CN113519253B - Mower route regression method and system, storage medium and mower - Google Patents
Mower route regression method and system, storage medium and mower Download PDFInfo
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- CN113519253B CN113519253B CN202110753570.8A CN202110753570A CN113519253B CN 113519253 B CN113519253 B CN 113519253B CN 202110753570 A CN202110753570 A CN 202110753570A CN 113519253 B CN113519253 B CN 113519253B
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- 238000000034 method Methods 0.000 title claims abstract description 31
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- 238000004590 computer program Methods 0.000 claims description 9
- 238000013439 planning Methods 0.000 claims description 9
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- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
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- 230000006870 function Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000009966 trimming Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 238000012935 Averaging Methods 0.000 description 1
- 244000025254 Cannabis sativa Species 0.000 description 1
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/006—Control or measuring arrangements
- A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D69/00—Driving mechanisms or parts thereof for harvesters or mowers
- A01D69/02—Driving mechanisms or parts thereof for harvesters or mowers electric
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
Abstract
The application relates to a mower route regression method, system, storage medium and mower, which comprises the steps of obtaining a working area of the mower; acquiring the current residual electric quantity of the mower; judging whether the current residual electric quantity of the mower is smaller than an electric quantity threshold value or not; if so, acquiring the current position of the mower, otherwise, returning to the step of acquiring the current residual electric quantity of the mower; acquiring all return routes of the mower from the current position to the charging station according to the current position of the mower; and selecting the shortest route from all the return routes and controlling the mower to return to the charging station along the shortest route. The problem of intelligent lawn mower be difficult to return the charging station according to nearest route when many is solved, this application has the effect that makes the lawn mower can return the charging station according to nearest route.
Description
Technical Field
The application relates to the technical field of mowers, in particular to a method and a system for returning a mower route, a storage medium and a mower.
Background
Lawn mowers (Lawn mowers) are also known as weed trimmers, lawnmowers, lawn trimmers, and the like. The mower is a mechanical tool for trimming lawn and vegetation, and is composed of cutter head, engine, walking wheels, walking mechanism, blades, handrail and control unit.
In the related art, the intelligent lawn mower usually works in a boundary line, and in order to facilitate charging, a charging station is arranged on the boundary line, and when the electric quantity of the intelligent lawn mower is insufficient during lawn trimming, the intelligent lawn mower can automatically return to the charging station to perform return charging.
However, the intelligent lawn mowers all return along a fixed line when returning to the charging mode, that is, when a general intelligent lawn mower returns, a boundary line closest to the intelligent lawn mower is found first, and then the intelligent lawn mower returns to a charging station along the boundary line to be charged, so that the intelligent lawn mower is difficult to return to the charging station along the closest route in many cases, and there is still room for improvement.
Disclosure of Invention
The present application is directed to a method, system, storage medium, and lawn mower route returning system having features that enable a lawn mower to return to a charging station according to a most recent route.
The above object of the present application is achieved by the following technical solutions:
a mower route regression method comprising:
acquiring a working area of the mower;
acquiring the current residual electric quantity of the mower;
judging whether the current residual electric quantity of the mower is smaller than an electric quantity threshold value or not;
if so, acquiring the current position of the mower, otherwise, returning to the step of acquiring the current residual electric quantity of the mower;
obtaining all return routes of the mower from the current position to the charging station according to the current position of the mower;
and selecting the shortest route from all the return routes and controlling the mower to return to the charging station along the shortest route.
By adopting the technical scheme, the current residual electric quantity of the mower is monitored, when the current residual electric quantity of the mower is smaller than the electric quantity threshold value, the current position of the mower is obtained through a positioning device such as a GPS (global positioning system), all return routes of the mower returned to the charging station are planned according to the current position of the mower, then the route with the shortest path is selected from all the return routes, and the mower is controlled to return to the charging station along the route with the shortest path, so that the mower can return to the charging station according to the nearest route, the efficiency of returning and charging of the mower is improved, and the mowing efficiency of the mower is improved.
Optionally, the return route includes a sum of a return distance of the mower from the current position to a boundary line of the working area and a distance of returning to the charging station along the boundary line of the working area.
Optionally, the method further includes:
dividing a working area into at least one partition;
and controlling the mower to sequentially mow at least one subarea.
