A lawn boundary calibration method for a lawn mowing robot, a lawn mowing robot and a storage medium

Abstract

A lawn mowing robot lawn boundary calibration method, a lawn mowing robot and a storage medium, the method comprising the steps of: obtaining lawn texture features of a lawn to be calibrated; installing a calibration system on the lawn mowing robot; placing the lawn mowing robot at the initial origin of the lawn boundary; and controlling the lawn mowing robot to move along a preset instruction from the initial origin of the lawn boundary according to the lawn texture features and return to the initial origin of the lawn boundary. The present application has the following advantages: boundary calibration can be completed without any auxiliary objects; the physical coordinates of the lawn boundary can be recorded in real time; the optimal mowing path planning can be designed based on the physical coordinates of the lawn boundary to save time; the physical coordinates of the lawn boundary will not change, and repeated mowing can be completed faster and more conveniently; the lawn mowing robot can turn 360 degrees on the spot.

Description

Technical Field

[0001] The invention belongs to the technical field of lawn mowing robots, and in particular relates to a lawn boundary calibration method of a lawn mowing robot, a lawn mowing robot and a storage medium. Background Art

[0002] With the development of economy and the improvement of quality of life, people pay more and more attention to the living environment, especially the significant increase in the area of ​​public green space. Regular maintenance and pruning of public green space, such as parks, communities, football fields, etc., is a necessary but tedious task. Traditional manual lawn mowers are inefficient and have operational risks, so lawn mowing robots have been widely used and developed. Path planning is the basis for the efficient operation of lawn mowing robots. Path planning guides lawn mowing robots to efficiently and without omissions throughout the green area. The prerequisite for path planning is to obtain the boundaries of the lawn.

[0003] The current methods for defining lawn boundaries are as follows:

[0004] a) A person pushes the mowing robot along the lawn boundary and remembers the track;

[0005] b) Place cables at the edge of the lawn and pass current through them. The mowing robot detects the magnetic field emitted by the current to confirm the edge.

[0006] c) Lay tracks on the lawn borders, and the robot identifies the lawn borders by identifying the tracks;

[0007] d) Setting markers at the lawn boundary, and the robot confirms the lawn boundary by identifying the markers;

[0008] e) Use image segmentation methods to separate the lawn from the mud, but the withered lawn is easily misclassified from the mud; and if there is a green floor next to the lawn, it is also easy to be misclassified from the lawn, resulting in the inability to correctly segment the lawn boundary. The robot cannot accurately walk along the segmented boundary and cannot remember the physical coordinates of the boundary in the real world.

[0009] The above methods either use manual labor, or use auxiliary materials, or increase costs, all of which bring great inconvenience to users. Summary of the invention

[0010] In view of the above problems, the present invention provides a lawn boundary calibration method of a lawn mowing robot, a lawn mowing robot and a storage medium that overcome the above problems or at least partially solve the above problems.

[0011] In order to solve the above technical problems, the present invention provides a lawn boundary calibration method for a lawn mowing robot, the method comprising the steps of:

[0012] Acquire the lawn texture characteristics of the lawn to be calibrated;

[0013] Installing a calibration system on the mowing robot;

[0014] Placing the lawn mowing robot at an initial origin point at the lawn boundary;

[0015] According to the lawn texture features, the calibration system controls the lawn mowing robot to move along preset instructions starting from the initial origin of the lawn boundary and returning to the initial origin of the lawn boundary.

[0016] Preferably, the step of obtaining the lawn texture features of the lawn to be calibrated comprises the following steps:

[0017] Obtaining a lawn texture feature characterization formula;

[0018] Obtaining the regional gradient of the lawn to be calibrated;

[0019] Calculating the area of ​​the lawn to be calibrated;

[0020] The lawn texture feature is calculated according to the lawn texture feature characterization formula, the regional gradient and the regional area.

[0021] Preferably, the lawn texture characteristic characterization formula is expressed as:

[0022]

[0023] Among them, M I represents the lawn texture feature, I represents the image, and I x and I y represents the partial derivatives of image I in the x and y directions, S represents the lawn area, and |S| represents the area of ​​S.

