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. When the lawn mower executes an edge mowing operation in the same mowing task, edge mowing is performed within the range of a preset distance from the boundary of a mowing area, and the number of laps of edge mowing is greater than or equal to one; in the same mowing task, when the number of laps of edge mowing is greater than one, routes for at least two laps of edge mowing do not overlap, and the minimum distance between the route for the innermost lap of edge mowing and a turning position of an internal mowing operation is less than a preset value; and at least in mowing operations of a first mowing task and a second mowing task, the turning positions of internal mowing operations are different and / or the numbers of laps of edge mowing are different. In the method of the present application, the turning position of the lawn mower is changed, thereby reducing the probability of the lawn mower bruising grass, and improving the mowing quality of the lawn mower.

Description

Lawn mowers and their control methods Cross-reference of related applications

[0001] This disclosure claims priority to Chinese Patent Application No. 202411931878.7, filed on December 25, 2024, entitled "Lawnmower and Control Method Thereof," the contents of which are incorporated herein by reference in their entirety as part of this disclosure. Technical Field

[0002] This disclosure relates to the field of cleaning technology, and more particularly to a lawnmower and its control method. Background Technology

[0003] With the development of intelligent cleaning technology, lawnmowers with autonomous movement and mowing functions are gradually replacing manual weeding.

[0004] When a lawnmower is moving, it will encounter large, blocky areas. When cleaning in these areas, existing lawnmowers usually use internal mowing and edge mowing to improve the mowing coverage.

[0005] However, the above mowing method is not perfect. When the mower turns, it is easy to cause grass abrasion and damage. Over time, this will lead to serious grass abrasion marks in the mowing area. Summary of the Invention

[0006] In view of this, the lawnmower and its control method provided in the embodiments of this disclosure.

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

[0008] The lawnmower is controlled to perform mowing tasks within a mowing area according to the mowing operation. The mowing operation includes at least edge mowing and inner mowing. When the lawnmower performs edge mowing in the same mowing task, the edge mowing is carried out within a preset distance from the boundary of the mowing area, and the number of edge mowing circles is greater than or equal to one. In the same mowing task, when the number of edge mowing circles is greater than one, at least two edge mowing routes do not overlap, and the minimum distance between the innermost edge mowing route and the turning position of the inner mowing operation is less than a preset value. When the lawnmower performs inner mowing, it turns at a turning position when the boundary of the mowing area is in front of the lawnmower and the distance between the lawnmower and the boundary of the mowing area meets the preset turning distance. The mowing task includes at least a first mowing task and a second mowing task. At least some turning positions in the first mowing task and the second mowing task correspond to different preset turning distances.

[0009] In the same mowing task, when the number of mowing loops is greater than one, there are at least two loops of mowing routes that do not overlap. The minimum distance between the innermost mowing route and the turning position of the inner mowing operation is less than a preset value. That is, when the mowing operation is set to multiple loops, multiple mowing operations can be successively recessed to ensure that they do not overlap with each other, thereby reducing the possibility of grass rubbing due to too many route intersections.

[0010] This embodiment utilizes a second mowing task to supplement the first mowing task. In adjacent first and second mowing tasks, the number of circles for edge mowing and the turning position for internal mowing differ. That is, when the mowing machine performs different batches of mowing tasks, although the mowing plan is to first mow along the edge and then mow in a bow shape, the turning positions of the two tasks are different. This avoids repeated damage to the most damaging areas of the grass. Furthermore, by supplementing the different planned routes of the bow shape through edge mowing, the two tasks can increase the cleaning coverage of the area to be cleaned through non-overlapping path planning, and reduce the possibility of grass abrasion caused by path overlap, thereby improving the overall cleaning effect.

[0011] The lawnmower includes drive wheels located on the left and right sides.

[0012] Therefore, in some embodiments, when the lawnmower turns along the turning route of the internal mowing operation, the left drive wheel and the right drive wheel rotate in opposite directions. This allows for adjustment of the machine's rotation angle by utilizing the opposite rotation directions of the two drive wheels. Furthermore, by using both drive wheels simultaneously, the turning radius is reduced, causing the rotation center to shift from one drive wheel to the center position between the two drive wheels. This reduces the prolonged stationary rotation and grass grinding when only one drive wheel is the rotation center, thus improving the aesthetics of the lawn.

[0013] In some embodiments, adjusting the rotation angle of the body by rotating the drive wheels in opposite directions on both sides can enable the lawnmower to make a right-angle turn, that is, it can make two 90-degree or nearly 90-degree turns in the same direction to complete a right-angle turn. For straight, regular boundaries, right-angle turns result in better cleaning and are less likely to miss mowing spots.

[0014] In other embodiments, when the lawnmower turns along the turning route of the internal mowing operation, the left drive wheel and the right drive wheel rotate in the same direction, thereby enabling the lawnmower to turn around at a large arc angle. By using the gentle arc of the turn, the frequency of slippage is reduced, and since the drive wheels only roll over the lawn once during the turn, the possibility of grass abrasion can be reduced.

[0015] By controlling the drive wheels in the two ways described above, the lawnmower can turn around at the internal mowing operation turning point. Both methods control the drive wheels on both sides to be in a non-stationary rotational state during the turning process, thereby avoiding prolonged trampling of the lawn due to stationary rotation and improving the cleaning effect of the area to be cleaned.

[0016] In some embodiments, the turning position of the inner mowing operation is inside the innermost circle of the edge mowing operation, and the distance between the innermost circle of the edge mowing operation and the boundary of the mowing area is 30cm-50cm. This allows the mowing to proceed in a bow-shaped pattern, moving inwards from the outermost circle, thus ensuring that the turning position is far from the boundary and guaranteeing safety during the mowing process.

[0017] In one possible implementation, the distance between the outermost edge of the edge mowing operation and the boundary of the mowing area is 0cm-50cm.

[0018] For example, the spacing between the different paths is determined based on the single cleaning range of the lawnmower. The distance value designed in this embodiment can reduce the area missed by the lawnmower and reduce the possibility of grass abrasion caused by repeated cleaning.

[0019] In one possible implementation, the path interval between two adjacent straight routes in the internal mowing operation is d, the lawnmower includes a drive wheel with a wheel width of n, and at least in the mowing operations of the first mowing task and the second mowing task, the minimum interval between the straight routes of the internal mowing operation of at least a portion of the first mowing task and the straight routes of the internal mowing operation of at least a portion of the second mowing task is greater than or equal to 3 / 2n and less than or equal to 1 / 2d.

