CN115061471A - Construction method and device for working area boundary of mower and mower - Google Patents
Construction method and device for working area boundary of mower and mower Download PDFInfo
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
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Abstract
According to the construction method and device for the boundary of the working area of the mower and the mower, the first boundary to be processed of the working area of the mower is obtained, and the first boundary to be processed expands outwards by a preset distance to serve as a second boundary to be processed; controlling the mower to move along the second boundary to be processed, acquiring environmental information of the mower in the second boundary to be processed according to a sensor of the mower, and determining a non-working area boundary in the environmental information; controlling the mower to move along the boundary of the non-working area to obtain a third boundary to be processed; and constructing the boundary of the working area of the mower according to the second boundary to be processed and the third boundary to be processed. And obtaining a second boundary to be processed through expansion, and rejecting a non-working area in the second boundary to be processed by using a sensor of the mower. The final working area boundary is constructed, so that the constructed working area boundary is more accurate, no lead needs to be arranged, and the cost is lower.
Description
Technical Field
The application relates to the technical field of mowers, in particular to a method and a device for constructing a boundary of a working area of a mower and the mower.
Background
The mower is widely applied to scenes such as maintenance of courtyard lawns, trimming of large-scale lawns and the like. During the working process of the mower, the boundary of the working area needs to be constructed first, and after the construction of the boundary of the working area is completed, the mower can automatically perform mowing according to the boundary of the working area.
When the existing lawn mower is used for constructing the boundary of a working area, the manual remote control is usually adopted to move the lawn mower so as to determine the boundary of the working area according to the moving track of the lawn mower, or a lead is arranged at the boundary of the working area, and the lawn mower and the boundary lead are used for positioning the boundary of the working area. However, the manual remote control method often results in inaccurate boundary of the work area, which may cause the boundary beyond the user's intention or may not be able to trim the work area. The method of arranging the wires is costly and cumbersome to operate.
Disclosure of Invention
In view of the above problems, embodiments of the present application provide a construction of a lawn mower work area boundary, an apparatus and a lawn mower to solve at least the above problems.
One or more embodiments of the present application provide a method of constructing a lawn mower work area boundary, including: acquiring a first boundary to be processed of a working area of the mower, and expanding the first boundary to be processed outwards by a preset distance to serve as a second boundary to be processed; controlling the mower to move along the second boundary to be processed, acquiring environmental information of the mower in the second boundary to be processed according to a sensor of the mower, and determining a non-working area boundary in the environmental information, wherein the non-working area refers to an area where the mower cannot perform mowing work; and controlling the mower to move along the boundary of the non-working area according to the boundary of the non-working area to obtain a third boundary to be processed so as to avoid the non-working area, and constructing the boundary of the working area of the mower according to the second boundary to be processed and the third boundary to be processed.
Optionally, obtaining a first to-be-processed boundary of a working area of the lawn mower comprises: controlling the mower to move along the edge of a working area according to a movement instruction set by a user, and acquiring positioning information of the mower in the moving process; and determining a first boundary to be processed according to the positioning information of the mower.
Optionally, the sensor includes a grass detection sensor, and the determining the boundary of the non-working area in the environmental information according to the environmental information of the mower within the second boundary to be processed, includes: and acquiring environmental information of the mower in the second to-be-processed boundary according to the grassland detection sensor, and determining the boundary of the non-grassland area in the environmental information.
Optionally, the sensor further includes a collision detection sensor, and the determining the boundary of the non-working area in the environmental information according to the environmental information of the mower within the second boundary to be processed obtained by the sensor of the mower includes: and acquiring environmental information of the mower in the second to-be-processed boundary according to the collision detection sensor, and determining the boundary of the obstacle area in the environmental information.
Optionally, the sensor further includes a depth detection sensor, and the determining the boundary of the non-working area in the environmental information according to the environmental information of the mower within the second boundary to be processed obtained by the sensor of the mower includes: and acquiring environmental information of the mower in the second to-be-processed boundary according to the depth detection sensor, and determining the boundary of the recessed area which cannot be passed by the mower in the environmental information.
Optionally, the method further comprises: and determining a preset distance according to an error value of the positioning information of the mower, wherein the error value is an error value between the positioning information and the actual position of the mower.
