Control method for mowing path of mowing robot, and storage medium and mowing robot

Abstract

A control method for a mowing path of a mowing robot, and a storage medium and a mowing robot. The method comprises: a mowing robot traveling within a working region, so as to form a first working trajectory; and when the mowing robot travels to a position where a first distance from the mowing robot to a boundary of the working region or an obstacle, to which an advancing direction points, meets a first predetermined condition, causing the mowing robot to perform, from a first turning position corresponding to the first working trajectory, a turning movement in a first state within the working region, so as to form a first turning trajectory, wherein the first state comprises: the wheel speed difference between driving wheels on two sides of the mowing robot being controlled to be greater than or equal to 0.15 m / s and less than or equal to 0.6 m / s.

Description

Lawn mowing robot path control method, storage medium, and lawn mowing robot

[0001] Cross-references to related applications

[0002] This application claims priority to the following Chinese patent application: Chinese Patent Application No. 202510112293.0, filed on January 23, 2025 with the China National Intellectual Property Administration, entitled “Control Method, Apparatus, Self-Moving Lawn Mower, and Storage Medium for Self-Moving Lawn Mowers”, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This disclosure relates to the field of robotics, and in particular to a method for controlling the mowing path of a lawnmower robot, a storage medium, and a lawnmower robot. Background Technology

[0004] Lawn mowing robots are commonly used for automated lawn maintenance. They are widely used because they can effectively reduce manpower requirements and improve lawn maintenance efficiency.

[0005] Currently, one common mowing method used by robotic lawnmowers is to perform a bow-shaped, covering mowing pattern within the user-taught work area. During this bow-shaped covering mowing process, the robotic lawnmower is prone to slipping or grinding against the grass when turning around near the boundary of the work area, resulting in grass damage. Summary of the Invention

[0006] The embodiments of this disclosure provide a method for controlling the mowing path of a lawnmower robot, a storage medium, and a lawnmower robot.

[0007] According to a first aspect of the present disclosure, a method for controlling the mowing path of a lawnmower robot is provided. The method includes: the lawnmower robot walking within a work area to form a first work trajectory; when the lawnmower robot reaches a first distance from the boundary of the work area or an obstacle in the work area that is pointing in the forward direction, which satisfies a first predetermined condition, the lawnmower robot starts from a first turning position and adopts a first state to turn and walk within the work area to form a first turning trajectory; the first state includes: the wheel speed difference between the two drive wheels of the lawnmower robot is controlled to be greater than or equal to 0.15 m / s and less than or equal to 0.6 m / s; the second distance between the first turning position and the boundary of the work area or an obstacle in the work area that is pointing in the forward direction satisfies a second predetermined condition, and the first distance is less than or equal to the second distance.

[0008] Since lawnmowers typically have accurate distance perception, and distance perception is easy to achieve, by utilizing a first distance to satisfy a first predetermined condition and a second distance to satisfy a second predetermined condition, the lawnmower can conveniently and accurately determine the end of the process of forming a first working trajectory (i.e., walking to the end position of the first working trajectory) and accurately position itself at the first turning position corresponding to the first working trajectory. By utilizing the first and second distances, the lawnmower can make it possible to make the first working trajectory as close as possible to the boundary of the working area or obstacles in the working area, while reserving space for turning and walking to form the first turning trajectory. Thus, when the lawnmower ends the process of forming the first working trajectory and enters other working trajectories, it can flexibly turn and turn around. By controlling the speed difference between the two drive wheels within a range of 0.15 m / s and 0.6 m / s during the turning process, the lawnmower robot can maintain a certain turning speed and adopt a relatively gentle turning trajectory compared to right-angle turns. This minimizes wheel slippage caused by excessively sharp turns, thus reducing the likelihood of the lawnmower robot grinding grass in place due to slippage during turning, even with a small increase in turning time.

[0009] Therefore, it can be seen that the lawn mowing robot in this embodiment of the present disclosure, by combining distance control and wheel speed difference control during the walking process, is conducive to achieving a balance between lawn mowing efficiency and the degree of grass damage. This is conducive to reducing the degree of grass wear during the turning process of the lawn mowing robot to a large extent while taking into account the lawn mowing efficiency of the lawn mowing robot, and is conducive to enriching the lawn mowing robot's lawn mowing path control methods.

[0010] In some embodiments, the method further includes: the lawnmower robot continuing to move within the work area and forming a second work trajectory; the second work trajectory and the first work trajectory being connected through the first turning trajectory.

[0011] In this embodiment of the disclosure, after the lawnmower robot has established a first working trajectory, it can reserve space for turning and walking to form a first turning trajectory by utilizing a first distance and a second distance. When it needs to enter the process of forming a second working trajectory, it is no longer necessary to adopt the bow-shaped turning method based on two right-angle turns.

[0012] In some embodiments, the first predetermined condition includes: the first distance is equal to a first preset distance; the second predetermined condition includes: the second distance is equal to a second preset distance;

[0013] By setting the first predetermined condition to a first distance equal to a first preset distance, the first predetermined condition is simple and easy for the lawnmower robot to execute. This allows the lawnmower robot to conveniently and accurately determine whether it has reached the end position of the first working trajectory, i.e., whether the formation process of the first working trajectory is complete. This enables the lawnmower robot to more precisely control the position where the first working trajectory ends. The first preset distance can be set according to the user's actual needs for the mowing path, making the first working trajectory formed by the lawnmower robot more in line with the user's actual needs. This allows for a certain degree of flexibility in the end position of the first working trajectory while maintaining a safe distance between the lawnmower robot and the boundary of the working area or obstacles in the working area. For example, by setting the first preset distance in the first predetermined condition, the lawnmower robot can make the end position of the first working trajectory as close as possible to the boundary of the working area or obstacles in the working area to maximize the coverage area of ​​the first working trajectory. Alternatively, the end position of the first working trajectory can be made slightly farther from the boundary of the working area or obstacles in the working area, making it possible for the lawnmower robot to turn and walk directly from the end position of the first working trajectory. Ultimately, this improves the flexibility of the lawnmower robot in controlling the mowing path.

[0014] By setting the second predetermined condition to be equal to the second preset distance, the second predetermined condition is made simple and easy for the lawn mowing robot to execute. This allows the lawn mowing robot to conveniently and accurately determine whether it has reached the first turning position corresponding to the first working trajectory, i.e. whether it can start turning and walking. This helps the lawn mowing robot to more accurately control the position where it starts turning and walking. The second preset distance can be set according to the user's actual needs for the first turning trajectory formed by the turning movement. This helps to make the first turning trajectory formed by the lawnmower more in line with the user's actual needs. This allows for some flexibility in the starting position of the lawnmower's turning movement, while also ensuring that the lawnmower maintains a safe distance from the boundary or obstacles during the turning movement within the work area. For example, in some application scenarios, by setting the second preset distance in the second predetermined condition, the lawnmower can make the starting and ending positions of the first turning trajectory as close as possible to the boundary or obstacles in the work area. Combined with the scheme of making the ending position of the first working trajectory as close as possible to the boundary / obstacle, it can better complete the covering lawnmower operation in the work area without having to walk along the edge. Alternatively, the lawnmower can also make the starting and ending positions of the first turning trajectory slightly farther from the boundary or obstacles in the work area. Combined with the scheme of making the ending position of the first working trajectory slightly farther from the boundary / obstacle and walking along the edge, it can also better complete the covering lawnmower operation in the work area, ultimately improving the flexibility of the lawnmower's control over the mowing path.

[0015] In some embodiments, the first preset distance includes: 10 cm, 30 cm, or 50 cm; or

[0016] The first preset distance includes: a value within a range formed by adjusting a constant, which is 10 cm; or

[0017] The first preset distance includes: a value within a range formed by 30 cm ± an adjustment constant; or

[0018] The first preset distance includes: a value within the range formed by adjusting the constant, which is 50 cm;

[0019] The adjustment constant is a constant greater than 0 and less than 5.

[0020] By setting the first preset distance to 10 cm, the lawnmower robot can maintain a safe distance from the boundary of the work area or obstacles within the work area, allowing its first working trajectory to approach the boundary or obstacles as closely as possible, thereby maximizing the coverage of the first working trajectory. Setting the first preset distance to 30 cm or 50 cm provides space for the lawnmower robot to turn, making it possible to turn at the end of the first working trajectory. This eliminates the need for the robot to travel from the end of the first working trajectory to the corresponding first turning point. Combined with boundary / obstacle-following movement to achieve comprehensive lawnmowing, this reduces the number of walking mode switches (i.e., forward and reverse movement) during the entire movement process. By setting the first preset distance to a value within a range formed by 10 cm, 30 cm, or 50 cm and an adjustment constant, the setting of the first preset distance becomes more flexible and adaptable, allowing for flexible handling of different lawnmower models and work scenarios.

[0021] In some embodiments, the second preset distance is set based on the bow height of the first turning trajectory formed by the lawnmower in the first state in the forward direction.

[0022] By using the bow height of the first turning trajectory in the forward direction (i.e. the walking direction in which the lawnmower forms the first working trajectory) to set the second preset distance, it is possible to make the bow height point on the first turning trajectory as close as possible to the boundary of the working area or obstacles in the working area, while avoiding the lawnmower from going beyond the boundary of the working area or colliding with obstacles during the turning and walking process. This helps to ensure the safe operation of the lawnmower and the efficiency of lawnmower operation.

[0023] In some embodiments, the second preset distance is greater than the height of the first turning trajectory formed by the lawnmower robot in the forward direction.

[0024] In some embodiments, the first distance is less than the second distance; the position of the mowing robot when the first preset condition is met is different from the first turning position; the mowing robot at the first turning position adopts a first state to turn and walk within the work area to form a first turning trajectory, including:

[0025] The lawnmower robot walks along the first direction back to the first turning position, and from the first turning position, it turns and walks in the work area in the first state to form a first turning trajectory.

[0026] Since the first turning position is located on the first working trajectory, the lawnmower robot can accurately move to the first turning position corresponding to the first working trajectory by moving in the first direction opposite to the forward direction (i.e., the direction in which the lawnmower robot forms the first working trajectory by walking). This helps to ensure the accuracy of turning and walking, that is, it helps to ensure the accuracy of the first turning trajectory.

[0027] In some embodiments, the first distance is less than the second distance; the location of the mowing robot when the first preset condition is met is different from the first turning position; the mowing robot adopts a first state at the first turning position and turns and walks in the working area to form a first turning trajectory, including: the mowing robot walks along a first direction back to the first turning position, and turns and walks in the working area from the first turning position using the first state to form a first turning trajectory.

[0028] In some embodiments, the lawnmower robot, at a first turning position, adopts a first state to turn and walk within the work area to form a first turning trajectory, including: when the lawnmower robot walks to a first distance from the boundary of the work area or an obstacle in the work area that is pointing in the direction of travel, which satisfies a first predetermined condition, the lawnmower robot adopts the first state in a second direction to turn and walk within the work area, forming a first turning trajectory; the second direction has an angle of less than 90 degrees with the first work trajectory. In some embodiments, the first distance that satisfies the first predetermined condition is equal to the second distance that satisfies the second predetermined condition.

[0029] When the lawnmower robot reaches a first distance from the boundary of the work area or an obstacle in the work area that corresponds to its forward direction, and this distance meets a first predetermined condition, it turns and moves within the work area from a first turning position corresponding to the first work trajectory, forming a first turning trajectory, including:

[0030] When the lawnmower robot reaches a first distance from the boundary of the work area or an obstacle in the work area that is pointing in the direction of travel, and the distance meets a first predetermined condition, the lawnmower robot adopts a first state from its current position and turns to walk in the work area, forming a first turning trajectory.

[0031] By using the end position of the first working trajectory as the corresponding first turning position, the lawnmower robot does not need to perform the process of walking from the end position of the first working trajectory to the first turning position. For example, the lawnmower robot does not need to perform the walking mode switching operation and repeat the trajectory required to walk from the end position of the first working trajectory to the first turning position. This not only helps the lawnmower robot to accurately position itself at the first turning position to ensure the accuracy of the first turning trajectory, but also simplifies the control operation of the lawnmower robot's walking mode in some application scenarios. For example, in application scenarios where the first turning trajectory does not pass through other turning positions, it helps to greatly reduce the number of walking mode switching times (i.e., the number of times forward walking mode and reverse walking mode are switched) during the entire walking process, thereby making the walking process of the lawnmower robot smoother.

[0032] In some embodiments, the lawnmower robot continues its first turning trajectory and moves within the work area to form a second work trajectory, including:

[0033] The lawnmower robot continues its first turning trajectory and moves towards the boundary of the work area or an obstacle in the work area, as indicated by the forward direction. When the distance between the robot and the boundary of the work area or an obstacle in the work area meets a first predetermined condition, the robot moves within the work area, forming a second working trajectory.

[0034] In some application scenarios, the distance between the ending position of the turning movement performed by the lawnmower robot from the first turning position (i.e., the ending position of the first turning trajectory) and the boundary / obstacle pointed to by the aforementioned forward direction (i.e., the walking direction in which the lawnmower robot forms the first working trajectory) will be greater than the distance between the ending position of the first working trajectory and the boundary / obstacle pointed to by the aforementioned forward direction. If the ending position of the first turning trajectory is used as the starting position of the second working trajectory to start the movement to form the second working trajectory, then the ending position of the first working trajectory and the starting position of the second working trajectory will form a staggered phenomenon with the boundary / obstacle pointed to by the aforementioned forward direction, which is not conducive to achieving comprehensive lawnmowing operations in the working area. After completing its turning and walking maneuver, the lawnmower robot moves towards the boundary / obstacle in the direction of its forward movement until it reaches a position where the distance from the boundary / obstacle meets a first predetermined condition. Then, it begins to execute the movement that forms a second working trajectory, ensuring that the end position of the first working trajectory and the start position of the second working trajectory are each at the same distance from the boundary / obstacle. This results in the first and second working trajectories being neatly arranged in the working area. In this way, a comprehensive lawnmowing operation can be achieved in the working area without the need to combine it with an edge-walking scheme.

[0035] In some embodiments, turning and walking within the work area to form a first turning trajectory includes:

[0036] The lawnmower robot turns and moves within the work area, forming a first turning trajectory that does not pass through any second turning position; or, the lawnmower robot turns and moves within the work area, forming a first turning trajectory that passes through at least one second turning position.

[0037] The first turning trajectory is divided into multiple turning trajectories by all the second turning positions it passes through. The lawnmower adopts different walking modes when forming two adjacent turning trajectories by turning and walking. The walking modes include: a first walking mode with the front of the lawnmower facing the direction of travel as the forward direction, and a second walking mode with the back of the lawnmower facing the direction of travel as the forward direction.