[0020] In one possible implementation, the internal lawn mowing operation includes at least one S-shaped bow unit and an arc-shaped unit connected to the S-shaped bow unit, the arc-shaped unit being disposed in the middle of the S-shaped bow unit.

[0021] In one possible implementation, the internal mowing operation includes a first sub-bow path and a second sub-bow path; the first sub-bow path and the second sub-bow path do not overlap and travel in opposite directions.

[0022] In some possible implementations, the spacing between the bow-shaped elements of the first sub-bow path and the bow-shaped elements of the second sub-bow path is equal.

[0023] By employing the two internal mowing design methods described above, the lawnmower can turn around with a larger turning radius while ensuring the cutting coverage of the area to be cleaned, thus reducing the area missed during mowing.

[0024] In one possible implementation, the method further includes:

[0025] Switching from a first sub-bow path to a second sub-bow path; the method of switching from the first sub-bow path to the second sub-bow path includes: controlling the lawnmower to travel from the first sub-bow path to the second sub-bow path according to a first connecting path; the first connecting path is a unidirectional arc path; or, controlling the lawnmower to travel from the first sub-bow path to the second sub-bow path according to a second connecting path; the second connecting path is a combination of multiple arc paths traveling in multiple directions.

[0026] By controlling the lawnmower to switch paths with smaller intervals using the two methods described above, we can avoid the lawnmower from repeatedly rotating and grinding the lawn when switching short distances. By using a larger rotation radius, we can overcome this defect and reduce the possibility of grass grinding.

[0027] In some embodiments, the path interval between two adjacent straight routes in an internal mowing operation is d, the mower includes a drive wheel with a wheel width of n, and at least in the mowing operations of the first mowing task and the second mowing task, the minimum interval between the straight routes of at least a portion of the internal mowing operation of the first mowing task and the straight routes of at least a portion of the internal mowing operation of the second mowing task is greater than or equal to 3 / 2n and less than or equal to 1 / 2d.

[0028] By limiting the rotational angular velocity and linear velocity of the lawnmower's drive wheels, the turning radius of the lawnmower is limited, so that the drive wheels will not rotate in place, thereby reducing the possibility of the drive wheels grinding the grass.

[0029] In one possible implementation, the lawnmower further includes a detection device for detecting obstacles in the lawnmower's path; the method further includes:

[0030] When the lawnmower encounters an obstacle while traveling along the edge mowing operation, the lawnmower is controlled to switch to the target mowing path, which is the edge mowing path corresponding to the mowing task without obstacles.

[0031] By switching paths to avoid obstacles, the lawnmower remains on the planned path after obstacle avoidance, preventing the mowing path from becoming chaotic and reducing cleaning coverage.

[0032] In one possible implementation, the lawnmower includes a retractable blade; the method further includes:

[0033] When the lawnmower is cutting grass along the inner mowing operation of the second mowing task, the cutter head is controlled to extend at least to the turning position of the first mowing task.

[0034] Since the second mowing task is mainly to supplement the first mowing task, especially since it is easy to miss mowing at the turning point of the mowing operation inside the first mowing task, for example, when using an arc turning point on a straight boundary, there will inevitably be some missed mowing at the arc turning point. Therefore, the area can be supplemented by extending the cutter head, without having to cut at the turning point again. In this way, the extension and retraction of the cutter head can reduce the mower's re-crushing of the turning point and reduce the possibility of grass grinding.

[0035] Secondly, this disclosure provides a method for controlling a lawnmower, controlling the lawnmower to perform mowing tasks in a mowing area according to the mowing operation, the mowing operation including at least edge mowing and interior mowing; wherein, when the lawnmower performs edge mowing in the same mowing task, the edge mowing operation is performed within a preset distance from the boundary of the mowing area, the number of edge mowing circles is greater than or equal to one circle, and when the number of circles is greater than one circle, the circles of edge mowing do not overlap; in the interior mowing operation, the path interval between two adjacent straight lines is d, the lawnmower includes a drive wheel with a wheel width of n, and at least in the first mowing task and the second mowing task, the minimum interval between the straight lines of at least a portion of the interior mowing operation of the first mowing task and the straight lines of at least a portion of the interior mowing operation of the second mowing task is greater than or equal to 3 / 2n and less than or equal to 1 / 2d.

[0036] The method in this embodiment ensures that the paths of the two tasks do not overlap by controlling the internal mowing operation of the second mowing task in the middle of the internal mowing operation of the first mowing task, thereby reducing the possibility of grass grinding. Furthermore, by using the path setting in the middle position, it ensures that the missed cutting areas of the first mowing task can be completely covered in the second mowing task, thereby improving the cleaning coverage rate.

[0037] Thirdly, the turning position of the inner mowing operation overlaps with the trajectory of the innermost circle of the edge mowing operation.

[0038] Fourthly, this disclosure provides a method for controlling a lawnmower, the method comprising: controlling the lawnmower to perform a mowing task in a mowing area according to a mowing operation, the mowing operation including at least edge mowing operation and interior mowing operation; wherein, when the lawnmower performs edge mowing operation in the same mowing task, the edge mowing operation is performed within a preset distance from the boundary of the mowing area, and the interior mowing operation includes at least two S-shaped bow units and arc units respectively connected to the two S-shaped bow units, the arc units connecting the two adjacent S-shaped bow units.

[0039] The method in this embodiment limits the turning radius of the lawnmower to a relatively gentle radius by defining the shape of the internal mowing operation, so that the lawnmower will not slip when turning around, thereby reducing the possibility of the drive wheels rubbing against the grass.

[0040] Fifthly, embodiments of this disclosure provide a method for controlling a lawnmower, the method comprising:

[0041] The lawnmower is controlled to perform mowing tasks within a mowing area according to the mowing operation. The mowing operation includes at least edge mowing and interior mowing. When the lawnmower performs edge mowing in the same mowing task, the edge mowing is carried out within a preset distance from the boundary of the mowing area. The interior mowing includes a straight route and an arc-shaped turning route connecting two straight routes. The interior mowing includes a first sub-bow path and a second sub-bow path. The first and second sub-bow paths do not overlap and travel in opposite directions. The straight route of the second sub-bow path is located between the two straight routes of the first sub-bow path.

