Lawn mower calibration method and device, electronic equipment, storage medium and lawn mower

Abstract

The application provides a mower calibration method and device, electronic equipment, a storage medium and a mower. The method comprises the following steps: collecting a preset number of position data of the mower during movement relative to a charging pile; performing straight line fitting using the preset number of position data; and if the preset number of position data fits a straight line, determining the orientation of the charging pile according to the slope of the fitted straight line. Accordingly, the application can accurately determine the orientation of the charging pile, and has the advantages of high calibration accuracy and low calibration cost.

Description

Technical Field

[0001] This invention relates to the field of lawnmower technology, and in particular to a lawnmower calibration method, apparatus, electronic device, and storage medium. Background Technology

[0002] There are generally two methods for determining the orientation of lawnmower charging stations in the Northeast-Eastern Celestial (ENU) coordinate system. The first method is to use a geomagnetic sensor to measure the direction of the magnetic field and calculate the magnetic declination by obtaining the latitude and longitude to obtain the orientation information of the lawnmower charging station in the ENU coordinate system. The second method is to obtain the orientation information of the lawnmower charging station by installing dual RTK antennas.

[0003] However, in the first method, the geomagnetic sensor is easily affected by the surrounding magnetic field, resulting in inaccurate measurement results and large heading errors. Furthermore, relying on GPS to obtain the latitude, longitude, and altitude of the lawnmower and calculate the magnetic declination is complex and costly. In the second method, the cost of dual RTK antennas is high, and there are also high requirements for antenna installation accuracy, which makes antenna installation difficult.

[0004] In view of this, there is an urgent need for a solution to determine the orientation of lawnmower charging stations that can reduce measurement costs and improve measurement accuracy. Summary of the Invention

[0005] In view of this, embodiments of this application provide a lawnmower calibration scheme with higher accuracy and lower cost to at least partially solve the above-mentioned problems.

[0006] According to one aspect of this application, a lawnmower calibration method is provided, comprising: collecting a preset number of position data during the movement of the lawnmower relative to a charging pile; performing a straight line fitting using the preset number of position data; and determining the orientation of the charging pile based on the slope of the fitted straight line if the preset number of position data fits a straight line.

[0007] According to another aspect of this application, a lawnmower calibration device is provided, comprising: a data acquisition module for acquiring a preset number of position data during the movement of the lawnmower relative to a charging pile; a fitting module for performing a straight line fitting using the preset number of position data; and a determination module for determining the orientation of the charging pile based on the slope of the fitted straight line if the preset number of position data fits a straight line.

[0008] According to another aspect of this application, a lawnmower is provided, including a controller, the controller being configured to: collect a preset number of position data during the movement of the lawnmower relative to a charging station; perform a straight line fitting using the preset number of position data; if a straight line is fitted using the preset number of position data, determine the orientation of the charging station based on the slope of the fitted straight line.

[0009] According to another aspect of this application, an electronic device is provided, comprising: a processor; and a memory storing a program, wherein the program includes instructions that, when executed by the processor, cause the processor to perform the lawnmower calibration method described above.

[0010] According to another aspect of this application, a non-transitory computer-readable storage medium is provided storing computer instructions, wherein the computer instructions are used to cause the computer to perform the methods described above.

[0011] The lawnmower calibration schemes provided in the various embodiments of this application determine the orientation of the charging pile by collecting measurement data during the lawnmower's movement relative to the charging pile and performing linear fitting processing on the measurement data. Therefore, this application can accurately determine the orientation of the charging pile and has the advantages of simple calibration operation and low calibration cost. Attached Figure Description

[0012] Further details, features, and advantages of this application are disclosed in the following description of exemplary embodiments in conjunction with the accompanying drawings, in which:

[0013] Figure 1 This is a schematic flowchart of a lawnmower calibration method as an exemplary embodiment of this application.

[0014] Figure 2 This is a schematic flowchart of a lawnmower calibration method as another exemplary embodiment of this application.

[0015] Figures 3A to 3C This is an exemplary application diagram of the lawnmower calibration method of this application.

[0016] Figure 3D This is a schematic diagram of the steps of a lawnmower calibration method according to this application.

[0017] Figure 3E This is a flowchart illustrating the sub-steps of step S302.

[0018] Figure 3F This is a flowchart illustrating the steps of another lawnmower calibration method according to this application.

[0019] Figure 3G A schematic diagram of the interface displaying the calibration success message.

[0020] Figure 3H This is a schematic diagram of the interface for displaying calibration progress information.

[0021] Figure 4A This is a schematic flowchart of a first lawnmower calibration device, which is an exemplary embodiment of this application.

[0022] Figure 4B This is a schematic flowchart of a first lawnmower calibration device, which is an exemplary embodiment of this application.

[0023] Figure 4C This is a schematic flowchart of a first lawnmower calibration device, which is an exemplary embodiment of this application.

[0024] Figure 5 This is a schematic diagram of the architecture of an electronic device that is an exemplary embodiment of this application. Detailed Implementation

[0025] Embodiments of this application will now be described in more detail with reference to the accompanying drawings. While some embodiments of this application are shown in the drawings, it should be understood that this application can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of this application. It should be understood that the drawings and embodiments of this application are for illustrative purposes only and are not intended to limit the scope of protection of this application.

[0026] It should be understood that the steps described in the method embodiments of this application may be performed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the steps shown. The scope of this application is not limited in this respect.

[0027] The term "comprising" and its variations as used herein are open-ended, meaning "including but not limited to". The term "based on" means "at least partially based on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". Definitions of other terms will be given in the following description. It should be noted that the concepts of "first", "second", etc., mentioned in this application are used only to distinguish different devices, modules, or units, and are not intended to limit the order of functions performed by these devices, modules, or units or their interdependencies.

