阅读说明：本技术 自动割草机 (Automatic mower ) 是由 赵凤丽 查霞红 周晓青 谭一云 于 2019-08-27 设计创作，主要内容包括：本发明提供的一种自动割草机,在工作区域内移动和工作,其包括：机架；移动模块,所述移动模块设置于所述机架上,以带动所述自动割草机移动；伸缩机构,所述伸缩机构设置于所述机架上；切割模块,所述切割模块设置于所述伸缩机构上；控制模块；检测模块,其用于检测所述自动割草机无法覆盖的复杂区域；在所述切割模块工作过程中,若所述检测模块检测到所述复杂区域,所述控制模块控制所述移动模块和/或伸缩机构,以使所述切割模块向所述复杂区域边界移动。本申请实施方式提供了一种能减少角落留草的自动割草机。(The invention provides an automatic mower which moves and works in a working area, comprising: a frame; the moving module is arranged on the rack and used for driving the automatic mower to move; the telescopic mechanism is arranged on the rack; the cutting module is arranged on the telescopic mechanism; a control module; the detection module is used for detecting a complex area which cannot be covered by the automatic mower; in the working process of the cutting module, if the detection module detects the complex area, the control module controls the moving module and/or the telescopic mechanism to enable the cutting module to move towards the boundary of the complex area. The embodiment of the application provides an automatic mower capable of reducing grass staying at corners.)

1. An robotic lawnmower that moves and works within a work area, comprising:

a frame;

the moving module is arranged on the rack and used for driving the automatic mower to move;

the telescopic mechanism is arranged on the rack;

the cutting module is arranged on the telescopic mechanism;

a control module;

the detection module is used for detecting a complex area which cannot be covered by the automatic mower;

in the working process of the cutting module, if the detection module detects the complex area, the control module controls the moving module and/or the telescopic mechanism to enable the cutting module to move towards the boundary of the complex area.

2. The robotic lawnmower of claim 1, wherein: the cutting module comprises a grass mowing head, and the grass mowing head is provided with a grass mowing rope.

3. The robotic lawnmower of claim 1, wherein: if the detection module detects an area with a width smaller than a first preset width or an area with a height smaller than a first preset height, the detection module detects the complex area.

4. The robotic lawnmower of claim 1, wherein: if the detection module detects that the included angle of the steering angle of the boundary of the working area is smaller than a first preset angle, the detection module detects the complex area.

5. The robotic lawnmower of claim 1, wherein: the detection module comprises at least one of a map acquisition module, an inertial navigation module, a distance detection module and a collision detection module.

6. The robotic lawnmower of claim 1, wherein: the cutting module moves towards the complex area boundary, wherein the distance between the cutting module and the complex area boundary is smaller than or equal to a preset distance.

7. The robotic lawnmower of claim 6, wherein: the movement of the cutting module toward the complex region boundary includes the cutting module contacting the complex region boundary.

8. The robotic lawnmower of claim 1, wherein: one end of the telescopic mechanism is movably connected with the rack, and the other end of the telescopic mechanism is provided with the cutting module.

9. The robotic lawnmower of claim 8, wherein: the telescopic mechanism is a connecting arm extending lengthwise, and the connecting arm stretches along the lengthwise extending direction.

10. The robotic lawnmower of claim 1, wherein: the telescopic mechanism is an elastic element.

11. The robotic lawnmower of claim 10, wherein: the elastic element is provided with a limiting part used for limiting the cutting module.

Technical Field

The invention relates to an automatic mower.

Background

The automatic lawn mower can be used for mowing the lawn.

The intersection of two walls forms a corner. And the included angle between the two walls is the angle of the corner. While the corners have various angles. For example, as shown in fig. 1, the angle of the corner may be acute, obtuse, or right; lobes are also possible. Therefore, under the influence of the angle of the corner, when the automatic mower cuts the lawn growing at the corner, especially when the corner is a concave angle, more grass is left and the cutting is not thorough.

Therefore, there is a need for an automatic mower that overcomes the above-mentioned drawbacks.

Disclosure of Invention

In view of this, the embodiment of the application provides an automatic mower capable of reducing grass retention.

The above object of the present invention can be achieved by the following technical solutions: an robotic lawnmower that moves and works within a work area, comprising: a frame; the moving module is arranged on the rack and used for driving the automatic mower to move; the telescopic mechanism is arranged on the rack; the cutting module is arranged on the telescopic mechanism; a control module; the detection module is used for detecting a complex area which cannot be covered by the automatic mower; in the working process of the cutting module, if the detection module detects the complex area, the control module controls the moving module and/or the telescopic mechanism to enable the cutting module to move towards the boundary of the complex area.

As a preferred embodiment, the cutting module comprises a grass-mowing head provided with a grass-mowing cord.

As a preferred embodiment, if the detection module detects a region with a width smaller than a preset width or a region with a height smaller than a preset height, the detection module detects the complex region.

As a preferred embodiment, if the detection module detects that the included angle of the steering angle of the boundary of the working area is smaller than a preset angle, the detection module detects the complex area.

As a preferred embodiment, the detection module includes at least one of a map acquisition module, an inertial navigation module, a distance detection module, and a collision detection module.

As a preferred embodiment, the moving of the cutting module to the complex area boundary includes that a distance between the cutting module and the complex area boundary is less than or equal to a preset distance.

As a preferred embodiment, the movement of the cutting module towards the complex area boundary comprises the cutting module contacting the complex area boundary.

As a preferred embodiment, one end of the telescopic mechanism is movably connected with the frame, and the other end of the telescopic mechanism is provided with the cutting module.

In a preferred embodiment, the telescopic mechanism is a connecting arm extending lengthwise, and the connecting arm is telescopic in the lengthwise extending direction.

In a preferred embodiment, the telescopic mechanism is an elastic element.

As a preferred embodiment, a limiting member is disposed on the elastic element for limiting the cutting module.

The application provides an automatic mower's beneficial effect is: the automatic mower provided by the embodiment of the application is provided with the telescopic mechanism, the moving module, the cutting module, the detection module and the control module on the rack, so that in the working process of the cutting module, if the detection module detects a complex area, the control module controls the moving module and/or the telescopic mechanism to move the cutting module to the complex area boundary, and then the lawn on the complex area boundary is cut. According to the automatic mower, the cutting module can extend into the complex area through the telescopic mechanism and/or the moving module, and further lawns at the boundary of the complex area can be cut. Therefore, when the automatic mower is used for cutting the lawn on the boundary of the complex area, grass retention can be reduced, and cutting is more thorough. Therefore, the embodiment of the application provides the automatic mower capable of reducing grass retention.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without inventive efforts.