According to another aspect of the application, a construction device for a working area boundary of a mower is provided, and comprises an acquisition module, a detection module and a mapping module, wherein the acquisition module is used for acquiring a first boundary to be processed of the working area of the mower, and expanding the first boundary to be processed outwards by a preset distance to serve as a second boundary to be processed; the detection module is used for controlling the mower to move along the second boundary to be processed, acquiring environmental information of the mower in the second boundary to be processed according to a sensor of the mower, and determining a non-working area boundary in the environmental information, wherein the non-working area refers to an area where the mower cannot perform mowing work; the mapping module is used for controlling the mower to move along the boundary of the non-working area according to the boundary of the non-working area so as to obtain a third boundary to be processed, so as to avoid the non-working area, and constructing the boundary of the working area of the mower according to the second boundary to be processed and the third boundary to be processed.
Optionally, the acquisition module is further configured to control the mower to move along the edge of the working area according to a movement instruction set by a user, and acquire positioning information of the mower in the moving process; the mapping module is further used for determining a first boundary to be processed according to the positioning information of the mower.
According to another aspect of the present application, there is provided a non-transitory computer readable storage medium having stored thereon computer instructions for causing a computer to perform the method of the above aspect.
According to another aspect of the present application, there is provided a lawn mower comprising: one or more processors; and a memory storing a program; wherein the program comprises instructions which, when executed by a processor, cause the processor to perform the method of the above aspect.
According to the construction method and device for the boundary of the working area of the mower and the mower, the first boundary to be processed of the working area of the mower is obtained, and the first boundary to be processed expands outwards by a preset distance to serve as a second boundary to be processed; controlling the mower to move along the second boundary to be processed, and acquiring environmental information of the mower in the second boundary to be processed according to a sensor of the mower to determine a non-working area boundary in the environmental information, wherein the non-working area refers to an area where the mower cannot perform mowing work; and controlling the mower to move along the boundary of the non-working area according to the boundary of the non-working area to obtain a third boundary to be processed so as to avoid the non-working area, and constructing the boundary of the working area of the mower according to the second boundary to be processed and the third boundary to be processed. And obtaining a second boundary to be processed by expanding the first boundary to be processed, and then rejecting a non-working area in the second boundary to be processed through a sensor of the mower. The final working area boundary is constructed, so that the constructed working area boundary is more accurate and convenient, and the working area boundary constructed by the method does not need to be provided with a lead, is convenient to operate and has lower cost.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic flow chart of a method of constructing a lawn mower work area boundary in an exemplary embodiment of the present application;
FIG. 2 is a process diagram of a method of constructing a boundary of a work area of a lawn mower of an exemplary embodiment of the application;
fig. 3 is a block diagram of a construction device for a boundary of a working area of a lawn mower according to an exemplary embodiment of the present disclosure.
Description of reference numerals:
300. the construction device of the boundary of the working area of the mower; 301. an acquisition module; 302. a detection module; 303. and a mapping module.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
For the convenience of understanding, before describing the specific embodiments of the present application in detail, the construction method, the construction device, the construction medium, and the application scenario of the lawn mower of the present application are exemplified.
The lawn mower is widely applied to scenes such as maintenance of courtyard lawns, trimming of large lawns and the like. During the working process of the mower, the boundary of the working area needs to be constructed first, and after the construction of the boundary of the working area is completed, the mower can automatically perform mowing according to the boundary of the working area.
When the existing lawn mower is used for constructing the boundary of a working area, the manual remote control is usually adopted to move the lawn mower so as to determine the boundary of the working area according to the moving track of the lawn mower, or a lead is arranged at the boundary of the working area, and the lawn mower and the boundary lead are used for positioning the boundary of the working area. However, the manual remote control method often results in inaccurate boundary of the work area, which may cause the boundary beyond the user's intention or may not be able to trim the work area. The method of arranging the wires is costly and cumbersome to operate. In view of the above, the present application provides a method and an apparatus for constructing a boundary of a working area of a lawn mower, and a lawn mower, which can solve the above problems in the prior art.
Specific embodiments of the present application will be described in detail below with reference to the accompanying drawings.
