A method, system, storage medium and intelligent terminal for correcting the moving trajectory of a lawn mower

Abstract

The present application relates to a method, system, storage medium and intelligent terminal for correcting the moving trajectory of a lawn mower, and relates to the field of lawn mower control technology. It includes obtaining first electromagnetic intensity information and second electromagnetic intensity information; determining whether the first electromagnetic intensity information is equal to the second electromagnetic intensity information; if they are equal, outputting a correct signal and controlling the lawn mower to continue moving along the moving direction; if they are not equal, calculating the difference between the first electromagnetic intensity information and the second electromagnetic intensity information to determine the difference intensity information, and determining the sign information and numerical information according to the difference intensity information; determining the adjustment runner information according to the sign information, and determining the adjustment speed information according to the numerical information; controlling the runner corresponding to the adjustment runner information on the lawn mower to accelerate to the speed corresponding to the adjustment speed information until a correct signal is output. The present application has the effect of enabling the lawn mower to correct the moving trajectory in time after deviating from the original set track.

Description

Technical Field

[0001] The present application relates to the field of lawn mower control technology, and in particular to a method, a system, a storage medium, and an intelligent terminal for correcting the moving trajectory of a lawn mower. Background Art

[0002] A lawn mower is a device that uses a rotating blade to trim the grass on a lawn. Lawn mowers are classified into semi-automatic lawn mowers and fully automatic lawn mowers. Among them, a semi-automatic lawn mower needs to be manually pushed to move to trim the grass on the lawn, and a fully automatic lawn mower will move on the lawn according to a set program to trim the grass on the lawn.

[0003] In the related art, when a fully automatic lawn mower trims the grass on a lawn, the lawn mower needs to move along a set trajectory for operation so that all the grass to be trimmed on the lawn can be processed.

[0004] In view of the above related art, the inventor believes that since there are sundries such as stones on the lawn, the lawn mower may deviate from the original set track under the action of the sundries during the moving process, resulting in poor operation effect of the lawn mower, and there is still room for improvement. Summary of the Invention

[0005] In order to correct the moving track of the lawn mower in time after it deviates from the original set track, the present application provides a method, a system, a storage medium, and an intelligent terminal for correcting the moving trajectory of a lawn mower.

[0006] In a first aspect, the present application provides a method for correcting the moving trajectory of a lawn mower, adopting the following technical solution:

[0007] A method for correcting the moving trajectory of a lawn mower includes:

[0008] Obtaining first electromagnetic intensity information of a preset first sensor and second electromagnetic intensity information of a preset second sensor;

[0009] Judging whether the value corresponding to the first electromagnetic intensity information is equal to the value corresponding to the second electromagnetic intensity information;

[0010] If the value corresponding to the first electromagnetic intensity information is equal to the value corresponding to the second electromagnetic intensity information, outputting a correct signal and controlling the lawn mower to continue moving along a preset moving direction;

[0011] If the value corresponding to the first electromagnetic intensity information is not equal to the value corresponding to the second electromagnetic intensity information, calculating the difference between the first electromagnetic intensity information and the second electromagnetic intensity information to determine difference intensity information, where the difference is the value corresponding to the first electromagnetic intensity information minus the value corresponding to the second electromagnetic intensity information;

[0012] Determine symbol information and numerical information according to the difference intensity information;

[0013] Match and analyze the symbol information stored in the preset wheel control database with the adjusted wheel information to determine the adjusted wheel information corresponding to the symbol information, and match and analyze the numerical information stored in the preset speed control database with the adjusted speed information to determine the adjusted speed information corresponding to the numerical information;

[0014] Control the speed corresponding to the adjusted wheel information on the lawn mower to the speed corresponding to the adjusted speed information of the wheel until a correct signal is output.

[0015] By adopting the above technical solution, during the movement of the lawn mower, obtain the first electromagnetic intensity information of the first sensor and the second electromagnetic intensity information of the second sensor to realize the comparison of the electromagnetic intensities of the two. If the numerical values of the two are inconsistent, it means that the lawn mower deviates from the original preset track. At this time, adjust the wheel speed on the lawn mower according to the difference between the two to make the lawn mower move towards the original preset track, so that the moving track of the lawn mower can be corrected in time after deviating from the original set track.

[0016] Optionally, it further includes:

[0017] Match and analyze the first electromagnetic intensity information stored in the preset first distance database with the first distance information to determine the first distance information corresponding to the first electromagnetic intensity information, and match and analyze the second electromagnetic intensity information stored in the preset second distance database with the second distance information to determine the second distance information corresponding to the second electromagnetic intensity information;

[0018] Calculate the difference between the second distance information and the first distance information to determine the difference distance information;

[0019] Judge whether the distance value corresponding to the difference distance information is less than the preset fixed value;

[0020] If the distance value corresponding to the difference distance information is less than the fixed value, output a normal movement signal and control the lawn mower to move in the corresponding state;

[0021] If the distance value corresponding to the difference distance information is not less than the fixed value, output a detachment signal and control the preset fixed wheel on the lawn mower to move at a preset fixed speed, so that the lawn mower deviates in the preset fixed direction until a normal movement signal is output.

[0022] By adopting the above technical solution, determine the distances between the first sensor and the second sensor and the preset cable respectively. When the difference in the distances between the two is large, it means that the lawn mower may deviate from the original track. At this time, control the set wheels of the lawn mower to rotate at the corresponding speed to realize the turning of the lawn mower, so that the lawn mower can be corrected back into the track after deviating from the original track.

[0023] Optionally, when an output disconnection signal occurs, the control method of the lawn mower includes:

[0024] Obtain the moving speed information of the fixed rotating wheel of the lawn mower;

[0025] Judge whether the speed corresponding to the moving speed information is less than the preset permitted speed;

[0026] If the speed corresponding to the moving speed information is not less than the permitted speed, control the fixed rotating wheel on the lawn mower to move at a fixed speed, so that the lawn mower deviates in a fixed direction until a normal moving signal is output;

[0027] If the speed corresponding to the moving speed information is less than the permitted speed, control the lawn mower to perform adjusted movement with the adjusted rotating wheel information and the adjusted speed information until a normal moving signal is output.

[0028] By adopting the above technical solution, after the lawn mower deviates from the original track, it is determined whether to adjust the speed of the lawn mower to a fixed speed according to the moving speed of the lawn mower, so as to reduce the overshoot of the lawn mower.