By adopting the technical scheme, the working area is partitioned, and then the mower is controlled to mow the partitions in sequence, so that the occurrence of repeated mowing of the same area by the mower is reduced, and the mowing efficiency of the mower is improved.
Optionally, the mowing area of the working area is obtained;
and dividing the working area into at least one subarea according to the mowing area and the reference area.
By adopting the technical scheme, when the mowing area of the working area is large, the working area is partitioned, so that the mower returns to the charging station for charging after finishing mowing in one area, the occurrence that the mower repeatedly mows in the same area is reduced, the number of times that the mower returns to charge is reduced, and the mowing efficiency of the mower is improved.
Optionally, the number of lawns in the working area is obtained;
the working area is divided into at least one section according to the number of lawns.
By adopting the technical scheme, when a plurality of lawns exist in the working area, the working area is divided into at least one subarea according to the lawn number, so that the occurrence of repeated mowing of the same area by the mower can be reduced, and the mowing efficiency of the mower is improved.
Optionally, the method further includes:
acquiring a current subarea of the mower according to the current position of the mower;
acquiring the farthest distance point between the current zone of the mower and the charging station;
obtaining a farthest return route returned to a charging station from a zone where the mower is located at present according to the farthest distance point;
acquiring the farthest returning required electric quantity of the mower, which returns to the charging station from the current subarea of the mower, according to the farthest returning route;
and taking the farthest returned required electric quantity as the electric quantity threshold value of the corresponding partition.
By adopting the technical scheme, the current partition of the mower is obtained according to the current position of the mower, the farthest distance point between the current partition of the mower and the charging station is obtained, the electric quantity required by the mower to return to the charging station from the current partition is obtained according to the farthest distance point, and the electric quantity is used as the electric quantity threshold value, so that the phenomenon that the mower cannot return to the charging station for charging due to insufficient electric quantity can be reduced.
Optionally, obtaining the current position of the lawn mower comprises:
acquiring a preliminary position of the mower in a working area;
obtaining distance images of boundary lines of the mower facing a working area;
acquiring the image position of the mower in the working area according to the distance image of each boundary line of the mower facing the working area;
and obtaining the current position of the mower according to the preliminary position and the image position.
By adopting the technical scheme, the initial position of the mower in the working area is initially acquired through positioning devices such as a GPS (global positioning system), the distance images of the mower facing each boundary line of the working area are acquired through the vision sensor, the image position of the mower in the working area is acquired according to the distance images, the initial position and the image position are averaged to obtain the current position of the mower, and the accuracy of the mower position acquisition is improved.
The second purpose of the application is to provide a mower route returning system which has the characteristic that a mower can return to a charging station according to a nearest route.
The second application purpose of the present application is achieved by the following technical scheme:
a route regression system for a lawn mower includes,
the working area acquisition module is used for acquiring the working area of the mower;
the electric quantity obtaining module is used for obtaining the current residual electric quantity of the mower;
the judging module is used for judging whether the current residual electric quantity of the mower is smaller than an electric quantity threshold value or not;
the position acquisition module is used for acquiring the current position of the mower;
the route planning module is used for planning all return routes of the mower from the current position to the charging station according to the current position of the mower; and the number of the first and second groups,
and the route selection module is used for selecting a shortest route from all the return routes and controlling the mower to return to the charging station along the shortest route.
By adopting the technical scheme, the electric quantity obtaining module monitors the current residual electric quantity of the mower, the judging module judges the current residual electric quantity of the mower, when the current residual electric quantity of the mower is smaller than the electric quantity threshold value, the position obtaining module obtains the current position of the mower, the route planning module plans all return routes of the mower returning to the charging station according to the current position of the mower, the route selecting module selects the route with the shortest path from all the return routes and controls the mower to return to the charging station along the route with the shortest path, the mower can return to the charging station according to the nearest route, the efficiency of returning and charging of the mower is improved, and the mowing efficiency of the mower is improved.
The third objective of the present application is to provide a computer storage medium, which can store corresponding programs and has the characteristics of facilitating the storage of a route regression method for a lawn mower.
The third application purpose of the present application is achieved through the following technical scheme:
a computer readable storage medium storing a computer program that can be loaded by a processor and executed to perform a method as any one of the above.
The fourth purpose of this application is to provide a lawn mower, can save corresponding procedure, has the characteristics that make lawn mower can return to the charging station according to nearest route.