[0042] The method in this embodiment limits the turning radius of the lawnmower to a relatively gentle radius by defining the shape of the two intersecting internal mowing operations, so that the lawnmower will not slip when turning around, thereby reducing the possibility of the drive wheels rubbing against the grass.

[0043] Sixthly, embodiments of this disclosure provide a control method for a lawnmower, the lawnmower including a retractable blade; the method includes:

[0044] The lawnmower is controlled to perform mowing tasks in the mowing area according to the mowing operation, which includes at least edge mowing and interior mowing. When the lawnmower performs edge mowing in the same mowing task, the edge mowing is carried out within a preset distance from the boundary of the mowing area. In the mowing operations of the first and second mowing tasks, at least some of the turning positions of the lawnmower in the first and second mowing tasks correspond to different preset turning distances. When the lawnmower is mowing along the interior mowing operation in the second mowing task, the cutter head is controlled to extend at least to the first turning position to cut grass.

[0045] The method in this embodiment, by limiting the telescopic cutter disc to make up for the missed areas in the first mowing task, allows the lawnmower to cut a larger area of ​​lawn in one position, thereby reducing the possibility that the lawnmower's next travel route in the area to be cleaned overlaps with the previous travel route, and thus reducing the possibility of the drive wheels rubbing against the grass.

[0046] Seventhly, a method for controlling a lawnmower is provided. The method controls the lawnmower to perform mowing tasks within a mowing area according to the mowing operation, which includes at least internal mowing operations. When performing internal mowing operations, the lawnmower turns at a turning position when the boundary of the mowing area is in front of the lawnmower and the distance between the lawnmower and the boundary of the mowing area meets a preset turning distance. The mowing task includes at least a first mowing task and a second mowing task. At least some turning positions in the first and second mowing tasks correspond to different preset turning distances, resulting in different turning positions for at least some internal mowing operations. By controlling the different turning positions for each reciprocating mowing operation, the method prevents the lawnmower from turning at the same position, thus avoiding damage to the grass. By setting the turning distances in an orderly manner, the route planning can be made more reasonable, and the second mowing route can be designed based on the previous operation, reducing the probability of problems with the mowing route and ensuring the reliability of the mowing route planning.

[0047] In a seventh aspect, embodiments of this disclosure provide a lawnmower, including: a processor and a memory communicatively connected to the processor; the memory stores computer execution instructions; the processor executes the computer execution instructions stored in the memory to implement the above-described lawnmower control method, with beneficial effects similar to those described above, and will not be repeated here. The lawnmower and its control method provided in this disclosure control the lawnmower to perform mowing tasks according to a mowing operation, the mowing operation including at least edge mowing and internal mowing within the edge mowing operation; wherein, the edge mowing operation is at least one circle along the edge, offset inward by a preset distance from the boundary of the mowing area; in the same mowing task, the routes of multiple circles of edge mowing do not overlap; in adjacent first and second mowing tasks, the number of circles of edge mowing is different, and the turning position of the internal mowing is different. Thus, while ensuring clean coverage, the overlap of mowing paths is reduced, thereby reducing the probability of the lawnmower abrading the grass and improving the cleaning effect of the lawnmower. Attached Figure Description

[0048] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the embodiments of the present disclosure.

[0049] Figure 1 is a schematic diagram of the bottom structure of a lawnmower provided in an embodiment of this disclosure;

[0050] Figure 2 is a schematic flowchart of the control method for a lawnmower provided in an embodiment of this disclosure;

[0051] Figure 3 is a schematic diagram of the mowing operation path of the lawnmower provided in the embodiment of this disclosure;

[0052] Figure 4 is a schematic diagram of the mowing operation section inside the right-angle turn of the lawnmower provided in the embodiment of this disclosure;

[0053] Figure 5 is a schematic diagram of a combined path provided in an embodiment of this disclosure;

[0054] Figure 6 is a schematic diagram of an internal lawn mowing operation provided in an embodiment of this disclosure.

[0055] Figure 7 is a schematic diagram of another internal lawn mowing operation provided in an embodiment of this disclosure;

[0056] Figure 8 is a schematic diagram of the first connection path provided in an embodiment of this disclosure;

[0057] Figure 9 is a schematic diagram of a second connection path provided in an embodiment of this disclosure;

[0058] Figure 10 is a schematic diagram of another second connection path provided in an embodiment of this disclosure.

[0059] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0060] 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 denote 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 as detailed in the appended claims.

[0061] The areas of existing lawns to be cleaned may be continuous blocks or channel-like areas. This application primarily focuses on controlling the cleaning method of the lawnmower in block-like areas. However, it can also be applied to mowing operations in other non-block-like areas. This application only limits the mowing control method and does not further limit parameters such as the size of the area to be cleaned. For example, block-like areas can have any shape, such as circular boundaries, square boundaries, or irregularly shaped boundaries.

[0062] In some cases, autonomous lawnmowers typically perform a two-step operation when cleaning the area to be cleaned: mowing along the edges of the area and mowing the interior of the area. This ensures complete coverage and minimizes missed areas. The interior mowing can be a right-angle turn (bow-shaped), an arc turn (similar to a bow-shaped), or other reciprocating mowing techniques. However, this path control method may have the following drawbacks:

[0063] When the lawn mowing operation involves a right-angle turn, the lawnmower controls one drive wheel to remain stationary while the other drive wheel rotates to achieve the right-angle turn. However, the stationary drive wheel will rotate in place, causing the lawn at the point of rotation to be rolled over for an extended period of time. If the same rolling position is set for each lawn mowing operation, it can easily lead to the lawn being worn bare, reducing the aesthetic appeal of the area to be cleaned.

[0064] When the lawnmower makes an arc-shaped turn, it controls both drive wheels to rotate on the same side to achieve the arc. However, the turning radius of this same-side rotation is usually large, easily leading to missed areas and reducing the overall clean coverage of the lawn. Reducing the turning radius often involves repeatedly reversing and turning forward, causing the drive wheels to repeatedly grind the lawn. If the grinding area is repeated during each mowing operation, it can also easily wear down the lawn, reducing the aesthetic appeal of the area to be cleaned.

[0065] In view of this, controlling the mower's mowing path to not overlap in different mowing tasks reduces the probability of repeated mowing of the lawn and the possibility of the lawn being worn bare, aiming to solve the above-mentioned technical problems of the existing technology.

[0066] The specific application scenarios of this disclosure are as follows:

[0067] Figure 1 is a schematic diagram of the bottom structure of a lawnmower provided in an embodiment of this disclosure. 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.

