CN118892020A

CN118892020A - Mowing control method for turning area of lawn and mowing robot system

Info

Publication number: CN118892020A
Application number: CN202310481389.5A
Authority: CN
Inventors: 罗华菊; 李少海; 李昂; 郭盖华; 周伟
Original assignee: Shenzhen LD Robot Co Ltd
Current assignee: Shenzhen LD Robot Co Ltd
Priority date: 2023-04-28
Filing date: 2023-04-28
Publication date: 2024-11-05

Abstract

The embodiment of the application discloses a mowing control method and a mowing robot system for a turning area of a lawn, wherein the mowing control method comprises the following steps: controlling the mowing robot to run along the first wire, and determining whether the mowing robot runs to a turning area or not; when the mowing robot is determined to travel to the turning area, controlling the mowing robot to mow the corner area in the turning area; after the mowing robot mows the corner area, the mowing robot is controlled to run along the second wire. And in the process that the mowing robot runs from the first wire to the second wire, the mowing robot runs to the turning area. When the mowing robot is determined to travel to the turning area, the mowing robot mows the corner area of the turning area. Therefore, the mowing robot can later repair the corner area, so that the corner area which is missed to cut when the mowing robot mows the turning area is avoided, and meanwhile, the working efficiency of the mowing robot is ensured.

Description

Mowing control method for turning area of lawn and mowing robot system

Technical Field

The embodiment of the application relates to the technical field of intelligent mowing, in particular to a mowing control method and a mowing robot system for a turning area of a lawn.

Background

Robotic garden equipment, such as robotic lawnmowers, may automatically mow without being attended or controlled, thereby reducing the user's time occupation and reducing the user's repetitive labor.

In the related art, the automatic mower can mow in a working area according to a set task, wherein when a mowing assembly mows a corner area, the mowing assembly is in a circular arc shape, and the mowing assembly is arranged in the machine body, so that the problem of missed mowing in a turning area is caused. The common solution is to determine the information of the missed cutting area based on the acquired historical position information of the automatic mower for mowing in the working area and by combining the preset working area information; and determining a complementary cutting region from the missed cutting region, and further generating a complementary cutting path traversing the complementary cutting region. Therefore, the detection of missed cutting is realized, the missed cutting area can be screened, the cutting repairing effect and the cutting repairing efficiency are ensured, and the whole mowing effect of the working area is improved.

However, most of the missed cut areas are not communicated, if the missed cut areas need to be repaired, a plurality of transition paths are added to the mowing robot, and the working efficiency of the mowing robot is seriously affected.

Disclosure of Invention

The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, the invention provides a mowing control method and a mowing robot system for a turning area of a lawn, which can prevent the lawn from being missed in a corner position and ensure the working efficiency of the mowing robot.

In a first aspect, an embodiment of the present application provides a mowing control method for a turning area of a lawn, the lawn having a first borderline and a second borderline intersecting with each other, a first wire being provided inside the first borderline and a second wire being provided inside the second borderline, the method including:

Controlling a mowing robot to run along the first wire, and determining whether the mowing robot runs to a turning area or not;

When the mowing robot is determined to travel to the turning area, controlling the mowing robot to mow a corner area in the turning area;

And after the mowing robot mows the corner area, controlling the mowing robot to run along the second wire.

According to some embodiments of the invention, the controlling the mowing robot to mow a corner area within the turning area includes:

And controlling the mowing robot to move at least along one of the extending direction of the first wire and the extending direction of the second wire so as to mow the corner area by the mowing robot.

According to some embodiments of the invention, the controlling the mowing robot to move at least in one of the extending direction of the first wire and the extending direction of the second wire to cause the mowing robot to mow the corner area includes:

And controlling the mowing robot to advance along the extending direction of the first lead wire towards the second boundary line so that the mowing robot mows the corner area.

According to some embodiments of the invention, before the controlling the mowing robot to advance along the first wire toward the extending direction of the second borderline, the method comprises:

and controlling the rotation and the backward movement of the mowing robot so as to enable the central axis of the mowing robot to coincide with the first wire.

And controlling the mowing robot to move along the extending direction of the second wire towards the first boundary line so that the mowing robot mows the corner area.

According to some embodiments of the invention, the controlling the movement of the mowing robot along the second wire toward the extending direction of the first borderline to cause the mowing robot to mow the corner area includes:

Controlling the mowing robot to rotate and move so that a central axis of the mowing robot coincides with the second wire;

After the central axis of the mowing robot is overlapped with the second boundary wire, the mowing robot is controlled to retreat along the extending direction of the second wire towards the first boundary wire, so that the mowing robot mows the corner area.

According to some embodiments of the invention, the determining whether the mowing robot is traveling to a curve area includes:

The mowing robot is provided with at least a first boundary signal sensor and a second boundary signal sensor, and whether the mowing robot runs to the turning area is determined based on whether the signal direction detected by the first boundary signal sensor is the same as the signal direction detected by the second boundary signal sensor;

And/or, at least a positioning signal sensor 150 is arranged on the mowing robot, and whether the mowing robot runs to a turning area is determined based on whether the signal intensity detected by the positioning signal sensor is smaller than or equal to a first preset signal intensity;

And/or at least an angle sensor is arranged on the mowing robot, so as to determine whether the mowing robot runs to the turning area or not based on whether the total rotation angle of the mowing robot is larger than or equal to a preset angle.

According to some embodiments of the present invention, the mowing robot is provided with a positioning signal sensor 150, a first boundary signal sensor and a second boundary signal sensor, wherein the positioning signal sensor 150 is arranged at a position of the mowing robot on a central shaft;

before the control of the mowing robot to travel along the second wire away from the first wire, the mowing robot comprises:

The mowing robot is controlled to rotate and move until the positioning signal sensor 150 is positioned on the second wire, and the first boundary signal sensor and the second boundary signal sensor are symmetrically arranged about the second wire or positioned on the same side of the second wire so that the central axis of the mowing robot coincides with the second wire.

determining whether the mowing robot completes mowing of the corner area based on a change in an electrical parameter of a mowing assembly of the mowing robot.

According to some embodiments of the invention, after determining that the mowing robot is traveling to a curve area, the method comprises:

Determining whether a dangerous area exists in the extending direction of the first wire and/or the extending direction of the second wire;

and if yes, executing the control of the mowing robot to mow the corner area in the turning area.

In a second aspect, an embodiment of the present application provides a robot lawnmower system for mowing a lawn, where the lawn has a first borderline and a second borderline that intersect, a first wire is disposed inside the first borderline, and a second wire is disposed inside the second borderline;

The robot lawnmower system includes: a controller and a robot body;

The controller is used for controlling the mowing robot body to run along the first wire and determining whether the mowing robot body runs to a turning area or not; when the mowing robot body is determined to travel to the turning area, controlling the mowing robot body to mow a corner area in the turning area; and after the mowing robot body mows the corner area, controlling the mowing robot body to run along the second wire.

From the above technical solutions, the embodiment of the present application has the following advantages: and in the process that the mowing robot runs from the first wire to the second wire, the mowing robot runs to the turning area. When the mowing robot is determined to travel to the turning area, the mowing robot mows the corner area of the turning area. Therefore, compared with the prior art that the mowing robot is controlled to repair the corner area in a more complicated mode, the mowing robot in the application subsequently repair the corner area, thereby avoiding the corner area from being missed when the mowing robot mows the corner area, and simultaneously ensuring the working efficiency of the mowing robot.

