Lawn mower and control method therefor

Abstract

The present application relates to the technical field of cleaning. Provided are a lawn mower and a control method therefor. The method comprises: when a lawn mower reaches a starting position of a first area, controlling the lawn mower to move along a first mowing path within the first area to an end position of the first area, wherein the width of the section of the starting position of the first area is greater than or equal to a first threshold and less than or equal to a second threshold; when the lawn mower moves along the first mowing path, prohibiting the lawn mower from turning around to approach the starting position of the first area; and when the width of the section of the first area meets a first condition of the end position of the first area, controlling the lawn mower to pass through the end position of the first area, wherein the first condition of the end position of the first area is that the width of the section of the end position of the first area is greater than or equal to the first threshold and less than or equal to the second threshold, and the width of the section on the side of the end position of the first area that is away from the starting position of the first area is greater than the second threshold. The method in the present application can reduce the probability of slipping of a lawn mower, improve the quality of mowing, and improve the traversal efficiency of the lawn mower.

Description

Lawn mowers and their control methods

[0001] Cross-references to related applications

[0002] This application claims priority to Chinese Patent Application No. 202411865375.4, filed on December 17, 2024, entitled “Lawnmower and Control Method Thereof”, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This application relates to the field of clean 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 may encounter areas with confined spaces or numerous obstacles. When cleaning such areas, existing lawnmowers need to adjust their position multiple times to turn around, change direction, and get out of trouble because the surrounding obstacles or boundaries are close to the lawnmower. During these multiple adjustments, the lawnmower is prone to slipping, which can easily cause the grass in that area to be worn down by the machine, affecting the overall aesthetics of the lawn. Furthermore, excessively reducing the number of turns will result in the lawnmower having too low a coverage area in the mowing area, leading to an insufficient mowing coverage rate. Summary of the Invention

[0006] This application provides a lawnmower and its control method to solve the problem that the lawnmower is prone to slipping when adjusting its position repeatedly in areas with limited space or many obstacles, which causes the turf in that area to be easily worn by the machine and affects the overall aesthetics of the lawn.

[0007] In a first aspect, this application provides a method for controlling a lawnmower, comprising:

[0008] If the lawnmower has not mowed the first area and has reached the starting point of the first area, the lawnmower is controlled to move along the first mowing path to the ending point of the first area, and the lawnmower obtains the area width of the first area; wherein, the segment width at the starting point of the first area is greater than or equal to a first threshold and less than or equal to a second threshold; while moving along the first mowing path, the lawnmower is prohibited from turning around to approach the starting point of the first area;

[0009] If the width of a segment in the first region meets the first condition of the endpoint of the first region, the lawnmower is controlled to pass through the endpoint of the first region and complete the first mowing path; wherein, the first condition of the endpoint of the first region is that the width of the segment at the endpoint of the first region is greater than or equal to a first threshold and less than or equal to a second threshold, and the width of the segment on the side of the endpoint of the first region away from the starting point of the first region is greater than the second threshold.

[0010] This embodiment monitors the width of the first area section so that the lawnmower can determine whether it can pass through the section before entering it. When the clean area is passable but cannot be turned around at will, the lawnmower will not perform a U-turn operation, thereby reducing the slippage caused by U-turns. Moreover, the reduction in the number of U-turns will increase the lawnmower's coverage of the mowing area, thereby improving the mowing quality and mowing coverage.

[0011] In one possible design, the first threshold ranges from 0.6m to 0.9m, and the second threshold ranges from 1m to 1.6m.

[0012] Optionally, the first threshold value ranges from 0.6m to 0.8m, and the second threshold value ranges from 1.3m to 1.6m. This embodiment limits the numerical ranges of the first and second thresholds, satisfying the passage requirements of most lawnmowers. It also facilitates direct comparison between the lawnmower and the detected distance to obstacles ahead to determine if the passage conditions are met, reducing the computational complexity of the lawnmower processor and improving judgment efficiency.

[0013] Optionally, the width of the first zone can range from 0.6m to 1m. This range is suitable for smaller lawnmowers and has a lower probability of missing sections in narrow aisles. Optionally, the width of the first zone can range from 0.6m to 1.6m. This range provides greater versatility for lawnmowers in narrow aisles and is more suitable for larger lawnmowers. Optionally, the width of the first zone can range from 0.6m to 1.3m, allowing the lawnmower to work flexibly in working areas with a width greater than 1.3m. Optionally, the width of the first zone can range from 0.7m to 1m, thus preventing mowing of areas less than 0.6m wide, improving overall mowing efficiency. Optionally, the width of the first zone can range from 0.7m to 1.3m, a range suitable for most lawnmower models. Optionally, the width of the first zone can range from 0.7m to 1.6m, effectively balancing the reduction of missed mowing areas with the improvement of throughput. Optionally, the width of the first zone can range from 0.9m to 1.3m, increasing the minimum throughput of narrow passages to reduce missed mowing while preventing wide areas from being misjudged as narrow passages, thus ensuring overall mowing quality. Optionally, the width of the first zone can range from 0.9m to 1.6m, improving overall mowing efficiency in the mowing area and suitable for the operation of large lawnmowers.

[0014] This embodiment limits the first and second thresholds to a fixed numerical range, which meets the passage requirements of most lawnmowers and also makes it easier for lawnmowers to directly compare whether the distance of the detected obstacles in front of them meets the passage conditions, reducing the computational complexity of the lawnmower processor and improving the judgment efficiency.

[0015] In one possible design, the lawnmower includes a chassis, a body, and drive wheels, with the drive wheels connected to the chassis and the body connected to the chassis; the first threshold is β·d(0.5 / cosα+1), and the second threshold is 2β·d(0.5 / cosα+1).

[0016] Wherein, β is the correction coefficient, with a value ranging from 0.85 to 1.15. Since the boundaries of the channels will expand inward during mapping, there will be a deviation from the actual channel size. Considering the positioning deviation of the sensor, the coefficient needs to be adjusted according to the above influencing factors.

[0017] Define the lawnmower chassis as extending along a first plane. In the projection of the lawnmower onto the first plane, d is the maximum width along the direction of the line connecting the drive wheels, and α is the angle between the line connecting the two drive wheels and the line connecting the turning center to the farthest point of the body. The space required for the lawnmower to turn once is related to the maximum width along the direction of the drive wheels and the dimension of the line connecting the turning center to the farthest point of the body. Therefore, it is also related to the position of the turning center. When the space width does not meet the second threshold, the lawnmower has difficulty turning around in one turn, thus requiring multiple reversing and turning to adjust its posture, which increases the probability of slipping and abrading the grass, resulting in poor mowing effect.

[0018] For example, when the space width allowing the lawnmower to pass is greater than a first threshold and less than a second threshold, the lawnmower needs to turn multiple times to complete the U-turn, thus increasing the number of times it grinds the grass. However, when the space width is greater than the second threshold, there is sufficient space for the lawnmower to turn around, reducing the number of repeated adjustments during the U-turn. Therefore, U-turns can be removed to ensure that the lawnmower can turn around in time to finish cutting when needed, preventing it from having to go too far to turn around and affecting its mowing efficiency. Unlike the fixed parameter values ​​used in the above embodiments, this embodiment uses dynamic parameters related to the lawnmower's body size as limiting conditions. Therefore, the threshold can be adaptively adjusted according to the actual size of the lawnmower, resulting in more accurate calculation results and further improving the universality of the control method.

[0019] In one possible design, the lawnmower includes a body, and the first condition also includes:

[0020] The distance from the start point to the end point of the first zone is greater than twice the length of the lawnmower's body in the direction of travel.