FIG. 1 is a schematic view of various corners in the prior art;

FIG. 2 is a top view of an automatic lawnmower according to an embodiment of the present invention;

FIG. 3 is a side view of an automatic lawnmower provided in accordance with embodiments of the present invention;

FIG. 4 is a schematic diagram illustrating the operation of a control method for an automatic lawn mower according to an embodiment of the present invention;

FIG. 5 is a schematic diagram illustrating the operation of a control method for an robotic lawnmower according to an embodiment of the present invention;

FIG. 6 is a schematic diagram illustrating the operation of a control method for an robotic lawnmower according to an embodiment of the present invention;

FIG. 7 is a schematic diagram illustrating the operation of a control method for an robotic lawnmower according to an embodiment of the present invention;

FIG. 8 is a schematic diagram illustrating the operation of a control method for an robotic lawnmower according to an embodiment of the present invention;

FIG. 9 is a schematic diagram illustrating the operation of a control method for an robotic lawnmower according to an embodiment of the present invention;

FIG. 10 is a schematic diagram illustrating the operation of another method for controlling an robotic lawnmower according to an embodiment of the invention;

FIG. 11 is a schematic view of the grass cutting rope in the control method of the robotic lawnmower according to the embodiment of the invention;

FIG. 12 is a schematic view of a mowing height of a control method of the robotic lawnmower according to an embodiment of the invention;

FIG. 13 is a flow chart of a method of controlling an robotic lawnmower according to an embodiment of the invention;

description of reference numerals:

11. a first wall; 13. a second wall; 14. a cutting module; 15. grass cutting head; 16. a moving module; 17. a telescoping mechanism; 19. a frame; 21. a first ranging sensor; 23. a second ranging sensor; 25. a corner; 31. a boundary line; 33. a first region; 35. a second region; 37. a camera; 39. a minimum height; 41. the height of the lawn; 43. automatic lawn mower.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the 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 invention.

Please refer to fig. 2 and fig. 3. An embodiment of the present application provides an automatic lawn mower, it includes: a frame 19; the moving module 16 is arranged on the rack 19 and is used for driving the automatic mower 43 to move; the telescopic mechanism 17 is arranged on the rack 19; the cutting module 14 is arranged on the telescopic mechanism 17; a control module; the detection module is used for detecting a complex area which cannot be covered by the automatic mower; in the working process of the cutting module 14, if the detection module detects the complex area, the control module controls the moving module 16 and/or the telescopic mechanism 17 to move the cutting module 14 to the boundary of the complex area.

The technical scheme shows that: according to the embodiment of the application, the automatic mower 43 is provided with the telescopic mechanism 17, the moving module 16, the cutting module 14, the detection module and the control module on the rack 19, so that in the working process of the cutting module 14, if the detection module detects a complex area, the control module controls the moving module 16 and/or the telescopic mechanism 17 to move the cutting module 14 to the boundary of the complex area, and further, the lawn on the boundary of the complex area is cut. The robotic lawnmower 43 according to the embodiment of the present application can first identify a complex area in the work area by the detection device; the cutting module 14 is then extended into the complex area by means of the telescopic mechanism 17 and/or the movement module 16, so that the lawn bordering the complex area can be cut. Therefore, the automatic mower 43 according to the embodiment of the present application can reduce grass retention and cut more thoroughly.

As shown in fig. 4 to 11, the robotic lawnmower 43 according to the embodiment of the application moves and works in the working area. The work area is an area that allows the robotic lawnmower 43 to move and work. In this embodiment, the complex area includes an area that cannot be covered by the robotic lawnmower 43, which is mainly an area that cannot be reached by the cutting module 14 when the robotic lawnmower 43 is in a normal moving state, and includes corners of a working area boundary, narrow passages with small width, and areas with low height. By the cooperation of the moving module 16 and the telescoping mechanism 17, the cutting module 14 can reach the boundary of the complex area to perform cutting.

Specifically, the complex area may be an area having a width smaller than a first preset width or an area having a height smaller than a first preset height. If at least two sides of the local area include obstacles or impassable boundaries, and the distance between the two sides is less than or equal to a first preset width, namely the width of the complex area is less than the width of the first area. If the local area includes an obstacle above, the height of the area is smaller than that of the first area, and the area is a complex area. For example, the area below the couch may be a complex area having a height less than the first preset height.

In one embodiment, the first predetermined width is the width of the robotic lawnmower 43 and the first predetermined height is the height of the robotic lawnmower 43. That is, the complicated area is an area where the robotic lawnmower 43 cannot pass.

Further, the complex area can also be formed by that the steering angle included angle of the boundary of the working area is smaller than a first preset angle. The first preset angle may be 180 °. Of course, the first preset angle is not limited to 180 °, but may be an angle smaller than 180 °, which is not specified in this application. That is, the included angle of the steering angle of the boundary of the working area is a concave angle. So that the lawn in the complicated area can be cleaned by moving the cutting module 14 towards the boundary of the complicated area when the automatic mower 43 moves in the simple area with the included angle of the steering angle being a concave angle.

As shown in fig. 2 and 3, in the present embodiment, the frame 19 has a flat structure as a whole. Of course, the frame 19 is not limited to a flat structure, and may have other shapes, such as a column shape, and the like. The frame 19 is intended to serve as a support carrier for the other components of the robotic lawnmower 43. For example, as shown in fig. 3, the frame 19 is provided with a cutting module 14 and a telescopic mechanism 17.

In the present embodiment, the moving module 16 is provided on the chassis 19. For example, as shown in fig. 3, the moving module 16 is disposed at a lower portion of the frame 19. The moving module 16 is used for moving the robotic lawnmower 43. So that the robotic lawnmower 43 can move within the work area. The moving module 16 may be a wheel rotatably disposed on the frame 19. Thereby enabling the frame 19 to move when the wheels are turned. Of course, the moving module 16 is not limited to be a wheel, and may have other structures, for example, the moving module 16 may be a slider disposed on the frame 19. The slide is slidable within the working area to enable the robotic lawnmower 43 to be moved within the working area.

In the present embodiment, the telescopic mechanism 17 is capable of extending and contracting. The expansion and contraction may be an elongation or a contraction. The cutting module 14 is disposed on the telescoping mechanism 17. So that the cutting module 14 on the telescoping mechanism 17 can be driven to move along the telescoping direction by the telescoping mechanism 17. Thereby enabling the cutting module 14 to move towards the boundary of the complex area.

In one embodiment, the telescoping mechanism 17 is a connecting arm that extends lengthwise. The connecting arm is rod-shaped as a whole. The length direction of the rod-shaped connecting arm is the lengthwise extending direction. Further, the connecting arm is able to telescope in the lengthwise extension direction. I.e. the connecting arm can be telescoped along its length. For example, the connecting arm includes an elongated cylinder and a piston disposed through the cylinder. The cylinder is connected to a hydraulic system. The hydraulic system is used for providing hydraulic pressure for the cylinder body. The piston is thus able to move in the direction of longitudinal extension under the effect of hydraulic pressure, so that the link arm can be extended and retracted in the direction of its longitudinal extension. Of course, the telescopic manner of the connecting arm is not limited to this, and other structures are also possible, for example, the connecting arm includes a plurality of tubes that are sleeved inside and outside. Adjacent pipe bodies can move relatively along the axial direction. Thereby enabling the connecting arm to be lengthened or shortened in the axial direction.