Drawings

The invention is further described with reference to the accompanying drawings and examples, in which:

FIG. 1 is a schematic flow chart of a mowing control method in an embodiment of the invention;

FIG. 2 is a schematic diagram of steps in a travel path of a mowing robot according to an embodiment of the prior art;

FIG. 3 is a schematic view of steps of a robot lawnmower in a travel path according to an embodiment of the present invention;

FIG. 4 is another schematic view of steps of a robot lawnmower in a travel path according to an embodiment of the present invention;

FIG. 5 is a schematic view of a mowing robot according to an embodiment of the present disclosure;

FIG. 6 is a schematic diagram of a first flow for determining whether a robot is traveling in a corner area according to an embodiment of the present invention;

FIG. 7 is a schematic diagram of a second flow chart for determining whether the robot is traveling in a corner area according to an embodiment of the present invention;

FIG. 8 is a third flow chart for determining whether the robot is traveling in a corner area according to an embodiment of the present invention;

fig. 9 is a fourth flowchart of determining whether the mowing robot is traveling in a turning area according to an embodiment of the present invention.

Detailed Description

Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.

In the description of the present invention, it should be understood that references to orientation descriptions such as upper, lower, front, rear, left, right, etc. are based on the orientation or positional relationship shown in the drawings, are merely for convenience of description of the present invention and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention.

In the description of the present invention, the meaning of a number is one or more, the meaning of a number is two or more, and greater than, less than, exceeding, etc. are understood to exclude the present number, and the meaning of a number is understood to include the present number. The description of the first and second is for the purpose of distinguishing between technical features only and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.

In the description of the present invention, unless explicitly defined otherwise, terms such as arrangement, installation, connection, etc. should be construed broadly and the specific meaning of the terms in the present invention can be reasonably determined by a person skilled in the art in combination with the specific contents of the technical scheme.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.

When the mowing robot mows a turning area of a lawn, the mowing robot is limited in size due to the fact that the mowing assembly of the mowing robot is limited in size, when the mowing robot trims the turning area, the mowing assembly of the mowing robot is limited in trimming range, and therefore the mowing assembly of the mowing robot always has the problem of missing cutting when trimming the turning area.

Based on the above-mentioned problems, the present application provides a mowing control method for a turning area of a lawn, which ensures the working efficiency of the mowing robot 100, and meanwhile, the mowing assembly 120 of the mowing robot 100 can sweep the inflection point of the lawn boundary, so as to avoid the problem of missed mowing of the lawn in the turning area.

Referring to fig. 1, the flow steps of a mowing control method provided by the embodiment of the application are used for controlling a mowing robot 100 to travel along the edge of a lawn so as to mow the edge of the lawn, and the mowing control method comprises S101-S103. Wherein:

S101, controlling the mowing robot 100 to travel along the first wire 310, and determining whether the mowing robot 100 travels to the turning area.

For convenience in describing the technical solution of the present application, the border of the lawn is a border line, the border line 200 includes a first border line 210 and a second border line 220, and the first border line 210 and the second border line 220 intersect at a corner position of the lawn. The inner side of the lawn is provided with the wires 300, the wires 300 comprise a first wire 310 and a second wire 320, the first wire 310 is arranged on the inner side of the first boundary line 210 and is arranged in parallel, the second wire 320 is arranged on the inner side of the second boundary line 220 and is arranged in parallel, the first wire 310 and the second wire 320 intersect, the intersecting position is a corner position of the wires 300, and the corner position of the lawn and the corner position of the wires 300 form the turning area. Of course, the wire 300 may also be laid on the boundary line 200.

In the specific implementation of controlling the lawnmower robot 100 along the first wire 310: the wire 300 is connected to a signal generator of a control system of the robot 100, and a signal emitted from the signal generator is transmitted in the wire 300 and generates an electric signal, such as a magnetic field signal. Referring to steps 2a to 2b in fig. 3 and steps 3a to 3c in fig. 4, the mowing robot 100 is provided with a sensor that senses a signal generated by the first wire 310, and a control unit of the mowing robot 100 controls the mowing robot 100 to travel across the first wire 310 and travel straight toward the second wire 320 by the signal sensed by the sensor, so that the mowing robot 100 mows a corresponding edge of the first wire 310.

Generally, the sensor is disposed on the central axis 160 of the robot 100, and the robot 100 travels by sandwiching the wire 300 to perform precise navigation. Of course, the sensors may be disposed on one or both sides of the central axis 160 of the robot 100, or the sensors may be disposed on the central axis of the robot 100 and on one or both sides of the axis 160, respectively. The mowing robot 100 may have one or more sensors at various locations, and the present application is not limited.

In addition, the sensor may be a magnetic induction sensor for sensing a magnetic field signal generated when the electric signal is transmitted through the first wire 310, but the sensor is not limited to the above-mentioned one, so as to implement the robot 100 to travel along the set track of the first wire 310, for example, the sensor may be an infrared sensor, a tracking sensor, or the like.

It should be noted that, during the running of the mowing robot 100 along the first wire 310, the central axis 160 of the mowing robot 100 coincides with the first wire 310, and the rotation center of the mowing assembly 120 is maintained on the first wire 310. Wherein, the central axis 160 of the mowing robot 100 refers to a line parallel to the length of the body 110 of the mowing robot 100, and the rotation center of the mowing assembly 120 is on the central axis 160 of the mowing robot 100. In other words, the center axis 160 of the robot 100 refers to a line that symmetrically divides the body 110 of the robot 100.

And S102, after determining that the mowing robot 100 runs to the turning area, controlling the mowing robot 100 to mow the corner area 230 in the turning area.

In the related art, referring to fig. 2, in steps 1a to 1c, the mowing robot 100 moves straight forward along one wire 300, and the mowing robot 100 mows the corresponding edge of the lawn. The grass cutting robot 100 is provided with a grass cutting assembly 120 (see fig. 5) that rotates around a vertical axis at the bottom, and the radius of rotation of the grass cutting assembly 120 is set to be equal to the distance between the wire 300 and the boundary line 200, so that the grass cutting assembly 120 can cut grass on the edge of the lawn. Referring to steps 1d to 1g, a corner area is formed between the corner of the boundary line 200 and the corner of the lead 300, and when the mowing assembly 120 mows the corner area, the mowing robot 100 mows the corner area, and the area close to the corner of the lawn is the corner area 230 because the mowing assembly 120 is small in size, that is, the radius of rotation of the mowing assembly 120 is set at the distance between the lead 300 and the boundary line 200 (step 1 e). Referring to steps 1h to 1i, after the mowing robot 100 mows the turning area, the mowing robot 100 travels along the other wire 300 and mows the other edge of the lawn. To solve the problem of missed cutting in the corner region 230, the common solutions are: 1. the manual cutting mode is adopted, and unnecessary waste of manpower is caused by the mode; 2. the control system of the mowing robot confirms the missed corner region 230 and regenerates the repair path, thereby controlling the mowing robot 100 to repair the corner region again. However, the mowing robot 100 has a problem of low work efficiency in the repairing and cutting the corner region in the above-described manner.