[0021] Optionally, if the distance from the starting point to the ending point of the first area is less than or equal to twice the length of the mower body in the direction of travel, the mower shall be controlled not to enter the first area.

[0022] This embodiment limits the length of the passage in the first area to avoid the lawnmower having to turn around before fully entering the destination due to a short passage, thus reducing damage to the lawn in the first area caused by the lawnmower turning around.

[0023] In one possible design, the method also includes:

[0024] If the segment width at the end of the first area satisfies the second condition of the end of the first area, the first area includes a turning position. The distance between the turning position and the end of the first area is less than or equal to a third threshold. When the lawnmower is mowing along the first mowing path, the length direction of the first area is perpendicular to the segment width direction of the first area. When the lawnmower is located between the start of the first area and the turning position in the length direction of the first area, the lawnmower is prohibited from turning around to approach the start of the first area. When the lawnmower is located between the turning position and the end of the first area, the lawnmower can turn around or reverse to approach the start of the first area. The second condition of the end of the first area is that the segment width at the end of the first area is less than the first threshold.

[0025] This embodiment adds a turning operation step when the first area is smaller than the first threshold. By limiting a turning position, the lawnmower does not perform a turning operation before the turning position, but only after the turning position, thereby limiting the number of turning operations and reducing the risk of slippage.

[0026] In one possible design, the third threshold is at least twice the length of the mower body in the direction of travel.

[0027] This embodiment limits the distance between the turning position and the end point of the first area, allowing the lawnmower to turn around normally at the turning position.

[0028] In one possible design, the method also includes:

[0029] If the width of the section at the starting point of the first area is less than a first threshold, the lawnmower is controlled not to enter the first area, and the position of the starting point of the first area is marked as an obstacle point. The obstacle point is used to indicate the position where the lawnmower performs obstacle avoidance.

[0030] In this embodiment, if the starting width of the first area does not meet the conditions for the lawnmower to pass through, it will not enter the first area directly. By marking the area, the lawnmower will not perform the judgment operation again during the next cleaning, thereby improving cleaning efficiency and reducing the computational complexity of the lawnmower's processor.

[0031] In one possible design, the method also includes:

[0032] When the lawnmower passes the end of the first zone and enters the second zone, control the lawnmower to mow along the third mowing path in the second zone; the width of the second zone is greater than or equal to the second threshold; when traveling along the third mowing path, prohibit the lawnmower from entering the first zone.

[0033] This embodiment limits the mowing path of the second area that is connected to the first area, thereby preventing the lawnmower from repeatedly cleaning the first area it passes through when cleaning the second area, reducing the number of times the first area is cleaned, saving cleaning resources, improving cleaning efficiency, and also avoiding damage to the lawn from multiple cleanings.

[0034] In one possible design, the method also includes:

[0035] When the lawnmower is mowing along the third mowing path, obtain the completion rate of the third mowing path;

[0036] If the completion rate of the third mowing path is greater than or equal to the preset completion rate, the mower is controlled to enter the first area and mow the grass along the second mowing path within the first area; while traveling along the second mowing path, the mower is prohibited from turning around to approach the end of the first area.

[0037] This embodiment monitors the completion status of the second area, allowing the cleaning operation of the first area to be performed first when the second area is completed or nearly completed. Once the first area is cleaned, the cleaning operation returns to the uncleaned second area, thereby reducing the probability of repeated cleaning on the final cleaning path of the second area and improving cleaning efficiency.

[0038] In one possible design, the method includes:

[0039] After completing the mowing task for the second area according to the third mowing path, control the mower to enter the first area;

[0040] Alternatively, while performing a mowing task targeting the second area, and the third mowing path reaches the end of the first area before its last turn, control the mower to enter the first area.

[0041] This embodiment provides two possible conditions for determining whether to enter the first area for cleaning from the second area, making the planning of the cleaning path more reasonable, reducing the possibility of path repetition, reducing the damage to the lawn caused by repeated cleaning, and improving cleaning efficiency and the utilization rate of cleaning resources within the same time.

[0042] In one possible design, the lawnmower travels along a second mowing path from the starting point to the ending point of the first area, and the deviation between the first and second mowing paths in the direction of travel of the lawnmower is less than a fourth threshold.

[0043] In this embodiment, by limiting the distance between the second mowing path and the first mowing path, the two mowing paths are made as close as possible, thereby reducing the slippage phenomenon caused by the large height difference before and after mowing.

[0044] In one possible design, the fourth threshold ranges from 0.3m to 0.5m.

[0045] The deviation range provided in this embodiment can be applied to different lawnmowers and their corresponding first areas. At the same time, the deviation can also indirectly limit the range of the segment width of the first area corresponding to the two mowing paths. That is, the area exceeding the deviation may not be within the first area and the cleaning task may not be performed according to the first area cleaning control method defined in the above embodiment.

[0046] In one possible design, the method also includes:

[0047] When the remaining battery power of the lawnmower is less than the fifth threshold, the lawnmower cancels the operation along the first mowing path.

[0048] Based on the above embodiments, this embodiment increases the remaining power to control the mower's movement planning, reducing the possibility that the mower may get stuck in the first area due to low power, making it difficult for the user to manually drag it.

[0049] In one possible design, the lawnmower also includes a communication device for receiving user commands; the method further includes:

[0050] When the lawnmower is traveling along the first mowing path and the communication device receives a first user instruction, it controls the lawnmower to turn around to approach the starting point of the first area; the first user instruction is used to instruct the lawnmower to turn around.

[0051] This embodiment, based on the above embodiment, adds a communication device to allow users to remotely control the lawnmower. This enables the lawnmower to turn around and exit the first area promptly when a user needs to perform a task, thus stopping the cleaning task in the first area, prioritizing the user's needs, and improving the user experience.

[0052] In one possible design, the lawnmower turns around in the second area.

[0053] Secondly, this application provides a method for controlling a lawnmower, including:

[0054] Based on the lawnmower's mowing area map information, a first area is obtained within the mowing area. The width of the segment at the starting point of the first area is greater than or equal to a first threshold and less than or equal to a second threshold. The first condition for the ending point of the first area is that the width of the segment in the first area is greater than or equal to the first threshold and less than or equal to the second threshold, and the width of the segment on the side of the ending point away from the starting point of the first area is greater than the second threshold. The width of each segment between the starting point and the ending point of the first area is greater than or equal to the first threshold and less than or equal to the second threshold. During the lawnmower's operation from the starting point to the ending point of the first area, it is prohibited for the lawnmower to turn around to approach the starting point of the first area.

[0055] Unlike the above-mentioned method of exploring while walking, this embodiment uses a pre-built map to obtain the width of the section. Compared with the method of exploring while walking, in addition to reducing slippage, it can also obtain information about the narrowing of the width ahead more quickly. Therefore, the mowing path can be planned in advance, reducing the amount of computation for the processor and saving computing resources.

[0056] Thirdly, this application provides a method for controlling a lawnmower, including:

[0057] If the lawnmower has not been mowed in the first area and has moved to the starting point of the first area, control the lawnmower to move along the first mowing path from the starting point of the first area to the ending point of the first area to mow the lawn.

[0058] If the segment width at the end of the first area satisfies the second condition of the end of the first area, the second condition of the end of the first area is that the segment width at the end of the first area is less than a first threshold, the first area includes a turning position, and the distance between the turning position and the end of the first area is less than or equal to a third threshold; the length direction of the first area is perpendicular to the segment width direction of the first area, and when the lawnmower is located between the start of the first area and the turning position in the length direction of the first area, the lawnmower is prohibited from turning around to approach the start of the first area, and when the lawnmower is located between the turning position and the end of the first area, the lawnmower can turn around or reverse to approach the start of the first area.