In another embodiment, the telescoping mechanism 17 is a resilient element. The resilient element may be a spring, for example. The spring can be extended or shortened so that the elastic element can be extended or contracted. Of course, the elastic element is not limited to a spring, and may be of other structures, such as rubber, and the like, and the application is not limited thereto.

In the present embodiment, the telescopic mechanism 17 is provided on the frame 19. So that the telescopic mechanism 17 can move with the frame 19 in the working area. Further, the telescopic mechanism 17 is disposed on the frame 19, the telescopic mechanism 17 may be rotatably disposed on the frame 19, or the telescopic mechanism 17 may be fixed to the frame 19. The rotatable arrangement may be, for example, articulated. The fixing mode can also be screw fixation, bolt fixation, welding, integral forming and the like.

When the telescopic mechanism 17 is rotatably disposed on the frame 19, the frame 19 may be first moved into a complex area by the moving module 16; the frame 19 is then stopped and the pantograph 17 is then rotated relative to the frame 19 to enable the pantograph 17 to move in a left-right direction over the boundaries of the complex area, thereby enabling the cutting module 14 on the pantograph 17 to clear the lawn over the boundaries of the complex area.

When the telescopic mechanism 17 is fixed on the frame 19, the frame 19 can be moved in the left-right direction in the complex area through the moving module 16, so that the telescopic mechanism 17 on the frame 19 can move along the frame 19 in the left-right direction on the boundary of the complex area, and the cutting module 14 on the telescopic mechanism 17 can clean the lawn on the boundary of the complex area.

In this embodiment, the cutting module 14 comprises a grass-mowing head 15. The grass cutting head 15 is rotatably arranged on the telescopic mechanism 17. So that on the one hand the grass-mowing head 15 can rotate relative to the telescopic mechanism 17; on the other hand, the grass cutting head 15 can move along the telescopic direction along with the telescopic mechanism 17, so that the grass cutting head 15 can move towards the boundary of the complex area, and the lawn on the boundary of the complex area can be cut. The rotatable arrangement may be a pivot arrangement, for example. Furthermore, a driving mechanism is arranged on the frame 19, and the driving mechanism is in transmission connection with the grass-mowing head 15, so that the rotation of the grass-mowing head 15 can be driven through the driving mechanism. The drive mechanism may be, for example, an electric motor. In other embodiments, the cutting module 14 includes a blade that cuts or cuts grass by rotating or reciprocating time, such as a rotary cutting blade or a pair of grass clippings.

In the present embodiment, the grass cutting head 15 is provided with a grass cutting string. So that the grass cutting head 15 can drive the grass cutting rope to rotate when rotating. So that the grass cutting rope can cut grass. In particular, the grass cord may be made of a flexible material. For example, the grass-mowing rope is made of nylon, cotton fabric, silk and the like, and the application is not specified.

Further, the grass cutting head 15 is rotatably disposed at an end of the telescopic mechanism 17 opposite to the frame 19. Thereby when telescopic machanism 17 extends towards the boundary of complicated zone, grass-mowing head 15 can be located telescopic machanism 17's outer end, so make things convenient for grass-mowing rope on grass-mowing head 15 to beat the grass on the complicated zone boundary lawn. Of course, the grass-mowing head 15 is not limited to be arranged at the end of the telescopic mechanism 17 opposite to the frame 19, and may be arranged at other positions of the telescopic mechanism 17, and this is not required in the present application.

Furthermore, the grass cutting rope is fixed on the grass cutting head. Thereby preventing the grass-mowing rope from being separated from the grass-mowing head 15 when the grass-mowing rope rotates. The fixing mode can be screw fixation, bolt fixation, welding fixation and the like. Further, the shape of the grass-mowing head 15 may be a spherical shape, a circular plate shape, a columnar shape, or the like, and the present application does not limit the shape. The grass-mowing head 15 has a center. One end of the grass cutting rope is fixed on the center of the grass cutting head 15. The other end of the grass beating rope is a free end. So that when the grass cutting cord is rotated, the free end can rotate around the center of the grass cutting head 15, thereby cutting the lawn around the grass cutting head 15.

In one embodiment, one end of the telescopic mechanism 17 is movably connected with the frame 19, and the other end of the telescopic mechanism 17 is rotatably provided with the grass cutting head 15. So that on the one hand the telescopic mechanism 17 can drive the grass-mowing head 15 to rotate relative to the frame 19, so that the grass-mowing head 15 can mow grass on the boundary of the complex area under the condition that the frame 19 stops rotating. On the other hand, the grass cutting head 15 is rotatably provided on the outer end of the telescopic mechanism 17. The contact of the grass-mowing head 15 with the boundary of the complex area is more convenient, so that the grass-mowing head 15 can be ensured to extend into the boundary of the complex area.

In this embodiment, the control module is configured to, during the operation of the cutting module 14, control the moving module 16 and/or the telescoping mechanism 17 to move the cutting module 14 to the boundary of the complex region if the detection module detects the complex region. Thereby allowing the cutting module 14 to extend into and touch the boundary of the complex area. Thereby enabling the lawn at the boundary of the complex area to be cut. Therefore, grass retention in a complex area is reduced, and cutting is more thorough.

Further, in the working process of the cutting module 14, if the detection module detects a complex area, the control module controls the moving module 16 and/or the telescopic mechanism 17 to move the cutting module 14 to the boundary of the complex area, that is, in the working process of the cutting module 14, if the detection module detects a complex area, the working mode of the cutting module 14 automatically enters the cutting mode of the complex area. That is, the operation modes of the cutting module 14 may include a complex area cutting mode and a simple area cutting mode. In the complex area cutting mode, the control module controls the moving module 16 and/or the telescoping mechanism 17 to move the cutting module 14 to the complex area boundary; thereby enabling the cutting module 14 to clean up lawns on the boundaries of complex areas. In the simple zone cutting mode, the cutting module 14 cleans the lawn within the simple zone. Thus, the cutting module 14 can be ensured to clean the lawn in the working area through the complex area cutting mode and the simple area cutting mode so as to reduce grass retention.

