A method, device, electronic device and storage medium for correcting the exit direction of a lawn mowing robot

Abstract

The present application relates to a method, device, electronic device and storage medium for correcting the exit direction of a mowing robot, including the following steps: S1, in the process of mapping the mowing robot, obtaining the initial orientation of the base station based on the exit path of the mowing robot; wherein the mowing robot docks with the base station for charging in the orientation of the base station; S2, in the process of the mowing robot returning to the station, obtaining the current orientation of the base station based on the return path of the mowing robot; S3, obtaining the deviation value of the current orientation relative to the initial orientation; S4, obtaining a compensation value according to the deviation value, and correcting the exit direction of the mowing robot according to the compensation value during the process of the mowing robot leaving the station. The implementation of the present application can effectively ensure the accuracy of the exit direction of the mowing robot.

Description

Technical Field

[0001] The present application relates to the technical field of lawn mowing robots, and more specifically, to a method, device, electronic device and storage medium for correcting the exit direction of a lawn mowing robot. Background Art

[0002] Currently, lawn mowing robots can realize automatic mowing operations within a preset range through their wireless boundary settings. Due to the automation of their operation process, they bring great convenience to users and have been chosen by more and more users, especially home users. Among them, before the lawn mowing robot automatically mows the lawn, it is currently common to use the base station as a reference point to construct a graphic of the mowing area. However, during long-term use, the base station will inevitably have a position offset. Some offsets will cause the lawn mowing robot to shift in direction when leaving the station. During the working process, the lawn mowing robot itself cannot know the offset, which affects its entire working process. Summary of the invention

[0003] The technical problem to be solved by the present application is to provide a method, device, electronic device and storage medium for correcting the exit direction of a lawn mowing robot.

[0004] The technical solution adopted by the present application to solve the technical problem is to construct a method for correcting the exit direction of a lawn mowing robot, comprising the following steps:

[0005] S1. During the mapping process of the lawn mower robot, an initial orientation of a base station is acquired based on an outbound path of the lawn mower robot; wherein the lawn mower robot docks with the base station in the orientation of the base station for charging;

[0006] S2. When the lawn mower robot is returning to the station, obtaining the current orientation of the base station based on the path of the lawn mower robot returning to the station;

[0007] S3, obtaining a deviation value of the current orientation relative to the initial orientation;

[0008] S4. Obtain a compensation value according to the deviation value, and correct the exit direction of the lawn mower robot according to the compensation value during the lawn mower robot's exit process.

[0009] Preferably, in the method for correcting the outbound direction of the lawn mower robot described in the present application, in the step S1, the obtaining the initial orientation of the base station based on the outbound path of the lawn mower robot comprises: obtaining the longitude and latitude change values ​​within a preset distance from the base station during the outbound process of the lawn mower robot, so as to obtain the first azimuth angle of the outbound path relative to the base station as the initial orientation of the base station;

[0010] In step S2, obtaining the current orientation of the base station based on the path of the lawn mower robot returning to the station includes: obtaining the longitude and latitude change values ​​within a preset distance from the base station during the lawn mower robot's return to the station, so as to obtain the second azimuth angle of the path returning to the station relative to the base station as the current orientation of the base station.

[0011] Preferably, the method for correcting the exit direction of the lawn mowing robot described in the present application further includes:

[0012] S31. Obtain the absolute value of the deviation value, and execute step S4 when the absolute value of the deviation value is greater than a first preset value.

[0013] Preferably, the method for correcting the exit direction of the lawn mowing robot described in the present application further includes:

[0014] S32, executing step S5 when the absolute value of the deviation value is greater than or equal to a second preset value, wherein the second preset value is greater than the first preset value;

[0015] S5. Generate prompt information to prompt the user to correct the orientation of the base station, and execute step S1.

[0016] Preferably, the method for correcting the exit direction of the lawn mowing robot described in the present application further includes:

[0017] S33, executing step S6 when the absolute value of the deviation value is greater than or equal to a third preset value, wherein the third preset value is greater than the first preset value;

[0018] S6, triggering the lawn mowing robot to rebuild the map and execute the step S1.