The fourth application purpose of the present application is achieved by the following technical solutions:
a lawnmower comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor when executing the computer program implementing the steps of the method according to any preceding claim.
In summary, the present application includes at least one of the following beneficial technical effects:
the method comprises the steps of monitoring the current residual electric quantity of the mower, when the current residual electric quantity of the mower is smaller than an electric quantity threshold value, obtaining the current position of the mower through a positioning device such as a GPS and the like, planning all return routes of the mower returned to a charging station according to the current position of the mower, then selecting a route with the shortest path from all the return routes and controlling the mower to return to the charging station along the route with the shortest path, so that the mower can return to the charging station according to the nearest route, the efficiency of returning and charging of the mower is improved, and the mowing efficiency of the mower is improved.
Drawings
Fig. 1 is a block flow diagram of a mower route regression method according to an embodiment of the present disclosure.
Fig. 2 is a schematic diagram of a route of the lawn mower of the embodiment of the present application to return to a charging station.
Fig. 3 is a block diagram illustrating a mower route regression system according to an embodiment of the present invention.
Reference numerals: 1. an area A; 2. a region C; 3. a region B; 4. a charging station; 5. a grass cutter.
Detailed Description
The present application is described in further detail below with reference to the attached drawings.
The specific embodiments are only for explaining the present application and are not limiting to the present application, and those skilled in the art can make modifications to the embodiments without inventive contribution as required after reading the present specification, but all the embodiments are protected by patent law within the scope of the claims of the present application.
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, 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, and it is obvious that the described embodiments are some embodiments of the present application, but 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.
In addition, the term "and/or" herein is only one kind of association relationship describing the association object, and means that there may be three kinds of relationships, for example, a and/or B, and may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter associated objects are in an "or" relationship, unless otherwise specified.
The embodiments of the present application will be described in further detail with reference to the drawings.
The embodiment of the application provides a mower route regression method, and the main flow of the method is described as follows.
As shown in fig. 1:
step 110: a working area of the mower is obtained.
Before the mower is used, the mower is manually controlled to run for one circle around the boundary line of the lawn area to generate a map of a working area, and the generated map of the working area is stored in the mower.
In one embodiment, the mower is further provided with a vision sensor, and the mower travels a single turn around obstacles in the lawn area and records the boundary curves of each obstacle for storage in a map of the mower's work area.
Step 120: and acquiring the current remaining power of the mower.
Step 130: and judging whether the current residual electric quantity of the mower is smaller than an electric quantity threshold value or not.
The electric quantity threshold value can be manually set according to the size of the working area, and can also be generated in real time according to the position of the mower, and the setting of the electric quantity threshold value can be specifically set according to the actual situation.
Step 140: if so, acquiring the current position of the mower, otherwise, returning to the step of acquiring the current remaining power of the mower.
If the current residual electric quantity of the mower is smaller than the electric quantity threshold value, the electric quantity of the mower is insufficient, the mower needs to return to a charging station for charging, and the current position of the mower is obtained through a GPS (global positioning system), wherein the current position refers to the position of the mower in a working area; if the current residual electric quantity of the mower is larger than the electric quantity threshold value, the electric quantity of the mower is sufficient, namely the mower does not need to return to a charging station for charging, and the current residual electric quantity of the mower is obtained again.
Step 150: and acquiring all return routes of the mower from the current position to the charging station according to the current position of the mower.
Wherein the return route includes a return route path of the lawnmower 5 from the current position to the boundary line of the working area and a return charging station path to the charging station 4 along the boundary line of the working area, as shown in fig. 2; the return route of the boundary line of the mower 5 from the current position to the working area may be any one of routes a1, a2, a3, and a 4; the charging station return path to the charging station 4 along the boundary line of the working area is the sum of the paths taken by the mower 5 to return to the charging station 4 along the boundary line and the boundary line adjacent to the boundary line after reaching the corresponding boundary line; taking the path a1 as an example, after the mower 5 reaches the boundary line via the path a1, it returns to the charging station 4 along the paths b1, c1, d1, and e1 in sequence to be charged, and the combination of the paths a1 and b1, c1, d1, and e1 is a return path.
Step 160: and selecting the shortest route from all the return routes and controlling the mower to return to the charging station along the shortest route.