[0024] Preferably, the step of installing a calibration system on the lawn mowing robot comprises the following steps:

[0025] Prepare a first camera, a second camera, a locator and a memory;

[0026] Mounting the first camera and the second camera on the outer surface of the lawn mowing robot;

[0027] Installing the positioner and the memory on the lawn mowing robot;

[0028] Connecting the memory to the first camera, the second camera, the locator and the controller of the lawn mowing robot respectively;

[0029] Storing the lawn texture features in the memory;

[0030] The locator records the motion trajectory of the lawn mowing robot and stores it in the memory.

[0031] Preferably, the calibration system controls the mowing robot to move along a preset instruction from the initial origin of the lawn boundary according to the lawn texture feature and returns to the initial origin of the lawn boundary, comprising the steps of:

[0032] A first camera in the calibration system acquires a first image;

[0033] comparing the first image with the lawn texture features;

[0034] Determining whether the first image is a lawn area image;

[0035] If yes, maintaining the current moving direction of the lawn mowing robot and continuing to move for a preset time;

[0036] If not, the lawn mowing robot is controlled to deflect to the first camera indication area in the calibration system by a preset angle and continue to move for a preset time.

[0037] Preferably, the calibration system controls the mowing robot to move along a preset instruction from the initial origin of the lawn boundary according to the lawn texture feature and returns to the initial origin of the lawn boundary, further comprising the steps of:

[0038] The second camera acquires a second image;

[0039] comparing the second image with the lawn texture features;

[0040] determining whether the second image is a non-lawn area image;

[0041] If yes, maintaining the current moving direction of the lawn mowing robot and continuing to move for a preset time;

[0042] If not, the lawn mowing robot is controlled to deflect toward the area indicated by the second camera by a preset angle and return to the step of determining whether the first image is an image of a lawn area.

[0043] Preferably, the method further comprises the steps of:

[0044] The mowing robot removes grass on the ground within a preset range around the motion track.

[0045] The present invention also provides a lawn mowing robot, comprising:

[0046] The lawn mowing robot body is used to move along a preset instruction and remove grass on the ground within a preset range around the motion trajectory;

[0047] A calibration system, used for calibrating lawn boundaries; the calibration system is arranged on the lawn mowing robot body;

[0048] A controller, used for controlling the lawn mowing robot body to work according to the calibration result of the calibration system;

[0049] Wherein, the controller is capable of executing any of the aforementioned lawn mowing robot lawn boundary calibration methods.

[0050] Preferably, the calibration system includes: a first camera, a second camera, a locator and a memory; the first camera and the second camera are installed on the outer surface of the lawn mowing robot; the locator and the memory are installed on the lawn mowing robot; the memory is respectively connected to the first camera, the second camera, the locator and the controller.

[0051] The present invention also provides a non-transitory computer-readable storage medium, which stores computer instructions, and the computer instructions are used to enable the computer to execute any of the aforementioned lawn boundary calibration methods for the lawn mowing robot.

[0052] One or more technical solutions in the embodiments of the present invention have at least the following technical effects or advantages:

[0053] (1) Boundary demarcation can be completed without any auxiliary objects;

[0054] (2) The physical coordinates of the lawn boundary can be recorded in real time;

[0055] (3) The optimal mowing path planning can be designed based on the physical coordinates of the lawn boundary to save time;

[0056] (4) The physical coordinates of the lawn boundary will not change, so repeated mowing can be completed faster and more conveniently;

[0057] (5) The lawn mower robot can turn 360 degrees on the spot. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0059] Figure 1 It is a flow chart of a lawn boundary calibration method of a lawn mowing robot provided by an embodiment of the present invention;

[0060] Figure 2 is a structural schematic diagram of a lawn mowing robot provided by an embodiment of the present invention;

[0061] Figure 3It is a schematic diagram of the use of a lawn boundary calibration method for a lawn mowing robot provided by an embodiment of the present invention;

[0062] Figure 4 It is a schematic diagram of the use of a lawn boundary calibration method for a lawn mowing robot provided by an embodiment of the present invention;

[0063] Figure 5 It is a schematic diagram of the use of a lawn boundary calibration method for a lawn mowing robot provided by an embodiment of the present invention;

[0064] Figure 6 It is a schematic diagram of the use of a lawn boundary calibration method for a lawn mowing robot provided by an embodiment of the present invention;

