Patent Publication Number: US-2022217902-A1

Title: Self-moving mowing system, self-moving mower and outdoor self-moving device

Description:
RELATED APPLICATION INFORMATION 
     This application is a continuation of International Application Number PCT/CN2020/121378, filed on Oct. 16, 2020, through which this application also claims the benefit under 35 U.S.C. § 119(a) of Chinese Patent Application No. 201910992552.8, filed on Oct. 18, 2019, and Chinese Patent Application No. 201911409433.1, filed on Dec. 31, 2019, all of which are incorporated herein by reference in their entirety. 
    
    
     BACKGROUND 
     A self-moving mowing system, as an outdoor mowing tool, does not require the user to operate for a long time, and thus is favored by the user due to its intelligence and convenience. In the mowing process of the traditional self-moving mowing system, the mowing area often has obstacles, such as trees and stones. The obstacles not only affect the moving track of the self-moving mowing system, but also easily damage the self-moving mowing system when colliding with the system many times. Moreover, the traditional self-moving mowing system cannot detect an area that the user does not want to mow within the mowing area, such as an area in which flowers and plants are planted, so that the area that the user does not expect to mow may be mowed mistakenly, which cannot meet the mowing needs of the user. Other common outdoor moving devices, such as a snowplow, also have the above problems. 
     SUMMARY 
     An example of the present application provides a self-moving mowing system. The system includes an actuating mechanism, including a mowing assembly configured to achieve a mowing function and a moving assembly configured to achieve a moving function; a housing configured to support the actuating mechanism; an image acquisition module capable of acquiring a real-time image comprising at least part of a mowing area and at least one obstacle located within the mowing area; a display module electrically or communicatively connected to the image acquisition module, where the display module is configured to display the real-time image or a simulated scene image generated according to the real-time image; a boundary generation module configured to generate a first virtual boundary corresponding to a mowing boundary in the real-time image by calculating characteristic parameters so as to form the first fusion image; a receiving module configured to receive information input by a user of whether the first virtual boundary in the first fusion image needs to be corrected; a correction module configured to receive, when the user inputs information that the first virtual boundary needs to be corrected, a user instruction to correct the first virtual boundary to generate a second virtual boundary in the real-time image or the simulated scene image so as to form a second fusion image; a sending module configured to send information of the first fusion image that does not need to be corrected or information of the corrected second fusion image; and a control module electrically or communicatively connected to the sending module, and is configured to control the actuating mechanism to operate within the first virtual boundary or the second virtual boundary. 
     In one example, the receiving module is arranged outside the actuating mechanism, and the receiving module includes any one or more of mobile devices such as a keyboard, a mouse, a microphone, a touch screen, a remote controller and/or a handle, a camera, a laser radar, and a mobile phone. 
     In one example, the receiving module is also configured to receive a first virtual obstacle identifier added by the user, and the actuating mechanism is controlled to avoid an actual virtual obstacle corresponding to the first virtual obstacle identifier during moving. 
     In one example, the receiving module is also configured to receive a first moving path added by the user, and the actuating mechanism is controlled to move and operate in the second virtual boundary according to the first moving path. 
     An example provides a self-moving mower. The self-moving mower includes a main body, including a housing; a mowing element connected to the main body and configured to trim vegetation; an output motor configured to drive the mowing element; wheels connected to the main body; a drive motor configured to drive the wheels to rotate; an image acquisition module capable of acquiring a real-time image including at least part of a mowing area and at least one obstacle located within the mowing area, and configured to transmit the real-time image to a display module to display the real-time image or a simulated scene image generated according to the real-time image; and a control module capable of receiving an instruction input by a user to generate a virtual obstacle identifier corresponding to the at least one obstacle in the real-time image or the simulated scene image so as to form a first fusion image, and configured to control an actuating mechanism to avoid the at least one obstacle corresponding to the virtual obstacle identifier in the first fusion image. 
     An example provides a self-moving mowing system. The system includes an actuating mechanism, including a mowing assembly configured to achieve a mowing function and a moving assembly configured to achieve a moving function; a housing configured to support the actuating mechanism; an image acquisition module capable of acquiring a real-time image including at least part of a mowing area and at least part of a mowing boundary; a display module electrically or communicatively connected to the image acquisition module, where the display module is configured to display the real-time image or a simulated scene image generated according to the real-time image; a boundary generation module configured to generate a first virtual boundary corresponding to a mowing boundary in the real-time image by calculating characteristic parameters so as to form the first fusion image; the sending module configured to transmit the first fusion image; and the control module electrically or communicatively connected to the sending module, and is configured to control the actuating mechanism to operate within the first virtual boundary. 
     In one example, the self-moving mowing system further includes a positioning module. The positioning module includes one or a combination of a global positioning system (GPS) unit, an inertial measurement unit (IMU) and a displacement sensor, and is configured to acquire a real-time position of the actuating mechanism, and control and adjustment of the moving and mowing of the actuating mechanism is achieved by analyzing real-time positioning data of the actuating mechanism. 
     To achieve the above purpose of the present application, the display module includes a projection device and an interactive interface, the interactive interface is generated by projection of the projection device, and the simulated scene image or the real-time image is displayed by the interactive interface. 
     In one example, the self-moving mowing system further includes a guide channel setting module. The guide channel setting module is configured to receive a virtual guide channel between a first virtual sub-mowing area and a second virtual sub-mowing area set by the user, and the virtual guide channel is configured to guide the actuating mechanism in a moving path between a first sub-mowing area corresponding to the first virtual sub-mowing area and a second sub-mowing area corresponding to the second virtual sub-mowing area. 
     An example of the present application provides an outdoor self-moving device. The device includes: an actuating mechanism including a moving assembly configured to achieve a moving function and a working assembly configured to achieve a preset function; a housing configured to support the actuating mechanism; an image acquisition module capable of acquiring a real-time image including at least part of a working area and at least part of a working boundary; a display module electrically or communicatively connected to the image acquisition module, where the display module is configured to display the real-time image or a simulated scene image generated according to the real-time image; a boundary generation module configured to generate a first virtual boundary corresponding to the working boundary in the real-time image by calculating characteristic parameters so as to form the first fusion image; a receiving module configured to receive information input by a user of whether the first virtual boundary in the first fusion image needs to be corrected; a correction module configured to receive, when the user inputs information that the first virtual boundary needs to be corrected, a user instruction to correct the first virtual boundary to generate a second virtual boundary in the real-time image or the simulated scene image so as to form a second fusion image; a sending module configured to send information of the first fusion image that does not need to be corrected or information of the corrected second fusion image; and the control module electrically or communicatively connected to the sending module, and configured to control the actuating mechanism to operate within the first virtual boundary or the second virtual boundary. 
