow passages.

[0088] The method in this embodiment can shorten the obstacle avoidance distance between the lawnmower and obstacles on both sides of the narrow passage by turning or reversing after a collision, thereby increasing the cleaning area coverage of the lawnmower in the narrow passage and facilitating the next cleaning use.

[0089] Fifthly, embodiments of this disclosure provide a control method for a lawnmower. The lawnmower includes a body and a distance sensor mounted on the body. The distance sensor is used to acquire the distance between the lawnmower body and obstacles along the lawnmower's travel path. The method includes: when entering a narrow passage, exiting an active obstacle avoidance mode and switching to a narrow passage active obstacle avoidance mode; turning or reversing when the distance to an obstacle detected by the distance sensor is less than the narrow passage active obstacle avoidance distance, in order to pass through the narrow passage; the narrow passage active obstacle avoidance distance corresponding to the narrow passage active obstacle avoidance mode is less than the active obstacle avoidance distance corresponding to the active obstacle avoidance mode.

[0090] The method in this embodiment sets a specific active obstacle avoidance mode for narrow passages, allowing the lawnmower to move normally within the narrow passage without touching its boundary, while getting as close to the boundary as possible, thus improving the lawnmower's passability and cleaning coverage.

[0091] In some embodiments, the opening width of the narrow passage is obtained. When the opening width of the narrow passage is within a first width range, the lawnmower only activates a passive obstacle avoidance mode. When the opening width of the narrow passage is within a second width range, the lawnmower activates a short-distance obstacle avoidance mode. The first width range is smaller than the second width range. Therefore, by changing the obstacle avoidance strategy within an extremely narrow passage, the lawnmower's maneuverability in the narrow passage can be improved, the number of turns required within the narrow passage can be reduced, and the lawnmower can be prevented from getting stuck in the extremely narrow passage. In some embodiments, the first width range is greater than or equal to 60cm and less than or equal to 100cm, and the second width range is greater than 100cm. In some embodiments, the second width range is greater than 100cm and less than 160cm.

[0092] In a sixth aspect, embodiments of this disclosure provide a control method for a lawnmower. The lawnmower includes a body and a vision sensor mounted on the body. The vision sensor is used to acquire obstacle information on the lawnmower's travel path. The obstacle information includes the type of obstacle, which includes ordinary obstacles and special obstacles. The method includes: when entering a narrow passage and the vision sensor detects that the obstacle is of the ordinary type, controlling the lawnmower to turn or reverse when an active obstacle avoidance distance is reached; when entering a narrow passage and the vision sensor detects that the obstacle is of the special type, controlling the lawnmower to turn or reverse when an active obstacle avoidance distance is reached to pass through the narrow passage.

[0093] The method in this embodiment further subdivides the types of obstacles forming narrow channels using a visual sensor, thereby improving cleaning safety while ensuring increased cleaning coverage.

[0094] Because the lawnmower can come into contact with special obstacles, the active obstacle avoidance distance in narrow passages can be zero. At this time, when the lawnmower detects that the boundary of the obstacle is about to come into contact with the body, it can slow down and move forward until it comes into contact with the boundary of the obstacle. Then it can slow down to zero, turn or reverse, and continue to execute the next line of travel. This further reduces the area of ​​missed cleaning between the lawnmower and the boundary of the obstacle, and improves the overall cleaning coverage of the narrow passage.

[0095] In a seventh aspect, embodiments of this disclosure provide a control method for a lawnmower. The lawnmower includes a body and a blade disk disposed on the body. The blade disk has a first state and a second state. When the blade disk is in the first state, the overall width of the lawnmower is greater than the overall width of the lawnmower when the blade disk is in the second state. The method includes: when the lawnmower is approaching the entrance of a narrow passage, controlling the blade disk to move to the second state; wherein, when the blade disk is in the first state, the blade disk is at least partially located outside the projection of the body onto the ground.

[0096] The method in this embodiment increases the probability of passage by controlling the retraction of the cutter head before the entrance of the narrow channel, thereby increasing the possibility of cleaning the narrow channel and thus improving the overall cleaning coverage of the lawn.

[0097] Eighthly, this disclosure provides a control method for a lawnmower. The lawnmower includes a body, a blade disc and a detection device disposed on the body, the detection device being used to detect obstacle information on the lawnmower's travel path, the blade disc having a first state and a second state, wherein the width of the lawnmower body in the first state is greater than the width of the lawnmower body in the second state; the method includes:

[0098] Create a map of the narrow passage and detect the distance between the lawnmower and the boundary of the narrow passage;

[0099] When the boundary distance between the lawnmower and the narrow passage is greater than a preset value, the cutter head is controlled to be in the first state; when the cutter head is in the first state, the cutter head is at least partially located outside the projection of the machine body onto the ground.

[0100] The method in this embodiment first builds a map using a detection device, and then uses the narrow channel boundary information obtained from the map to control the outward swing position of the cutter head, so as to increase the coverage area of ​​the cutter head and thus improve the cleaning coverage rate.

[0101] Ninthly, embodiments of this disclosure provide a control method for a lawnmower. The lawnmower includes a body and a detection device mounted on the body. The detection device is used to detect obstacle information on the lawnmower's travel path. The method includes: when the lawnmower travels according to a planned path and reaches the entrance of a narrow passage, controlling the detection device to detect the opening width of the narrow passage and the position information of the narrow passage; wherein the planned mowing path includes at least a first mowing path and a second mowing path; when the opening width of the narrow passage is greater than the passing posture corresponding to the lawnmower's travel in the narrow passage, passing through the narrow passage; wherein the passing posture includes a first passing posture corresponding to the first mowing path and a second passing posture corresponding to the second mowing path.

[0102] In the above embodiments, the first mowing path includes a mowing path perpendicular to the length direction of the narrow channel; the first passing posture is greater than the fuselage length; or, the second mowing path includes a mowing path parallel to the length direction of the narrow channel; the second passing posture is greater than the fuselage width; or, the mowing path includes a third mowing path, which is a mowing path inclined to the length direction of the narrow channel; the passing posture includes a third passing posture corresponding to the first mowing path, and the third passing posture includes the projected length of the fuselage along the third mowing path in the width direction of the channel opening.

[0103] The method in this embodiment uses a detection device to detect and calculate the required posture of the lawnmower body as it passes through, and then adjusts the posture according to the detection results. This reduces the situation where the lawnmower cannot follow the same mowing path due to irregular paths in narrow passages, resulting in missed cuts and improving the cleaning coverage rate.

[0104] In a tenth aspect, this disclosure provides a lawnmower, which includes a body, a control device, and a detection device mounted on the body. The detection device is connected to the control device and is used to detect obstacle information on the lawnmower's travel path. The control device is used to execute the control method described in the above embodiments.

[0105] Eleventhly, this disclosure provides a computer-readable program medium, wherein the computer-readable program medium stores computer-readable instructions; after the computer-readable instructions are executed by a processor, they are able to execute the lawnmower control method described in any of the foregoing embodiments.

[0106] The lawnmower and its control method provided in this disclosure select a planned narrow passage path that can be passed through by means of a detection device, or plan a narrow passage path by means of a detection device. Compared with the defects in the prior art, the lawnmower of this disclosure can perform cleaning tasks normally in narrow passages, thereby improving the lawnmower's cleaning coverage rate and enhancing the intelligence level of the lawnmower's autonomous cleaning. Attached Figure Description

[0107] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0108] Figure 1 is a schematic diagram of the bottom structure of a lawnmower provided in an embodiment of this disclosure;

[0109] Figure 2 is a schematic diagram of the mowing path provided in the embodiments of this disclosure; wherein, (a) is a schematic diagram of the first planned mowing path, (b) is a schematic diagram of the second planned mowing path, and (c) is a schematic diagram of the third planned mowing path.

[0110] Figure 3 is a schematic flowchart of the lawnmower control method of one embodiment provided in this disclosure;

[0111] Figure 4 is a schematic flowchart of the lawnmower control method of Method 2 provided in the embodiments of this disclosure;

[0112] Figure 5 is a schematic flowchart of the lawnmower control method of Method 3 provided in the embodiments of this disclosure;

[0113] Figure 6 is a schematic diagram of the narrow channel path distribution provided in the embodiments of this disclosure;

[0114] Figure 7 is a schematic flowchart of the control method for obstacle avoidance mode scheme 1 of the lawnmower provided in the embodiments of this disclosure;

[0115] Figure 8 is a schematic flowchart of the control method for the second obstacle avoidance mode scheme of the lawnmower provided in the embodiment of this disclosure;

[0116] Figure 9 is a schematic flowchart of the control method for the third obstacle avoidance mode scheme of the lawnmower provided in the embodiment of this disclosure;

[0117] Figure 10 is a schematic diagram of the extended blade structure of a lawnmower provided in an embodiment of this disclosure;

[0118] Figure 11 is a schematic diagram of the lawnmower blade retraction structure provided in an embodiment of this disclosure;

[0119] Figure 12 is a schematic flowchart of the lawnmower blade retraction control method provided in the embodiments of this disclosure;

[0120] Figure 13 is a schematic flowchart of the lawnmower blade extension control method provided in the embodiments of this disclosure;

[0121] Figure 14 is a schematic flowchart of the lawnmower control method of embodiment four provided in this disclosure. Detailed Implementation

[0122] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with those of this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the embodiments of this disclosure, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without inventive effort are within the scope of protection of this invention.

[0123] When a lawnmower is performing a mowing task on the lawn, it can typically perform autonomous cleaning operations in two ways:

[0124] One approach is to extract map features from the lawn in advance and plan a cleaning path based on the extracted map features, so that the lawnmower can perform the mowing task according to the planned cleaning path.

[0125] Another method is to control the lawnmower to move randomly in an active obstacle avoidance mode, so that the lawnmower can perform lawn mowing tasks in the areas it passes through. After meeting the set mowing height and cleaning time, the lawnmower can complete the lawn mowing task of a specific area.

[0126] Existing lawn areas may contain numerous obstacles, such as fences, walls, billboards, sculptures, etc., or there may be specific landscaping design requirements, such as shrubs, flower beds, etc., which cannot be cleared simultaneously with the lawn. When the distance between at least two obstacles is relatively small, a narrow passage area is formed.

[0127] Due to the cutting and cleaning characteristics of lawnmowers, existing autonomous mobile lawnmowers often skip cleaning narrow passage areas to ensure cleaning safety. That is, when a narrow passage is identified as part of the cleaning area, it is treated as an obstacle and turned around to avoid it. This results in a large proportion of the overall area to be cleaned being missed, affecting the overall cleaning effect of the lawnmower on the area to be cleaned.

[0128] In some embodiments, a narrow channel is a channel located in a narrow channel region; for example, the narrow channel may be the narrow channel region itself.