[0038] By forming a first turning trajectory that does not pass through any second turning position, the lawnmower robot does not need to determine whether it has reached other turning positions or perform walking mode switching operations at other turning positions during the formation of the first turning trajectory. This allows the lawnmower robot to form the first turning trajectory more quickly and smoothly, and the time required to form the first turning trajectory is usually less than the time required to make two right-angle turns to turn around. In some application scenarios, when combined with an edge-walking scheme to achieve comprehensive lawnmowing operations covering the work area, it helps to significantly reduce the number of walking mode switching operations (i.e., the number of times forward walking and reverse walking are switched) of the lawnmower robot during the entire lawnmowing operation, thus making the lawnmower robot walk more smoothly throughout the entire lawnmowing operation.

[0039] Because the starting position of the first turning trajectory, which passes through at least one second turning position, is often closer to the boundary of the work area or obstacles in the work area than the first turning trajectory, which does not need to pass through other turning positions, in some application scenarios, it is possible to achieve comprehensive mowing of the work area without the need for edge-walking schemes. In other application scenarios, although edge-walking schemes are needed to achieve comprehensive mowing of the work area, the number of edge-walking trajectories required is relatively small. This helps to enrich the control methods of the mowing robot on the mowing path, giving users more options to adapt to different needs.

[0040] In some embodiments, the first turning trajectory includes: a three-segment turning trajectory, wherein the lawnmower robot turns and moves within the work area to form a first turning trajectory including at least one second turning position, comprising:

[0041] The lawnmower robot adopts a first state and a first walking mode to turn and walk at the first turning position corresponding to the first working trajectory, forming a first turning trajectory.

[0042] When the lawnmower robot reaches the first second turning position, it turns and moves using the first state and the second walking mode, forming the second segment of the first turning trajectory.

[0043] When the lawnmower robot reaches the second turning position, it adopts the first state and the first walking mode to turn and walk, forming the third segment of the first turning trajectory;

[0044] Wherein, the vertical distance between the first second turning position and the straight line of the first working trajectory is greater than the vertical distance between the second turning position and the straight line of the first working trajectory, the first segment of the first turning trajectory is connected to the first working trajectory, and the third segment of the first turning trajectory is connected to the second working trajectory.

[0045] The straight line containing the first working trajectory can be a straight line extending in the same direction as the first working trajectory, and with the highest possible degree of conformity to the first working trajectory. Since the perpendicular distance between the first second turning position and the first working trajectory is greater than the perpendicular distance between the second turning position and the first working trajectory, when the lawnmower turns, it first moves away from the first working trajectory and closer to the second working trajectory to be formed. Then, it moves closer to the first working trajectory and away from the second working trajectory to be formed. This helps to reserve sufficient space for the third segment of the first turning trajectory and allows the lawnmower to move forward from the second turning position to the end position of the first turning trajectory. Thus, the second working trajectory can be completed by the lawnmower's forward movement. In other words, the lawnmower can use the most common walking method to form the first and second working trajectories, which helps the lawnmower to more accurately complete the covering lawnmower operation of the work area.

[0046] In some embodiments, the wheel speed difference used by the lawnmower robot changes during the formation of the first turning trajectory, and the slope of the wheel speed difference change at adjacent time points is less than a preset slope; and / or

[0047] During the formation of the first turning trajectory, the ratio of the linear velocity to the angular velocity of the lawnmower robot at any given moment exceeds half the wheelbase of the two drive wheels of the lawnmower robot.

[0048] By making the slope of the wheel speed difference between adjacent time points less than the preset slope, the lawnmower robot can more accurately walk to each second turning position and the end position of the first turning trajectory, thereby making the first turning trajectory formed by the lawnmower robot more accurate.

[0049] By ensuring that the ratio of the linear velocity to the angular velocity of the lawnmower robot at any given moment exceeds half the wheelbase between the two drive wheels of the lawnmower robot, it is easier to control the difference in wheel speed within the range of 0.15 m / s and 0.6 m / s.

[0050] In some embodiments, the method further includes:

[0051] The lawnmower robot moves along the boundary / obstacle within the boundary of the work area, forming a work trajectory along the edge.

[0052] Wherein, the edge-following working trajectory is located within a preset distance range from the boundary / obstacle; the number of edge-following working trajectories is one or more; when the number of edge-following working trajectories is more than one, each edge-following working trajectory is arranged side by side in the working area, and the minimum distance between one of any two adjacent edge-following working trajectories arranged side by side and the boundary / obstacle is less than the minimum distance between the other edge-following working trajectory and the boundary / obstacle; and / or, when the number of edge-following working trajectories is more than one, the first turning trajectory and at least one of the edge-following working trajectories have overlapping trajectories.

[0053] When the end position of the first turning trajectory is the starting position of the second working trajectory, the distance between the end position of the first working trajectory and the starting position of the second working trajectory and the boundary / obstacle is usually greater than the safety distance reserved for safe operation. That is, the area between the end position of the first working trajectory and the starting position of the second working trajectory and the boundary or obstacle is usually wide. The lawnmower robot can walk along the boundary or obstacle to form an edge-based working trajectory, and can perform supplementary mowing in the area between the end position of the first working trajectory and the starting position of the second working trajectory and the boundary or obstacle. Thus, by combining with the edge / obstacle walking method, it can achieve a comprehensive lawnmower operation covering the working area. In some application scenarios, a single edge-based working trajectory can be combined to achieve a comprehensive lawnmower operation covering the working area. In other application scenarios, multiple edge-based working trajectories can be combined to achieve a comprehensive lawnmower operation covering the working area. This is beneficial to enriching the lawnmower robot's mowing path control methods, allowing the lawnmower robot to adopt the corresponding mowing path control method for mowing operations according to the actual scenario and user preferences. By setting a preset distance range for the edge-working trajectory, the number of edge-working trajectories can be effectively controlled, avoiding the phenomenon of an excessive number of edge-working trajectories.

[0054] In some embodiments, the method further includes:

[0055] When the distance between the first working trajectory and the second working trajectory meets the predetermined distance requirement, the mowing robot moves between the first working trajectory and the second working trajectory to perform additional mowing in the area between the first working trajectory and the second working trajectory.

[0056] Because there is a certain gap between the first and second working trajectories (i.e., the lawnmower uses a hopping motion for turning), the first turning trajectory connecting the first and second working trajectories is widened by the gap between them. Therefore, the first turning trajectory formed by the hopping motion has more turning space compared to the first turning trajectory formed without hopping, allowing the lawnmower to use a smoother turning trajectory (e.g., a faster walking speed and a relatively small wheel speed difference). By supplementing the area between the first and second working trajectories, the lawnmower can also achieve comprehensive mowing of the working area. In some applications, combining edge-walking with supplementing the aforementioned area can achieve comprehensive mowing of the working area. In other applications, comprehensive mowing of the working area can be achieved without combining edge-walking, simply by supplementing the aforementioned area. Furthermore, since the bow height of the first turning trajectory formed by the jumping bow method of the lawnmower robot can be lower, the number of edge-walking trajectories can be effectively reduced in application scenarios that require combining edge-walking schemes; for example, the number of edge-walking trajectories can be as low as one. Therefore, the jumping bow method helps to further reduce grass damage while still maintaining a certain level of mowing efficiency.

[0057] In some embodiments, the lawnmower robot moves between the first working trajectory and the second working trajectory to perform additional mowing in the area between the first working trajectory and the second working trajectory, including:

[0058] The lawnmower robot moves within the work area, forming a third work trajectory; wherein the second and third work trajectories are both located on the same side of the first work trajectory;

[0059] When the lawnmower robot reaches the boundary of the work area or the first distance from an obstacle in the work area that is in the direction of travel, and the distance meets the first predetermined condition, it turns and walks in the work area from the first turning position corresponding to the third work trajectory in the first state, forming a second turning trajectory.

[0060] The lawnmower robot continues to move within the work area following the second turning trajectory, forming a fourth work trajectory;

[0061] The fourth working trajectory is located in the region between the first working trajectory and the second working trajectory.

[0062] By forming a third working trajectory, and with the third and second working trajectories located on the same side of the first working trajectory, the distance between the third and first working trajectories can be twice that between the second and first working trajectories. Therefore, when the lawnmower turns from the first turning position corresponding to the third working trajectory to the area between the first and second working trajectories, the width of the resulting second turning trajectory can be 1.5 times the width of the first turning trajectory. This means the lawnmower can have more spacious turning space, allowing it to use a gentler turning trajectory (such as a faster walking speed and a relatively small wheel speed difference) to turn from the third working trajectory to the area between the first and second working trajectories, thus further reducing the damage to the grass caused by the lawnmower's turning movement.

[0063] In some embodiments, the first state further includes: the two drive wheels of the lawnmower rotating in the same direction.

[0064] By making the drive wheels on both sides rotate in the same direction during the turning and walking process of the lawnmower robot, it is beneficial to further reduce the damage to the grass caused by the turning and walking of the lawnmower robot.

[0065] According to a second aspect of the present disclosure, a method for controlling the mowing path of a lawnmowing robot is provided, the method comprising:

[0066] The lawnmower robot moves within its work area, forming the first work trajectory;

[0067] When the lawnmower robot walks to the first turning position corresponding to the first working trajectory, it adopts a first state to turn and walk in the working area, forming a first turning trajectory.

[0068] The lawnmower robot continues to move within the work area following the first turning trajectory, forming a second work trajectory;

[0069] The lawnmower robot moves along the boundary of the work area or along obstacles within the work area, forming a work trajectory along the edge.

[0070] The first state includes: the wheel speed difference between the two drive wheels of the lawnmower robot is controlled to be greater than or equal to 0.15 m / s and less than or equal to 0.6 m / s; the first working trajectory and the second working trajectory are connected through the first turning trajectory; the edge-following working trajectory is located within a preset distance range from the boundary / obstacle; the number of edge-following working trajectories is one or more; when the number of edge-following working trajectories is more than one, each edge-following working trajectory is arranged side by side within the boundary, and the minimum distance between one of any two adjacent edge-following working trajectories arranged side by side and the boundary / obstacle is less than the minimum distance between the other edge-following working trajectory and the boundary / obstacle; and when the number of edge-following working trajectories is more than one, the first turning trajectory and at least one edge-following working trajectory overlap.

[0071] Because the lawnmower robot uses an edge-following movement to form an edge-following trajectory within its work area, the end position of the first trajectory and the start position of the second trajectory can both be located within the edge-following trajectory. This increases the distance between the end position of the first trajectory and the start position of the second trajectory and the boundary of the work area or obstacles within the work area, thus giving the lawnmower robot more turning and walking space. Within this turning and walking space, the lawnmower robot controls the wheel speed difference between its two drive wheels within a range of 0.15 m / s and 0.6 m / s to achieve turning and walking, which is beneficial for maintaining a certain distance. At a certain speed, the damage to the grass caused by the turning movement of the lawnmower robot is reduced to a significant extent. Therefore, by using wheel speed difference control during turning movement, the lawnmower robot can achieve a balance between mowing efficiency and grass damage. This helps to reduce grass wear during turning while maintaining mowing efficiency. Furthermore, by combining the edge-following working trajectory, comprehensive mowing operations can be achieved over the working area, thus enriching the mowing path control methods of the lawnmower robot. This allows the lawnmower robot to adopt appropriate mowing path control methods based on the actual scenario and user preferences.

[0072] In some embodiments, turning and walking within the work area to form a first turning trajectory includes:

[0073] The lawnmower robot navigates and turns within the work area, forming a first turning trajectory that does not pass through any second turning point; or

[0074] The lawnmower robot turns and moves within the work area, forming a first turning trajectory that passes through at least one second turning position.

[0075] In some embodiments, the second turning position can be any turning position different from the first turning position. For example, the second turning position can be any turning position different from the first turning position after the first working trajectory is completed.

[0076] In some embodiments, the second turning position along the first turning trajectory divides the first turning trajectory into multiple turning trajectories. The lawnmower robot uses different walking patterns to form adjacent turning trajectories by turning and walking. The walking patterns include: a first walking pattern with the front facing direction of the lawnmower robot as the forward direction, and a second walking pattern with the back facing direction of the lawnmower robot as the forward direction.

[0077] By forming a first turning trajectory that does not pass through any second turning position, the lawnmower robot does not need to determine whether it has reached other turning positions or perform walking mode switching operations at other turning positions during the formation of the first turning trajectory. This allows the lawnmower robot to form the first turning trajectory more quickly and smoothly, and the time required to form the first turning trajectory is usually less than the time required to make two right-angle turns to turn around. When combined with the edge walking scheme to achieve comprehensive lawnmowing operations in the work area, it helps to significantly reduce the number of walking mode switching operations (i.e., the number of times forward walking and reverse walking are switched) of the lawnmower robot during the entire lawnmowing operation, thus making the lawnmower robot walk more smoothly throughout the entire lawnmowing operation.

[0078] Since the starting position of the first turning trajectory, which passes through at least one second turning position, is often closer to the boundary of the work area or an obstacle in the work area than the first turning trajectory, which does not need to pass through other turning positions, the number of edge-working trajectories required is relatively small. This helps to enrich the control methods of the lawnmower robot on the mowing path, giving users more options to adapt to different needs.

[0079] In some embodiments, the first turning trajectory includes: a three-segment turning trajectory, wherein the lawnmower robot turns and moves within the work area to form a first turning trajectory including at least one second turning position, comprising:

[0080] The lawnmower robot adopts a first state and a first walking mode to turn and walk at the first turning position corresponding to the first working trajectory, forming a first turning trajectory of the first segment.

[0081] When the lawnmower robot reaches the first second turning position, it turns and moves using the first state and the second walking mode, forming the first turning trajectory of the second segment.

[0082] When the lawnmower robot reaches the second turning position, it turns and moves using the first state and the first walking mode, forming the first turning trajectory of the third segment.

[0083] Wherein, the perpendicular distance between the first second turning position and the straight line containing the first working trajectory is greater than the perpendicular distance between the second turning position and the straight line containing the first working trajectory. For example, the first segment of the first turning trajectory is connected to the first working trajectory, and the third segment of the first turning trajectory is connected to the second working trajectory.

[0084] Because the perpendicular distance between the first second turning point and the straight line of the first working trajectory is greater than the perpendicular distance between the second turning point and the straight line of the first working trajectory, when the lawnmower turns, it first moves away from the first working trajectory and closer to the second working trajectory to be formed. Then, it moves closer to the first working trajectory and away from the second working trajectory to be formed. This helps to reserve sufficient space for the third segment of the first turning trajectory and allows the lawnmower to move forward from the second turning point to the end of the first turning trajectory. Thus, the second working trajectory can be completed by the lawnmower moving forward. In other words, the lawnmower can use the most common walking method to form the first and second working trajectories, which helps the lawnmower to complete the covering lawnmower operation more accurately.