     An example provides an outdoor self-moving device. The device includes: an actuating mechanism including a moving assembly configured to achieve a moving function and a working assembly configured to achieve a preset function; a housing configured to support the actuating mechanism; an image acquisition module capable of acquiring a real-time image including at least part of a working area and at least part of a working boundary; a display module electrically or communicatively connected to the image acquisition module, where the display module is configured to display the real-time image or a simulated scene image generated according to the real-time image; a boundary generation module configured to generate a first virtual boundary corresponding to the working boundary in the real-time image by calculating characteristic parameters so as to form the first fusion image; a sending module configured to transmit the first fusion image; and the control module electrically or communicatively connected to the sending module, and configured to control the actuating mechanism to operate within the first virtual boundary. 
    
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
         FIG. 1  is a structure diagram of an actuating mechanism of a self-moving mowing system according to the present application; 
         FIG. 2  is a schematic diagram showing the connection between the actuating mechanism and a projection device of  FIG. 1 ; 
         FIG. 3  is a partial schematic diagram of an internal structure of the actuating mechanism of  FIG. 2 ; 
         FIG. 4  is a schematic diagram of a framework of the actuating mechanism of  FIG. 1 ; 
         FIG. 5  is a schematic diagram of a framework of the self-moving mowing system of  FIG. 1 ; 
         FIG. 6  is a schematic diagram of a mowing area according to a first implementation of the present application; 
         FIG. 7  is a schematic diagram of an interactive interface according to the first implementation of the present application; 
         FIG. 8  is schematic diagram of the interactive interface displaying a real-time image according to the first implementation of the present application; 
         FIG. 9  is a schematic diagram of the interactive interface displaying a first fusion image according to the first implementation of the present application; 
         FIG. 10  is a schematic diagram of the interactive interface displaying a second fusion image according to the first implementation of the present application; 
         FIG. 11  is a schematic diagram of an actuating mechanism coordinate system according to the first implementation of the present application; 
         FIG. 12  is a schematic diagram of a pixel coordinate system according to the first implementation of the present application; 
         FIG. 13  is a schematic diagram of a framework of a self-moving mowing system according to a second implementation of the present application; 
         FIG. 14  is a schematic diagram of a mowing area according to the second implementation of the present application; 
         FIG. 15  is a schematic diagram of a first fusion image according to the second implementation of the present application; 
         FIG. 16  is a schematic diagram of a framework of a self-moving mowing system according to a third implementation of the present application; 
         FIG. 17  is a schematic diagram of a mowing area according to the third implementation of the present application; 
         FIG. 18  is a schematic diagram of a first fusion image according to the third implementation of the present application; 
         FIG. 19  is a schematic diagram of a first fusion image according to the third implementation of the present application; 
         FIG. 20  is a schematic diagram of a second fusion image according to the third implementation of the present application; 
         FIG. 21  is a schematic diagram of a framework of a self-moving mowing system according to a fourth implementation of the present application; 
         FIG. 22  is a schematic diagram of a mowing area according to the fourth implementation of the present application; 
         FIG. 23  is a schematic diagram of a first fusion image according to the fourth implementation of the present application; 
         FIG. 24  is a schematic diagram of a first fusion image according to the fourth implementation of the present application; 
         FIG. 25  is a schematic diagram of a second fusion image according to the fourth implementation of the present application; 
         FIG. 26  is a schematic diagram of a virtual guide channel identifier according to the fourth implementation of the present application; and 
         FIG. 27  is a structure diagram of an outdoor self-moving device according to a fifth implementation of the present application. 
     
    
    
     DETAILED DESCRIPTION 
     The present application provides a self-moving mowing system. Referring to  FIGS. 1 to 3 , the self-moving mowing system includes an actuating mechanism  100  configured to trim vegetation. The actuating mechanism  100  include at least a mowing assembly  120  configured to achieve a mowing function and a moving assembly  110  configured to achieve a moving function, and includes a main body  140  and a housing  130 . The housing  130  packages and supports the main body  140 , the mowing assembly  120  and the moving assembly  110 . The mowing assembly  120  includes a mowing element  121  and an output motor  122 . The output motor  122  is configured to drive the mowing element  121  to rotate so as to trim vegetation, and the mowing element  121  may be a blade or another element that can cut and trim the lawn. The moving assembly  110  includes at least one road wheel  111  and a drive motor  112  configured to drive the at least one road wheel  111 , and the drive motor  112  provides a torque to the at least one road wheel  111 . The mowing assembly  120  cooperates with the moving assembly  110 , so that the self-moving mowing system can control the actuating mechanism  100  to move and operate on the vegetation. The actuating mechanism  100  is hardware of the self-moving mowing system which achieves a mowing function. Optionally, the actuating mechanism  100  is a self-moving mower. 
     Referring to  FIG. 4 , the self-moving mowing system further includes a receiving module  200 , a processing assembly  180  and a power supply  170 . The receiving module  200  configured to receive a user instruction, and the receiving module  200  is configured to receive a control instruction for the self-moving mowing system input by a user. The processing assembly  180  includes at least a control module  150  configured to control the self-moving mowing system to operate. The control module  150  is configured to control the drive motor  112  and the output motor  122  to operate according to the instruction and the operation parameters of the self-moving mowing system so as to control the actuating mechanism  100  to move within a corresponding working area and perform the mowing operation. The power supply  170  is configured to supply power to the moving assembly and the output assembly. Optionally, the power supply  170  is a pluggable battery pack mounted on the housing  130 . 
     The self-moving mowing system includes an image acquisition module  400  and a display module  500 . The processing assembly  180  includes a control module  150  configured to calculate image information. The display module  500  and the image acquisition module  400  are electrically or communicatively connected. The image acquisition module  400  is capable of acquiring a real-time image  530  including at least part of a mowing area and at least part of a mowing boundary, and the real-time image  530  of the corresponding mowing area and mowing boundary is displayed by the display module  500 . Referring to  FIGS. 3 and 6 , the image acquisition module  400  includes at least one or a combination of a camera  410 , a laser radar  420 , and a time-of-flight (TOF) sensor  430 . The image acquisition module  400  acquires surrounding environment information of the actuating mechanism  100  by the camera  410  and the laser radar  420 , that is, acquires an environmental image of a to-be-operated mowing area and a mowing boundary by the camera  410  and acquires, by information reflected by a laser of the laser radar  420 , characteristic parameters such as a shape, a slant distance, a distance with respect to the current actuating mechanism  100 , and a position of an object within the mowing area and the mowing boundary. The control module  150  receives the image information of the mowing area and the mowing boundary acquired by the image acquisition module  400 , and merges the characteristic parameters of the object in the image onto the image. The display module  500  displays the real-time image  530  of the mowing area and the mowing boundary acquired by the image acquisition module  400  for the user. 