In one embodiment, the movement of the cutting module 14 toward the complex area boundary includes the cutting module 14 being at a distance from the complex area boundary that is less than or equal to a predetermined distance. The preset distance may be the length of the grass mowing cord. Of course, the preset distance is not limited to the length of the grass mowing rope, and the preset distance can be smaller than the length of the grass mowing rope, and the application is not specified. The distance between the cutting module 14 and the boundary of the complex area may be the distance between the center of the grass-mowing head 15 and the boundary of the complex area, for example, as shown in fig. 11, the distance between the center of the grass-mowing head 15 and the boundary of the complex area is the length of the grass-mowing rope. I.e. the cutting module 14 is at a distance from the boundary of the complex area of the length of the grass-mowing cord. So that one end of the grass mowing rope, which is back to the grass mowing head 15, can contact the boundary of the complex area, and further the lawn on the boundary of the complex area can be cleaned.

Further, moving the cutting block 14 toward the complex area boundary includes contacting the cutting block 14 with the complex area boundary. So that the cutting module 14 can clean up the lawn on the boundaries of the complex area. Specifically, when the distance between the cutting module 14 and the boundary of the complex area is less than or equal to the preset distance, the grass mowing rope is rotated to enable the grass mowing rope to contact the boundary of the complex area, so that the lawn on the boundary of the complex area can be cleaned.

In this embodiment, the detection module is used to detect a complex area that cannot be covered by the robotic lawnmower. Thereby allowing the robotic lawnmower 43 to identify the complex area as it moves and works within the work area, and further allowing the control module to control the movement module 16 and/or the telescoping mechanism 17 to move the cutting module 14 toward the boundary of the complex area. So can make this application through detection module the automatic mower 43 can get into complicated regional cutting mode automatically, and then clear up the lawn in the complicated region, so realized this application embodiment the intelligent and the complicated regional cutting mode of autonomy of automatic mower 43.

Further, the detection module comprises at least one of a map acquisition module, an inertial navigation module, a distance detection module and a collision detection module.

Specifically, the map acquisition module is used for acquiring a map of a complex area. Further, the map acquisition module may include a magnetic field sensor. Further, the magnetic field sensor is used for detecting the signal of the boundary line 31 of the complex area to acquire a map of the complex area. Specifically, when the robotic lawnmower 43 travels to a complex area, the map acquisition module detects a signal of the boundary line 31 of the complex area and controls the robotic lawnmower 43 to steer according to the signal of the boundary line 31, so as to obtain a steering angle included angle and a steering position of the complex area; and then a map of the complex area is obtained.

Further, the map acquisition module may include an encoder or a rotary potentiometer. When the moving module 16 of the automatic mower 43 performs differential steering, the steering and the rotating speed of the moving module 16 are detected through an encoder or a rotary potentiometer, and the position and the steering angle included angle of a complex area are identified; and then a map of the complex area is obtained.

Further, the map acquisition module may include an input device. The input device is used to input a map (e.g., in the form of a photograph or database) into the robotic lawnmower 43 so that the robotic lawnmower 43 can position itself and so that the robotic lawnmower 43 can determine whether it is in a complex area. The input device may be a keyboard, a scanner, a digital camera, etc., and is not specified in this application.

Further, the map acquisition module may include a lidar. The lidar is used to implement a new map, real-time positioning, and further enable the robotic lawnmower 43 to determine whether it is in a complex area.

In particular, inertial navigation modules utilize inertial elements, such as accelerometers. The acceleration of the robotic lawnmower 43 itself is measured, and the velocity and position are obtained through integration and calculation, thereby achieving the purpose of navigation and positioning of the robotic lawnmower 43 to identify complex areas.

Specifically, the distance detection module includes a first ranging sensor 21 for detecting a horizontal distance. The first ranging sensor 21 is used to detect the distance between the cutting module 14 and the boundary of the complex area. So that when the first ranging sensor 21 recognizes that there is an obstacle in both directions, the position of the complex area and the steering angle of the boundary of the complex area are recognized. Thereby identifying the complex region.

Specifically, the collision detection module includes a pressure sensor provided on the telescopic mechanism 17. The pressure sensor is used to detect the force applied between the cutting module 14 and the boundary of the complex area. Thus, when the force between the cutting module 14 and the boundary of the complex area is greater than 0, it can be interpreted that the complex area exists.

Further, when the telescopic mechanism 17 is rotatably disposed on the frame 19, for example, one end of the telescopic mechanism 17 is hinged to the frame 19.

Further, a limiting part for limiting the grass beating head 15 is arranged on the elastic element. So that when the elastic element is stretched, the limiting piece can limit the grass mowing head 15, and the distance between the grass mowing head 15 and the boundary of the complex area is approximately equal to the length of the grass mowing rope.

Please refer to fig. 13. The embodiment of the application provides a control method of an automatic mower, which comprises the following steps: step S11: the control mechanism controls the telescopic mechanism 17 to enable the grass cutting rope to be in contact with the boundary of the complex area; step S13: the control mechanism controls the grass cutting head so that the grass cutting head 15 drives the grass cutting rope to rotate for grass cutting.

The technical scheme shows that: in the control method of the automatic mower according to the embodiment of the present application, the control mechanism controls the telescopic mechanism 17 to make the grass mowing rope contact with the boundary of the complex area; then the grass cutting head 15 drives the grass cutting rope to rotate so as to cut grass. Thus, when the grass cutting head 15 is rotated to cut grass, the grass cutting rope can contact the boundary of the complex area. And then the grass rope can cut the lawn outside the boundary of the complex area. The grass cutting rope can extend into the complex area and touch the boundary of the complex area. The grass on the boundary of the complex area can be cut because the grass cutting rope touches the boundary of the complex area.

Fig. 4 to 9 are schematic operation diagrams illustrating a control method of an automatic mower according to an embodiment of the present disclosure. In the present embodiment, step S11: the control mechanism controls the telescopic mechanism 17 to enable the grass cutting rope to be in contact with the boundary of the complex area, and specifically comprises:

step S111: the control mechanism controls the extension mechanism 17 to extend so that the grass-mowing head 15 can be abutted against the boundary of the complex area. Specifically, the telescopic mechanism 17 is made to extend or contract to bring the grass cutting head 15 into contact with the boundary of the complicated area. And a predetermined force is applied between the grass-mowing head 15 and the boundary of the complex area. The predetermined force may be set according to actual use conditions, and is not specified in this application. For example, when the telescopic mechanism 17 comprises a cylinder extending lengthwise and a piston inserted in the cylinder. The cylinder is connected to a hydraulic system. The hydraulic system is used for providing hydraulic pressure for the cylinder body. Thereby this piston can move along the direction that the lengthwise extends under hydraulic pressure's effect to when making this linking arm can stretch out and draw back along its lengthwise direction of extending, through the degree of control hydraulic system switching, and then the hydraulic pressure in the control cylinder body, thereby can control the flexible length of piston.

Further, by the grass-mowing head 15 abutting against the boundary of the complex area, the position of the grass-mowing head 15 can be obtained. That is, the purpose of step S11 is: is taken in the position of the grass-mowing head 15.