In the present application, referring to step 2d in fig. 3 or step 3k in fig. 4, after determining that the mowing robot 100 travels to the corner area, the mowing module 120 of the mowing robot 100 is controlled to sweep to the intersection point between the first boundary line 210 and the second boundary line 220, whereby the mowing module 120 mows the corner area 230 in the corner area, thereby avoiding the area where the lawn is missed in the corner position.

As can be seen from the above, in the present application, the mowing robot 100 completes mowing the corner area 230 without the need for subsequent repair of the corner area 230 while the mowing machine 100 is traveling along the first wire 310 and the second wire 320.

S103, after the mowing robot 100 mows the corner area 230, the mowing robot 100 is controlled to travel along the second wire 320.

In practical application, referring to steps 2e to 2g in fig. 3, after the mowing robot 100 completes mowing in the corner area 230, if the central axis 160 of the mowing robot 100 is not located in the second guiding line 320, the mowing robot 100 is controlled to turn to the second guiding line 320, so that the mowing robot 100 moves along the second guiding line 320 in a direction away from the first guiding line 310, the mowing robot 100 mows the second boundary line 220 of the lawn, and enters the next turning area; referring to step 3L of fig. 4, if the central axis 160 of the mowing robot 100 is on the second wire 320, the mowing robot 100 may directly move along the second wire 320 toward a direction away from the first wire 310, and the mowing robot 100 mows the second boundary line 220 of the lawn and enters the next turning area.

As can be seen from steps S101 to S103, compared with the prior art, the working efficiency of the mowing robot 100 is seriously affected by controlling the mowing robot 100 to repair the corner area 230 in a more complicated manner. In the present application, in the process of driving the mowing robot 100 from the first wire 310 to the second wire 320, after judging that the mowing robot 100 is driving to the turning area, the mowing robot 100 mows the corner area 230 in the turning area, so that the mowing robot 100 does not need to repair the corner area 230 in the subsequent work, and the work efficiency of the mowing robot 100 is ensured.

In particular, how to determine whether or not the mowing robot 100 is traveling to the turning area is as follows. The present application may determine whether the mowing robot 100 is traveling to the turning area in various manners, and in determining whether the mowing robot 100 is traveling to the turning area in various manners, the positions and the attitudes of the travel of the mowing robot 100 may be the same or different, so the present application is more flexible in determining whether the mowing robot 100 is traveling to the turning area, and is not limited to a certain manner or a certain condition. Several of these modes are described below, but the following modes are not limited to these modes.

In a first possible implementation, a boundary signal sensor may be utilized to determine whether the mowing robot 100 is traveling to a curve area. Specifically, referring to fig. 5, the mowing robot 100 is provided with at least a first boundary signal sensor 130 and a second boundary signal sensor 140. Accordingly, it is determined whether the robot lawnmower 100 is traveling to the turning area based on whether the signal direction detected by the first boundary signal sensor 130 is the same as the signal direction detected by the second boundary signal sensor 140.

As can be seen, referring to fig. 6, determining whether the mowing robot is traveling to the turning area in step S101 may specifically include the steps of:

s111, acquiring a first detection signal detected by the first boundary signal sensor 130, and acquiring a second detection signal detected by the second boundary signal sensor 140.

S112, determining whether the magnetic field direction of the first detection signal is the same as the magnetic field direction of the second detection signal, if so, indicating that the mowing robot 100 is traveling to the turning area, and if not, indicating that the mowing robot 100 is not traveling to the turning area.

Generally, referring to fig. 5, the first boundary signal sensor 130 is disposed at a position of the head of the mowing robot 100 and close to the left side, i.e., at a position of the center axis 160 of the mowing robot 100, the second boundary signal sensor 140 is disposed at a position of the head of the mowing robot 100 and close to the right side, i.e., at a position of the right side of the center axis 160 of the mowing robot 100, and the first boundary signal sensor 130 and the second boundary signal sensor 140 are symmetrically disposed about the center axis 160; the first boundary signal sensor 130 and the second boundary signal sensor 140 are magnetic induction sensors.

Specifically, referring to fig. 3, when the robot lawnmower 100 travels along the first wire 310 toward the second wire 320, the first boundary signal sensor 130 on the left side is located outside the first wire 310, and the second boundary signal sensor 140 on the right side is located inside the first wire 310. Since the magnetic field directions of the inner and outer sides of the first wire 310 are different, the magnetic field direction of the first detection signal of the first boundary signal sensor 130 is different from the magnetic field direction of the second detection signal of the second boundary signal sensor 140, and therefore, it is determined that the mowing robot 100 is not traveling to the turning area, and the mowing robot 100 is kept traveling forward along the first wire 310. When the second boundary signal sensor 140 is driven to the outside of the second wire 320, i.e., between the second wire 320 and the second boundary line 220, the first boundary signal sensor 130 and the second boundary signal sensor 140 are both positioned at the outside of the wire 300, and the magnetic field direction of the first detection signal is the same as the magnetic field direction of the second detection signal, thereby determining that the mowing robot 100 is driven to the turning area.

In a second possible implementation, a positioning signal sensor may be utilized to determine whether the mowing robot 100 is traveling to a curve area. Specifically, the head of the mowing robot 100 is provided with at least a positioning signal sensor 150. Therefore, based on whether the signal intensity detected by the positioning signal sensor 150 is less than or equal to the first preset signal intensity to determine whether the mowing robot 100 is traveling to the turning area, it can be seen that, referring to fig. 7, determining whether the mowing robot is traveling to the turning area in step S101 may specifically include the steps of:

s121, the signal intensity detected by the positioning signal sensor 150 is acquired.

S122, determining whether the detected signal intensity is smaller than or equal to the first preset signal intensity, if so, indicating that the mowing robot 100 is driven to the turning area, and if not, indicating that the mowing robot 100 is not driven to the turning area.

Generally, referring to fig. 5, the positioning signal sensor 150 may be a magnetic induction sensor, and the positioning signal sensor 150 is generally disposed at a head position of the robot lawnmower 100 and located on the central axis 160. The positioning signal sensor 150 is located on the first wire 310 while the mowing robot 100 travels forward along the first wire 310. Of course, the positioning signal sensor 150 may also be disposed on the left side or the right side of the central axis 160 of the robot 100, which is not described in detail.

Specifically, referring to fig. 3, the positioning signal sensor 150 is disposed on the central axis 160 of the mowing robot 100, and when the mowing robot 100 is traveling along the first wire 310 and the positioning signal sensor 150 is on the first wire 310, the signal intensity (magnetic field intensity) detected by the positioning signal sensor 150 is large and larger than the first preset signal intensity, so that it indicates that the mowing robot 100 is not traveling to the turning area, and the mowing robot 100 remains traveling along the first wire 310. After the positioning signal sensor 150 passes over the intersection between the first wire 310 and the second wire 320, the signal strength (magnetic field strength) detected by the positioning signal sensor 150 gradually decreases. When the signal detected by the lawnmower robot 100 is emphasized to be reduced to the first preset signal strength, it is therefore indicative that the lawnmower robot 100 has traveled to the turning area.