     Referring to  FIG. 3 , to improve the position detection accuracy of the actuating mechanism  100 , the self-moving mowing system further includes a positioning module  300  configured to acquire a position of the actuating mechanism  100 , and achieve the control and adjustment of moving and mowing of the actuating mechanism  100  by analyzing real-time positioning data of the actuating mechanism  100 . The positioning module  300  includes one or a combination of a global positioning system (GPS) unit  310 , an inertial measurement unit (IMU)  320  and a displacement sensor  330 , and is configured to acquire the position of the actuating mechanism  100 . The GPS unit  310  is configured to acquire position information or position estimation of the actuating mechanism  100  and a start position of the moving of the actuating mechanism  100 . The IMU  320  includes an accelerometer and a gyroscope for detecting offset information of the actuating mechanism  100  during the moving. The displacement sensor  330  may be arranged on the drive motor  112  or the road wheel  111  and configured to acquire displacement data of the actuating mechanism  100 . The information acquired by the preceding multiple devices is combined and corrected, so that more accurate position information is acquired and a real-time position and a posture of the actuating mechanism  100  are acquired. 
     In another implementation, the control module  150  generates a simulated scene image  540  of the mowing area according to the image information and data information of the mowing area acquired by the image acquisition module  400 . The boundary, the area and the obstacle of the mowing area are simulated in the simulated scene image  540 , and an actuating mechanism model  160  is established. The actuating mechanism model  160  is displayed correspondingly in the simulated scene image  540  according to the position of the actuating mechanism  100  in the mowing area, so that the position and the operation state of the actuating mechanism model  160  are synchronized with the actual actuating mechanism  100 . 
     Referring to  FIG. 5 , the display module  500  is configured to project the simulated scene image  540 . Exemplarily, the display module  500  projects to generate an interactive interface  520  by the projection device  510 , and the interactive interface  520  displays the simulated scene image  540  of the actuating mechanism  100 . The control module  150  controls the interactive interface  520  generated by the display module  500  to generate a control panel  550  for the user to operate while generating the simulated scene image  540 , and the user directly controls the self-moving mowing system by the receiving module  200  or the interactive interface  520 . The projection device  510  may be a mobile phone screen or a hardware display screen, which can be communicatively connected to the processing assembly  180  and is configured to display the simulated scene image  540  or the real-time image  530 . 
     Referring to  FIG. 3 , the control module  150  includes a data operation processor  310  for processing data and an image processor  320  for image generation and scene modelling. The data operation processor  310  may be a central processing unit (CPU) or a microcontroller with a higher data processing speed, and the image processor  320  may be an independent graphics processing unit (GPU) module. When the actuating mechanism  100  is operating, the data operation processor  310  analyzes operation data and environmental data of the actuating mechanism  100 , the image processor  320  models and generates corresponding simulated scene image information according to the above data, the projection device  510  generates the specific simulated scene image, and controls the simulated scene image to synchronously update the display content as a real-time operation state of the actuating mechanism  100  varies, so as to match an operation state of the actual actuating mechanism  100 . The control module  150  further includes a storage configured to store data. The storage stores relevant algorithms of the self-moving mowing system and data information generated during the operation of the self-moving mowing system. 
     In a first implementation of the present application, the processing assembly  180  further includes a boundary generation module  700 , a control module  150  and a sending module  600 . Referring to  FIGS. 7 and 8 , a first virtual boundary  710  corresponding to a mowing boundary is generated in the real-time image  530  or the simulated scene image  540  by calculating characteristic parameters so as to form the first fusion image  720 . The boundary generation module  700  is provided with a boundary analysis algorithm. A mowing boundary of a to-be-mowed area is analyzed by a color, a grass height, and a shape in the real-time image  530  or the simulated scene image  540 , so that the first virtual boundary  710  is generated in a position corresponding to the mowing boundary in the real-time image  530  or the simulated scene image  540 , and the first virtual boundary  710  is fused with the real-time image  530  or the simulated scene image  540  to generate the first fusion image  720 . The first fusion image  720  includes the first virtual boundary  710  and a first virtual mowing area  760  defined by the first virtual boundary  710 . The first virtual boundary  710  corresponds to an actual first boundary, and the first boundary is the mowing boundary detected by the boundary generation module  700  in the current environment. The object distribution and position in the first virtual mowing area  760  correspond to the object distribution and position in an actual first mowing area  770 . The sending module  600  is electrically or communicatively connected to the control module  150 . The sending module  600  transmits information of the first fusion image  720  to the control module  150 . The information of the first fusion image  720  includes position information of the first virtual boundary  710 . The control module controls the actuating mechanism to operate within the first virtual boundary, that is, the first virtual boundary  710  defines the first virtual mowing area  760 . The control module  150  is configured to control, according to the position information of the first virtual boundary  710 , the actuating mechanism  100  to mow in the actual first mowing area  770  corresponding to the first virtual mowing area  760 , and control, according to the detected position of the actuating mechanism  100 , the actuating mechanism  100  to operate only in the actual first boundary corresponding to the first virtual boundary  710 . 
     The control module  150  is connected to the drive motor  112  and the output motor  122  and is configured to control the drive motor  112  and the output motor  122 , so that the control module  150  controls the actuating mechanism  100  to move along a supplementary working path and to operate the mowing. Two wheels  111  are provided, which are a first road wheel  113  and a second road wheel  114 . The drive motor  112  is configured as a first drive motor  115  and a second drive motor  116 . The control module  150  is connected to the first drive motor  115  and the second drive motor  116 , and controls rotation speeds of the first drive motor  115  and the second drive motor  116  by a drive controller so as to control a moving state of the actuating mechanism  100 . The processing assembly  180  analyzes the control instruction for the actuating mechanism  100  by acquiring the real-time position of the actuating mechanism  100  so as to achieve controlling the actuating mechanism  100  to operate within the first boundary. The control module  150  includes an output controller configured to control the output motor, and a drive controller configured to control the drive motor  112 . The output controller is electrically connected to the output motor  122 . The output controller controls the operation of the output motor, so that a cutting state of a cutting blade is controlled. The drive controller is connected to the drive motor  112  and is configured to control the drive motor  112 , and the drive controller is communicatively connected to the drive motor  112  so that after the receiving module  200  receives a start-up instruction of the user or judges to start, the control module  150  analyzes the moving path of the actuating mechanism  100 , and controls the drive motor  112  by the drive controller to drive the road wheel  111  to move. The control module  150  acquires the position information corresponding to the first virtual boundary  710 , analyzes, according to position information of the actuating mechanism  100  detected by the positioning module  300 , steering and speed information required by the actuating mechanism  100  to complete the operation within a preset first boundary, and controls the drive controller to control the rotation speed of the drive motor  112  so that the actuating mechanism  100  moves at a preset speed, and two wheels of the actuating mechanism  100  can be rotated at a differential speed so as to steer the actuating mechanism  100 . The user may operate the displacement of the actuating mechanism  100  and the displacement of the image acquisition module  400  by the receiving module  200 , so as to control the movement of the corresponding real-time image  530  or simulated scene image  540 , so that the mowing area needs to be viewed by the user is displayed in the real-time image  530  or the simulated scene image  540  and the control instruction is added. 