[0129] In some embodiments, a narrow channel may be a channel that satisfies at least one of the following conditions:

[0130] W1 is less than or equal to A*L;

[0131] W1 is less than or equal to B*W2;

[0132] Where W1 is the narrowest width, average width, or opening width of the narrow passage. L is the length of the lawnmower. W2 is the width of the lawnmower. Both A and B are positive numbers. For example, A is between 0.8 and 2, such as 1.2 or 1.5. For example, B is greater than 1, such as 1.5, 1.8, 2, or 2.5.

[0133] In view of this, the lawnmower provided in this disclosure can determine a safe path to pass through based on the width of the detected narrow passage and the size of the lawnmower; or, it can first plan a path for the narrow passage, and then determine whether the path plan is passable based on the width of the detected narrow passage and the size of the lawnmower, and then proceed and perform cleaning tasks based on the passable path, aiming to solve the above-mentioned technical problems of the prior art.

[0134] The specific application scenarios of this disclosure are as follows:

[0135] Figure 1 is a schematic diagram of the bottom structure of a lawnmower provided in an embodiment of this disclosure. As shown in Figure 1, the lawnmower 100 includes a body 110, a detection device 120 and a blade 130 disposed on the body 110. The detection device 120 is used to detect obstacle information on the path of the lawnmower 100.

[0136] For example, the fuselage can be circular, square, or other shapes, such as an irregular shape formed by combining parts of a circle and parts of a square. The fuselage can rotate during movement, and the center point around which the rotation is centered can be a center point selected from the fuselage. For example, when the fuselage is circular, the center point can include the center of the circle; when the fuselage is square, the center point can include the center point of the square; and when the fuselage has two drive wheels, the center point can include the center point of the line connecting the two drive wheels or the center point of the line connecting the centers of rotation of the two drive wheels.

[0137] The detection device can be various sensors capable of detecting distance, such as radar sensors, infrared sensors, visual sensors, and / or bumpers. The obstacle information acquired by the detection device can be distance information, obstacle type, or boundary information determined by the detection device. Since the detection information itself is prior art, it will not be described further here. In this embodiment, the obstacle can be located within the mowing area or the boundary of the passage.

[0138] The lawnmower also includes a control device connected to a detection device, which is used to execute a control method for the lawnmower based on the detection results of the detection device.

[0139] The lawnmower also includes a storage component, and the control unit and storage component can be located inside the lawnmower. In some embodiments, the storage component can be integrated with the control unit, or they can be two separate components.

[0140] Storage components are used to store data; for example, various software control programs, lawnmower modes and / or parameters, etc. Specifically, programs may include program code, which includes computer operation instructions.

[0141] The control device may include, for example, one or more circuits or chips with control functions.

[0142] The control unit is used to control the operation of the lawnmower and respond to user operations through various software control programs stored in memory.

[0143] The executing entity in this embodiment can be the control device in the lawnmower or the corresponding server. The server is located in the cloud and connects to the lawnmower's control device via a network to issue control commands to the lawnmower, or forward control commands sent by the user through a terminal device to the lawnmower, etc.

[0144] The following uses the control device in a lawnmower as an example to illustrate the technical solutions of this disclosure and how they solve the aforementioned technical problems through specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0145] The embodiments of the present disclosure will now be described with reference to the accompanying drawings.

[0146] Figure 2 is a schematic diagram of a planned mowing path provided in an embodiment of this disclosure; wherein, (a) in Figure 2 is a schematic diagram of a first type of planned mowing path, (b) is a schematic diagram of a second type of planned mowing path, and (c) is a schematic diagram of a third type of planned mowing path.

[0147] For example, referring to Figure 2(a), the first planned mowing path is that the mower starts from the starting point and moves along the first mowing path 201 in the vertical direction. When it reaches the end point, it turns and moves along the second mowing path 202 in the horizontal direction. Then it turns again and moves along the first mowing path 201 in the vertical direction opposite to the original one. This cycle is repeated to form a planned path in which multiple first mowing paths 201 and second mowing paths 202 are combined and distributed.

[0148] It should be understood that when the lateral width of the passage is relatively wide, the first type of planned mowing path can form a reciprocating path after the combination of the first mowing path 201 and the second mowing path 202. When the lateral width of the passage is relatively narrow, it can form a one-way path consisting only of the first mowing path 201, or a reciprocating path that turns around and returns at the end point.

[0149] Referring to Figure 2(b), similar to the planning path described above, the second planned mowing path is as follows: the mower starts from the starting point and moves horizontally along the second mowing path 202. When it encounters the first side boundary of the passage, it turns and moves along the first mowing path 201 in the vertical direction. Then it turns again and moves along the second mowing path 202 in the opposite horizontal direction until it encounters the second side boundary of the passage and turns again. This cycle is repeated until the destination is reached, forming a bow-shaped planning path with multiple first mowing paths 201 and second mowing paths 202 combined.

[0150] Referring to Figure 2(c), the third planned mowing path is as follows: the mower starts from the starting point and moves along the third mowing path 203, which is inclined to the horizontal or vertical direction, for example, at an angle of 45 degrees to the horizontal width direction of the channel. When it encounters the first side boundary of the channel, it turns and moves along the first mowing path 201 in the vertical direction. Then, it moves along the third mowing path 203 in the opposite direction to the original direction towards the second side boundary of the channel. This cycle is repeated until the end point is reached, thus obtaining the planned path after the combination of the first mowing path 201 and the third mowing path 203.

[0151] Referring to Figure 2(c), during the planned path travel according to the combination of the first mowing path 201 and the third mowing path 203, if there are obstacles in the passage or the end of the passage is closed and the mower needs to turn, a second horizontal mowing path 202 can be set based on the obstacle situation in the passage, thereby obtaining the planned path after the combination of the first mowing path 201, the second mowing path 202 and the third mowing path 203.

[0152] By setting up various mowing paths in the horizontal, vertical, and inclined directions, the lawnmower's ability to pass through narrow passages can be improved, allowing it to complete the cleaning tasks of areas with different shapes in a more suitable posture.

[0153] In some embodiments, before performing autonomous cleaning tasks on the lawn, the lawnmower pre-maps the area to be cleaned. This area may include open areas or narrow passage areas. The mower then plans its mowing path based on the open and / or narrow passage areas. When the width of the mowing area is less than a preset value, it can be determined that the mowing area is a narrow passage area; for example, the preset value is 1.5m. In some embodiments, the narrow passage is either a non-mowing area or a mowing area within the mowing area.

[0154] Although lawnmowers can perform cleaning tasks according to a planned path, the actual situation may not perfectly match the map, so the planned path may not meet the passage requirements of narrow passages.

[0155] For example, when a map shows a narrow passage formed by a billboard and a wall, a path is planned through this passage to clean it. Current lawnmowers typically determine the width they can pass through based on a circle centered on the machine's body, where the distance from the center to the longest end of the machine is at least twice the distance the mower can travel. When the actual distance between the billboard and the wall is less than the width the current lawnmower can pass through, it will be unable to enter the narrow passage, causing logical errors or repeated collisions with the entrance, resulting in a halt to the cleaning task. This affects the lawnmower's intelligence and reduces cleaning efficiency.

[0156] For example, the map only marks the entrance to the narrow passage, but the specific shape and opening width of the narrow passage are not clear. This makes it impossible for the lawnmower to pre-plan the mowing path in the narrow passage, resulting in the lawnmower being unable to clean the narrow passage and causing a decrease in cleaning coverage.

[0157] Therefore, the mowing path taken by the lawnmower when traveling in narrow passages can be achieved in the following two ways:

[0158] Method 1: Pre-set several planned mowing paths. When the lawnmower travels to a narrow passage, adjust the mowing path according to the width of the narrow passage to find a combination of mowing paths that allows the lawnmower to pass.

[0159] For example, Figure 3 is a schematic flowchart of a lawnmower control method according to an embodiment of this disclosure. Referring to Figure 3, the method includes:

[0160] S31. After the lawnmower starts, it responds to the received cleaning task.

[0161] S32. Obtain the planned mowing path and proceed according to the planned mowing path.

[0162] The planned mowing path includes at least a first mowing path or a second mowing path, and may also include other mowing paths besides the first and second mowing paths, such as a third mowing path.

[0163] In some embodiments, the planned mowing path may also include a combination of at least two of the first mowing path, the second mowing path, and the third mowing path.

[0164] S33. Proceed and obtain the location information of the lawnmower.

[0165] Since the cleaning task is based on a preset map, the corresponding cleaning area can include both open areas and narrow passageways. In open areas, the cleaning equipment is less affected by obstacles and can complete the mowing task using any mowing path. However, in narrow passageways, the small distance between the two sides of the narrow passage may not be enough to maintain the preset mowing path. Therefore, it is necessary to obtain the lawnmower's position information and identify the entrance location of the narrow passage so that when determining the path for the lawnmower to pass through the narrow passage, the mowing path can be adjusted to allow the lawnmower to pass through.

[0166] S34. Determine whether the lawnmower has reached the entrance of the narrow passage based on the location information of the lawnmower; if not, proceed to S33; if yes, proceed to S35.

[0167] S35. Control the detection device to detect the opening width of the narrow channel and obtain the passing dimensions of the lawnmower in the planned mowing path.

[0168] The detection device for obtaining the opening width may include one or more combinations of an image sensor, a TOF camera, an ultrasonic sensor, or a radar sensor.

[0169] The detection interval for the opening width can be performed every few seconds or every few meters the lawnmower travels. The specific interval depends on the actual length of the narrow channel and / or the variation in the narrow channel.

[0170] Since the opening width of a narrow passage may not be reflected in the preset map of the cleaning task, or the actual opening width of the narrow passage may be inconsistent with the recorded narrow passage opening width, in order to ensure that the lawnmower can actually pass through the narrow passage according to the set mowing path, it is necessary to use the detection device carried on the lawnmower to actually detect the opening width of the narrow passage to be passed before passing through, so as to compare the opening width with the lawnmower passage size corresponding to different mowing paths and find the mowing path that the lawnmower can pass through.

[0171] For autonomous lawnmowers, there is usually an obstacle avoidance mode. This obstacle avoidance mode includes an obstacle avoidance distance. When the sum of the width occupied by the mower in the passage and the obstacle avoidance distance meets the opening size of the passage, it can ensure that the lawnmower can move normally without hitting obstacles and causing adverse effects on the obstacles and the mower.

[0172] For example, the passability of a lawnmower can be a preset value or the sum of the lateral width of the machine and the obstacle avoidance distance when it is moving.

[0173] The lawnmower's throughput dimensions include at least a first throughput dimension corresponding to the first mowing path and a second throughput dimension corresponding to the second mowing path. The first throughput dimension and the second throughput dimension are not equal. For example, when the first throughput dimension is greater than the second throughput dimension, the lawnmower can switch from the first mowing path to the second mowing path to pass through the narrow passage when the opening width of the narrow passage is reduced.

[0174] It should be understood that the passing dimensions include a first passing dimension corresponding to the first mowing path and a second passing dimension corresponding to the second mowing path; the first passing dimension is positively correlated with the length dimension of the lawnmower, and the second passing dimension is positively correlated with the width dimension of the lawnmower.