[0059] Fourthly, this application provides a method for controlling a lawnmower, comprising:

[0060] The area to be cleaned includes at least a first area and a second area; the width of a segment in the second area is greater than the width of a segment in the first area, and the second area and the first area are connected.

[0061] When the lawnmower enters the second area from the first area, it is controlled to mow along the third mowing path in the second area; the width of each segment between the start and end of the first area is greater than or equal to the first threshold and less than or equal to the second threshold; the segment width of the second area is greater than the second threshold; when traveling along the third mowing path, the lawnmower is prohibited from entering the first area before it reaches a preset distance from the end of the second area.

[0062] Fifthly, this application provides a method for controlling a lawnmower, comprising:

[0063] When the lawnmower travels to the starting point of the first area, control the lawnmower to travel along the first mowing path to the ending point of the first area, and obtain the segment width of the first area; the segment width at the starting point of the first area is greater than or equal to a first threshold and less than or equal to a second threshold.

[0064] If the width of the segment at the end of the first area meets the second condition of the end of the first area, the lawnmower is controlled to mow along the first mowing path in the first area; the first area includes a turning position, and the distance between the turning position and the end of the first area is less than or equal to a third threshold; the length direction of the first area is perpendicular to the width direction of the segment of the first area; when the lawnmower is located between the start of the first area and the turning position in the length direction of the first area, the lawnmower is prohibited from turning around to approach the start of the first area; when the lawnmower is located between the turning position and the end of the first area, the lawnmower turns around or reverses to approach the start of the first area; the second condition of the end of the first area is that the width of the segment is less than the first threshold.

[0065] In this embodiment, when the end point of the first area cannot be traversed, a turning position is set between the start and end points of the first area so that the lawnmower does not turn around before reaching the turning position, and turns around only after reaching the turning position, thereby reducing the number of turns and thus reducing the probability of slippage damage caused by turning around.

[0066] Sixthly, this application provides a method for controlling a lawnmower, comprising:

[0067] When the lawnmower enters the second area from the first area, the lawnmower is controlled to mow along the third mowing path in the second area; the section width of the first area is greater than or equal to the first threshold and less than or equal to the second threshold; the section width of the second area is greater than the second threshold; when traveling along the third mowing path, the lawnmower is prohibited from entering the first area.

[0068] In this embodiment, the mowing path is planned and designed for the interconnected first and second areas, reducing the possibility of the second area entering the first area during the cleaning process, thereby reducing the probability of the first area being re-mowed and reducing damage to the grass in the first area.

[0069] Seventhly, this application provides a method for controlling a lawnmower, comprising:

[0070] After the lawnmower completes its mowing task for the second area following the third mowing path, it is controlled to enter the first area and mow the grass within the first area along the second mowing path; while traveling along the third mowing path, before the lawnmower reaches a preset distance from the end of the second area,

[0071] Lawn mowers are prohibited from entering the first area; while traveling along the second mowing path, lawn mowers are prohibited from turning around to approach the end of the first area; the width of the first area is greater than or equal to the first threshold and less than or equal to the second threshold; the width of the second area is greater than the second threshold.

[0072] Optionally, the preset range from the end point of the second area can be 0.5m to 1.5m.

[0073] In this embodiment, the lawnmower is controlled to complete the mowing task in the first area after completing the second area, thereby reducing the possibility of the lawnmower repeatedly entering the first area. This also improves cleaning efficiency and the utilization rate of cleaning resources within the same time period. Furthermore, within the first area, the lawnmower is controlled to travel in one direction, further reducing the possibility of the lawnmower re-mowing within the first area and reducing the damage to the lawn caused by repeated cleaning.

[0074] In one possible design, the method also includes:

[0075] When performing a mowing task for the second area, and the third mowing path reaches the end of the first area before its last turn, control the mower to enter the first area and mow the grass along the second mowing path within the first area.

[0076] Unlike the above embodiment where the second area is completely cleaned before cleaning the first area, this embodiment allows the lawnmower to enter and clean the first area when passing through it, just before the second area is finished cleaning. This reduces the number of times the lawnmower repeatedly cleans the last section of the second area, thereby reducing damage to the lawn.

[0077] Eighthly, this application provides a method for controlling a lawnmower, comprising:

[0078] After the lawnmower has traveled along the first mowing path and needs to return to the starting point of the first area, the lawnmower is controlled to return to the starting point of the first area along the second mowing path; the deviation between the first mowing path and the second mowing path in the direction of travel of the lawnmower is less than the fourth threshold; the segment width of the first area is greater than or equal to the first threshold and less than or equal to the second threshold.

[0079] In one possible design, the first mowing path prohibits the mower from turning around to approach the starting point of the first area; the second mowing path prohibits the mower from turning around to approach the ending point of the first area.

[0080] This embodiment supplements the control method of the second mowing path and the relative positional relationship between the second mowing path and the first mowing path, so that the two mowing paths are as close as possible, thereby reducing the slippage phenomenon caused by the large height difference before and after mowing.

[0081] Ninthly, this application also provides an electronic device, including: a processor, and a memory communicatively connected to the processor;

[0082] The memory stores instructions that the computer executes;

[0083] The processor executes computer instructions stored in memory to implement the control method of the lawnmower.

[0084] In a tenth aspect, this application provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement a control method for a lawnmower.

[0085] In the eleventh aspect, this application provides a computer program product, including a computer program that, when executed by a processor, implements a method for controlling a lawnmower.

[0086] In a twelfth aspect, this application provides a lawnmower, including: a processor, and a memory communicatively connected to the processor;

[0087] The memory stores instructions that the computer executes;

[0088] The processor executes computer instructions stored in memory to implement the control method of the lawnmower.

[0089] The beneficial effects of the devices provided by aspects nine, ten, eleven, and twelfth and their possible implementations can be found in the first aspect and its possible implementations, and will not be repeated here.

[0090] The lawnmower control method provided in this application controls the lawnmower to travel along a first mowing path to the end point of the first area when it reaches the starting point of the first area. The lawnmower obtains the segment width of the first area in real time. The segment width at the starting point of the first area is greater than or equal to a first threshold and less than or equal to a second threshold. While traveling along the first mowing path, the lawnmower is prohibited from turning around to approach the starting point of the first area. If the segment width of the first area meets a first condition for the end point of the first area, the lawnmower is controlled to pass through the end point of the first area. The first condition for the end point of the first area is that the segment width at the end point of the first area is greater than or equal to the first threshold and less than or equal to the second threshold, and the segment width on the side of the end point of the first area away from the starting point of the first area is greater than the second threshold. Compared with the defects in related technologies, this application can reduce the probability of the lawnmower slipping, thereby reducing the damage to the lawn caused by slipping and improving the mowing quality. Attached Figure Description

[0091] To more clearly illustrate the technical solutions in the embodiments or related technologies of this application, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0092] Figure 1 is a schematic diagram of the bottom structure of a lawnmower provided in an embodiment of this application;

[0093] Figure 2 is a schematic diagram of the projection structure of a portion of the lawnmower structure provided in the embodiment of this application on a first plane;

[0094] Figure 3 is a schematic flowchart of the control method for a lawnmower provided in an embodiment of this application;

[0095] Figure 4 is a schematic diagram of a first area and a first mowing path provided in an embodiment of this application;

[0096] Figure 5 is a schematic flowchart of another control method for a lawnmower provided in an embodiment of this application;

[0097] Figure 6 is a schematic diagram of the area to be cleaned by the lawnmower and its mowing path provided in the embodiment of this application;

[0098] Figure 7 is a schematic diagram of another lawnmower area to be cleaned and its mowing path provided in an embodiment of this application;

[0099] Figure 8 is a schematic diagram of the cleaning control method for the area to be cleaned by a lawnmower provided in an embodiment of this application. Detailed Implementation

[0100] 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 numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0101] Existing lawns may have numerous obstacles in the areas to be cleaned, such as fences, walls, billboards, and sculptures. There may also be specific landscaping design requirements, such as shrubbery or flowerbeds that are not cleaned simultaneously with the lawn, or areas that need to be cleaned at different heights. These factors can lead to the cleaned areas being either small spaces or areas with many obstacles.