     The receiving module  200  may be a peripheral device arranged outside the actuating mechanism  100 , the peripheral device is communicatively connected to the actuating mechanism  100 , the peripheral device receives the control instruction of the user and transmits the control instruction of the user to the processing assembly  180 , and the processing assembly  180  analyzes the control instruction of the user to control the actuating mechanism  100  to execute. The peripheral device may be configured to be any one or more of mobile devices such as a keyboard, a mouse, a microphone, a touch screen, a remote controller and/or a handle, a camera  410 , a laser radar  420 , and a mobile phone. The user may directly and manually input command information by hardware such as the mouse, the keyboard, the remote controller, and the mobile phone, and may also input the command information by a signal such as a voice, a gesture and an eye movement. The camera  410  is configured to collect information characteristics of the eye movement or the hand movement of the user, so that the control instruction given by the user can be analyzed. 
     In another implementation, the projection device  510  adopts a virtual imaging technology, with interference and diffraction principles, to display images in a virtual reality (VR) glass device and an augmented reality (AR) device by the holographic projection, and correspondingly generate a virtual control panel  550  to achieve the instruction input by the communicatively connected peripheral device  310  such as the remote controller or the handle. Optionally, an interaction module  400  includes an action capture unit and an interaction positioning device. The action capture unit is configured to be a camera  410  and/or an infrared sensing device, and to capture an action of the user&#39;s hand or a controller. The interaction positioning device acquires a position of the projection device  510 , analyzes the user&#39;s selection of the generated virtual control panel  550  by analyzing a displacement of the user&#39;s hand and a relative position of the projection device  510 , and generates the corresponding control instruction. 
     In an implementation, the projection device  510  is mounted on the peripheral device, for example, in a case where the peripheral device  310  is selected to be a mobile phone, a computer, or a VR device, the projection device  510  is correspondingly to be a mobile phone screen, a computer screen, a curtain, or VR glasses. 
     The display module  500  has at least the projection device  510  and the interactive interface  520 . The interactive interface  520  is displayed by the interactive interface  520 , and the real-time image  530  or the simulated scene image  540  and the first fusion image  720  are displayed on the interactive interface  520 . The projection device  510  may be implemented as a hardware display screen which may be an electronic device mounted on the peripheral device such as the mobile phone and the computer, or directly mounted on the actuating mechanism  100 , or the processing assembly  180  is provided to be communicatively matched with multiple display screens and the user is allowed to select the projection object to display the corresponding real-time image  530  or simulated scene image  540 . 
     Referring to  FIG. 9 , the receiving module  200  may also generate the control panel  550  on the interactive interface  520  to receive the control instruction of the user by the control panel  550 . The receiving module is configured to receive information input by the user of whether the first virtual boundary  710  in the first fusion image  720  needs to be corrected. In a case where the user selects to correct the information of the first fusion image  720 , the user manually inputs an instruction to correct the first virtual boundary  710 , thereby generating a second virtual boundary  730  designated by the user. After a boundary display module  500  calculates and generates the first fusion image  720 , the display module  500  generates the interactive interface  520  by the projection device  510  to display the first fusion image  720  and the first virtual boundary  710 . The receiving module  200  inquires whether the user needs to correct the first virtual boundary  710  by the interactive interface  520 , the user selects to correct by the receiving module  200 , and corrects the first virtual boundary  710  in the displayed first fusion image  720  by the control panel  550  in combination with the mowing boundary as actually needed. The processing assembly  180  further includes a correction module  801 . The correction module  801  is configured to receive, when the user inputs information that the first virtual boundary  710  needs to be corrected, a user instruction to correct the first virtual boundary  710  to generate the second virtual boundary  730  in the real-time image  530  or the simulated scene image  540  so as to form a second fusion image  740 . 
     The second fusion image  740  includes the second virtual boundary  730  and a second virtual mowing area defined by the second virtual boundary  730 . The second virtual boundary  730  corresponds to the actual second boundary, and the second boundary is an actual to-be-mowed area corrected by the user. The object distribution and position in the second virtual mowing area correspond to the object distribution and position in an actual second mowing area. The control module controls the actuating mechanism to operate within the second virtual boundary, that is, the second virtual boundary defines the second virtual mowing area, the control module  150  is configured to control, according to position information of the second virtual boundary  730 , the actuating mechanism  100  to mow in the actual second mowing area corresponding to the second virtual mowing area, and control, according to the detected position of the actuating mechanism  100 , the actuating mechanism  100  to operate only within the actual second boundary corresponding to the second virtual boundary  730 . 
     Referring to  FIGS. 10 and 11 , to identify a correction instruction of the user for the first fusion image  720  so as to generate the second fusion image  740 , that is, to fuse the correction instruction of the user into the real-time image  530  or the simulated scene image  540 , the data operation processor establishes, according to the first fusion image  720  and the position of the actuating mechanism  100  acquired by the image acquisition module  400  and the positioning module  300 , an actuating mechanism coordinate system  750  configured to position and analyze the actuating mechanism  100  in the to-be-mowed environment. The data operation processor establishes a pixel coordinate system  760  for the generated first fusion image  720  so that pixels in the first fusion image  720  correspond to their pixel coordinates respectively, and analyzes the real-time image  530  or the simulated scene image  540 . When the user selects a line segment or an area in the first fusion image  720  by the interactive interface  520 , the user essentially selects a set of multiple pixels on the first fusion image  720 . The correction module  801  calculates position information of the actual second boundary by analyzing the real-time position of the actuating mechanism  100  in the actuating mechanism coordinate system  750 , a rotation angle of the image acquisition module  400 , and a set of pixel coordinates corresponding to the second virtual boundary  730  selected by the user, thereby projecting the corrected second virtual boundary  730  selected by the user on the first fusion image  720  into the actual mowing area so as to acquire the second mowing area designated by the user, and fusing the second virtual boundary  730  into the real-time image  530  or the simulated scene image  540  so as to generate the second fusion image  740 . The coordinates of the second virtual boundary  730  are fixed in the actuating mechanism coordinate system  750  and move in the pixel coordinate system  760  as the user controls the conversion of the real-time image  530  or the simulated scene image  540 . By the user&#39;s correction, the error of the self-moving mowing system for automatically identifying and acquiring the mowing boundary can be corrected, so that the boundary of the mowing area can be set intuitively and accurately. The first virtual boundary  710  is identified and generated by the device such as an image sensor, so that the user only needs to correct the first virtual boundary  710  to generate the second virtual boundary  730 , which facilitates the operation of the user to set the mowing boundary. 