[0028] It should be noted that the terms "one" and "multiple" used in this application are illustrative rather than restrictive. Those skilled in the art should understand that, unless explicitly stated otherwise in the context, they should be interpreted as "one or more". The names of messages or information exchanged between multiple devices in the embodiments of this application are for illustrative purposes only and are not intended to limit the scope of these messages or information.

[0029] As described in the background section, current methods for determining the orientation of lawnmower charging stations in the northeast-northeast coordinate system suffer from problems such as inaccurate measurement accuracy and high measurement configuration costs (RTK antenna costs). In view of this, this application provides a lawnmower calibration scheme that can accurately determine the orientation of lawnmower charging stations to improve the various problems existing in the prior art.

[0030] In some examples, this method can be applied to the initial startup of a lawnmower, such as when a user uses a lawnmower for the first time after purchasing it. This method allows the lawnmower to perform charging station orientation calibration (it should be noted that the orientation calibration described in this application can be understood as detecting or determining the orientation). After calibration, the lawnmower can be controlled to begin mapping, and then automatically mow the lawn based on the established map. Of course, in other embodiments, this method can also be applied to other scenarios that require detection or calibration of the charging station's orientation, and is not limited to the scenarios exemplified in this embodiment. The embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0031] Figure 1 The processing flow of an exemplary embodiment of this application is illustrated. As shown in the figure, this embodiment mainly includes the following steps:

[0032] Step S102: Collect a preset number of position data during the movement of the lawnmower relative to the charging station.

[0033] Optionally, the lawnmower can be driven to move in a straight line away from the charging pile in the posture corresponding to the initial position, and the position data of the lawnmower during the movement can be collected by a preset number of times.

[0034] Optionally, the rotation angle of the lawnmower's posture at each location, relative to the initial position, is less than an angle threshold.

[0035] In this embodiment, a pair of RTK antennas, located at preset positions and on the lawnmower, can be used to acquire a preset number of position data (also referred to as RTK measurement points) of the lawnmower in the northeast-northeast coordinate system (or ENU coordinate system). For example, such as Figures 3A to 3C As shown, a pair of RTK antennas, located on the charging station and the lawnmower respectively, can be used to obtain location data of the lawnmower.

[0036] Step S104: Perform linear fitting using a preset number of position data.

[0037] Optionally, the preset number can be set to 26, that is, when the collected lawnmower position data reaches 26, linear fitting processing is performed.

[0038] It should be noted that the above-mentioned preset number can be adjusted arbitrarily according to actual needs, and this application does not impose any restrictions on it.

[0039] Step S106: If a straight line is fitted from the preset number of position data, the orientation of the charging pile is determined based on the slope of the fitted straight line.

[0040] In this embodiment, when a straight line is successfully fitted based on a preset number of position data, the orientation of the charging pile (also known as the pose of the charging pile) can be determined according to the slope of the fitted straight line.

[0041] In this embodiment, the orientation of the charging pile refers to the orientation of the charging pile's outlet, which is the orientation of the charging tongue on the charging pile. The lawnmower can return to the charging pile and establish an electrical connection with it according to the determined orientation of the charging pile in order to perform the charging operation of the lawnmower.

[0042] In summary, the lawnmower calibration method of this embodiment collects a preset number of measurement data points during the lawnmower's movement relative to the charging station, performs linear fitting processing, and determines the orientation of the charging station based on the fitted straight line. Therefore, this embodiment can accurately determine the orientation of the charging station and has the advantages of simple calibration operation and low calibration cost.

[0043] Figure 2 The flowchart of a lawnmower calibration method according to another exemplary embodiment of this application is shown in the figure. This embodiment mainly includes the following steps:

[0044] Step S202: Determine whether the lawnmower and the charging station are in a docked state. If yes, proceed to step S204; otherwise, repeat this step.

[0045] Alternatively, it can be determined whether the lawnmower and the charging station are in a docking state by judging whether the lawnmower is charging.

[0046] Step S204: Take the position where the lawnmower is in docking state as the initial position and obtain the initial position data corresponding to the initial position.

[0047] In this embodiment, the preset number of position data includes initial position data.

[0048] Step S206: Drive the lawnmower to move in a straight line away from the charging pile in the posture corresponding to the initial position.

[0049] Optionally, the lawnmower can be driven to move backward in a straight line relative to the charging station in an attitude corresponding to the initial position.

[0050] Step S208: During the movement of the lawnmower, acquire the position data and angle data of the lawnmower.

[0051] Alternatively, a pair of RTK antennas, located on the charging station and the lawnmower respectively, can be used to obtain location data of the lawnmower.

[0052] In this embodiment, a sampling frequency of 10Hz can be used to collect data on the various moving positions of the lawnmower.

[0053] Optionally, the angle data of the lawnmower can be obtained using an inertial measurement unit installed on the lawnmower.

[0054] Step S210: Based on the angle data, determine the rotation angle of the lawnmower's current posture relative to the initial position.

[0055] Based on the angle data, the rotation angle of the lawnmower at the current moment relative to the initial position can be determined (e.g., Figure 3C The rotation angle a is shown.

[0056] Step S212: Determine whether the rotation angle is greater than the set angle threshold. If yes, proceed to step S214; otherwise, continue to step S216.

[0057] In this embodiment, the set angle threshold can be set to 20°, but it is not limited to this and can be adjusted arbitrarily according to actual calibration needs. This application does not impose any restrictions on this.

[0058] Step S214: Clear the acquired position data, re-determine the initial position based on the current position, acquire the current position data of the lawnmower, reset the inertial measurement unit, and return to step S206 to continue execution.