Or if the positioning signal sensor 150 is disposed at a position near the tail of the mowing robot 100, and is not necessarily disposed on the central axis 160 of the mowing robot 100, the distance between the positioning signal sensor 150 and the second wire 320 is getting closer as the mowing robot 100 travels along the first wire 310 toward the second wire 320. Since the magnetic field of the first wire 310 and the magnetic field of the second wire 320 have a superposition effect, the signal strength detected by the positioning signal sensor 150 is greater when the positioning signal sensor 150 approaches the second wire 320. When the detected magnetic field strength (signal strength) of the positioning signal sensor 150 is equal to or greater than the set signal strength value, it indicates that the robot 100 has entered the turning region.

Still alternatively, referring to fig. 5, the mowing robot 100 is provided with the first boundary signal sensor 130, the second boundary signal sensor 140 and the positioning signal sensor 150, the positioning signal sensor 150 is disposed on the central axis 160 of the mowing robot 100, and the first boundary signal sensor 130 and the second boundary signal sensor 140 are disposed on both sides of the central axis 160 and are symmetrically disposed about the central axis 160. In determining whether or not the mowing robot 100 is traveling to the turning area, it is possible to determine whether or not the mowing robot 100 is traveling to the turning area based on the detection condition of the positioning signal sensor 150, the detection condition of the first boundary signal sensor 130, and the detection condition of the second boundary signal sensor 140 at the same time. For example, after the lawnmower robot 100 enters the direction change, the signal intensity value detected by the positioning signal sensor 150 reaches the set signal intensity value, that is, the signal intensity value detected by the positioning signal sensor 150 on the second wire 320, and the signal intensity detected by the first boundary signal sensor 130 is consistent with the signal intensity detected by the second boundary signal sensor 140, and the magnetic field is opposite, the central axis 160 of the lawnmower robot 100 coincides with the second wire 320, and indicates that the lawnmower robot 100 is traveling to the turning area.

In a third possible implementation, the angle sensor may be used to determine whether the mowing robot 100 is traveling to a turning area, and in particular, the mowing robot 100 is provided with at least an angle sensor. Accordingly, based on whether the total rotation angle of the mowing robot 100 is greater than or equal to the preset angle to determine whether the mowing robot 100 is traveling to the turning area, it can be seen that, referring to fig. 8, determining whether the mowing robot is traveling to the turning area in step S101 may specifically include the steps of:

s131, acquiring signals detected by the angle sensor to obtain the total rotation angle of the mowing robot 100.

S132, determining whether the total rotation angle of the mowing robot 100 is larger than or equal to a preset angle, if so, indicating that the mowing robot 100 is driven to the turning area, and if not, indicating that the mowing robot 100 is not driven to the turning area.

The angle sensor is used for detecting a rotation angle of the body 110 of the mowing robot 100, wherein the total rotation angle is a total rotation angle of the mowing robot 100 rotating for a plurality of times, and if the mowing robot 100 rotates only once, the total rotation angle is a rotation angle of the mowing robot once.

Specifically, referring to fig. 4, when the lawn mowing robot 100 travels to a position near a turning area while traveling along the first wire 310, the lawn mowing robot 100 rotates and turns toward the second wire 320 and travels forward. The mowing robot 100 turns again and advances and/or retreats. And circulating the above steps, when the total rotation angle of the mowing robot 100 is equal to or greater than the preset angle, the mowing robot 100 is driven to the turning area, and the preset angle is set to be smaller than or equal to 90 degrees.

If the preset angle is set to 90 degrees, the total rotation angle of the mowing robot 100 just reaches 90 degrees, and at this time, the central axis 160 of the mowing robot 100 coincides with the second wire 320, and indicates that the mowing robot 100 travels to the turning area.

In addition, the mowing robot 100 may be further provided with a positioning signal sensor 150, that is, the mowing robot 100 is provided with both an angle sensor and the positioning signal sensor 150. In determining whether or not the mowing robot 100 is traveling to the turning area, it may be determined whether or not the mowing robot 100 is traveling to the turning area based on the detection condition of the positioning signal sensor 150 and the detection condition of the angle sensor. For example, when the angle sensor detects that the total rotation angle of the mowing robot 100 is 90 degrees, and the signal intensity detected by the positioning signal sensor 150 reaches the set signal intensity value, that is, the signal intensity value detected by the positioning signal sensor 150 at the second wire 320, at this time, the central axis 160 of the mowing robot 100 coincides with the second wire 320 and indicates that the mowing robot 100 travels to the turning area.

Alternatively, the mowing robot 100 may be further provided with the first boundary signal sensor 130 and the second boundary signal sensor 140, in other words, the mowing robot 100 is provided with the angle sensor, the first boundary signal sensor 130 and the second boundary signal sensor 140 at the same time, and the first boundary signal sensor 130 and the second boundary signal sensor 140 are symmetrically arranged about the central axis 160 of the mowing robot 100. In determining whether or not the mowing robot 100 is traveling to the turning area, it may be determined whether or not the mowing robot 100 is traveling to the turning area based on the detection condition of the angle sensor, the detection condition of the first boundary signal sensor 130, and the detection condition of the second boundary signal sensor 140 at the same time. For example, when the angle sensor detects that the total rotation angle of the mowing robot 100 is 90 degrees, and the signal intensity detected by the first boundary signal sensor 130 is identical to the signal intensity detected by the first boundary signal sensor 130 and the magnetic field is opposite, at this time, the central axis 160 of the mowing robot 100 coincides with the second wire 320 and indicates that the mowing robot 100 is traveling to the turning area.

Alternatively, the mowing robot may further include a positioning signal sensor 150, a first boundary signal sensor 130, and a second boundary signal sensor 140, in other words, the mowing robot 100 may include an angle sensor, a positioning signal sensor 150, a first boundary signal sensor 130, and a second boundary signal sensor 140. In determining whether the mowing robot 100 is traveling to the turning area, it may be determined whether the mowing robot 100 is traveling to the turning area according to the detection condition of the angle sensor, the detection condition of the positioning signal sensor 150, the detection condition of the first boundary signal sensor 130 and the detection condition of the second boundary signal sensor 140 at the same time, which will not be described in detail.

In a fourth possible implementation, referring to fig. 9, a user interface with a lawn analog diagram is established, where the user interface may be a mobile phone interface, a computer interface, or an interface configured with electronic products, and the user may mark a location in the lawn analog diagram, where the marked location may be used to determine whether the lawn mowing robot 100 is traveling to a turning area. As can be seen, referring to fig. 9, determining whether the mowing robot is traveling to the turning area in step S101 may specifically include the steps of:

S141, acquiring the real-time position of the mowing robot 100 in the simulated map.

S142, judging whether the mowing robot 100 runs to a mark position in the lawn simulation map; if yes, the mowing robot 100 is driven to the turning area; if not, it indicates that the mowing robot 100 is not traveling to the turning area.

The lawn simulation diagram is matched with an actual lawn, and the marking position in the lawn simulation diagram is matched with the position in the actual lawn. Specifically, the real-time position of the mowing robot 100 in the simulated map is correspondingly changed during the travel of the mowing robot 100 along the wire 300. When the mowing robot 100 travels to the marking position, the control system of the mowing robot 100 determines that the mowing robot 100 travels to the mowing area. It will be appreciated that the user may more flexibly set the marking location according to the user interface, thereby more flexibly controlling the nodes of the curve area to which the mowing robot 100 travels.

