CN115202344A

CN115202344A - Mowing method and device for working boundary of mower, storage medium and mower

Info

Publication number: CN115202344A
Application number: CN202210765061.1A
Authority: CN
Inventors: 李春红; 林德淦
Original assignee: Weilan Continental Beijing Technology Co ltd
Current assignee: Weilan Continental Beijing Technology Co ltd
Priority date: 2022-06-30
Filing date: 2022-06-30
Publication date: 2022-10-18

Abstract

The application provides a mowing method and device for a working boundary of a mower, a storage medium and the mower, wherein the mower is controlled to move along a preset boundary; determining a boundary to be processed in a preset boundary according to a detection unit and a positioning unit in the mower; and updating the preset boundary as a boundary moving path of the mower according to the boundary to be processed, and controlling one side of the mower provided with the cutter head to move along the boundary moving path to carry out mowing work on the working boundary. In this application, utilize the detecting element and the locating element detection of lawn mower to predetermine the non-work area in the boundary according to predetermineeing the boundary to carry out real-time update to predetermineeing the boundary and obtain boundary moving path, one side of controlling lawn mower installation blade disc again carries out the work of mowing along boundary moving path, thereby makes the work effect of mowing to the boundary department of work area better, cuts cleaner, avoids having the condition of omitting or surpassing actual boundary.

Description

Mowing method and device for working boundary of mower, storage medium and mower

Technical Field

The present disclosure relates to gardening technologies, and particularly to a method and an apparatus for mowing a working boundary of a mowing machine, a storage medium, and a mowing machine.

Background

Lawn mowers are widely used for maintaining lawns in courtyards and trimming large lawns. During the working process of the mower, the mowing area needs to be determined according to the boundary of the working area so as to perform mowing work according to the mowing area.

The existing lawn mowers generally adopt a conducting wire arranged at the boundary of a working area, and the lawn mowers and the conducting wire of the boundary are used for determining the boundary of the lawn mowing area so as to finish the mowing work of the whole lawn mowing area. However, a user often needs to keep a certain distance from the side patrol path when burying the line, and if the line burying distance is too close to the boundary, the mower can cross the actual side patrol path when mowing; if the distance between the buried line and the boundary is too far, the clean side-walking path cannot be cut, a wider uncut distance is left, and the working effect is affected.

Disclosure of Invention

In view of the above problems, embodiments of the present application provide a mowing method, a mowing device, a storage medium, and a mowing machine for a working boundary of a mowing machine, so as to solve at least the above problems.

One or more embodiments of the present application provide a method of mowing a working boundary of a lawnmower, the method being applied to a lawnmower having an impeller mounted on at least one side of a front end of the lawnmower, the method including: controlling the mower to move along a preset boundary; determining a boundary to be processed in a preset boundary according to a detection unit and a positioning unit in the mower, wherein the boundary to be processed is an area boundary where the mower cannot perform mowing work, the detection unit is used for detecting an area where the mower cannot perform mowing work in the preset boundary, and the positioning unit is used for acquiring the area boundary where the mower cannot perform mowing work as the boundary to be processed; and updating the preset boundary as a boundary moving path of the mower according to the boundary to be processed, and controlling one side of the mower provided with the cutter head to move along the boundary moving path to carry out mowing work on the working boundary.

Optionally, controlling the mower to move along the preset boundary, comprising: determining a coordinate point which is closest to the current positioning of the mower on a preset boundary according to the current positioning information of the mower and the preset boundary; and controlling the mower to move to the coordinate point so that the mower moves along the preset boundary.

Optionally, the method further comprises: and smoothing the boundary moving path to obtain a first boundary moving path, and controlling the side of the mower provided with the cutter head to move along the first boundary moving path to perform mowing work of the working boundary.

Optionally, the method further comprises: the first boundary moving path is translated inwards by a first preset distance to obtain a second boundary moving path, and the first preset distance is smaller than the length of a mower cutter head; and controlling one side of the mower provided with the cutter head to move along the second boundary moving path to carry out mowing work on the working boundary.