[0175] In some embodiments, the first mowing path includes a mowing path perpendicular to the length direction of the narrow channel; the first pass dimension is greater than the length of the machine body; and / or, the second mowing path includes a mowing path parallel to the length direction of the narrow channel; the second pass dimension is greater than the width of the machine body; and / or, the mowing path further includes a third mowing path, which is a mowing path inclined to the length direction of the narrow channel; the pass dimension includes a third pass dimension corresponding to the third mowing path, which is greater than the projected length of the machine body along the third mowing path in the width direction of the channel opening.

[0176] In some embodiments, the first dimension is the width of the lawnmower's body, and the second dimension is the length of the lawnmower's body.

[0177] In some embodiments, the first pass has a size greater than or equal to 43cm and less than 63cm, and the second pass has a size greater than or equal to 63cm and less than or equal to 85cm.

[0178] In some embodiments, the first pass has a size greater than or equal to 48cm and less than 55cm, and the second pass has a size greater than or equal to 68cm and less than or equal to 75cm.

[0179] In some embodiments, when the lawnmower is in a non-narrow passage, the lawnmower is in active obstacle avoidance mode. In active obstacle avoidance mode, when the distance between the lawnmower and the obstacle meets the active obstacle avoidance distance, the lawnmower is controlled to turn or reverse. When the lawnmower is in a narrow passage, the lawnmower exits active obstacle avoidance mode, so that in a narrow passage, the distance between the lawnmower and the obstacle can be less than the active obstacle avoidance distance.

[0180] In some embodiments, when the lawnmower is in a non-narrow passage, the lawnmower is in an active obstacle avoidance mode. The active obstacle avoidance mode is as follows: when the distance between the lawnmower and the obstacle or boundary meets the active obstacle avoidance distance, the lawnmower is controlled to turn or reverse. When the lawnmower is in a narrow passage, the lawnmower enters a narrow passage obstacle avoidance mode. When entering the narrow passage obstacle avoidance mode, the minimum distance between the lawnmower and the obstacle or boundary is less than the active obstacle avoidance distance.

[0181] In some embodiments, the lawnmower includes a collision sensor, and the narrow passage obstacle avoidance mode includes a passive obstacle avoidance mode; the passive obstacle avoidance mode is: when the collision sensor detects a collision with an obstacle or boundary, the lawnmower is controlled to turn or reverse; in the passive obstacle avoidance mode, the reserved collision distance is less than the active obstacle avoidance distance.

[0182] In some embodiments, the first passage dimension corresponding to the first mowing path includes the sum of the lateral width of the mower's body when traveling along the first mowing path and the narrow passage obstacle avoidance distance between the mower and the narrow passage boundary. The second passage dimension corresponding to the second mowing path includes the sum of the lateral width of the mower's body when traveling along the second mowing path and the narrow passage obstacle avoidance distance between the mower and the narrow passage boundary. The third passage dimension is the sum of the projected length of the mower's body along the third mowing path in the passage opening width direction and the narrow passage obstacle avoidance distance, where the narrow passage obstacle avoidance distance is equal to the narrow passage active obstacle avoidance distance.

[0183] In some embodiments, the active obstacle avoidance distance in narrow passages is greater than or equal to 8cm and less than or equal to 17cm.

[0184] In some embodiments, a passive obstacle avoidance mode is entered while traveling in a narrow passage. In passive obstacle avoidance mode, the lawnmower is controlled to turn or reverse when an obstacle is detected by the collision sensor. The reserved collision distance in passive obstacle avoidance mode is less than the active obstacle avoidance distance. In some embodiments, the narrow passage obstacle avoidance distance is the reserved collision distance. The reserved collision distance is greater than or equal to 3cm and less than or equal to 20cm. Here, the reserved collision distance is a distance reserved for the lawnmower to achieve collision sensing within the narrow passage. When the lawnmower reaches the preset reserved collision distance from the boundary or obstacle, it does not stop but turns by colliding with the boundary or obstacle. In some embodiments, the reserved collision distance is greater than or equal to 3cm and less than or equal to 15cm. Here, the distance between the lawnmower and the boundary or obstacle is defined as the closest distance between the edge of the lawnmower and the boundary or obstacle.

[0185] In some embodiments, the narrow passage obstacle avoidance distance is one of the larger values ​​among the narrow passage active obstacle avoidance distance, the reserved collision distance, the narrow passage active obstacle avoidance distance, and the reserved collision distance. In some embodiments, the narrow passage obstacle avoidance distance is greater than or equal to 3cm and less than or equal to 20cm. In some embodiments, the narrow passage obstacle avoidance distance is greater than or equal to 3cm and less than or equal to 15cm.

[0186] The reserved collision distance is a parameter used to determine whether the lawnmower can enter a narrow passage. It is used to leave room for collision within the narrow passage. In passive obstacle avoidance mode, the lawnmower will not stop or retreat when it is far from the boundary or obstacle. This parameter is designed only to ensure that the lawnmower can achieve collision function in narrow passages.

[0187] S36. Determine whether the opening width of the narrow passage is greater than the passing size of the lawnmower; if yes, proceed according to the planned mowing path corresponding to the passing size and continue to execute S35; if no, execute S37.

[0188] S37. Turn or reverse. End.

[0189] When the opening width of a narrow passage is greater than the corresponding passage size of the lawnmower, it can be determined that the mowing path corresponding to that passage size is feasible. Continue to move forward to detect whether the width of the next opening meets the passage size of the lawnmower, until you reach the end of the narrow passage from the beginning of the narrow passage, or reach a position in the narrow passage where you cannot move further. After that, combine multiple passable mowing paths to pass through the narrow passage.

[0190] Conversely, when the opening width of a narrow passage is smaller than the corresponding passage size of the lawnmower, since adjusting the mowing path still cannot meet the requirement that the passage size is smaller than the opening width, the lawnmower will not continue to enter and will perform obstacle avoidance operations such as turning or exiting, thus completing the passage control process of the narrow passage.

[0191] The method provided in this embodiment, for lawnmowers with planned mowing paths, determines whether the planned path meets the passage conditions by detecting the opening width of the narrow passage. If it does not meet the conditions, the mowing path can be switched to meet the passage size, thereby facilitating the lawnmower's cleaning task in the narrow passage and improving the overall cleaning coverage of the lawn.

[0192] Method 2: First, build a map to identify narrow passages, or the user can actively create narrow passages on the map to obtain the opening width of the narrow passage. Based on the opening width and the corresponding passage size when the lawnmower travels along different mowing paths, determine the corresponding mowing path of the lawnmower in the narrow passage.

[0193] For example, Figure 4 is a schematic flowchart of a lawnmower control method according to a second embodiment of this disclosure. Referring to Figure 4, the method includes:

[0194] S41. After the lawnmower starts, it responds to the received cleaning task.

[0195] S42. If there is no planned mowing path, perform the mapping operation.

[0196] For lawns that have not been mapped, it is necessary to first use the detection and positioning devices on the lawnmower to map the lawn area, thereby obtaining information such as the location of narrow passages and the width of openings, which will facilitate the overall path planning.

[0197] S43. Proceed to and identify the entrance to the narrow passage.

[0198] Since the location and opening width of the narrow passage have been detected by the detection device during the mapping process, the location of the narrow passage entrance can be determined directly using the information in the map when using the map, and the lawnmower can be identified when it reaches the narrow passage entrance.

[0199] In some embodiments, in another embodiment, the mapping process may not require entering the narrow passage; it is sufficient to set a marker at the entrance of the narrow passage.

[0200] For example, when a gap is detected ahead by a detection device, it is marked. Then, the device turns around to construct other areas without entering the gap to continue probing the space inside. After completing the cleaning tasks in other areas, it returns to the marked position and executes the detection-while-moving passage scheme described in Method 1 above. This method can greatly improve mapping efficiency, thereby enhancing the efficiency of autonomous cleaning, including the mapping process.

[0201] In some embodiments, when the lawnmower is in a non-narrow passage, the lawnmower is in an active obstacle avoidance mode. The active obstacle avoidance mode is as follows: when the distance between the lawnmower and the obstacle or boundary meets the active obstacle avoidance distance, the lawnmower is controlled to turn or reverse. When the lawnmower is in a narrow passage, the lawnmower enters a narrow passage obstacle avoidance mode. When entering the narrow passage obstacle avoidance mode, the minimum distance between the lawnmower and the obstacle or boundary is less than the active obstacle avoidance distance.

[0202] In some embodiments, the lawnmower includes a detection device, and the narrow-channel obstacle avoidance mode is a narrow-channel active obstacle avoidance mode. The narrow-channel active obstacle avoidance mode is characterized by the detection device controlling the lawnmower to turn or reverse when it detects that the distance between the lawnmower and the obstacle meets the narrow-channel active obstacle avoidance distance. The narrow-channel active obstacle avoidance distance corresponding to the narrow-channel active obstacle avoidance mode is less than the active obstacle avoidance distance corresponding to the active obstacle avoidance mode.

[0203] S44. Determine whether the lawnmower has detected the entrance to the narrow passage; if not, execute S43; if yes, execute S44.

[0204] S45, Obtain the opening width of the narrow channel.

[0205] When determining when the lawnmower reaches the entrance of a narrow passage, since the detection device on the lawnmower has been controlled to detect surrounding obstacles during the mapping process, it is only necessary to obtain the opening width of the narrow passage from the mapping, which facilitates the lawnmower's entry into the narrow passage.

[0206] S46. Determine whether the opening width of the narrow passage is greater than the passing size of the lawnmower; if yes, determine the mowing path corresponding to the passing size of the lawnmower as the passing mowing path and continue to execute S45; if no, execute S47.

[0207] S47. Turn or reverse. End.

[0208] As mentioned earlier, to pass through a narrow passage, the opening width of the narrow passage must be greater than the width of the lawnmower when it is moving. However, since the width of the lawnmower varies depending on the mower's width when it is moving along different mowing paths, the opening width of the narrow passage must be greater than the sum of the lawnmower's lateral width in the passage and the obstacle avoidance distance when it is moving along the mowing path. In other words, a mowing path must be selected such that the lawnmower's passage dimension when moving along that path is less than the opening width of the narrow passage.

[0209] The selected mowing path can include at least the first mowing path or the second mowing path, or it can include the third mowing path.

[0210] When the passing dimension of any mowing path is greater than the opening width of the narrow passage, it means that the lawnmower cannot continue to move in the narrow passage and needs to perform obstacle avoidance operations such as turning or exiting.

[0211] By combining the above mowing paths, we can obtain a passable mowing path or a combination of mowing paths. This mowing path or combination of mowing paths can be recorded so that the mower can subsequently perform narrow-channel mowing tasks according to the passable mowing path.

[0212] It should be noted that the above method can calculate more than one path, or it may not even exist. Assuming a passable path exists, it can improve the overall coverage of lawn cleaning.