[0029] Optionally, after the difference intensity information is determined, the lawn mower moving trajectory correction method further includes:

[0030] Judge whether the intensity value corresponding to the difference intensity information is within the preset normal range;

[0031] If the intensity value corresponding to the difference intensity information is within the normal range, determine the adjusted rotating wheel information and the adjusted speed information according to the difference intensity information, and control the corresponding movement of the lawn mower;

[0032] If the intensity value corresponding to the difference intensity information is not within the normal range, determine a detection interval with a duration range of a preset detection value on the preset positive time axis, and determine the first change information of the first electromagnetic intensity information within each preset unit duration and the second change information of the second electromagnetic intensity within each unit duration in the detection interval;

[0033] Determine the median in each first change information to determine the first median information, and determine the median in each second change information to determine the second median information;

[0034] Calculate the difference between each first change information and the first median information to determine the first difference information, calculate the difference between each second change information and the second median information to determine the second difference information, and determine the maximum difference information from the first difference information and the second difference information;

[0035] Judge whether the value corresponding to the maximum difference information is greater than the preset interference value;

[0036] If the value corresponding to the maximum difference information is not greater than the interference value, an output device damage signal is output and the lawn mower is controlled to stop moving;

[0037] If the value corresponding to the maximum difference information is greater than the interference value, an interference signal is output and the lawn mower is controlled to move in its original state.

[0038] By adopting the above technical solution, the change of the electromagnetic intensity of the first sensor and the second sensor on the lawn mower is monitored. When there is a large change in the electromagnetic intensity, it is determined whether there is an external interference source affecting the electromagnetic intensity value according to the change value, so as to determine whether the first sensor or the second sensor is damaged.

[0039] Optionally, after the interference signal is output, the lawn mower movement trajectory correction method further includes:

[0040] Timing is performed according to the interference signal to output interference duration information;

[0041] When the intensity value corresponding to the difference intensity information is not within the normal range, it is judged whether the duration value corresponding to the interference duration information is greater than the preset interval value;

[0042] If the duration value corresponding to the interference duration information is greater than the interval value, the detection interval is re-determined and calculation and judgment are performed;

[0043] If the duration value corresponding to the interference duration information is not greater than the interval value, the lawn mower is controlled to move in its original state.

[0044] By adopting the above technical solution, when there is an external interference source, the actual situation of the lawn mower is not judged again due to the interference situation within a specified time, so as to reduce the previous data and prevent the situation that the data judgment in the acquisition interval is inaccurate, thereby reducing the wrong movement of the lawn mower.

[0045] Optionally, it further includes:

[0046] Obtain status information during the movement of the lawn mower;

[0047] Judge whether the status corresponding to the status information is consistent with the preset collision status;

[0048] If the status corresponding to the status information is not consistent with the collision status, an unobstructed signal is output and the lawn mower is controlled to continue moving in its original state;

[0049] If the status corresponding to the status information is consistent with the collision status, a blocking signal is output and the current orientation information of the lawn mower is obtained, and the avoidance direction information perpendicular to and facing the second sensor is determined according to the current orientation information;

[0050] Control the lawn mower to move a preset retreat distance in the opposite direction of the direction corresponding to the current orientation information, and control the lawn mower to move a preset avoidance distance in the direction corresponding to the avoidance direction information;

[0051] After the lawn mower moves the avoidance distance, control the lawn mower to move the retreat distance in the direction corresponding to the current orientation information and determine whether there is still a blocking signal;

[0052] If there is no blocking signal, output a passing signal and control the lawn mower to move in the opposite direction of the direction corresponding to the avoidance direction information until a correct signal is output;

[0053] If there is still a blocking signal, control the lawn mower to repeatedly move in the opposite direction of the direction corresponding to the current orientation information, the direction corresponding to the avoidance direction information, and the direction corresponding to the current orientation information until a passing signal is output.

[0054] By adopting the above technical solution, when the lawn mower encounters an obstacle during movement, the lawn mower can bypass the obstacle to avoid it, realizing the normal movement operation of the lawn mower on the lawn.

[0055] Optionally, the method of repeatedly controlling the lawn mower to move in the direction corresponding to the avoidance direction information includes:

[0056] Calculate and update the avoidance distance according to a preset correction ratio and the avoidance distance, and output a correction signal after moving at the updated avoidance distance;

[0057] Count according to the correction signal to determine the correction times information;

[0058] Judge whether the number value corresponding to the correction times information is greater than the preset permission value;

[0059] If the number value corresponding to the correction times information is not greater than the permission value, control the avoidance distance to be updated when the lawn mower moves in the direction corresponding to the avoidance direction information again;

[0060] If the number value corresponding to the correction times information is greater than the permission value, maintain the avoidance distance for repeated movement.

[0061] By adopting the above technical solution, the distance that the lawn mower moves in the avoidance direction each time can be adjusted, thereby reducing the situation that the moving distance of the lawn mower in the avoidance direction is too large, and possibly improving the efficiency of the lawn mower avoiding obstacles.

[0062] In a second aspect, the present application provides a lawn mower movement trajectory correction system, adopting the following technical solution:

[0063] A lawn mower movement trajectory correction system, comprising:

[0064] An acquisition module for acquiring first electromagnetic intensity information of a preset first sensor and second electromagnetic intensity information of a preset second sensor;

[0065] A processing module, connected to the acquisition module and the judgment module, for storing and processing information;

[0066] A judgment module, connected to the acquisition module and the processing module, for judging information;

[0067] The judgment module judges whether the value corresponding to the first electromagnetic intensity information is equal to the value corresponding to the second electromagnetic intensity information;

[0068] If the judgment module judges that the value corresponding to the first electromagnetic intensity information is equal to the value corresponding to the second electromagnetic intensity information, the processing module outputs a correct signal and controls the lawn mower to continue moving along the preset moving direction;

[0069] If the judgment module judges that the value corresponding to the first electromagnetic intensity information is not equal to the value corresponding to the second electromagnetic intensity information, the processing module calculates the difference between the first electromagnetic intensity information and the second electromagnetic intensity information to determine the difference intensity information, where the difference is the value corresponding to the first electromagnetic intensity information minus the value corresponding to the second electromagnetic intensity information;

[0070] The processing module determines the sign information and the numerical information according to the difference intensity information;

[0071] The processing module performs matching analysis on the sign information and the adjustment runner information stored in the preset wheel control database to determine the adjustment runner information corresponding to the sign information, and performs matching analysis on the numerical information and the adjustment speed information stored in the preset speed regulation database to determine the adjustment speed information corresponding to the numerical information;

[0072] The processing module controls the runner corresponding to the adjustment runner information on the lawn mower to accelerate the speed corresponding to the adjustment speed information until a correct signal is output.