[0019] Preferably, the method for correcting the exit direction of the lawn mowing robot described in the present application further includes:

[0020] S7, obtaining the orientation correction completion information of the base station, generating a first trigger instruction to trigger the mowing robot to re-map, and executing the step S1; or generating a second trigger instruction to trigger the mowing robot to perform mowing operations, and executing the step S2.

[0021] Preferably, in the method for correcting the exit direction of the lawn mowing robot described in the present application, in the step S2, it also includes:

[0022] During the process of the lawn mowing robot returning to the base station, visual positioning is performed based on the QR code and the return path of the base station is acquired based on RTK.

[0023] Preferably, in the method for correcting the exit direction of the lawn mowing robot described in the present application, in the step S4, obtaining the compensation value according to the deviation value includes:

[0024] A historical compensation value of the base station is obtained, the deviation value is smoothed based on the historical compensation value to obtain a target compensation value, and the exit direction of the lawn mowing robot is corrected according to the target compensation value.

[0025] The present application also constructs a lawn mowing robot exit direction correction device, comprising:

[0026] An initial orientation acquisition unit, used to acquire an initial orientation of a base station based on an outbound path of the mowing robot during a mapping process of the mowing robot; wherein the mowing robot docks with the base station for charging in this orientation;

[0027] A current orientation acquisition unit, used for acquiring the current orientation of the base station based on the path of the lawn mower robot returning to the station during the lawn mower robot returning to the station;

[0028] An orientation deviation obtaining unit, used to obtain a deviation value of the current orientation relative to the initial orientation;

[0029] The compensation unit is used to obtain a compensation value according to the deviation value, and to correct the exit direction of the lawn mower robot according to the compensation value during the lawn mower robot's exit process.

[0030] The present application also constructs a computer storage medium on which a computer program is stored. When the computer program is executed by a processor, the method for correcting the exit direction of a lawn mowing robot as described in any one of the above items is implemented.

[0031] The present application also constructs an electronic device, including a memory and a processor;

[0032] The memory is used to store computer programs;

[0033] The processor is used to execute the computer program to implement the method for correcting the exit direction of the lawn mowing robot as described in any one of the above items.

[0034] A method, device, electronic device and storage medium for correcting the exit direction of a lawn mower robot implemented in the present application have the following beneficial effects: the accuracy of the exit direction of the lawn mower robot can be effectively guaranteed. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The present application will be further described below with reference to the accompanying drawings and embodiments, in which:

[0036] Figure 1 It is a flow chart of another embodiment of a method for correcting the outbound direction of a lawn mowing robot according to the present application;

[0037] Figure 2is a schematic diagram of another embodiment of a method for correcting the outbound direction of a lawn mowing robot according to the present application;

[0038] Figure 3 is a schematic diagram of another embodiment of a method for correcting the outbound direction of a lawn mowing robot according to the present application;

[0039] Figure 4 is a schematic diagram of another embodiment of a method for correcting the outbound direction of a lawn mowing robot according to the present application;

[0040] Figure 5 It is a flow chart of another embodiment of a method for correcting the outbound direction of a lawn mowing robot according to the present application;

[0041] Figure 6 It is a flow chart of another embodiment of a method for correcting the outbound direction of a lawn mowing robot according to the present application;

[0042] Figure 7 It is a flow chart of another embodiment of a method for correcting the outbound direction of a lawn mowing robot according to the present application;

[0043] Figure 8 The present invention is a logic block diagram of an embodiment of a lawn mowing robot exit direction correction device. DETAILED DESCRIPTION

[0044] In order to have a clearer understanding of the technical features, purposes and effects of the present application, the specific implementation methods of the present application are now described in detail with reference to the accompanying drawings.