Optionally, the method further comprises: controlling the mower to move along the edge of the working area to obtain a first preset boundary; expanding the first preset boundary outwards by a second preset distance to serve as a second preset boundary; controlling the mower to move along a second preset boundary, and determining a third preset boundary in the second preset boundary according to the detection unit and the positioning unit, wherein the third preset boundary is an area boundary where the mower cannot perform mowing work; and constructing a preset boundary of the mower according to the second preset boundary and the third preset boundary.

Optionally, the detection unit includes a lawn detection sensor, and the determining the boundary to be processed within the preset boundary according to the detection unit and the positioning unit of the lawn mower includes: and acquiring the boundary of a non-grassland area in a preset boundary as a boundary to be processed according to the grassland detection sensor and the positioning unit.

Optionally, the detection unit further comprises a collision detection sensor for determining a boundary to be treated within the preset boundary according to the detection unit and the positioning unit of the lawn mower, comprising: and acquiring the boundary of the obstacle area in the preset boundary as a boundary to be processed according to the collision detection sensor and the positioning unit.

Optionally, the detection unit further comprises a depth sensor for determining a boundary to be processed within the preset boundary according to the detection unit and the positioning unit of the lawn mower, including: and acquiring the boundary of the sunken area which cannot be passed by the mower in the preset boundary as a boundary to be processed according to the depth sensor and the positioning unit.

According to another aspect of the application, a mowing device of a working boundary of a mower is provided, the device is applied to the mower, at least one side of the front end of the mower is provided with a cutter head, and the mowing device comprises a control module, a detection module and a path generation module. The control module is used for controlling the mower to move along a preset boundary; the detection module is used for determining a boundary to be processed in a preset boundary according to a detection unit and a positioning unit of the mower, the boundary to be processed is an area boundary where the mower cannot perform mowing work, the detection unit is used for detecting an area where the mower cannot perform mowing work in the preset boundary, and the positioning unit is used for acquiring the area boundary where the mower cannot perform mowing work as the boundary to be processed; the path generation module is used for updating the preset boundary as a boundary moving path of the mower according to the boundary to be processed, controlling one side of the mower provided with the cutter head to move along the boundary moving path, and carrying out mowing work on the working boundary.

According to another aspect of the present application, there is provided a non-transitory computer readable storage medium having stored thereon computer instructions for causing a computer to perform the method of the above aspect.

According to another aspect of the present application, there is provided a lawn mower comprising: one or more processors; and a memory storing a program; wherein the program comprises instructions which, when executed by a processor, cause the processor to carry out the method of the above aspect.

The method is applied to the mower, a cutter head is arranged on at least one side of the front end of the mower, and the mower is controlled to move along a preset boundary; determining a boundary to be processed in a preset boundary according to a detection unit and a positioning unit in the mower, wherein the boundary to be processed is an area boundary where the mower cannot perform mowing work, the detection unit is used for detecting an area where the mower cannot perform mowing work in the preset boundary, and the positioning unit is used for acquiring the area boundary where the mower cannot perform mowing work as the boundary to be processed; and updating the preset boundary as a boundary moving path of the mower according to the boundary to be processed, and controlling one side of the mower, which is provided with the cutter head, to move along the boundary moving path to perform mowing work of the working boundary. According to the method, when mowing is carried out on the boundary of a working area, the boundary of a non-working area in the preset boundary is detected by using the detection unit and the positioning unit of the mower according to the preset boundary, so that the preset boundary is updated in real time to obtain a boundary moving path, and then one side of the mower provided with the cutter head is controlled to mow along the boundary moving path, so that the mowing effect on the boundary of the working area is better, the cutting is cleaner, and the situation that the actual boundary is missed or exceeded is avoided; and the conductor does not need to be arranged, so that the problem of inaccurate mowing of the boundary of the working area caused by inaccurate conductor position is avoided.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following descriptions are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a schematic flow diagram of a method of mowing an operational boundary of a lawnmower according to an exemplary embodiment of the present application;

FIG. 2 is a schematic flow chart illustrating a method of mowing a working boundary of a lawnmower according to another embodiment of the present application;

3A-3C are process schematic diagrams of a mowing method applying for an exemplary embodiment of a working boundary of a mower;

FIG. 4 is a block diagram of a lawn mowing device at an operating boundary of a lawn mower according to an exemplary embodiment of the present disclosure; description of reference numerals:

400. a mowing device at a working boundary of the mower; 401. a control module; 402. a detection module; 403. and a path generation module.