[0073] By adopting the above technical solution, during the movement of the lawn mower, the acquisition module acquires the first electromagnetic intensity information of the first sensor and the second electromagnetic intensity information of the second sensor to enable the judgment module to compare the electromagnetic intensities of the two. If the judgment module judges that the numerical values of the two are inconsistent, it means that the lawn mower deviates from the original preset track. At this time, the processing module adjusts the rotational speed of the wheels on the lawn mower according to the difference between the two to enable the lawn mower to move towards the original preset track, so that the moving track of the lawn mower can be corrected in time after deviating from the original set track.

[0074] In a third aspect, the present application provides an intelligent terminal, adopting the following technical solution:

[0075] An intelligent terminal includes a memory and a processor. A computer program that can be loaded and executed by the processor to perform any of the above lawn mower movement trajectory correction methods is stored on the memory.

[0076] By adopting the above technical solution, during the movement of the lawn mower, the first electromagnetic intensity information of the first sensor and the second electromagnetic intensity information of the second sensor are obtained through the use of the intelligent terminal to compare the electromagnetic intensities of the two. If the numerical values of the two are inconsistent, it indicates that the lawn mower has deviated from the original preset track. At this time, the rotational speed of the wheels on the lawn mower is adjusted according to the difference between the two to enable the lawn mower to move towards the original preset track, so that the movement track of the lawn mower can be corrected in a timely manner after deviating from the original set track.

[0077] In a fourth aspect, the present application provides a computer storage medium that can store a corresponding program and has the characteristic of being able to correct the movement track of the lawn mower in a timely manner after deviating from the original set track. The following technical solution is adopted:

[0078] A computer-readable storage medium stores a computer program that can be loaded and executed by the processor to perform any of the above lawn mower movement trajectory correction methods.

[0079] By adopting the above technical solution, there is a computer program for the lawn mower movement trajectory correction method in the storage medium. During the movement of the lawn mower, the first electromagnetic intensity information of the first sensor and the second electromagnetic intensity information of the second sensor are obtained to compare the electromagnetic intensities of the two. If the numerical values of the two are inconsistent, it indicates that the lawn mower has deviated from the original preset track. At this time, the rotational speed of the wheels on the lawn mower is adjusted according to the difference between the two to enable the lawn mower to move towards the original preset track, so that the movement track of the lawn mower can be corrected in a timely manner after deviating from the original set track.

[0080] In summary, the present application includes at least one of the following beneficial technical effects:

[0081] 1. Determine whether the lawn mower deviates from the track according to the difference in the electromagnetic intensities of the two sensors on the lawn mower. If it deviates from the track, the correction distance can be determined according to the electromagnetic intensity situation, so that the movement track of the lawn mower can be corrected in a timely manner after deviating from the original set track;

[0082] 2. Calculate the distances between the first sensor and the second sensor and the electromagnetic emission source respectively to determine whether the lawn mower has deviated from the original track, so that the movement path of the lawn mower can be corrected in a timely manner when it deviates from the original track;

[0083] 3. Determine the obstacle situation during the movement of the lawn mower. When there is an obstacle in the moving direction, the obstacle can be bypassed to improve the stability of the lawn mower moving operation. Description of the Drawings

[0084] Figure 1 It is a flowchart of a method for correcting the moving trajectory of a lawn mower.

[0085] Figure 2 It is a schematic diagram of the position of the lawn mower and the cable situation.

[0086] Figure 3 It is a flowchart of a method for determining track detachment.

[0087] Figure 4 It is a flowchart of a method for controlling the correction speed.

[0088] Figure 5 It is a flowchart of a method for determining interference situations.

[0089] Figure 6 It is a flowchart of a method for controlling interference judgment.

[0090] Figure 7 It is a flowchart of a method for controlling obstacle bypassing.

[0091] Figure 8 It is a flowchart of a method for correcting the avoidance distance.

[0092] Figure 9 It is a module flowchart of a method for correcting the moving trajectory of a lawn mower. Specific embodiments

[0093] In order to make the purpose, technical solution and advantages of the present application clearer, the following will further describe the present application in detail with reference to the attached Figures 1-9 figures and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0094] The following will further describe the embodiments of the present invention in detail with reference to the accompanying drawings of the specification.

[0095] The embodiments of the present application disclose a method for correcting the moving trajectory of a lawn mower. During the movement of the lawn mower, the track of the lawn mower is corrected by the electromagnetic intensity at the first sensor and the second sensor, so that the track can be corrected in time when the lawn mower deviates from the track; at the same time, when the lawn mower collides with an obstacle during the movement, the obstacle can be bypassed to enable the lawn mower to move and operate normally.

[0096] Referring to Figure 1 , the method flow of the method for correcting the moving trajectory of a lawn mower includes the following steps:

[0097] Step S100: Obtain the first electromagnetic intensity information of the preset first sensor and the second electromagnetic intensity information of the preset second sensor.

[0098] The first sensor is an inductive sensor disposed at the front end and on the left side of the lawn mower, and the second sensor is an inductive sensor disposed at the front end and on the right side of the lawn mower. Refer to Figure 2 , the first sensor and the second sensor are symmetrically arranged on the front face of the lawn mower, and a cable is laid on the pre-set moving track of the lawn mower, so that electromagnetic operation will be generated between the first sensor and the second sensor to output the corresponding electromagnetic intensity. At the same time, when the lawn mower is moving normally, the distance between the first sensor and the cable should be the same as the distance between the second sensor and the cable; the value corresponding to the first electromagnetic intensity information is the electromagnetic induction intensity value on the first sensor, and the value corresponding to the second electromagnetic intensity information is the electromagnetic induction intensity value on the second sensor.

[0099] Step S101: Determine whether the value corresponding to the first electromagnetic intensity information is equal to the value corresponding to the second electromagnetic intensity information.

[0100] The purpose of the determination is to know whether the lawn mower is moving normally on the set track without deviation.

[0101] Step S1011: If the value corresponding to the first electromagnetic intensity information is equal to the value corresponding to the second electromagnetic intensity information, output a correct signal and control the lawn mower to continue moving along the preset moving direction.

[0102] When the value corresponding to the first electromagnetic intensity information is equal to the value corresponding to the second electromagnetic intensity information, it indicates that the lawn mower has no deviation. At this time, output a correct signal to identify and record this situation, and control the lawn mower to continue moving along the moving direction. Among them, the moving direction is the traveling direction when the lawn mower is moving normally as set by the staff.

[0103] Step S1012: If the value corresponding to the first electromagnetic intensity information is not equal to the value corresponding to the second electromagnetic intensity information, calculate the difference between the first electromagnetic intensity information and the second electromagnetic intensity information to determine the difference intensity information, where the difference is the value corresponding to the first electromagnetic intensity information minus the value corresponding to the second electromagnetic intensity information.