[0065] Figure 7 It is a schematic diagram of the use of a lawn boundary calibration method for a lawn mowing robot provided by an embodiment of the present invention;

[0066] Figure 8 It is a schematic diagram of the use of a lawn boundary calibration method for a lawn mowing robot provided by an embodiment of the present invention;

[0067] Fig. 9 It is a schematic diagram of the use of a lawn boundary calibration method for a lawn mowing robot provided by an embodiment of the present invention;

[0068] Fig.10 It is a schematic diagram of the use of a lawn boundary calibration method for a lawn mowing robot provided by an embodiment of the present invention;

[0069] Fig.11 It is a schematic diagram of the use of a lawn boundary calibration method for a lawn mowing robot provided by an embodiment of the present invention;

[0070] Fig.12 It is a schematic diagram of the use of a lawn boundary calibration method for a lawn mowing robot provided by an embodiment of the present invention;

[0071] Fig.13 It is a schematic diagram of the use of a lawn boundary calibration method for a lawn mowing robot provided by an embodiment of the present invention;

[0072] Fig.14 The present invention is a schematic diagram of a method for calibrating a lawn boundary of a lawn mowing robot provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0073] The present invention will be described in detail below in conjunction with specific implementations and examples, and the advantages and various effects of the present invention will be more clearly presented. It should be understood by those skilled in the art that these specific implementations and examples are used to illustrate the present invention, rather than to limit the present invention.

[0074] Throughout the specification, unless otherwise specifically stated, the terms used herein should be understood as meanings commonly used in the art. Therefore, unless otherwise defined, all technical and scientific terms used herein have the same meanings as those generally understood by those skilled in the art to which the present invention belongs. In the event of a conflict, the present specification takes precedence.

[0075] Unless otherwise specified, various raw materials, reagents, instruments and equipment used in the present invention can be purchased from the market or prepared by existing methods.

[0076] like Figure 1 In an embodiment of the present application, the present invention provides a lawn boundary calibration method for a lawn mowing robot, the method comprising the steps of:

[0077] S1: Obtaining the lawn texture features of the lawn to be calibrated;

[0078] In an embodiment of the present application, the step of obtaining the lawn texture features of the lawn to be calibrated includes the following steps:

[0079] Obtaining a lawn texture feature characterization formula;

[0080] Obtaining the regional gradient of the lawn to be calibrated;

[0081] Calculating the area of ​​the lawn to be calibrated;

[0082] The lawn texture feature is calculated according to the lawn texture feature characterization formula, the regional gradient and the regional area.

[0083] In an embodiment of the present application, the lawn texture features are described by a lawn texture feature characterization formula, which is also called an orthogonalized second-order moment matrix (i.e., a covariance matrix). The orthogonalized texture description of the lawn has two basic characteristics: stability - remaining unchanged for a specific transformation; and discriminability - different textures have different orthogonalized descriptions. By describing the lawn texture in an orthogonalized manner, the invariance of the lawn texture can be maintained under changes in viewpoint, lighting, and support area, laying the foundation for matching and tracking of lawn areas.

[0084] In the embodiment of the present application, when obtaining the lawn texture features of the lawn to be calibrated, firstly obtain the lawn texture feature characterization formula, the expression of the lawn texture feature characterization formula is:

[0085]

[0086] Among them, M I represents the lawn texture feature, I represents the image, and I x and I yrepresents the partial derivative of image I in the x and y directions, S represents the lawn area, and |S| represents the area of ​​S. Then, the regional gradient of the lawn to be calibrated is obtained, such as the length, width, angle and other information of the lawn to be calibrated, and then the regional area |S| of the lawn to be calibrated is calculated by mathematical method; then, the regional area |S| is substituted into the lawn texture feature characterization formula to calculate the lawn texture feature. The lawn texture feature representation is to calculate the second-order moment matrix on the lawn area and then divide it by its area for orthogonalization.

[0087] S2: Install the calibration system on the lawn mowing robot;

[0088] In an embodiment of the present application, the step of installing a calibration system on a lawn mowing robot includes the following steps:

[0089] Prepare a first camera, a second camera, a locator and a memory;

[0090] Mounting the first camera and the second camera on the outer surface of the lawn mowing robot;

[0091] Installing the positioner and the memory on the lawn mowing robot;

[0092] Connecting the memory to the first camera, the second camera, the locator and the controller of the lawn mowing robot respectively;

[0093] Storing the lawn texture features in the memory;

[0094] The locator records the motion trajectory of the lawn mowing robot and stores it in the memory.