[0213] The method provided in this embodiment, for lawns to be cleaned that have not been mapped, first locates and obtains information about narrow channels through mapping, so that when the lawnmower reaches the narrow channel, it can quickly switch to the narrow channel control logic, and then obtain the mowing path that can be passed under the narrow channel control logic, so as to perform the cleaning task of the narrow channel according to the mowing path that can be passed, thereby improving the overall coverage of lawn cleaning.

[0214] Both of the above-mentioned lawnmower control methods determine the mowing path by comparing the lateral width of the mower body with the opening width of the narrow passage when traveling along a preset mowing path. When the lawnmower can be arbitrarily adjusted to form a preset or non-preset mowing path, the following method can also be used to determine the mowing path.

[0215] Method 3: First, obtain the opening width of the narrow passage, and then adjust the aircraft attitude in real time according to the opening width to meet the passage conditions.

[0216] For example, Figure 5 is a schematic flowchart of a lawnmower control method according to Embodiment 3 of this disclosure. Referring to Figure 5, the method includes:

[0217] S51. After the lawnmower starts, it responds to the received cleaning task.

[0218] S52. Perform the mowing movement operation and obtain the location information of the lawnmower.

[0219] S53. Determine whether the lawnmower has reached the entrance of the narrow passage based on the lawnmower's location information; if not, execute S52; if yes, execute S54.

[0220] S54. Move and control the detection device to detect the opening width of the narrow channel, and obtain the projected width of the lawnmower's body posture in the direction of the opening width of the narrow channel.

[0221] The lawnmower's body posture refers to the lawnmower's posture when it is moving in the passage. The sum of the projected width in the direction of the narrow passage's opening width and the obstacle avoidance distance is the minimum size that allows the lawnmower to pass through.

[0222] S55. Determine whether the opening width of the narrow passage is greater than the sum of the projected width and the active obstacle avoidance distance of the lawnmower in the narrow passage; if yes, execute S54; if no, execute S56.

[0223] S56. Adjust the fuselage attitude and obtain the minimum projection width corresponding to the adjusted fuselage attitude.

[0224] S57. Determine whether the adjusted minimum projection width is less than the opening width of the narrow channel; if yes, execute S56; if no, execute S58.

[0225] S58. Turn or reverse. End.

[0226] The difference between this implementation's control method and methods one and two in the above embodiments lies in that this embodiment is a narrow passage passage scheme executed without obtaining a planned mowing path. That is, the lawnmower does not necessarily perform the cleaning task according to the first, and / or second, and / or third mowing paths. Its passage method mainly relies on determining whether the projected width of the mower's posture in the narrow passage opening direction meets the passage conditions. Here, the mower's posture is not limited to a specific mowing path, meaning it includes, but is not limited to, traveling according to the first, and / or second, and / or third mowing paths.

[0227] Among them, the narrow passage active obstacle avoidance distance of the lawnmower is the minimum distance between the lawnmower and the boundary of the narrow passage when the lawnmower passes through the narrow passage. That is, when the lawnmower travels to the point where the distance between it and the boundary of the narrow passage reaches the narrow passage active obstacle avoidance distance, it will perform obstacle avoidance operations such as turning or exiting.

[0228] In some embodiments, when the lawnmower is in a non-narrow passage, the lawnmower is in an active obstacle avoidance mode. The active obstacle avoidance mode is as follows: when the distance between the lawnmower and the obstacle or boundary meets the active obstacle avoidance distance, the lawnmower is controlled to turn or reverse. When the lawnmower is in a narrow passage, the lawnmower enters a narrow passage obstacle avoidance mode. When entering the narrow passage obstacle avoidance mode, the minimum distance between the lawnmower and the obstacle or boundary is less than the active obstacle avoidance distance.

[0229] In some embodiments, the lawnmower includes a detection device, and the narrow-channel obstacle avoidance mode is a narrow-channel active obstacle avoidance mode. The narrow-channel active obstacle avoidance mode is characterized by the detection device controlling the lawnmower to turn or reverse when it detects that the distance between the lawnmower and the obstacle meets the narrow-channel active obstacle avoidance distance. The narrow-channel active obstacle avoidance distance corresponding to the narrow-channel active obstacle avoidance mode is less than the active obstacle avoidance distance corresponding to the active obstacle avoidance mode.

[0230] The method in this embodiment uses a detection device to detect and calculate the required posture of the lawnmower body as it passes through, and then adjusts the body posture according to the detection results. This reduces the situation where the lawnmower cannot cut the grass due to irregular paths in narrow passages, thus improving the cleaning coverage rate.

[0231] In some embodiments, the lawnmower's active obstacle avoidance distance in narrow passages is less than the obstacle avoidance distance in active obstacle avoidance mode, thereby allowing the lawnmower to get closer to the boundary of the narrow passage and further reduce the area missed when passing through the narrow passage.

[0232] In some embodiments, the active obstacle avoidance distance in narrow passages can be 8-17cm. In some embodiments, the active obstacle avoidance distance in narrow passages can be 10-15cm.

[0233] It should be understood that the above implementation methods one, two, and three can be implemented individually or in combination.

[0234] For example, combining method three with method one yields method four.

[0235] For example, Figure 14 is a schematic flowchart of a lawnmower control method according to Embodiment 4 of this disclosure. Referring to Figure 14, the method includes:

[0236] S141. After the lawnmower starts, it responds to the indication that the lawnmower has reached the entrance of the narrow passage.

[0237] S142. Proceed and acquire the width of the opening of the narrow channel detected by the detection device.

[0238] S143. Determine whether the opening width of the narrow passage is greater than the passing posture of the lawnmower in the narrow passage; if yes, continue to execute S142; if no, execute S144.

[0239] The passing posture includes a first passing posture corresponding to the first mowing path and a second passing posture corresponding to the second mowing path.

[0240] S144. Turn or reverse. End.

[0241] The method in this embodiment is similar to that in the above embodiments, except that the passing posture is limited to the first passing posture corresponding to the first mowing path and the second passing posture corresponding to the second mowing path, that is, the passing posture corresponding to the specific mowing path is matched with the opening width.

[0242] The method in this embodiment uses the distance detected by the detection device to directly compare with the machine posture corresponding to different mowing paths, thereby determining whether the lawnmower can pass through narrow passages. This allows for the improvement of the lawnmower's cleaning coverage by using narrow passages that can be passed through. The judgment logic is simple and reduces the complexity of logical calculations.

[0243] For lawnmowers that have entered narrow passages, although the path may be determined, the determined path may be flawed due to unexpected changes in the narrow passage. Furthermore, the determined path only plans the general direction of cleaning based on the approximate location of obstacles and may not meet the precision requirements of the actual obstacle boundaries. Therefore, it is necessary to further determine the actual travel path using detection devices installed on the machine.

[0244] For example, Figure 6 is a schematic diagram of the narrow passage path distribution provided in an embodiment of this disclosure. Referring to Figure 6, when the narrow passage is not a straight passage with a uniform opening diameter, turning points can be set at the bends of the passage, and the turning points can be used as segment nodes. Different combinations of mowing paths can be set for the passage segments between adjacent turning points.

[0245] The opening width between the starting position and the turning point e is relatively large. Assuming that the first mowing path, the second mowing path and the third mowing path can be satisfied at the same time, a preset mowing path can be selected before entering the opening, such as the first mowing path, or a combination of at least two of the first mowing path, the second mowing path and the third mowing path.

[0246] Assuming that the opening width between turning point e and turning point f only meets the conditions of the first mowing path and the second mowing path, a combination of the first mowing path and the second mowing path can be set in the section between turning point e and turning point f so that the lawnmower can continue to pass in the narrow passage.

[0247] After reaching the turning point f, assuming the opening width is further reduced to only satisfy the first mowing path, or although it does not satisfy the first mowing path, it satisfies the path that can be passed by adjusting the body posture to the minimum lateral projection, the body posture can be adjusted to the posture of the minimum lateral projection, and then the mower can travel from the turning point f to the end point in this posture, further improving the mower's passability in narrow passages and increasing the cleaning coverage.

[0248] For example, based on the path planning described above, the following schemes can also be selected to control the obstacle avoidance mode of the lawnmower.

[0249] Option 1: Exit active obstacle avoidance mode; while traveling in the narrow passage, turn or retreat based on the obstacle boundaries sensed by the detection device, and mark obstacle information on the map based on the sensed obstacle boundaries.

[0250] For example, Figure 7 is a schematic flowchart of the control method for a lawnmower obstacle avoidance mode scheme provided in an embodiment of this disclosure. Referring to Figure 7, the method includes:

[0251] S71, in response to a narrow passage cleaning task, exits active obstacle avoidance mode.

[0252] Among them, the active obstacle avoidance mode is one of the obstacle avoidance modes available on lawnmowers. It mainly uses a detection device to detect the distance to obstacles, and then performs obstacle avoidance operation when the distance to the obstacle reaches the preset active obstacle avoidance distance.

[0253] The aforementioned active obstacle avoidance distances are typically set quite large, meaning the lawnmower usually won't come into contact with obstacles when operating in active obstacle avoidance mode. Therefore, when navigating narrow passages, the active obstacle avoidance mode may turn or reverse when it detects an obstacle within the active obstacle avoidance distance, resulting in numerous missed mowing areas. To reduce premature turning and large areas of unmowed lawn, it's essential to first exit active obstacle avoidance mode and switch to passive obstacle avoidance mode with a smaller distance.

[0254] In passive obstacle avoidance mode, if the distance between the lawnmower and the obstacle meets the pre-set collision distance, the lawnmower will perform a steering or reverse obstacle avoidance maneuver. The lawnmower then exits active obstacle avoidance mode, allowing it to move towards the obstacle in narrow passages while maintaining a distance less than the active obstacle avoidance distance. It should be understood that when using passive obstacle avoidance mode in narrow passages, the obstacle avoidance distance is less than that in active obstacle avoidance mode; that is, the pre-set collision distance is less than the active obstacle avoidance distance, but not necessarily zero.

[0255] S72, Proceed and acquire the distance to obstacles as sensed by the collision sensor.

[0256] In some embodiments, even though the lawnmower's active obstacle avoidance mode is turned off, obstacles or other factors may still interfere with the lawnmower's movement, preventing it from accurately reaching the planned location on the map. For example, although it may reach the planned location, mapping discrepancies may cause the lawnmower to be far from the boundary of a narrow passage, resulting in large areas of uncut sections within the passage. Alternatively, new obstacles may appear at the planned location on the map, preventing the lawnmower from reaching underneath them and causing repeated collisions that result in prolonged damage to both the obstacle and the lawnmower. Furthermore, the boundary of a narrow passage may overlap with the planned path on the map, causing interference when the lawnmower follows the planned path. If the lawnmower cannot turn in time when interference occurs, it may err in its judgment logic, potentially causing it to remain stationary at the interference location for an extended period, thus affecting cleaning efficiency.