[0068] 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.

[0069] In some embodiments, the body 110 is also provided 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 through in the direction of travel.

[0070] In some embodiments, the detection device 150 may be a radar sensor, an infrared sensor, a vision sensor, and / or a collision avoidance plate, or other sensors capable of detecting distance. The obstacle information acquired by the detection device 150 may be distance information, obstacle type, or boundary information determined by the detection device 150.

[0071] The lawnmower 100 also includes a processor connected to a detection device 150, which is configured to execute a control method for the lawnmower 100 based on the detection results of the detection device 150.

[0072] In some embodiments, the lawnmower also includes a storage component, and the processor and storage component may be located inside the lawnmower. In some embodiments, the storage component may be integrated with the processor, or they may be two separate components.

[0073] Storage components are configured 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.

[0074] The processor may include, for example, one or more circuits or chips with control functions. The processor is configured to control the lawnmower's operation and respond to user commands via various software control programs stored in memory.

[0075] The execution entity of this 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.

[0076] 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.

[0077] The embodiments of the present disclosure will now be described with reference to the accompanying drawings.

[0078] Figure 2 is a schematic flowchart of the control method for a lawnmower provided in an embodiment of this disclosure. As shown in Figure 2, the method includes:

[0079] S201. Control the lawnmower to perform the first mowing task according to the mowing operation, the mowing operation including at least the edge mowing operation and the internal mowing operation within the edge mowing operation.

[0080] Among them, grass mowing is the specific way in which a lawnmower performs the grass mowing task.

[0081] For example, when the mowing task is to clean the first target area, the corresponding mowing operations for the first target area are mowing along the edge of the first target area and mowing in a bow shape within the first target area.

[0082] In some embodiments, there is no requirement for a specific order of execution between edge mowing and interior mowing operations.

[0083] For example, a lawnmower can perform edge mowing first, and then perform interior mowing. Or, the lawnmower can perform interior mowing first, and then perform edge mowing.

[0084] In some embodiments, edge mowing can be performed around the edge of the area to be cleaned, or multiple times around the edge of the area to be cleaned.

[0085] When the lawnmower performs edge mowing in the same mowing task, the edge mowing operation is carried out within a preset distance from the boundary of the mowing area. The number of edge mowing circles is greater than or equal to one. In the same mowing task, when the number of edge mowing circles is greater than one, at least two edge mowing routes do not overlap. The minimum distance between the innermost edge mowing route and the turning position of the inner mowing operation is less than a preset value. At least in the first and second mowing tasks, the turning position and the number of edge mowing circles are different, so that in the same mowing task, the minimum distance between the innermost edge mowing route and the turning position of the inner mowing operation is less than the preset value. For example, the turning position of at least part of the internal mowing operation includes: a first preset turning distance in the first mowing task and a second preset turning distance in the second mowing task; the first preset turning distance and the second preset turning distance are different, so that the turning position corresponding to the first preset turning distance and the turning position corresponding to the second preset turning distance are different, thereby making the turning position of at least part of the internal mowing operation different in the mowing operations of the first mowing task and the second mowing task.

[0086] In some embodiments, multiple edge mowing operations are distributed at equal intervals within the area to be cleaned.

[0087] When the edge mowing operation is a circle, the inner mowing operation is set within the edge mowing operation.

[0088] When the edge mowing operation consists of multiple loops, the innermost edge mowing operation is located within the innermost edge mowing operation. In some embodiments, the distance between the innermost edge mowing operation and the boundary of the mowing area is 30cm-50cm.

[0089] Since lawnmowers primarily control the rotation angle and direction of the two drive wheels to achieve turning operations, for example, keeping the left drive wheel stationary while rotating the right drive wheel 50 degrees clockwise until the mower body rotates 180 degrees can turn the mower to the left. However, this method can cause wear and tear on the lawn beneath the left drive wheel due to its stationary rotation. Therefore, it is necessary to limit the turning actions during internal mowing operations.

[0090] In some embodiments, the U-turn operation is limited in the following two ways:

[0091] Method 1: When turning around, control the left and right drive wheels to rotate in opposite directions. For example, control the left drive wheel to rotate counterclockwise and the right drive wheel to rotate clockwise, so that the lawnmower body can turn to the left without causing the lawn to grind the grass while rotating in place.

[0092] In some embodiments, right-angle turns are achieved by controlling the drive wheels on the left and right sides to rotate in opposite directions. After performing a right-angle turn at the turning position, the drive wheel travels a certain distance and then performs another right-angle turn, thereby completing two right-angle turning and turning operations of the lawnmower. This reduces the possibility of the drive wheel paths overlapping during the two right-angle turns, thereby reducing the possibility of the drive wheels repeatedly grinding the grass.

[0093] Method 2: When turning around, control the left and right drive wheels to rotate in the same direction. For example, control the left and right drive wheels to rotate counterclockwise simultaneously, but the steering angle of the left drive wheel is greater than that of the right drive wheel. This achieves a leftward arc turn of the lawnmower body, thus avoiding the left drive wheel from rotating in place and preventing the lawnmower from grinding grass.

[0094] Both methods described above can reduce the abrasion of the drive wheels on the grass. However, both the right-angle turn in Method 1 and the arc turn in Method 2 may result in a larger turning radius for the internal mowing operation, meaning a larger path interval between the straight lines of the internal mowing operation. This can lead to missed areas being mowed. These missed areas are the portions between the straight lines of the internal mowing operation. Therefore, after completing the first mowing task, a second mowing task is required to re-mow the missed areas. In other words, in some cases, the second mowing task is a follow-up or supplementary task to the first mowing task.

[0095] S202. Control the lawnmower to perform the second mowing task according to the mowing operation. In the adjacent first mowing task and second mowing task, the number of circles of the lawnmower's edge mowing operation is different, and the turning position of the inner mowing operation is different.

[0096] The first and second mowing tasks can be either two mowing tasks that are adjacent in time or two tasks that are not adjacent in time. For example, after the lawnmower performs the first mowing task on the first target area to be cleaned, it then performs the second mowing task on the same target area, thus achieving two mowing tasks that are adjacent in time. Alternatively, after the lawnmower performs the first mowing task on the first target area to be cleaned, it leaves the first target area to perform the mowing task on the second target area, and then returns to the first target area to perform the second mowing task, thus achieving two mowing tasks that are not adjacent in time. In other words, the first and second mowing tasks of the lawnmower can be understood as two mowing tasks that are adjacent in time within the same target area.