[0095] In an embodiment of the present application, the lawn boundary of the mowing robot is calibrated by a calibration system. Specifically, the calibration system includes: a first camera, a second camera, a locator and a memory, the first camera and the second camera are installed on the outer surface of the mowing robot, the first camera faces the first area and is used to obtain a first image of the first area, and the second camera faces the second area and is used to obtain a second image of the second area, then the locator and the memory are installed on the mowing robot, and the memory is connected to the first camera, the second camera, the locator and the controller of the mowing robot respectively, the lawn texture features obtained by step S1 are stored in the memory, and the locator is used to record the motion trajectory of the mowing robot and store it in the memory.

[0096] S3: placing the lawn mowing robot at an initial origin of the lawn boundary;

[0097] In an embodiment of the present application, after completing steps S1 and S2, the lawn mowing robot is placed at the initial origin of the lawn boundary. The initial origin of the lawn boundary can be selected arbitrarily as long as it is located on the lawn boundary. Then, the lawn boundary of the lawn mowing robot is calibrated through step S4.

[0098] S4: According to the lawn texture features, the calibration system controls the lawn mowing robot to move along preset instructions starting from the initial origin of the lawn boundary and returning to the initial origin of the lawn boundary.

[0099] In an embodiment of the present application, the calibration system controls the mowing robot to move along a preset instruction from the initial origin of the lawn boundary and return to the initial origin of the lawn boundary according to the lawn texture feature, including the steps of:

[0100] A first camera in the calibration system acquires a first image;

[0101] comparing the first image with the lawn texture features;

[0102] Determining whether the first image is a lawn area image;

[0103] If yes, maintaining the current moving direction of the lawn mowing robot and continuing to move for a preset time;

[0104] If not, the lawn mowing robot is controlled to deflect to the first camera indication area in the calibration system by a preset angle and continue to move for a preset time.

[0105] like Figure 3-4 In the embodiment of the present application, the lawn mower robot is placed at the initial origin A of the lawn boundary, and the movement direction is from A to B. The first camera in the calibration system (installed on the left side of the lawn mower robot, used to obtain the first image of the area on the left side of the lawn mower robot's movement direction) can periodically obtain the first image (the image acquisition period is set as needed), and compare the first image with the lawn texture features of the lawn to be calibrated that were pre-calculated in step S1 (that is, the lawn orthogonalized second-order moment matrix texture features) to identify whether the first image is a lawn. When the image obtained by the camera can match the lawn texture features after comparison, it means that the first image is a lawn. Otherwise, the first image is not a lawn. When the lawn mower robot moves from A to B, and from B to C, the first image obtained by the first camera can match the lawn texture features, which means that the lawn mower robot is moving on the lawn area. At this time, the lawn mower robot maintains its current movement direction and continues to move for a preset time. And Figure 4In the process of moving from C to D, since the first image cannot match the lawn texture features, the movement direction of the mowing robot needs to be adjusted at this time. The controller controls the mowing robot to deflect to the area indicated by the first camera (that is, the left area of ​​the movement direction of the mowing robot) by a preset angle and continue to move for a preset time. This preset angle can be selected as needed. For example, the deflection angle of each deflection is 5°. This deflection angle can also be adjusted accordingly according to the setting of the preset time. At this time, after the above steps, the mowing robot moves from C to D, and can continue to stay on the lawn without deviating from the lawn and entering the non-lawn area. During this process, the locator continuously receives the movement trajectory of the mowing robot.

[0106] In the embodiment of the present application, the result of comparing the first image with the lawn texture features can ensure that the mowing robot continuously moves on the lawn without leaving the lawn and entering the non-lawn area. However, in some cases, part of the motion trajectory of the mowing robot may deviate from the boundary between the lawn area and the non-lawn area, and the two do not completely overlap. In order to calibrate the lawn boundary more accurately, a second camera is required at this time.