     In another implementation, the user can directly set the first virtual boundary  710  on the real-time image  530  or the simulated scene image  540  by the receiving module  200 , and a boundary identification module acquires the position information of the first virtual boundary  710  set by the user, projects the position information onto the actuating mechanism  100  coordinate, and detects the position of the actuating mechanism  100  by the positioning module  300  so as to control the actuating mechanism  100  to move on the first boundary corresponding to the first virtual boundary  710  by the control module  150 , so that the user can quickly set the mow boundary. 
     In a second implementation of the present application, referring to  FIGS. 13 and 14 , a processing assembly  180  includes an image acquisition module  400   a  and an obstacle generation module  800   a . The image acquisition module  400   a  includes one or a combination of an image sensor, a laser radar  420   a , an ultrasonic sensor, a camera  410   a , and a time-of-flight (TOF) sensor  430   a . The ultrasonic sensor transmits an ultrasonic wave, detects whether there is an obstacle in a mowing area according to a return time of the ultrasonic wave, and records position information of the obstacle. The laser radar  420   a  transmits a laser and detects the obstacle in the mowing area according to a reflection time of the laser. The image sensor analyzes a shape and a color of the acquired image, and analyzes a corresponding image conforming to the obstacle by an algorithm. The obstacle generation module  800   a  fuses obstacle detection information of the mowing area acquired by the image acquisition module  400   a  into a real-time image  530   a  or a simulated scene image  540   a , and generates a first virtual obstacle identifier  810   a  in a corresponding position in the mowing area in the real-time image  530   a  or the simulated scene image  540   a  by the display module  500   a  so as to generate a first fusion image  720   a . The first fusion image  720   a  is the real-time image  530   a  or the simulated scene image  540   a  including the first virtual obstacle identifier  810   a . A sending module  600   a  transmits information of the first fusion image  720   a  to a control module  150   a . The control module  150   a  controls an actuating mechanism  100   a  to avoid a virtual obstacle when the actuating mechanism  100   a  is operated to mow according to the information of the first fusion image  720   a . A data operation processor establishes a pixel coordinate system and an actuating mechanism  100   a  coordinate system, and calculates, by identifying a pixel coordinate of the first virtual obstacle identifier  810   a  added by the user on the first fusion image  720   a , the first virtual obstacle identifier  810   a  in the obstacle to convert position information of the first virtual obstacle identifier into the position information of the actual obstacle  820   a  in a coordinate conversion method. The control module  150   a  controls the actuating mechanism  100   a  to avoid the obstacle  820   a  during the operation. In this manner, the user can add the first virtual obstacle identifier  810   a  in the real-time image  530   a  or the simulated scene image  540   a , and the self-moving mowing system can identify and avoid the obstacle, thereby facilitating the operation of the user and accurately adding obstacle information into the mowing area. 
     In another implementation, referring to  FIG. 15 , the obstacle generation module  800   a  generates a virtual obstacle identifier corresponding to the obstacle in the real-time image  530   a  or the simulated scene image  540   a  according to an instruction input by the user so as to form the first fusion image  720   a . The user sets the virtual obstacle identifier in the real-time image  530   a  or the simulated scene image  540   a  according to an obstacle position in the actual mowing area or a position of an area that does not need to be mowed by the receiving module  200   a  as an identifier of an area that the actuating mechanism  100   a  does not need to operate and needs to avoid during the actual mowing operation. 
     The obstacle generation module  800   a  presets, for a possible obstacle such as a stone and a tree in the mowing area, an obstacle model such as a stone model, a tree model and a flower model, for the user to select. The user determines, by the simulated scene image  540   a  or the real-time image  530   a  simulating a real state on an interactive interface  520   a , according to environmental characteristics displayed by the simulated scene image  540   a  or the real-time image  530   a , in conjunction with an actual state of the mowing area, a position corresponding to the obstacle in the simulated scene image  540   a  or the real-time image  530   a , and selects a type, a position and a size of the obstacle in the simulated scene image  540   a  or the real-time image  530   a  by the receiving module  200   a . After the user inputs related information, an image processor  320  generates a corresponding simulated obstacle  640  in the generated simulated scene image  540   a , and the control module  150   a  controls the actuating mechanism  100   a  to avoid the obstacle during the operation. 
     The obstacle generation module  800   a  generates the virtual obstacle identifier corresponding to the obstacle in the real-time image  530   a  or the simulated scene image  540   a  so as to form the first fusion image  720   a . The first fusion image  720   a  includes a size, a shape, and position information of the virtual obstacle identifier. The sending module  600   a  transmits the information of the first fusion image  720   a  to the control module  150   a , so that the control module  150   a  controls the actuating mechanism  100   a  to avoid the virtual obstacle identifier when the actuating mechanism  100   a  mows in the mowing area according to the information of the first fusion image  720   a  so as to meet the requirement of avoiding the obstacle. 
     The first fusion image  720   a  may further include a first virtual boundary  710   a . The boundary generation module  700   a  generates the first virtual boundary corresponding to a mowing boundary in the real-time image  530   a  or the simulated scene image  540   a  by calculating characteristic parameters, so that the control module  150   a  controls, according to the information of the first fusion image  720   a , the actuating mechanism  100   a  to operate in a first mowing area corresponding to a first virtual mowing area within the first virtual boundary  710   a  and outside the virtual obstacle identifier, thereby limiting the actuating mechanism  100   a  to operate within the first boundary and avoiding the virtual obstacle identifier. The obstacle may be an object occupying a space, such as a stone or an article, or may be an area of flowers or special plants that does not need to be mowed. The obstacle may also be understood as a required area of the user which does not need to be operated within the current first virtual boundary  710   a , and may be formed with a special pattern or shape to meet the requirement of beautifying the lawn of the user. 