[0097] Both the first and second mowing tasks require the same mowing operations, meaning that both tasks must proceed along the edges and inside the area to be cleaned. However, the mowing operations in the first and second mowing tasks can not overlap, allowing the two mowing tasks to supplement the area to be cleaned, thereby increasing the cleanliness coverage of the area and reducing the possibility of the drive wheels rubbing against the grass due to repeated path travel.

[0098] In some embodiments, the distance between the innermost circle of the edge mowing operation and the boundary of the mowing area is 30cm-50cm. Since the minimum distance between the turning positions of the edge mowing operation and the inner mowing operation in the second mowing task is also set to 30cm-50cm, the inner mowing operation in the second mowing task will be synchronized with the edge mowing operation in the second mowing task and shrink inward, so that the turning position of the inner mowing operation in the second mowing task will not overlap with the turning position of the inner mowing operation in the first mowing task, thereby reducing the possibility of drive wheel rubbing grass due to route overlap.

[0099] In some embodiments, the path interval between two adjacent straight lines in an internal mowing operation is d, and the mower includes a drive wheel with a wheel width of n. At least in the mowing operations of the first mowing task and the second mowing task, the minimum interval between the straight lines of at least a portion of the internal mowing operation of the first mowing task and the straight lines of at least a portion of the internal mowing operation of the second mowing task is greater than or equal to 3 / 2n and less than or equal to 1 / 2d, thereby ensuring that the re-mowing can completely cover the missed areas and improve the mowing coverage rate.

[0100] The method provided in this embodiment controls the lawnmower to perform edge mowing and interior mowing operations again in the same area after the lawnmower has completed the edge mowing and interior mowing operations. The path in the lawnmower operation during the second operation is a non-overlapping, converging path relative to the path in the original operation, thereby reducing the lawnmower's repeated rolling of the same position in the area to be cleaned and thus reducing the risk of grass damage.

[0101] The following detailed description of the lawnmower operation of this disclosure embodiment is provided in conjunction with several specific embodiments.

[0102] Figure 3 is a schematic diagram of the mowing operation path of the lawnmower provided in the embodiment of this disclosure. As shown in Figure 3, the mowing operation path includes:

[0103] The first grass-cutting task includes edge mowing operation 301, internal grass-cutting operation 302, edge mowing operation 303, and internal grass-cutting operation 304.

[0104] The lawnmower is controlled to perform mowing tasks within the mowing area according to the mowing operation. The mowing operation includes at least edge mowing and inner mowing. When the lawnmower performs edge mowing in the same mowing task, edge mowing 301 performs edge mowing within a preset distance from the boundary of the mowing area, and the number of edge mowing circles is greater than or equal to one. In the same mowing task, when the number of edge mowing circles is greater than one, at least two edge mowing paths do not overlap, and the innermost edge mowing path and the turning position of the inner mowing operation are... The minimum distance is less than a preset value; when the lawnmower is performing internal mowing operations, if the boundary of the mowing area is in front of the lawnmower and the distance between the lawnmower and the boundary of the mowing area meets the preset turning distance, the lawnmower turns at the turning position. At least in the first mowing task and the second mowing task, at least some of the turning positions correspond to different preset turning distances (e.g., at least some of the turning positions of the internal mowing operations correspond to different preset turning distances), thus making the turning positions of at least some of the internal mowing operations different. For example, in the first mowing task, the turning position corresponds to a first preset turning distance, and in the second mowing task, the turning position of at least some of the internal mowing operations corresponds to a second preset turning distance. The first preset turning distance and the second preset turning distance are different, thus making the turning positions of at least some of the internal mowing operations different in the first mowing task and the second mowing task.

[0105] In some embodiments, the internal mowing operation 302 of the first mowing task is located inside the edge mowing operation 301 of the first mowing task, and the two do not intersect except at the path switching points of the internal mowing operation and the edge mowing operation. That is, the turning points of the internal mowing operation are all located inside the edge mowing operation, thereby reducing the possibility of the mower repeatedly crushing and grinding the grass at the intersection points. In some embodiments, the turning position of the internal mowing operation 302 of the first mowing task is located outside the edge mowing operation 301 of the first mowing task or intersects with the edge mowing operation 301.

[0106] The internal mowing operation 304 of the second mowing task is also set inside the edge mowing operation 303 of the second mowing task, which also achieves the effect of reducing the possibility of the mower repeatedly crushing and grinding the grass at the intersection position in the first mowing task.

[0107] For example, the second mowing task, relative to the first mowing task, exhibits an overall inward-sloping characteristic, except that the spacing between two adjacent straight lines in the internal mowing operation remains unchanged. For instance, the edge mowing operation 303 of the second mowing task and the edge mowing operation 301 of the first mowing task can be the same shape path with equal inward spacing. The internal mowing operation 302 of the first mowing task and the internal mowing operation 304 of the second mowing task can be similar shape paths with equal inward spacing at the turning position.

[0108] By utilizing the inward-curling mowing path, areas not cleaned in the first mowing task can be replenished, and the mower will not repeatedly travel to the same turning point and boundary position, thereby reducing repeated crushing of the turning point and boundary position areas and thus reducing the possibility of grass abrasion.

[0109] Unlike the arc-shaped turn mowing operation shown in Figure 3 above, Figure 4 is a schematic diagram of the right-angle turn mowing operation of the lawnmower provided in this embodiment. As shown in Figure 4, the mowing operation includes:

[0110] Internal mowing operation 302 for the first mowing task and internal mowing operation 304 for the second mowing task.

[0111] The turning position of the inner mowing operation 304 of the second mowing task is set inside the turning position of the inner mowing operation 302 of the first mowing task.

[0112] In some embodiments, the distance between the turning position of the inner mowing operation 304 of the second mowing task and the turning position of the inner mowing operation 302 of the first mowing task can be set to be equal to the distance between the straight line of the inner mowing operation 302 of the first mowing task and the straight line of the inner mowing operation 304 of the second mowing task.

[0113] In some embodiments, while maintaining a large turning radius for internal mowing operations to reduce grass abrasion, the following bow-shaped walking paths can be adopted to improve the cleaning coverage of internal mowing operations in the area to be cleaned.