Further, before the step S11, the control mechanism controls the telescopic mechanism 17 to make the grass mowing rope contact with the boundary of the complex area, the method further includes:

step S7: the complex region is identified by a detection module. I.e. to identify complex areas. Therefore, the included angle and the position of the steering angle of the complex area can be obtained by identifying the complex area. For example, as shown in fig. 4, the steering angle of the complex region is 90 degrees and the position of the complex region can be known by identifying the steering angle. So that the robotic lawnmower 43 can be positioned within the complex area by knowing the steering angle and position of the complex area.

Further, the detection module identifies the complex area by the following methods:

first, the boundary line 31 signal is detected by the map acquisition module. Specifically, when the robotic lawnmower 43 travels to a complex area, the robotic lawnmower 43 is controlled to turn in a manner that the map acquisition module detects the boundary line 31 signal, and the robotic lawnmower 43 is made to know the turning angle and position of the complex area.

Secondly, when the moving module 16 of the automatic mower 43 performs differential steering through the map acquisition module, the steering and the rotating speed of the moving module 16 are detected through an encoder or a rotating potentiometer, and the position and the steering angle included angle of the complex area are identified; and then a map of the complex area is obtained.

Thirdly, when an obstacle is recognized in two directions by the first distance measuring sensors 21 arranged around the robotic lawnmower 43, i.e., a steering angle and a position of a complicated area are recognized.

Fourth, a map (e.g., in the form of a photograph or a database) is input into the robotic lawnmower 43 via the map acquisition module, so that the robotic lawnmower 43 can locate itself, and the robotic lawnmower 43 can determine whether it is in a complex area.

Fifth, a new map is created by laser radar, and real-time positioning is performed, so that the robotic lawnmower 43 can confirm whether it is in a complicated area.

Sixth, inertial elements, such as accelerometers, are utilized by the inertial navigation module. The acceleration of the robotic lawnmower 43 itself is measured, and the velocity and position are obtained through integration and calculation, thereby achieving the purpose of navigation and positioning of the robotic lawnmower 43 to identify complex areas.

Seventh, the force between the cutting module 14 and the boundary of the complex area is detected by the collision detecting module. Thus, when the force between the cutting module 14 and the boundary of the complex area is greater than 0, it can be interpreted that the complex area exists.

Further, before the step S11, the control mechanism controls the telescopic mechanism 17 to make the grass mowing rope contact with the boundary of the complex area, the method further includes:

step S9: the robotic lawnmower 43 is moved into the complex area by the movement module 16. Even if the robotic lawnmower 43 is placed in a complex area. Further, the complex area is, for example, a corner 25 surrounded by two walls. Further, the two walls are two walls formed by obstacles forming a complex area. For example, as shown in fig. 4, the two walls are a first wall 11 and a second wall 13. Further, as shown in fig. 4, the robotic lawnmower 43 is moved to the center line of the corner 25. Specifically, the angle of the corner 25 in fig. 4 is 90 degrees. The robotic lawnmower 43 is positioned on a 45 degree slope at the corner 25. Of course, the robotic lawnmower 43 is not limited to being positioned on the centerline of the corner 25, and may be positioned at other locations within the corner 25, and the present application is not limited thereto.

Further, the root of the lawn is located in the ground. The lawn grows upwards from the ground. The intersection between the first wall 11 and the second wall 13 at the corner 25 is in the up-down direction. I.e. in a direction perpendicular to the plane of the paper as shown in fig. 4. The left-right direction is perpendicular to the up-down direction. I.e., the lateral and longitudinal directions as shown in fig. 4.

In one embodiment, before the step S9 enters the robotic lawnmower 43 into the complex area through the moving module 16, the method further includes: the control mechanism controls the grass-mowing head 15 to move the grass-mowing head 15 up and down so that the height of the center of the grass-mowing head 15 is within a predetermined height range. The predetermined height range may be a range below the height 41 of the lawn. That is, the grass cutting head 15 is moved up and down, so that the grass cutting rope can be lower than the height 41 of the lawn, and the lawn can be cut. Further, the predetermined height range has a minimum height 39.

Specifically, the real-time height between the grass-mowing head 15 and the ground is measured by the second distance measuring sensor 23 in the process of moving the grass-mowing head 15 in the up-down direction. And the lawn is detected by the camera 35 in the process of moving the grass cutting head 15 in the up-down direction. So that the grass cutting head 15 cannot be raised any more when the camera 35 cannot detect the lawn. And the height 41 of the lawn is the real-time height between the grass cutting head 15 and the ground at the moment.

Further, the predetermined height range is divided into a plurality of sections arranged in the up-down direction, wherein each section is used for grass mowing by the grass mowing head 15. That is, a plurality of height gears are set within a predetermined height range, so that the grass-mowing head 15 can grass at each gear.

In one embodiment, after the control means controls the extension and contraction means 17 to extend so that the grass cutting head 15 can abut against the boundary of the complicated area in step S111, the control means controls the extension and contraction means 17 to shorten the extension and contraction means 17 in step S113; so that the grass-mowing head 15 can move away from the boundary of the complex area until the grass-mowing rope can contact with the boundary of the complex area, the method further comprises the following steps:

step S112: the control mechanism controls the telescopic mechanism to enable the telescopic mechanism 17 to rotate so that the grass cutting head 15 can move in the left-right direction on the boundary of the complicated area; and the telescopic mechanism 17 is made to be telescopic in the moving process of the grass-mowing head 15 so that the grass-mowing head 15 can be abutted against the boundary of the complex area. Since the lawn grows upward from the ground and the intersection line between the first wall 11 and the second wall 13 of the corner 25 is in the up-down direction, the grass cutting head 15 can simulate cutting the lawn in the left-right direction (i.e., horizontal direction) when moving in the left-right direction on the boundary of the complicated area.

Further, by moving the grass-mowing head 15 in the left-right direction on the boundary of the complex area, the first trajectory of the grass-mowing head 15 in the process of simulating the grass-mowing rope to cut the lawn can be acquired. That is, the purpose of step S122 is to: a first trajectory of the grass-mowing head 15 is acquired.

The telescopic mechanism 17 is telescopic in the moving process of the grass mowing head 15 so that the grass mowing head 15 can be abutted to the boundary of the complex area, the grass mowing head 15 and the boundary of the complex area are the same in distance in the process of simulating the grass mowing rope to cut the lawn in the left-right direction (namely the horizontal direction), and therefore the grass mowing rope and the grass mowing head 15 are guaranteed to be the same in tightness degree.