[0085] In some embodiments, the wheel speed difference used by the lawnmower robot changes during the formation of the first turning trajectory, and the slope of the wheel speed difference change at adjacent time points is less than a preset slope; and / or

[0086] During the formation of the first turning trajectory, the ratio of the linear velocity to the angular velocity of the lawnmower robot at any given moment exceeds half the wheelbase of the two drive wheels of the lawnmower robot.

[0087] By making the slope of the wheel speed difference between adjacent time points less than the preset slope, the lawnmower robot can more accurately walk to each second turning position and the end position of the first turning trajectory, thereby making the first turning trajectory formed by the lawnmower robot more accurate.

[0088] By ensuring that the ratio of the linear velocity to the angular velocity of the lawnmower robot at any given moment exceeds half the wheelbase between the two drive wheels of the lawnmower robot, it is easier to control the difference in wheel speed within the range of 0.15 m / s and 0.6 m / s.

[0089] In some embodiments, the method further includes:

[0090] When the distance between the first working trajectory and the second working trajectory meets the predetermined distance requirement, the mowing robot moves between the first working trajectory and the second working trajectory to perform additional mowing in the area between the first working trajectory and the second working trajectory.

[0091] Because there is a certain gap between the first and second working trajectories (i.e., the lawnmower robot uses a bow-like turning motion), the first turning trajectory connecting the first and second working trajectories is widened by this gap. Therefore, the first turning trajectory formed by the bow-like method has more turning space compared to the non-bow-like method, allowing the lawnmower robot to use a smoother turning trajectory (e.g., a faster walking speed and a relatively small wheel speed difference). By supplementing the area between the first and second working trajectories, the lawnmower robot can also achieve comprehensive mowing of the working area. Since the bow height of the first turning trajectory formed by the bow-like method can be lower, the number of edge-working trajectories can be effectively reduced; for example, the number of edge-working trajectories can be as low as one. Therefore, the bow-like method helps to further reduce grass damage while still maintaining a certain level of mowing efficiency.

[0092] In some embodiments, the lawnmower robot moves between the first working trajectory and the second working trajectory to perform additional mowing in the area between the first working trajectory and the second working trajectory, including:

[0093] The lawnmower robot moves within the work area, forming a third work trajectory; wherein the second and third work trajectories are both located on the same side of the first work trajectory;

[0094] When the lawnmower robot reaches the boundary of the work area or the first distance of the work area to which the first working trajectory is formed by the lawnmower robot is directed, or when the first distance of the lawnmower robot to an obstacle in the work area meets the first predetermined condition, it turns and walks in the work area from the first turning position corresponding to the third working trajectory in the first state, forming a second turning trajectory.

[0095] The lawnmower robot continues to move within the work area following the second turning trajectory, forming a fourth work trajectory;

[0096] Wherein, the fourth working trajectory is located in the area between the first working trajectory and the second working trajectory, and the second distance between the first turning position corresponding to the third working trajectory and the boundary of the working area or the obstacle in the working area pointed to by the walking direction of the first working trajectory formed by the lawn mowing robot satisfies the second predetermined condition, and the first distance that satisfies the first predetermined condition is not greater than the second distance that satisfies the second predetermined condition.

[0097] By forming a third working trajectory, and with the third and second working trajectories located on the same side of the first working trajectory, the distance between the third and first working trajectories can be twice that between the second and first working trajectories. Therefore, when the lawnmower turns from the first turning position corresponding to the third working trajectory to the area between the first and second working trajectories, the width of the resulting second turning trajectory can be 1.5 times the width of the first turning trajectory. This means the lawnmower can have more spacious turning space, allowing it to use a gentler turning trajectory (such as a faster walking speed and a relatively small wheel speed difference) to turn from the third working trajectory to the area between the first and second working trajectories, thus further reducing the damage to the grass caused by the lawnmower's turning movement.

[0098] In some embodiments, the first state further includes: the two drive wheels of the lawnmower rotating in the same direction.

[0099] By making the drive wheels on both sides rotate in the same direction during the turning and walking process of the lawnmower robot, it is beneficial to further reduce the damage to the grass caused by the turning and walking of the lawnmower robot.

[0100] According to a third aspect of the present disclosure, a computer-readable storage medium is provided, the storage medium storing a computer program for implementing any of the methods described above.

[0101] According to a fourth aspect of the present disclosure, a lawnmower robot is provided, comprising: a processor; and a memory for storing executable instructions of the processor; the processor being configured to read the executable instructions from the memory and execute the instructions to implement any of the methods described above.

[0102] Based on the embodiments of this disclosure, the above embodiments provide a method for controlling the mowing path of a lawnmowing robot, a storage medium, and a lawnmowing robot. The technical solutions provided by the embodiments of this disclosure are beneficial to enriching the working modes of lawnmowing robots, and while reducing the wear and tear on the grass during the turning process of the lawnmowing robot, they also take into account the mowing efficiency of the lawnmowing robot.

[0103] The technical solutions of the embodiments of this disclosure will be further described in detail below with reference to the accompanying drawings and examples. Attached Figure Description

[0104] The above and other objects, features, and advantages of the present disclosure will become more apparent from the more detailed description of the embodiments of the present disclosure in conjunction with the accompanying drawings. The accompanying drawings are provided to offer a further understanding of the embodiments of the present disclosure and form part of the specification. They are used together with the embodiments of the present disclosure to explain the embodiments and do not constitute a limitation thereof. In the drawings, the same reference numerals generally represent the same components or steps.

[0105] Figure 1 is a schematic diagram of the slippage probability of the lawn mowing robot with different wheel speed differences according to an embodiment of the present disclosure;

[0106] Figure 2 is a schematic diagram of the turning time of the lawnmower robot using different wheel speed differences according to an embodiment of the present disclosure;

[0107] Figure 3 is a flowchart of an embodiment of the lawn mowing robot lawn mowing path control method of this disclosure;

[0108] Figure 4 is a structural diagram of an embodiment of the lawnmower robot of this disclosure;

[0109] Figure 5 is a schematic diagram of the positional relationship between the end position of the first working trajectory and the first turning position corresponding to the first working trajectory in an embodiment of this disclosure;

[0110] Figure 6 is another positional relationship diagram between the end position of the first working trajectory and the first turning position corresponding to the first working trajectory in an embodiment of this disclosure;

[0111] Figure 7 is a schematic diagram of the positional relationship between the end position of the first steering trajectory and the start position of the second working trajectory in an embodiment of this disclosure;

[0112] Figure 8 is a schematic diagram showing another positional relationship between the end position of the first working trajectory and the first turning position corresponding to the first working trajectory in an embodiment of this disclosure.

[0113] Figure 9 is a schematic diagram of the positional relationship between the starting position of the second working trajectory and the ending position of the first turning trajectory in an embodiment of this disclosure;

[0114] Figure 10 is a schematic diagram of a first turning trajectory that does not pass through the second turning position according to an embodiment of the present disclosure;

[0115] Figure 11 is a schematic diagram of the positional relationship between two second turning positions according to an embodiment of this disclosure;

[0116] Figure 12 is a schematic diagram of the arrangement of the edge working trajectory according to an embodiment of the present disclosure;

[0117] Figure 13 is a schematic diagram of patching the area between working trajectories according to an embodiment of this disclosure;

[0118] Figure 14 is a flowchart of another embodiment of the lawn mowing robot lawn mowing path control method of this disclosure;

[0119] Figure 15 is a schematic diagram of a first embodiment of the lawn mowing robot performing lawn mowing operations in a work area according to an embodiment of the present disclosure;

[0120] Figure 16 is a schematic diagram of a second embodiment of the lawn mowing robot performing lawn mowing operations in a work area according to an embodiment of the present disclosure;

[0121] Figure 17 is a schematic diagram of a third embodiment of the lawn mowing robot performing lawn mowing operations in a work area according to the present disclosure;

[0122] Figure 18 is a schematic diagram of a fourth embodiment of the lawn mowing robot performing lawn mowing operations in a work area according to an embodiment of the present disclosure;

[0123] Figure 19 is a structural diagram of the lawnmower robot provided in an exemplary embodiment of this disclosure. Detailed Implementation

[0124] Example embodiments according to the present disclosure will now be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of the present disclosure, and not all embodiments of the present disclosure. It should be understood that the present disclosure is not limited to the example embodiments described herein.

[0125] It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the embodiments of this disclosure.

[0126] Those skilled in the art will understand that the terms "first," "second," etc., in the embodiments of this disclosure are only used to distinguish different steps, devices, or modules, and do not represent any specific technical meaning, nor do they indicate a necessary logical order between them.

[0127] It should also be understood that in the embodiments disclosed herein, "multiple" can refer to two or more, and "at least one" can refer to one, two or more.

[0128] It should also be understood that any component, data or structure mentioned in the embodiments of this disclosure can generally be understood as one or more unless expressly defined or given to the contrary in the context.

[0129] Furthermore, in the embodiments of this disclosure, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, in the embodiments of this disclosure, the character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0130] It should also be understood that the description of the various embodiments in this disclosure emphasizes the differences between the various embodiments, and the similarities or similarities can be referred to each other. For the sake of brevity, they will not be described in detail.

[0131] At the same time, it should be understood that, for ease of description, the dimensions of the various parts shown in the accompanying drawings are not drawn according to actual scale.

[0132] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the embodiments of this disclosure or their application or use.

[0133] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0134] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0135] Embodiments of this disclosure can be applied to electronic devices such as terminal devices, computer systems, and servers, and can operate with a wide variety of other general-purpose or special-purpose computing system environments or configurations. Examples of well-known terminal devices, computing systems, environments, and / or configurations suitable for use with electronic devices such as terminal devices, computer systems, or servers include, but are not limited to: personal computer systems, server computer systems, thin clients, thick clients, handheld or laptop devices, microprocessor-based systems, set-top boxes, programmable consumer electronics, network PCs, minicomputer systems, mainframe computer systems, and distributed cloud computing environments including any of the above systems, etc.

[0136] Electronic devices such as terminal devices, computer systems, and servers can be described in the general context of computer system executable instructions (such as program modules) executed by a computer system. Typically, program modules can include routines, programs, object programs, components, logic, data structures, etc., which perform specific tasks or implement specific abstract data types. Computer systems / servers can be implemented in a distributed cloud computing environment. In a distributed cloud computing environment, tasks can be executed by remote processing devices linked through a communication network. In a distributed cloud computing environment, program modules can reside on local or remote computing system storage media, including storage devices.

[0137] In some cases, lawnmower robots achieve right-angle turns by controlling their two drive wheels to rotate in opposite directions, completing a U-turn after two consecutive right-angle turns. However, right-angle turns are prone to slippage, causing the robot to grind grass in place, which can lead to severe grass damage at the U-turn point, sometimes even shaving the grass near the boundary of the work area. Therefore, lawnmower robots can use non-right-angle turning methods, such as using a large-arc turning path. However, this method usually significantly increases the turning time, thus greatly affecting the turning efficiency and consequently the overall mowing efficiency. How to reduce grass damage during lawnmower operation while maintaining turning efficiency and overall mowing efficiency is a technical problem worthy of attention. In this embodiment of the disclosure, when the two drive wheels of the lawnmower rotate in the same direction or not in the same direction (i.e., both rotate clockwise or both rotate counterclockwise or one drive wheel rotates clockwise and the other drive wheel rotates counterclockwise), and the lawnmower turns to its left front under the drive of these two drive wheels, the differential speed model of the lawnmower can be derived as the form of the following formula (1):

[0138] In the above formula (1), rc represents the instantaneous rotation radius of the lawnmower robot when it turns and moves, where the instantaneous rotation radius is the distance from the midpoint of the wheel distance between the two drive wheels of the lawnmower robot (point c) to the ICR (Instantaneous Center of Rotation); vc represents the instantaneous linear velocity of the midpoint of the wheel distance between the two drive wheels of the lawnmower robot; w represents the instantaneous angular velocity of the midpoint of the wheel distance between the two drive wheels of the lawnmower robot; vl represents the instantaneous linear velocity of the left drive wheel of the lawnmower robot; vr represents the instantaneous linear velocity of the right drive wheel of the lawnmower robot; and dwb represents the wheel distance between the two drive wheels of the lawnmower robot.

[0139] As can be seen from the above formula (1), when the two drive wheels of the lawnmower rotate in the same or opposite directions, and the instantaneous rotation radius of the lawnmower is represented by the distance from the midpoint (point c) of the wheel track between the two drive wheels, if the instantaneous rotation radius of the lawnmower is greater than half the wheel track of the two drive wheels, the lawnmower can turn and move in a non-right-angle turning manner, thereby minimizing the slippage that is easy to occur when turning at right angles. In some embodiments, if the wheel track of the two drive wheels of the lawnmower is 40 cm and the two drive wheels of the lawnmower rotate in the same direction, the instantaneous rotation radius of the lawnmower should be greater than 20 cm; while if the wheel track of the two drive wheels of the lawnmower is 40 cm and the two drive wheels of the lawnmower rotate in opposite directions, the instantaneous rotation radius of the lawnmower is not greater than 20 cm. In another example, if the wheelbase between the two drive wheels of the lawnmower is 60 cm and the two drive wheels rotate in the same direction, then the instantaneous rotation radius of the lawnmower should be greater than 30 cm; while if the wheelbase between the two drive wheels of the lawnmower is 60 cm and the two drive wheels rotate in opposite directions, then the instantaneous rotation radius of the lawnmower should not be greater than 30 cm.

[0140] Experiments were conducted on lawnmower robots using various wheel speed differences for steering and movement. The average turning time and slippage probability (i.e., using slippage probability to represent the degree of damage to the grass) corresponding to different wheel speed differences were obtained. For example, one set of experimental data on turning time and slippage probability is shown in Table 1, Figure 1, and Figure 2:

[0141] Table 1

[0142] In Figure 1, the horizontal axis represents the wheel speed difference (in meters per second), and the vertical axis represents the slippage probability. In Figure 2, the horizontal axis represents the wheel speed difference (in meters per second), and the vertical axis represents the turning time (in seconds). Analysis of the experimental data in Table 1, Figure 1, and Figure 2 shows that when the wheel speed difference is no greater than 0.6 m / s, the slippage probability of the lawnmower robot during turning is usually no more than 30%, while the turning time decreases. This effectively reduces the stationary grass-grinding phenomenon caused by turning slippage and provides better turning efficiency. Since the slippage probability is the same when the wheel speed difference is 0.1 m / s and 0.15 m / s, considering the need to minimize the turning trajectory to improve turning efficiency, the 0.1 m / s wheel speed difference can be discarded. Therefore, the wheel speed difference ranges of 0.15 m / s and 0.6 m / s can be considered to have the best cost-effectiveness.

[0143] It should be noted that the slippage probability and turning time corresponding to the above wheel speed difference are the average values ​​of slippage probability and turning time calculated based on multiple experiments conducted on the lawnmower robot during turning and walking, with both drive wheels rotating in the same direction and not in the same direction.