[0114] Method 1: Figure 5 is a schematic diagram of a combined path provided in an embodiment of this disclosure. As shown in Figure 5, the internal lawn mowing operation includes at least one S-shaped bow path (solid line) and a circular path (dashed line) connected to the S-shaped bow path, wherein the circular path is located in the middle of the S-shaped bow path.

[0115] For example, the lawnmower is controlled to move from a first side of the area to be cleaned to a second side, turning with a first rotation direction and a first rotation radius, then controlled to move from the second side of the area to be cleaned to the first side, turning with a second rotation direction and a first rotation radius, then controlled to move from the first side of the area to be cleaned to the second side, turning with a second rotation direction and a second rotation radius, then controlled to move from the second side of the area to be cleaned to the first side, turning with a second rotation direction and a first rotation radius, then controlled to move from the first side of the area to be cleaned to the second side, turning with a first rotation direction and a first rotation radius; wherein the first rotation direction and the second rotation direction are opposite, and the first rotation radius is smaller than the second rotation radius.

[0116] For example, Figure 6 is a schematic diagram of an internal lawn mowing operation provided in an embodiment of this disclosure. As shown in Figure 6, starting from point A, the vehicle first travels in a straight line to point B on the right, then turns clockwise to point C, then travels in a straight line from point C to point D on the left, then turns counterclockwise to point E, and continues from point E to point F, completing an S-shaped bow path; then starting from point F, the vehicle turns counterclockwise to point G on the upper half of the S-shaped bow path, then travels in a straight line from point G to point H on the left, then turns counterclockwise from point H to point I on the lower half of the S-shaped bow path, and continues from point I to point J on the right, completing an arc path; then starting from point J, the vehicle turns clockwise to point a, beginning the next combination of an S-shaped bow path and an arc path.

[0117] Among them, the combination of two adjacent S-shaped bow-shaped paths and arc-shaped paths is a centrally symmetrical distribution of paths with the intersection point of the two paths as the center point, that is, the two paths have the same shape but opposite directions.

[0118] For example, after reaching point a along the above path, first drive straight to point b on the left, then turn counterclockwise to point c, then drive straight from point c to point d on the right, then turn clockwise to point e, and continue driving from point e to point f, completing an S-shaped bow path; then start from point f, turn clockwise to point g on the upper half of the S-shaped bow path, then drive straight from point g to point h on the right, then turn clockwise from point h to point i on the lower half of the S-shaped bow path, and continue driving straight from point i to point j on the left, completing an arc path.

[0119] Method 2: The internal mowing operation includes a first sub-bow path and a second sub-bow path; the first sub-bow path and the second sub-bow path do not overlap and travel in opposite directions.

[0120] For example, the lawnmower is controlled to move from the third side to the fourth side of the area to be cleaned along a first sub-bow-shaped path, and then turn around and move from the fourth side to the third side of the area to be cleaned along a second sub-bow-shaped path; wherein the first sub-bow-shaped path and the second sub-bow-shaped path do not overlap.

[0121] In some embodiments, the spacing between the bow-shaped units of the first sub-bow path and the bow-shaped units of the second sub-bow path is equal, that is, the spacing between adjacent straight lines after the first sub-bow path and the second sub-bow path intersect and combine is equal.

[0122] For example, Figure 7 is a schematic diagram of another internal lawn mowing operation provided in an embodiment of this disclosure. As shown in Figure 7, in terms of shape, the second sub-bow path (dashed line) can be obtained by shifting the first sub-bow path (solid line) downward and mirroring it left and right; in terms of the walking direction, the first sub-bow path (solid line) is the internal lawn mowing operation from top to bottom, and the second sub-bow path (dashed line) is the internal lawn mowing operation from bottom to top.

[0123] For the two zigzag paths in Figure 7, when switching paths, because the distance between points M and N at the switching points is relatively short, turning directly from point M to point N requires controlling at least one drive wheel of the lawnmower to turn in place while the other drive wheel rotates at a certain angle. This easily leads to repeated trampling and abrasion of the lawn at the point of in-place turning. The following methods are used to solve this problem:

[0124] Method 1: Control the lawnmower to travel from the first sub-bow path to the second sub-bow path along the first connecting path; the first connecting path is a unidirectional arc path.

[0125] For example, Figure 8 is a schematic diagram of the first connection path provided in an embodiment of this disclosure. As shown in Figure 8, the lawnmower starts from point M, first controls the drive wheels on both sides to deflect to the right of the direction of travel and move forward, and then gradually changes the deflection direction to deflect to the left of the direction of travel during the process, so that the lawnmower can turn around to point N in the shape of the route shown in the figure, without the phenomenon of rotating and grinding grass in place for a long time.

[0126] Method 2: Control the lawnmower to travel from the first sub-bow path to the second sub-bow path according to the second connecting path; the second connecting path is a combination of multiple arc paths traveling in multiple directions.

[0127] For example, Figure 9 is a schematic diagram of a second connection path provided in an embodiment of this disclosure. As shown in Figure 9, the lawnmower starts from point M, first controls the drive wheels on both sides to deflect to the left of the direction of travel and move forward, then controls the drive wheels on both sides to deflect to the right of the direction of travel and move backward, and finally controls the drive wheels on both sides to deflect to the left of the direction of travel and move forward to point N. Similarly, there will be no phenomenon of rotating and grinding grass in place for a long time.

[0128] For example, Figure 10 is a schematic diagram of another second connection path provided by an embodiment of this disclosure. As shown in Figure 10, the lawnmower starts from point M, first controls the drive wheels on both sides to deflect to the left of the direction of travel and move forward, then controls the drive wheels on both sides to deflect to the right of the direction of travel and move backward, and finally controls the drive wheels on both sides to deflect to the right of the direction of travel and move forward to point N. Similarly, there will be no phenomenon of rotating and grinding grass in place for a long time.

[0129] The control method of this disclosure can also plan the path for mowing the area to be cleaned. For example, the mowing operation of the area to be cleaned includes first mowing along the edge for two circles, and then mowing the inner area within the inner circle of the two circles.

[0130] Based on the above embodiments, if there are obstacles in the area to be cleaned, the existing lawnmowers usually take an obstacle avoidance operation by turning arbitrarily after recognizing the obstacle. However, the obstacle avoidance operation will disrupt the original path planning and may easily cause the area to be cleaned to be missed.