[0045] like Figure 1 As shown, in a first embodiment of a method for correcting the exit direction of a lawn mower of the present application, the method includes: S1, in the process of mapping of the lawn mower robot, the initial orientation of the base station is obtained based on the exit path of the lawn mower robot; wherein the lawn mower robot docks with the base station in the direction of the base station for charging; specifically, when the lawn mower robot initially works, it will use the base station as a reference point to construct the current working map, and the lawn mower robot will only perform subsequent mowing operations based on the constructed working map after completing the construction of the current working map. Among them, the construction of the working map can adopt the currently commonly used means such as boundary positioning. In the process of mapping, the exit path of the lawn mower robot is obtained, and based on the exit path, the exit direction of the lawn mower robot relative to the base station can be obtained, and the initial orientation of the base station is obtained. Here, the orientation of the base station can be defined as the connection direction of the lawn mower robot, or the exit direction of the base station. That is, when the lawn mower robot enters and exits the station, it will move in the inlet and outlet directions of the base station and finally connect to the base station for charging and other actions. Then it can be understood that the exit path of the lawn mower robot is closely related to the exit orientation of the base station.

[0046] S2. When the mowing robot is returning to the station, the current orientation of the base station is obtained based on the path of the mowing robot returning to the station. Specifically, when the mowing robot returns to the station after completing the task, the path of the mowing robot returning to the station is obtained. During the process of returning to the station, the mowing robot will control the moving path of the mowing robot as needed to eventually return to the exit of the base station and connect with the base station. The path of the mowing robot returning to the station actually corresponds to the direction of the exit of the base station. At this time, the current orientation of the base station can be obtained based on the path of the mowing robot returning to the station.

[0047] S3. Obtain the deviation value of the current orientation relative to the initial orientation; specifically, obtain the deviation value of the current orientation of the base station and its initial orientation with reference to the initial orientation of the base station. It can be understood that the deviation value is a deviation with a direction. For example, when the current orientation deviates to one side of the initial orientation, the deviation value is a positive value, and when the current orientation deviates to the other side of the initial orientation, the deviation value is a negative value.

[0048] S4, obtaining a compensation value according to the deviation value, and correcting the exit direction of the mowing robot according to the compensation value during the exit process of the mowing robot. Specifically, after obtaining the deviation value, the compensation value is obtained based on the deviation value, and when the mowing robot exits the station again, the exit direction of the mowing robot is compensated according to the compensation value when the mowing robot exits the station, and the compensation process is equivalent to the correction process of the angle. For example, when it obtains a positive deviation, it can perform negative compensation, so that the mowing robot still exits the station along the initial direction of the base station when exiting the station, and after the exit is completed, the compensation is terminated, and the mowing work is continued according to the current composition. It can be understood that the angle compensation of the mowing robot only compensates for the exit process of the mowing robot. The compensation is terminated after the mowing robot exits the station. Among them, the exit of the mowing robot can be judged based on the distance between it and the base station, or it can be confirmed based on other judgment conditions. The compensation is used to make the exit direction of the mowing robot the same or approximately the same as the initial direction of the base station.

[0049] Optionally, in step S1, the initial orientation of the base station based on the outbound path of the mowing robot includes: obtaining the longitude and latitude change values ​​within a preset distance from the base station during the outbound process of the mowing robot, so as to obtain the first azimuth angle of the outbound path relative to the base station as the initial orientation of the base station; specifically, obtaining the outbound path of the mowing robot can obtain the distance from the base station when the mowing robot is outbound to judge the outbound process of the mowing robot. When the distance from the base station to the mowing robot is within a preset distance when the mowing robot is outbound, it is judged that the mowing robot is in the outbound process, and the driving path of the mowing robot within the preset distance range at this time is obtained as the outbound path. The longitude and latitude change values ​​of the outbound path of the mowing robot are obtained, and finally the first azimuth angle of the outbound path relative to the base station is obtained. The azimuth angle can also be understood as an angle relative to the direction of the earth, such as a due north or north angle.