[0107] In an embodiment of the present application, the calibration system controls the lawn mowing robot to move along a preset instruction from the initial origin of the lawn boundary and return to the initial origin of the lawn boundary according to the lawn texture feature, and further comprises the steps of:

[0108] The second camera acquires a second image;

[0109] comparing the second image with the lawn texture features;

[0110] determining whether the second image is a non-lawn area image;

[0111] If yes, maintaining the current moving direction of the lawn mowing robot and continuing to move for a preset time;

[0112] If not, the lawn mowing robot is controlled to deflect toward the area indicated by the second camera by a preset angle and return to the step of determining whether the first image is an image of a lawn area.

[0113] like Figure 3-4In an embodiment of the present application, while the first camera in the calibration system acquires the first image, the second camera (installed on the right side of the lawn mower robot, used to acquire the second image of the area on the right side of the lawn mower robot's movement direction) can periodically acquire the second image, that is, dual cameras are used to acquire the boundary between the lawn area and the non-lawn area, the first camera is used to track the first image of the lawn area on the left side of the boundary, and the second camera is used to track the second image of the non-lawn area on the right side of the boundary. The expected motion trajectory of the lawn mower robot should completely overlap with the boundary. At this time, the first image is always an image of the lawn area, and the second image is always an image of the non-lawn area. When the lawn texture feature appears in the second image of the second camera, it means that the motion trajectory of the mowing robot has deviated from the boundary and deviated to the left of the boundary. At this moment, the mowing robot is controlled to deviate to the right (that is, the area indicated by the second camera) by a preset angle to adjust the direction and return to the boundary. At this moment, the first image is the lawn area image and the second image is the non-lawn area image, and the mowing robot continues to move forward in this direction; when the lawn texture feature does not appear in the first image of the first camera, it means that the motion trajectory of the mowing robot has deviated from the boundary and deviated to the right of the boundary. At this moment, the mowing robot is controlled to deviate to the left (that is, the area indicated by the first camera) by a preset angle to adjust the direction and return to the boundary. At this moment, the first image is the lawn area image and the second image is the non-lawn area image, and the mowing robot continues to move forward in this direction. The above-mentioned judgment process of the first camera and the second camera and the motion trajectory adjustment process of the mowing robot continue until the mowing robot returns to the initial origin of the lawn boundary. In this process, the motion trajectory of the mowing robot completely coincides with the boundary between the lawn area and the non-lawn area. The locator (Beidou GPS locator) records the boundary position information and uses it for the next path planning of the mowing robot.

[0114] In an embodiment of the present application, the method further comprises the steps of:

[0115] The mowing robot removes grass on the ground within a preset range around the motion track.

[0116] In the embodiment of the present application, when the mowing robot is calibrating the boundary, it can simultaneously remove the grass on the ground within the preset range of the motion trajectory (ie, the boundary), thereby increasing the mowing efficiency.

[0117] like Figure 5-11The figure shows a schematic diagram of the lawn mower robot provided by the present application walking at different positions of the lawn boundary. For the convenience of subsequent explanation, the camera recording the lawn area is defined as camera No. 1, and the camera recording the non-lawn area is defined as camera No. 2. When the boundary is a straight line, the first image recorded by camera No. 1 should all be lawn area images, and the second image recorded by camera No. 2 should all be non-lawn area images. It should be noted that in the present application, only camera No. 1 is used to record lawn area images, and camera No. 2 is used to record non-lawn area images, that is, the lawn is always kept on the left side of the movement direction of the lawn mower robot. If the positions of the lawn and the non-lawn in actual situations are exactly opposite to those in the present application, the lawn mower robot can be run in another direction.

[0118] like Figure 7 As shown, when the lawn area is convex, as the lawn mowing robot moves along the boundary, the field of view of camera No. 1 slowly starts to have non-lawn field of view in the area to the right of the field of view of camera No. 1 from the field of view of all lawn. At this time, it is determined that the lawn mowing robot needs to adjust the preset angle direction toward the lawn area until the field of view of camera No. 1 is restored to the field of view of all lawn.

[0119] like Figure 8 As shown, when the lawn area is concave, as the lawn mowing robot moves along the boundary, the field of view of camera No. 2 slowly starts to have a lawn field of view in the left area of ​​the field of view of camera No. 2 from the non-lawn area. At this time, it is determined that the robot needs to adjust the preset angle direction toward the non-lawn area until the field of view of camera No. 2 is completely restored to the non-lawn area.