Fig. 1 is a schematic flow chart of a method for constructing a boundary of a working area of a lawn mower according to an exemplary embodiment of the present disclosure, where as shown in the drawing, the present embodiment mainly includes the following steps:
s101, obtaining a first boundary to be processed of a working area of the mower, and enabling the first boundary to be processed to expand outwards for a preset distance to serve as a second boundary to be processed.
Illustratively, referring to FIG. 2, a first boundary to be treated of the mower is obtained, and the first boundary to be treated is expanded outward by a predetermined distance to obtain a second boundary to be treated. The first boundary to be processed may be obtained by moving the lawn mower along the edge of the working area through manual remote control, or may be obtained by acquiring the working area boundary already stored in the lawn mower, or may be obtained by interacting with a cloud server or other mobile devices, which is not limited in this embodiment.
It should be noted that in one application scenario of the lawn mower, there may be an open area with no enclosure on part of its working area, and the area outside of its non-enclosure boundary is still the area where the lawn mower can work, for example, the lawns of multiple users are connected and defined without enclosure. And a second boundary to be processed is obtained by expanding the first boundary to be processed outwards, and the maximum boundary of the working area is defined as the second boundary to be processed, so that the situation that the moving of the mower exceeds the maximum boundary of the working area in the subsequent processing process of S102, and other users are affected is avoided.
In one specific implementation, the first boundary to be processed can be obtained by moving the remote control mower along the boundary of the working area, and the steps are as follows:
and S1011, controlling the mower to move along the edge of the working area according to the movement instruction set by the user, and acquiring the positioning information of the mower in the moving process.
And S1012, determining a first boundary to be processed according to the positioning information of the mower.
For example, the mower is controlled to move along the edge of the working area according to a movement instruction set by a user and positioning information of the mower is obtained, the frequency of obtaining the positioning information may be obtained every 0.1 second, and the manner of obtaining the positioning information may be GPS navigation positioning, visual positioning, or RTK (Real Time Kinematic) positioning, which is not limited in this application. According to the implementation mode, the mower is controlled to acquire the positioning information to acquire the first boundary to be processed, the situation that the first boundary to be processed is acquired in a lead setting mode is avoided, the workload is reduced, and the efficiency of acquiring the first boundary to be processed is improved.
In a specific implementation manner, the preset distance may be determined according to an error value of the positioning information of the lawn mower, where the error value refers to an error value between the positioning information of the lawn mower and an actual position of the lawn mower. Usually, the preset distance does not exceed 1 meter, and the preset distance for expanding the first boundary to be processed is dynamically adjusted according to the error value of the positioning information of the mower, for example, when the positioning signal quality is good, the expansion distance can be dynamically increased; conversely, dynamic reduction of the expansion distance is required. In case other users are affected due to poor positioning signals.
S102, controlling the mower to move along the second boundary to be processed, obtaining environmental information of the mower in the second boundary to be processed according to a sensor of the mower, and determining a non-working area boundary in the environmental information.
For example, referring to fig. 2, the non-working area in the environmental information refers to an area where the lawnmower cannot perform the mowing work, such as an obstacle area, a non-lawn area, a valley where the lawnmower cannot work, and the like. Sensors of the lawn mower may include grass detection sensors, impact detection sensors, depth detection sensors, and the like.
It should be noted that, in S102, if there is a part of the boundary on the second boundary to be processed where the non-working area boundary cannot be detected, the part of the boundary on the second boundary to be processed is taken as the standard.
In one specific implementation, the sensor may include a grass detection sensor, and the environmental information of the mower within the second to-be-processed boundary is acquired according to the sensor of the mower to determine the non-working area boundary in the environmental information, including: and acquiring environmental information of the mower in the second to-be-processed boundary according to the lawn detection sensor, and determining the boundary of the non-lawn area in the environmental information.
Illustratively, referring to fig. 2, the grass detection sensor is used to distinguish grass regions from non-grass regions, such as regions where cement may be present within the second boundary to be processed (e.g., polygonal non-working regions where both the second boundary to be processed and the first boundary to be processed pass through in fig. 2) or obstacle regions (e.g., rectangular non-working regions to the right of the first boundary to be processed in fig. 2). The lawn detection sensor may be an image sensor, for example, a camera arranged at the front end of the mower (i.e., in the direction of the head), and the camera may acquire image information of the environment in front of the mower once according to a predetermined time interval (e.g., 0.5 second/time) during the movement of the mower. Whether a boundary line between the non-grassland area and the grassland area exists in the image information can be identified by using a software algorithm, if yes, the mower is controlled to move along the boundary line between the non-grassland area and the grassland area, and the information of the boundary line is acquired as a third boundary to be processed. The sensor may also be a lidar, sonar, or the like.