Further, the control mechanism controls the telescopic mechanism to rotate the telescopic mechanism 17 so that the grass-mowing head 15 can move in the left-right direction on the boundary of the complicated area in step S112; and the telescopic mechanism 17 is made to be telescopic in the moving process of the grass mowing head 15 so that the grass mowing head 15 can be abutted against the boundary of the complex area, and the method specifically comprises the following steps:

step S1121: the control mechanism controls the telescoping mechanism to rotate the telescoping mechanism 17 in a first direction to enable the grass-mowing head 15 to move on a wall away from the top corner of the corner 25; and the telescopic mechanism 17 is made to be telescopic so as to enable the grass-mowing head 15 to be capable of abutting against the boundary of the complex area when moving. So that the movement of the grass-mowing head 15 over a wall simulates the grass-mowing process of the grass-mowing head 15 on a wall facing away from the top corner. The top angle of the corner 25 is the intersection of the first wall 11 and the second wall 13 of the corner 25.

Further, in one embodiment, in step S1121, one end of the telescopic mechanism 17 is hinged to the frame 19, and the other end of the telescopic mechanism 17 is rotatably provided with the grass cutting head 15. So that by rotating the telescopic mechanism 17 in the first direction relative to the frame 19, the grass cutting head 15 can be moved in the first direction on the boundary of the complicated area to cut grass, with the frame 19 stopped rotating.

Specifically, as shown in fig. 5, the telescopic mechanism 17 is rotated in the counterclockwise direction to move the grass-mowing head 15 on the first wall 11 away from the second wall 13, i.e., to the left, thereby simulating rope grass mowing in the first area 33.

Further, when the grass-mowing head 15 is moved on one wall away from the top corner of the corner 25, as shown in fig. 5 for example, when the grass-mowing head 15 is moved on the first wall 11 away from the second wall 13, the telescopic mechanism 17 is caused to retract in the direction of extension thereof, so that the telescopic grass-mowing head 15 can abut against the boundary of the complex area during the movement of the grass-mowing head 15. Thereby ensuring that the force between the grass-mowing head 15 and the boundary of the complex area remains constant during the movement of the grass-mowing head 15 on a wall away from the top corner of the corner 25.

Further, as shown in fig. 5, when the telescopic mechanism 17 is rotated in the counterclockwise direction, the acting force between the grass cutting head 15 and the first wall 11 is detected by the pressure sensor, and the grass cutting head 15 is made to abut against the first wall 11 by adjusting the length of the telescopic mechanism 17 so that the acting force is equal to a predetermined value.

Further, the telescopic mechanism 17 is rotated in the first direction in step S1121 to enable the grass-mowing head 15 to move on a wall away from the top corner of the corner 25; the retractable mechanism 17 is retracted to make the grass-mowing head 15 abut against the top corner of the corner 25 before the grass-mowing head 15 moves to abut against the boundary of the complex area. Even if the head 15 abuts the intersection of the two walls at the corner 25. For example, as shown in fig. 5, the grass cutting head 15 abuts against the point a. That is, before step S1121, the telescopic mechanism 17 is extended or shortened so that the grass-mowing head 15 can abut against the top corner of the corner 25.

In one embodiment, the telescopic mechanism 17 is elongated in the direction of extension of the center line of the corner 25 so that the grass-mowing head 15 abuts against point a.

Further, when the grass-mowing head 15 abuts against the top corner of the corner 25, the acting force between the grass-mowing head 15 and the top corner is detected through the pressure sensor, and the stretching length of the stretching mechanism 17 is controlled so that the acting force is equal to the preset acting force.

Further, the control mechanism controls the telescopic mechanism to rotate the telescopic mechanism 17 so that the grass-mowing head 15 can move in the left-right direction on the boundary of the complicated area in step S112; and in the moving process of the grass cutting head 15, the telescopic mechanism 17 is made to stretch and contract so that the grass cutting head 15 can be abutted against the boundary of the complex area, and the method specifically comprises the following steps:

step S1123: the control mechanism controls the telescopic mechanism to rotate the telescopic mechanism 17 along the direction opposite to the first direction until the telescopic mechanism 17 is opposite to the top angle of the corner 25; and extends the telescopic mechanism 17 to make the grass-mowing head 15 abut against the top corner of the corner 25. That is, after the telescopic mechanism 17 is rotated by a first predetermined angle in the first direction, the telescopic mechanism 17 is rotated in a direction opposite to the first direction. And when the telescopic mechanism 17 is rotated by a first predetermined angle in a direction opposite to the first direction, the telescopic mechanism 17 is extended to make the grass-mowing head 15 abut against the top corner of the corner 25.

Specifically, as shown in fig. 6, after the telescopic mechanism 17 is rotated by a first predetermined angle in the counterclockwise direction, the telescopic mechanism 17 is rotated in the clockwise direction. As shown in fig. 7 and 8, when the retractable mechanism 17 rotates clockwise by a first predetermined angle, the retractable mechanism 17 is extended to make the grass-mowing head 15 abut against the point a, that is, the retractable mechanism 17 returns to the initial position point a after simulating the grass-mowing rope to grass in the first area 33.

Preferably, when the telescoping mechanism 17 is rotated by a first predetermined angle in a first direction, the telescoping mechanism 17 extends in a direction perpendicular to one wall of the corner 25. That is, as shown in fig. 5, after the telescopic mechanism 17 is rotated counterclockwise by m °, the extending direction of the telescopic mechanism 17 is perpendicular to one wall of the corner 25.

Further, the control mechanism controls the telescopic mechanism to rotate the telescopic mechanism 17 so that the grass-mowing head 15 can move in the left-right direction on the boundary of the complicated area in step S112; and in the moving process of the grass cutting head 15, the telescopic mechanism 17 is made to stretch and contract so that the grass cutting head 15 can be abutted against the boundary of the complex area, and the method specifically comprises the following steps:

step S1125: the control mechanism controls the telescoping mechanism to rotate the telescoping mechanism 17 in a direction opposite to the first direction to enable the grass-mowing head 15 to move on the other wall away from the top corner of the corner 25; and the telescopic mechanism 17 is extended and contracted so that the grass-mowing head 15 can be abutted against the boundary of the complex area when moving. I.e. when the grass-mowing head 15 abuts against the top corner of the corner 25, the telescopic mechanism 17 is rotated in a direction opposite to the first direction, so that the grass-mowing head 15 can move away from one wall on the other wall. And the telescopic mechanism 17 is extended and contracted so that the grass-mowing head 15 can be abutted against the boundary of the complex area when moving.

Specifically, as shown in fig. 8, the telescoping mechanism 17 is rotated in a clockwise direction to move the grass cutting head 15 on the second wall 13 away from the first wall 11 to simulate rope cutting in the second area 35.

Further, when the grass-mowing head 15 is moved on the other wall away from the top corner of the corner 25, as shown in fig. 5 for example, when the grass-mowing head 15 is moved on the second wall 13 away from the first wall 11, the telescopic mechanism 17 is caused to retract in the direction of extension thereof, so that the telescopic grass-mowing head 15 can abut against the boundary of the complex area during the movement of the grass-mowing head 15. Thereby ensuring that the force between the grass-mowing head 15 and the boundary of the complex area remains constant during the movement of the grass-mowing head 15 on the other wall away from the top corner of the corner 25.