[0104] When the value corresponding to the first electromagnetic intensity information is not equal to the value corresponding to the second electromagnetic intensity information, it indicates that the distance between the first sensor and the cable is not the same as the distance between the second sensor and the cable, that is, the lawn mower has deviated. At this time, the lawn mower needs to be corrected back to the original track; the intensity value corresponding to the difference intensity information is the difference between the first electromagnetic intensity information and the second electromagnetic intensity information, and the calculation method is the value corresponding to the first electromagnetic intensity information minus the value corresponding to the second electromagnetic intensity information.

[0105] Step S102: Determine the symbol information and the numerical information according to the difference intensity information.

[0106] The symbol corresponding to the symbol information is the numerical symbol of the value corresponding to the difference intensity information, including "+", and "-", and the value corresponding to the numerical information is the absolute value of the value corresponding to the difference intensity information.

[0107] Step S103: Perform matching analysis on the symbol information stored in the preset wheel control database and the adjustment wheel information to determine the adjustment wheel information corresponding to the symbol information, and perform matching analysis on the numerical information stored in the preset speed adjustment database and the adjustment speed information to determine the adjustment speed information corresponding to the numerical information.

[0108] The wheel corresponding to the adjustment wheel information is the wheel that needs to adjust the speed, including the left wheel and the right wheel. When the symbol is "-", it means that the electromagnetic intensity of the second sensor is greater than the battery intensity of the first sensor. At this time, it means that the lawn mower moves to the left. At this time, it is necessary to control the left wheel to accelerate to adjust the position of the lawn mower. Different symbol information corresponds to different adjustment wheel information. The staff establish the wheel control database in advance according to the corresponding relationship. The establishment method of the database is a conventional technical means for those skilled in the art and will not be elaborated; the speed corresponding to the adjustment speed information is the traveling speed that needs to be adjusted for the wheel. Since different numerical information represents different offset situations, the required adjustment speed is also different at this time. The staff determine the relationship between the numerical information and the adjustment speed information through multiple tests, and establish the speed adjustment database according to the corresponding relationship between the two. The establishment method of the database is a conventional technical means for those skilled in the art and will not be elaborated.

[0109] Step S104: Control the wheel corresponding to the adjustment wheel information on the lawn mower to accelerate to the speed corresponding to the adjustment speed information until a correct signal is output.

[0110] Control the corresponding wheel on the lawn mower to adjust the speed to achieve the overall offset of the lawn mower until a correct signal is output so that the lawn mower can correct back to the original set track, facilitating the subsequent movement control of the lawn mower.

[0111] Refer to Figure 3 , the lawn mower movement trajectory correction method further includes:

[0112] Step S200: Perform matching analysis on the first electromagnetic intensity information stored in the preset first distance database and the first distance information to determine the first distance information corresponding to the first electromagnetic intensity information, and perform matching analysis on the second electromagnetic intensity information stored in the preset second distance database and the second distance information to determine the second distance information corresponding to the second electromagnetic intensity information.

[0113] The distance corresponding to the first distance information is the distance between the first sensor and the preset cable, and the distance corresponding to the second distance information is the distance between the second sensor and the preset cable. The staff can determine the corresponding relationship between the distance and the electromagnetic intensity through experiments, and establish the first distance database and the second distance database based on this relationship. The method for establishing the database is a conventional technical means for those skilled in the art and will not be elaborated.

[0114] Step S201: Calculate the difference between the second distance information and the first distance information to determine the difference distance information.

[0115] The distance corresponding to the difference distance information is the difference between the distance value corresponding to the second distance information and the distance value corresponding to the first distance information, and this difference is an absolute value.

[0116] Step S202: Determine whether the distance value corresponding to the difference distance information is less than the preset fixed value.

[0117] The fixed value is the maximum value that will appear for the distance difference between the two when the cable is between the left and right wheels of the lawn mower, which is set by the staff. The purpose of the determination is to know whether the cable is between the left and right wheels of the lawn mower, that is, to determine whether the lawn mower has completely deviated from the original track.

[0118] Step S2021: If the distance value corresponding to the difference distance information is less than the fixed value, output a normal movement signal and control the lawn mower to move in the corresponding state.

[0119] When the distance value corresponding to the difference distance information is less than the fixed value, it means that the cable is between the left and right wheels of the lawn mower at this time. At this time, the lawn mower has not deviated from the original track. At this time, output a normal movement signal to explain this situation, and control the lawn mower to move accordingly according to the electromagnetic intensity situation.

[0120] Step S2022: If the distance value corresponding to the difference distance information is not less than the fixed value, output a deviation signal and control the preset fixed rotating wheel on the lawn mower to move at a preset fixed speed, so that the lawn mower deviates in the preset fixed direction until a normal movement signal is output.

[0121] When the distance value corresponding to the difference distance information is not less than a fixed value, it means that the cable is not between the left and right wheels of the lawn mower. At this time, the motor is out of the original track. The reason for this is generally that the turning amplitude is too large and the lawn mower responds slowly. At this time, a separation signal is output to mark and record the situation, so as to control the fixed wheel on the lawn mower to move at a fixed speed, so that the lawn mower can deviate to a fixed direction, until a normal movement signal is output to correct the lawn mower back to the original track; wherein, the fixed wheel is a wheel that can make the lawn mower deviate to the inside of the track. In this embodiment, the fixed wheel is the left wheel, the fixed speed is a fixed value, which is set by the staff, and the fixed direction is the direction toward the inside of the track, which is specifically set by the staff.

[0122] Reference Figure 4 , when the disengagement signal is output, the control method of the lawn mower includes:

[0123] Step S300: obtaining the moving speed information of the fixed wheel of the lawn mower.

[0124] The speed corresponding to the moving speed information is the moving speed of the fixed wheel on the lawn mower, which can be determined by installing a tachometer at the wheel, or by other methods of determining the wheel moving speed. The specific method is set by the staff according to actual conditions and will not be elaborated on here.

[0125] Step S301: Determine whether the speed corresponding to the moving speed information is less than a preset permitted speed.

[0126] The permitted speed is the minimum speed set by the staff that will cause the lawn mower to overshoot. The purpose of the judgment is to find out whether the current moving speed of the lawn mower will cause the lawn mower to overshoot.

[0127] Step S3011: If the speed corresponding to the moving speed information is not less than the permitted speed, the fixed wheel on the lawn mower is controlled to move at a fixed speed so that the lawn mower is offset in a fixed direction until a normal moving signal is output.