Through this implementation, utilize the meadow to detect sensor and distinguish the meadow region in the second pending border and non-meadow region to reject the non-meadow region in the second pending border, thereby make the work area border that finally founds more accurate, and then can improve lawn mower's work efficiency.
In one specific implementation, the sensor may further include a collision detection sensor, and the method may further include obtaining environmental information of the lawn mower within the second boundary to be processed according to the sensor of the lawn mower to determine a non-working area boundary in the environmental information, including: and acquiring environmental information of the mower in the second to-be-processed boundary according to the collision detection sensor, and determining the boundary of the obstacle area in the environmental information.
Illustratively, referring to fig. 2, the collision detection sensor is used to determine a raised obstacle, for example, a stone, a fence, or the like (e.g., a rectangular non-working area on the right side of the first boundary to be processed in fig. 2) may be present within the second boundary to be processed, and the collision detection sensor may be a bump sensor (collision sensor), a current sensor, an ultrasonic sensor, or the like. And in the process that the mower moves along the second boundary to be processed, acquiring environmental information of the mower in the second boundary to be processed through a collision detection sensor, and determining the boundary of an obstacle area in the environmental information.
Through this implementation, utilize collision detection sensor can further confirm the obstacle region in the second pending border to reject the obstacle region in the second pending border, this implementation can regard as a supplementary detection mode to meadow detection sensor, thereby make the work area border of final construction more accurate, and can avoid the lawn mower to collide the equipment damage that the obstacle led to in the removal process, thereby prolonged the life of equipment.
In one specific implementation, the sensor may further include a depth detection sensor, and the obtaining environmental information of the lawn mower within the second boundary to be processed according to the sensor of the lawn mower to determine the boundary of the non-working area in the environmental information includes: and acquiring environmental information of the mower in the second to-be-processed boundary according to the depth detection sensor, and determining the boundary of the recessed area which cannot be passed by the mower in the environmental information.
Illustratively, the depth detection sensor may distinguish between a bump and a pit. For example, there may be a recessed area or a raised area within the second boundary to be treated through which the mower cannot pass, and the depth detection sensor may be a depth camera sensor, a lidar or the like. And in the process that the mower moves along the second boundary to be processed, acquiring environmental information of the mower in the second boundary to be processed through a collision detection sensor, and determining the boundary of the obstacle area in the environmental information.
Through the implementation mode, the boundary of the sunken area which cannot be passed by the mower in the second boundary to be processed is distinguished by the depth detection sensor, so that the sunken area which cannot be passed by the mower in the second boundary to be processed is eliminated. This implementation mode can be as being a supplementary detection mode to meadow detection sensor, also can regard as a supplementary detection mode to meadow detection sensor and collision detection sensor to make the work area border that finally founds more accurate, and can avoid the lawn mower to block in the removal in-process at above-mentioned sunken region, influence work efficiency, lead to equipment to damage even.
S103, controlling the mower to move along the boundary of the non-working area according to the boundary of the non-working area to obtain a third boundary to be processed so as to avoid the non-working area, and constructing the boundary of the working area of the mower according to the second boundary to be processed and the third boundary to be processed.
Illustratively, referring to fig. 2, according to the boundary of the non-working area determined in S102, the mower is controlled to move along the boundary of the non-working area to obtain a third boundary to be processed, such as the boundary of the non-grass area, the boundary of an obstacle, etc., and the second boundary to be processed and the third boundary to be processed are combined to complete the construction of the boundary of the working area of the mower.