[0144] During the experiment, the linear velocity of one of the drive wheels on both sides of the lawnmower was the same as the linear velocity of the lawnmower when it walks in a straight line. Since the lawnmower slips when it makes a right-angle turn, it will take a certain amount of time. Therefore, the turning time of the lawnmower did not increase significantly. In fact, it was sometimes even less than the time required to make a U-turn by two right-angle turns.

[0145] Based on the above experiments, it can be seen that by utilizing wheel speed differences with better cost performance, it is possible to reduce steering time, or not lose steering time, or lose only a small amount of steering time, while greatly reducing damage to grass.

[0146] The lawnmowing robot path control technology solution of this disclosure can be applied to various application scenarios. For example, it can be applied to the daily maintenance of lawns in places such as sports fields, playgrounds, courtyards, roadside green spaces, and park green spaces. The technical solution of this disclosure embodiment will be described below with reference to the accompanying drawings.

[0147] Figure 3 is a flowchart of an embodiment of the lawnmower path control method of the present disclosure. The method shown in Figure 3 includes steps S300, S301 and S302, which will be described below.

[0148] The S300 lawnmower robot moves within the work area, forming the first work trajectory 103.

[0149] The lawnmower robot in this disclosure refers to an intelligent tool capable of self-propelled movement and performing lawnmowing operations during self-propelled movement. The lawnmower robot typically has at least one pair of drive wheels, with each pair of drive wheels located on the left and right sides of the robot. The relative position of all the wheels of the lawnmower robot to the centerline of the robot body (e.g., a line passing through the midpoint of the wheelbase of a pair of drive wheels and perpendicular to the wheelbase) remains unchanged. That is, regardless of whether the lawnmower robot is moving in a straight line or turning, all the wheels of the lawnmower robot are always parallel to the centerline of the robot body. In other words, all the wheels of the lawnmower robot can rotate clockwise or counterclockwise around their respective axes, but cannot swing left or right at an acute angle to the centerline of the robot body.

[0150] In some embodiments, the lawn mowing robot of this disclosure may be a lawn mowing robot in which all wheels are drive wheels, or a lawn mowing robot in which some wheels are drive wheels. For example, the lawn mowing robot has only one pair of drive wheels, while all other wheels are driven wheels; a more specific example is that the lawn mowing robot is provided with a pair of front wheels and a pair of rear wheels, wherein the pair of front wheels are drive wheels and the pair of rear wheels are driven wheels.

[0151] In some embodiments, the drive wheels of the lawnmower robot of this disclosure are typically unidirectional wheels, and the driven wheels of the lawnmower robot can be either unidirectional wheels or omnidirectional wheels. In this disclosure, a unidirectional wheel refers to a wheel that can rotate clockwise or counterclockwise, but cannot form an acute angle with the center line of the robot body by swaying left or right, nor can it move left or right. In this disclosure, an omnidirectional wheel refers to a wheel that can rotate clockwise or counterclockwise, and although it cannot form an acute angle with the center line of the robot body by swaying left or right, it can move left or right. An example of a lawnmower robot with omnidirectional wheels according to this disclosure is shown in Figure 4. The pair of front wheels (right side of Figure 4) of the lawnmower robot in Figure 4 are drive wheels, and the pair of front wheels are unidirectional wheels. The pair of rear wheels (left side of Figure 4) are driven wheels, and the pair of rear wheels are omnidirectional wheels. Each rear wheel is equipped with multiple rollers, and each roller can rotate clockwise or counterclockwise around its axis. During the lawnmower robot's straight-line movement, both the front and rear wheels rotate clockwise / counterclockwise, while the rollers on the rear wheels do not rotate clockwise / counterclockwise around their axes. When the lawnmower robot turns by controlling the speed difference of its front wheels, both the front and rear wheels rotate clockwise / counterclockwise, and the rollers on the rear wheels rotate clockwise / counterclockwise around their axes, thus enabling the lawnmower robot to turn in a driven-coordinated manner.

[0152] In this embodiment of the disclosure, the working area refers to the area where the lawnmower robot needs to perform lawnmowing operations. The working area has boundaries, and the boundaries of the working area can be natural boundaries, such as the natural boundaries formed by the edge of the grass, or artificial boundaries formed by facilities such as fences.

[0153] The shape of the boundary of the working area in this embodiment can be a polygon (such as a triangle, rectangle, or pentagon), a circle, an ellipse, or a capsule, etc., and the shape of the boundary can be a regular shape or an irregular shape. This embodiment does not limit the shape of the boundary.

[0154] Obstacles may exist in the work area of ​​this disclosure embodiment, and the obstacles are usually located within the boundary of the work area. If the obstacle is located at the boundary of the work area (such as a tree at the boundary), such an obstacle can be regarded as part of the boundary of the work area. In some embodiments, pools, stones, lighting facilities, or sports facilities in the work area can all be regarded as obstacles in the work area.

[0155] In some embodiments, the first working trajectory 103 formed by the lawnmower robot walking in the working area according to the present disclosure is generally a straight line. The lawnmower robot starts walking from the starting position 1035 of the first working trajectory 103. The first working trajectory 103 extends continuously from the starting position along the forward direction 111 of the lawnmower robot. That is, the first working trajectory 103 is continuously formed as the lawnmower robot walks. The process of the lawnmower robot walking in the forward direction 111 is the formation process of the first working trajectory 103.

[0156] S301. When the lawnmower robot reaches the first distance from the boundary of the work area pointed to by the forward direction 111 or the first distance from the obstacle in the work area meets the first predetermined condition, it turns and walks in the work area from the first turning position 1031 corresponding to the first work trajectory 103, forming the first turning trajectory 105.

[0157] In this embodiment, the forward direction 111 can be considered as the walking direction of the lawnmower robot during the process of forming the first working trajectory 103. For example, when the lawnmower robot walks horizontally from the right side of the work area to the left side of the work area to form the first working trajectory 103, the forward direction 111 is horizontal to the right. The lawnmower robot starts walking from the starting position 1035 of the first working trajectory 103. Until it reaches the ending position 1032 of the first working trajectory 103, the first working trajectory 103 continues to be formed. The process of forming the first working trajectory 103 ends when the lawnmower robot reaches the ending position 1032 of the first working trajectory 103. That is, the lawnmower robot forms a complete first working trajectory 103 through walking.

[0158] In some embodiments, the lawnmower robot can obtain in real time the distance between its current position and the boundary of the work area pointed to by the forward direction 111 or the obstacles in the work area; this distance is the first distance. Image sensors and radar sensors can be installed on the front, rear, and left and right sides of the lawnmower robot. Furthermore, this disclosure does not exclude the possibility that the lawnmower robot may use other methods, such as BeiDou positioning (e.g., fusing at least one of the image sensor and radar sensor with BeiDou positioning), to obtain the first distance in real time.

[0159] The first predetermined condition in this embodiment is a condition set for a first distance, typically referring to whether the comparison result between the first distance and a predetermined value meets the requirements. The first distance satisfying the first predetermined condition indicates that the formation process of the first working trajectory 103 has ended (i.e., the lawnmower has walked to the end position 1032 of the first working trajectory 103), and the lawnmower needs to enter the process of forming a subsequent trajectory. Alternatively, the first distance satisfying the first predetermined condition may indicate that the lawnmower needs to enter the first turning trajectory 105.

[0160] In this embodiment of the present disclosure, the first turning position 1031 corresponding to the first working trajectory 103 refers to the position where the lawnmower robot begins to turn and walk, and can also be considered as the starting position of the first turning trajectory 105.

[0161] In this embodiment of the present disclosure, the distance (i.e., the second distance) between the first turning position 1031 corresponding to the first working trajectory 103 and the boundary or obstacle of the working area pointed to by the aforementioned forward direction 111 (i.e., the walking direction of the lawnmower robot forming the first working trajectory 103 by walking, hereinafter referred to as the initial forward direction 111) satisfies a second predetermined condition. The second predetermined condition in this embodiment of the present disclosure is a condition set for the second distance, which usually refers to whether the comparison result of the second distance and the predetermined value meets the requirements.

[0162] In this embodiment, a second preset condition can be used to determine the first turning position 1031. The distance between the first turning position 1031 and the working boundary or obstacle pointed to by the initial forward direction 111 is a second distance that satisfies the second preset condition. When the distance between the location of the lawnmower robot and the boundary or obstacle of the working area pointed to by the initial forward direction 111 is a first distance that satisfies the first condition, the location of the lawnmower robot may or may not be the first turning position 1031. If the location of the lawnmower robot is the first turning position 1031, then the first distance is equal to the second distance. If the lawnmower robot is not at the first turning position 1031, then the first distance is not equal to the second distance.

[0163] In this embodiment of the disclosure, the first distance satisfying the first predetermined condition is not greater than the second distance satisfying the second predetermined condition, that is, the first distance satisfying the first predetermined condition can be equal to the second distance satisfying the second predetermined condition. In this case, the end position 1032 of the first working trajectory 103 is the first turning position 1031. The first distance satisfying the first predetermined condition can also be less than the second distance satisfying the second predetermined condition. In this case, the lawnmower robot needs to move from the end position 1032 of the first working trajectory 103 to the first turning position 1031 corresponding to the first working trajectory 103 by walking.

[0164] The first state in this embodiment includes: the speed difference between the two drive wheels of the lawnmower is controlled within the range of 0.15 m / s and 0.6 m / s, which can specifically be [0.15 m / s, 0.6 m / s], (0.15 m / s, 0.6 m / s], [0.15 m / s, 0.6 m / s) or (0.15 m / s, 0.6 m / s). In one application scenario, the first state includes: the two drive wheels of the lawnmower rotate in the same direction, and the speed difference between the two drive wheels is controlled within the range of 0.15 m / s and 0.6 m / s. In another application scenario, the first state includes: the two drive wheels of the lawnmower rotate in opposite directions (i.e., one drive wheel rotates clockwise and the other drive wheel rotates counterclockwise), and the speed difference between the two drive wheels is controlled within the range of 0.15 m / s and 0.6 m / s.

[0165] In some embodiments, the lawnmower robot begins to perform turning and walking in a first state from the starting position of the first turning trajectory 105 (i.e., the first turning position 1031 corresponding to the first working trajectory 103). The first turning trajectory 105 extends continuously from this starting position along with the turning and walking direction of the lawnmower robot. That is, the first turning trajectory 105 is continuously formed as the lawnmower robot turns and walks. The process of the lawnmower robot performing turning and walking in the first state is the formation process of the first turning trajectory 105. In other words, the lawnmower robot starts turning and walking from the starting position of the first turning trajectory 105. Until it turns and walks to the ending position of the first turning trajectory 105, the first turning trajectory 105 continues to be formed. The process of forming the first turning trajectory 105 ends when the lawnmower robot walks to the ending position of the first turning trajectory 105. The lawnmower robot forms a complete first turning trajectory 105 through turning and walking.

[0166] In some embodiments, the lawnmower adopts a first state during the formation of the first turning trajectory 105 to reduce slippage of the lawnmower and / or damage to the turf.

[0167] In some embodiments, the lawnmower robot in this disclosure can determine whether the formation process of the first turning trajectory 105 has been completed, i.e., whether it has reached the end position of the first turning trajectory 105, by judging the distance between its current position and the boundary of the work area pointed to by the initial forward direction 111 or the obstacles in the work area. In one application scenario, the lawnmower robot can obtain the distance between its current position and the boundary of the work area pointed to by the initial forward direction 111 or the obstacles in the work area in real time using image sensors and radar sensors, etc., thereby obtaining the current distance in real time. When it is determined that the current distance is equal to a first preset distance, it is determined that it has reached the end position of the first turning trajectory 105, successfully completing the formation process of the first turning trajectory 105. In another application scenario, the lawnmower robot can obtain the distance between its current position and the boundary of the work area pointed to by the initial forward direction 111 or the obstacles in the work area in real time using image sensors and radar sensors, etc., thereby obtaining the current distance in real time. When it is determined that the current distance is equal to a second preset distance, it is determined that it has reached the end position of the first turning trajectory 105, successfully completing the formation process of the first turning trajectory 105.

[0168] In some embodiments, for a lawnmower robot with a wheelbase of less than 60 cm between its two drive wheels, the instantaneous linear velocity at the midpoint of the wheelbase between the two drive wheels is typically not less than 0.1 m / s, the sum of the instantaneous linear velocities of each drive wheel on both sides typically does not exceed 1.2 m / s, and the instantaneous angular velocity of the lawnmower robot is typically not less than 0.15 rad / s. Furthermore, the instantaneous rotation radius of the lawnmower robot can be controlled within a range greater than 20 cm and less than 1.0 m.

[0169] S302, the lawnmower robot continues its movement within the work area, following the first turning trajectory 105, forming a second work trajectory 104. It is worth noting that in some cases, the process of the lawnmower robot continuing its movement from the first turning trajectory 105 to form the second work trajectory 104 is an optional step. For example, in some cases, the lawnmower robot may pause its work or enter the next turning or turning work trajectory after completing the first turning trajectory 105.

[0170] In some embodiments, if the lawnmower forms a first working trajectory 103 and then sequentially forms a first turning trajectory 105 and a second working trajectory 104, the lawnmower's forward direction 111 along the second working trajectory 104 is opposite to the lawnmower's forward direction 111 along the first working trajectory 103.

[0171] In this embodiment, the second working trajectory 104 can be parallel to the first working trajectory 103, meaning the lawnmower robot can turn 180 degrees using the first turning trajectory 105. However, this embodiment also does not exclude the possibility that the second working trajectory 104 and the first working trajectory 103 form a certain angle.

[0172] In some embodiments, the starting position 1041 of the second working trajectory 104 can be the ending position of the first turning trajectory 105. In this case, the lawnmower robot can directly enter the process of forming the second working trajectory 104 from the ending position of the first turning trajectory 105. For example, the lawnmower robot moves in the working area from the ending position of the first turning trajectory 105 in a direction opposite to the initial forward direction 111, thereby forming a second working trajectory 104 parallel to the first working trajectory 103. When the ending position 1032 of the first working trajectory 103 is the starting position of the first turning trajectory 105, the first working trajectory 103 and the second working trajectory 104 are connected end-to-end through the first turning trajectory 105.

[0173] In some embodiments, the starting position 1041 of the second working trajectory 104 can be closer to the boundary of the working area pointed to by the initial forward direction 111 or an obstacle in the working area than the ending position of the first turning trajectory 105. In this case, the lawnmower robot can first walk from the ending position of the first turning trajectory 105 to the starting position 1041 of the second working trajectory 104, and then enter the process of forming the second working trajectory 104 from that starting position. For example, the lawnmower robot walks in the working area from the starting position 1041 of the second working trajectory 104 in a direction opposite to the initial forward direction 111 to form the second working trajectory 104 parallel to the first working trajectory 103. In this example, the lawnmower robot usually passes the ending position of the first turning trajectory 105 while continuously forming the second working trajectory 104 from the starting position 1041 of the second working trajectory 104, thereby connecting the first working trajectory 103 and the second working trajectory 104 through the first turning trajectory 105 (not end-to-end connection).