[0059] For example, refer to Figure 3C When the lawnmower's rotation angle at point C exceeds a set angle threshold, all currently collected position data is cleared, and the lawnmower's initial position is updated to its current position (e.g., the initial position of the lawnmower is changed from its original position). Figure 3A The location of point A shown has been updated to... Figure 3C (as shown at point C), and reset the measurement value of the inertial measurement unit to 0, and return to the execution step S206 to continue execution.

[0060] Step S216: Determine whether the distance between the current position of the lawnmower and the initial position exceeds the set distance threshold. If it does not exceed the threshold, proceed to step S218. If it does exceed the threshold, return to step S202 to continue execution.

[0061] Alternatively, an encoder mounted on the lawnmower can be used to determine the distance between the current position of the lawnmower and its initial position.

[0062] Alternatively, the encoder may include a magnetic encoder.

[0063] Optionally, the distance threshold can be set to 2 meters, but it is not limited to this and can be adjusted arbitrarily according to actual calibration needs.

[0064] In this embodiment, when it is determined that the distance between the current position of the lawnmower and the initial position exceeds the distance threshold, the calibration is determined to have failed, and the lawnmower is driven to move to the charging station to wait for the next calibration.

[0065] Step S218: Determine whether the number of acquired location data meets the preset number. If it does, proceed to step S220. If it does not, return to step S208 to continue execution.

[0066] For example, when it is determined that the number of acquired location data points has reached 26, proceed...

[0067] Step S220: Perform linear fitting using a preset number of position data.

[0068] For example, perform a line fitting using at least 26 location data points.

[0069] Step S222: Determine whether the line fitting is successful. If successful, proceed to step S224. If unsuccessful, return to step S208 to continue execution.

[0070] Step S224: Determine the orientation of the charging pile based on the slope of the fitted straight line.

[0071] Optionally, the heading of the lawnmower can be determined based on the slope of the fitted straight line, and the rotation angle of the lawnmower's current attitude relative to the initial position can be determined based on the angle data of the inertial measurement unit. Then, the orientation of the charging pile can be determined based on the rotation angle and the heading of the lawnmower.

[0072] For example, in Figure 3B In the illustrated embodiment, the mower's heading (e.g., ...) can be used as a reference. Figure 3B The direction of the charging station's outlet (as shown by the F1 arrow) and the lawnmower's rotation angle are used to determine the charging station's outlet orientation (e.g., ...). Figure 3B (The direction of arrow F2 is shown).

[0073] It should be noted that, Figure 3B In the example shown, since the lawnmower's movement trajectory relative to the charging station is a relatively standard straight line, the lawnmower's rotation angle tends to be 0°. Therefore, the outlet of the charging station faces the opposite direction of the lawnmower's heading.

[0074] In summary, the lawnmower calibration method of this application determines the initial position of the lawnmower by judging the docking status between the lawnmower and the charging pile, and performs the calibration operation by collecting a preset number of position data during the lawnmower's movement along a straight line away from the charging pile in the posture corresponding to the initial position, and performing linear fitting. It has the advantages of simple calibration operation and no need for manual intervention, which can reduce the problem of affecting the accuracy of calibration results due to operational errors during human intervention.

[0075] In addition, in this embodiment of the application, during the movement of the lawnmower relative to the charging pile, it is determined whether the rotation angle of the lawnmower's posture at each position, as collected by data acquisition, relative to the initial position is less than an angle threshold. Specifically, when it is determined that the rotation angle of the lawnmower's posture at a certain moving position relative to the initial position exceeds the angle threshold, it indicates that a turning point has occurred in the straight-line movement of the lawnmower relative to the charging pile. In this case, the currently collected position and angle data of the lawnmower are reset, and the position of this turning point is updated to the initial position of the lawnmower. The lawnmower calibration operation is then re-executed based on the updated initial position, thereby ensuring the accuracy of the lawnmower calibration results.

[0076] Furthermore, this embodiment sets a distance threshold, and during the calibration process, if it is determined that the distance between the current position of the lawnmower and the initial position exceeds the distance threshold, the calibration is determined to be a failure and the lawnmower is driven back to the charging station to wait for the next round of calibration. By setting this criterion for determining lawnmower calibration failure, invalid lawnmower calibration operations can be avoided, thereby improving the calibration processing efficiency of the lawnmower.

[0077] In addition, this embodiment only requires a single RTK antenna, an inertial measurement unit, and an encoder to accurately determine the orientation of the charging pile. The required types of sensors are fewer, which can effectively reduce the calculation cost of the charging pile orientation.

[0078] In addition to the implementation processes exemplified above, according to another aspect of the embodiments of this application, a lawnmower robot calibration method is provided, such as... Figure 3D As shown, the method includes the following steps:

[0079] Step S302: During the movement of the lawnmower relative to the charging pile, the orientation of the charging pile is detected based on multiple position and attitude data of the lawnmower.

[0080] In some examples, the lawnmower is equipped with one of a pair of RTK antennas, and the charging station is equipped with the other of the pair of RTK antennas. In addition, the lawnmower also carries an inertial measurement unit (IMU) and an encoder. Initially, the lawnmower docks with the charging station, and can then exit the charging station in its current orientation. During this exit process, the lawnmower's position data can be detected by the RTK antennas, and its attitude data can be detected by the IMU. Using the collected position and attitude data, the orientation of the charging station can be determined.

[0081] For example, such as Figure 3E As shown, step S302 can be implemented through the following sub-steps:

[0082] Sub-step S3021: During the process of the lawnmower exiting the charging pile, the exit distance, position data, and attitude data of the lawnmower are collected respectively.