The distances from the mower to the charging station through different routes are different, so that the shortest route is selected from all the return routes by comparing the lengths of all the return routes, and the mower is controlled to return to the charging station along the shortest route, so that the charging time of the mower returning to the charging station can be saved, and the mowing efficiency of the mower is improved.
The steps of obtaining the current position of the mower are as follows:
step 111: and acquiring a primary position of the mower in the working area.
The position of the mower in the working area is obtained through a positioning device such as a GPS and the like, and the obtained position is a preliminary position.
Step 112: distance images of the mower towards each boundary line of the working area are obtained.
The visual sensors are arranged on the periphery of the mower, are obliquely arranged below the mower away from the mower, and are used for acquiring images of all boundary lines of the mower facing a working area, namely distance images.
And step 113: and acquiring the image position of the mower in the working area according to the distance image of each boundary line of the mower facing the working area.
And comparing the distance image with the lawn image stored in the mower to obtain the distance between the image of the mower and each boundary line of the working area, and converting the ratio to obtain the distance between the mower and each boundary line of the working area, namely the image position of the mower in the working area.
Step 114: and obtaining the current position of the mower according to the preliminary position and the image position.
And averaging the preliminary position and the image position, so that the current position of the mower can be calculated, and the accuracy of obtaining the position of the mower is further improved.
The sequential mowing steps of the mower are as follows:
step 210: the work area is divided into at least one partition.
The division of the working area into at least one subarea can be performed manually or automatically; in one embodiment, the work area is manually divided by controlling the mower to travel a closed loop path, i.e., a division, within the work area.
In another embodiment, when the working areas are automatically divided, the mowing area after the mower is fully charged can be used as a reference value, that is, after the working areas are generated, the area of the working area is divided by the reference value, the integer is the number of the subareas, and the remainder is the area of the last subarea.
In another embodiment, the automatic partition may be further divided according to the number of lawns in the working area, that is, when the lawn mower is manually controlled to travel around the boundary line of the lawn area for one turn, the visual sensor acquires a lawn image in the working area, and compares the lawn image with a reference lawn image, if the entire lawn is continuous, it is a single lawn, and if the lawn is discontinuous, the working area is divided according to the number of closed-loop lawns.
As shown in fig. 2, the working area can be divided into an a area 1, a B area 2, and a C area 3 by manual zoning, and the a area 1, the B area 2, and the C area 3 or the C area 3, the B area 2, and the a area 1 can be mowed in sequence by the mower 5.
Step 220: and controlling the mower to sequentially mow at least one subarea.
After the working area is partitioned, the mower is controlled to sequentially mow the partitions from far to near or from near to far according to the distance between the mower and the charging station, so that the occurrence of repeated mowing can be reduced, and the mowing efficiency of the mower is improved.
Step 230: and obtaining the current subarea of the mower according to the current position of the mower.
Taking fig. 2 as an example, the mower 5 is currently located in the zone C3, and the zone C3 is the current zone of the mower 5.
Step 240: and acquiring the farthest distance point between the zone where the mower is located and the charging station.
In fig. 2, the farthest point between the zone where the mower 5 is located and the charging station is point f 6.
Step 250: and acquiring the farthest return route from each subarea to the charging station according to the farthest distance point.
Taking fig. 2 as an example, the farthest return route of the lawn mower 5 from the point f of the area C3 to the charging station is a combination of a5, b5, and C5.
Step 260: and acquiring the farthest return required electric quantity of the mower from each subarea to the charging station according to the farthest return route.
The length of the farthest return route is multiplied by the electric quantity consumed by the walking unit length of the mower, namely the farthest return required electric quantity for the mower to return to the charging station from the corresponding subarea.
Step 270: and taking the farthest return required electric quantity as the electric quantity threshold value of the corresponding partition.
The farthest return required electric quantity is used as the electric quantity threshold value of the corresponding subarea, so that the mower can be ensured to return to the charging station for charging when mowing in the corresponding subarea, and the situation that the mower cannot return to the charging station is not easy to occur.
Based on the same inventive concept, as shown in fig. 3, the present embodiment further provides a mower route regression system, which includes a working area obtaining module, an electric quantity obtaining module, a judging module, a position obtaining module, a route planning module, and a route selecting module.
And the working area acquisition module is used for acquiring the working area of the mower.
And the electric quantity acquisition module is used for acquiring the current residual electric quantity of the mower.