     In a third implementation of the present application, referring to  FIGS. 16 to 19 , the obstacle generation module  800   b  generates a first virtual obstacle  810   b  corresponding to a mowing obstacle in a real-time image  530   b  or a simulated scene image  540   b  by calculating characteristic parameters so as to form a first fusion image  720   b . The first fusion image  720   b  includes a first virtual mowing area  760   b  and the first virtual obstacle  810   b  in the first virtual mowing area  760   b . The first virtual mowing area  760   b  corresponds to an actual first mowing area  770   b . The object distribution and position in the first virtual mowing area  760   b  correspond to the object distribution and position in the actual first mowing area  770   b  correspond, and the first virtual mowing area  760   b  is a mowing area that needs to be operated by an actuating mechanism  100   b . The obstacle generation module  800   b  is provided with an obstacle analysis algorithm. An obstacle  820   b  in a to-be-mowed area is detected by an image acquisition module  400   b , and the first virtual obstacle  810   b  is generated in a position corresponding to the mowing obstacle  820   b  in the real-time image  530   b  or the simulated scene image  540   b , so that the first virtual obstacle  810   b  is fused with the real-time image  530   b  or the simulated scene image  540   b  to generate the first fusion image  720   b . The real-time image  530   b  or the simulated scene image  540   b  is displayed by the display module  500   b . The first fusion image  720   b  includes the first virtual obstacle  810   b . At least one actual obstacle  820   b  corresponding to the first virtual obstacle  810   b  is the mowing obstacle  820   b  detected by the obstacle generation module  800   b  in the current environment. A sending module  600   b  is electrically or communicatively connected to a control module  150   b . The sending module  600   b  transmits information of the first fusion image  720   b  to the control module  150   b , and the information of the first fusion image  720   b  includes position information of the first virtual obstacle  810   b . The control module  150   b  controls the actuating mechanism  100   b  to mow in the actual first mowing area  770   b  corresponding to the first virtual mowing area  760   b  according to the position information of the first virtual obstacle  810   b , and controls the actuating mechanism  100   b  to operate only within an actual first obstacle corresponding to the first virtual obstacle  810   b  according to the detected position of the actuating mechanism  100   b.    
     Optionally, referring to  FIG. 20 , after the obstacle generation module  800   b  generates the first fusion image  720   b , a receiving module  200   b  inquires, by a display interface, whether a user needs to correct information of the first virtual obstacle  810   b  in the current first fusion image  720   b , and receives information input by the user of whether the first virtual obstacle  810   b  in the first fusion image needs to be corrected. In a case where the user selects to correct the information of the first fusion image  720   b , the user manually inputs an instruction to correct the first virtual obstacle  810   b , thereby generating a second virtual obstacle  830   b  designated by the user, so that the user corrects the first virtual obstacle  810   b  in the displayed first fusion image  720   b  by a control panel in combination with the mowing obstacle as actually needed. A processing assembly  180  further includes a correction module  801 . The correction module  801  is configured to receive, when the user inputs information that the first virtual obstacle  810   b  needs to be corrected, a user instruction to correct the first virtual obstacle  810   b  to generate a second virtual obstacle  830   b  in the real-time image  530   b  or the simulated scene image  540   b  so as to form a second fusion image  740   b.    
     The second fusion image  740   b  includes a corrected second virtual obstacle  830   b  and the second virtual obstacle  830   b  corresponds to the at least one actual obstacle  820   b  that the user needs to avoid. The control module  150   b  controls the actuating mechanism  100   b  to mow in the actual first mowing area  770   b  corresponding to the first virtual mowing area  760   b  according to position information of the second virtual obstacle  830   b , and controls the actuating mechanism  100   b  to operate only within an actual second obstacle corresponding to the second virtual obstacle  830   b  according to the detected position of the actuating mechanism  100   b . The control module  150   b  controls the actuating mechanism  100   b  to avoid the actual obstacle corresponding to the second virtual obstacle  830   b  when the actuating mechanism  100   b  is mowing according to the information of the first fusion image  720   b , so that the user can conveniently adjust the avoidance operation of the self-moving mowing system during the operation. The obstacle may be an object occupying a space such as a stone or an article, or may be an area of flowers or special plants that does not need to be mowed. 
     In a fourth implementation of the present application, referring to  FIG. 21 , a processing assembly  180  includes a path generation module  900   c  configured to generate a moving path  910   c  in a real-time image  530   c  or a simulated scene image according to an instruction input by a user so as to form a first fusion image  720   c . The path generation module  900   c  is provided with a preset mowing path mode. For example, the mowing path mode is a bow-shaped path, and an actuating mechanism  100   c  is controlled to operate within a boundary in a reciprocating progressive manner; or the mowing path mode is a rectangular-ambulatory-plane path, and the actuating mechanism  100   c  is controlled to operate toward a center in a surrounding and progressive manner. 
     Referring to  FIG. 22 , the processing assembly  180  includes a boundary generation module  700   c . The user transmits a start-up instruction. The boundary generation module  700   c  is provided with a boundary analysis algorithm to analyze a mowing boundary of a to-be-mowed area by a color, a grass height and a shape in the real-time image  530   c  or the simulated scene image, so as to generate a first virtual boundary  710   c  in a position corresponding to the mowing boundary in the real-time image  530   c  or the simulated scene image. Referring to  FIGS. 23 and 24 , the path generation module  900   c  mounts a preset algorithm within the generated first virtual boundary  710   c  to design the moving path  910   c  within the mowing area, and calculates, according to a corresponding position coordinate of the generated walking path  910   c  in an actuating mechanism  100   c  coordinate system, a corresponding pixel coordinate in a pixel coordinate system, thereby displaying the generated moving path  910   c  in the real-time image  530   c  or the simulated scene image, and fusing the generated moving path  910   c  into the real-time image  530   c  or the simulated scene image to generate the first fusion image  720   c . A sending module  600   c  transmits the first fusion image  720   c  to the control module  150   c . The control module  150   c  controls a moving assembly  110   c  to move along the moving path  910   c  in the first fusion image  720   c  and mow in the mowing area. 
     Optionally, referring to  FIG. 25 , the processing assembly  180  further includes a correction module  801   c . The user may correct the moving path  910   c  in the first fusion image  720   c  by a receiving module  200   c  and correct the first fusion image  720   c  generated by the path generation module  900   c  by the correction module  801   c . The generated moving path  910   c  is corrected on the first fusion image  720   c  by an interactive interface  520   c . Path deleting is performed by selecting a part of a path to delete, and a new path is added by adding a line segment to the first fusion image  720   c . The correction module  801   c  reads a pixel coordinate set of the path selected or added by the user, converts the pixel coordinate set into an actuating mechanism coordinate set according to the preset algorithm, and projects the actuating mechanism coordinate set to a position corresponding to the mowing area, thereby analyzing a moving control instruction and a mowing control instruction for the actuating mechanism  100   c  according to the positioning tracking of the actuating mechanism  100   c , so that the actuating mechanism  100   c  moves and mows along the moving path  910   c  corrected by the user. 