Detailed Description

In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

For the convenience of understanding, before describing the specific embodiments of the present application in detail, the lawn mowing method, the lawn mowing device, the storage medium and the application scenario of the lawn mower of the present application are exemplified.

The existing lawn mowers usually adopt a conductor arranged at the boundary of a working area, and the boundary of the lawn mowers and the conductor of the boundary are used for determining the boundary of the lawn mowing area so as to finish mowing work of the whole mowing area. However, a user often needs to keep a certain distance from the side patrol path when burying the line, and if the line burying distance is too close to the boundary, the mower can cross the actual side patrol path when mowing; if the distance between the buried line and the boundary is too far, the clean side-walking path cannot be cut, a wider uncut distance is left, and the working effect is affected. In view of the above, the present application provides a method, an apparatus, a storage medium and a mower for performing a mowing operation, which can solve the above-mentioned problems in the prior art.

Specific embodiments of the present application will be described in detail below with reference to the accompanying drawings.

Fig. 1 is a schematic flow chart of a mowing method of a working boundary of a mowing machine according to an exemplary embodiment of the present application, wherein the mowing machine is applied with the method, and at least one side of a front end of the mowing machine is provided with a cutter head, the present embodiment mainly includes the following steps:

and S101, controlling the mower to move along a preset boundary.

For example, the preset boundary may be stored in the lawn mower, or may be obtained by performing information interaction with other mobile devices or a cloud server. The preset boundary is a working boundary that has been constructed before the lawn mower performs a mowing work.

In a specific implementation manner, controlling the mower to move along a preset boundary specifically includes:

and S1011, determining a coordinate point which is closest to the current positioning of the mower on the preset boundary according to the current positioning information of the mower and the preset boundary.

And S1012, controlling the mower to move to the coordinate point so that the mower moves along the preset boundary.

For example, the mower may be located within the work area or outside the work area before starting the work boundary mowing operation. When the work boundary mowing work is started, the current positioning information and the preset boundary of the mower are obtained, and the positioning information can be obtained by utilizing an RTK (Real Time Kinematic) positioning technology to calculate a coordinate point which is closest to the current positioning of the mower on the preset boundary, and control the mower to move to the coordinate point first and then move along the preset boundary from the coordinate point.

Through the implementation mode, the current positioning information of the mower and the position relation of the preset boundary are utilized to plan the path of the mower from the current position to the nearest preset boundary, the mower is prevented from moving for a redundant distance, and therefore the working efficiency of the mower is improved.

S102, determining a boundary to be processed in a preset boundary according to a detection unit and a positioning unit in the mower.

Illustratively, referring to fig. 3A, the boundaries to be treated are boundaries of areas where the mower is unable to cut grass, including obstacle areas (e.g., fountains, stones, fences, etc.), non-grass areas (e.g., cement, trails, etc.), and valleys where the mower is unable to cut grass, etc. The detection unit is used for detecting an area where the mower cannot perform mowing work within a preset boundary, such as a grass detection sensor, a collision detection sensor, a depth detection sensor, and the like. The positioning unit is used for acquiring a boundary of an area where the mower cannot perform mowing work as a boundary to be processed, such as GPS positioning, RTK (Real Time Kinematic) positioning, and the like. The above detecting unit and the positioning unit may be used in any combination, which is not limited in this embodiment.

It should be noted that, in S102, if there is a part of the boundary on the preset boundary where the non-working area cannot be detected, the part of the boundary on the preset boundary is taken as the reference, and the part of the boundary on the preset boundary does not need to be updated.

In one specific implementation, the detection unit includes a grass detection sensor, and determines a boundary to be processed within a preset boundary according to the detection unit and the positioning unit of the lawn mower, including: and acquiring the boundary of a non-grassland area in the preset boundary as a boundary to be processed according to the grassland detection sensor and the positioning unit.