[0102] When cleaning the aforementioned special areas, existing autonomous mobile lawnmowers often struggle to make large-angle turns or maneuvers due to the limited space. Consequently, when a turn or maneuver is required, the machine angle can only be adjusted slowly, causing the machine to repeatedly roll over the lawn underneath. This can easily lead to slippage and may even damage the integrity of the lawn due to excessive friction during slippage.

[0103] Based on the above-mentioned technical problems, the inventive concept of this application is as follows:

[0104] By detecting the width of the mowing area sections and then determining the mower's travel path based on the section width, the mower can travel in a one-way manner to avoid turning around when the section width is narrow. This reduces lawn damage caused by multiple turning operations due to insufficient turning width, improves lawn integrity and mowing quality, and aims to solve the above-mentioned technical problems.

[0105] The specific application scenarios for this application are as follows:

[0106] Figure 1 is a schematic diagram of the bottom structure of a lawnmower according to an embodiment of this application. Referring to Figure 1, the lawnmower 100 includes a body 110, a chassis 120 connected to the bottom of the body 110, and blades 130 and drive wheels 140 disposed on the chassis 120. The chassis 120 of the lawnmower extends along a first plane.

[0107] For example, the fuselage 110 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 110 can rotate during movement, and the center point around which the rotation revolves can be a center point selected from the fuselage 110. For example, when the fuselage 110 is circular, the center point can include the center of the circle; as another example, when the fuselage 110 is square, the center point can include the center point of the square; and as yet another example, when the fuselage 110 is provided with two drive wheels 140, the center point can include the center point of the line connecting the two drive wheels 140 or the center point of the line connecting the rotation centers of the two drive wheels 140.

[0108] Figure 2 is a schematic diagram of the projection structure of a partial lawnmower structure provided in the embodiment of this application on a first plane. Referring to Figure 2, in the projection on the first plane, the maximum width in the direction of the line connecting the two drive wheels 140 is d, the midpoint of the line connecting the two drive wheels 140 is the turning center o of the lawnmower 100, the farthest point of the projection of the body 110 on the first plane to the turning center o is s, and the angle between the line connecting the two drive wheels 140 of the lawnmower 100 and the line connecting the turning center o of the lawnmower 100 to the farthest point s of the body 110 is α.

[0109] Since the lawnmower 100 can travel in one direction or turn around in both directions, the passage width condition for not repeatedly adjusting its position when turning around in a passage is: the passage width is greater than or equal to twice the maximum turning width. Therefore, the width range of the section that the lawnmower 100 can pass through can be calculated by projecting the structural schematic diagram.

[0110] For example, continuing to refer to Figure 2, the minimum width through which the lawnmower 100 can pass is β·d(0.5 / cosα+1), and the minimum width through which it can turn around without slipping is 2β·d(0.5 / cosα+1). Therefore, when the width is between β·d(0.5 / cosα+1) and 2β·d(0.5 / cosα+1), the number of turns required to turn around gradually decreases as the width increases. Here, β is the passability coefficient, ranging from 0.85 to 1.15; d is the maximum width in the direction of the line connecting the drive wheels 140 of the mower body; and α is the angle between the line connecting the two drive wheels 140 of the lawnmower 100 and the line connecting the turning center of the lawnmower 100 to the farthest end of the body 110.

[0111] Optionally, the body 110 is also equipped with a detection device 150 for detecting obstacle information on the path of the lawnmower 100. For example, when the lawnmower is traveling in a long passage area, the detection device 150 can obtain the section width of the passage area, which is the transverse cross-sectional width of the passage used to determine whether the lawnmower can pass in the direction of travel.

[0112] The detection device 150 can be any type of sensor capable of detecting distance, such as a radar sensor, infrared sensor, visual sensor, and / or a crash barrier. The obstacle information acquired by the detection device 150 can be distance information, obstacle type, or boundary information determined by the detection device 150. Since the detection information itself is prior art, it will not be described further here.

[0113] The lawnmower 100 also includes a processor connected to a detection device 150, which executes a control method for the lawnmower 100 based on the detection results of the detection device 150.

[0114] Optionally, the lawnmower also includes a storage component, and the processor and storage component can be located inside the lawnmower. Optionally, the storage component can be integrated with the processor, or they can be two separate components.

[0115] 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.

[0116] A processor may include, for example, one or more circuits or chips that have control functions.

[0117] The processor is used to control the lawnmower's operation and respond to user commands through various software control programs stored in memory.

[0118] The execution entity in this application embodiment can be the processor in the lawnmower or the corresponding server. The server is located in the cloud and connects to the lawnmower's processor 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.

[0119] The following uses the processor in a lawnmower as an example to illustrate the technical solution of this application and how it solves 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.

[0120] The embodiments of this application will now be described with reference to the accompanying drawings.

[0121] Figure 3 is a schematic flowchart of the control method for a lawnmower provided in an embodiment of this application. Referring to Figure 3, the method includes:

[0122] S31. When the lawnmower travels to the starting point of the first area, control the lawnmower to travel along the first mowing path to the end point of the first area. The lawnmower obtains the segment width of the first area in real time. The segment width at the starting point of the first area is greater than or equal to a first threshold and less than or equal to a second threshold. When traveling along the first mowing path, the lawnmower is prohibited from turning around to approach the starting point of the first area.

[0123] For example, the first area is a narrow passage area, and the lawnmower travels to the starting point of the first area, that is, to the entrance of the narrow passage.

[0124] In narrow passages, the path of a lawnmower is affected by the width of the passage. By obtaining the width of the section in front of the direction of travel in real time, the lawnmower can be assisted in making decisions on whether it can pass or turn around.

[0125] The minimum width that allows a lawnmower to pass through is defined as the first threshold, and the minimum width that allows the lawnmower to turn around is defined as the second threshold.

[0126] If the width of the section at the starting point of the first area is less than the first threshold, the lawnmower cannot pass through and therefore will not continue to enter the first area.

[0127] If the width of the starting section of the first area is greater than the second threshold, the lawnmower can turn around without restriction. Therefore, there is no limitation on this situation, and the normal lawnmowing task can be performed.

[0128] If the width of the segment at the starting point of the first area is greater than or equal to the first threshold and less than or equal to the second threshold, the segment width at that starting point meets the definition of a narrow passage. Therefore, the lawnmower's path needs to be planned to avoid damage to the lawn within the passage caused by multiple turns or U-turns. Thus, the lawnmower is restricted to a first mowing path from the starting point, where U-turns are not permitted, thereby reducing the adverse effects of U-turns on the lawn.

[0129] The method that prohibits U-turns is to control the lawnmower's direction of travel to prevent it from approaching the starting point of the first zone, rather than restricting the lawnmower's turning. Approaching the starting and ending points of the first zone only means moving towards the area where the starting and ending points are located, such as within 1 meter of the starting point of the first zone, to complete the positioning of the first zone, and does not necessarily mean walking to the fixed positions corresponding to the starting and ending points.

[0130] It should be understood that as long as the width of the section detected ahead always meets the limiting condition, the first mowing path will continue to be followed.