     In another implementation, the path generation module  900   c  includes a preset algorithm for calculating and generating a first moving path  910   c  according to characteristic parameters of the mowing area, and the first moving path  910   c  is displayed in a real-time image  530   c  or a simulated scene image by a display module  500   c . The path generation module  900   c  automatically calculates and generates the first moving path  910   c  according to acquired mowing boundary information and mowing area information. The path generation module  900   c  is configured to generate the first moving path  910   c  such as a bow-shaped path, a rectangular-ambulatory-plane path or a random path according to the characteristic parameters of the mowing area. The first moving path  910   c  to be followed by the mowing in the corresponding mowing area is displayed to a user in the real-time image  530   c  or the simulated scene image. A receiving module  200   c  receives information input by the user of whether the first moving path  910   c  in a first fusion image  720   c  needs to be corrected, the user selects to correct and inputs a correction instruction by the receiving module  200   c  to delete part of the line segment or area from the first moving path  910   c , and add part of the line segment or area to the first moving path  910   c  so as to generate a second moving path  920   c  in the real-time image  530   c  or the simulated scene image. The correction module  801   c  identifies the correction instruction of the user, and fuses a coordinate of the second moving path  920   c  into the real-time image  530   c  or the simulated scene image so as to generate a second fusion image  740   c . A sending module  600   c  transmits information of the second fusion image  740   c  to a control module  150   c , and the control module  150   c  controls, according to the information of the second moving path  920   c , an actuating mechanism  100   c  to move and operate along an actual path in the mowing area corresponding to the second moving path  920   c.    
     In another implementation, the path generation module  900   c  generates a preset path scrubber such as a rectangular-ambulatory-plane path scrubber, a bow-shaped path scrubber and a linear path scrubber for a user to select. The path generation module  900   c  forms a selectable path scrubber on an interactive interface  520   c , and the user selects a corresponding path scrubber and scrubs an area expected to be operated by an actuating mechanism  100   c  in the real-time image  530   c  or the simulated scene image, thereby generating a rectangular-ambulatory-plane path, a bow-shaped path and a linear path in the corresponding area so as to generate the corresponding moving path  910   c  in the real-time image  530   c  or the simulated scene image. The control module  150   c  controls the actuating mechanism  100   c  to move and operate along the actual path in the mowing area corresponding to the moving path  910   c.    
     In another manner, the path generation module  900   c  may receive a graph such as a pattern and a word transmitted by the user by the receiving module  200   c , and calculate and generate the corresponding moving path  910   c  according to the graph. The control module  150   c  controls the actuating mechanism  100   c  to move and mow according to the generated moving path  910   c  so as to print a mowing trace of the pattern transmitted by the user in the mowing area, thereby achieving a print mowing purpose, and enriching the appearance type of the lawn. 
     In the above implementations, when the boundary generation module  700  generates the virtual boundary, the path generation module  900   c  generates the virtual obstacle identifier and the obstacle generation module  800   b  generates the moving path  910   c , the subsequent operation state of the actuating mechanism and the mowing area state after the mowing operation is completed can be previewed by an actuating mechanism model in the real-time image or the simulated scene image displayed by the display module, so that the user can know the subsequent mowing state and the mowing effect of the actuating mechanism under the current setting in advance. For example, the user can preview, by the real-time image or the simulated scene image, the mowing operation and the mowing effect of the self-moving mowing system to avoid the first virtual obstacle identifier, so that the user can expediently adjust and set the self-moving mowing system in time. 
     The user determines, by the simulated scene image  540   c  or the real-time image  530   c  simulating a real state on the interactive interface  520   c , according to environmental characteristics displayed by the simulated scene image  540   c  or the real-time image  530   c , in conjunction with an actual state of the mowing area, a position corresponding to the obstacle in the simulated scene image  540   c  or the real-time image  530   c , and selects, by the receiving module  200   c , a type, a position and a size of the obstacle in the simulated scene image  540   c  or the real-time image  530   c . After the user inputs related information, the image processor generates a corresponding simulated obstacle in the generated simulated scene image  540   c , and the control module  150   c  controls the actuating mechanism  100   c  to avoid the obstacle during the operation. 
     Referring to  FIG. 26 , the processing assembly  180  further includes a guide channel setting module. The guide channel setting module is configured to control the interactive interface  520   c  projected by a projection device  510  to generate a guide channel setting button or a guide channel setting interface, and the user adds a virtual guide channel identifier  560   c  to the simulated scene image  540   c  or the real-time image  530   c  by the guide channel setting module. A to-be-operated area of the user may have multiple relatively independent operation areas, such as front and rear yards of the user&#39;s yard, so that the user can guide, by adding the virtual guide channel identifier  560   c  between the two independent operation areas, the actuating mechanism  100   c  to move from an operation area to another operation area via a guide channel required by the user. Exemplarily, the self-moving mowing system detects the mowing area, and in a case where there are multiple relatively independent operation areas in the operation environment, the self-moving mowing system identifies and generates a corresponding first virtual sub-mowing area  770   c  and a corresponding second virtual sub-mowing area  780   c , or the user selects a target operation area, and selects at least the first virtual sub-mowing area  770   c  and the second virtual sub-mowing area  780   c  through the simulated scene image  540   c . The guide channel setting module is configured to receive a virtual guide channel between the first virtual sub-mowing area  770   c  and the second virtual sub-mowing area  780   c  set by the user, and the virtual guide channel is configured to guide the actuating mechanism  100   c  in a moving path  910   c  between a first sub-mowing area corresponding to the first virtual sub-mowing area  770   c  and a second sub-mowing area corresponding to the second virtual sub-mowing area  780   c . The user selects the corresponding virtual guide channel identifier  560   c  in the simulated scene image  540   c  according to a movement channel of the actuating mechanism  100   c  between the first mowing area and the second mowing area as needed, and the control module  150   c  controls and guides the actuating mechanism  100   c  to proceed according to the virtual guide channel identifier  560   c  integrated in the simulated scene image. 
     The self-moving mowing system further includes a detection device configured to detect an operation state of the actuating mechanism  100   c , such as machine parameters, operation modes, machine failure conditions, and warning information of the actuating mechanism  100   c . The display module may also display the machine parameters, the operation modes, the machine failure conditions and the warning information of the actuating mechanism by the interactive interface, and the data operation processor  310  calculates display information and controls the projection device to dynamically react the machine information in real time, which is convenient for the user to control and obtain the operation state of the actuating mechanism. 