Illustratively, referring to FIG. 3A, the positioning unit may be an RTK positioning, with the grass detection sensors used to distinguish between grass areas and non-grass areas, e.g., areas where cement or obstacle areas may be present within preset boundaries. The lawn detection sensor may be an image sensor, for example, the lawn detection sensor may be a camera provided at the front end (i.e., in the direction of the head) of the lawnmower, and the camera may acquire image information of the environment in front of the lawnmower once according to a predetermined time interval (e.g., 0.5 seconds/time) during the movement of the lawnmower. Whether a non-grassland area and a grassland area exist in the image information can be identified by using a software algorithm, and if yes, positioning information of a boundary line of the area is acquired through RTK positioning to serve as a boundary to be processed. The lawn detection sensor may also be a lidar, sonar, or the like. This implementation is not so limited.

Through this implementation, utilize the meadow to detect sensor and distinguish that the meadow in predetermineeing the boundary is regional with non-meadow, through the boundary line in this region of positioning unit location to reject and predetermine the non-meadow region in the boundary, thereby make final work boundary cutting more accurate, and then can make the working effect of lawn mower better.

In a specific implementation, the detection unit further includes a collision detection sensor, and the determining of the boundary to be processed within the preset boundary according to the detection unit and the positioning unit of the lawn mower includes: and acquiring the boundary of the obstacle area in the preset boundary as a boundary to be processed according to the collision detection sensor and the positioning unit.

Illustratively, referring to fig. 3A, the collision detection sensor is used to determine a raised obstacle, for example, an obstacle such as a stone, a fence, or the like, which may exist within a preset boundary, and the collision detection sensor may be a bump sensor (collision sensor), a current sensor, an ultrasonic sensor, or the like. In the process that the mower moves along the preset boundary, the boundary of the obstacle area of the mower in the preset boundary is obtained through the collision detection sensor and the positioning unit and is used as a boundary to be processed.

Through this implementation, utilize collision detection sensor can further confirm the obstacle region in the preset boundary, through the boundary line of positioning unit location this region to reject the obstacle region in the preset boundary, this implementation can regard as a supplementary detection mode to the meadow detection sensor, thereby make the accuracy that final work boundary was cut, and can avoid the lawn mower to collide the equipment damage that the obstacle leads to in the course of the work that the work boundary mows, thereby the life of equipment has been prolonged.

In a specific implementation, the detecting unit further includes a depth sensor, and the determining, according to the detecting unit and the positioning unit of the lawn mower, a boundary to be processed within the preset boundary includes: and acquiring the boundary of the sunken area which cannot be passed by the mower in the preset boundary as a boundary to be processed according to the depth sensor and the positioning unit.

For example, the depth detection sensor may distinguish between a bump and a pit. For example, there may be a recessed area or a raised area within the preset boundary that the lawn mower cannot pass through, and the depth detection sensor may be a depth camera sensor, a lidar, or the like. And in the process that the mower moves along the preset boundary, acquiring the boundary of the sunken area of the mower in the preset boundary through the collision detection sensor and the positioning unit to serve as the boundary to be processed.

Through the implementation mode, the depth detection sensor is used for distinguishing the boundary of the sunken area which cannot be passed by the mower in the preset boundary, and the boundary line of the sunken area is positioned through the positioning unit so as to eliminate the sunken area which cannot be passed by the mower in the preset boundary. This implementation mode can regard as to be a supplementary detection mode to meadow detection sensor, also can regard as a supplementary detection mode to meadow detection sensor and collision detection sensor, through fusing above-mentioned multiple sensor, can improve the lawn mower near meadow border cut the precision, reduce and miss cutting to can avoid the lawn mower to run out the periphery on meadow, can also avoid the lawn mower to block in above-mentioned sunken area at the course of the work that the work border was mowed, influence work efficiency, lead to equipment to damage even.

And S103, updating the preset boundary as a boundary moving path of the mower according to the boundary to be processed, and controlling one side of the mower provided with the cutter head to move along the boundary moving path to carry out mowing work on the working boundary.

For example, referring to fig. 3B, the preset boundary is updated according to the boundary to be processed obtained in S102, for example, a non-grassland area, an obstacle area, and the like exist on a part of the boundary of the preset boundary, and the final boundary moving path is obtained by updating the preset boundary with the boundary of the non-grassland area, the boundary of the obstacle area, and the like. The side of the mower-mounted cutter head, which may be the left side or the right side of the mower, is controlled to move along the boundary moving path, and this embodiment is not limited thereto.