[0131] In this embodiment of the disclosure, when the lawnmower encounters an obstacle while traveling along the edge mowing operation, it controls the lawnmower to switch to a target mowing path. The target mowing path is the edge mowing path corresponding to the mowing task without obstacles. That is, the obstacle is avoided by switching paths. After the obstacle disappears, the lawnmower switches back to the original path. Alternatively, after the target path is cleaned, the lawnmower switches back to the initial path without obstacles to continue mowing.

[0132] In some embodiments, when the blade of the lawnmower is retractable, in the event of the aforementioned obstacle, the lawnmower can be controlled to switch to the target path and then extend the blade to re-cut the missed areas at the initial path.

[0133] For lawnmowers equipped with retractable blades, when performing internal mowing operations, the turning positions of the two mowing tasks are different, which can easily lead to missed mowing at the turning positions. Therefore, the control method may further include: the mowing task includes at least a first mowing task and a second mowing task; at least some of the turning positions in the first mowing task and the second mowing task correspond to different preset turning distances (for example, at least some of the turning positions of the internal mowing operations correspond to different preset turning distances), so that at least some of the turning positions of the internal mowing operations are different; when the lawnmower is mowing along the internal mowing operation in the second mowing task, the blade is controlled to extend at least to the first turning position to mow. For example, at least in the mowing operations of the first mowing task and the second mowing task, the turning position of at least part of the internal mowing operation includes: a first preset turning distance corresponding to the first mowing task and a second preset turning distance corresponding to the second mowing task. The first preset turning distance and the second preset turning distance are different, so that the turning position of at least part of the internal mowing operation is different in the mowing operations of the first mowing task and the second mowing task. When the mower is mowing along the internal mowing operation in the second mowing task, the control blade extends at least to the first turning position to mow.

[0134] This embodiment also provides a lawnmower, including: a processor, and a memory communicatively connected to the processor;

[0135] The memory stores computer-executed instructions;

[0136] The processor executes computer execution instructions stored in the memory to implement the lawnmower control method.

[0137] In the above embodiments, the communication connection device can be a communication component.

[0138] Processors, memory, and communication components can be connected via a bus.

[0139] 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.

[0140] 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. A general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly manifested as being executed by a hardware processor, or executed by a combination of hardware and software modules within the processor.

[0141] The memory may include high-speed RAM, and may also include non-volatile storage (NVM), such as at least one disk storage.

[0142] 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.

[0143] It is understandable that processors can implement the above functions through electronic devices or main control devices, which include the corresponding hardware structure and / or software modules for performing each function.

[0144] 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.

[0145] This disclosure also provides a computer program product, including a computer program that, when executed by a processor, implements a method for controlling a lawnmower.

[0146] 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 here.

[0147] This disclosure also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the above-described lawnmower control method.

[0148] 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.

[0149] 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.

[0150] 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.

[0151] 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.

[0152] 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.

[0153] 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 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 the present invention.

Claims

1. A control method for a lawnmower, wherein, The method includes: The lawnmower is controlled to perform mowing tasks in the mowing area according to the mowing operation, which includes at least edge mowing and interior mowing; wherein, when the lawnmower performs the edge mowing operation in the same mowing task, the edge mowing operation is performed within a preset distance from the boundary of the mowing area, and the number of circles of edge mowing is greater than or equal to one circle. In the same mowing task, when the number of mowing loops is greater than one, there are at least two loops of mowing routes that do not overlap, and the minimum distance between the innermost mowing route and the turning position of the inner mowing operation is less than a preset value. When the lawnmower performs the internal mowing operation, it turns at a turning position when the boundary of the mowing area is in front of the lawnmower and the distance between the lawnmower and the boundary of the mowing area meets a preset turning distance; the mowing task includes at least a first mowing task and a second mowing task; at least some of the turning positions in the mowing operations of the first mowing task and the second mowing task correspond to different preset turning distances, so that at least some of the turning positions of the internal mowing operations are different.

2. A control method for a lawnmower, wherein, The method includes: The lawnmower is controlled to perform mowing tasks in the mowing area according to the mowing operation, which includes at least edge mowing and interior mowing; wherein, when the lawnmower performs the edge mowing operation in the same mowing task, the edge mowing operation is performed within a preset distance from the boundary of the mowing area, and the number of edge mowing circles is greater than or equal to one circle. In the same mowing task, when the number of mowing loops is greater than one, there are at least two loops of mowing routes that do not overlap. The path interval between two adjacent straight routes in the internal mowing operation is d, and the mower includes a drive wheel with a wheel width of n. The mowing task includes at least a first mowing task and a second mowing task; the minimum interval between the straight-line route of at least a portion of the internal mowing operation of the first mowing task and the straight-line route of at least a portion of the internal mowing operation of the second mowing task is greater than or equal to 3 / 2n and less than or equal to 1 / 2d.

3. A control method for a lawnmower, wherein, The method includes: The lawnmower is controlled to perform mowing tasks in the mowing area according to the mowing operation. The mowing operation includes at least edge mowing and interior mowing. When the lawnmower performs edge mowing in the same mowing task, the edge mowing is performed within a preset distance from the boundary of the mowing area. The interior mowing includes at least two S-shaped bow units and arc units connected to the two S-shaped bow units respectively. The arc units connect the two adjacent S-shaped bow units.

4. A control method for a lawnmower, wherein, The lawnmower includes a blade disc that can extend and retract in at least one direction, left or right; the method includes: The lawnmower is controlled to perform mowing tasks in the mowing area according to the mowing operation, which includes at least edge mowing and interior mowing; wherein, when the lawnmower performs the edge mowing operation in the same mowing task, the edge mowing operation is performed within a preset distance from the boundary of the mowing area. The mowing task includes at least a first mowing task and a second mowing task; in the mowing operations of the first mowing task and the second mowing task, at least some of the turning positions correspond to different preset turning distances, and at least some of the turning positions of the internal mowing operations are different. When the lawnmower is cutting grass along the inner mowing operation of the second mowing task, the cutter head is controlled to extend at least to the first turning position to cut grass.

5. A control method for a lawnmower, wherein, The method includes: The lawnmower is controlled to perform mowing tasks in the mowing area according to the mowing operation, which includes at least edge mowing and interior mowing; wherein, when the lawnmower performs the edge mowing operation in the same mowing task, the edge mowing operation is performed within a preset distance from the boundary of the mowing area. The internal mowing operation includes a straight route and an arc-shaped turning route connecting the two straight routes. The internal mowing operation includes a first sub-bow path and a second sub-bow path. The first sub-bow path and the second sub-bow path do not overlap and travel in opposite directions. The straight route of the second sub-bow path is located between the two straight routes of the first sub-bow path.