According to the construction method of the working area boundary of the mower provided by the embodiment, the first boundary to be processed of the working area of the mower is obtained, and the first boundary to be processed is expanded outwards by a preset distance to serve as a second boundary to be processed; controlling the mower to move along the second boundary to be processed, acquiring environmental information of the mower in the second boundary to be processed according to a sensor of the mower, and determining a non-working area boundary in the environmental information, wherein the non-working area refers to an area where the mower cannot perform mowing work; and controlling the mower to move along the boundary of the non-working area according to the boundary of the non-working area to obtain a third boundary to be processed so as to avoid the non-working area, and constructing the boundary of the working area of the mower according to the second boundary to be processed and the third boundary to be processed. And obtaining a second boundary to be processed by expanding the first boundary to be processed, and then rejecting a non-working area in the second boundary to be processed through a sensor of the mower. The final working area boundary is constructed, so that the constructed working area boundary is more accurate and convenient, and the working area boundary constructed by the method does not need to be provided with a lead, is convenient to operate and has lower cost.
Fig. 3 is a block diagram of a construction device for a boundary of a working area of a lawn mower according to an exemplary embodiment of the present disclosure.
The construction apparatus 300 of the lawn mower work area boundary of the present embodiment may be loaded into a lawn mower, wherein the lawn mower may be adapted to perform the construction task of the lawn mower work area boundary. Therefore, the delay of information acquisition is reduced, the information of the working area boundary can be acquired in real time/dynamically, the error of the established working area boundary is further reduced, and the mowing precision is improved.
As shown in the drawings, the construction apparatus 300 for the boundary of the working area of the lawn mower of the present embodiment mainly includes: the system comprises an acquisition module 301, a detection module 302 and a mapping module 303, wherein the acquisition module 301 is used for acquiring a first boundary to be processed of a working area of the mower, and the first boundary to be processed is expanded outwards by a preset distance to serve as a second boundary to be processed; the detection module 302 is configured to control the mower to move along the second boundary to be processed, acquire environmental information of the mower within the second boundary to be processed according to a sensor of the mower, and determine a non-working area boundary in the environmental information, where the non-working area refers to an area where the mower cannot perform mowing work; the mapping module 303 is configured to control the mower to move along the boundary of the non-working area according to the boundary of the non-working area to obtain a third boundary to be processed so as to avoid the non-working area, and construct the boundary of the working area of the mower according to the second boundary to be processed and the third boundary to be processed.
Optionally, the acquisition module 301 is further configured to control the mower to move along the edge of the working area according to a movement instruction set by the user, and acquire positioning information of the mower during the movement; the mapping module 303 is further configured to determine a first boundary to be processed according to the positioning information of the lawn mower.
In addition, the device 300 for constructing a boundary of a working area of a lawn mower according to the embodiment of the present application can also be used to implement other steps in the aforementioned method for constructing a boundary of a working area of a lawn mower, and has the beneficial effects of the corresponding method step embodiments, which are not described herein again.
The exemplary embodiments of this application also provide a non-transitory computer readable storage medium having stored thereon computer instructions for causing a computer to perform the methods of the embodiments of this application.
The exemplary embodiments of this application also provide a computer program product comprising a computer program, wherein the computer program is adapted to cause a computer to perform the methods of the embodiments of this application when executed by a processor of the computer.
The exemplary embodiments of this application also provide a lawn mower, including: one or more processors; and a memory storing a program; wherein the program comprises instructions which, when executed by a processor, cause the processor to perform the method of the embodiments of the present application.
It should be noted that, in the description of the present application, the terms "first" and "second" are used merely for convenience in describing different components or names, and are not to be construed as indicating or implying a sequential relationship, relative importance, or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.
It should be noted that, although the specific embodiments of the present application have been described in detail with reference to the accompanying drawings, the present application should not be construed as limited to the scope of the present application. Various modifications and changes may be made by those skilled in the art without inventive work within the scope of the appended claims.
The examples of the embodiments of the present application are intended to briefly explain the technical features of the embodiments of the present application, so that those skilled in the art can intuitively understand the technical features of the embodiments of the present application, and the embodiments of the present application are not unduly limited.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
Claims (10)
1. A method of constructing a lawn mower work area boundary, the method comprising:
acquiring a first boundary to be processed of a working area of the mower, and expanding the first boundary to be processed outwards by a preset distance to serve as a second boundary to be processed;
controlling the mower to move along the second boundary to be processed, acquiring environmental information of the mower in the second boundary to be processed according to a sensor of the mower, and determining a non-working area boundary in the environmental information, wherein the non-working area refers to an area where the mower cannot perform mowing work;
and controlling the mower to move along the boundary of the non-working area to obtain a third boundary to be processed according to the boundary of the non-working area so as to avoid the non-working area, and constructing the boundary of the working area of the mower according to the second boundary to be processed and the third boundary to be processed.