[0174] Regarding the embodiment shown in Figure 3, it should be specifically noted that the lawnmower robot does not employ the first state during the processes of forming the first working trajectory 103, forming the second working trajectory 104, moving from the end position 1032 of the first working trajectory 103 to the start position of the first turning trajectory 105, and moving from the end position of the first turning trajectory 105 to the start position 1041 of the second working trajectory 104. Furthermore, the descriptions in the following embodiments can be combined with the embodiment shown in Figure 3.

[0175] In some embodiments of this disclosure, the first predetermined condition may include: a first distance equal to a first preset distance. During the formation of the first working trajectory 103, the first preset distance in the first predetermined condition is mainly used to enable the lawnmower robot to know that the process of forming the first working trajectory 103 has ended, that is, the lawnmower robot knows the end position 1032 of the first working trajectory 103 according to the first preset distance.

[0176] In application scenarios where the end position 1032 of the first working trajectory 103 is closer to the boundary / obstacle 120 pointed to by the initial forward direction 111 than the first turning position corresponding to the first working trajectory 103, in order to prevent the lawnmower robot from exceeding the boundary of the working area or touching the obstacle during the formation of the first working trajectory 103, the setting of the first preset distance is mainly used to maintain a safe distance between the lawnmower robot and the boundary of the working area or the obstacle in the working area, that is, to reserve a safe distance for the lawnmower robot to form the first working trajectory 103.

[0177] In the application scenario where the end position 1032 of the first working trajectory 103 is the corresponding first turning position, since the first preset distance and the second preset distance in the first predetermined condition are the same, it can be considered that the first preset distance is used not only to enable the lawnmower to know the end position 1032 of the first working trajectory 103, but also to enable the lawnmower to know the corresponding first turning position. That is, the lawnmower can know the starting position of the first turning trajectory 105 based on the first preset distance. To prevent the lawnmower from exceeding the boundary of the working area or colliding with obstacles during the formation of the first turning trajectory 105, the first preset distance can be used to maintain a safe distance between the lawnmower and the boundary of the working area or obstacles in the working area, that is, to reserve a safe distance for the lawnmower to form the first turning trajectory 105.

[0178] In application scenarios where it is necessary to combine walking along the boundary of the work area or along obstacles in the work area to form an edge-based work trajectory, the setting of the first preset distance is related to the number of edge-based work trajectories. For example, the first preset distance can be positively correlated with the number of edge-based work trajectories.

[0179] In some embodiments of this disclosure, the second predetermined condition may include: the second distance is equal to the second preset distance. During the formation of the first turning trajectory 105, the second preset distance in the second predetermined condition is mainly used to enable the lawnmower robot to know that it has reached the starting position of the first turning trajectory 105 and needs to start the turning and walking process based on the first state.

[0180] In an application scenario where the end position 1032 of the first working trajectory 103 is closer to the boundary / obstacle 120 pointed to by the initial forward direction 111 than the first turning position corresponding to the first working trajectory 103, in order to prevent the lawnmower robot from exceeding the boundary of the working area or touching an obstacle during the process of performing turning and walking in the first state to form the first turning trajectory 105, the setting of the second preset distance is mainly used to maintain a safe distance between the lawnmower robot and the boundary of the working area or the obstacle in the working area, that is, to reserve a safe distance for the lawnmower robot to walk to form the first turning trajectory 105.

[0181] In the application scenario where the end position 1032 of the first working trajectory 103 is the first turning position corresponding to the first working trajectory 103, the first preset condition can be combined with the second preset condition, and the second preset distance can be combined with the first preset distance. Therefore, it can be considered that the first / second preset distance is not only used to enable the lawn mower to know the end position 1032 of the first working trajectory 103, but also to enable the lawn mower to know the first turning position corresponding to the first working trajectory 103. That is, the lawn mower can know the starting position of the first turning trajectory 105 based on the first / second preset distance.

[0182] In some embodiments, the factors considered in setting the specific value of the first preset distance may include: the relationship between the first preset distance and the second preset distance, and specific requirements for the safety distance, etc.

[0183] For example, in an application scenario where the first preset distance is less than the second distance, the first preset distance can be 10 centimeters, or it can be a value within the range formed by 10 centimeters ± an adjustment constant. That is, the first preset distance can be a value within the range [10 centimeters - adjustment constant, 10 centimeters + adjustment constant], where the adjustment constant can be a constant greater than 0 and less than 5. This value setting is not related to the wheel track of the lawnmower's two drive wheels. For example, this value can be used for lawnmowers with a wheel track of 40cm to 70cm.

[0184] In some embodiments, in application scenarios where the first preset distance equals the second preset distance, the factors that need to be considered when setting the specific value of the first preset distance are the same as those for setting the specific value of the second preset distance. That is, the value of the first preset distance needs to be considered with reference to the bow height of the first turning trajectory 105 in the initial forward direction 111. Since this bow height is related to the wheelbase of the two drive wheels of the lawnmower robot and the number of first edge-trajectory paths formed by walking along the boundary / obstacle 120, the wheelbase of the two drive wheels of the lawnmower robot and the number of first edge-trajectory paths formed by walking along the boundary / obstacle 120 can be considered with reference to these factors. For example, for a lawnmower robot with a wheelbase of 40cm, when the number of first edge-trajectory paths formed by walking along the boundary / obstacle 120 is 1, the first preset distance can be 30cm, or it can be a value in the range of 30cm ± adjustment constant. That is, the first preset distance can be a value in the range [30cm - adjustment constant, 30cm + adjustment constant]. For example, for a lawnmower robot with a wheelbase of 40cm on both drive wheels, when the number of first edge-trajectory paths formed by walking along the boundary / obstacle 120 is 2, the first preset distance can be 50cm, or it can be a value in the range formed by 50cm ± adjustment constant. That is, the first preset distance can be a value in the range [50cm - adjustment constant, 50cm + adjustment constant], where the adjustment constant can also be a constant greater than 0 and less than 5.

[0185] In some embodiments, the factors considered in setting the specific value of the second preset distance include: the specific value of the first preset distance, and the bow height of the first turning trajectory 105 formed by the lawnmower in the first state in the initial forward direction 111. That is, in addition to considering the specific value of the first preset distance, it is also necessary to consider the wheelbase of the two drive wheels of the lawnmower and the number of first edge-trajectory formed by walking along the boundary / obstacle 120.

[0186] The bow height mentioned in this embodiment can be understood as: maximum bow height or average bow height.

[0187] For example, in an application scenario where the first preset distance is less than the second preset distance, the second preset distance can be the sum of the first preset distance and the bow height of the lawnmower robot forming the first turning trajectory 105 in the initial forward direction 111 when using the first state. For instance, for a lawnmower robot with a wheelbase of 40cm on both drive wheels, if the first preset distance is 10cm, the second preset distance can be 30cm.

[0188] Another example is an application scenario where the first preset distance equals the second preset distance. The specific value of the second preset distance needs to be set with reference to the bow height of the first turning trajectory 105 in the initial forward direction 111. Since this bow height is related to the wheelbase of the lawnmower's two drive wheels and the number of first edge-trajectory paths formed by walking along the boundary / obstacle 120, it can be referenced to the wheelbase of the lawnmower's two drive wheels and the number of first edge-trajectory paths formed by walking along the boundary / obstacle 120. For example, for a lawnmower with a wheelbase of 40cm, when the number of first edge-trajectory paths formed by walking along the boundary / obstacle 120 is 1, the second preset distance can be 30cm, or it can be a value within the range of 30cm ± the adjustment constant. That is, the second preset distance can be a value within the range [30cm - adjustment constant, 30cm + adjustment constant]. For example, for a lawnmower robot with a wheelbase of 40cm on both drive wheels, when the number of first edge-trajectory paths formed by walking along the boundary / obstacle 120 is 2, the second preset distance can be 50cm, or it can be a value in the range formed by 50cm ± adjustment constant. That is, the second preset distance can be a value in the range [50cm - adjustment constant, 50cm + adjustment constant], where the adjustment constant can also be a constant greater than 0 and less than 5.

[0189] In some embodiments of this disclosure, in an application scenario where a first distance satisfying a first predetermined condition is less than a second distance satisfying a second predetermined condition (i.e., the first preset distance is less than the second preset distance), the end position 1032 of the first working trajectory 103 formed by the lawnmower through walking is closer to the boundary of the working area pointed to by the initial forward direction 111 or an obstacle in the working area than the first turning position 1031 corresponding to the first working trajectory 103 (as shown in Figure 5). When the lawnmower walks to the point where the first distance from the boundary of the working area pointed to by the initial forward direction 111 or an obstacle in the working area satisfies the first predetermined condition, it needs to walk from the end position 1032 of the first working trajectory 103 to the first turning position 1031 corresponding to the first working trajectory 103 (as shown in Figure 5). When the first turning position 1031 corresponding to the first working trajectory 103 is located on the first working trajectory 103, the lawnmower robot can travel in the first direction 110 (as shown in Figure 5) to the first turning position 1031 located on the first working trajectory 103. Thus, the lawnmower robot can then turn and travel within the working area from the first turning position 1031 in a first state to form the first turning trajectory 105. Here, the first direction 110 is opposite to the initial forward direction 111 (as shown in Figure 5). When the first turning position 1031 corresponding to the first working trajectory 103 is located outside the first working trajectory 103, the lawnmower robot can use corresponding wheel speed difference control to travel from the end position 1032 of the first working trajectory 103 to the first turning position 1031 corresponding to the first working trajectory 103. This wheel speed difference control may not be the same as the wheel speed difference control in the first state of this embodiment. When the second working trajectory 104 to be formed is located on the first side of the first working trajectory 103, the first turning position 1031 is usually also located on the first side of the first working trajectory 103, that is, the first turning position 1031 and the second working trajectory 104 to be formed are located on the same side of the first working trajectory 103.

[0190] In some embodiments, during the process of the lawnmower robot moving from the end position 1032 of the first working trajectory 103 (as shown in Figure 6) to the first turning position 1031 located outside the first working trajectory 103 (as shown in Figure 6), the angle between the robot and the first working trajectory 103 is always less than or equal to 25 degrees. Therefore, it can be known that the angle θ (as shown in Figure 6) between the line connecting the first turning position 1031 outside the first working trajectory 103 and the end position 1032 of the first working trajectory 103 and the first working trajectory 103 is less than or equal to 25 degrees.

[0191] In some embodiments, in application scenarios where a first distance satisfying a first predetermined condition is less than a second distance satisfying a second predetermined condition (i.e., the first preset distance is less than the second preset distance), when the lawnmower robot reaches the end position of the first turning trajectory 105 (i.e., the process of forming the first turning trajectory 105 ends, as shown in FIG7), it should first walk towards the boundary of the work area pointed to by the initial forward direction 111 or the direction of obstacles in the work area (as shown in FIG7), and walk within the work area, and walk to the distance from the boundary of the work area pointed to by the initial forward direction 111 or the direction of obstacles in the work area (i.e., the first preset distance is less than the second preset distance). When the distance meets the first predetermined condition, that is, when the lawnmower reaches the starting position 1041 of the second working trajectory 104 (as shown in Figure 7), it begins to move to form the second working trajectory 104 (as shown in Figure 7). For example, the lawnmower moves in the working area using the first direction 110 (as shown in Figure 7) to form the second working trajectory 104. When the lawnmower moves in the first direction 110 to a point where the first distance from the boundary / obstacle 120 pointed to by the first direction 110 meets the first predetermined condition, it reaches the ending position 108 of the second working trajectory 104, and the formation process of the second working trajectory 104 ends. The boundary of the working area pointed to by the first direction 110 or the obstacle in the working area is set opposite to the boundary of the working area pointed to by the initial forward direction 111 or the obstacle in the working area.

[0192] In some embodiments, in an application scenario where a first distance satisfying a first predetermined condition is equal to a second distance satisfying a second predetermined condition (i.e., the first preset distance is equal to the second preset distance), the end position 1032 of the first working trajectory 103 formed by the lawnmower robot is the same position as the first turning position 1031 corresponding to the first working trajectory 103 (as shown in Figure 8). When the lawnmower robot reaches the boundary of the working area or an obstacle in the working area pointed to by the initial forward direction 111 at a distance satisfying the first predetermined condition, the lawnmower robot is located at the first turning position 1031 corresponding to the first working trajectory 103. The lawnmower robot no longer needs to walk from the end position 1032 of the first working trajectory 103 to the first turning position 1031 corresponding to the first working trajectory 103, but can turn and walk in the working area from the current position using the first state to form a first turning trajectory 105. Exemplarily, the first distance is equal to the second distance, and the lawnmower robot forms the first turning trajectory 105 in the second direction. The angle between the second direction and the first working trajectory 103 is less than 90 degrees. For example, the angle between the second direction and the straight line containing the first working trajectory 103 can be less than or equal to 25 degrees.

[0193] In some embodiments, in application scenarios where a first distance satisfying a first predetermined condition is equal to a second distance satisfying a second predetermined condition (i.e., the first preset distance is equal to the second preset distance), when the lawnmower reaches the end position of the first turning trajectory 105 (i.e., the process of forming the first turning trajectory 105 ends), the lawnmower reaches the beginning position of the second working trajectory 104 (as shown in FIG. 9), and can directly enter the process of forming the second working trajectory 104. For example, the lawnmower walks in the working area using the first direction 110 (as shown in FIG. 9) to facilitate the formation of the second working trajectory 104. When the lawnmower walks in the first direction 110 to the first distance from the boundary of the working area pointed to by the first direction 110 or the obstacle in the working area satisfies the first predetermined condition, it reaches the end position 108 of the second working trajectory 104, and the process of forming the second working trajectory 104 ends.

[0194] In some embodiments, during the process of the lawnmower robot turning and walking within the work area to form the first turning trajectory 105, the formation of the first turning trajectory 105 can be completed without passing through other turning positions (hereinafter referred to as the second turning positions). That is, the first turning trajectory 105 formed by the lawnmower robot turning and walking within the work area does not include the second turning position (as shown in Figure 10). Therefore, the lawnmower robot does not need to switch walking modes during the formation of the first turning trajectory 105, and can complete the walking of the first turning trajectory 105 using only one walking mode. The walking modes in the embodiments of this disclosure generally include two walking modes, namely the first walking mode and the second walking mode. The first walking mode refers to the walking mode with the front facing of the lawnmower robot as the forward direction 111 (i.e., the forward walking mode), and the second walking mode refers to the walking mode with the back facing of the lawnmower robot as the forward direction 111 (i.e., the backward walking mode).