[0128] When the speed corresponding to the moving speed information is not less than the permitted speed, it means that adjusting at the current speed will cause the lawn mower to overshoot. At this time, the fixed wheel is adjusted to a fixed speed to adjust the position of the lawn mower to reduce the situation where the lawn mower overshoots.

[0129] Step S3012: If the speed corresponding to the moving speed information is less than the permitted speed, the lawn mower is controlled to adjust the wheel information and the speed information to perform an adjustment movement until a normal movement signal is output.

[0130] When the speed corresponding to the moving speed information is less than the permitted speed, it indicates that the moving speed of the lawn mower itself is not high. The speed of the rotating wheel can be adjusted according to the electromagnetic intensity to make the lawn mower return to the original moving track, without the need to suddenly change the speed of the fixed rotating wheel.

[0131] Referring to Figure 5 , after the difference intensity information is determined, the lawn mower moving trajectory correction method further includes:

[0132] Step S400: Determine whether the intensity value corresponding to the difference intensity information is within the preset normal range.

[0133] The normal range is the range of the electromagnetic intensity difference allowed by two sensors when the lawn mower is moving normally. The purpose of the judgment is to know whether the current electromagnetic intensity situation is normal.

[0134] Step S4001: If the intensity value corresponding to the difference intensity information is within the normal range, determine the adjusting rotating wheel information and the adjusting speed information according to the difference intensity information, and control the corresponding movement of the lawn mower.

[0135] When the intensity value corresponding to the difference intensity information is within the normal range, it indicates that the two sensors on the current lawn mower are basically in a normal operating state. At this time, the position of the lawn mower can be adjusted according to the electromagnetic intensity difference.

[0136] Step S4002: If the intensity value corresponding to the difference intensity information is not within the normal range, determine a detection interval with a duration range of a preset detection value on the preset positive time axis, and determine the first change information of the first electromagnetic intensity information within each preset unit duration and the second change information of the second electromagnetic intensity within each unit duration in the detection interval.

[0137] When the intensity value corresponding to the difference intensity information is not within the normal range, it indicates that there is an abnormality in the electromagnetic intensity of the sensors on the current lawn mower. At this time, it is necessary to analyze the abnormal situation; the positive time axis is an axis composed of each time point along the direction of time passing, the detection value is a fixed value set by the staff, the detection interval is the interval on the positive time axis for collecting each data; the unit duration is the duration set by the staff for dividing the data sampling, the unit duration is much smaller than the detection value and the detection value is an integer multiple of the unit duration, the value corresponding to the first change information is the change value of the intensity corresponding to the first electromagnetic intensity information within each unit duration, the value corresponding to the second change information is the change value of the intensity corresponding to the second electromagnetic intensity information within each unit duration, and both can be obtained by subtracting the previous data from the subsequent data within the unit duration.

[0138] Step S401: Determine the median in each first change information to determine the first median information, and determine the median in each second change information to determine the second median information.

[0139] The value corresponding to the first median information is the median of the values corresponding to all the first change information in the detection interval, and the value corresponding to the second median information is the median of the values corresponding to all the second change information in the detection interval.

[0140] Step S402: Calculate the difference between each first change information and the first median information to determine the first difference information, calculate the difference between each second change information and the second median information to determine the second difference information, and determine the maximum difference information from the first difference information and the second difference information.

[0141] The value corresponding to the first difference information is the difference between the value corresponding to each first change information and the value corresponding to the first median information, the value corresponding to the second difference information is the difference between the value corresponding to each second change information and the value corresponding to the second median information, and both the value corresponding to the first difference information and the value corresponding to the second difference information are absolute values. The maximum value solving method is used to determine the maximum value between all the first difference information and the second difference information to determine the change situation of the electromagnetic intensity.

[0142] Step S403: Determine whether the value corresponding to the maximum difference information is greater than the preset interference value.

[0143] The interference value is the minimum value of the battery strength change that will occur when there is an interference source in the external environment that can affect the electromagnetic intensity of the sensor set by the staff. The purpose of the judgment is to know whether there is an interference source in the external that can interfere with the electromagnetic intensity of the sensor.

[0144] Step S4031: If the value corresponding to the maximum difference information is not greater than the interference value, output a device damage signal and control the lawn mower to stop moving.

[0145] When the value corresponding to the maximum difference information is not greater than the interference value, it means that there is no external interference source. At this time, the incorrect data may be caused by the damage of the sensor itself. Output a device damage signal to identify and record this situation so that the staff can handle this situation in time. At the same time, control the lawn mower to stop moving to reduce the ineffective operation of the lawn mower.

[0146] Step S4032: If the value corresponding to the maximum difference information is greater than the interference value, output an interference signal and control the lawn mower to move in the original state.

[0147] When the value corresponding to the maximum difference information is greater than the interference value, it means that there is an external interference source. At this time, output an interference signal to identify this situation, and control the lawn mower to move in the original state so that the lawn mower does not perform track correction, reducing the occurrence of the situation where the lawn mower corrects the track ineffectively.

[0148] Refer toFigure 6 After the interference signal is output, the lawn mower movement trajectory correction method further includes:

[0149] Step S500: Perform timing based on the interference signal to output interference duration information.

[0150] The duration corresponding to the interference duration information is the duration of timing when the interference signal is output. The timing method is a conventional technical means for those skilled in the art and will not be elaborated.

[0151] Step S501: When the intensity value corresponding to the difference intensity information is not within the normal range, determine whether the duration value corresponding to the interference duration information is greater than the preset interval value.

[0152] The interval value is the duration set by the staff for collecting electromagnetic intensity data at intervals when the difference intensity is abnormal. The specific value is set by the staff according to the actual situation. The purpose of the judgment is to know whether it has been a long time since the last judgment of the interference source, so as to reduce the influence of the legacy data of the interference source in the detection interval on the result of this detection.

[0153] Step S5011: If the duration value corresponding to the interference duration information is greater than the interval value, re-determine the detection interval and perform calculation and judgment.

[0154] When the duration value corresponding to the interference duration information is greater than the interval value, it means that the data of the previously detected interference source will not affect the current detection. At this time, determine the corresponding detection interval to judge the interference source.

[0155] Step S5012: If the duration value corresponding to the interference duration information is not greater than the interval value, control the lawn mower to move in its original state.

[0156] When the duration value corresponding to the interference duration information is not greater than the interval value, it means that the data of the previously detected interference source will still affect the current detection. At this time, do not perform re-detection to reduce the occurrence of incorrect movement of the lawn mower.

[0157] Refer to Figure 7 The lawn mower movement trajectory correction method further includes:

[0158] Step S600: Obtain status information during the movement of the lawn mower.