[0083] As mentioned earlier, during the lawnmower's exit from the charging station, the RTK antenna collects the lawnmower's position data, and the inertial measurement unit detects the lawnmower's attitude data, which indicates the angle of the lawnmower's deflection relative to its initial attitude. In addition, the encoder on the lawnmower can collect the exit distance relative to the charging station (i.e., the initial position).

[0084] Detecting the withdrawal distance ensures the safety of the lawnmower and prevents hazards caused by excessive movement during calibration due to the small safety distance near the charging station. Detecting the withdrawal distance prevents the lawnmower from moving too far. If the initial detected withdrawal distance exceeds a set threshold, it indicates a potential hazard, and sub-step S3023 is executed.

[0085] To ensure calibration accuracy, the rotation angle of the lawnmower relative to its initial position can be determined based on its attitude data. If the rotation angle exceeds a threshold, it indicates that the lawnmower's backward trajectory relative to the charging station is no longer a straight line, but rather forms a shape similar to... Figure 3C The broken line trajectory shown makes it difficult to guarantee the accurate orientation of the detected charging pile. Therefore, in this case, sub-step S3024 can be executed.

[0086] If the rotation angle is determined to be within the angle threshold based on the attitude data, then the calibration can continue. When the number of collected position data reaches the preset number, sub-step S3022 can be executed.

[0087] Sub-step S3022: If the number of collected location data reaches a preset number, and the exit distance does not exceed a set distance threshold, and the rotation angle indicated by the lawnmower's posture data does not exceed an angle threshold, then the orientation of the charging pile is determined based on the preset number of collected location data.

[0088] When the number of collected location data points reaches a preset number, it indicates that there is sufficient location data to accurately detect the orientation of the charging pile. In this case, the orientation of the charging pile can be determined by using the preset number of location data points to perform a straight line fitting. If a straight line is fitted, the orientation of the charging pile is determined based on the fitted straight line. Because the rotation angle indicated by the attitude data exceeds the angle threshold, the direction of the fitted straight line can be used as the orientation of the charging pile.

[0089] If a straight line cannot be fitted, the calibration has failed, indicating a restart or instructing the user to perform other pre-defined actions.

[0090] Sub-step S3023: If the exit distance exceeds the distance threshold, send a second instruction message indicating calibration failure.

[0091] It should be noted that this step is optional. When the lawnmower retreats beyond a distance threshold (e.g., 2m), it indicates that continuing calibration may be dangerous. Therefore, calibration can be terminated, and a second instruction message indicating calibration failure can be sent to inform the user of the failure. For example, the second instruction message can be sent to a display device (such as the user's mobile phone) connected to the lawnmower, but there are no restrictions on this.

[0092] Sub-step S3024: If the rotation angle indicated by the attitude data exceeds the angle threshold and the exit distance does not exceed the distance threshold, then clear the collected position data, and use the current position and attitude as the initial position and initial attitude, and return to sub-step S3021 to continue execution.

[0093] When the lawnmower's rotation angle exceeds the angle threshold (e.g., 20°) based on the attitude data, and the lawnmower's exit distance does not exceed the distance threshold, it indicates that there is still a relatively safe space for calibration. At this time, the collected position data can be cleared, and the current position and the current attitude can be used as the initial position and the calibration can be restarted so that the orientation of the charging pile can be detected.

[0094] Step S304: If the orientation of the charging pile is detected, a first indication message is sent to indicate that the detection was successful.

[0095] To ensure user convenience, after detecting the orientation of the charging station, a first indication message can be sent to the device connected to the lawnmower to indicate that the orientation detection of the charging station was successful. This device can be a mobile phone or similar device that communicates with the lawnmower, but there are no restrictions on its use.

[0096] The method described in this embodiment only requires a pair of RTK antennas on both the lawnmower and the charging station, combined with the inertial measurement unit and encoder carried on the lawnmower, to accurately detect the orientation of the charging station. This not only reduces costs but also improves accuracy, avoiding the problem of inaccurate detection caused by interference from other magnetic fields. After detecting the orientation of the charging station, a first indication message can be actively sent to inform the user that the orientation detection is complete, improving user awareness and allowing the user to more intuitively and quickly understand the lawnmower's actions.

[0097] According to another aspect of this application, a lawnmower calibration method is provided, such as... Figure 3F As shown, the method includes the following steps:

[0098] Step S306: Display the calibration option in the display interface, and send a calibration trigger command to the lawnmower when the calibration option is triggered.

[0099] The display interface can be shown via a mobile phone or other device. The calibration options on the display interface can be buttons or other interactive options. For example, when a user clicks the calibration option, a calibration trigger command is sent to the lawnmower, causing it to automatically begin calibrating the orientation of the charging pile. The calibration process can be implemented using the aforementioned method. If the lawnmower successfully calibrates the orientation of the charging pile, it sends a first command message to the mobile phone, indicating successful calibration of the charging pile's orientation. In this embodiment, the first command message is determined based on the successfully detected orientation of the charging pile, which is determined based on multiple position and attitude data of the lawnmower during its movement relative to the charging pile.

[0100] Step S308: If the first instruction information returned by the lawnmower in response to the calibration trigger instruction is received, a calibration success message is displayed on the display interface.

[0101] like Figure 3G As shown, displaying a calibration success message on the display interface allows users to quickly and easily know the calibration results.

[0102] Optionally, to enhance the intelligence of the interaction, the method further includes:

[0103] Step S310: When the display duration of the calibration success message meets the set duration or when a trigger operation is received on the start mapping option in the calibration success message display interface, a remote control interface for remotely controlling the lawnmower to map is displayed on the display interface.

[0104] If the display meets the set time (e.g., 2 or 3 seconds), the lawnmower can automatically map after the orientation of the charging pile is calibrated. Therefore, after the calibration success message is displayed for a period of time (e.g., 2 or 3 seconds), the remote control interface for remotely controlling the lawnmower to map can be automatically displayed on the display screen, allowing users to control the lawnmower to map via their mobile phones.

