Path planning method, system and equipment of automatic mower, and automatic mower

Abstract

The invention discloses a path planning method, system and equipment of an automatic mower, and the automatic mower. The method comprises the steps that the automatic mower exits from a charging station; the automatic mower finds a boundary line; and the automatic mower walks along with the boundary line until the automatic mower walks to a target location,\. The step that the automatic mower walks along with the boundary line until the automatic mower walks to the target location comprises the following steps: the automatic mower walks across the boundary line until a straight line boundary area of the boundary line is found; the automatic mower retreats by a first random retreating distance, and the first random retreating distance is smaller than or equal to the length of the straight line boundary area; and the automatic mower walks to the target location along with the boundary line. Ruts generated when the automatic lawn mower leaves the station along the fixed path can be avoided, and damage to lawns or vegetation is reduced.

Description

technical field [0001] The invention relates to the technical field of automatic lawn mowers, in particular to a path planning method, system and equipment for automatic lawn mowers and the automatic lawn mower. Background technique [0002] An automatic lawn mower is a garden tool for mowing lawns, vegetation, etc., and generally includes a self-propelled mechanism, a cutter mechanism, and a power source, which can be a gasoline engine, a battery pack, and the like. Battery-driven automatic lawn mowers are widely loved by users because of their low noise and zero pollution. However, due to the constraints of battery energy density, battery production cost and other factors, the power of the battery pack carried by the automatic lawn mower is very limited, resulting in a small operating area of ​​the automatic lawn mower. When the lawn area is large, the automatic lawn mower needs to return to the charging station for charging after working for a certain period of time. Aft...

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Problems solved by technology

[0004] In view of the above-mentioned shortcomings of the prior art, the purpose of the present invention is to provide a path planning method, system, equipment and automatic lawn mower for automatic lawn mowers, which are used to solve the problem of automatic lawn mowers from charging stations in the prior art. When leaving and returning to work in the mowing area, it is easy to produce ruts and the technical problem of mowing too much on the same path

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