And the judging module is used for judging whether the current residual electric quantity of the mower is smaller than an electric quantity threshold value.
The position acquisition module is used for acquiring the current position of the mower, and can be a GPS and also can acquire the current position of the mower for the Beidou.
And the route planning module is used for planning all return routes of the mower from the current position to the charging station according to the current position of the mower.
And the route selection module is used for selecting a route with the shortest path from all the return routes and controlling the mower to return to the charging station along the route with the shortest path.
Based on the same inventive concept, the present embodiment also provides a computer-readable storage medium storing a computer program that can be loaded by a processor and executes any of the methods described above.
Based on the same inventive concept, the present embodiment also provides a lawn mower, comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of any one of the methods.
It will be clear to those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional modules is merely used as an example, and in practical applications, the above function distribution may be performed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to perform all or part of the above described functions. For the specific working processes of the system, the apparatus and the unit described above, reference may be made to the corresponding processes in the foregoing method embodiments, and details are not described here again.
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 above-described apparatus embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one position, or may be distributed on multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit may be implemented in the form of hardware, or may also be implemented in the form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, a network device, or the like) or a processor (processor) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: u disk, removable hard disk, read only memory, random access memory, magnetic disk or optical disk, etc. for storing program codes.
The above embodiments are only used to describe the technical solutions of the present application in detail, but the above embodiments are only used to help understanding the method and the core idea of the present invention, and should not be construed as limiting the present invention. Those skilled in the art should also appreciate that they can easily conceive of various changes and substitutions within the technical scope of the present disclosure.
Claims (7)
1. A mower route regression method, comprising:
acquiring a working area of the mower;
acquiring the current residual electric quantity of the mower;
judging whether the current residual electric quantity of the mower is smaller than an electric quantity threshold value or not;
if so, acquiring the current position of the mower, otherwise, returning to the step of acquiring the current residual electric quantity of the mower;
obtaining all return routes of the mower from the current position to the charging station according to the current position of the mower;
selecting a shortest route from all the return routes and controlling the mower to return to the charging station along the shortest route;
further comprising:
dividing a working area into a plurality of partitions;
controlling the mower to sequentially mow a plurality of subareas;
acquiring a current subarea of the mower according to the current position of the mower;
acquiring the farthest distance point between the zone where the mower is located and a charging station;
obtaining a farthest return route from the current subarea of the mower to the charging station according to the farthest distance point;
acquiring the farthest returning required electric quantity of the mower, which returns to the charging station from the current subarea of the mower, according to the farthest returning route;
taking the farthest returned required electric quantity as an electric quantity threshold value of the corresponding partition;
the return route includes a sum of a return distance of the lawn mower from the current position to a boundary line of the work area and a distance along the boundary line of the work area to return to the charging station.
2. The mower route regression method of claim 1,
acquiring the mowing area of a working area;
and dividing the working area into a plurality of subareas according to the mowing area and the reference area.
3. The mower route regression method of claim 1,
acquiring the number of lawns in a working area;
and dividing the working area into a plurality of subareas according to the number of the lawns.
4. The mower route regression method of claim 1, wherein obtaining a current location of a mower comprises:
acquiring a preliminary position of the mower in a working area;
obtaining distance images of boundary lines of the mower facing a working area;
acquiring the image position of the mower in the working area according to the distance image of each boundary line of the mower facing the working area;
and obtaining the current position of the mower according to the preliminary position and the image position.
5. A mower route regression system using the mower route regression method of any one of claims 1 to 4, comprising,
the working area acquisition module is used for acquiring the working area of the mower;
the electric quantity obtaining module is used for obtaining the current residual electric quantity of the mower;
the judging module is used for judging whether the current residual electric quantity of the mower is smaller than an electric quantity threshold value or not;
the position acquisition module is used for acquiring the current position of the mower;
the route planning module is used for planning all return routes for the mower to return to the charging station from the current position according to the current position of the mower; and (c) a second step of,
and the route selection module is used for selecting a shortest route from all the return routes and controlling the mower to return to the charging station along the shortest route.
6. A computer-readable storage medium, in which a computer program is stored which can be loaded by a processor and which executes the method of any one of claims 1 to 4.
7. A lawnmower comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor when executing the computer program implementing the steps of the method according to any one of claims 1 to 4.
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