[0105] Alternatively, if a user trigger operation is received during the display of the calibration success message, a remote control interface for remotely controlling the lawnmower to create a map is displayed on the display screen.

[0106] Optionally, during the automatic calibration process of the lawnmower, to help users better understand the calibration progress, the method further includes:

[0107] Step S306a: During the movement of the lawnmower relative to the charging pile, calibration progress information is displayed on the display interface.

[0108] like Figure 3H As shown, during the calibration process, communication with the lawnmower is used to obtain its calibration progress information, which is determined based on the number of location data points collected from the lawnmower. For example, if a total of 26 location data points need to be collected, and 10 have been collected so far, the calibration progress is 38%. After collecting all 26 location data points and fitting a straight line, the calibration progress can be determined to be 100%.

[0109] This method can display some information about the lawnmower's calibration process to the user, making it easier for the user to understand the calibration process and results, and making it more convenient for the user to operate and use the lawnmower.

[0110] Figure 4A A schematic diagram of the architecture of a lawnmower calibration device according to an exemplary embodiment of this application is shown. As shown in the figure, the lawnmower calibration device 400 of this embodiment mainly includes:

[0111] The acquisition module 402 is used to acquire a preset number of position data during the movement of the lawnmower relative to the charging pile.

[0112] The fitting module 404 is used to perform linear fitting using a preset number of position data.

[0113] The determining module 406 is used to determine the orientation of the charging pile based on the slope of the fitted straight line if a preset number of the position data are fitted together to form a straight line.

[0114] Optionally, the acquisition module 402 is further configured to: if it is determined that the lawnmower is in a docking state with the charging pile, then take the position of the lawnmower in the docking state as the initial position, and acquire the initial position data corresponding to the initial position, wherein the preset number of position data includes the initial position data.

[0115] Optionally, the acquisition module 402 is further configured to: drive the lawnmower to move along a straight line away from the charging pile in the posture corresponding to the initial position, and acquire a preset number of position data of the lawnmower during the movement.

[0116] Optionally, the acquisition module 402 is further configured to: acquire a preset number of position data during the movement of the lawnmower relative to the charging pile, wherein the rotation angle of the lawnmower's posture at each position data acquisition relative to the posture of the lawnmower corresponding to the initial position is less than an angle threshold.

[0117] Optionally, the lawnmower is equipped with an inertial measurement unit, and the acquisition module 402 is further configured to: drive the lawnmower to move along a straight line away from the charging pile in the posture corresponding to the initial position; during the movement of the lawnmower, acquire the position data and acquire the angle data of the inertial measurement unit; determine the rotation angle of the lawnmower's posture at the current moment relative to the posture corresponding to the initial position based on the angle data; if the rotation angle is greater than a set angle threshold, clear the acquired position data, redetermine the initial position with the current position, acquire the current position data of the lawnmower, reset the inertial measurement unit, and return to the step of driving the lawnmower to move along a straight line away from the charging pile in the posture corresponding to the initial position to continue execution.

[0118] For example, the lawnmower is equipped with an encoder. Optionally, the acquisition module 402 is further configured to: if the rotation angle is less than or equal to a set angle threshold, determine whether the distance between the lawnmower's current position and the initial position exceeds a set distance threshold based on the distance data from the encoder; if the distance threshold is not exceeded, determine whether the number of acquired position data satisfies the preset number; if the preset number is satisfied, perform a step of using the preset number of position data to perform linear fitting.

[0119] Optionally, the acquisition module 402 is further configured to: if the distance between the current position of the lawnmower and the initial position exceeds the distance threshold, determine that the calibration has failed, and drive the lawnmower to move to the charging pile to wait for the next calibration.

[0120] Optionally, the acquisition module 402 is further configured to: if the number of acquired position data does not meet the preset number, return to the steps of acquiring the position data and acquiring the angle data of the inertial measurement unit during the movement of the lawnmower and continue to execute.

[0121] Optionally, if the fitting module 404 fails to fit a straight line based on a preset number of position data, the acquisition module 402 is further configured to return to the steps of acquiring the position data and acquiring the angle data of the inertial measurement unit during the movement of the lawnmower and continue to execute.

[0122] Optionally, the fitting module 404 is further configured to: determine the heading of the lawnmower based on the slope of the fitted straight line; determine the rotation angle of the lawnmower's current posture relative to the posture corresponding to the initial position based on the angle data of the inertial measurement unit; and determine the orientation of the charging pile based on the rotation angle and the heading of the lawnmower.

[0123] This application also provides a lawnmower, including a controller, which can be used to perform: collecting a preset number of position data during the movement of the lawnmower relative to the charging pile; using the preset number of position data to perform straight line fitting; if the preset number of position data fits a straight line, then determining the orientation of the charging pile based on the slope of the fitted straight line.

[0124] This application also provides a non-transitory computer-readable storage medium storing computer instructions for causing the computer to perform the method according to any of the above embodiments.

[0125] An exemplary embodiment of this application also provides an electronic device, including: at least one processor; and a memory communicatively connected to the at least one processor. The memory stores a computer program executable by the at least one processor, which, when executed by the at least one processor, causes the electronic device to perform a lawnmower calibration method according to any embodiment of this application.

[0126] Figure 4B A structural block diagram of a lawnmower robot calibration device according to an embodiment of this application is shown. The device includes:

[0127] The detection module 408 is used to detect the orientation of the charging pile based on multiple position and attitude data of the lawnmower during the movement of the lawnmower relative to the charging pile.

[0128] The first indication module 410 is used to send first indication information to indicate successful detection if the orientation of the charging pile is detected.