As can be seen from the above embodiments, in the present application, the control system of the mowing robot 100 determines whether the mowing robot 100 is traveling in a turning area, or not, if the mowing robot 100 is traveling in a starting point position of the turning area, the control system determines that the mowing robot 100 is traveling in the turning area; it is also possible that the mowing robot 100 has traveled to the turning area, for example, the central axis 160 of the mowing robot 100 coincides with the second wire 320, and the control system determines that the mowing robot 100 travels to the turning area, so the present application is more flexible in determining whether the mowing robot 100 travels to the turning area.

As set forth above, the present application may determine whether the mowing robot 100 is traveling to the turning area in various ways, and accordingly, after the mowing robot 100 determines that the mowing robot 100 is traveling to the turning area, the mowing robot 100 can mow the corner area 230 in various ways, which are described below, but are not limited to the following ways.

In one possible embodiment, step 102, when determining that the mowing robot 100 travels to the turning area, controlling the mowing robot 100 to mow the corner area 230 in the turning area may specifically include the following steps: the mowing robot 100 is controlled to move at least in one of the extending direction of the first wire 310 and the extending direction of the second wire 320, so that the mowing robot 100 mows the corner area 230.

In a specific operation, referring to fig. 3, the mowing robot 100 travels along the wire 300 with the rotation center of the mowing assembly 120 on the wire 300, and the rotation radius of the mowing assembly 120 is the distance between the wire 300 and the boundary line 200, so that the mowing robot 100 travels toward the boundary line 200 in the extending direction of the wire 300 until the rotation center of the mowing assembly 120 reaches the boundary line 200, at which time the edge of the mowing assembly 120 just sweeps to the corner point of the boundary line 200, and the mowing assembly 120 completes mowing of the corner area 230 in the turning area.

If the design size of the mowing assembly 120 is large, the radius of rotation of the mowing assembly 120 is larger than the distance between the boundary line 200 and the wire 300, so that the center of rotation of the mowing assembly 120 does not need to reach the position of the boundary line 200, the mowing assembly 120 can sweep to the corner point of the boundary line 200, and the mowing robot 100 completes mowing in the corner area 230.

In another possible embodiment, the mowing robot 100 is moved toward the boundary line 200 in the extending direction of the wire 300 to mow the corner area 230, as compared to controlling. Step 102, when it is determined that the mowing robot 100 travels to the turning area, the step of controlling the mowing robot 100 to mow the corner area 230 in the turning area may specifically include the following steps: the mowing robot 100 is controlled to walk back and forth and adjust direction at least once in the corner area so that the mowing robot 100 mows the corner area 230. More specifically, upon confirming that the robot 100 is traveling to the turning area, the robot 100 reciprocates obliquely between the first wire 310 and the second wire 320 and turns outward. During the movement of the mowing robot 100, the mowing assembly 120 of the mowing robot 100 gradually closes the intersection point between the first boundary line 210 and the second boundary line 220 until the intersection point between the first boundary line 210 and the second boundary line 220 is swept, and mowing of the corner area 230 is completed.

In the step, the mowing robot 100 is controlled to move at least along one of the extending direction of the first wire 310 and the extending direction of the second wire 320, so that the mowing robot 100 mows the corner area 230, and two ways can be specifically described below.

In a first possible embodiment, the step of controlling the movement of the mowing robot 100 at least along one of the extending direction of the first wire 310 and the extending direction of the second wire 320 so that the mowing robot 100 mows the corner area 230 may specifically include the following steps: the mowing robot 100 is controlled to advance in the extending direction of the first wire 310 toward the second boundary line 220 so that the mowing robot 100 mows the corner area.

Specifically, referring to steps 2b to 2d of fig. 3, upon determining that the central axis 160 of the mowing robot 100 coincides with the first wire 310, the mowing robot 100 can travel along the first wire 310 toward the extending direction of the second boundary line 220 so that the edge of the mowing assembly 120 can sweep to the intersection of the first boundary line 210 and the second boundary line 220, and the mowing robot 100 mows the corner area 230.

It can be appreciated that, compared to the prior art, the mowing robot 100 mows the corner area 230 of the turning area in the above manner, and the mowing robot 100 can quickly mow the corner area 230 in the process of driving the turning area, so that when the mowing robot 100 mows the turning area of the lawn, the mowing robot not only avoids the problems of missed mowing and the like in the trimming process of the turning area of the lawn, but also ensures the working efficiency of the mowing robot 100.

Further, before controlling the mowing robot 100 to advance along the extending direction of the first wire 310 toward the second boundary line 220 so that the mowing robot 100 mows the corner area, the steps of: and controlling the rotation and the backward movement of the mowing robot so as to enable the central axis of the mowing robot to coincide with the first wire.

In practical applications, after confirming that the mowing robot 100 is traveling to the turning area, the central axis 160 of the mowing robot 100 is not overlapped with the first wire 310, i.e. the mowing robot 100 has already entered the steering and advancing travel toward the second wire 320, and therefore, the mowing robot 100 cannot complete traveling toward the second boundary line 220 along the extending direction of the first wire 310. For example, an angle sensor is used to determine whether the lawn mowing robot 100 is traveling to a turning area, and when it is determined that the lawn mowing robot 100 is traveling to the turning area, the lawn mowing robot 100 has been reversed to travel toward the second wire 320.

Therefore, the control system of the robot 100 determines that the central axis 160 of the robot 100 is not located on the first wire 310, and controls the rotation and the backward movement of the robot 100 so that the central axis 160 of the robot 100 coincides with the first wire 310. Thereafter, the mowing robot 100 can advance in the extending direction of the first wire 310 toward the second boundary line 220, so that the mowing robot 100 mows the corner area. Wherein, the mowing robot 100 can rotate and retract one or more times during the process of retracting to the first wire 310, which is set according to the specific actual position of the mowing robot 100.

In determining whether the central axis 160 of the mowing robot 100 coincides with the first wire 310, a detection result of one or more sensors may be used to determine whether the central axis 160 of the mowing robot 100 coincides with the first wire 310, for example, one or more of the angle sensor, the positioning signal sensor 150, the first boundary signal sensor 130, and the second boundary signal sensor 140 are used to cooperate to detect a driving state of the mowing reinforcement person 100, so as to determine that the central axis 160 of the mowing robot 100 coincides with the first wire 310, which is not described in detail. The first boundary signal sensor 130 and the second boundary signal sensor 140 may be disposed on the same side or both sides of the central axis 160 of the mowing robot 100.

To further illustrate, after controlling the mowing robot 100 to advance along the first wire 310 toward the extending direction of the second boundary line 220 so that the mowing robot 100 mows the corner area, the central axis 160 of the mowing robot 100 is located on the second wire 320, for this reason, the step 103 of controlling the mowing robot to travel along the second wire may specifically include the following steps: controlling the robot 100 to rotate and retract at least once so that the center axis 160 of the robot 100 coincides with the second wire 320; upon determining that the center axis 160 of the robot 100 coincides with the second wire 320, the robot 100 is controlled to travel along the second wire 320.

In practical applications, during the steering process of the mowing robot 100, the body 110 of the mowing robot 100 can be rotated to adjust the traveling direction of the mowing robot 100. The line between the center of rotation of the body 110 and the center of rotation of the mower assembly 120 coincides with the central axis 160 of the mower robot 100.