[0257] Therefore, in order to determine the appropriate position for the lawnmower to turn and continue cleaning when it reaches the boundary of a narrow passage, the lawnmower needs to retain the ability to turn after a collision, that is, to maintain the operation of the collision sensor. For example, a passive obstacle avoidance mode using collision sensors such as anti-collision plates can be used. In passive obstacle avoidance mode, the lawnmower will turn or reverse after contacting an obstacle.

[0258] Since collision sensors detect the location information of obstacles after a collision and thus obtain the distance to the obstacles, using collision sensors as the detection device for passive obstacle avoidance mode can minimize the reserved collision distance.

[0259] S73. Determine whether the perceived distance to the obstacle is less than the reserved collision distance; if not, execute S72; if yes, execute S74.

[0260] S74, Turn or Reverse.

[0261] By using the above method, the obstacle avoidance distance between the lawnmower and obstacles on both sides of the narrow passage is shortened by turning off the active obstacle avoidance mode, thereby increasing the cleaning area coverage of the lawnmower in the narrow passage. Then, the passive obstacle avoidance mode is used to further clarify the turning timing of the lawnmower and update the map information by collision, which is convenient for the next cleaning use.

[0262] It should be noted that obstacle avoidance with crash barriers requires the lawnmower to approach the obstacle at a certain speed in order to ensure effective detection by the collision sensors. Therefore, the lawnmower speed cannot be too slow.

[0263] When a lawnmower travels in a narrow passage, if the passage is wide enough, the time to reach the other side boundary is longer, allowing for a higher speed and sufficient time to accelerate and decelerate. However, if the passage is narrow and the speed is high, there may not be enough time to decelerate when reaching the other side boundary. Due to inertia, the lawnmower may be unable to cope with unexpected situations, such as a sudden obstacle colliding with the blade and causing danger. Therefore, the lawnmower speed should not be too fast.

[0264] For example, when the vehicle speed (m / s) / diameter width (m) is less than 0.2 s⁻¹, the collision sensor is likely to fail to detect it, and when the vehicle speed (m / s) / diameter width (m) is greater than 0.8 s⁻¹, safety in narrow passages cannot be guaranteed.

[0265] In summary, the ratio of the lawnmower's travel speed in the narrow passage to the opening width of the narrow passage can be set to be greater than or equal to 0.2s⁻¹ and less than or equal to 0.8s⁻¹. This ensures the safety of the lawnmower and the normal operation of the passive obstacle avoidance mode, while also allowing the mowing speed to be adjusted according to the diameter of the narrow passage to ensure that the mowing efficiency is not too low.

[0266] In this embodiment, the obstacle avoidance distance between the lawnmower and obstacles on both sides of the narrow passage can be shortened by turning off the active obstacle avoidance mode, thereby increasing the cleaning area coverage of the lawnmower in the narrow passage and further precisely defining the relative relationship between the lawnmower and the boundary of the narrow passage, so that the lawnmower can get as close as possible to the two sides of the narrow passage while ensuring safety.

[0267] Option 2: When navigating narrow passages, use the narrow passage active obstacle avoidance mode. In this mode, the obstacle avoidance distance is shorter than in the active obstacle avoidance mode. The principle of the narrow passage active obstacle avoidance mode is similar to that of the active obstacle avoidance mode; both involve obstacle avoidance without direct contact with the obstacle. The difference lies in the set obstacle avoidance distance. The obstacle avoidance distance in the narrow passage active obstacle avoidance mode is shorter than that in the active obstacle avoidance mode, thus improving the passability through narrow passages.

[0268] For example, Figure 8 is a schematic flowchart of the control method for a second obstacle avoidance mode scheme for a lawnmower provided in an embodiment of this disclosure. Referring to Figure 8, the method includes:

[0269] S81, in response to a narrow passage cleaning task, exits active obstacle avoidance mode and switches to narrow passage active obstacle avoidance mode.

[0270] In active obstacle avoidance mode, the lawnmower turns around after detecting that the distance between the obstacle and the machine body has reached the preset active obstacle avoidance distance in order to avoid a collision between the machine body and the obstacle. Obviously, the obstacle avoidance distance is relatively large compared to the distance between the obstacle and the machine body.

[0271] For narrow passages, both sides of the passage are obstacles for the lawnmower. If the original preset obstacle avoidance distance is used, the lawnmower may only travel in the center of the narrow passage and fail to reach the boundary areas on both sides, resulting in a large proportion of uncut areas on both sides. Even for narrow passages with a small entrance diameter, such as when the entrance diameter is less than twice the preset obstacle avoidance distance, even if the lawnmower's body size meets the requirements for entering the narrow passage, the lawnmower will not enter the narrow passage due to the active obstacle avoidance mode.

[0272] S82, Proceed and acquire the distance to obstacles detected by the distance sensor.

[0273] S83. Determine whether the distance to the detected obstacle is less than the active obstacle avoidance distance in the narrow passage; if not, execute S82; if yes, execute S84.

[0274] S84, turn or reverse.

[0275] In summary, by shortening the preset active obstacle avoidance distance to define the obstacle avoidance distance in the narrow passage active obstacle avoidance mode as the narrow passage active obstacle avoidance distance, the coverage area of ​​the lawnmower in the narrow passage can be expanded, which is conducive to improving the cleaning coverage rate.

[0276] For example, during regular lawn mowing, the machine will stop moving forward when it detects an obstacle 25cm away. However, when it detects a narrow passage, it will stop moving forward when it detects an obstacle 10cm away, thus harvesting more areas. This further filters out narrow passages that the machine can pass through but where the obstacle avoidance distance is small, improving the lawnmower's maneuverability.

[0277] The active obstacle avoidance distance in narrow passages can be greater than the reserved collision distance to prevent the lawnmower from colliding with the boundary of the narrow passage. The collision sensors are located on both sides in front of the lawnmower, so the reserved collision distance on both sides of the lawnmower needs to be considered. Therefore, the reserved collision distance on one side can be 1.5cm to 10cm, and the overall reserved collision distance of the lawnmower in the narrow passage is 3cm to 20cm.

[0278] By redefining the obstacle avoidance distance corresponding to the active obstacle avoidance mode, the obstacle avoidance distance in narrow passages is reduced compared to that in non-narrow passages. This allows the machine to get closer to obstacles, enabling the blades attached to the machine to harvest a larger area of ​​lawn, improving the lawnmower's maneuverability and ultimately increasing its cleaning coverage.

[0279] When a lawnmower travels in a narrow passage, if the passage is wide enough, the lawnmower can travel at a higher speed because it takes longer to reach the other side. This allows for sufficient time to accelerate and decelerate. However, if the passage is narrow and the speed is high, there may not be enough time to decelerate when reaching the other side. Therefore, it is necessary to limit the relationship between the lawnmower's speed and the passage's width.

[0280] For example, in passive obstacle avoidance mode, obstacle avoidance control relies on the detection results from the detection device. After detecting an obstacle, the lawnmower needs to perform a series of operations such as deceleration, stopping, and turning around. To avoid the risk of collision due to delayed braking after detection, the lawnmower's speed within the passage cannot be set too high. However, if the speed is too low, it will affect the lawnmower's efficiency in passing through narrow passages. Therefore, the ratio of the travel speed in the narrow passage to the obstacle avoidance distance in this passive obstacle avoidance mode can be set to be greater than or equal to 1.5s. -1 And less than or equal to 6s -1 .

[0281] In some embodiments, the detection device in passive obstacle avoidance mode is mainly non-contact detection. However, non-contact detection may have certain errors or delays in detection results. For example, radar detection may have an error of 3-5 cm. To improve safety and further narrow the range, the ratio of the travel speed in the narrow passage to the obstacle avoidance distance in passive obstacle avoidance mode can be set to be greater than or equal to 2 seconds. -1 And less than or equal to 4s -1 .

[0282] This implementation method can shorten the distance between the lawnmower's coverage area and the two sides of the narrow passage, thereby improving the lawnmower's cleaning coverage within the narrow passage and further precisely defining the relative relationship between the lawnmower and the narrow passage boundary, so that the lawnmower can get as close as possible to the two sides of the narrow passage while ensuring safety.

[0283] Option 3: If the detection device detects that the obstacle is a common obstacle, the lawnmower will be controlled to turn when the preset obstacle avoidance distance is reached, based on the normal turning distance in a narrow passage. If the detection device detects that the obstacle is a special obstacle, in order to improve safety, the lawnmower will be controlled to turn when the obstacle avoidance distance in active obstacle avoidance mode is reached.

[0284] When entering a narrow passage, the lawnmower adopts a passive obstacle avoidance mode; when entering a narrow passage and the detection device detects that the obstacle is a special type of obstacle, the lawnmower activates an active obstacle avoidance mode.

[0285] Special obstacles include at least one or a combination of living beings, fragile objects, cliffs, and artificially set virtual boundaries, while ordinary obstacles are obstacles other than special obstacles. For example, Figure 9 is a schematic flowchart of the control method for a lawnmower obstacle avoidance mode scheme three provided in an embodiment of this disclosure. Referring to Figure 9, the method includes:

[0286] S91, responds to narrow passage cleaning tasks.

[0287] S92. Proceed and acquire obstacle information detected by the visual sensor, including obstacle type and obstacle distance.

[0288] For example, obstacles forming a narrow passage can include two types of obstacles, such as ordinary obstacles and special obstacles.

[0289] Common obstacles can include walls, trees, rocks, and other obstacles that are not afraid of being hit by the lawnmower's blades; special obstacles can include animals, people, water pipes, and other obstacles that cannot come into contact with the lawnmower's blades.

[0290] Therefore, it is necessary to use detection devices that can classify and identify these two types of obstacles, such as visual sensors, and then process them accordingly based on the type of identification.

[0291] S93. Determine whether the detected obstacle type is the first type; if yes, execute S94; if no, execute S95.

[0292] S94. Determine if the distance to the obstacle is less than the active obstacle avoidance distance. If yes, proceed to S96; otherwise, proceed to S92.

[0293] S95. Determine if the distance to the obstacle is less than the active obstacle avoidance distance in the narrow passage. If yes, proceed to S96; otherwise, proceed to S92.

[0294] S96. Control the lawnmower to steer or reverse. End.

[0295] For example, when the obstacle is identified as a normal obstacle, you can refer to Option 1 or Option 2 above to pass through the narrow passage; when the obstacle is identified as a special obstacle, since the lawnmower itself has dangerous blades, it is necessary to stay as far away from the special obstacle as possible. That is, the lawnmower should be able to identify the obstacle before it is touched and then turn or reverse to avoid it. Therefore, you can choose the active obstacle avoidance mode to improve safety.

[0296] In some embodiments, when a special obstacle is detected, the narrow passage obstacle avoidance distance is defined as the obstacle avoidance distance of the special active obstacle avoidance mode corresponding to the special obstacle. In some embodiments, the narrow passage active obstacle avoidance distance is less than the active obstacle avoidance distance, thereby further reducing the safety risk between the lawnmower and the special obstacle.