Further, as shown in fig. 8, when the telescopic mechanism 17 is rotated in the clockwise direction, the acting force between the grass cutting head 15 and the second wall 13 is detected by the pressure sensor, and the grass cutting head 15 is made to abut against the second wall 13 by adjusting the length of the telescopic mechanism 17 so that the acting force is equal to a predetermined value.

In one embodiment, after step S1125, the method further includes: after the telescopic mechanism 17 has been rotated by a second predetermined angle in a direction opposite to the first direction, the control mechanism controls the telescopic mechanism to rotate the telescopic mechanism 17 in the first direction to move the grass-mowing head 15 on the other side wall towards the one side wall, wherein the second predetermined angle is at right angles to the sum of the first predetermined angles.

Specifically, as shown in fig. 9, after the step S1125, the method further includes: the control mechanism controls the telescopic mechanism to rotate the telescopic mechanism 17 in a counter-clockwise direction to move the grass-mowing head 15 on the second wall 13 towards the first wall 11, so that the telescopic mechanism 17 returns to the initial position (the telescopic mechanism 17 returns to a position in line with the centerline of the corner 25).

Further, after the control means controls the telescoping means to rotate the telescoping means 17 so that the grass-mowing head 15 can move in the left-right direction on the boundary of the complicated area in step S112, the method further includes:

the control mechanism acquires a first track of the movement of the grass cutting head 15; and calculating a second track according to the first track and the length of the grass mowing rope, wherein the distance from any point on the second track to the boundary of the complex area is equal to the length of the grass mowing rope. The first trajectory is the position of the grass-mowing head 15 recorded during the cutting of the lawn by the simulated grass-mowing cord. Further, the first trajectory may be the position of the center of the recorded grass-mowing head 15. And the second track is the position of the center of the grass-mowing head 15 during grass mowing. Of course, the first track is not limited to the position of the center of the grass-mowing head 15, and may be the position of the other part of the grass-mowing head 15, such as a certain point on the sidewall, which is not specified in the present application. The second trajectory is the position of the grass-mowing head 15 during grass mowing so that the grass-mowing rope can contact the boundary of the complex area during grass mowing. Because the distance between any point on the second orbit and the boundary of the complex area is equal to the length of the grass mowing rope, when the grass mowing head 15 is positioned on the second orbit, the distance between the grass mowing head 15 and the boundary of the complex area is the length of the grass mowing rope, so that when the grass mowing rope rotates, on one hand, lawns in the area where the grass mowing rope rotates can be cut by the grass mowing rope, on the other hand, the grass mowing rope can be in contact with the boundary of the complex area when grass is mowed, and the lawns positioned outside the wall of the corner 25 are positioned in the rotating range of the grass mowing rope, so that the lawns can be cut.

Specifically, as shown in fig. 5 and 8, the first trajectory includes a first trajectory of the center of the grass-mowing head 15 generated after the grass-mowing head 15 moves away from the second wall 13 on the first wall 11 by rotating the telescopic mechanism 17 in the counterclockwise direction and a second trajectory of the center of the grass-mowing head 15 generated after the grass-mowing head 15 moves away from the first wall 11 on the second wall 13 by rotating the telescopic mechanism 17 in the clockwise direction.

Further, the second track comprises a third track section and a fourth track section, wherein each point on the third track section is calculated from each point on the first track section; each point on the fourth segment of the trajectory is calculated from each point on the second segment of the trajectory.

Specifically, as shown in fig. 11, a hinge point of the telescopic mechanism 17 and the frame 19 is taken as a coordinate origin O, a rightward direction is taken as an X-axis, and an upward direction is taken as a Y-axis. The first track is (X)_i，Y_i) (ii) a The second track is (X)_i-R，Y_j-R)；

Wherein, X_iThe abscissa of the center of the grass-mowing head 15 at the ith moment;

Y_iis the ordinate of the center of the grass-mowing head 15 at the ith moment;

r is the length of the grass beating rope;

i is 1, 2, … n.

That is, the abscissa and the ordinate of each point on the third segment of track are obtained by subtracting the length of the mowing cord from the abscissa of a certain point on the first segment of track and subtracting the length of the mowing cord from the ordinate of the certain point.

The abscissa and the ordinate of each point on the fourth section of track are respectively obtained by subtracting the length of the grass mowing rope from the abscissa of a certain point on the second section of track and subtracting the length of the grass mowing rope from the ordinate of the certain point.

In one embodiment, step S11: the control mechanism controls the telescopic mechanism 17 to enable the grass cutting rope to be in contact with the boundary of the complex area, and specifically comprises:

step S113: the control mechanism controls the telescopic mechanism 17 to shorten the telescopic mechanism 17; so that the grass-mowing head 15 can be moved away from the boundary of the complex area until the grass-mowing cord can come into contact with the boundary of the complex area.

In one embodiment, the step S113 control means controls the telescopic mechanism 17 to shorten the telescopic mechanism 17; so that the grass-mowing head 15 can move away from the boundary of the complex area until the grass-mowing rope can contact with the boundary of the complex area; the method specifically comprises the following steps:

the control mechanism controls the telescopic mechanism 17 to shorten the telescopic mechanism 17; so that the grass-mowing head 15 can be positioned on the second trajectory.

After the grass-mowing head 15 is made to abut against the boundary of the complex area, the telescopic mechanism 17 is shortened so that the grass-mowing head 15 can move away from the boundary of the complex area until the grass-mowing head 15 is located on the second track. Because the distance between any point on the second orbit and the boundary of the complex area is equal to the length of the grass mowing rope, when the grass mowing head 15 is positioned on the second orbit, the distance between the grass mowing head 15 and the boundary of the complex area is the length of the grass mowing rope, so that when the grass mowing rope rotates, on one hand, lawns in the area where the grass mowing rope rotates can be cut by the grass mowing rope, on the other hand, the grass mowing rope can be in contact with the boundary of the complex area when grass is mowed, and the lawns positioned outside the wall of the corner 25 are positioned in the rotating range of the grass mowing rope, so that the lawns can be cut.

Specifically, the telescopic length of the telescopic mechanism 17 is first controlled so that the center of the grass-mowing head 15 is located on the side of the second trajectory close to the top corner of the corner 25. Specifically, the center of the grass-mowing head 15 is located at the intersection of the center line of the corner 25 and the second trajectory. The telescopic mechanism 17 is then rotated in a counter-clockwise direction to enable the centre of the grass-mowing head 15 to move along the third segment of the trajectory. After the telescopic mechanism 17 is rotated by a first predetermined angle in the counterclockwise direction, the telescopic mechanism 17 is rotated in the clockwise direction. After the telescopic mechanism 17 rotates by a first predetermined angle in the clockwise direction, the telescopic mechanism 17 continues to rotate in the clockwise direction, so that the center of the grass-mowing head 15 can move along the fourth section of track.