[0120] like Fig. 9 The figure shows two situations when the lawn mowing robot encounters a 90-degree corner boundary.

[0121] like Fig.10 Shown Fig. 9 Case 1: The lawn area is a concave 90-degree corner. When the area recorded by camera 2 completely changes from the non-lawn area to the lawn area, it is determined that the mowing robot needs to go straight for a distance (the distance is the length of the vehicle body) and then rotate 90 degrees to the right to the non-lawn area.

[0122] like Fig.11 Shown Fig. 9 Case 2: The lawn area is a convex 90-degree corner. When the area recorded by camera 1 completely changes from the lawn area to the non-lawn area, it is determined that the mowing robot needs to rotate 90 degrees to the left in the direction of the lawn area.

[0123] Next, we will further explain how the binocular camera controls the robot to turn left, turn right, and go straight:

[0124] like Fig.12 As shown, the left box area is the lawn area photographed by camera 1, and the right box area is the non-lawn area photographed by camera 2. Local areas 1, 2, 3, and 4 in the two camera images are used to determine whether the mowing robot needs to turn.

[0125] like Fig.12 As shown in the figure, when the mowing robot is moving straight, the two cameras each capture an area and compare it with the learned lawn texture features, and determine whether area 2 and area 3 are lawn or non-lawn. When the mowing robot believes that area 2 is lawn and area 3 is not lawn during driving, the mowing robot continues to move forward. Areas 1 and 4 here are not within the real-time matching range, so they are not considered. In actual scenarios, area 1 always captures lawn areas, and area 4 always captures non-lawn areas, which are used here as a comparison illustration.

[0126] like Fig.13 As shown, when area 2 is a lawn and area 3 is also a lawn during the real-time matching process of the lawn mowing robot, the lawn mowing robot should turn right and continue to go straight until area 3 becomes a non-lawn area during the real-time matching process.

[0127] like Fig.14 As shown, when the lawn mowing robot considers that area 2 is not a lawn and area 3 is not a lawn during the real-time matching process, the lawn mowing robot should turn left and continue to go straight until area 2 becomes a lawn during the real-time matching process.

[0128] like Figure 2 The present invention also provides a lawn mowing robot, comprising:

[0129] The lawn mowing robot body 10 is used to move along a preset instruction and remove grass on the ground within a preset range around the movement trajectory;

[0130] A calibration system 20, used for calibrating the lawn boundary; the calibration system 20 is arranged on the lawn mowing robot body 10;

[0131] A controller, used for controlling the lawn mowing robot body 10 to work according to the calibration result of the calibration system 20;

[0132] Wherein, the controller is capable of executing any of the aforementioned lawn mowing robot lawn boundary calibration methods.

[0133] In an embodiment of the present application, the calibration system 20 includes: a first camera 21, a second camera 22, a locator 23 and a memory; the first camera 21 and the second camera 22 are installed on the outer surface of the lawn mower robot; the locator 23 and the memory are installed on the lawn mower robot; the memory is respectively connected to the first camera 21, the second camera 22, the locator 23 and the controller.

[0134] The present invention also provides a non-transitory computer-readable storage medium, which stores computer instructions, and the computer instructions are used to enable the computer to execute any of the aforementioned lawn boundary calibration methods for the lawn mowing robot.

[0135] It should be noted that the computer-readable medium disclosed above may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present disclosure, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in combination with an instruction execution system, device or device. In the present disclosure, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, in which a computer-readable program code is carried. This propagated data signal may take a variety of forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination of the above. The computer readable signal medium may also be any computer readable medium other than a computer readable storage medium, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the computer readable medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0136] The computer-readable medium may be included in the electronic device, or may exist independently without being incorporated into the electronic device.

[0137] The computer-readable medium carries one or more programs. When the one or more programs are executed by the electronic device, the electronic device: obtains at least two Internet Protocol addresses; sends a node evaluation request including the at least two Internet Protocol addresses to a node evaluation device, wherein the node evaluation device selects an Internet Protocol address from the at least two Internet Protocol addresses and returns it; receives the Internet Protocol address returned by the node evaluation device; wherein the obtained Internet Protocol address indicates an edge node in a content distribution network.