[0050] Optionally, in step S2, the method of obtaining the current orientation of the base station based on the path of the lawn mower robot returning to the station includes: obtaining the longitude and latitude change values ​​within a preset distance from the base station during the process of the lawn mower robot returning to the station, so as to obtain the second azimuth of the path returning to the station relative to the base station as the current orientation of the base station. Specifically, obtaining the path of the lawn mower robot entering the station can be to obtain the distance from the base station when the lawn mower robot enters the station to judge the process of the lawn mower robot entering the station. When the distance from the base station to the lawn mower robot is within a preset distance when entering the station, it is judged that the lawn mower robot is in the process of entering the station, and the driving path of the lawn mower robot within the preset distance range at this time corresponds to the path of entering the station. The longitude and latitude change values ​​of the path of the lawn mower robot entering the station are obtained, and finally the second azimuth of the path of the lawn mower robot entering the station relative to the base station is obtained. The azimuth can also be understood as an angle relative to the direction of the earth, such as a north or north angle. Figure 2 As shown, with due north as reference, the first azimuth is a, such as Figure 3 As shown in , the second azimuth angle obtained by the return path is b. Figure 4 As shown, after the adjustment, the lawn mowing robot moves out of the station at the first azimuth angle.

[0051] like Figure 5 As shown, in one embodiment, based on the above, the mowing robot exit direction correction method of the present application also includes: S31, obtaining the absolute value of the deviation value, and executing the step S4 when the absolute value of the deviation value is greater than the first preset value. That is, after obtaining the deviation value, the deviation degree of the deviation value is judged. It can be understood that the deviation correction action is performed only when the deviation degree exceeds a certain threshold value. In one embodiment, the first preset value can be 5 degrees, that is, when the current direction of the base station deviates from its initial direction by more than 5 degrees, angle compensation is performed when the mowing robot exits the station.

[0052] Optional, such as Figure 6 As shown, a method for correcting the exit direction of a lawn mower robot of the present application also includes: S32, executing step S5 when the absolute value of the deviation value is greater than or equal to a second preset value, wherein the second preset value is greater than the first preset value; S5, generating a prompt message to prompt the user to correct the direction of the base station. Specifically, it can generate a prompt message to prompt the user to correct the direction of the base station when the deviation value of the base station is large, and the prompt information generated can include the deviation angle and direction, and prompt the direction and angle range of the correction. It can also be prompted through sound, light and other signals. In some embodiments, it can be prompted through a user APP or a user UI interface. The second preset value can be 10 degrees, that is, when the deviation value of the base station exceeds the range of 10 degrees, a prompt is given. At this time, the compensation information of the lawn mower robot can be interrupted, and the next step of action can be performed after waiting for the correction result.

[0053] Optionally, a method for correcting the exit direction of a mowing robot of the present application further includes: S7, obtaining the orientation correction completion information of the base station, generating a first trigger instruction to trigger the mowing robot to re-map, and executing the step S1; or generating a second trigger instruction to trigger the mowing robot to perform mowing operations, and executing the step S2. That is, on the basis of the above, when the orientation correction of the base station is completed, it should theoretically obtain the current orientation of the base station as the initial orientation. At this time, when the mowing robot exits the station, it does not need to compensate for the deflection angle, that is, after the base station correction is completed, it clears the obtained deflection angle, and directly exits the station with the initial orientation angle. In another embodiment, since the accuracy of the base station correction process may vary, the mowing robot can be directly triggered to re-map after the base station orientation correction is completed. At this time, the original constructed map will be cleared, the map will be re-constructed, and the initial orientation of the base station will be re-obtained. This process can avoid the errors caused by the base station correction process, which cannot completely match the initial angle at the beginning and cause abnormal work. It is understandable that during the correction process, in some scenarios, the small errors produced are also within the allowable range. Therefore, directly using the original initial orientation as the initial orientation after the base station correction can save composition work and is more practical.

[0054] Optional, such as Figure 7As shown, a method for correcting the exit direction of a lawn mower robot of the present application also includes: S33, executing step S6 when the absolute value of the deviation value is greater than or equal to a third preset value, wherein the third preset value is greater than the first preset value; S6, triggering the lawn mower robot to re-map, and execute the step S1. Specifically, it can directly perform the re-mapping action when the deviation value of the base station is large, so that the lawn mower robot communicates again according to the current orientation of the base station, and executes the relevant steps of correcting the exit direction of the lawn mower robot during the composition process. This is equivalent to re-composing and re-obtaining the initial orientation of the base station. The lawn mower robot will work based on the new composition during operation, and acquire and judge the deviation angle of the base station based on the new initial orientation.