[0297] In this way, in addition to calculating distance characteristics, the visual sensor also has the function of image acquisition. By using the acquired images for image analysis, the corresponding obstacle type can be obtained. This allows the lawnmower to classify the harvesting method according to the obstacle type, reducing the risk of accidental cuts and improving the safety and intelligence of the lawnmower.

[0298] In some embodiments, the opening width of the narrow passage is obtained. When the opening width of the narrow passage is within a first width range, the lawnmower only activates a passive obstacle avoidance mode. When the opening width of the narrow passage is within a second width range, the lawnmower activates a short-distance obstacle avoidance mode. The first width range is smaller than the second width range. In some embodiments, when the opening width of the narrow passage is within the second width range, the lawnmower activates an active obstacle avoidance mode. Therefore, by changing the obstacle avoidance strategy within an extremely narrow passage, the lawnmower's passability in the narrow passage can be improved, the number of turns within the narrow passage can be reduced, and the lawnmower can be prevented from getting stuck in the extremely narrow passage. In some embodiments, the first width range is greater than or equal to 60cm and less than or equal to 100cm, and the second width range is greater than 100cm. In some embodiments, the second width range is greater than 100cm and less than 160cm.

[0299] This implementation method can further subdivide the types of obstacles that form narrow channels, thereby improving cleaning safety while ensuring improved cleaning coverage.

[0300] For lawnmowers with retractable blades, the following method can also be used to control narrow passage passages.

[0301] Figure 10 is a schematic diagram of the extended blade structure of a lawnmower provided in an embodiment of this disclosure; Figure 11 is a schematic diagram of the retracted blade structure of a lawnmower provided in an embodiment of this disclosure. This embodiment uses a single-sided movable blade as an example for illustration. It can be understood that double-sided blades or the blade on the other side can satisfy the following conditions through simple conversion.

[0302] For example, the embodiments of this disclosure can employ the following control logic to control the operation of a lawnmower. Figure 12 is a schematic flowchart of a lawnmower blade retraction control method provided in an embodiment of this disclosure. Referring to Figure 12, the method includes:

[0303] S121. After the lawnmower is started, in response to the indication that the lawnmower has reached the entrance of the narrow passage, the cutter head is controlled to move to the second state.

[0304] The position information of the cutter head includes a first state and a second state. When the cutter head is in the first state, the overall width of the lawnmower is greater than the overall width of the lawnmower when the cutter head is in the second state. Here, the overall width of the lawnmower refers to the total width of the body and the cutter head in the width direction. When the cutter head is in the first state, the cutter head is at least partially located outside the projection of the body onto the ground.

[0305] Referring to Figures 10 and 11, the lawnmower 100 includes a body 110, a detection device 120, and a cutter head 140. The cutter head 140 is provided with cutters 130. The cutter head 140 has a first state and a second state. When the cutter head 140 is in the first state, the overall width of the lawnmower 100 is greater than the overall width of the lawnmower 100 when the cutter head 140 is in the second state.

[0306] For example, in Figure 10, the distance from the maximum position of the extended blade 140 to the maximum width of the lawnmower 100 body is A1, while in Figure 11, the distance from the maximum position of the retracted blade 140 to the maximum width of the lawnmower 100 body 110 is A2. A1 is far away from the body 110 at the maximum width of the lawnmower 100 body 110, while A2 is close to the body 110 at the maximum width of the lawnmower 100 body 110.

[0307] Therefore, when the lawnmower reaches the entrance of a narrow passage, the cutter head can be retracted to the second state before entering the narrow passage. This avoids interference between the protruding cutter head or the blades on the protruding cutter head and the boundary of the narrow passage, which would affect the lawnmower's entry into the narrow passage. This improves the passage rate of the narrow passage and thus increases the lawnmower's cleaning coverage.

[0308] S122. Obtain the position information of the tool head.

[0309] S123. Determine whether the tool turret is in the second state. If yes, execute S124; otherwise, execute S122.

[0310] S124, Narrow aisle cleaning task. End.

[0311] The specific solution for performing the cleaning task in the narrow passage can refer to the narrow passage passage solution in the above embodiments.

[0312] By using the above method, when passing through narrow passages, the retractable blade can be used to ensure that the lawnmower can smoothly enter the narrow passage, maintain the original travel path, and then use the extended blade to perform additional mowing, thereby increasing the clean coverage of the lawnmower in the narrow passage.

[0313] In some embodiments, the extension and retraction of the blade can be used to expand the mower's harvesting coverage area.

[0314] In some embodiments, the opening width of the narrow channel is obtained. When the opening width of the narrow channel is greater than or equal to a first boundary value and less than or equal to a second boundary value, the lawnmower is controlled to enter the narrow channel and the blade head is prohibited from switching to the first state. When the opening width of the narrow channel is greater than the second boundary value, the lawnmower is controlled to enter the narrow channel and the blade head is allowed to switch to the first state.

[0315] In some embodiments, when the lawnmower is traveling in a narrow passage, if the opening width of the narrow passage is always greater than a second boundary value, the lawnmower is controlled to travel from the beginning to the end of the narrow passage, cutting grass along a first route in a first direction, and the blade is controlled to be in a second state. After the lawnmower reaches the end, the lawnmower is controlled to reverse so that the lawnmower cuts grass along the first route in a second direction, and the blade is controlled to be in the first state.

[0316] In some embodiments, the second boundary value is a preset fixed value, and the value of the second boundary value is 70-90cm. In some embodiments, the first boundary value is greater than or equal to 45cm and less than 65cm.

[0317] In some embodiments, when the lawnmower enters a narrow passage, it enters a narrow passage active obstacle avoidance mode. When the distance between the lawnmower and the obstacle meets the active obstacle avoidance distance of the narrow passage, the lawnmower is controlled to turn or reverse. When the lawnmower is moving in the narrow passage, the distance that the cutter head extends relative to the body in the first state is less than the active obstacle avoidance distance of the narrow passage. This can effectively prevent the lawnmower's cutter head from touching the boundary or obstacle when it is externally mounted, thereby ensuring the service life of the lawnmower and preventing the externally mounted cutter head from damaging the boundary or obstacle.

[0318] In some embodiments, the opening width of the narrow channel is obtained. When the opening width of the narrow channel is within a preset range, the lawnmower is controlled to enter the narrow channel, and the blade is allowed to switch to a first state. The lawnmower enters the narrow channel active obstacle avoidance mode. When the distance between the lawnmower and the obstacle meets the narrow channel active obstacle avoidance distance, the lawnmower is controlled to turn or move backward. When the lawnmower moves in the narrow channel, the distance that the blade extends relative to the body in the first state is less than the narrow channel active obstacle avoidance distance. The narrow channel active obstacle avoidance distance can be the distance defined in the above embodiments.

[0319] The preset range can be a value between the second boundary value and the third boundary value. In some embodiments, the preset range is 70-160cm, and can also be changed according to the actual vehicle model.

[0320] When the blade is in the first state, the distance that the blade extends relative to the machine body is less than the active obstacle avoidance distance in narrow passages. This can effectively prevent the blade from touching the boundary or obstacles when the blade is externally mounted, thus ensuring the service life of the lawnmower and preventing the externally mounted blade from damaging the boundary or obstacles.

[0321] In some embodiments, when entering a narrow passage, the lawnmower exits the active obstacle avoidance mode. The active obstacle avoidance mode is characterized by controlling the lawnmower to turn or reverse when the distance between the lawnmower and the obstacle meets the active obstacle avoidance distance. This allows the lawnmower to move towards the obstacle in the narrow passage, and the distance between the lawnmower and the obstacle is less than the active obstacle avoidance distance.

[0322] For example, if there is a bend in the planned path, the blade can be extended to the first state and the mowing mode can be activated to mow the bend; or, if the opening width of the narrow passage is greater than the overall width of the mower when the blade is in the first state, the blade can be extended to the first state and the mowing mode can be activated to expand the mowing area based on the original path.

[0323] In some embodiments, when the lawnmower body travels along the boundary of the narrow channel along a planned path and the mowing mode is activated, the blade is extended to perform additional mowing at the boundary. The distance the blade extends is less than the obstacle avoidance distance of the lawnmower. The obstacle avoidance distance can be the narrow channel active obstacle avoidance distance or the reserved collision distance in the above embodiments.

[0324] In another embodiment, when the opening width of the narrow channel is greater than the width of the lawnmower when the blade is in the second state, and less than or equal to the total width of the lawnmower when the blade is in the first state, in addition to using the blade extension and retraction cleaning method described in the above embodiment, the second state of the blade can also be maintained, the lawnmower can be controlled to move left and right, and the mowing mode can be turned on to mow the areas not covered when the blade is retracted.

[0325] By using the above method, when passing through narrow passages, the retractable blade can be used to ensure that the lawnmower can smoothly enter the narrow passage. While maintaining the original travel path, the left and right movement of the entire machine body can be used to drive the blade to move left and right, thereby increasing the cleaning coverage of the lawnmower in the narrow passage.

[0326] For example, Figure 13 is a schematic flowchart of a lawnmower blade extension control method provided in an embodiment of this disclosure. Referring to Figure 13, the method includes:

[0327] S131. After the lawnmower starts, it responds to the received narrow passage cleaning task and creates a narrow passage map.

[0328] S132. Proceed according to the narrow passage map and obtain the distance between the lawnmower and the boundary of the narrow passage detected by the detection device.

[0329] S133. Determine whether the distance between the lawnmower and the narrow passage boundary is greater than a preset value; if yes, execute S134; if no, execute S132.

[0330] The preset value is the distance from the narrow channel boundary when the cutter head is in the second state.

[0331] S134. Control the tool turret to the first state.

[0332] When the cutter head is in the first state, the cutter head is at least partially located outside the projection of the machine body onto the ground.

[0333] S135. Perform the narrow channel cleaning task with the cutter head in the first state. End.

[0334] In some embodiments, in addition to using the narrow channel map to determine the distance between the lawnmower and the narrow channel boundary, the distance between the two narrow channel boundaries can also be obtained based on the narrow channel map. Therefore, by judging the distance between the two narrow channel boundaries and the width of the lawnmower's blade when it is extended or retracted, it can be determined whether the blade is in the first state or the second state to perform the narrow channel mowing task.

[0335] When the cutter head is at the outermost position relative to the fuselage in the first state, the cutter head is in the first position. When the cutter head is at the innermost position retracted in the second state, the cutter head is in the second position.

[0336] In some embodiments, since the opening width of the narrow channel may change continuously with different channel positions, the width information of the narrow channel can be obtained in advance using a narrow channel map, and then the position of the cutter head can be continuously adjusted in advance according to the opening width of the narrow channel.

[0337] The first state can be either the furthest position of the lawnmower's blades extending outwards, or the position when the blades are partially extended outwards.