[0195] In some applications, the lawnmower robot can always use a forward walking mode to complete the first turning trajectory 105. In another application, the lawnmower robot can always use a backward walking mode to complete the first turning trajectory 105.

[0196] In some embodiments, during the process of the lawnmower robot turning and walking within the work area to form the first turning trajectory 105, it needs to pass through at least one second turning position (two second turning positions are schematically shown in Figure 11), and needs to switch walking modes at each of the second turning positions to continue forming subsequent turning trajectories until the formation of the first turning trajectory 105 is completed. That is, all the second turning positions passed by the first turning trajectory 105 divide the first turning trajectory 105 into multiple turning trajectories, and any two adjacent turning trajectories use different walking modes. For example, if a second turning position connects two turning trajectories, and one turning trajectory is formed using a forward walking mode, then the other turning trajectory must be formed using a reverse walking mode.

[0197] In some embodiments, the second turning position is any turning position different from the first turning position 1031. Also exemplarily, the second turning position can be any turning position the lawnmower robot travels after the end of the first working trajectory 103. Yet another exemplarily, the second turning position can be any turning position the lawnmower robot travels after the end of the first working trajectory 103 and before the start of the second working trajectory 104.

[0198] In some embodiments, the first turning trajectory 105 has three segments. The lawnmower robot starts from the first turning position 1031 and turns and walks in the working area in a first state, forming the first turning trajectory 105. This includes: the lawnmower robot turns and walks in the first state and a first walking mode at the first turning position 1031 corresponding to the first working trajectory 103, forming the first segment of the first turning trajectory 105; when the lawnmower robot walks to the first second turning position 1033, it turns and walks in the first state and a second walking mode, forming the second segment of the first turning trajectory 105; when the lawnmower robot walks to the first second turning position 1034, it turns and walks in the first state and a first walking mode, forming the third segment of the first turning trajectory 105; wherein, the vertical distance between the first second turning position 1033 and the straight line of the first working trajectory 103 is greater than the vertical distance between the second turning position and the straight line of the first working trajectory 103, the first segment of the first turning trajectory 105 is connected to the first working trajectory 103, and the third segment of the first turning trajectory 105 is connected to the second working trajectory 104.

[0199] The first turning trajectory 105 includes three turning trajectories, meaning it passes through two second turning positions (as shown in Figure 11). The perpendicular distances between these two second turning positions and the straight line containing the first working trajectory 103 are different; specifically, the perpendicular distance between the first second turning position 1033 and the straight line containing the first working trajectory 103 (h1 in Figure 11) is greater than the perpendicular distance between the second turning position and the first working trajectory 103 (h2 in Figure 11). In other words, the lawnmower robot will first move away from the first working trajectory 103 (e.g., its extension), and then move closer to the first working trajectory 103 (e.g., its extension). The lawnmower robot adopts a first state and a first walking mode (such as forward walking mode) at the first turning position 1031 corresponding to the first working trajectory 103 to turn and walk, so as to form the first segment of the first turning trajectory 105. When it walks to the first second turning position 1033 (for example, it can be determined whether it has walked to the first second turning position 1033 by judging whether the distance to the boundary / obstacle 120 pointed to by the initial forward direction 111 has reached a predetermined distance), the formation process of the first segment of the first turning trajectory 105 is completed, and the first segment of the first turning trajectory 105 is connected to the first working trajectory 103. At the first second turning position 1033, the lawnmower robot uses a first state and a second walking mode (such as a reverse walking mode) to turn and walk, forming a second segment of the first turning trajectory 105. When it reaches the first second turning position 1034 (for example, it can determine whether it has reached the first second turning position 1034 by judging whether the distance to the boundary / obstacle 120 pointed to by the initial forward direction 111 has reached another predetermined distance), the formation process of the second segment of the first turning trajectory 105 is completed, and the second segment of the first turning trajectory 105 is connected to the first segment of the first turning trajectory 105. At the second turning position, the lawnmower robot uses a first state and a first walking mode (such as a forward walking mode) to turn and walk, forming a third segment of the first turning trajectory 105. When it reaches the end position of the first turning trajectory 105, the formation process of the third segment of the first turning trajectory 105 is completed, and the formation process of the first turning trajectory 105 is also completed. The third segment of the first turning trajectory 105 is connected to the second segment of the first turning trajectory 105 on one hand, and to the second working trajectory 104 that will be formed on the other hand.

[0200] In some embodiments, the wheel speed difference used by the lawnmower robot in forming the first turning trajectory 105 may not be constant; that is, the wheel speed difference may vary. For example, the wheel speed difference is smaller closer to the second turning position and closer to the end position of the first turning trajectory 105. However, regardless of how the wheel speed difference varies, it should remain within the range of 0.15 m / s and 0.6 m / s. The change in wheel speed difference should ensure that the slope of the change in wheel speed difference between adjacent time points is less than a preset slope. The specific value of this preset slope can be set according to actual needs; for example, the preset slope can be 0.2, etc.

[0201] In some embodiments of the present disclosure, during the formation of the first turning trajectory 105, the ratio of the linear velocity to the angular velocity of the lawnmower robot at any given moment should exceed half the wheelbase of the two drive wheels of the lawnmower robot. For example, in an application scenario where the wheelbase of the two drive wheels of the lawnmower robot is 40cm, the ratio of the linear velocity to the angular velocity of the lawnmower robot at any given moment during the turning process should be greater than 0.2. As another example, in an application scenario where the wheelbase of the two drive wheels of the lawnmower robot is 60cm, the ratio of the linear velocity to the angular velocity of the lawnmower robot at any given moment during the turning process should be greater than 0.3. In one application scenario, during the turning process of the lawnmower robot, the sum of the linear velocities of its left and right drive wheels at any given moment is typically less than 1.2 m / s.

[0202] In some embodiments, the first working trajectory 103, the second working trajectory 104, and the first turning trajectory 105 can be combined with an edge-walking mode to achieve comprehensive mowing of the work area. Edge-walking can include walking along the boundary of the work area or walking along an obstacle, i.e., walking along the outer edge of an obstacle.

[0203] Whether walking along the boundary of the work area or along an obstacle, the lawnmower robot should not exceed the boundary of the work area during edge walking. The process of the lawnmower robot performing edge walking is the process of forming an edge-walking trajectory. In this embodiment of the disclosure, the edge-walking trajectory is usually located within a preset distance range from the boundary / obstacle 120 of the work area, for example, within a range of 30cm or 50cm from the boundary / obstacle 120 of the work area. This preset distance range is usually related to the bow height of the first turning trajectory 105 formed by the lawnmower robot's turning movement in the initial forward direction 111. In addition, the preset distance range can determine the number of edge-walking trajectories. For example, when the distance between the end position 1032 of the first working trajectory 103 and the boundary / obstacle 120 of the work area pointed to by the initial forward direction 111 is small (e.g., 30cm), the number of edge-walking trajectories can be one. For example, when the distance between the end position 1032 of the first working trajectory 103 and the boundary / obstacle 120 of the working area pointed to by the aforementioned forward direction 111 is large (e.g., the distance is 50cm), the number of working trajectories along the edge can be multiple.

[0204] In some embodiments, when there are multiple edge-side working trajectories, each edge-side working trajectory is arranged side-by-side within the working area, and the minimum distances between at least two of the side-by-side working trajectories and the boundary / obstacle 120 are unequal. Exemplarily, the minimum distances between any two side-by-side working trajectories and the boundary / obstacle 120 are unequal. Also exemplaryly, the minimum distances between any two adjacent edge-side working trajectories and the boundary / obstacle 120 are unequal.

[0205] In some embodiments, when there are multiple edge working trajectories, each edge working trajectory is arranged side by side in the working area, and the minimum distance between one of any two adjacent edge working trajectories arranged side by side and the boundary / obstacle 120 (s1 in Figure 12) is less than the minimum distance between the other edge working trajectory (s2 in Figure 12) and the boundary / obstacle 120.

[0206] In some embodiments, when there are multiple edge working tracks, the first turning track 105 and at least one edge working track have overlapping tracks. That is, at least one edge working track will pass through the first turning track 105, so that the edge working track can be used to complete the cutting of areas not covered by the first turning track 105, the first working track 103 and the second working track 104.

[0207] In some embodiments, the first working trajectory 103 and the second working trajectory 104 in this disclosure can be two closely adjacent working trajectories, such as two closely adjacent parallel straight working trajectories or two closely adjacent arc-shaped working trajectories with the same shape. The distance between the first working trajectory 103 and the second working trajectory 104 can be zero, and there can also be a small overlapping area (e.g., 1-3 cm) between the first working trajectory 103 and the second working trajectory 104. Alternatively, the first working trajectory 103 and the second working trajectory 104 in this disclosure can also be two non-adjacent working trajectories, that is, the distance between the first working trajectory 103 and the second working trajectory 104 reaches a predetermined distance (e.g., 20 cm or 30 cm). The lawnmower robot in this disclosure can, under the user's instruction, ensure that the distance between the first working trajectory 103 and the second working trajectory 104 meets the predetermined distance requirement (i.e., reaches the predetermined distance) during the formation of the second working trajectory 104. That is, if a perpendicular line is drawn from the starting position 1041 of the second working trajectory 104 to the first working trajectory 103, the length of the perpendicular line meets the predetermined distance requirement. In this case, the lawnmower robot needs to move between the first working trajectory 103 and the second working trajectory 104 to perform additional mowing on the area between the first working trajectory 103 and the second working trajectory 104.

[0208] In some embodiments of this disclosure, the lawnmower robot typically does not immediately mow the area between the first working trajectory 103 and the second working trajectory 104 after completing the formation of the second working trajectory 104. Instead, it turns back to the area between the first working trajectory 103 and the second working trajectory 104 when the distance between the currently formed working trajectory and the area between the first working trajectory 103 and the second working trajectory 104 exceeds the distance between the second working trajectory 104 and the area between the first working trajectory 103 and the second working trajectory 104. As shown in Figure 13, after forming the first working trajectory 103 and the second working trajectory 104, the lawnmower robot turns and walks to the starting position of the third working trajectory 1041. It then moves within the working area from the starting position of the third working trajectory 1041, forming the third working trajectory 1041. The third working trajectory 1041 can be parallel to the second working trajectory 104, and both the second and third working trajectories 104 and 1041 are located on the same side of the first working trajectory 103, as shown in Figure 13, where both are located below the first working trajectory 103. Furthermore, there is also an area that needs to be mowed between the second and third working trajectories 104 and 1041. When the lawnmower robot reaches a first distance from the boundary / obstacle 120 pointed to by the initial direction of travel 111 and meets the first predetermined condition, it turns and walks in the working area from the first turning position 1031 corresponding to the third working trajectory 1041, forming a second turning trajectory 106. The second turning trajectory 106 leads the lawnmower robot to the area between the first working trajectory 103 and the second working trajectory 104. When the lawnmower robot walks to the end position of the second turning trajectory 106, it reaches the starting position of the fourth working trajectory 1042. The lawnmower robot continues the second turning trajectory 106 and continues to walk in the working area from the end position of the second turning trajectory 106, forming the fourth working trajectory 1042. The fourth working trajectory 1042 is located in the area between the first working trajectory 103 and the second working trajectory 104, thereby realizing the additional mowing of the area between the first working trajectory 103 and the second working trajectory 104.

[0209] Additionally, in Figure 13, when the lawnmower reaches the end position of the fourth working trajectory 1042, it can turn and walk within the working area using the first state to form another turning trajectory. This turning trajectory leads the lawnmower to the area between the second working trajectory 104 and the third working trajectory 1041. When the lawnmower reaches the end position of this turning trajectory, it reaches the starting position of the fifth working trajectory 1043. The lawnmower continues the turning trajectory and continues to walk within the working area from the end position of this turning trajectory, forming the fifth working trajectory 1043. The fifth working trajectory 1043 is located in the area between the second working trajectory 104 and the third working trajectory 1041, thereby achieving supplementary mowing of the area between the second working trajectory 104 and the third working trajectory 1041.

[0210] Figure 14 is a flowchart of one embodiment of the lawnmower path control method of the present disclosure. The method shown in Figure 14 includes steps S1400, S1401, S1402 and S1403, and each step in Figure 14 will be described below.

[0211] S1400, the lawnmower robot moves within the work area, forming the first work trajectory 103.

[0212] The lawnmower robot, working area, and process of forming the first working trajectory 103 in this embodiment can be referred to the above description of S300, and will not be repeated here. In addition, the end position 1032 of the first working trajectory 103 can be referred to the description in the above embodiment, or other methods can be used to determine the end position 1032 of the first working trajectory 103 to complete the formation process of the first working trajectory 103.

[0213] S1401. When the lawnmower robot walks to the first turning position 1031 corresponding to the first working trajectory 103, it adopts the first state to turn and walk in the working area, forming the first turning trajectory 105.

[0214] The first state in this embodiment includes: the speed difference between the two drive wheels of the lawnmower robot is controlled to be greater than or equal to 0.15 m / s and less than or equal to 0.6 m / s.

[0215] The process of the first turning position 1031, turning and walking, and forming the first turning trajectory 105 in this embodiment can be referred to the above description of S301. The lawnmower robot can also use the hopping bow method for turning and walking, so it will not be described again here. Alternatively, other methods can be used to set the first turning position 1031 and the end position of the first turning trajectory 105 to complete the formation process of the first turning trajectory 105.

[0216] S1402, The lawnmower robot continues to move within the work area following the first turning trajectory 105, forming the second work trajectory 104.

[0217] In this embodiment, the first working trajectory 103 and the second working trajectory 104 are connected by the first turning trajectory 105. The starting position 1041 of the second working trajectory 104 and the process of forming the second turning trajectory 106 can be found in the description of S302 above, and will not be repeated here. Alternatively, other methods can be used to set the starting position 1041 of the second working trajectory 104 and the direction of travel of the second working trajectory 104 to complete the formation process of the first turning trajectory 105. It is worth noting that, similar to S302, S1402 is an optional step.

[0218] S1403. The lawnmower robot moves along the boundary of the work area or along obstacles within the work area, forming an edge-following work trajectory. For example, the edge-following work trajectory along the work area in S1403 can be connected to the second work trajectory 104 or the first turning work trajectory.

[0219] In some embodiments, when there are multiple edge-working tracks, each edge-working track is arranged within the boundary, and the minimum distances between at least two adjacent edge-working tracks and the boundary are unequal; and / or, when there are multiple edge-working tracks, the first turning track 105 and at least one edge-working track overlap. Exemplarily, the edge-working tracks are located within a preset distance range from the boundary of the working area or from obstacles in the working area, and the number of edge-working tracks can be one or more. When there are multiple edge-working tracks, each edge-working track is arranged side-by-side within the boundary, and the minimum distance between one of any two adjacent edge-working tracks and the boundary / obstacle 120 is less than the minimum distance between the other edge-working track and the boundary / obstacle 120. Additionally, when there are multiple edge-working tracks, the first turning track 105 and at least one edge-working track overlap. The process of forming edge-working tracks can be found in the description in the above method embodiments, and will not be repeated here.