As shown in fig. 4 to 9, in the present embodiment, step S13: the control mechanism controls the grass cutting head so that the grass cutting head 15 drives the grass cutting rope to rotate for grass cutting.

Specifically, when the telescopic mechanism 17 is rotated in the counterclockwise direction, the grass cutting head 15 is rotated so that the grass cutting string can move on the first wall 11 away from the second wall 13 to cut grass. When the telescoping mechanism 17 rotates by a first predetermined angle in the counterclockwise direction, the telescoping mechanism 17 rotates in the clockwise direction; in this one process, the mowing cord does not rotate, i.e. the mowing cord does not grass during this one process.

After the telescopic mechanism 17 has rotated the first predetermined angle in the clockwise direction, continue to rotate the telescopic mechanism 17 and rotate the grass mowing cord in the clockwise direction, so that the grass mowing cord can move away from the first wall 11 on the second wall 13 to grass.

Further, in the embodiment that the telescopic mechanism 17 is an elastic element, a limiting member is disposed on the elastic element, and the limiting member is used for limiting the grass-mowing head 15, so that in step S113, the distance between the center of the grass-mowing head 15 and the corresponding wall is equal to the length of the grass-mowing rope, and the center of the grass-mowing head 15 can be located on the second track.

FIG. 10 is a schematic diagram illustrating the operation of another method for controlling an automatic lawn mower according to an embodiment of the present disclosure. In the present embodiment, the step S11 includes the step S11 of controlling the telescopic mechanism 17 so that the grass mowing cord can contact the boundary of the complicated area, specifically including:

step S121: the detection module acquires the distance between the grass-mowing head 15 and the boundary of the complex area.

Step S123: the control module controls the telescopic length of the telescopic mechanism 17 so that the distance can be equal to the length of the grass mowing rope.

In the present embodiment, step S121: the detection module acquires the distance between the grass-mowing head 15 and the boundary of the complex area. Specifically, the first distance measuring sensor 21 is disposed on the frame 19. The first distance measuring sensor 21 is therefore able to measure the distance between the grass-mowing head 15 and the boundary of the complex area.

Further, before the step S121 of obtaining the distance between the grass cutting head 15 and the boundary of the complex area by the detection module, the method further includes:

step S1221: the robotic lawnmower 43 is rotated from one side of the corner 25 toward the other side of the corner 25. Specifically, the automatic mower 43 is turned from the left side of the corner 25 toward the right side of the corner 25 by the moving module 16, for example, as shown in fig. 10. So that the robotic lawnmower 43 can be moved into the corner 25 by rotating the robotic lawnmower 43 from one side of the corner 25 toward the other side of the corner 25.

Further, before rotating the robotic lawnmower 43 from one side of the corner 25 toward the other side of the corner 25 in step S1221, the method further includes:

the detection module identifies the corner 25. Specifically, the robotic lawnmower 43 is moved, and whether there is an obstacle around the robotic lawnmower 43 is detected by the first distance measuring sensor 21; when the first distance measuring sensor 21 detects an obstacle by recognizing the corner 25, it indicates that the corner 25 exists around the robotic lawnmower 43.

Further, before the step S121 of obtaining the distance between the grass cutting head 15 and the boundary of the complex area by the detection module, the method further includes:

step S1223: the control mechanism causes the telescopic mechanism 17 to be telescopic so that the grass-mowing head 15 can be extended towards the boundary of the complex area.

Specifically, the control mechanism extends the retracting mechanism 17 toward the boundary of the complicated area to enable the grass-mowing head 15 to extend toward the boundary of the complicated area.

In the present embodiment, step S123: the control mechanism controls the telescopic length of the telescopic mechanism 17 so that the distance can be equal to the length of the grass mowing rope.

Specifically, when the acquired distance is smaller than the length of the grass mowing cord, the retracting mechanism 17 is retracted away from the boundary of the complicated area to make the distance larger until the length is equal to the length of the grass mowing cord. When the acquired distance is longer than the length of the grass mowing rope, the telescopic mechanism 17 is extended toward the boundary of the complex area to reduce the distance to be equal to the length of the grass mowing rope.

As shown in fig. 10, in the present embodiment, step S13: the control mechanism controls the grass cutting head so that the grass cutting head 15 drives the grass cutting rope to rotate for grass cutting.

Specifically, during the rotation of the robotic lawnmower 43 from one side of the corner 25 toward the other side of the corner 25, for example, as shown in fig. 10, during the rotation of the robotic lawnmower 43 from the left side of the corner 25 toward the right side of the corner 25, when the distance is equal to the length of the mowing cord, the mowing head 15 is rotated and the mowing cord is rotated to mow grass. That is, the mowing cord is caused to cut the lawn in the corner 25 during rotation of the robotic lawnmower 43 from one side of the corner 25 toward the other side of the corner 25. When the grass mowing rope cuts the lawn, the distance is equal to the length of the grass mowing rope, so that the grass mowing rope can contact the boundary of a complex area, the grass mowing rope can grass more thoroughly, and grass is less remained.

As shown in fig. 12, in one embodiment, before rotating the robotic lawnmower 43 from one side of the corner 25 to the other side of the corner 25 in step S1221, the method further includes: : the control mechanism controls the grass-mowing head 15 to move the grass-mowing head 15 up and down so that the height of the center of the grass-mowing head 15 is within a predetermined height range. The predetermined height range may be a range below the height of the lawn. That is, the grass mowing head 15 is moved up and down, so that the grass mowing rope can be lower than the lawn, and grass can be mowed on the lawn.

Specifically, as shown in fig. 12, during the movement of the grass-mowing head 15 in the up-down direction, the real-time height between the grass-mowing head 15 and the ground is measured by the second distance measuring sensor 23. And the lawn is detected by the camera 37 in the process of moving the grass cutting head 15 in the up-down direction. So that the grass cutting head 15 cannot be raised any more when the camera 37 cannot detect the lawn. And the height of the lawn is the real-time height between the grass cutting head 15 and the ground at the moment.

Further, the predetermined height range includes a plurality of sections arranged in the up-down direction, and the grass cutting head 15 can cut grass in each of the sections. That is, a plurality of height gears are set within a predetermined height range, so that the grass-mowing head 15 can grass at each gear.

It should be noted that, in the description of the present invention, the terms "first", "second", and the like are used for descriptive purposes only and for distinguishing similar objects, and no precedence between the two is considered as indicating or implying relative importance. In addition, in the description of the present invention, "a plurality" means two or more unless otherwise specified.

The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.