In a specific implementation manner, the working area may be set as a grid map, and when determining the boundary movement path, the boundary movement path is determined in coordinates of the grid map by updating a preset boundary according to the boundary to be processed and then combining the grid map, so that the boundary movement path is more convenient for the movement of the mower, and is more convenient for path planning of the mower in the working area.

In one specific implementation, considering the width of the mower, the installation position of the cutterhead, and the positioning position of the mower, which is generally the central axis of the mower, the boundary moving path line may be translated a certain distance, for example, the certain distance may be one-half of the width of the mower, so as to control the side of the mower where the cutterhead is installed to move along the boundary moving path, thereby avoiding the mower from cutting beyond the boundary of the working area.

In the embodiment, when the mower mows at the boundary of the working area, the boundary of the non-working area in the preset boundary is detected by using the detection unit and the positioning unit of the mower according to the preset boundary, so that the preset boundary is updated in real time to obtain the boundary moving path, and then the side, where the cutter head is installed, of the mower is controlled to mow along the boundary moving path, so that the mowing effect on the boundary of the working area is better, the cutting is cleaner, and the situation that the actual boundary is omitted or exceeded is avoided; and the conductor does not need to be arranged, so that the problem of inaccurate mowing of the boundary of the working area caused by inaccurate conductor position is avoided.

In a specific implementation, the method further includes: and smoothing the boundary moving path to obtain a first boundary moving path, and controlling one side of the mower provided with the cutter head to move along the first boundary moving path to carry out mowing work of a working boundary.

For example, the boundary moving path may be smoothed to obtain the first boundary moving path, and for example, the boundary moving path may be B-spline smoothed, so that when the side of the mower on which the cutter deck is mounted moves along the first boundary moving path, the movement of the mower is smoother, and the shaking of the vehicle body is reduced.

In a specific implementation, the method further includes: translating the first boundary moving path inwards by a first preset distance to obtain a second boundary moving path; and controlling one side of the mower provided with the cutter head to move along the second boundary moving path to carry out mowing work on the working boundary.

Specifically, after the mower carries out boundary mowing for once, the first boundary moving path is translated inwards for a first preset distance to obtain a second boundary moving path, and the first preset distance is smaller than the length of a mower disc, so that when the mower carries out mowing along a second hundred-year searching path, the track of the mower disc is partially overlapped with the track of the mower disc for mowing at the previous boundary. Through this implementation, can cut grass the orbit and the orbit of cutting grass in the workspace with the boundary and join, avoid having the part of omission for the working effect of lawn mower is better.

Fig. 2 is a schematic flow chart of a mowing method of a working boundary of a mower according to another exemplary embodiment of the present application. This example mainly shows an alternative embodiment before the above step S101. As shown in the figure, the present embodiment mainly includes the following steps:

s201, controlling the mower to move along the edge of the working area to obtain a first preset boundary.

For example, referring to fig. 3C, the mower may be controlled to move along the edge of the working area according to a movement instruction set by a user, and the positioning information of the mower may be obtained to obtain the first preset boundary, where the frequency of obtaining the positioning information may be obtained every 0.1 second, and the manner of obtaining the positioning information may be GPS navigation positioning, visual positioning, or RTK (Real Time Kinematic, carrier-phase differential) positioning, which is not limited in this application. The realization mode is convenient and quick by controlling the mower to acquire the positioning information to obtain the first preset boundary.

S202, expanding the first preset boundary outwards by a second preset distance to serve as a second preset boundary.

For example, referring to fig. 3C, the first preset boundary may be obtained by moving the lawn mower along the edge of the work area through manual remote control, or may be obtained by acquiring a boundary already stored in the lawn mower, or may be obtained by interacting with a cloud server or other mobile devices, which is not limited in this embodiment. The second predetermined distance is typically no more than 1 meter. The second preset boundary is a maximum boundary defining a working area of the lawn mower.

S203, controlling the mower to move along the second preset boundary, and determining a third preset boundary in the second preset boundary according to the detection unit and the positioning unit.