[0159] The status corresponding to the status information is the status of whether the lawn mower collides, which can be obtained by monitoring the change of the motor rotation current or the Hall voltage.

[0160] Step S601: Judge whether the status corresponding to the status information is consistent with the preset collision status.

[0161] The collision state corresponds to the state when the lawn mower collides with other objects. The purpose of the judgment is to determine whether the lawn mower has a collision, so as to determine whether there are obstacles in the moving direction of the lawn mower to block its movement.

[0162] Step S6011: If the state corresponding to the state information is inconsistent with the collision state, output an obstacle-free signal and control the lawn mower to continue moving in the original state.

[0163] When the state corresponding to the state information is inconsistent with the collision state, it means that the lawn mower does not have a collision during the moving process, that is, there are no obstacles on the moving track of the lawn mower. At this time, output an obstacle-free signal to identify and record this situation, and control the lawn mower to move normally.

[0164] Step S6012: If the state corresponding to the state information is consistent with the collision state, output a blocking signal and obtain the current orientation information of the lawn mower, and determine the avoidance direction information that is perpendicular to the current orientation and faces the second sensor according to the current orientation information.

[0165] When the state corresponding to the state information is consistent with the collision state, it means that the lawn mower has a collision during the moving process, that is, there are obstacles on the moving track of the lawn mower. At this time, output a blocking signal to identify and record this situation for subsequent processing; the direction corresponding to the current orientation information is the forward direction of the lawn mower at the time of the collision, which can be determined by the orientation of the lawn mower body. The direction corresponding to the avoidance direction information is the direction for the lawn mower to avoid the obstacle. This direction is perpendicular to the direction corresponding to the current orientation information and faces the second sensor direction, so as to enable the lawn mower to move into the track and reduce the situation that the lawn mower moves outside and out of the lawn.

[0166] Step S602: Control the lawn mower to move a preset retreat distance in the opposite direction of the direction corresponding to the current orientation information, and control the lawn mower to move a preset avoidance distance in the direction corresponding to the avoidance direction information.

[0167] Both the retreat distance and the avoidance distance are fixed values set by the staff. When a collision occurs, control the lawn mower to retreat the retreat distance to facilitate the lawn mower to adjust its moving direction, and control the lawn mower to move the avoidance distance along the avoidance direction to achieve the bypass processing of the obstacle.

[0168] Step S603: After the lawn mower moves the avoidance distance, control the lawn mower to move the retreat distance in the direction corresponding to the current orientation information and judge whether there is still a blocking signal.

[0169] The purpose of controlling the movement of the lawn mower and making the judgment is to know whether the lawn mower has been bypassed.

[0170] Step S6031: If there is no blocking signal, output a passing signal and control the lawn mower to move in the opposite direction of the direction corresponding to the avoidance direction information until a correct signal is output.

[0171] When there is no blocking signal, it indicates that the obstacle has been successfully bypassed. At this time, output a passing signal to identify and record this situation. At the same time, control the lawn mower to move in the opposite direction of the direction corresponding to the avoidance direction information so that the lawn mower can move into the corresponding moving track, enabling the lawn mower to continue moving and operating.

[0172] Step S6032: If there is still a blocking signal, control the lawn mower to repeatedly move in the opposite direction of the direction corresponding to the current orientation information, the direction corresponding to the avoidance direction information, and the direction corresponding to the current orientation information until a passing signal is output.

[0173] When there is still a blocking signal, it indicates that the lawn mower has not completely bypassed the obstacle. At this time, control the lawn mower to repeatedly perform the above actions of avoiding the obstacle so that the lawn mower can achieve avoiding and bypassing the obstacle, enabling the lawn mower to move and operate normally.

[0174] Refer to Figure 8 , the method of repeatedly controlling the lawn mower to move in the direction corresponding to the avoidance direction information includes:

[0175] Step S700: Calculate according to a preset correction ratio and the avoidance distance to update the avoidance distance, and output a correction signal after moving at the updated avoidance distance.

[0176] The correction ratio is a fixed value less than 1 set by the staff. When the lawn mower repeatedly moves in the avoidance direction, the update of the avoidance distance can be achieved through the calculation of the correction ratio and the avoidance distance. The calculation method is the avoidance distance multiplied by the avoidance ratio, so that the moving distance of the lawn mower each time it moves in the avoidance direction will be shortened, reducing the ineffective movement of the lawn mower in the avoidance direction and improving the avoidance efficiency of the lawn mower; when the lawn mower moves at the updated avoidance distance, output a corresponding correction signal to record this situation.

[0177] Step S701: Count according to the correction signal to determine the correction times information.

[0178] The number corresponding to the correction times information is the total number value of the appearance of the correction signal, which can be determined by counting the correction signal.

[0179] Step S702: Judge whether the number value corresponding to the correction times information is greater than the preset permitted value.

[0180] The permitted value is the maximum number of times that the allowed avoidance distance set by the staff can be continuously changed. The purpose of the judgment is to know whether the current avoidance distance has been changed multiple times, so as to facilitate the subsequent movement control of the lawn mower.

[0181] Step S7021: If the number of times value corresponding to the correction number information is not greater than the permitted value, when the lawn mower moves again in the direction corresponding to the avoidance direction information, control the avoidance distance to be updated.

[0182] When the number of times value corresponding to the correction number information is not greater than the permitted value, it means that the number of times the lawn mower corrects the avoidance distance still meets the requirements. At this time, control the lawn mower to move.

[0183] Step S7022: If the number of times value corresponding to the correction number information is greater than the permitted value, maintain the avoidance distance and perform repeated movement.

[0184] When the number of times value corresponding to the correction number information is greater than the permitted value, it means that the lawn mower still fails to bypass the obstacle after multiple movements. At this time, if the avoidance distance is further reduced, it is not convenient to bypass the obstacle. At this time, maintain the current avoidance distance to control the movement of the lawn mower.