     To better detect the operation state of the actuating mechanism, the self-moving mowing system further includes a voltage sensor and/or a current sensor, a rainfall sensor, and a boundary identification sensor. In general, the above sensors may be disposed within the actuating mechanism, and the voltage sensor and the current sensor are configured to detect a current value and a voltage value during the operation of the actuating mechanism to analyze current operation information of the actuating mechanism. The rainfall sensor is configured to detect the rainwater condition of the environment of the actuating mechanism. The boundary identification sensor is configured to detect a boundary of the operation area, and may be a sensor matched with a boundary electron buried line, an image-capturing device configured to acquire environmental information by capturing, or a positioning device. 
     Optionally, the rainfall sensor detects current rainfall information, and the image sensor calculates to simulate corresponding rain scene and rainfall size in the generated simulated scene image. Surrounding environment and height information of the actuating mechanism are acquired by the detection device such as a laser radar, a camera, and a state sensor, and displayed in the simulated scene image correspondingly. Optionally, a capacitive sensor is configured to detect load information of a mowing blade, thereby simulating grass height information after the actuating mechanism is operated. 
     In the above implementations, the processing assembly  180  is communicatively connected to the actuating mechanism, and at least part of the structure of the processing assembly  180  may be disposed within the actuating mechanism, or may be disposed outside the actuating mechanism, so as to transmit a signal to a controller of the actuating mechanism to control the operation of an output motor and a moving motor, thereby controlling the moving and the mowing state of the actuating mechanism. 
     In a fifth implementation of the present application, referring to  FIG. 27 , an outdoor self-moving device is provided. The outdoor self-moving device, which may be a snow sweeper, includes: an actuating mechanism  100   d  including a moving assembly  110   d  configured to achieve a moving function and a working assembly configured to achieve a preset function; a housing configured to support the actuating mechanism  100   d ; an image acquisition module  400   d  capable of acquiring a real-time image  530   d  including at least part of a working area and at least part of a working boundary; a display module  500   d  electrically or communicatively connected to the image acquisition module  400   d , where the display module  500   d  is configured to display the real-time image  530   d  or a simulated scene image  540   d  generated according to the real-time image  530   d ; a boundary generation module  700   d  configured to generate a first virtual boundary corresponding to the working boundary in the real-time image  530   d  by calculating characteristic parameters so as to form the first fusion image; a receiving module  200   d  configured to receive information input by a user of whether the first virtual boundary in the first fusion image needs to be corrected; a correction module  801   d  configured to receive, when the user inputs information that the first virtual boundary needs to be corrected, a user instruction to correct the first virtual boundary to generate a second virtual boundary  730   d  in the real-time image  530   d  or the simulated scene image  540   d  so as to form a second fusion image; a sending module  600   d  configured to transmit the first fusion image that does not need to be corrected or the corrected second fusion image; and a control module  300   d  electrically or communicatively connected to the sending module  600   d  where the control module  300   d  is configured to control the actuating mechanism  100   d  to operate within the first virtual boundary or the second virtual boundary  730   d.    
     Optionally, the boundary generation module  700   d  is configured to generate the first virtual boundary corresponding to the working boundary in the real-time image  530   d  by calculating the characteristic parameters so as to form the first fusion image; the sending module  600   d  is configured to transmit the first fusion image; and the control module  300   d  is electrically or communicatively connected to the sending module  600   d , and configured to control the actuating mechanism  100   d  to operate within the first virtual boundary. 
     Optionally, the outdoor self-moving device further includes an obstacle generation module configured to generate a virtual obstacle identifier corresponding to an obstacle in the real-time image  530   d  according to an instruction input by the user so as to form the first fusion image; the image acquisition module  400   d  is configured to acquire a real-time image  530   d  including at least a part of the working area and at least one obstacle located within the working area, and is electrically or communicatively connected to the sending module  600   d ; and the control module  300   d  is configured to control the actuating mechanism  100   d  to avoid a virtual obstacle in the first fusion image. 
     Optionally, the obstacle generation module is configured to generate a first virtual obstacle identifier corresponding to the obstacle in the real-time image  530   d  by calculating the characteristic parameters so as to form the first fusion image; and the control module  300   d  is configured to control the actuating mechanism  10   d  to avoid the virtual obstacle in the first fusion image. 
     Optionally, the obstacle generation module is configured to generate the first virtual obstacle identifier corresponding to the obstacle in the real-time image  530   d  or the simulated scene image  540   d  by calculating characteristic parameters so as to form the first fusion image; the receiving module  200   d  is configured to receive information input by the user of whether the first virtual obstacle identifier in the first fusion image needs to be corrected; the correction module  801   d  is configured to receive, when the user inputs information that the first virtual obstacle identifier needs to be corrected, the user instruction to correct the first virtual obstacle identifier so as to generate a second virtual obstacle identifier in the real-time image  530   d  or the simulated scene image  540   d  so as to form a second fusion image; the sending module  600   d  is configured to transmit the first fusion image that does not need to be corrected or the corrected second fusion image; and the control module  300   d  is electrically connected or communicatively connected to the sending module  600   d , where the control module  300   d  is configured to control the actuating mechanism  100   d  to avoid the first virtual obstacle identifier in the first fusion image or the second virtual obstacle identifier in the second fusion image. 
     Optionally, the boundary generation module is configured to generate the first virtual obstacle identifier in the real-time image  530   d  or the simulated scene image  540   d  according to the instruction input by the user to form the first fusion image; the sending module  600   d  is configured to transmit the first fusion image; and the control module  300   d  is electrically or communicatively connected to the sending module  600   d , and configured to control the actuating mechanism  100   d  to avoid the first virtual obstacle identifier in the first fusion image. 
     Optionally, a path generation module is configured to generate a moving path in the real-time image  530   d  or the simulated scene image  540   d  according to the instruction input by the user so as to form the first fusion image; the sending module  600   d  is configured to transmit the first fusion image; and the control module  300   d  is electrically or communicatively connected to the sending module  600   d , and is configured to control a moving assembly  110   d  to move along the moving path in the first fusion image. 
     Optionally, the path generation module is configured to generate a first moving path in the real-time image  530   d  or the simulated scene image  540   d  by calculating characteristic parameters in the mowing area so as to form the first fusion image; the receiving module  200   d  is configured to receive information input by the user of whether the first moving path in the first fusion image needs to be corrected; the correction module  801   d  is configured to receive, when the user inputs information that the first moving path needs to be corrected, the user instruction to correct the first moving path to generate a second moving path in the real-time image  530   d  or the simulated scene image  540   d  so as to form a second fusion image; the sending module  600   d  is configured to transmit the first fusion image that does not need to be corrected or the corrected second fusion image; and the control module  300   d  is electrically or communicatively connected to the sending module  600   d , and is configured to control the moving assembly  110   d  to move along the first moving path in the first fusion image or the second moving path in the second fusion image.