[0129] Optionally, the location data is obtained by detecting a pair of RTK antennas installed on the lawnmower and the charging pile, and the attitude data is obtained by detecting an inertial measurement unit installed on the lawnmower.

[0130] Optionally, the device further includes: a first receiving module 412, configured to receive a calibration trigger command sent by a display device to instruct the lawnmower to start calibration, and drive the lawnmower to move relative to the charging pile based on the calibration trigger command, and perform the step of detecting the orientation of the charging pile based on multiple position data and attitude data of the lawnmower during the movement of the lawnmower relative to the charging pile.

[0131] Optionally, the detection module 408 is used to collect the exit distance, position data, and attitude data of the lawnmower during the process of the lawnmower exiting the charging pile; if the number of position data collected reaches a preset number, and the exit distance does not exceed a set distance threshold, and the rotation angle indicated by the attitude data of the lawnmower does not exceed an angle threshold, then the orientation of the charging pile is determined based on the preset number of position data collected.

[0132] Optionally, the detection module 408 is used to perform straight line fitting using the preset number of position data. If a straight line is fitted, the orientation of the charging pile is determined based on the fitted straight line.

[0133] Optionally, the device further includes:

[0134] The second indication module 414 is used to send a second instruction message indicating calibration failure if the exit distance exceeds the distance threshold; or,

[0135] The reset module 416 is used to clear the collected position data and return to the corresponding step of the detection module 408 to continue execution if the rotation angle indicated by the attitude data exceeds the angle threshold and the exit distance does not exceed the distance threshold.

[0136] Figure 4C A structural block diagram of a lawnmower robot calibration device according to an embodiment of this application is shown. The device includes:

[0137] The first display module 418 is used to display calibration options in the display interface and send a calibration trigger command to the lawnmower when the calibration option is triggered.

[0138] The second display module 420 is used to display a calibration success message on the display interface if it receives a first instruction message returned by the lawnmower in response to the calibration trigger instruction. The first instruction message is determined based on the orientation of the successfully detected charging pile. The orientation of the charging pile is determined based on multiple position data and attitude data of the lawnmower relative to the charging pile during its movement.

[0139] Optionally, the device further includes:

[0140] The third display module 422 is used to display a remote control interface for remotely controlling the lawnmower to map when the display duration of the calibration success prompt message meets the set duration or when a trigger operation is received on the start mapping option in the calibration success prompt message display interface.

[0141] Optionally, the device further includes:

[0142] The fourth display module 424 is used to display calibration progress information on the display interface during the movement of the lawnmower relative to the charging pile. The calibration progress information is determined based on the number of position data of the lawnmower that have been collected.

[0143] Please refer to Figure 5 The present invention describes a structural block diagram of an electronic device 500 that can serve as a server or client of this application, which is an example of a hardware device that can be applied to various aspects of this application. The electronic device is intended to represent various forms of digital electronic computer devices, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the application described and / or claimed herein.

[0144] like Figure 5 As shown, the electronic device 500 includes a computing unit 501, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 502 or a computer program loaded from a storage unit 508 into a random access memory (RAM) 503. The RAM 503 may also store various programs and data required for the operation of the device 1100. The computing unit 501, ROM 502, and RAM 503 are interconnected via a bus 504. An input / output (I / O) interface 505 is also connected to the bus 504.

[0145] Multiple components in electronic device 500 are connected to I / O interface 505, including: input unit 506, output unit 507, storage unit 508, and communication unit 509. Input unit 506 can be any type of device capable of inputting information to electronic device 500. Input unit 506 can receive input digital or character information and generate key signal inputs related to user settings and / or function control of electronic device. Output unit 507 can be any type of device capable of presenting information and may include, but is not limited to, a display, speaker, video / audio output terminal, vibrator, and / or printer. Storage unit 504 may include, but is not limited to, disks and optical discs. Communication unit 509 allows electronic device 500 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks, and may include, but is not limited to, modems, network cards, infrared communication devices, wireless communication transceivers, and / or chipsets, such as Bluetooth™ devices, WiFi devices, WiMax devices, cellular communication devices, and / or the like.

[0146] The computing unit 501 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 501 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 501 performs the various methods and processes described above. For example, in some embodiments, the lawnmower calibration method described above can be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as storage unit 508. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 1100 via ROM 502 and / or communication unit 509. In some embodiments, the computing unit 501 can be configured to perform the lawnmower calibration method described above by any other suitable means (e.g., by means of firmware).

[0147] The program code used to implement the methods of this application may be written in any combination of one or more programming languages. This program code may be provided to a processor or controller of a general-purpose computer, special-purpose computer, or other programmable data processing device, such that when executed by the processor or controller, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The program code may be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0148] In the context of this application, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. Machine-readable media can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0149] As used in this application, the terms "machine-readable medium" and "computer-readable medium" refer to any computer program product, device, and / or apparatus (e.g., disk, optical disk, memory, programmable logic device (PLD)) for providing machine instructions and / or data to a programmable processor, including machine-readable media that receive machine instructions as machine-readable signals. The term "machine-readable signal" refers to any signal for providing machine instructions and / or data to a programmable processor.

[0150] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the computer. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0151] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as a data server), or computing systems that include middleware components (e.g., an application server), or computing systems that include frontend components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with embodiments of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., a communication network). Examples of communication networks include local area networks (LANs), wide area networks (WANs), and the Internet.

[0152] Computer systems can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. Client-server relationships are created by computer programs running on the respective computers and having a client-server relationship with each other.

[0153] It should be noted that, depending on the implementation needs, the various components / steps described in the embodiments of this application can be broken down into more components / steps, or two or more components / steps or parts of the operation of components / steps can be combined into new components / steps to achieve the purpose of the embodiments of this application.