[0338] In some embodiments, when an opening within n meters in front of the lawnmower is detected to be less than or equal to a second boundary value, the cutter head is controlled to switch to a second state. The second boundary value is greater than or equal to 70 cm and less than or equal to 90 cm, and n takes the value of 1-2.

[0339] In some embodiments, the lawnmower obtains the distance between the lawnmower and the boundary of the narrow channel. If this distance is greater than a preset value, the restriction on the blade disc is lifted, allowing the blade disc to operate in a first state. This preset value is 5-15 cm. This disclosure also provides an electronic device comprising: at least one processor and a memory. The electronic device further includes a communication component.

[0340] The processor, memory, and communication components are connected via a bus.

[0341] In the specific implementation process, at least one processor executes the computer execution instructions stored in the memory, causing at least one processor to perform the control method as described above.

[0342] The specific implementation process of the processor can be found in the above method embodiments, and its implementation principle and technical effect are similar, so it will not be repeated here.

[0343] In the above embodiments, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor.

[0344] The memory may include high-speed RAM, and may also include non-volatile storage (NVM), such as at least one disk storage.

[0345] 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. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses in the accompanying drawings of this disclosure are not limited to only one bus or one type of bus.

[0346] The above describes the solutions provided by the embodiments of the present invention for the functions implemented by the electronic device and the main control device.

[0347] It is understandable that electronic devices or main control devices include hardware structures and / or software modules that perform the above functions in order to achieve the above functions.

[0348] By combining the units and algorithm steps of the various examples described in the embodiments of this invention, the embodiments of this invention can be implemented in hardware or a combination of hardware and computer software. Whether a certain function is executed by hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the technical solutions of the embodiments of this invention.

[0349] This disclosure also provides a computer program product, including a computer program that, when executed by a processor, implements a control method.

[0350] The computer program product provided in this embodiment can execute the control method of the above embodiment. Its implementation principle and technical effect are similar, and will not be described again here.

[0351] This disclosure also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the control method described above.

[0352] The computer-readable storage medium provided in this embodiment can execute the control method of the above embodiment. Its implementation principle and technical effect are similar, and will not be described again here.

[0353] The aforementioned computer-readable storage medium 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 readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0354] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components in an electronic device or a host device.

[0355] This embodiment of the present disclosure also provides a lawnmower, which includes a body, a control device, and a detection device installed on the body. The detection device is connected to the control device and is used to detect obstacle information on the lawnmower's travel path. The control device can implement the control method of the above embodiment, and its implementation principle and technical effect are similar, so it will not be described again here.

[0356] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0357] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in the embodiments of this disclosure are all information and data authorized by the user or fully authorized by all parties. Furthermore, the collection, use and processing of related data must comply with relevant laws, regulations and standards, and corresponding operation entry points are provided for users to choose to authorize or refuse.

[0358] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A control method of a mower, wherein, The lawnmower includes a body; the method includes: The lawnmower travels according to a planned mowing path, which includes at least a first mowing path and a second mowing path. When the lawnmower reaches the entrance of a narrow passage, if the opening width of the narrow passage is greater than the passage size of the lawnmower, the lawnmower passes through the narrow passage; if the opening width of the narrow passage is not greater than the passage size of the lawnmower, the lawnmower either does not pass through the narrow passage or exits the narrow passage. The passage size includes a first passage size corresponding to the first mowing path and a second passage size corresponding to the second mowing path. The first passage size is positively correlated with the length of the lawnmower, and the second passage size is positively correlated with the width of the lawnmower.

2. The method of claim 1, wherein, The first mowing path includes a mowing path perpendicular to the length direction of the narrow channel; the first pass dimension is greater than the length of the machine body; And / or, the second mowing path includes a mowing path parallel to the length direction of the narrow channel; the second passage dimension is greater than the width of the machine body.

3. The method of claim 1 or 2, wherein, The mowing path also includes a third mowing path, which is a mowing path inclined to the length direction of the narrow channel; the passing dimension includes a third passing dimension corresponding to the third mowing path, which is greater than the projected length of the machine body along the third mowing path in the width direction of the narrow channel opening.

4. The method of claim 1 or 2, wherein, The first through dimension is the width of the body of the lawnmower, and the second through dimension is the length of the body of the lawnmower.

5. The method of claim 1 or 2, wherein, The first through dimension is greater than or equal to 43cm and less than 63cm, and the second through dimension is greater than or equal to 63cm and less than or equal to 85cm; or, The first through dimension is greater than or equal to 48cm and less than 55cm, and the second through dimension is greater than or equal to 68cm and less than or equal to 75cm.

6. The method of claim 1 or 2, wherein, When the lawnmower is located in a non-narrow passage, the lawnmower is in active obstacle avoidance mode. The active obstacle avoidance mode is as follows: when the distance between the lawnmower and the obstacle or boundary meets the active obstacle avoidance distance, the lawnmower is controlled to turn or reverse. When the lawnmower is located in the narrow passage, the lawnmower enters the narrow passage obstacle avoidance mode. When entering the narrow passage obstacle avoidance mode, the minimum distance between the lawnmower and the obstacle or boundary is less than the active obstacle avoidance distance.

7. The method of claim 6, wherein, The lawnmower includes a collision sensor, and the narrow-channel obstacle avoidance mode includes a passive obstacle avoidance mode; the passive obstacle avoidance mode controls the lawnmower to turn or reverse when the collision sensor detects a collision with an obstacle or boundary; the reserved collision distance in the passive obstacle avoidance mode is smaller than the active obstacle avoidance distance; or... The lawnmower includes a detection device, and the narrow-channel obstacle avoidance mode is a narrow-channel active obstacle avoidance mode. The narrow-channel active obstacle avoidance mode is characterized by controlling the lawnmower to turn or reverse when the detection device detects that the distance between the lawnmower and the obstacle meets the narrow-channel active obstacle avoidance distance. The narrow-channel active obstacle avoidance distance corresponding to the narrow-channel active obstacle avoidance mode is less than the active obstacle avoidance distance corresponding to the active obstacle avoidance mode.

8. The method of claim 7, wherein, The first passing dimension is the sum of the body length of the lawnmower and the reserved collision distance; Alternatively, the second dimension is the sum of the width of the lawnmower's body and the reserved collision distance; or, The mowing path also includes a third mowing path, which is inclined along the length of the narrow channel; the passage dimension includes a third passage dimension corresponding to the third mowing path, which is greater than the projected length of the machine body along the third mowing path in the width direction of the narrow channel opening. The third passing dimension is the sum of the projected length of the lawnmower body along the third mowing path in the direction of the narrow passage opening width and the reserved collision distance.

9. The method of claim 1 or 2, wherein, The ratio of the travel speed in the narrow channel to the opening diameter of the narrow channel is greater than or equal to 0.2 s -1 and less than or equal to 0.8 s -1 .

10. The method of claim 7, wherein, The reserved collision distance is greater than or equal to 3cm and less than or equal to 20cm.

11. The method of claim 7, wherein, The method further includes: When entering a narrow passage, the lawnmower switches to a narrow passage active obstacle avoidance mode. The narrow passage active obstacle avoidance mode is as follows: when the distance of an obstacle detected by the detection device is less than the narrow passage active obstacle avoidance distance, the lawnmower is controlled to turn or reverse in order to pass through the narrow passage.

12. The method of claim 11, wherein, The ratio of the travel speed in the narrow channel to the narrow channel active obstacle avoidance distance is greater than or equal to 1.5s -1 And less than or equal to 6s -1 .

13. The method of claim 11, wherein, The ratio of the travel speed in the narrow channel to the narrow channel active obstacle avoidance distance is greater than or equal to 2s -1 And less than or equal to 4s -1 .

14. The method of claim 11, wherein, The first clearance dimension is the sum of the body length of the lawnmower and the obstacle avoidance distance in the narrow passage; Alternatively, the second clearance dimension is the sum of the width of the lawnmower and the obstacle avoidance distance of the narrow passage; Alternatively, the mowing path may further include a third mowing path, which is a mowing path inclined to the length direction of the narrow passage; the passage dimension includes a third passage dimension corresponding to the third mowing path, which is greater than the projected length of the machine body along the third mowing path in the width direction of the narrow passage opening, and the third passage dimension is the sum of the projected length of the mower body along the third mowing path in the width direction of the narrow passage opening and the obstacle avoidance distance of the narrow passage, wherein the obstacle avoidance distance of the narrow passage is greater than or equal to the active obstacle avoidance distance of the narrow passage.

15. The method of claim 7, wherein, The method further includes: When entering narrow passages, the lawnmower adopts a passive obstacle avoidance mode; If the obstacle is detected to be a special obstacle, the lawnmower will activate an active obstacle avoidance mode; the special obstacle includes at least one or a combination of living beings, fragile objects, cliffs, and artificially set virtual boundaries.

16. The method of claim 11, wherein, The active obstacle avoidance distance in the narrow passage is greater than or equal to 8cm and less than or equal to 17cm.

17. The method of claim 1 or 2, wherein, The passage through the narrow channel includes: After entering the narrow passage, the lawnmower is controlled to walk and / or mow along the planned mowing path.

18. The method of claim 1 or 3, wherein, The first through size and the second through size are preset thresholds, and the first through size and the second through size are not equal.

19. The method of claim 1 or 2, wherein, The method further includes: During travel through the narrow passage, obstacle information is marked on a map based on the obstacle boundaries detected by the lawnmower's detection device.

20. The method of claim 1 or 2, wherein, The lawnmower includes a body and a blade disc. The blade disc has a first state and a second state. When the blade disc is in the first state, the overall width of the lawnmower is greater than the overall width of the lawnmower when the blade disc is in the second state. The method further includes: When the lawnmower travels to the entrance of the narrow passage, the lawnmower is controlled to enter the narrow passage in the second state of the cutter head.

21. The method of claim 20, wherein, The method further includes: When the lawnmower travels to a preset path, the blade is controlled to extend and cut grass; the preset path includes a turning path, or the opening width of the preset path is greater than the passage size of the lawnmower when it is in the first state.

22. The method of claim 20, wherein, The method further includes: When the opening width of the narrow channel is greater than the passing size of the lawnmower when the blade is in the second state, but less than or equal to the passing size of the lawnmower when it is in the first state, the blade of the lawnmower is controlled to be in the second state for mowing, and the blade is controlled to move left and right for additional mowing.

23. The method of claim 20, wherein, The method further includes: When the lawnmower travels to the entrance of a narrow passage, the blade is controlled to cut grass along the boundary of the narrow passage in a first state; the distance that the blade extends relative to the body in the first state is less than the active obstacle avoidance distance of the lawnmower.

24. The method of claim 20, wherein, The opening width of the narrow channel is obtained by the detection device of the lawnmower, or by the mapping information of the lawnmower.