Specifically, referring to step 2d in fig. 3, the mowing robot 100 completes mowing of the corner area 230. Referring to steps 2d to 2e, the body 110 of the lawn mowing robot 100 is rotated forward to face the second wire 320 while the lawn mowing assembly 120 of the lawn mowing robot 100 performs forward movement with the rotation center of the body 110. As can be seen from step 2d, the mowing assembly 120 of the mowing robot 100 approaches the outer side of the second boundary line 220, and the mowing assembly 120 of the mowing robot 100 can further mow the turning area when moving circumferentially, so as to avoid the problem of missed mowing of the lawn in the turning area. Referring to steps 2e to 2f, the mowing robot 100 is retreated, and the rotation center of the body 110 of the mowing robot 100 is on the extension line of the second wire 320. Referring to fig. 2f to 2g, the body 110 of the robot lawnmower 100 is rotated forward by a set angle, the grass cutting assembly 120 of the robot lawnmower 100 is rotated forward by the rotation center of the body 110, and the grass cutting assembly 120 of the robot lawnmower 100 is rotated forward by the rotation center of the body 110 until the center axis 160 of the robot lawnmower 100 coincides with the second wire 320; as can be seen from step 2f, the mowing assembly 120 of the mowing robot 100 approaches the outer side of the first boundary line 210, and the mowing assembly 120 of the mowing robot 100 further mows the turning area when moving circumferentially, so as to avoid the problem of missed mowing of the lawn in the turning area.

The determining whether the central axis 160 of the mowing robot 100 is on the second wire 320 may be performed in various manners, which specifically includes the following manners:

In one possible embodiment, the step of determining whether the central axis 160 of the mowing robot 100 is on the second wire 320 includes the following steps: the robot 100 is controlled to rotate and retract at least once until the positioning signal sensor 150 is positioned on the second wire 320, and the first boundary signal sensor 130 and the second boundary signal sensor 140 are symmetrically disposed about the second wire 320 such that the center axis 160 of the robot 100 coincides with the second wire 320.

Referring to fig. 5, the positioning signal sensor 150 is disposed on the head of the robot 100 and on the center shaft 160 of the robot 100. The first boundary signal sensor 130 is disposed at the head position of the robot mower 100 and near the left side, the second boundary signal sensor 140 is disposed at the head position of the robot mower 100 and near the right side, the first boundary signal sensor 130 and the second boundary signal sensor 140 are symmetrically disposed about the central axis 160 of the robot mower 100, and the positioning signal sensor 150, the first boundary signal sensor 130 and the second boundary signal sensor 140 may be magnetic induction sensors or other sensors.

Specifically, referring to fig. 3, in the course of adjusting the direction and position of the mowing robot 100, when the signal intensity detected by the positioning signal sensor 150 reaches a set signal intensity value, that is, when the signal intensity detected by the positioning signal sensor 150 at the second wire 320 is identical to the signal intensity detected by the first boundary signal sensor 130, and the magnetic fields are opposite, the positioning signal sensor 150 is located on the second wire 320, and the first boundary signal sensor 130 and the second boundary signal sensor 140 are symmetrically disposed with respect to the second wire 320, and therefore, the central axis 160 of the mowing robot 100 coincides with the second wire 320. Based on the above, in step 403, the positions of the positioning signal sensor 150, the first boundary signal sensor 130 and the second boundary signal sensor 140 are determined according to the signal conditions detected by the positioning signal sensor 150, the first boundary signal sensor 130 and the second boundary signal sensor 140, so as to realize the superposition of the central axis 160 and the second wire 320 of the mowing robot 100.

In another possible embodiment, instead of the first boundary signal sensor 130 and the second boundary signal sensor 140 being disposed on two sides of the central axis 160 of the robot 100, the first boundary signal sensor 130 and the second boundary signal sensor 140 are disposed on the same side of the robot 100 and are spaced from the central axis 160 of the robot 100.

Specifically, when the signal strength detected by the positioning signal sensor 150 reaches the set signal strength value, that is, the signal strength value detected by the positioning signal sensor 150 on the second wire 320, and the signal strength detected by the first boundary signal sensor 130 is identical to the signal strength detected by the second boundary signal sensor 140, and the magnetic field is identical, at this time, the positioning signal sensor 150 is located on the second wire 320, the first boundary signal sensor 130 and the second boundary signal sensor 140 are located on the same side of the second wire 320, and the central axis 160 of the mowing robot 100 coincides with the second wire 320.

In other possible embodiments, the mowing robot 100 may determine whether the central axis 160 of the mowing robot 100 is on the second wire 320 according to the detection result of the angle sensor during the process of traveling to the second wire 320; or judging whether the central axis 160 of the mowing robot 100 is on the second guide line according to the detection result of the angle sensor and the detection result of the positioning signal sensor 150; or, whether the central axis 160 of the mowing robot 100 is on the second wire is determined according to the detection result of the angle sensor and the detection result of the boundary signal sensor, which is not described in detail.

In the step, when it is determined that the central axis 160 of the robot 100 coincides with the second wire 320, the robot 100 is controlled to travel along the second wire 320, specifically, referring to step 2g of fig. 3, after the robot 100 is rotated, the central axis 160 of the robot 100 is on the extension line of the second wire 320, which corresponds to the case where the central axis 160 of the robot 100 coincides with the second wire 320. Referring to steps 2h to 1i, the mowing robot 100 is controlled to advance along the second wire 320, i.e., move away from the first wire 310, and the mowing robot 100 mows the other edge of the lawn.

In a second possible embodiment, the step of controlling the movement of the mowing robot 100 at least along one of the extending direction of the first wire 310 and the extending direction of the second wire 320 to cause the mowing robot 100 to mow the corner area 230 specifically includes the following steps: the mowing robot 100 is controlled to move along the second wire 320 toward the extending direction of the first borderline 210 so that the mowing robot 100 mows the corner area 230.

Specifically, referring to steps 3d to 3j in fig. 4, after confirming that the robot 100 is traveling to the turning area, the central axis 160 of the robot 100 coincides with the second wire 320. Referring to steps 3j to 3k, the mowing robot 100 can travel along the second wire 320 toward the extending direction of the first boundary line 210 so that the edge of the mowing assembly 120 can sweep to the intersection of the first boundary line 210 and the second boundary line 220, and the mowing robot 100 mows the corner area 230.

It can be appreciated that, compared to the prior art, the mowing robot 100 mows the corner area 230 of the turning area in the above manner, and the mowing robot 100 can quickly mow the corner area 230 after driving the turning area, so that when the mowing robot 100 mows the turning area of the lawn, the mowing robot not only avoids the problems of missed mowing and the like in the trimming of the turning area of the lawn, but also ensures the working efficiency of the mowing robot 100.

Further, in the step of controlling the movement of the robot 100 along the second wire 320 toward the extending direction of the first boundary line 210, to make the robot 100 mow the corner area 230, referring to fig. 11, the method specifically includes the steps of: the robot is controlled to rotate and move so that the center axis 160 of the mower coincides with the second wire 320.

After the center axis 160 of the robot 100 coincides with the second wire 220, the robot is controlled to retract along the second wire in the extending direction of the first boundary line 210, so that the robot 100 mows the corner area 230.