[0138] Alternatively, the computer-readable medium carries one or more programs, and when the one or more programs are executed by the electronic device, the electronic device: receives a node evaluation request including at least two Internet Protocol addresses; selects an Internet Protocol address from the at least two Internet Protocol addresses; and returns the selected Internet Protocol address; wherein the received Internet Protocol address indicates an edge node in a content distribution network.

[0139] Computer program code for performing the operations of the present disclosure may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0140] The lawn mowing robot lawn boundary calibration method, lawn mowing robot and storage medium provided by the present application have the following beneficial effects:

[0141] (1) Boundary demarcation can be completed without any auxiliary objects;

[0142] (2) The physical coordinates of the lawn boundary can be recorded in real time;

[0143] (3) The optimal mowing path planning can be designed based on the physical coordinates of the lawn boundary to save time;

[0144] (4) The physical coordinates of the lawn boundary will not change, so repeated mowing can be completed faster and more conveniently;

[0145] (5) The lawn mower robot can turn 360 degrees on the spot.

[0146] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of more restrictions, the elements defined by the sentence "including one..." do not exclude the existence of other identical elements in the process, method, article or device including the elements. The above is only a specific implementation of the present application, so that those skilled in the art can understand or implement the present application. The various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features applied for herein.

[0147] In short, the above is only a preferred embodiment of the technical solution of the present invention, and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A lawn boundary calibration method for a lawn mowing robot, characterized in that: The method comprises the steps of: Acquire the lawn texture characteristics of the lawn to be calibrated; Installing a calibration system on the mowing robot; Placing the lawn mowing robot at an initial origin point at the lawn boundary; According to the lawn texture features, the calibration system controls the lawn mowing robot to move along a preset instruction from the lawn boundary initial origin and return to the lawn boundary initial origin; The step of obtaining the lawn texture features of the lawn to be calibrated comprises the following steps: Obtaining a lawn texture feature characterization formula; Obtaining the regional gradient of the lawn to be calibrated; Calculating the area of ​​the lawn to be calibrated; Calculate the lawn texture feature according to the lawn texture feature characterization formula, the regional gradient and the regional area; The expression of the lawn texture feature characterization formula is: Among them, M I represents the lawn texture feature, I represents the image, and I x and I y represents the partial derivatives of image I in the x and y directions, S represents the lawn area, and |S| represents the area of ​​S; The step of installing the calibration system on the lawn mowing robot comprises the following steps: Prepare a first camera, a second camera, a locator and a memory; Mounting the first camera and the second camera on the outer surface of the lawn mowing robot; Installing the positioner and the memory on the lawn mowing robot; Connecting the memory to the first camera, the second camera, the locator and the controller of the lawn mowing robot respectively; Storing the lawn texture features in the memory; The locator records the motion trajectory of the lawn mowing robot and stores it in the memory; The calibration system controls the mowing robot to move from the initial origin of the lawn boundary along a preset instruction according to the lawn texture feature and returns to the initial origin of the lawn boundary, comprising the steps of: A first camera in the calibration system acquires a first image; comparing the first image with the lawn texture features; Determining whether the first image is a lawn area image; If yes, maintaining the current moving direction of the lawn mowing robot and continuing to move for a preset time; If not, controlling the lawn mowing robot to deflect to the first camera indication area in the calibration system by a preset angle and continue to move for a preset time; The calibration system controls the mowing robot to move from the initial origin of the lawn boundary along the preset instructions and return to the initial origin of the lawn boundary, and further comprises the steps of: The second camera acquires a second image; comparing the second image with the lawn texture features; determining whether the second image is a non-lawn area image; If yes, maintaining the current moving direction of the lawn mowing robot and continuing to move for a preset time; If not, the lawn mowing robot is controlled to deflect toward the area indicated by the second camera by a preset angle and return to the step of determining whether the first image is an image of a lawn area.

2. The lawn boundary calibration method of a lawn mowing robot according to claim 1, characterized in that: The method further comprises the steps of: The mowing robot removes grass on the ground within a preset range around the motion track.

3. A non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to enable the computer to execute the lawn boundary calibration method of the lawn mowing robot according to any one of claims 1-2.

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