[0131] For example, Figure 4 is a schematic diagram of a first region and a first mowing path provided in an embodiment of this application. Referring to Figure 4, when the first region 401 is a zigzag channel that requires multiple turns, the mower detects that the width of the section in front always meets the width range of the narrow channel, and therefore controls the mower to always move forward along the first mowing path 402. The first mowing path 402 is not a straight path, but a path that changes with the shape of the channel. This path may have turns of more than 180 degrees, but the direction of the turn is not towards the starting point A of the first region 401, but towards the ending point B of the first region 401.

[0132] S32. If the width of the segment of the first region meets the first condition of the endpoint of the first region, control the lawnmower to pass through the endpoint of the first region and complete the first mowing path; wherein, the first condition of the endpoint of the first region is that the width of the segment of the endpoint of the first region is greater than or equal to a first threshold and less than or equal to a second threshold, and the width of the segment on the side of the endpoint of the first region away from the starting point of the first region is greater than or equal to the first threshold.

[0133] For example, when the lawnmower reaches the end of the first area along the first mowing path, it is necessary to detect the width of the section at the end point. If the width of the section on the other side of the end point is greater than or equal to a first threshold, it indicates that the lawnmower can pass through the end point smoothly and enter the other side of the area. Therefore, the lawnmower can be controlled to pass through the end point of the first area, thereby completing the cleaning task of the first area.

[0134] If the width of the section on the other side of the endpoint is less than the first threshold, it means that the lawnmower can only travel to the endpoint and cannot pass through it. At this time, the first mowing path ends and the turning and exiting channel operation is performed.

[0135] The method provided in this embodiment detects the width of a section in real time starting from the beginning of the first area. It compares the detected section width with a threshold related to the size of the lawnmower, thereby enabling the lawnmower to avoid turning around when the width of the area is within a certain range. This reduces the likelihood of the lawnmower slipping in the first area, thereby reducing damage to the lawn and improving the cleaning quality of the lawn.

[0136] The control logic of the lawnmower of this application will be described in detail below with reference to several specific embodiments.

[0137] Figure 5 is a schematic flowchart of the control method for a lawnmower provided in an embodiment of this application. Referring to Figure 5, the method includes:

[0138] S501. Obtain the location information of the lawnmower until the current location information is at the starting point of the first area.

[0139] Optionally, since the lawnmower may return to the starting point after reaching the end point when traveling in the channel formed in the first area, and the distance traveled by the lawnmower to turn around is at least twice the length of the machine body, if the channel length is too short to allow the lawnmower to turn around completely in the channel, the channel may not be defined as the first area, and the control method in this embodiment need not be executed.

[0140] For example, when the passage length is twice the distance of the machine body, the cleaning operation of the area can be completed by controlling the lawnmower to enter and mow the grass, and then reversing. Because the distance is short, reversing is easy to control and is less likely to cause deviation or uncontrollability.

[0141] In another embodiment, instead of determining whether the lawnmower has reached the first area through real-time detection, a map of the lawnmower's mowing area is acquired. This map is marked with boundary information, and the spacing of the boundary information determines the first area that meets the constraints of the first area. Based on the lawnmower's position on the mowing area map, it is determined whether the lawnmower is at the starting point of the first area.

[0142] The first region is subject to the following restrictions: the width of the segment at the starting point of the first region is greater than or equal to the first threshold and less than or equal to the second threshold; the width of the segment at the ending point of the first region is greater than or equal to the first threshold and less than or equal to the second threshold; the width of the segment on the side of the ending point of the first region away from the starting point of the first region is greater than the second threshold; and the width of each segment between the starting point and the ending point of the first region is greater than or equal to the first threshold and less than or equal to the second threshold.

[0143] S502, Control the lawnmower to obtain the segment width of the starting point of the first area in real time.

[0144] For example, starting from the first area, the lawnmower detects obstacle information ahead in the direction of travel, and obtains the width between obstacles and the distance between the lawnmower and obstacles based on the detected obstacle information. Based on the width between obstacles and the distance between the lawnmower and obstacles, the lawnmower obtains the segment width, which is the segment width within a certain distance range in front of the lawnmower.

[0145] Optionally, since the actual channels may be non-linear or the channel spacing may be unequal, the segment width can be selected from a certain length range with the same or similar channel spacing. That is, the first area can be divided into multiple segments, each segment corresponding to a segment width, so that the lawnmower can perform path planning based on the segment width.

[0146] S503. Determine whether the segment width is greater than or equal to the first threshold and less than or equal to the second threshold; if yes, execute S504; otherwise, execute S513.

[0147] The first region includes the starting point and the ending point of the first region. The segment width obtained by the lawnmower is the distance between obstacles in the direction of travel starting from the current position of the lawnmower.

[0148] For example, the first threshold and the second threshold can be preset values.

[0149] For example, the first threshold ranges from 0.6m to 0.9m, and the second threshold ranges from 1m to 1.6m. Optionally, the segment width of the first region can range from 0.6m to 1m, which is suitable for smaller lawnmowers and has a lower probability of missing mowing in narrow channels. Optionally, the segment width of the first region can range from 0.6m to 1.6m, which provides greater versatility for lawnmowers in narrow channels and is more suitable for larger lawnmowers. Optionally, the segment width of the first region can range from 0.6m to 1.3m, allowing the lawnmower to work flexibly in working areas with segment widths greater than 1.3m; alternatively, the segment width of the first region can range from 0.7m to 1m, thus preventing mowing in areas less than 0.6m wide and improving overall mowing efficiency. Optionally, the segment width of the first region can range from 0.7m to 1.3m, a range suitable for most lawnmower models. Optionally, the width of the first zone can range from 0.7m to 1.6m, effectively balancing the reduction of missed mowing areas with the improvement of throughput. Optionally, the width of the first zone can range from 0.9m to 1.3m, increasing the minimum throughput of narrow passages to reduce missed mowing while preventing wide areas from being misjudged as narrow passages, thus ensuring overall mowing quality. Optionally, the width of the first zone can range from 0.9m to 1.6m, improving overall mowing efficiency in the mowing area and suitable for the operation of large lawnmowers.

[0150] Another possible implementation is that the first threshold and the second threshold are values ​​related to the lawnmower's structure, and thus a formula related to the first and second thresholds can be obtained by limiting the structure of the lawnmower. Furthermore, since the first threshold limits the minimum width through which the lawnmower can pass, and the second threshold limits the minimum width required for the lawnmower to turn around in one go without slipping, the second threshold can be considered twice the first threshold, provided the machine's dimensions remain unchanged.

[0151] For example, the first threshold is β·d(0.5 / cosα+1), and the second threshold is 2β·d(0.5 / cosα+1).

[0152] Wherein, β ranges from 0.85 to 1.15, the chassis of the lawnmower is defined to extend along the first plane, the lawnmower is projected onto the first plane, d is the maximum width in the direction of the line connecting the drive wheels of the body, and α is the angle between the line connecting the two drive wheels of the lawnmower and the line connecting the turning center of the lawnmower to the farthest end of the body.

[0153] S504. Control the lawnmower to travel along the first mowing path to the end of the first area within the first area.

[0154] While traveling along the first mowing path, the mower is prohibited from turning around to approach the starting point of the first area.

[0155] For example, since the width of the first region is limited to the range between a first threshold and a second threshold, where the first threshold defines the width through which the lawnmower can pass without turning and the second threshold defines the width through which the lawnmower can just turn around without slipping, the lawnmower can always travel without turning around in the first region, thus minimizing the possibility of slipping in the first region, that is, controlling the lawnmower to travel along the first mowing path without turning around.

[0156] S505: Control the lawnmower to obtain the segment width of the first area endpoint in real time.

[0157] Since the lawnmower cannot be certain that the entire first area is within the range of greater than or equal to the first threshold and less than or equal to the second threshold while it is moving along the first mowing path in the first area, it is possible that only some sections meet the conditions. Therefore, it is necessary to obtain the section width in real time by detection to reduce the possibility of the lawnmower getting stuck during the movement due to some sections not meeting the conditions.