[0154] Those skilled in the art will recognize that the units and method steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the embodiments of this application.

[0155] In summary, the lawnmower calibration method, apparatus, electronic device, and storage medium provided in the embodiments of this application accurately determine the orientation of the charging pile by collecting measurement data of the lawnmower moving relative to the charging pile and performing linear fitting processing based on the measurement data. This has the advantages of simple and easy calibration operation and low calibration cost.

[0156] Furthermore, the lawnmower calibration process of this application uses fewer types of sensors and can determine the lawnmower's heading information with a single RTK antenna without requiring complicated manual operations. This not only effectively reduces the lawnmower's calibration cost and heading calculation cost, but also has high calibration efficiency.

[0157] The above embodiments are only used to illustrate the embodiments of this application, and are not intended to limit the embodiments of this application. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the embodiments of this application. Therefore, all equivalent technical solutions also fall within the scope of the embodiments of this application, and the patent protection scope of the embodiments of this application should be defined by the claims.

Claims

1. A lawnmower calibration method, comprising: Collect a preset number of position data during the movement of the lawnmower relative to the charging station; Linear fitting is performed using a preset number of the aforementioned positional data; If a straight line is fitted from a preset number of the location data, the orientation of the charging pile is determined based on the slope of the fitted straight line. The process of collecting a preset number of position data during the movement of the lawnmower relative to the charging pile includes: driving the lawnmower to move in a straight line away from the charging pile in an attitude corresponding to an initial position, where the initial position is the position where the lawnmower is docked with the charging pile; acquiring the position data and acquiring the angle data of the lawnmower's inertial measurement unit during the movement of the lawnmower; and determining the rotation angle of the lawnmower's attitude at the current moment relative to the attitude corresponding to the initial position based on the angle data. Determining the orientation of the charging pile based on the slope of the fitted straight line includes: determining the heading of the lawnmower based on the slope of the fitted straight line; determining the rotation angle of the lawnmower's current posture relative to the posture corresponding to the initial position based on the angle data of the inertial measurement unit; and determining the orientation of the charging pile based on the rotation angle and the heading of the lawnmower.

2. The lawnmower calibration method according to claim 1, wherein, The method for collecting a preset number of position measurement data during the movement of the lawnmower relative to the charging station also includes: If it is determined that the lawnmower is in a docked state with the charging pile, then the position where the lawnmower is in the docked state is taken as the initial position, and the initial position data corresponding to the initial position is obtained. The preset number of position data includes the initial position data.

3. The lawnmower calibration method according to claim 2, wherein, The rotation angle of the lawnmower's posture at each location, relative to the initial position, is less than the angle threshold.

4. The lawnmower calibration method according to claim 1 or 3, wherein the method further comprises: If the rotation angle is greater than the set angle threshold, the acquired position data is cleared, the initial position is redefined with the current position, the current position data of the lawnmower is acquired, and the inertial measurement unit is reset. The step of returning to drive the lawnmower to move in a straight line away from the charging pile in the posture corresponding to the initial position continues.

5. The lawnmower calibration method according to claim 4, wherein, The lawnmower is equipped with an encoder; The method of driving the lawnmower to move in a straight line away from the charging pile in the posture corresponding to the initial position, and collecting a preset number of position data of the lawnmower during the movement, also includes: If the rotation angle is less than or equal to the set angle threshold, then the distance between the current position of the lawnmower and the initial position is determined according to the distance data of the encoder to see if it exceeds the set distance threshold. If the distance threshold is not exceeded, then determine whether the number of acquired location data meets the preset number; If the preset number is met, then the step of performing linear fitting using the preset number of position data is executed.

6. The lawnmower calibration method according to claim 5, wherein, The method of driving the lawnmower to move in a straight line away from the charging pile in the posture corresponding to the initial position, and collecting a preset number of position data of the lawnmower during the movement, also includes: If the distance between the current position of the lawnmower and the initial position exceeds the distance threshold, the calibration is determined to have failed, and the lawnmower is driven to move to the charging station to wait for the next calibration.

7. The lawnmower calibration method according to claim 5, wherein, The method of driving the lawnmower to move in a straight line away from the charging pile in the posture corresponding to the initial position, and collecting a preset number of position data of the lawnmower during the movement, also includes: If the number of acquired position data does not meet the preset number, the process returns to the steps of acquiring the position data and acquiring the angle data of the inertial measurement unit during the lawnmower's movement.

8. The lawnmower calibration method according to claim 5, wherein, After performing linear fitting using a preset number of positional data points, the method further includes: If the preset number of position data does not fit a straight line, the process returns to the steps of acquiring the position data and the angle data of the inertial measurement unit during the lawnmower's movement.

9. A method for calibrating a lawnmower robot, comprising: During the movement of the lawnmower relative to the charging station, the orientation of the charging station is detected based on multiple position and attitude data of the lawnmower. If the orientation of the charging pile is detected, a first indication message is sent to indicate successful detection; The process of detecting the orientation of the charging pile based on multiple position and attitude data of the lawnmower during its movement relative to the charging pile includes: driving the lawnmower to move along a straight line away from the charging pile in an attitude corresponding to an initial position, where the initial position is the position where the lawnmower is docked with the charging pile; acquiring the position data and angle data from the lawnmower's inertial measurement unit during the lawnmower's movement; determining the rotation angle of the lawnmower's current attitude relative to the attitude corresponding to the initial position based on the angle data; performing a straight line fitting using a preset number of position data points; if a straight line is fitted using the preset number of position data points, determining the lawnmower's heading based on the slope of the fitted straight line; determining the rotation angle of the lawnmower's current attitude relative to the attitude corresponding to the initial position based on the angle data from the inertial measurement unit; and determining the orientation of the charging pile based on the rotation angle and the lawnmower's heading.