[0220] Furthermore, the embodiments described above that can be incorporated into the method in Figure 3 can also be incorporated into the method in Figure 14, and will not be described in detail here.

[0221] The technical solutions of the embodiments of this disclosure will be described below in conjunction with specific application scenarios.

[0222] Figure 15 shows a working area and working path 150 taught by the user to the lawnmower robot. The working area in Figure 15 includes multiple working paths 150. The distance from the rightmost position of each working path 150 to the horizontally rightward boundary is the same, and the distance from the leftmost position of each working path 150 to the horizontally leftward boundary is the same. The lawnmower robot needs to move along each of the user-taught working paths 150 to complete the covering mowing operation of the working area. One process of the lawnmower robot performing the mowing operation of the working area can be as follows:

[0223] First, the lawnmower robot walks to the starting position 1035 of the first working trajectory 103 in the working area using a walking mode (such as forward walking mode) and walks in a horizontal left direction. The path of the lawnmower robot forms the first working trajectory 103. During the process of forming the first working trajectory 103, the lawnmower robot can detect the distance between itself and the boundary of the working area pointed to in the horizontal left direction / obstacles in the working area in real time. When the detected distance is equal to the first preset distance (such as 10 cm), the lawnmower robot confirms that it has walked to the ending position of the first working trajectory 103, thereby forming a complete first working trajectory 103.

[0224] Secondly, the lawnmower switches its walking mode (e.g., to reverse walking mode) and walks in the opposite direction (horizontally to the right) from the end position. During the reverse walking process, the lawnmower detects in real time the distance between itself and the boundary of the work area pointed to in the horizontal left direction / obstacles in the work area. If the detected distance is equal to the second preset distance (e.g., 30cm), the lawnmower confirms that it has walked to the turning position on the first working trajectory 103 (i.e., the first turning position 1031 corresponding to the first working trajectory 103).

[0225] Next, the lawnmower robot uses a first state (controlling its wheel speed difference within the range of 0.15m / s-0.6m / s) for turning and walking (e.g., using a forward walking mode for turning and walking), and the trajectory of the lawnmower robot's turning and walking forms a first turning trajectory 105. During the turning and walking process, the lawnmower robot detects in real time the distance between itself and the boundary of the work area pointed to in the horizontal left direction / obstacles in the work area. When the detected distance is equal to a second preset distance, the lawnmower robot confirms that it has walked to the end position of the first turning trajectory 105, thus forming a complete first turning trajectory 105.

[0226] Next, the lawnmower switches its walking mode (e.g., to reverse walking mode) and moves horizontally to the left from the end position 107 of the first turning trajectory 105. During the horizontal leftward movement, the lawnmower detects in real time the distance between itself and the boundary of the work area pointed to by the horizontal leftward movement / obstacles in the work area. If the detected distance is equal to the first preset distance, the lawnmower confirms that it has moved to the starting position 1041 of the second work trajectory 104.

[0227] Next, the lawnmower switches its walking mode (e.g., to forward walking mode) and walks horizontally to the right from the starting position 1041 of the second working trajectory 104. The lawnmower's walking trajectory forms the second working trajectory 104. During the walking process, the lawnmower detects in real time the distance between itself and the boundary of the working area pointed to in the horizontal right direction / obstacles in the working area. If the detected distance is equal to the first preset distance, the lawnmower confirms that it has walked to the ending position 108 of the second working trajectory 104, thus forming a complete second working trajectory 104.

[0228] Following this pattern, the lawnmower robot completes all the work paths 150 taught by the user in the above manner, forming a work trajectory, thus completing the lawnmower operation in the work area shown in Figure 15.

[0229] Figure 16 shows a working area and working path 150 taught by the user to the lawnmower robot. The working area in Figure 16 includes multiple working paths 150. The distance from the rightmost position of each working path 150 to the horizontally rightward boundary is the same, and the distance from the leftmost position of each working path 150 to the horizontally leftward boundary is the same. The lawnmower robot needs to move along each of the user-taught working paths 150 to complete the lawnmower operation in that working area. One process of the lawnmower robot performing the lawnmower operation in that working area can be as follows:

[0230] First, the lawnmower robot walks to the starting position 1035 of the first working trajectory 103 in the working area using a walking mode (such as forward walking mode) and walks in a horizontal left direction. The path of the lawnmower robot forms the first working trajectory 103. During the process of forming the first working trajectory 103, the lawnmower robot can detect the distance between itself and the boundary of the working area pointed to in the horizontal left direction / obstacles in the working area in real time. When the detected distance is equal to the first preset distance (such as 10cm), the lawnmower robot confirms that it has walked to the ending position 1032 of the first working trajectory 103, thus forming a complete first working trajectory 103.

[0231] Secondly, the lawnmower switches its walking mode (e.g., to reverse walking mode) and walks in the opposite direction (horizontally to the right) from the end position. During the reverse walking process, the lawnmower detects in real time the distance between itself and the boundary of the work area pointed to in the horizontal left direction / the obstacles in the work area. If the detected distance is equal to the second preset distance (e.g., 20cm), the lawnmower confirms that it has walked to the turning position on the first working trajectory 103 (i.e., the first turning position 1031 corresponding to the first working trajectory 103).

[0232] Next, the lawnmower robot, in its first state (controlling its wheel speed difference within the range of 0.15 m / s to 0.6 m / s), turns and moves towards the first second turning position 1033 (e.g., using forward walking mode) to form the first turning trajectory 105. During the formation of the first turning trajectory 105, the lawnmower robot continuously monitors the distance between itself and the boundary of the work area pointing to the left horizontally / obstacles within the work area. If the detected distance equals a preset distance, the lawnmower robot confirms that it has reached the first second turning position 1033, thus forming the complete first turning trajectory 105. The lawnmower robot then switches its walking mode (e.g., switches to reverse walking mode) and, from the first second turning position 1033, in its first state (controlling its wheel speed difference within the range of 0.15 m / s to 0.6 m / s), turns and moves towards the first second turning position 1034 to form the second turning trajectory 105. During the formation of the second segment of the first turning trajectory 105, the lawnmower robot continuously monitors the distance between itself and the boundary of the work area pointing to the left horizontally / in the work area, or any obstacles within the work area. If the detected distance equals another preset distance, the lawnmower robot confirms that it has reached the first second turning position 1034, thus forming the complete second segment of the first turning trajectory 105. The lawnmower robot then switches its walking mode again (e.g., to forward walking mode) and, from the first second turning position 1034, adopts a first state (controlling its wheel speed difference within the range of 0.15m / s-0.6m / s) to turn and walk towards the end position 107 of the first turning trajectory 105, in order to form the third segment of the first turning trajectory 105. During the formation of the third segment of the first turning trajectory 105, the lawnmower robot continuously monitors the distance between itself and the boundary of the work area pointing to the left horizontally / in the work area, or any obstacles within the work area. If the detected distance equals the second preset distance, the lawnmower robot confirms that it has reached the end position 107 of the first turning trajectory 105, thus forming the complete third segment of the first turning trajectory 105.

[0233] Next, the lawnmower switches its walking mode (e.g., to reverse walking mode) and moves horizontally to the left from the end position 107 of the first turning trajectory 105. During the horizontal leftward movement, the lawnmower detects in real time the distance between itself and the boundary of the work area pointed to by the horizontal leftward movement / obstacles in the work area. If the detected distance is equal to the first preset distance, the lawnmower confirms that it has moved to the starting position 1041 of the second work trajectory 104.

[0234] Next, the lawnmower switches its walking mode (e.g., to forward walking mode) and walks horizontally to the right from the starting position. The lawnmower's walking trajectory forms the second working trajectory 104. During the walking process, the lawnmower detects in real time the distance between itself and the boundary of the working area pointed to in the horizontal right direction / obstacles in the working area. If the detected distance is equal to the first preset distance, the lawnmower confirms that it has walked to the end position 108 of the second working trajectory 104, thus forming a complete second working trajectory 104.

[0235] Following this pattern, the lawnmower robot completes all the work paths 150 taught by the user in the above manner, forming a work trajectory, thus completing the lawnmower operation in the work area shown in Figure 16.

[0236] Figure 17 shows a working area and working path 150 taught by the user to the lawnmower robot. The working area in Figure 17 includes multiple working paths 150 (including two first edge-following working paths). Except for the first edge-following working paths, the rightmost position of each working path is equidistant from the horizontally right-pointing boundary, and the leftmost position of each working path is equidistant from the horizontally left-pointing boundary. The lawnmower robot needs to move along each of the user-taught working paths to complete the lawnmower operation in the working area. One process of the lawnmower robot performing the lawnmower operation in the working area can be as follows:

[0237] First, the lawnmower robot walks to the starting position 1035 of the first working trajectory 103 in the working area using a walking mode (such as forward walking mode) and walks in a horizontal left direction. The walking trajectory of the lawnmower robot forms the first working trajectory 103. During the walking process of forming the first working trajectory 103, the lawnmower robot can detect the distance between itself and the boundary of the working area pointed to in the horizontal left direction / obstacles in the working area in real time. When the detected distance is equal to the first preset distance (such as 50cm), the lawnmower robot confirms that it has walked to the ending position of the first working trajectory 103, thereby forming a complete first working trajectory 103.

[0238] Secondly, the lawnmower robot uses a first state (controlling its wheel speed difference within the range of 0.15m / s-0.6m / s) for turning and walking (e.g., using a forward walking mode for turning and walking), and the trajectory of the lawnmower robot's turning and walking forms a first turning trajectory 105. During the turning and walking process, the lawnmower robot detects in real time the distance between itself and the boundary of the work area pointed to in the horizontal left direction / obstacles in the work area. When the detected distance is equal to a second preset distance (e.g., 50cm), the lawnmower robot confirms that it has walked to the end position of the first turning trajectory 105, thus forming a complete first turning trajectory 105.

[0239] Next, the lawnmower moves horizontally to the right from the end position of the first turning trajectory 105 (i.e., the starting position 1041 of the second working trajectory 104). The lawnmower's movement forms the second working trajectory 104. During the movement, the lawnmower detects in real time the distance between itself and the boundary of the working area pointed to by the horizontal right direction / obstacles in the working area. When the detected distance is equal to the first preset distance (e.g., 50cm), the lawnmower confirms that it has moved to the end position 108 of the second working trajectory 104, thus forming a complete second working trajectory 104.

[0240] Following this pattern, after the lawnmower robot has completed all the straight working paths 150 taught by the user, it begins to walk along the boundary of the working area along the first edge working path taught, forming an edge working trajectory. After completing two parallel edge working trajectories, it completes the lawnmower operation in the working area shown in Figure 17.

[0241] Figure 18 shows a working area and working path 150 taught by the user to the lawnmower robot. The working area in Figure 18 includes multiple working paths 150 (including a first edge-following working path 100). Except for the first edge-following working path, the distance from the rightmost position of each working path to the horizontally right-pointing boundary is the same, and the distance from the leftmost position of each working path to the horizontally left-pointing boundary is the same. The lawnmower robot needs to move along each of the user-taught working paths to complete the lawnmower operation in that working area. One process of the lawnmower robot performing the lawnmower operation in that working area can be as follows:

[0242] First, the lawnmower robot walks to the starting position 1035 of the first working trajectory 103 in the working area using a walking mode (such as forward walking mode) and walks in a horizontal left direction. The walking trajectory of the lawnmower robot forms the first working trajectory 103. During the walking process of forming the first working trajectory 103, the lawnmower robot can detect the distance between itself and the boundary of the working area pointed to in the horizontal left direction / obstacles in the working area in real time. When the detected distance is equal to the first preset distance (such as 30cm), the lawnmower robot confirms that it has walked to the ending position of the first working trajectory 103, thereby forming a complete first working trajectory 103.

[0243] Secondly, the lawnmower robot adopts a first state (controlling the wheel speed difference within the range of 0.15m / s-0.6m / s) and turns towards the first second turning position 1033 (e.g., using forward walking mode) to form the first turning trajectory 105. During the formation of the first turning trajectory 105, the lawnmower robot continuously monitors the distance between itself and the boundary of the work area pointing to the left horizontally / obstacles within the work area. When the detected distance equals a preset distance, the lawnmower robot confirms that it has reached the first second turning position 1033, thus forming the complete first turning trajectory 105. The lawnmower robot then switches its walking mode (e.g., switches to reverse walking mode) and, from the first second turning position 1033, adopts the first state (controlling its wheel speed difference within the range of 0.15m / s-0.6m / s) to turn towards the first second turning position 1034 to form the second turning trajectory 105. During the formation of the second segment of the first turning trajectory 105, the lawnmower robot continuously monitors the distance between itself and the boundary of the work area pointing horizontally to the left / obstacles within the work area. If the detected distance equals another preset distance, the lawnmower robot confirms that it has reached the first second turning position 1034, thus forming the complete second segment of the first turning trajectory 105. The lawnmower robot then switches its walking mode again (e.g., to forward walking mode) and, from the first second turning position 1034, adopts a first state (controlling its wheel speed difference within the range of 0.15m / s-0.6m / s) to turn and walk towards the end position of the first turning trajectory 105, in order to form the third segment of the first turning trajectory 105. During the formation of the third segment of the first turning trajectory 105, the lawnmower robot continuously monitors the distance between itself and the boundary of the work area pointing horizontally to the left / obstacles within the work area. If the detected distance equals a first preset distance (e.g., 30cm), the lawnmower robot confirms that it has reached the end position of the first turning trajectory 105, thus forming the complete third segment of the first turning trajectory 105.

[0244] Next, the lawnmower moves horizontally to the right from the end position of the first turning trajectory 105 (e.g., using a forward walking mode). The lawnmower's walking trajectory forms the second working trajectory 104. During the walking process, the lawnmower detects in real time the distance between itself and the boundary of the working area pointed to in the horizontal right direction / obstacles in the working area. When the detected distance is equal to the first preset distance (e.g., 30cm), the lawnmower confirms that it has walked to the end position 108 of the second working trajectory 104, thus forming a complete second working trajectory 104.

[0245] Following this pattern, after the lawnmower has completed all the straight working paths taught by the user, it begins to walk along the boundary of the working area along the first edge working path taught, forming an edge working trajectory. After completing the edge working trajectory, it completes the lawnmowing operation in the working area shown in Figure 18.

[0246] Exemplary device

[0247] The lawn mowing robot according to an embodiment of the present disclosure will now be described with reference to FIG19. FIG19 shows a block diagram of the lawn mowing robot according to an embodiment of the present disclosure. As shown in FIG19, the lawn mowing robot 191 includes one or more processors 1911 and memory 1912.