[0158] S506. Determine whether the segment width of the first region is greater than or equal to the first threshold and less than or equal to the second threshold; if yes, execute S507; otherwise, execute S509.

[0159] Specifically, if there are any points below the first threshold while the lawnmower is traveling in the first area, it means that the lawnmower cannot continue forward. The point below the first threshold is the end point of the first area. If all points are greater than or equal to the first threshold, the lawnmower will continue to travel to the other end of the first area that is furthest from the starting point, which is the end point of the first area.

[0160] After determining the end point of the first zone, it is also necessary to determine whether the section ahead of the end point of the first zone is suitable for the lawnmower to pass through, that is, to obtain the width of the section on the side of the end point of the first zone away from the starting point of the first zone.

[0161] S507. Determine whether the width of the segment on the side of the first region's endpoint away from the first region's starting point is greater than or equal to the first threshold; if yes, execute S508; if no, execute S509.

[0162] S508, Control the lawnmower to pass through the end point of the first zone.

[0163] Specifically, when it is determined that the lawnmower can still pass through the end of the first zone, it can be controlled to continue moving forward past the end of the first zone, thus avoiding a U-turn within the first zone and preventing the risk of slippage caused by turning around, thereby improving the mowing and cleaning quality of the lawn in the first zone.

[0164] S509. Determine whether the segment width of the endpoint of the first region is less than the first threshold; if yes, execute S510; if no, execute S511.

[0165] If the width of the section on the side of the first area's endpoint away from the first area's starting point is greater than or equal to the first threshold, it means that the lawnmower can continue moving forward at the endpoint and will not turn around in the first area, thus reducing the probability of the lawnmower slipping in the first area.

[0166] If the width of the section on the side of the first area's endpoint that is far from the first area's starting point is less than the first threshold, it means that the lawnmower cannot continue forward at the endpoint and needs to turn around and return to the first area's starting point. Therefore, the turning operation is only performed when the lawnmower cannot continue forward, thereby minimizing the possibility of slippage caused by turning around.

[0167] S510, Continue to control the lawnmower to move along the first mowing path in the first area, and obtain the distance from the lawnmower to the end of the first area.

[0168] Specifically, since a lawnmower needs a certain turning distance to turn around, it cannot turn around when it needs to turn around, but must turn around before reaching the first threshold. Furthermore, turning around requires the lawnmower to rotate around the rotation center of the machine body. Therefore, before turning around, it is necessary to determine whether the distance from the lawnmower body to the point where the turn is needed meets the required turning distance.

[0169] S511. Determine whether the distance from the lawnmower to the end of the first area is less than or equal to the third threshold; if yes, execute S512; otherwise, continue executing S510.

[0170] The turning position of the lawnmower is determined by whether the distance from the lawnmower to the end of the first area is less than or equal to the third threshold. The third threshold is twice the length of the lawnmower's body in the direction of travel.

[0171] When the distance between the lawnmower and the end of the first zone reaches the third threshold, a U-turn operation is initiated. If the distance is less than the third threshold, the first zone will not be cleaned properly. Therefore, the distance must be at least the third threshold. If the distance exceeds the third threshold, multiple adjustments to the turn may be required, increasing the risk of slippage. However, this will not affect the cleaning coverage of the passage. Therefore, the turning position for the U-turn can be set at a position where the distance between the lawnmower and the end of the first zone is less than or equal to the third threshold.

[0172] S512, After controlling the lawnmower to travel along the first mowing path to the turning position in the first area, the lawnmower turns around to approach the starting point of the first area.

[0173] S513. Determine whether the width of the section is less than the first threshold; if yes, execute S514; otherwise, perform a regular cleaning operation on the area.

[0174] For example, when the area width is not less than the first threshold, since the area width is not within the range between the first threshold and the second threshold, it is determined that the area width is greater than the second threshold. At this time, it can be confirmed that the area is a non-narrow passage area where the lawnmower can turn around and will not slip. Therefore, the lawnmower can be controlled to perform regular cleaning operations, such as a bow-shaped mowing path.

[0175] S514. Control the lawnmower to prevent it from entering.

[0176] Optionally, while the lawnmower does not enter, the starting point of the first area can be marked as an obstacle point so that the lawnmower can perform obstacle avoidance operations according to the indication of the obstacle point.

[0177] The method provided in this embodiment determines whether the size of the lawnmower meets the passage requirements by judging the width of the section in the first area during the lawnmower's movement in real time. If it does, the lawnmower is controlled to move unidirectionally from the start to the end of the first area. If it does not meet the requirements, the lawnmower only turns around once before it cannot pass through the position. This minimizes the slip damage to the lawn in the first area where the passage spacing is small due to the lawnmower turning around, and improves the cleaning quality of the first area.

[0178] It should be noted that the above embodiments describe a method for controlling the lawnmower's movement within a first area. When the endpoint of the first area is connected to other areas to be cleaned, for example, to areas with a segment width greater than a second threshold, or to areas that must be traversed before connecting to the first area, the following control method can be used:

[0179] Figure 6 is a schematic diagram of the area to be cleaned by the lawnmower and its mowing path provided in an embodiment of this application; Figure 7 is another schematic diagram of the area to be cleaned by the lawnmower and its mowing path provided in an embodiment of this application; Figure 8 is a flowchart of the cleaning control method for the area to be cleaned by the lawnmower provided in an embodiment of this application. Referring to Figures 6, 7, and 8, when the other area to be cleaned connected to the endpoint of the first area 401 is a second area 403 that can be cleaned normally, and the lawnmower is at the endpoint of the first area 401, the following control method is adopted:

[0180] S81. Control the lawnmower to mow along the third mowing path in the second area and obtain the completion status of the third mowing path.

[0181] The second zone has a width greater than the second threshold, meaning that the lawnmower can turn around in the second zone without slipping; when traveling along the third mowing path, the lawnmower is prohibited from entering the first zone.

[0182] For example, the third mowing path is a bow-shaped mowing path. The lawnmower performs mowing tasks along the bow-shaped path within the second area and will not leave the second area arbitrarily during mowing. However, if the mowing task in the second area is about to be completed or has already been completed, the position of the lawnmower is no longer restricted. Therefore, when mowing in the second area, it is necessary to obtain the current task completion status of the lawnmower in real time.

[0183] S82. Determine whether the completion rate of the third mowing path is greater than or equal to the preset completion rate; if yes, execute S83; otherwise, continue executing S81.

[0184] The preset completion rate here can be either the lawnmower having completely completed the mowing task in the second area, or it can be the case that the lawnmower has largely completed the mowing task in the second area. For example, when performing a mowing task in the second area and reaching the end of the first area before the last turn of the zigzag path, although the task in the second area has not been completely completed, the end of the first area has been reached. It is not necessary to continue completing the remaining task; instead, the remaining task in the first area can be completed. Upon returning from the first area, the uncleaned areas can be mowed again, reducing the number of times the lawnmower cleans the lawn repeatedly and reducing the risk of slipping during repeated cleaning. The completion rate of the third mowing path is determined by the ratio of the mowed area in the second mowing area to the total area of ​​the second mowing area being greater than a preset value; in this case, it is considered to be greater than the preset completion rate.

[0185] S83. Control the lawnmower to enter the first area and mow the grass along the second mowing path within the first area.

[0186] While traveling along the second mowing path, the mower is prohibited from turning around to approach the end of the first area; that is, the second mowing path is a one-way path in the opposite direction to the first mowing path.