25. A control method of a lawnmower, wherein, The lawnmower includes a body and a detection device mounted on the body, the detection device being used to detect obstacle information in the path of the lawnmower; The method includes: Perform mapping operations and identify narrow channels based on the mapping results; Obtain the opening width of the narrow channel, and generate at least one passable mowing path based on the opening width of the narrow channel, and pass through the narrow channel based on the passable mowing path; The step of generating at least one passable mowing path based on the opening width of the narrow channel includes: the mowing path includes at least a first mowing path and a second mowing path, the first mowing path corresponds to a first pass size of the mower, the second mowing path corresponds to a second pass size of the mower, when the opening width of the narrow channel is greater than the pass size of the mower, the mowing path corresponding to the pass size is a passable path, the passable mowing path is selected and the mower is controlled to pass through.

26. The method of claim 25, wherein, The lawnmower is communicatively connected to a mobile device, which displays the mowing paths that can be passed through for the user to select. The lawnmower then passes through the narrow passage according to the mowing path selected by the user. Alternatively, the control device of the lawnmower selects the mowing path that can be passed through and controls the lawnmower to mow the grass according to the preset mowing path.

27. The method of claim 25, wherein, The first mowing path includes a mowing path perpendicular to the length direction of the narrow channel; the first pass dimension is greater than the length of the machine body; And / or, the second mowing path includes a mowing path parallel to the length direction of the narrow channel; the second pass dimension is greater than the width of the machine body; And / or, the mowing path further includes a third mowing path, which is a mowing path inclined to the length direction of the narrow channel; the passage dimension includes a third passage dimension corresponding to the third mowing path, which includes the projected length of the machine body along the third mowing path in the width direction of the narrow channel opening.

28. The method of any one of claims 25 to 27, wherein, The first through dimension is greater than or equal to 43cm and less than 63cm, or the second through dimension is greater than or equal to 63cm and less than or equal to 85cm.

29. The method according to claim 27, wherein, When the lawnmower is in a non-narrow passage, the lawnmower enters an active obstacle avoidance mode. When the distance between the lawnmower and the obstacle or boundary meets the active obstacle avoidance distance, the lawnmower is controlled to turn or reverse. When entering a narrow passage, the lawnmower enters a narrow passage obstacle avoidance mode, so that within the narrow passage, the lawnmower can move toward the obstacle or boundary, and the minimum distance between the lawnmower and the obstacle or boundary is less than the active obstacle avoidance distance when entering the narrow passage obstacle avoidance mode.

30. The method of claim 29, wherein, The lawnmower includes a collision sensor, and the narrow passage obstacle avoidance mode is a passive obstacle avoidance mode; the method further includes: entering the passive obstacle avoidance mode while traveling in the narrow passage; the passive obstacle avoidance mode is characterized by controlling the lawnmower to turn or reverse when the collision sensor detects a collision with an obstacle or boundary; the reserved collision distance in the passive obstacle avoidance mode is smaller than the active obstacle avoidance distance; or... The lawnmower includes a detection device, and the method further includes: the narrow passage obstacle avoidance mode is a narrow passage active obstacle avoidance mode; the method further includes: entering the narrow passage active obstacle avoidance mode while traveling in the narrow passage; the narrow passage active obstacle avoidance mode is: when the detection device detects that the distance between the lawnmower and the obstacle meets the narrow passage active obstacle avoidance distance, the lawnmower is controlled to turn or reverse; the narrow passage active obstacle avoidance distance corresponding to the narrow passage active obstacle avoidance mode is less than the active obstacle avoidance distance corresponding to the active obstacle avoidance mode.

31. The method of claim 29, wherein, The first passing dimension is the sum of the body length of the lawnmower and the reserved collision distance; Alternatively, the second dimension is the sum of the width of the lawnmower and the reserved collision distance; Alternatively, the third passage dimension is the sum of the projected length of the lawnmower body along the third mowing path in the direction of the narrow passage opening width and the reserved collision distance.

32. The method of claim 31, wherein, The reserved collision distance is greater than or equal to 3cm and less than or equal to 20cm.

33. The method of claim 30, wherein, The ratio of the travel speed in the narrow passage to the pre-reserved collision distance is greater than or equal to 1.5s -1 and less than or equal to 6s -1 .

34. A control method of a lawnmower, wherein The lawnmower includes a body and a detection device mounted on the body, the detection device being used to detect obstacle information in the lawnmower's path; The method includes: When the lawnmower reaches the entrance of a narrow passage, if the opening width of the narrow passage is greater than the lawnmower's passage width, the lawnmower passes through the narrow passage; if the opening width of the narrow passage is not greater than the lawnmower's passage width, the lawnmower is controlled to either not pass through the narrow passage or exit the narrow passage. The lawnmower's passage width is the sum of the lawnmower's body posture at the opening of the narrow passage projected in the direction of the narrow passage's opening width and the lawnmower's obstacle avoidance distance in the narrow passage.

35. The method of claim 34, wherein, The obstacle avoidance distance in the narrow passage is greater than or equal to 3cm and less than or equal to 20cm.

36. The method according to claim 34 or 35, wherein, When the lawnmower is in a non-narrow passage, the lawnmower enters an active obstacle avoidance mode. When the distance between the lawnmower and the obstacle or boundary meets the active obstacle avoidance distance, the lawnmower is controlled to turn or reverse. When entering a narrow passage, the lawnmower enters a narrow passage obstacle avoidance mode, so that within the narrow passage, the lawnmower can move toward the obstacle or boundary, and when entering the narrow passage obstacle avoidance mode, the minimum distance between the lawnmower and the obstacle or boundary is less than the active obstacle avoidance distance.

37. The method of claim 36, wherein, The lawnmower includes a collision sensor. When entering a narrow passage, the lawnmower enters a narrow passage obstacle avoidance mode, which includes a passive obstacle avoidance mode. The active obstacle avoidance mode controls the lawnmower to turn or reverse when the distance between the lawnmower and the obstacle meets the active obstacle avoidance distance. The passive obstacle avoidance mode controls the lawnmower to turn or reverse when the collision sensor detects a collision with an obstacle or boundary. The reserved collision distance in the passive obstacle avoidance mode is less than the active obstacle avoidance distance, and the narrow passage obstacle avoidance distance of the lawnmower includes the reserved collision distance.

38. The method of claim 37, wherein, The ratio of the travel speed in the narrow passage to the pre-reserved collision distance is greater than or equal to 1.5s -1 and less than or equal to 6s -1 .

39. The method of claim 37, wherein, the ratio of the speed of travel in the narrow channel to the pre-reserve collision distance is greater than or equal to 2s -1 and less than or equal to 4s -1 .

40. The method of claim 37, wherein, The ratio of the travel speed in the narrow channel to the opening diameter of the narrow channel is greater than or equal to 0.2 s -1 and less than or equal to 0.8 s -1 .

41. The method of claim 36, wherein, The lawnmower includes a detection device. When entering a narrow passage, the lawnmower switches to a narrow passage active obstacle avoidance mode. When entering a non-narrow passage, the lawnmower switches to an active obstacle avoidance mode. The narrow passage active obstacle avoidance mode is as follows: when the distance to the obstacle detected by the detection device is less than the active obstacle avoidance distance of the narrow passage, the lawnmower is controlled to turn or reverse to pass through the narrow passage; the narrow passage active obstacle avoidance mode is as follows: when the distance to the obstacle detected by the detection device is less than the active obstacle avoidance distance, the lawnmower is controlled to turn or reverse to avoid the obstacle. The narrow channel active obstacle avoidance mode corresponds to a narrow channel active obstacle avoidance distance that is less than the active obstacle avoidance distance that corresponds to the active obstacle avoidance mode.

42. The method of claim 35, wherein, The obstacle avoidance distance in the narrow passage is greater than or equal to 3cm and less than or equal to 20cm.

43. The method of claim 35, wherein, The obstacle avoidance distance in the narrow passage is greater than or equal to 3cm and less than or equal to 15cm.

44. The method of claim 35, wherein, The passing dimensions include a first passing dimension corresponding to the first mowing posture, a second passing dimension corresponding to the second mowing posture, and a third passing dimension corresponding to the third mowing posture. The first passing dimension is the sum of the mower's body length and the narrow passage obstacle avoidance distance; the second passing dimension is the sum of the mower's body width and the narrow passage obstacle avoidance distance; and the third passing dimension is the sum of the projected length of the mower's body along the third mowing path in the direction of the narrow passage opening width and the narrow passage obstacle avoidance distance.

45. The method of claim 35, wherein, The active obstacle avoidance mode is defined as follows: when the distance between the lawnmower and the obstacle meets the active obstacle avoidance distance, the lawnmower is controlled to turn or reverse. The passive obstacle avoidance mode is as follows: when the lawnmower collides with an obstacle, the lawnmower is controlled to turn or reverse; the method includes: When entering a narrow passage and the obstacle is a common obstacle, the lawnmower adopts a passive obstacle avoidance mode. When entering a narrow passage, and when the obstacle is a special type of obstacle, the lawnmower adopts an active obstacle avoidance mode; The special obstacles include at least one or a combination of living beings, fragile objects, cliffs, and artificially set virtual boundaries, while the ordinary obstacles are other obstacles besides the special obstacles.

46. The method of claim 35, wherein, The lawnmower includes a body and a blade disc, the blade disc having a first state and a second state. When the blade disc is in the first state, the overall width of the lawnmower is greater than the overall width of the lawnmower when the blade disc is in the second state; the method also includes: When the lawnmower travels to the entrance of the narrow passage, the lawnmower is controlled to enter the narrow passage in the second state of the cutter head.

47. The method of claim 46, wherein, The method further includes: When the lawnmower travels to a preset path, the blade is controlled to extend and cut grass; the preset path includes a turning path, or the opening width of the preset path is greater than the passage size of the lawnmower when it is in the first state.

48. The method of claim 46, wherein, The method further includes: When the opening width of the narrow channel is greater than the passage size of the lawnmower in the second state, but less than or equal to the passage size of the lawnmower in the first state, the lawnmower is controlled to move left and right in the second state of the blade disc to mow the grass.

49. The method of claim 46, wherein, The method further includes: When the lawnmower travels to the entrance of a narrow passage, the cutter head is controlled to cut grass along the edge of the narrow passage in a first state; the cutter head of the lawnmower cuts grass in the first state, and the distance of the cutter head extending out of the lawnmower body is less than the active obstacle avoidance distance of the lawnmower.

50. The method of claim 34, wherein, The opening width of the narrow channel is obtained by the detection device of the lawnmower, or by the mapping information of the lawnmower.

51. A lawnmower wherein, The lawnmower includes a body, a mowing assembly, and a control device. The mowing assembly is used for mowing grass. The detection device is connected to the control device and is used to detect obstacle information on the path of the lawnmower. The control device is used to execute the control method as described in any one of claims 1-24, 25-33, and 34-50.

52. A computer readable program medium, wherein, The computer readable program medium stores computer readable instructions; the computer readable instructions are executed by a processor, and the control method in any of claims 1-24, 25-33, 34-50 is performed.

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