Illustratively, the third preset boundary is a boundary of an area where the mower cannot perform mowing work, such as an obstacle area, a non-grass area, a concave area where the mower cannot perform mowing work, and the like. The positioning unit may include GPS positioning, RTK (Real Time Kinematic) positioning, etc., the detection unit may include a grass detection sensor, a collision detection sensor, a depth detection sensor, etc., the grass detection sensor may distinguish grass areas from non-grass areas (e.g., identify boundaries between grass and non-grass), such as an image sensor, a laser radar, a sonar, etc.; the collision detection sensor may determine a raised obstacle, such as a collision sensor, a current sensor, an ultrasonic sensor, or the like; depth detection sensors may distinguish between bumps and pits, such as depth camera sensors, lidar, and the like. The sensors may be used in any combination, which is not limited in this embodiment.

And S204, constructing a preset boundary of the mower according to the second preset boundary and the third preset boundary.

Illustratively, the construction of the preset boundary is completed according to the third preset boundary determined in S203, such as the boundary of the non-grassy area, the boundary of the obstacle, and the like, in combination with the second preset boundary and the third preset boundary.

In this embodiment, the second preset boundary is obtained by expanding the first preset boundary, and then the non-working area in the second preset boundary is rejected by the detection unit and the positioning unit of the lawn mower. The preset boundary of the working area is constructed, so that the constructed preset boundary of the working area is more accurate.

Fig. 4 is a block diagram of a grass cutting device at a working boundary of a grass cutter according to an exemplary embodiment of the present application.

The grass cutting apparatus 400 of the working boundary of the present embodiment can be loaded in a grass cutter having a cutter head mounted on at least one side of the front end of the grass cutter, wherein the grass cutter can be adapted to perform grass cutting tasks on the working boundary of the grass cutter.

As shown, the grass cutting device 400 of the working boundary of the grass cutter of the present embodiment mainly includes a control module 401, a detection module 402, and a path generation module 403. The control module 401 is used for controlling the mower to move along a preset boundary. The detection module 402 is configured to determine a boundary to be processed within a preset boundary according to a detection unit and a positioning unit in the lawn mower, where the boundary to be processed is an area boundary where the lawn mower cannot perform mowing work, the detection unit is configured to detect an area where the lawn mower cannot perform mowing work within the preset boundary, and the positioning unit is configured to obtain the area boundary where the lawn mower cannot perform mowing work as the boundary to be processed. The path generating module 403 is configured to update the preset boundary as a boundary moving path of the mower according to the boundary to be processed, and control one side of the mower, where the cutter is installed, to move along the boundary moving path, so as to perform mowing work on the working boundary.

In addition, the grass cutting device 400 at the working boundary of the grass cutter in the embodiment of the present application can also be used to implement other steps in the grass cutting method embodiments at the working boundaries of the grass cutter, and has the beneficial effects of the corresponding method step embodiments, which are not described herein again.

The exemplary embodiments of this application also provide a non-transitory computer readable storage medium having stored thereon computer instructions for causing a computer to perform the methods of the embodiments of this application.

The exemplary embodiments of this application also provide a computer program product comprising a computer program, wherein the computer program is adapted to cause a computer to perform the methods of the embodiments of this application when executed by a processor of the computer.

The exemplary embodiments of this application also provide a lawn mower, including: one or more processors; and a memory storing a program; wherein the program comprises instructions which, when executed by a processor, cause the processor to perform the method of the embodiments of the present application.

It should be noted that, in the description of the present application, the terms "first" and "second" are used merely for convenience of describing different components or names, and are not to be construed as indicating or implying a sequential relationship, relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the present application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

It should be noted that, although the specific embodiments of the present application have been described in detail with reference to the accompanying drawings, the present application should not be construed as limited to the scope of the present application. Various modifications and changes may be made by those skilled in the art without inventive work within the scope of the appended claims.

The examples of the embodiments of the present application are intended to briefly explain the technical features of the embodiments of the present application, so that those skilled in the art can intuitively understand the technical features of the embodiments of the present application, and the embodiments of the present application are not unduly limited.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.