[0187] Optionally, the lawnmower approaches the first mowing path and the second mowing path in opposite directions within the first area, and the distance between the paths on the same cross section is small, for example, the deviation between the two is less than a fourth threshold.

[0188] For example, the fourth threshold ranges from 0.3m to 0.5m. This threshold range, relative to the lawnmower's passability, allows the lawnmower to move as close as possible to the first and second mowing paths, reducing the risk of slippage caused by the different grass heights of the drive wheels on both sides of the lawnmower due to the limited mowing width within the passage.

[0189] Optionally, the lawnmower also monitors the remaining battery power in real time during its movement so that it can cancel the operation along the first mowing path when the battery is low.

[0190] The remaining battery power controls the lawnmower to exit the first area.

[0191] For example, at the starting point of the first area, or during the movement in the first area, if the lawnmower detects that the remaining battery power is less than the fifth threshold, it can control the lawnmower to cancel the task of continuing along the first mowing path, turn around and return to the starting point of the first area and exit the first area, so that it can return in time or be recycled by the user in time when the remaining battery power drops to the point where it needs to return to charge, instead of being stuck in the first area.

[0192] It should be understood that the remaining battery power has a higher priority than the lawnmower's priority of traveling along the first mowing path in the first area.

[0193] In some embodiments, the lawnmower is also equipped with a communication device for receiving user commands.

[0194] For example, when the lawnmower is performing the first mowing path, if the user needs to call the lawnmower to perform other tasks, the user can submit a call request on the user terminal, so that the server corresponding to the lawnmower can send a first user instruction to the communication device of the lawnmower according to the call request. The first user instruction includes the control process of controlling the lawnmower to turn around and exit the first area.

[0195] After receiving the first user instruction, the communication device forwards it to the lawnmower's processor, so that the processor, based on the first user instruction, controls the lawnmower that is moving along the first mowing path to stop its current task and executes the exit from the first area operation related to the first user instruction, that is, controls the lawnmower to turn to approach the starting point of the first area.

[0196] It should be understood that user commands controlling the lawnmower have a higher priority than the lawnmower traveling along the first mowing path in the first area, and a higher priority than controlling the lawnmower with remaining battery power. However, when the remaining battery power is low, a low battery reminder can be sent to the user while executing the user command.

[0197] This application embodiment also provides a lawnmower, which includes:

[0198] The processor, and the memory that is in communication with the processor;

[0199] The memory stores the instructions that the computer executes;

[0200] The processor executes computer instructions stored in memory to implement the control method of the lawnmower.

[0201] 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.

[0202] In the above embodiments, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors such as Digital Signal Processors (DSPs) or Application Specific Integrated Circuits (ASICs). The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this application can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor.

[0203] The memory may include high-speed RAM, and may also include non-volatile storage (NVM), such as at least one disk storage.

[0204] 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 shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0205] The above describes the solutions provided in the embodiments of this application for the functions implemented by the electronic device and the main control device.

[0206] 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.

[0207] Based on the units and algorithm steps described in the embodiments disclosed in this application, the embodiments of this application can be implemented in hardware or a combination of hardware and computer software. Whether a 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 beyond the scope of the technical solutions of the embodiments of this application.

[0208] This application also provides a computer program product, including a computer program that, when executed by a processor, implements a method for controlling a lawnmower.

[0209] The computer program product provided in this embodiment can execute the lawnmower control method of the above embodiment. Its implementation principle and technical effect are similar, and will not be described again in this embodiment.

[0210] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the above-described lawnmower control method.

[0211] The computer-readable storage medium provided in this embodiment can execute the control method of the lawnmower in the above embodiment. Its implementation principle and technical effect are similar, and will not be described again in this embodiment.

[0212] 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.

[0213] 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.

[0214] 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.

[0215] 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, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties. Furthermore, the collection, use and processing of the relevant data must comply with relevant laws, regulations and standards, and corresponding operation openings are provided for users to choose to authorize or refuse.

[0216] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application 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 therein. Such 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 this application.

Claims

1. A control method for a lawnmower, wherein, The method includes: If the lawnmower has not been mowed in the first area and has reached the starting point of the first area, the lawnmower is controlled to move along a first mowing path from the starting point to the ending point of the first area within the first area, and the lawnmower obtains the segment width of the first area; wherein, the segment width at the starting point of the first area is greater than or equal to a first threshold and less than or equal to a second threshold; while moving along the first mowing path, the lawnmower is prohibited from turning around to approach the starting point of the first area; If the width of a segment in the first region meets the first condition of the endpoint of the first region, the lawnmower is controlled to pass through the endpoint of the first region and complete the first mowing path; wherein, the first condition of the endpoint of the first region is that the width of the segment at the endpoint of the first region is greater than or equal to the first threshold and less than or equal to the second threshold, and the width of the segment on the side of the endpoint of the first region away from the starting point of the first region is greater than the second threshold.

2. The method according to claim 1, wherein, The first threshold ranges from 0.6m to 0.9m, and the second threshold ranges from 1m to 1.6m.

3. The method according to claim 1, wherein, The lawnmower includes a chassis, a body, and drive wheels. The drive wheels are connected to the chassis, and the body is connected to the chassis. The first threshold is β·d(0.5 / cosα+1), and the second threshold is 2β·d(0.5 / cosα+1), where β ranges from 0.85 to 1.

15. The chassis of the lawnmower is defined to extend along a first plane. In the projection of the lawnmower onto the first plane, d is the maximum width of the body along the line connecting the drive wheels, and α is the angle between the line connecting the two drive wheels and the line connecting the turning center of the lawnmower to the farthest end of the body.

4. The method according to claim 1, wherein, The lawnmower includes a body, and the first condition further includes: The distance from the starting point to the ending point of the first area is greater than twice the length of the mower body in the direction of travel.

5. The method according to claim 1, wherein, The method further includes: If the segment width at the end of the first area satisfies the second condition of the end of the first area, the first area includes a turning position, the distance between the turning position and the end of the first area is less than or equal to a third threshold, when the lawnmower is mowing along the first mowing path, the length direction of the first area is perpendicular to the segment width direction of the first area, when the lawnmower is located between the start of the first area and the turning position in the length direction of the first area, the lawnmower is prohibited from turning around to approach the start of the first area, when the lawnmower is located between the turning position and the end of the first area, the lawnmower can turn around or retreat to approach the start of the first area, and the second condition of the end of the first area is that the segment width at the end of the first area is less than the first threshold.

6. The method according to claim 5, wherein, The third threshold is twice the length of the lawnmower's body in the direction of travel of the lawnmower.

7. The method according to claim 5, wherein, The method further includes: If the width of the section at the starting point of the first area is less than the first threshold, the lawnmower is controlled not to enter the first area, and the position of the starting point of the first area is marked as an obstacle point, which is used to indicate the position where the lawnmower performs obstacle avoidance.

8. The method according to claim 1, wherein, The method further includes: When the lawnmower passes the end of the first area and enters the second area, the lawnmower is controlled to mow along a third mowing path within the second area; the width of the second area is greater than or equal to the second threshold; while traveling along the third mowing path, the lawnmower is prohibited from entering the first area.

9. The method according to claim 8, wherein, The method further includes: When the lawnmower is mowing along the third mowing path, the completion rate of the third mowing path is obtained; If the completion rate of the third mowing path is greater than or equal to the preset completion rate, the mower is controlled to enter the first area and mow grass along the second mowing path within the first area; while traveling along the second mowing path, the mower is prohibited from turning around to approach the end of the first area.

10. The method according to claim 9, wherein, The method includes: After completing the mowing task for the second area according to the third mowing path, the lawnmower is controlled to enter the first area; Alternatively, while performing a mowing task for the second area and before the third mowing path reaches the end of the first area for the last turn, the mower may be controlled to enter the first area.