[0185] Refer to Figure 9 , based on the same inventive concept, an embodiment of the present invention provides a lawn mower movement trajectory correction system, including:

[0186] An acquisition module, configured to acquire first electromagnetic intensity information of a preset first sensor and second electromagnetic intensity information of a preset second sensor;

[0187] A processing module, connected to the acquisition module and the judgment module, for storing and processing information;

[0188] A judgment module, connected to the acquisition module and the processing module, for judging information;

[0189] The judgment module judges whether the value corresponding to the first electromagnetic intensity information is equal to the value corresponding to the second electromagnetic intensity information;

[0190] If the judgment module judges that the value corresponding to the first electromagnetic intensity information is equal to the value corresponding to the second electromagnetic intensity information, the processing module outputs a correct signal and controls the lawn mower to continue moving in the preset moving direction;

[0191] If the judgment module judges that the value corresponding to the first electromagnetic intensity information is not equal to the value corresponding to the second electromagnetic intensity information, the processing module calculates the difference between the first electromagnetic intensity information and the second electromagnetic intensity information to determine the difference intensity information, where the difference is the value corresponding to the first electromagnetic intensity information minus the value corresponding to the second electromagnetic intensity information;

[0192] The processing module determines symbol information and numerical information according to the difference intensity information;

[0193] The processing module performs matching analysis on the symbol information stored in the preset wheel control database and the adjustment wheel information to determine the adjustment wheel information corresponding to the symbol information, and performs matching analysis on the numerical information stored in the preset speed regulation database and the adjustment speed information to determine the adjustment speed information corresponding to the numerical information;

[0194] The processing module controls the speed corresponding to the adjustment speed information of the wheel corresponding to the adjustment wheel information on the lawn mower until a correct signal is output;

[0195] The track detachment determination module determines the actual position of the lawn mower according to the electromagnetic intensity conditions of the two sensors to determine whether the lawn mower has detached from the track;

[0196] The speed control module, when the lawn mower detaches from the original track, adjusts the speed of the lawn mower according to the current moving speed of the lawn mower to reduce the overshoot of the position adjustment;

[0197] The interference situation determination module, when the electromagnetic intensity difference between the two sensors is too large, determines whether there is an external interference source through the electromagnetic intensity change per unit time;

[0198] The interference control module, when there is an external interference source, does not re-establish a detection interval within a set time to determine the electromagnetic intensity change, so as to reduce the situation that the lawn mower is controlled according to the electromagnetic intensity situation before it has moved past the interference source, and reduce the situation of incorrect movement of the unmanned aerial vehicle;

[0199] The obstacle bypass control module determines whether there is an obstacle according to the collision situation when the lawn mower moves. When an obstacle appears, it can perform bypass control on the lawn mower to ensure that the lawn mower can move and operate normally;

[0200] The avoidance distance correction module corrects the avoidance distance according to the number of repeated movements of the lawn mower in the avoidance direction, so that the lawn mower can pass the obstacle while reducing the moving distance of the lawn mower in the avoidance direction and improving the moving operation efficiency of the lawn mower.

[0201] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the above division of each functional module is used as an example. In practical applications, the above functions can be allocated to different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working processes of the system, device and unit described above can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated here.

[0202] An embodiment of the present invention provides a computer-readable storage medium storing a computer program that can be loaded and executed by a processor to correct the moving trajectory of a lawn mower.

[0203] Computer storage media include, for example, various media that can store program codes such as USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical discs.

[0204] Based on the same inventive concept, an embodiment of the present invention provides an intelligent terminal including a memory and a processor, where the memory stores a computer program that can be loaded and executed by the processor to correct the moving trajectory of a lawn mower.

[0205] Those skilled in the art can clearly understand that, for the sake of convenience and brevity of description, only the above division of each functional module is used as an example. In actual applications, the above functions can be allocated to different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working processes of the systems, devices, and units described above can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated here.

[0206] The above are all preferred embodiments of the present application. Without limiting the protection scope of the present application accordingly, any feature disclosed in this specification (including the abstract and drawings), unless specifically described, can be replaced by other equivalent or similar-purpose alternative features. That is, unless specifically described, each feature is only an example of a series of equivalent or similar features.

Claims

1. A method for correcting the moving trajectory of a lawn mower, characterized in that, it includes: Obtain the first electromagnetic intensity information of a preset first sensor and the second electromagnetic intensity information of a preset second sensor; Judge whether the value corresponding to the first electromagnetic intensity information is equal to the value corresponding to the second electromagnetic intensity information; If the value corresponding to the first electromagnetic intensity information is equal to the value corresponding to the second electromagnetic intensity information, output a correct signal and control the lawn mower to continue moving along the preset moving direction; If the value corresponding to the first electromagnetic intensity information is not equal to the value corresponding to the second electromagnetic intensity information, calculate the difference between the first electromagnetic intensity information and the second electromagnetic intensity information to determine the difference intensity information, where the difference is the value corresponding to the first electromagnetic intensity information minus the value corresponding to the second electromagnetic intensity information; Determine the symbol information and the numerical information according to the difference intensity information; Match and analyze the symbol information and the adjustment runner information stored in the preset wheel control database to determine the adjustment runner information corresponding to the symbol information, and match and analyze the numerical information and the adjustment speed information stored in the preset speed regulation database to determine the adjustment speed information corresponding to the numerical information; Control the runner corresponding to the adjustment runner information on the lawn mower to accelerate at the speed corresponding to the adjustment speed information until a correct signal is output; Among them, after the difference intensity information is determined, the method for correcting the moving trajectory of the lawn mower further includes: Judge whether the intensity value corresponding to the difference intensity information is within the preset normal range; If the intensity value corresponding to the difference intensity information is within the normal range, determine the adjustment runner information and the adjustment speed information according to the difference intensity information, and control the corresponding movement of the lawn mower; If the intensity value corresponding to the difference intensity information is not within the normal range, determine a detection interval with a duration range of a preset detection value on the preset positive time axis, and determine the first change information of the first electromagnetic intensity information within each preset unit duration and the second change information of the second electromagnetic intensity within each unit duration in the detection interval; Determine the median in each first change information to determine the first median information, and determine the median in each second change information to determine the second median information; Calculate the difference between each first change information and the first median information to determine the first difference information, calculate the difference between each second change information and the second median information to determine the second difference information, and determine the maximum difference information from the first difference information and the second difference information; Judge whether the value corresponding to the maximum difference information is greater than the preset interference value; If the value corresponding to the maximum difference information is not greater than the interference value, output a device damage signal and control the lawn mower to stop moving; If the value corresponding to the maximum difference information is greater than the interference value, output an interference signal and control the lawn mower to move in its original state.

2. The method for correcting the moving trajectory of a lawn mower according to claim 1, characterized in that it further includes: Analyze the matching between the first electromagnetic intensity information and the first distance information stored in the preset first distance database to determine the first distance information corresponding to the first electromagnetic intensity information, and analyze the matching between the second electromagnetic intensity information and the second distance information stored in the preset second distance database to determine the second distance information corresponding to the second electromagnetic intensity information; Calculate the difference between the second distance information and the first distance information to determine the difference distance information; Judge whether the distance value corresponding to the difference distance information is less than the preset fixed value; If the distance value corresponding to the difference distance information is less than the fixed value, output a normal movement signal and control the lawn mower to move in the corresponding state; If the distance value corresponding to the difference distance information is not less than the fixed value, output a detachment signal and control the preset fixed runner on the lawn mower to move at a preset fixed speed, so that the lawn mower deviates in the preset fixed direction until a normal movement signal is output.