In practical applications, if the robot is controlled to rotate and move so that the central axis 160 of the mower overlaps the second wire 320 in the step, the central axis 160 of the mower robot 100 does not overlap the second wire 320 after confirming that the mower robot 100 is traveling to the turning area, and thus the mower robot 100 cannot complete traveling toward the first borderline 210 along the extending direction of the second wire 320. For example, it is determined whether or not the robot 100 is traveling to the turning area based on the positioning signal sensor 150, and when it is determined that the robot 100 is traveling to the turning area, the robot 100 is not traveling to the second wire 320.

Therefore, referring to steps 3d to 3j in fig. 4, the mowing robot 100 is controlled to rotate and advance a plurality of times so that the center axis 160 of the mowing robot 100 coincides with the second wire 320, and after the center axis 160 of the mowing robot 100 coincides with the second wire 220, the mowing robot is controlled to retract along the second wire toward the extending direction of the first borderline 210 so that the mowing robot 100 mows the corner area 230 and then is implemented.

In one possible embodiment, the bit signal sensor 150, the first boundary signal sensor 130, and the second boundary signal sensor 140 may be used to determine whether the central axis 160 of the mowing robot 150 is on the second wire 320, referring to fig. 1, the mowing robot 100 is provided with the bit signal sensor 150, the first boundary signal sensor 130, and the second boundary signal sensor 140, wherein the bit signal sensor 150 is disposed on the head of the mowing robot 100 and is located on the central axis 160 of the mowing robot 100. The first boundary signal sensor 130 is disposed at a head position of the robot mower 100 and is located at a left side, and the second boundary signal sensor 140 is disposed at a head position of the robot mower 100 and is located at a right side, and the first boundary signal sensor 130 and the second boundary signal sensor 140 are symmetrically disposed about the central axis 160. The positioning signal sensor 150, the first boundary signal sensor 130 and the second boundary signal sensor 140 are magnetic induction sensors. Wherein controlling the robot to rotate and move so that the center axis 160 of the mower coincides with the second wire 320 in the step specifically comprises the following steps: the robot 100 is controlled to rotate and move until the positioning signal sensor 150 is located on the second wire 320, and the first boundary signal sensor 130 and the second boundary signal sensor 140 are symmetrically disposed about the second wire 320 such that the central axis 160 of the robot 100 coincides with the second wire 320.

Specifically, in the direction and position adjustment process of the mowing robot 100, when the signal strength detected by the positioning signal sensor 150 reaches the set signal strength value, that is, the signal strength value detected by the positioning signal sensor 150 at the second wire 320 is consistent with the signal strength detected by the first boundary signal sensor 130, and the magnetic fields are opposite, at this time, the positioning signal sensor 150 is located on the second wire 320, and the first boundary signal sensor 130 and the second boundary signal sensor 140 are symmetrically disposed about the second wire 320, so that the central axis 160 of the mowing robot 100 coincides with the second wire 320. Based on the above, according to the signal conditions detected by the positioning signal sensor 150, the first boundary signal sensor 130 and the second boundary signal sensor 140, the positions of the positioning signal sensor 150, the first boundary signal sensor 130 and the second boundary signal sensor 140 are determined, and the center axis 160 of the mowing robot 100 is overlapped with the second wire 320.

Alternatively, instead of the first boundary signal sensor 130 and the second boundary signal sensor 140 being disposed on both sides of the central axis 160 of the mowing robot 100, the first boundary signal sensor 130 and the second boundary signal sensor 140 are disposed on the same side of the mowing robot 100, and are spaced apart from the central axis 160 of the mowing robot 100 by the same distance. Specifically, when the signal strength detected by the positioning signal sensor 150 reaches the set signal strength value, that is, the signal strength value detected by the positioning signal sensor 150 at the second wire 320 and the detected signal strength of the first boundary signal sensor 130 are identical, and the magnetic fields are identical, at this time, the positioning signal sensor 150 is located on the second wire 320, the first boundary signal sensor 130 and the second boundary signal sensor 140 are located on the same side of the second wire 320, and the central axis 160 of the mowing robot 100 coincides with the second wire 320.

In other possible embodiments, the mowing robot 100 may determine whether the central axis 160 of the mowing robot 100 is on the second wire 320 according to the detection result of the angle sensor during the process of traveling to the second wire 320; or judging whether the central axis 160 of the mowing robot 100 is on the second guide line according to the detection result of the angle sensor and the detection result of the positioning signal sensor 150; or, whether the central axis 160 of the mowing robot 100 is on the second wire 320 is determined according to the detection result of the angle sensor and the detection result of the boundary signal sensor, which is not described in detail.

Further, after the central axis 160 of the mowing robot 100 coincides with the second wire 220 in the step, the mowing robot is controlled to retreat along the second wire toward the extending direction of the first borderline 210 so that the mowing robot 100 mows the corner area 230, the mowing robot performs step 103, specifically, referring to steps 3k to 3L, after the mowing robot 100 completes mowing the corner area 230, the central axis 160 of the mowing robot 100 is kept on the extending line of the second wire 320, which corresponds to the central axis 160 of the mowing robot 100 coinciding with the second wire 320. Thus, the mowing robot 100 is controlled to advance along the second wire 320 to move away from the first wire 310, and the mowing robot 100 mows the other edge of the lawn during the movement.

In some embodiments, determining whether the mowing robot 100 completes mowing the corner area 230 may determine the mowing condition of the corner area 230 by the mowing robot 100 in a variety of ways, several of which are described below, but not limited to the following ways.

In a first possible embodiment, to determine whether the mowing assembly 120 of the mowing robot 100 sweeps to the intersection between the first boundary line 210 and the second boundary line 220, specifically the steps include: based on the change in the electrical parameters of the mowing assembly 120 of the mowing robot 100, it is determined whether the mowing robot 100 completes mowing the corner area 230.

The electrical parameter of the mower assembly 120 may be current, voltage, power, resistance, frequency, etc.

Specifically, when the mowing assembly 120 moves near the intersection point between the first boundary line 210 and the second boundary line 220, the range of the mowing assembly 120 covering the lawn is smaller and smaller, and the trimming range of the mowing assembly 120 is smaller and smaller, so that the electric parameters of the mowing assembly 120 are correspondingly changed, and whether the mowing robot 100 completes mowing the corner area 230 is determined based on the change of the electric parameters. For example, referring to fig. 3, the lawn mowing machine 100 moves toward the second boundary line 220 in the extending direction of the first wire 310, and the lawn mowing assembly 120 controls the lawn mowing robot 100 to continue to travel forward while sweeping to the second boundary line 220, and the lawn mowing assembly 120 gradually decreases in coverage of the lawn, and the current of the lawn mowing assembly 120 decreases. When the mowing assembly 120 of the mowing robot 100 sweeps to the intersection point between the first boundary line 210 and the second boundary line 220, the current of the mowing assembly 120 is also reduced to the set point, and thus, the traveling position of the mowing robot 100 can be determined according to the current value of the mowing assembly 120, and further, whether the mowing robot 100 completes mowing of the corner area 230 can be determined.