11. The method according to claim 9, wherein, During the process from the end point of the first area to the beginning point of the first area, the lawnmower travels along the second mowing path, and the deviation between the first mowing path and the second mowing path in the direction of travel of the lawnmower is less than a fourth threshold.

12. The method according to claim 11, wherein, The fourth threshold value ranges from 0.3m to 0.5m.

13. The method according to claim 1, wherein, The method further includes: When the remaining battery power of the lawnmower is less than the fifth threshold, the lawnmower cancels its operation along the first mowing path.

14. The method according to claim 1, wherein, The lawnmower also includes a communication device for receiving user commands; the method further includes: When the lawnmower is traveling along the first mowing path and the communication device receives a first user instruction, it controls the lawnmower to turn around to approach the starting point of the first area; the first user instruction is used to instruct the lawnmower to turn around.

15. The method according to claim 1, wherein, The lawnmower turned around in the second area.

16. A control method for a lawnmower, wherein, The method includes: Based on the mowing area map information of the lawnmower, a first area is obtained within the mowing area. The width of the segment at the starting point of the first area is greater than or equal to a first threshold and less than or equal to a second threshold. The first condition for the ending point of the first area is that the width of the segment in the first area is greater than or equal to the first threshold and less than or equal to the second threshold, and the width of the segment on the side of the ending point away from the starting point of the first area is greater than the second threshold. The width of each segment between the starting point and the ending point of the first area is greater than or equal to the first threshold and less than or equal to the second threshold. During the operation of the lawnmower from the starting point to the ending point of the first area, the lawnmower is prohibited from turning around to approach the starting point of the first area.

17. A method for controlling a lawnmower, wherein, The method includes: If the lawnmower has not been mowed in the first area and has traveled to the starting point of the first area, control the lawnmower to travel along the first mowing path from the starting point of the first area to the ending point of the first area to mow the grass. If the segment width at the end of the first region satisfies the second condition of the end of the first region, the second condition of the end of the first region is that the segment width at the end of the first region is less than a first threshold, the first region includes a turning position, and the distance between the turning position and the end of the first region is less than or equal to a third threshold; the length direction of the first region is perpendicular to the segment width direction of the first region, and when the lawnmower is located between the start of the first region and the turning position in the length direction of the first region, the lawnmower is prohibited from turning around to approach the start of the first region, and when the lawnmower is located between the turning position and the end of the first region, the lawnmower can turn around or reverse to approach the start of the first region.

18. A control method for a lawnmower, wherein, The method includes: The area to be cleaned includes at least a first area and a second area; the width of a segment in the second area is greater than the width of a segment in the first area, and the second area and the first area are connected. When the lawnmower enters the second area from the first area, the lawnmower is controlled to mow along a third mowing path within the second area; wherein the width of each segment between the start and end points of the first area is greater than or equal to a first threshold and less than or equal to a second threshold; the segment width of the second area is greater than the second threshold; while traveling along the third mowing path, the lawnmower is prohibited from entering the first area before it reaches a preset distance from the end point of the second area.

19. The method according to claim 18, wherein, After the lawnmower has mowed the grass along the third mowing path, it is controlled to move to the end of the first area to enter the first area, and mow the grass along the second mowing path within the first area; while moving along the second mowing path, the lawnmower is prohibited from turning around to approach the end of the first area.

20. The control method according to claim 19, wherein, The method further includes: When performing a mowing task for the second area, if the third mowing path completes at least one turn and reaches the end of the first area, the mower is controlled to enter the first area and mow grass along the second mowing path within the first area.

21. The method according to any one of claims 16, 17 or 18, wherein, The first threshold ranges from 0.6m to 0.9m, and the second threshold ranges from 1m to 1.6m.

22. The method according to any one of claims 16, 17 or 18, wherein, The lawnmower includes a chassis, a body, and drive wheels. The drive wheels are connected to the chassis, and the body is connected to the chassis. The first threshold is β·d(0.5 / cosα+1), and the second threshold is 2β·d(0.5 / cosα+1), where β ranges from 0.85 to 1.

15. The chassis of the lawnmower is defined to extend along a first plane. In the projection of the lawnmower onto the first plane, d is the maximum width of the body along the line connecting the drive wheels, and α is the angle between the line connecting the two drive wheels and the line connecting the turning center of the lawnmower to the farthest end of the body.

23. The method according to claim 16, wherein, The lawnmower includes a body, and the first condition further includes: The distance from the starting point to the ending point of the first area is greater than twice the length of the mower body in the direction of travel.

24. The method according to any one of claims 16 or 18, wherein, The method further includes: If the lawnmower has not been mowed in the first area and has reached the starting point of the first area, the lawnmower is controlled to move along a first mowing path from the starting point to the ending point of the first area. If the segment width of the ending point of the first area meets the second condition of the ending point of the first area, the first area includes a turning position, and the distance between the turning position and the ending point of the first area is less than or equal to a third threshold. The length direction of the first area is perpendicular to the segment width direction of the first area. When the lawnmower is located between the starting point and the turning position in the length direction of the first area, the lawnmower is prohibited from turning around to approach the starting point of the first area. When the lawnmower is located between the turning position and the ending point of the first area, the lawnmower turns around or reverses to approach the starting point of the first area. The second condition of the ending point of the first area is that the segment width of the ending point of the first area is less than the first threshold.

25. The method according to claim 24, wherein, The third threshold is twice the length of the lawnmower's body in the direction of travel of the lawnmower.

26. The method according to claim 24, wherein, The method further includes: If the width of the section at the starting point of the first area is less than the first threshold, the lawnmower is controlled not to enter the first area, and the position of the starting point of the first area is marked as an obstacle point, which is used to indicate the position where the lawnmower performs obstacle avoidance.

27. The method according to any one of claims 16 or 17, wherein, The method further includes: When the lawnmower passes the end of the first area and enters the second area, the lawnmower is controlled to mow along a third mowing path within the second area; the width of the second area is greater than or equal to the second threshold; when the lawnmower is traveling along the third mowing path, the lawnmower is prohibited from entering the first area.

28. The method according to claim 27, wherein, The method further includes: When the lawnmower is mowing along the third mowing path, the completion rate of the third mowing path is obtained; If the completion rate of the third mowing path is greater than or equal to the preset completion rate, the mower is controlled to enter the first area and mow grass along the second mowing path within the first area; while traveling along the second mowing path, the mower is prohibited from turning around to approach the end of the first area.

29. The method according to claim 28, wherein, The method includes: After completing the mowing task for the second area according to the third mowing path, the lawnmower is controlled to enter the first area; Alternatively, while performing a mowing task for the second area, and the third mowing path has completed at least one turn and reached the end of the first area, the mower may be controlled to enter the first area.

30. The method of claim 17, wherein, During the process from the end point of the first area to the beginning point of the first area, the lawnmower travels along the second mowing path, and the deviation between the first mowing path and the second mowing path in the direction of travel of the lawnmower is less than a fourth threshold.

31. The method according to claim 30, wherein, The fourth threshold value ranges from 0.3m to 0.5m.

32. The method according to any one of claims 16, 17 or 18, wherein, The lawnmower also includes a communication device for receiving user commands; the method further includes: When the lawnmower is traveling along the first mowing path and the communication device receives a first user instruction, it controls the lawnmower to turn around to approach the starting point of the first area; the first user instruction is used to instruct the lawnmower to turn around.

33. The method according to any one of claims 16, 17 or 18, wherein, The lawnmower turned around in the second area.

34. A lawnmower, wherein, The lawnmower includes: A processor, and a memory communicatively connected to the processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory to implement the lawnmower control method as described in any one of claims 1-33.

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