10. The lawnmower calibration method according to claim 9, wherein, The location data is obtained by detecting a pair of RTK antennas installed on the lawnmower and the charging station, and the attitude data is obtained by detecting an inertial measurement unit installed on the lawnmower.

11. The lawnmower calibration method according to claim 9 or 10, wherein, The system receives a calibration trigger command sent by a display device to instruct the lawnmower to begin calibration, drives the lawnmower to move relative to the charging pile based on the calibration trigger command, and performs the step of detecting the orientation of the charging pile based on multiple position and attitude data of the lawnmower during the movement of the lawnmower relative to the charging pile.

12. The lawnmower calibration method according to claim 11, wherein, The method of detecting the orientation of the charging station based on multiple position and attitude data of the lawnmower during its movement relative to the charging station also includes: During the process of the lawnmower retracting from the charging station, the retraction distance, position data, and attitude data of the lawnmower are collected respectively. If the number of location data collected reaches a preset number, and the exit distance does not exceed a set distance threshold, and the rotation angle indicated by the lawnmower's posture data does not exceed an angle threshold, then the orientation of the charging pile is determined based on the preset number of location data collected.

13. The lawnmower calibration method according to claim 12, wherein, The method further includes: If the exit distance exceeds the distance threshold, a second instruction indicating calibration failure is sent; or, If the rotation angle indicated by the posture data exceeds the angle threshold and the exit distance does not exceed the distance threshold, then the collected position data is cleared, and the current position and posture are used as the initial position and initial posture. The process of detecting the orientation of the charging pile based on multiple position and posture data of the lawnmower during the lawnmower's movement relative to the charging pile continues.

14. A lawnmower calibration method, comprising: Display calibration options in the display interface, and send a calibration trigger command to the lawnmower when the calibration option is triggered. If the lawnmower receives a first instruction message in response to the calibration trigger command, a calibration success message is displayed on the display interface. The first instruction message is determined based on the orientation of the successfully detected charging pile, which is determined through the following steps: The lawnmower is driven to move along a straight line away from the charging pile in an initial position corresponding to its docked state. During the lawnmower's movement, position data and angle data from the lawnmower's inertial measurement unit are acquired. Based on the angle data, the rotation angle of the lawnmower's current posture relative to the posture corresponding to the initial position is determined. A preset number of position data points are used for straight line fitting. If a straight line is fitted using the preset number of position data points, the heading of the lawnmower is determined based on the slope of the fitted line. Based on the angle data from the inertial measurement unit, the rotation angle of the lawnmower's current posture relative to the posture corresponding to the initial position is determined. Based on the rotation angle and the heading of the lawnmower, the orientation of the charging pile is determined.

15. The lawnmower calibration method according to claim 14, wherein, The method further includes: When the calibration success message display duration meets the set duration or when a trigger operation is received on the start mapping option in the calibration success message display interface, a remote control interface for remotely controlling the lawnmower to map is displayed on the display interface.

16. The lawnmower calibration method according to claim 14, wherein, The method further includes: During the movement of the lawnmower relative to the charging station, calibration progress information is displayed on the display interface. The calibration progress information is determined based on the amount of position data of the lawnmower that has been collected.

17. A lawnmower calibration device, comprising: The data acquisition module is used to collect a preset number of position data during the movement of the lawnmower relative to the charging station; The fitting module is used to perform linear fitting using a preset number of the positional data; The determination module is used to determine the orientation of the charging pile based on the slope of the fitted straight line if a preset number of the location data are fitted together to form a straight line. The acquisition module is further configured to: drive the lawnmower to move along a straight line away from the charging pile in an attitude corresponding to the initial position, wherein the initial position is the position where the lawnmower is docked with the charging pile; acquire the position data and acquire the angle data of the lawnmower's inertial measurement unit during the lawnmower's movement; and determine the rotation angle of the lawnmower's attitude at the current moment relative to the attitude corresponding to the initial position based on the angle data. The determining module is further configured to: determine the heading of the lawnmower based on the slope of the fitted straight line; determine the rotation angle of the lawnmower's current posture relative to the posture corresponding to the initial position based on the angle data of the inertial measurement unit; and determine the orientation of the charging pile based on the rotation angle and the heading of the lawnmower.

18. A lawnmower, comprising a controller for performing: Collect a preset number of position data during the movement of the lawnmower relative to the charging station; Linear fitting is performed using a preset number of the aforementioned positional data; If a straight line is fitted from a preset number of the location data, the orientation of the charging pile is determined based on the slope of the fitted straight line. The process of collecting a preset number of position data during the movement of the lawnmower relative to the charging pile includes: driving the lawnmower to move in a straight line away from the charging pile in an attitude corresponding to an initial position, where the initial position is the position where the lawnmower is docked with the charging pile; acquiring the position data and acquiring the angle data of the lawnmower's inertial measurement unit during the movement of the lawnmower; and determining the rotation angle of the lawnmower's attitude at the current moment relative to the attitude corresponding to the initial position based on the angle data. Determining the orientation of the charging pile based on the slope of the fitted straight line includes: determining the heading of the lawnmower based on the slope of the fitted straight line; determining the rotation angle of the lawnmower's current posture relative to the posture corresponding to the initial position based on the angle data of the inertial measurement unit; and determining the orientation of the charging pile based on the rotation angle and the heading of the lawnmower.

19. An electronic device comprising: processor; as well as Memory for stored programs; The program includes instructions that, when executed by the processor, cause the processor to perform the method according to any one of claims 1-16.

20. A non-transitory computer-readable storage medium storing computer instructions, wherein, The computer instructions are used to cause the computer to perform the method according to any one of claims 1-16.

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