[0248] The processor 1911 may be a central processing unit (CPU) or other form of processing unit with data processing and / or instruction execution capabilities, and may control other components in the lawnmower robot 191 to perform desired functions.

[0249] The memory 1912 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may, for example, include random access memory (RAM) and / or cache memory. The non-volatile memory may, for example, include read-only memory (ROM), hard disk, and flash memory. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 1911 may execute the program instructions to implement the lawnmower path control methods for lawnmower robots described in the various embodiments of this disclosure above, and / or other desired functions.

[0250] In one example, the lawnmower robot 191 may also include an input device 1913 and an output device 1914, etc., these components being interconnected via a bus system and / or other forms of connection mechanisms (not shown). Furthermore, the input device 1913 may also include, for example, an on-screen keyboard, operation buttons, etc. The output device 1914 can output various information to the outside. The output device 1914 may include, for example, a display, a speaker, and a communication network and its connected remote output devices, etc.

[0251] Of course, for simplicity, Figure 19 only shows some of the components of the electronic device 191 that are relevant to the embodiments of this disclosure, omitting components such as buses, input / output interfaces, etc. In addition, the electronic device 191 may include any other suitable components depending on the specific application.

[0252] Exemplary computer program products and computer-readable storage media

[0253] In addition to the methods and devices described above, embodiments of this disclosure may also be computer program products comprising computer program instructions that, when executed by a processor, cause the processor to perform the steps in the lawn mowing robot path control method according to various embodiments of this disclosure as described in the "Exemplary Methods" section above.

[0254] The computer program product can be written in any combination of one or more programming languages ​​to perform the operations of the embodiments of this disclosure. The programming languages ​​include object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on a user's computing device, partially on a user's computing device, as a standalone software package, partially on a user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0255] Furthermore, embodiments of this disclosure may also be computer-readable storage media storing computer program instructions that, when executed by a processor, cause the processor to perform the steps in the lawn mowing robot path control method according to various embodiments of this disclosure as described in the "Exemplary Methods" section above.

[0256] The computer-readable storage medium may be any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may, for example, include, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any combination thereof. More specific examples (not an exhaustive list) of a readable storage medium may include: an electrical connection having one or more wires, a portable disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0257] The basic principles of this disclosure have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this disclosure are merely examples and not limitations, and should not be considered as essential features of each embodiment of this disclosure. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the scope of this disclosure to the necessity of employing the aforementioned specific details for implementation.

[0258] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For system embodiments, since they largely correspond to method embodiments, the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments.

[0259] The block diagrams of devices, apparatuses, devices, and systems disclosed herein are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, devices, and systems can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the terms “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it.

[0260] The methods and apparatus of this disclosure may be implemented in many ways. For example, they may be implemented by software, hardware, firmware, or any combination of software, hardware, and firmware. The above-described order of steps for the methods is for illustrative purposes only, and the steps of the methods of this disclosure are not limited to the order specifically described above unless otherwise specifically stated. Furthermore, in some embodiments, this disclosure may also be implemented as a program recorded on a recording medium, the program including machine-readable instructions for implementing the methods according to this disclosure. Thus, this disclosure also covers recording media storing programs for performing the methods according to this disclosure.

[0261] It should also be noted that in the apparatus, devices, and methods of this disclosure, the components or steps can be disassembled and / or recombined. These disassemblies and / or recombinations should be considered as equivalent solutions to this disclosure.

[0262] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use this disclosure. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of this disclosure. Therefore, this disclosure is not intended to be limited to the aspects shown herein, but rather to be carried out within the widest scope consistent with the principles and novel features disclosed herein.

[0263] The above description has been given for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of this disclosure to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

A method for controlling the mowing path of a lawnmower robot, the method comprising: The lawnmower robot moves within its work area, forming the first work trajectory; When the lawnmower robot reaches a first distance from the boundary of the work area or an obstacle in the work area that is pointing in the direction of travel and meets a first predetermined condition, the lawnmower robot starts from the first turning position and adopts a first state to turn and walk in the work area to form a first turning trajectory. The first state includes: the wheel speed difference between the two drive wheels of the lawnmower robot is controlled to be greater than or equal to 0.15 m / s and less than or equal to 0.6 m / s; The second distance between the first turning position and the boundary of the work area or an obstacle in the work area pointed to by the forward direction satisfies a second predetermined condition, and the first distance is less than or equal to the second distance. The method according to claim 1, wherein: The first predetermined condition includes: the first distance is equal to the first preset distance; and / or, The second predetermined condition includes: the second distance is equal to the second preset distance. The method according to claim 2, wherein: The first preset distance includes: 10 cm, 30 cm, or 50 cm; or The first preset distance includes: a value within a range formed by adjusting a constant, which is 10 cm; or The first preset distance includes: a value within a range formed by 30 cm ± an adjustment constant; or The first preset distance includes: a value within the range formed by adjusting the constant, which is 50 cm; The adjustment constant is a constant greater than 0 and less than 5. The method of claim 2, wherein, The second preset distance is greater than the height of the first turning trajectory formed by the lawnmower robot in the forward direction. The method of claim 1, wherein, The first distance is less than the second distance; the position of the lawnmower robot when the first preset condition is met is different from the first turning position; The lawnmower robot, at the first turning position, adopts a first state to turn and walk within the work area to form a first turning trajectory, including: The lawnmower robot walks along the first direction back to the first turning position, and from the first turning position, it turns and walks in the work area in the first state to form a first turning trajectory. The method of claim 1, wherein, The first distance is equal to the second distance; the position of the lawnmower robot when the first preset condition is met is the first turning position; The lawnmower robot adopts a first state at the first turning position to turn and walk within the work area to form a first turning trajectory, including: when the lawnmower robot walks to the boundary of the work area or an obstacle in the work area that is pointing in the direction of movement and meets a first predetermined condition, the lawnmower robot adopts the first state in a second direction to turn and walk within the work area to form a first turning trajectory; the second direction has an angle of less than 90 degrees with the first working trajectory. The method of claim 1, wherein, The method further includes: The lawnmower continues to move within the work area and forms a second work trajectory; the second work trajectory and the first work trajectory are connected through the first turning trajectory. The method of claim 7, wherein, The direction in which the lawn mowing robot moves along the second working trajectory is opposite to the direction in which the lawn mowing robot moves along the first working trajectory. The method according to claim 7 or 8, wherein The lawnmower robot continues to move within the work area and forms a second working trajectory, including: When the lawnmower robot travels along the first turning trajectory to a third distance from the boundary of the work area or an obstacle in the work area that is in the direction of travel, and the first predetermined condition is met again, it travels within the work area and forms a second work trajectory. The method according to any one of claims 1 to 9, wherein, The first steering trajectory includes a first steering trajectory at at least one second turning position; Wherein, the at least one second turning position divides the first turning trajectory into multiple turning trajectories, and the lawnmower robot adopts different walking modes to form adjacent turning trajectories by turning and walking, and the walking modes include: a first walking mode with the front facing direction of the lawnmower robot as the forward direction, and a second walking mode with the back facing direction of the lawnmower robot as the forward direction. The method of claim 10, wherein, The first turning trajectory consists of three segments. The lawnmower robot begins its turning movement within the work area from the first turning position, adopting a first state, and forms the first turning trajectory, which includes: The lawnmower robot adopts a first state and a first walking mode to turn and walk at the first turning position corresponding to the first working trajectory, forming a first segment of the first turning trajectory. When the lawnmower robot reaches the first second turning position, it turns and moves using the first state and the second walking mode, forming the second segment of the first turning trajectory. When the lawnmower robot reaches the second second turning position, it adopts the first state and the first walking mode to turn and walk, forming the third segment of the first turning trajectory; Wherein, the vertical distance between the first second turning position and the straight line of the first working trajectory is greater than the vertical distance between the second turning position and the straight line of the first working trajectory, the first segment of the first turning trajectory is connected to the first working trajectory, and the third segment of the first turning trajectory is connected to the second working trajectory. The method according to any one of claims 1 to 9, wherein: During the formation of the first turning trajectory, the wheel speed difference used by the mowing robot varies, and the slope of the wheel speed difference change at adjacent time points is less than a preset slope; and / or During the formation of the first turning trajectory, the ratio of the linear velocity to the angular velocity of the lawnmower robot at any given moment exceeds half the wheelbase of the two drive wheels of the lawnmower robot. The method according to any one of claims 1 to 9, wherein The method further includes: The lawnmower robot moves along the boundary of the work area or along obstacles within the work area, forming a work trajectory along the edge. Wherein, the edge-following working trajectory is located within a preset distance range from the boundary / obstacle; the number of edge-following working trajectories is one or more; When there are multiple edge-side working trajectories, each edge-side working trajectory is arranged side-by-side within the working area, and at least two adjacent edge-side working trajectories arranged side-by-side are unequally distanced from the boundary / obstacle; and / or, When there are multiple working trajectories along the edge, the first turning trajectory and at least one of the working trajectories along the edge overlap. The method according to claim 8 or 9, wherein The method further includes: When the distance between the first working trajectory and the second working trajectory meets the predetermined distance requirement, the mowing robot moves between the first working trajectory and the second working trajectory to perform additional mowing in the area between the first working trajectory and the second working trajectory. The method of claim 14, wherein, The lawnmower robot moves between the first working trajectory and the second working trajectory to perform additional mowing in the area between the first working trajectory and the second working trajectory, including: The lawnmower robot moves within the work area, forming a third work trajectory; wherein the second and third work trajectories are both located on the same side of the first work trajectory; When the lawnmower robot travels to the boundary of the work area or the fourth distance of the obstacle in the work area that the direction of travel points meets the first predetermined condition, the lawnmower robot starts from the third turning position corresponding to the third work trajectory and turns and walks in the work area in the first state to form a second turning trajectory. The lawnmower robot continues to move within the work area following the second turning trajectory, forming a fourth work trajectory; The fourth working trajectory is located in the region between the first working trajectory and the second working trajectory. The method according to claim 9, wherein, The first state also includes: the two drive wheels of the lawnmower rotating in the same direction. A method for controlling the mowing path of a lawnmower robot, the method comprising: The lawnmower robot moves within its work area, forming the first work trajectory; When the lawnmower robot walks to the first turning position corresponding to the first working trajectory, it adopts a first state to turn and walk in the working area to form a first turning trajectory. The lawnmower robot continues to move within the work area following the first turning trajectory to form a second work trajectory; The lawnmower robot moves along the boundary of the work area or along obstacles in the work area within the boundary of the work area to form a work trajectory along the edge; The first state includes: the wheel speed difference between the two drive wheels of the lawnmower robot is controlled to be greater than or equal to 0.15 m / s and less than or equal to 0.6 m / s; the first working trajectory and the second working trajectory are connected through the first steering trajectory; The edge-following working trajectory is located within a preset distance from the boundary; the number of edge-following working trajectories is one or more; When there are multiple edge working tracks, each edge working track is arranged within the boundary, and the minimum distance between at least two adjacent edge working tracks and the boundary is not equal; and / or, when there are multiple edge working tracks, the first turning track and at least one of the edge working tracks have overlapping tracks. The method according to claim 17, wherein, Perform turning maneuvers within the work area to form a first turning trajectory, including: The lawnmower robot navigates and turns within the work area, forming a first turning trajectory that does not pass through any second turning point; or The lawnmower robot turns and moves within the work area, forming a first turning trajectory that passes through at least one second turning position; Wherein, the second turning position along the first turning trajectory divides the first turning trajectory into multiple turning trajectories. The lawnmower robot adopts different walking modes when forming adjacent turning trajectories by turning and walking. The walking modes include: a first walking mode with the front of the lawnmower robot facing the direction of travel as the forward direction, and a second walking mode with the back of the lawnmower robot facing the direction of travel as the forward direction. The method according to claim 18, wherein, The first turning trajectory consists of three segments. The lawnmower robot turns and moves within the work area, forming a first turning trajectory that includes at least two second turning positions, including: The lawnmower robot adopts a first state and a first walking mode to turn and walk at the first turning position corresponding to the first working trajectory, forming a first segment of the first turning trajectory. When the lawnmower robot reaches the first second turning position, it turns and moves using the first state and the second walking mode, forming the second segment of the first turning trajectory. When the lawnmower robot reaches the second second turning position, it adopts the first state and the first walking mode to turn and walk, forming the third segment of the first turning trajectory; Wherein, the vertical distance between the first second turning position and the straight line of the first working trajectory is greater than the vertical distance between the second turning position and the straight line of the first working trajectory, the first segment of the first turning trajectory is connected to the first working trajectory, and the third segment of the first turning trajectory is connected to the second working trajectory. The method according to any one of claims 17 to 19, wherein: During the formation of the first turning trajectory, the wheel speed difference used by the mowing robot varies, and the slope of the wheel speed difference change at adjacent time points is less than a preset slope; and / or During the formation of the first turning trajectory, the ratio of the linear velocity to the angular velocity of the lawnmower robot at any given moment exceeds half the wheelbase of the two drive wheels of the lawnmower robot. The method according to any one of claims 17 to 19, wherein, The method further includes: When the distance between the first working trajectory and the second working trajectory meets the predetermined distance requirement, the mowing robot moves between the first working trajectory and the second working trajectory to perform additional mowing in the area between the first working trajectory and the second working trajectory. The method according to claim 21, wherein, The lawnmower robot moves between the first working trajectory and the second working trajectory to perform additional mowing in the area between the first working trajectory and the second working trajectory, including: The lawnmower robot moves within the work area to form a third work trajectory; wherein the second and third work trajectories are both located on the same side of the first work trajectory; When the lawnmower reaches the boundary of the work area or the first distance of the work area to which the lawnmower points by the walking direction of the first working trajectory formed by the walking robot meets the first predetermined condition, the lawnmower will turn and walk in the work area from the first turning position corresponding to the third working trajectory in the first state to form a second turning trajectory. The lawnmower robot continues to move within the work area following the second turning trajectory to form a fourth work trajectory; Wherein, the fourth working trajectory is located in the area between the first working trajectory and the second working trajectory, and the first turning position corresponding to the third working trajectory and the second distance between the boundary of the working area or the obstacle in the working area pointed to by the walking direction of the first working trajectory formed by the lawnmower robot satisfy the second predetermined condition, and the first distance is less than or equal to the second distance. The method according to any one of claims 17 to 19, wherein, The first state also includes: the two drive wheels of the lawnmower rotating in the same direction. A computer-readable storage medium storing a computer program for performing the method according to any one of claims 1-23. A lawnmower robot, the lawnmower robot comprising: processor; Memory used to store the processor's executable instructions; The processor is configured to read the executable instructions from the memory and execute the instructions to implement the method of any one of claims 1-23.

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