[0055] In one embodiment, the third preset value is the same as the second preset value, and both can be set to be greater than 10 degrees. When the angle of the base station is greater than 10 degrees, the base station is corrected or re-framed. At this time, the historical angle deviation value needs to be cleared.

[0056] Optionally, in a method for correcting the exit direction of a lawn mower robot of the present application, in step S2, it also includes: during the return process of the lawn mower robot, visual positioning is performed based on the QR code and the return path of the base station is obtained based on RTK. That is, in step S2, the process of obtaining the return path of the base station can be performed by visual positioning based on the QR code, and high-precision positioning is performed based on the positioning result and RTK (Real-time kinematic) real-time differential positioning to obtain the running path of the lawn mower robot returning to the station. This process can adopt the currently commonly used data processing process.

[0057] Optionally, in a method for correcting the exit direction of a mowing robot of the present application, in the step S4, the obtaining of the compensation value according to the deviation value includes: obtaining the historical compensation value of the base station, smoothing the deviation value based on the historical compensation value to obtain the target compensation value, and correcting the exit direction of the mowing robot according to the target compensation value. Specifically, after obtaining the deviation value between the current orientation of the base station and the initial orientation, i.e., the current deviation value, the historical compensation value of the most recent recorded working process of the mowing robot can be obtained, and the final calculated value can be obtained by filtering and calculating based on the current deviation value and the historical compensation value as the target compensation value, and the angle compensation can be performed on the exit process of the mowing robot. In one embodiment, the following formula v= 7 / 8v0 + 1 / 8v1 can be used; v is the target compensation value obtained for compensation, v0 is the historical compensation value when the mowing robot worked last time, and v1 is the current actual deviation value obtained. It can be understood that the mowing robot only obtains the historical compensation value used for the most recent exit each time.

[0058] In addition, Figure 8As shown, a lawn mowing robot exit direction correction device of the present application comprises:

[0059] The initial orientation acquisition unit 110 is used to acquire the initial orientation of the base station based on the outbound path of the lawn mower robot during the mapping process of the lawn mower robot; wherein the lawn mower robot docks with the base station for charging in this orientation;

[0060] A current orientation acquisition unit 120, configured to acquire the current orientation of the base station based on a path of the lawn mower robot returning to the base station during the lawn mower robot returning to the base station;

[0061] The orientation deviation obtaining unit 130 is used to obtain a deviation value of the current orientation relative to the initial orientation;

[0062] The compensation unit 140 is used to obtain a compensation value according to the deviation value, and to correct the exit direction of the lawn mower robot according to the compensation value during the lawn mower robot's exit process.

[0063] Specifically, the specific coordinated operation process between the various units of the lawn mower robot exit direction correction device here can refer to the above lawn mower robot exit direction correction method, which will not be repeated here.

[0064] In addition, an electronic device of the present application includes a memory and a processor; the memory is used to store a computer program; the processor is used to execute the computer program to implement any of the above methods for correcting the exit direction of the mowing robot. Specifically, according to an embodiment of the present application, the process described with reference to the flowchart above can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program contains a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed by an electronic device and when executed, it executes the above functions defined in the method of the embodiment of the present application. The electronic device in the present application may be a terminal such as a notebook, a desktop, a tablet computer, a smart phone, or a server.

[0065] In addition, a computer storage medium of the present application stores a computer program thereon, and when the computer program is executed by the processor, any of the above methods for correcting the exit direction of the mowing robot is implemented. Specifically, it should be noted that the above-mentioned computer-readable medium of the present application 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 application, a computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by an instruction execution system, device or device or used in combination with it. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A 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 a 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.

[0066] The computer-readable medium may be included in the electronic device, or may exist independently without being incorporated into the electronic device.

[0067] It can be understood that the above embodiments only express the preferred implementation methods of the present application, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present application; it should be pointed out that for ordinary technicians in this field, without departing from the concept of the present application, the above-mentioned technical features can be freely combined, and several deformations and improvements can be made, which all belong to the protection scope of the present application; therefore, all equivalent changes and modifications made to the scope of the claims of the present application should belong to the scope covered by the claims of the present application.