Claims

1. A method of mowing a working boundary of a lawnmower, the method being applied to a lawnmower having a cutter head mounted to at least one side of a front end of the lawnmower, the method comprising:

controlling the mower to move along a preset boundary;

determining a boundary to be processed in the preset boundary according to a detection unit and a positioning unit in the mower, wherein the boundary to be processed is an area boundary where the mower cannot perform mowing work, the detection unit is used for detecting an area where the mower cannot perform mowing work in the preset boundary, and the positioning unit is used for acquiring the area boundary where the mower cannot perform mowing work as the boundary to be processed;

and updating the preset boundary as a boundary moving path of the mower according to the boundary to be processed, and controlling one side of the mower, which is provided with the cutter disc, to move along the boundary moving path to perform mowing work on a working boundary.

2. The method of claim 1, wherein controlling the mower to move along a preset boundary comprises:

according to the current positioning information of the mower and the preset boundary, determining a coordinate point which is closest to the current positioning of the mower on the preset boundary;

controlling the mower to move to the coordinate point so that the mower moves along the preset boundary.

3. The method according to claim 1 or 2, characterized in that the method further comprises:

and smoothing the boundary moving path to obtain a first boundary moving path, and controlling one side of the mower, which is provided with the cutter disc, to move along the first boundary moving path so as to carry out mowing work of a working boundary.

4. The method of claim 3, further comprising:

translating the first boundary moving path inwards by a first preset distance to obtain a second boundary moving path, wherein the first preset distance is smaller than the length of the mower cutter head;

and controlling one side of the mower, which is provided with the cutter disc, to move along the second boundary moving path so as to carry out mowing work on a working boundary.

5. The method of claim 1, further comprising:

controlling the mower to move along the edge of the working area to obtain a first preset boundary;

expanding the first preset boundary outwards by a second preset distance to serve as a second preset boundary;

controlling the mower to move along the second preset boundary, and determining a third preset boundary in the second preset boundary according to the detection unit and the positioning unit, wherein the third preset boundary is an area boundary where the mower cannot perform mowing work;

and constructing the preset boundary of the mower according to the second preset boundary and the third preset boundary.

6. The method of claim 1, wherein the detection unit comprises a grass detection sensor, and wherein determining the boundary to be treated within the preset boundary from the detection unit and the positioning unit of the lawn mower comprises:

and acquiring the boundary of the non-grassland area in the preset boundary as the boundary to be processed according to the grassland detection sensor and the positioning unit.

7. The method of claim 6, wherein the detection unit further comprises a collision detection sensor, and the determining the boundary to be treated within the preset boundary from the detection unit and the positioning unit of the lawn mower comprises:

and acquiring the boundary of the obstacle area in the preset boundary as the boundary to be processed according to the collision detection sensor and the positioning unit.

8. The method according to claim 6 or 7, wherein the detection unit further comprises a depth sensor, and the determining of the boundary to be processed within the preset boundary from the detection unit and the positioning unit of the lawn mower comprises:

and acquiring the boundary of a sunken area which cannot be passed by the mower in the preset boundary as the boundary to be processed according to the depth sensor and the positioning unit.

9. A grass cutting device on the working boundary of a grass cutter, the device is applied to the grass cutter, and a cutter head is installed on at least one side of the front end of the grass cutter, and the grass cutting device is characterized by comprising:

the control module is used for controlling the mower to move along a preset boundary;

the detection module is used for determining a boundary to be processed in the preset boundary according to a detection unit and a positioning unit in the mower, the boundary to be processed is an area boundary where the mower cannot perform mowing work, the detection unit is used for detecting an area where the mower cannot perform mowing work in the preset boundary, and the positioning unit is used for acquiring the area boundary where the mower cannot perform mowing work as the boundary to be processed;

and the path generation module is used for updating the preset boundary according to the boundary to be processed to be used as a boundary moving path of the mower, and controlling one side of the mower, which is provided with the cutter head, to move along the boundary moving path so as to carry out mowing work on a working boundary.

10. A non-transitory computer readable storage medium having stored thereon computer instructions for causing a computer to perform the method of any one of claims 1-8.

11. A lawn mower, comprising:

one or more processors; and

a memory storing a program;

wherein the program comprises instructions which, when executed by the processor, cause the processor to carry out the method of any one of claims 1-8.