Based on the above, while mowing the corner area 230, the mowing robot 100 control system of the mowing robot 100 acquires the electrical parameter variation of the mowing assembly 120. After the values of the electrical parameters of the mower assembly 120 change to the corresponding value ranges, it may be determined that the mower robot 100 completes mowing the corner area 230.

In a second possible embodiment, in order to determine whether the mowing assembly 120 of the mowing robot 100 is swept to the intersection between the first borderline 210 and the second borderline 220, the mowing robot 100 is provided with an electromagnetic sensor, comprising in particular the steps of: acquiring a detection signal of an electromagnetic sensor; and judging whether the signal intensity detected by the electromagnetic sensor is smaller than or equal to the second preset signal intensity, if so, the mowing of the corner area 230 is finished.

Specifically, referring to fig. 3 and 4, in the mowing process of the corner area 230, after the electromagnetic sensor passes over the first wire 310 or the second wire 320, the distance from the electromagnetic sensor to the wire 300 is further and further, the signal intensity detected by the electromagnetic sensor is further and further reduced, and when the detected signal intensity is reduced to the second preset signal intensity value, it indicates that the position where the mowing robot 100 is traveling is in place, the mowing assembly 120 sweeps to the intersection point between the first wire 310 and the second wire 320, and the mowing robot 100 completes mowing of the corner area 230.

In some embodiments, after determining that the mowing robot 100 is traveling to the curve area, the mowing control method further includes: determining whether a dangerous area exists in the extending direction of the first wire 310 toward the second boundary line 220 and/or whether a dangerous area exists in the extending direction of the second wire 320 toward the first boundary line 210; if not, controlling the mowing robot 100 to perform control of the mowing robot 100 to mow the corner area 230 in the turning area; if so, the control of the mowing robot 100 to travel along the second wire 320 is directly performed.

There are many reasons why a dangerous area exists in the extending direction, for example, a wall, rock, cliff, or the like exists outside the second boundary line 220. If the robot 100 remains mowing the corner area 230, it is likely to cause the robot 100 to collide or tip over, thereby damaging the robot 100. Therefore, in determining that there is a dangerous area in the extending direction, the mowing robot 100 is directly controlled to enter step 103, so that the safe use of the mowing robot 100 is ensured.

In one possible embodiment, the head of the mowing robot 100 is provided with an environment-sensing sensor towards the front side, which may be a camera, an infrared or ultrasonic sensor, a lidar, a multispectral sensor, etc. After the mowing robot 100 travels to the turning area, when determining whether there is a dangerous area in the extending direction of the first wire 310 and in the extending direction of the second wire 320 of the mowing robot 100, the control system of the mowing robot 100 acquires environmental information in front of the mowing robot 100 through the environmental sensor, determines whether there is a dangerous area in front of the mowing robot 100 according to the environmental information, and if there is a dangerous area, the mowing robot 100 directly executes step 103, otherwise, if there is no dangerous area, the mowing robot 100 completes mowing the corner area 230.

In another possible embodiment, a user interface with a lawn analog diagram is established, which may be a cell phone interface, a computer interface, or an interface for configuring an electronic product. The user interface provides various functions for the user, such as providing a hazardous area setting control and a safe area setting control. The user sets a dangerous area in the lawn simulation map according to the actual situation of the lawn area, and the lawn mowing robot 100 determines whether or not the traveling direction has a dangerous area by setting in the lawn simulation map.

After confirming that the mowing robot 100 is traveling to the turning area, the steps of: acquiring a preset lawn simulation map, and determining a real-time position of the mowing robot 100 in the lawn simulation map; wherein the grass plot includes at least a hazard zone; and determining whether a dangerous area exists in front of the robot lawnmower 100 according to the real-time position.

Specifically, the real-time position of the mowing robot 100 in the lawn simulation map matches the position of the mowing robot 100 in the actual lawn, and the position of the mowing robot 100 in the lawn simulation map changes correspondingly during the movement of the mowing robot 100. Since the lawn analog map is provided with a dangerous area, the lawn mower 100 can accurately predict whether a dangerous area exists in front during traveling, so as to avoid serious damage to the lawn mower 100 during traveling. It will be appreciated that the user may more flexibly set the hazardous area according to the user interface to ensure the safety of the robot 100 when in use.

The application also provides a robot lawnmower system for mowing a lawn, the lawn having a first boundary line 210 and a second boundary line 220 intersecting with each other, a first wire 210 being provided inside the first boundary line 210 and a second wire 320 being provided inside the second boundary line 220;

The robot system that mows includes controller and robot body, wherein:

The controller is used for controlling the mowing robot body to run along the first wire 310 and determining whether the mowing robot body runs to a turning area or not; after determining that the mowing robot body runs to the turning area, controlling the mowing robot body to mow the corner area 230 in the turning area; and controlling the mowing robot body to travel along the second wire 320 after the mowing robot body mows the corner area 230.

In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other forms.

The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.

The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium, including instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a read-onlym emory, a Random Access Memory (RAM), a magnetic disk, an optical disk, or other various media capable of storing program codes.

Claims

1. A mowing control method of a turning area of a lawn, the lawn having a first borderline and a second borderline intersecting each other, a first wire being provided inside the first borderline and a second wire being provided inside the second borderline, the method comprising:

2. The mowing control method according to claim 1, wherein the controlling the mowing robot to mow a corner area within the turning area includes:

3. The mowing control method according to claim 2, wherein the controlling the mowing robot to move at least in one of the extending direction of the first wire and the extending direction of the second wire to cause the mowing robot to mow the corner area comprises:

4. A mowing control method according to claim 3, wherein the controlling the mowing robot to advance in the extending direction of the first wire toward the second boundary line comprises:

5. The mowing control method according to claim 2, wherein the controlling the mowing robot to move at least in one of the extending direction of the first wire and the extending direction of the second wire to cause the mowing robot to mow the corner area comprises:

6. The mowing control method according to claim 5, wherein the controlling the mowing robot to move in the extending direction of the second wire toward the first borderline to cause the mowing robot to mow the corner area comprises:

7. The mowing control method according to any one of claims 2-6, wherein the determining whether the mowing robot is traveling to a curve area comprises:

And/or, at least a positioning signal sensor is arranged on the mowing robot, and whether the mowing robot runs to a turning area is determined based on whether the signal intensity detected by the positioning signal sensor is smaller than or equal to a first preset signal intensity;

8. The mowing control method according to claim 1, wherein the mowing robot is provided with a positioning signal sensor, a first boundary signal sensor and a second boundary signal sensor, the positioning signal sensor being provided at a position of the mowing robot on a central axis;

And controlling the mowing robot to rotate and move until the positioning signal sensor is positioned on the second wire, and the first boundary signal sensor and the second boundary signal sensor are symmetrically arranged about the second wire or positioned on the same side of the second wire so as to enable the central axis of the mowing robot to coincide with the second wire.

9. The mowing control method according to claim 1, wherein the controlling the mowing robot to mow a corner area within the turning area includes:

10. The mowing control method according to claim 1, wherein after the determining that the mowing robot is traveling to a turning area, comprising:

11. A robot lawnmower system for mowing a lawn, the lawn having a first borderline and a second borderline intersecting each other, a first wire being provided inside the first borderline and a second wire being provided inside the second borderline;

The robot lawnmower system includes: a controller and a robot body;