Claims

1. A method for correcting the exit direction of a lawn mowing robot, characterized in that: The following steps are involved: S1. During the mapping process of the lawn mower robot, an initial orientation of a base station is acquired based on an outbound path of the lawn mower robot; wherein the lawn mower robot docks with the base station in the orientation of the base station for charging; S2. When the lawn mower robot is returning to the station, obtaining the current orientation of the base station based on the path of the lawn mower robot returning to the station; S3, obtaining a deviation value of the current orientation relative to the initial orientation; S4, obtaining a compensation value according to the deviation value, and correcting the exit direction of the lawn mower robot according to the compensation value during the lawn mower robot's exit process; In the step S1, the obtaining of the initial orientation of the base station based on the outbound path of the mowing robot comprises: obtaining the longitude and latitude change values ​​within a preset distance from the base station during the outbound process of the mowing robot, so as to obtain a first azimuth angle of the outbound path relative to the base station as the initial orientation of the base station; In step S2, obtaining the current orientation of the base station based on the path of the lawn mower robot returning to the station includes: obtaining the longitude and latitude change values ​​within a preset distance from the base station during the lawn mower robot's return to the station, so as to obtain the second azimuth angle of the path returning to the station relative to the base station as the current orientation of the base station.

2. The method for correcting the exit direction of a lawn mowing robot according to claim 1, characterized in that: The method further comprises: S31. Obtain the absolute value of the deviation value, and execute step S4 when the absolute value of the deviation value is greater than a first preset value.

3. The method for correcting the exit direction of a lawn mowing robot according to claim 2, characterized in that: The method further comprises: S32, executing step S5 when the absolute value of the deviation value is greater than or equal to a second preset value, wherein the second preset value is greater than the first preset value; S5. Generate prompt information to prompt the user to correct the orientation of the base station, and execute step S1.

4. The method for correcting the exit direction of a lawn mowing robot according to claim 2, characterized in that: The method further comprises: S33, executing step S6 when the absolute value of the deviation value is greater than or equal to a third preset value, wherein the third preset value is greater than the first preset value; S6, triggering the lawn mowing robot to rebuild the map and execute the step S1.

5. The method for correcting the exit direction of a lawn mowing robot according to claim 3, characterized in that: The method further comprises: S7, obtaining the orientation correction completion information of the base station, generating a first trigger instruction to trigger the mowing robot to re-map, and executing the step S1; or generating a second trigger instruction to trigger the mowing robot to perform mowing operations, and executing the step S2.

6. The method for correcting the exit direction of a lawn mowing robot according to claim 1, characterized in that: In the step S2, it also includes: During the process of the lawn mowing robot returning to the base station, visual positioning is performed based on the QR code and the return path of the base station is acquired based on RTK.

7. The method for correcting the exit direction of a lawn mowing robot according to claim 1, characterized in that: In the step S4, obtaining a compensation value according to the deviation value includes: A historical compensation value of the base station is obtained, the deviation value is smoothed based on the historical compensation value to obtain a target compensation value, and the exit direction of the lawn mowing robot is corrected according to the target compensation value.

8. A device for correcting the exit direction of a lawn mowing robot, characterized in that: The device is used to execute the method for correcting the exit direction of a lawn mowing robot as claimed in any one of claims 1 to 7, and comprises: An initial orientation acquisition unit, used to acquire an initial orientation of a base station based on an outbound path of the mowing robot during a mapping process of the mowing robot; wherein the mowing robot docks with the base station for charging in this orientation; A current orientation acquisition unit, used for acquiring the current orientation of the base station based on the path of the lawn mower robot returning to the station during the lawn mower robot returning to the station; An orientation deviation obtaining unit, used to obtain a deviation value of the current orientation relative to the initial orientation; The compensation unit is used to obtain a compensation value according to the deviation value, and to correct the exit direction of the lawn mower robot according to the compensation value during the lawn mower robot's exit process.

9. A computer storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method for correcting the exit direction of a lawn mowing robot as claimed in any one of claims 1 to 7 is implemented.

10. An electronic device, characterized in that: including memory and processor; The memory is used to store computer programs; The processor is used to execute the computer program to implement the method for correcting the exit direction of the lawn mowing robot as described in any one of claims 1 to 7.

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