2. The method of claim 1, wherein the obtaining a first boundary to be processed of a working area of a lawnmower comprises:
controlling the mower to move along the edge of the working area according to a movement instruction set by a user, and acquiring positioning information of the mower in the moving process;
and determining the first boundary to be processed according to the positioning information of the mower.
3. The method of claim 1, wherein the sensor comprises a lawn detection sensor, and wherein determining the boundaries of the non-working area in the environmental information based on the sensor of the lawn mower obtaining the environmental information of the lawn mower within the second pending boundary comprises:
and acquiring environmental information of the mower in the second to-be-processed boundary according to the grassland detection sensor, and determining the boundary of a non-grassland area in the environmental information.
4. The method of claim 3, wherein the sensors further comprise a collision detection sensor, and wherein determining the boundaries of the non-working area in the environmental information based on the sensors of the lawn mower obtaining the environmental information of the lawn mower within the second pending boundary comprises:
and acquiring environmental information of the mower in the second boundary to be processed according to the collision detection sensor, and determining the boundary of an obstacle area in the environmental information.
5. The method of claim 3 or 4, wherein the sensor further comprises a depth detection sensor, and the determining the non-working area boundary in the environmental information based on the sensor of the lawn mower obtaining the environmental information of the lawn mower within the second boundary to be processed comprises:
according to the depth detection sensor, environmental information of the mower in the second boundary to be processed is obtained, and the boundary of the concave area which cannot be passed by the mower in the environmental information is determined.
6. The method of claim 2, further comprising:
and determining the preset distance according to an error value of the positioning information of the mower, wherein the error value refers to an error value between the positioning information and the actual position of the mower.
7. A mower work area boundary building apparatus comprising:
the system comprises an acquisition module, a processing module and a control module, wherein the acquisition module is used for acquiring a first boundary to be processed of a working area of the mower and expanding the first boundary to be processed outwards by a preset distance to be used as a second boundary to be processed;
the detection module is used for controlling the mower to move along the second boundary to be processed, acquiring environmental information of the mower within the second boundary to be processed according to a sensor of the mower, and determining a non-working area boundary in the environmental information, wherein the non-working area refers to an area where the mower cannot perform mowing work;
and the mapping module is used for controlling the mower to move along the boundary of the non-working area according to the boundary of the non-working area to obtain a third boundary to be processed so as to avoid the non-working area, and constructing the boundary of the working area of the mower according to the second boundary to be processed and the third boundary to be processed.
8. The device of claim 7, wherein the acquisition module is further configured to control the mower to move along the boundary of the working area according to a movement instruction set by a user, and acquire positioning information of the mower during movement;
the mapping module is further used for determining the first boundary to be processed according to the positioning information of the mower.
9. A non-transitory computer readable storage medium having stored thereon computer instructions for causing a computer to perform the method of any one of claims 1-6.
10. A lawn mower, comprising:
one or more processors; and
a memory storing a program;
wherein the program comprises instructions which, when executed by the processor, cause the processor to perform the method of any of claims 1-6.
Priority Applications (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210765062.6A CN115061471A (en) | 2022-06-30 | 2022-06-30 | Construction method and device for working area boundary of mower and mower |
| US18/320,345 US20240004392A1 (en) | 2022-06-30 | 2023-05-19 | Method for establishing boundary of working area of lawnmower, method for mowing and lawnmower |
| EP23174774.2A EP4309481A1 (en) | 2022-06-30 | 2023-05-23 | Method for establishing boundary of working area of lawnmower, lawnmower and computer readable storage medium |
| CA3200371A CA3200371A1 (en) | 2022-06-30 | 2023-05-24 | Method for establishing boundary of working area of lawnmower, method for mowing and lawnmower |
| AU2023203315A AU2023203315B2 (en) | 2022-06-30 | 2023-05-26 | Method for establishing boundary of working area of lawnmower, method for mowing and lawnmower |
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| CN202210765062.6A CN115061471A (en) | 2022-06-30 | 2022-06-30 | Construction method and device for working area boundary of mower and mower |
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| CN115061471A true CN115061471A (en) | 2022-09-16 |
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