6. A method for controlling a lawnmower, wherein, The method includes: The lawnmower is controlled to perform mowing tasks in the mowing area according to the mowing operation, which includes at least the internal mowing operation; when the lawnmower is performing the internal mowing operation, and the boundary of the mowing area is in front of the lawnmower, and the distance between the lawnmower and the boundary of the mowing area meets the preset turning distance, the lawnmower turns at the turning position; The mowing task includes at least a first mowing task and a second mowing task; in the mowing operations of the first mowing task and the second mowing task, at least some of the turning positions correspond to different preset turning distances, so that at least some of the turning positions of the internal mowing operations are different.

7. The method according to any one of claims 1, 2, 3, 4, 5, or 6, wherein, The lawnmower includes drive wheels on the left and right sides. When the lawnmower turns along the turning path of the internal mowing operation, the drive wheels on the left and right sides rotate in opposite directions.

8. The method according to claim 7, wherein, The lawnmower includes drive wheels on the left and right sides. When the lawnmower turns along the turning path of the internal mowing operation, the drive wheel on the left and the drive wheel on the right rotate in the same direction.

9. The method according to claim 7, wherein, The turning position of the internal mowing operation is inside the innermost circle of the edge mowing operation, and the distance between the innermost circle of the edge mowing operation and the boundary of the mowing area is 30cm-50cm.

10. The method according to claim 7, wherein, The distance between the outermost edge of the edge mowing operation and the boundary of the mowing area is 0cm-50cm.

11. The method according to any one of claims 1, 3, 4, 5, or 6, wherein, The path interval between two adjacent straight routes in the internal mowing operation is d. The mower includes a drive wheel with a wheel width of n. The minimum interval between the straight routes of at least part of the internal mowing operation of the first mowing task and the straight routes of at least part of the internal mowing operation of the second mowing task is greater than or equal to 3 / 2n and less than or equal to 1 / 2d.

12. The method according to any one of claims 1, 2, 4, 5, or 6, wherein, The internal mowing operation includes at least two S-shaped bow units and arc units connected to the two S-shaped bow units respectively, wherein the arc units connect two adjacent S-shaped bow units.

13. The method according to claim 1, 2, 4, or 6, wherein, The internal mowing operation includes a straight route and an arc-shaped turning route connecting the two straight routes; the internal mowing operation includes a first sub-bow path and a second sub-bow path; the first sub-bow path and the second sub-bow path do not overlap and travel in opposite directions, and the straight route of the second sub-bow path is located between the two straight routes of the first sub-bow path.

14. The method according to claim 13, wherein, The spacing between the bow-shaped units of the first sub-bow path and the bow-shaped units of the second sub-bow path is equal.

15. The method according to claim 5 or 13, wherein, The method further includes: switching from the first sub-bow path to the second sub-bow path; The method for switching from the first sub-bow path to the second sub-bow path includes: controlling the lawnmower to travel from the first sub-bow path to the second sub-bow path along a first connecting path; the first connecting path is a unidirectional arc path.

16. The method according to claim 15, wherein, The method further includes: switching from the first sub-bow path to the second sub-bow path; The method for switching from the first sub-bow path to the second sub-bow path includes: controlling the lawnmower to travel from the first sub-bow path to the second sub-bow path according to a second connecting path; the second connecting path is a combination of multiple arc paths traveling in multiple directions.

17. The method according to claim 13, wherein, The path interval between two adjacent straight routes in the internal mowing operation is d. The mower includes a drive wheel with a wheel width of n. At least in the mowing operations of the first mowing task and the second mowing task, the minimum interval between the straight routes of at least a portion of the internal mowing operation of the first mowing task and the straight routes of at least a portion of the internal mowing operation of the second mowing task is greater than or equal to 3 / 2n and less than or equal to 1 / 2d.

18. The method according to any one of claims 1, 2, 3, 4, 5, or 6, wherein, The lawnmower also includes a detection device for detecting obstacles in the lawnmower's path; the method further includes: When the lawnmower encounters an obstacle while traveling along the edge mowing operation, the lawnmower is controlled to switch to the target mowing path, which is the edge mowing path corresponding to the mowing task without obstacles.

19. The method according to claim 2 or 11, wherein, The number of mowing loops along the edge is positively correlated with the minimum distance between the straight-line route or turning position of the internal mowing operation of each mowing task and the boundary of the mowing area.

20. The method according to any one of claims 1, 2, 3, 5, or 6, wherein, The lawnmower includes a blade that can extend and retract in at least one direction, left or right, of the body; a first mowing task includes a first turning position at a first distance from the mowing area, and a second turning position at a second distance from the mowing area, wherein the first distance and the second distance are different; when the lawnmower is mowing along the inner mowing operation of the second mowing task, the blade is controlled to extend at least to the first turning position to mow.

21. The method according to any one of claims 2, 3, or 5, wherein, The number of circles for mowing along the edge is greater than or equal to one circle; In the same mowing task, when the number of mowing loops is greater than one, there are at least two loops of mowing routes that do not overlap, and the minimum distance between the innermost mowing route and the turning position of the inner mowing operation is less than a preset value. When the lawnmower is performing the internal mowing operation, if the boundary of the mowing area is in front of the lawnmower and the distance between the lawnmower and the boundary of the mowing area meets the preset turning distance, the lawnmower turns at the turning position. The mowing task includes at least a first mowing task and a second mowing task; in the mowing operations of the first mowing task and the second mowing task, at least some turning positions correspond to different preset turning distances.

22. The method according to claim 1 or 21, wherein, The preset value for the minimum distance between the innermost edge mowing route and the turning position of the inner mowing operation is 30cm.

23. The method according to claim 1 or 21, wherein, The turning position of the inner mowing operation overlaps with the trajectory of the innermost circle of the edge mowing operation.

24. The method according to claim 1 or 21, wherein, At least in the first and second mowing tasks, the outermost edge-mowing route is the same.

25. The method according to claim 6, wherein, The mowing operation includes edge mowing, and the minimum distance between the innermost edge mowing route and the turning position of the inner mowing operation is less than a preset value.

26. A lawnmower, wherein, include: The machine body is connected to the cutter head, and the traveling device is connected to the machine body; 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 1-25.

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