3. The lawn mower movement trajectory correction method according to claim 2, characterized in that , when the detachment signal is output, the control method of the lawn mower includes: Obtain the movement speed information of the fixed runner of the lawn mower; Judge whether the speed corresponding to the movement speed information is less than the preset permitted speed; If the speed corresponding to the movement speed information is not less than the permitted speed, control the fixed runner on the lawn mower to move at a fixed speed, so that the lawn mower deviates in the fixed direction until a normal movement signal is output; If the speed corresponding to the movement speed information is less than the permitted speed, control the lawn mower to adjust the movement with the adjusted runner information and adjusted speed information until a normal movement signal is output.

4. The lawn mower movement trajectory correction method according to claim 1, characterized in that , after the interference signal is output, the lawn mower movement trajectory correction method further includes: Time according to the interference signal to output interference duration information; When the intensity value corresponding to the difference intensity information is not within the normal range, judge whether the duration value corresponding to the interference duration information is greater than the preset interval value; If the duration value corresponding to the interference duration information is greater than the interval value, re-determine the detection interval and perform calculation and judgment; If the duration value corresponding to the interference duration information is not greater than the interval value, control the lawn mower to move in the original state.

5. The lawn mower movement trajectory correction method according to claim 1, characterized in that , further includes: Obtain the status information during the movement of the lawn mower; Judge whether the status corresponding to the status information is consistent with the preset collision status; If the status corresponding to the status information is not consistent with the collision status, output an unobstructed signal and control the lawn mower to continue moving in the original state; If the status corresponding to the status information is consistent with the collision status, output a blocking signal and obtain the current orientation information of the lawn mower, and determine the avoidance direction information perpendicular to and facing the second sensor according to the current orientation information; Control the lawn mower to move a preset retreat distance in the opposite direction of the direction corresponding to the current orientation information, and control the lawn mower to move a preset avoidance distance in the direction corresponding to the avoidance direction information; After the lawn mower moves the avoidance distance, control the lawn mower to move the retreat distance in the direction corresponding to the current orientation information and judge whether there is still a blocking signal; If there is no blocking signal, output a passing signal and control the lawn mower to move in the opposite direction of the direction corresponding to the avoidance direction information until a correct signal is output; If there is still a blocking signal, control the lawn mower to repeatedly move in the opposite direction of the direction corresponding to the current orientation information, the direction corresponding to the avoidance direction information, and the direction corresponding to the current orientation information until a passing signal is output.

6. The lawn mower movement trajectory correction method according to claim 5, characterized in that , the method of repeatedly controlling the lawn mower to move in the direction corresponding to the avoidance direction information includes: Calculating according to a preset correction ratio and an avoidance distance to update the avoidance distance, and outputting a correction signal after moving at the updated avoidance distance; Counting according to the correction signal to determine the correction times information; Judging whether the number value corresponding to the correction times information is greater than a preset permitted value; If the number value corresponding to the correction times information is not greater than the permitted value, control the avoidance distance to be updated when the lawn mower moves again in the direction corresponding to the avoidance direction information; If the number value corresponding to the correction times information is greater than the permitted value, maintain the avoidance distance for repeated movement.

7. A lawn mower movement trajectory correction system, characterized in that , comprising: An acquisition module for acquiring the first electromagnetic intensity information of a preset first sensor and the second electromagnetic intensity information of a preset second sensor; A processing module, connected to the acquisition module and the judgment module, for storing and processing information; A judgment module, connected to the acquisition module and the processing module, for judging information; The judgment module judges whether the numerical value corresponding to the first electromagnetic intensity information is equal to the numerical value corresponding to the second electromagnetic intensity information; If the judgment module judges that the numerical value corresponding to the first electromagnetic intensity information is equal to the numerical value corresponding to the second electromagnetic intensity information, the processing module outputs a correct signal and controls the lawn mower to continue moving in the preset moving direction; If the judgment module judges that the numerical value corresponding to the first electromagnetic intensity information is not equal to the numerical value corresponding to the second electromagnetic intensity information, the processing module calculates the difference between the first electromagnetic intensity information and the second electromagnetic intensity information to determine the difference intensity information, where the difference is the numerical value corresponding to the first electromagnetic intensity information minus the numerical value corresponding to the second electromagnetic intensity information; The processing module determines the sign information and the numerical information according to the difference intensity information; The processing module performs matching analysis on the sign information and the adjustment runner information stored in the preset wheel control database to determine the adjustment runner information corresponding to the sign information, and performs matching analysis on the numerical information and the adjustment speed information stored in the preset speed regulation database to determine the adjustment speed information corresponding to the numerical information; The processing module controls the runner corresponding to the adjustment runner information on the lawn mower to accelerate to the speed corresponding to the adjustment speed information until a correct signal is output; Wherein, after the difference intensity information is determined, the lawn mower movement trajectory correction method further includes: The judgment module judges whether the intensity value corresponding to the difference intensity information is within a preset normal range; If the judgment module judges that the intensity value corresponding to the difference intensity information is within the normal range, the processing module determines the adjustment runner information and the adjustment speed information according to the difference intensity information, and controls the corresponding movement of the lawn mower; If the judgment module determines that the intensity value corresponding to the difference intensity information is not within the normal range, the processing module determines a detection interval with a duration range of a preset detection value on the preset positive time axis, and determines the first change information of the first electromagnetic intensity information within each preset unit duration and the second change information of the second electromagnetic intensity within each unit duration in the detection interval; The processing module determines the median in each first change information to determine the first median information, and determines the median in each second change information to determine the second median information; The processing module calculates the difference between each first change information and the first median information to determine the first difference information, calculates the difference between each second change information and the second median information to determine the second difference information, and determines the maximum difference information from the first difference information and the second difference information; The judgment module determines whether the value corresponding to the maximum difference information is greater than the preset interference value; If the judgment module determines that the value corresponding to the maximum difference information is not greater than the interference value, the processing module outputs a device damage signal and controls the lawn mower to stop moving; If the judgment module determines that the value corresponding to the maximum difference information is greater than the interference value, the processing module outputs an interference signal and controls the lawn mower to move in its original state.

8. An intelligent terminal, Characterized in that, It includes a memory and a processor, and a computer program capable of being loaded and executed by the processor as described in any one of claims 1 to 6 is stored on the memory.

9. A computer-readable storage medium, Characterized in that, A computer program capable of being loaded and executed by the processor as described in any one of claims 1 to 6 is stored.

Images