Mowing robot, method and device for returning of a mowing robot, mowing robot system and medium

Abstract

This application discloses a method, apparatus, system, and medium for a lawnmower robot to return to its base station. The method includes: during the lawnmower robot's return to a base station based on navigation signals, confirming whether a marker is identified on the base station; if no marker is identified, controlling the lawnmower robot to search for the marker within a preset area; and if the marker is found, controlling the lawnmower robot to adjust its posture based on the marker to perform the return. In this application, when the lawnmower robot's navigation signal deviates, preventing it from returning to the base station via the marker, the application controls the lawnmower robot to search for the marker within a preset area, ultimately determining the base station's location based on the marker to return. This enables the lawnmower robot to autonomously search for markers to determine the base station's location and perform the return even when marker information is lost.

Description

Technical Field

[0001] This application relates to the field of lawn mowing robot technology, and in particular to a method, apparatus, lawn mowing robot, and medium for returning to the station of a lawn mowing robot. Background Technology

[0002] With the development of society, lawnmowers are increasingly being used in people's production and daily life. Currently, there are boundary-guided lawnmowers and boundaryless lawnmowers on the market. Boundary-guided lawnmowers can find their base station and return by walking along the boundary, while boundaryless lawnmowers, lacking boundary lines, need to rely on navigation to accurately return to their base station location.

[0003] However, when there is a deviation in the navigation signal, the borderless lawnmower robot has difficulty accurately finding the base station location and returning, which causes the lawnmower robot to malfunction and affects its normal use. Summary of the Invention

[0004] This application provides a method, apparatus, system, and medium for a lawnmower robot to return to its station, aiming to solve the problem in the prior art that lawnmower robots have difficulty autonomously searching for and returning to their station when there are deviations in the navigation signals.

[0005] A first aspect of this application proposes a method for returning a lawnmower robot to its designated station, the method comprising:

[0006] During the process of the lawnmower returning to the base station based on navigation signals, it is confirmed whether any markers set on the base station are identified;

[0007] If the marker is not identified, the lawnmower robot is controlled to search for the marker within a preset area;

[0008] Upon detecting the marker, the lawnmower robot is controlled to adjust its pose based on the marker in order to return to its original position.

[0009] Furthermore, before controlling the lawnmower robot to search for the marker within the preset area if the marker is not identified, the return-to-station method includes:

[0010] Calculate the navigation error range based on the navigation signals;

[0011] The preset area is determined based on the navigation error range.

[0012] Furthermore, the step of calculating the navigation error range based on the navigation signal includes:

[0013] The duration of the navigation signal error and the distance traveled by the lawnmower robot are obtained.

[0014] The navigation error range is calculated based on the duration of the error and the distance traveled by the lawnmower robot.

[0015] Furthermore, the preset area is a square, and determining the preset area based on the navigation error range includes:

[0016] The preset area is determined with the navigation error range being half the side length of the square and the current position of the lawnmower robot as the center.

[0017] Furthermore, the step of controlling the lawnmower robot to search for the marker within a preset area when the marker is not identified includes:

[0018] Starting from the current position of the lawnmower robot, in the first direction, based on the area boundary of the preset area and the obstacle information within the area, the length of each segment of the first search path is determined;

[0019] Based on the visual range parameters of the lawnmower robot, the interval between two adjacent path segments in the first search path is determined;

[0020] Taking the end point of the first search path as the starting point of the second search path, in the second direction, based on the area boundary of the preset area and the obstacle information within the area, the length of each segment of the second search path is determined;

[0021] Based on the visual range parameters of the lawnmower robot, the interval between two adjacent path segments in the second search path is determined;

[0022] The first direction is perpendicular to the second direction.

[0023] Furthermore, controlling the lawnmower robot to search for the marker within a preset area also includes:

[0024] Control the lawnmower robot to search along the first search path;

[0025] The search ends when the identified marker is confirmed.

[0026] If the marker is not identified, the lawnmower robot is controlled to search along the second search path.

[0027] Furthermore, controlling the lawnmower robot to search for the marker within a preset area includes:

[0028] After the lawnmower has traveled a preset distance, it is controlled to rotate in place to search for the marker at different angles.

[0029] A second aspect of this application provides a return-to-station device for a lawnmower robot, the return-to-station device comprising:

[0030] The confirmation module is used to confirm whether an identifier set on the base station is recognized during the process of the lawnmower returning to the base station according to the navigation signal;

[0031] The first control module is used to control the lawnmower robot to search for the marker within a preset area when the marker is not identified.

[0032] The second control module is used to control the lawnmower robot to adjust its posture based on the marker to return to the station when the marker is found.

[0033] A third aspect of this application proposes a lawnmower robot system, including a lawnmower robot and a base station, wherein the base station is equipped with an identifier, the lawnmower robot includes a memory and a processor, the memory is used to store a computer program, and the processor is used to execute the computer program to implement the lawnmower robot return-to-station method proposed in the first aspect of this application.

[0034] In a fourth aspect, this application also proposes a storage medium storing program instructions for executing the lawnmower robot return-to-station method proposed in the first aspect of this application.

[0035] This application has the following beneficial effects: when the navigation signal of the lawnmower robot deviates, causing the lawnmower robot to be unable to return to the base station by passing the markers set on the base station, the lawnmower robot can be controlled to search for the markers in a preset area, and finally determine the location of the base station based on the markers to return to the base station. This enables the lawnmower robot to autonomously search for markers to determine the location of the base station and return to the base station even when the marker information is lost. Attached Figure Description

[0036] Figure 1 A flowchart illustrating one embodiment of the lawnmower robot's return-to-station method according to this application;

[0037] Figure 2 This is a flowchart of a specific implementation of the lawnmower robot's return-to-station method prior to step S2 in this application;

[0038] Figure 3 This is a flowchart of a specific implementation of step S11 in the lawnmower robot return-to-station method of this application;

[0039] Figure 4 This is a flowchart of a specific implementation of step S12 in the lawnmower robot return-to-station method of this application;

[0040] Figure 5This is a flowchart of a specific implementation of step S2 in the lawnmower robot return-to-station method of this application;

[0041] Figure 6 A scene diagram illustrating the first search path generated for the lawnmower robot's return-to-station method of this application;

[0042] Figure 7 A scene diagram illustrating the second search path generated for the lawnmower robot's return-to-station method of this application;

[0043] Figure 8 This is a flowchart of another specific implementation of step S2 in the lawnmower robot return-to-station method of this application;

[0044] Figure 9 This is a flowchart of another specific implementation of step S2 in the lawnmower robot return-to-station method of this application;

[0045] Figure 10 This is a schematic diagram of the return-to-station device of the lawnmower robot of this application;

[0046] Figure 11 This is a schematic diagram of the lawnmower robot of this application.

[0047] Explanation of key component symbols:

[0048] The system includes a lawn mowing robot system 100, a lawn mowing robot 11, a memory 111, a base station 12, a processor 112, a return-to-station device 200, a confirmation module 21, a first control module 22, and a second control module 23. Detailed Implementation

[0049] The embodiments of this application are described in detail below, with examples of the embodiments illustrated in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0050] In the description of this application, unless otherwise expressly defined, terms such as "setup" and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this application in conjunction with the specific content of the technical solution.

[0051] In the technical solution of this application, when the navigation signal of the lawn mowing robot deviates, the navigation error range is calculated through the navigation signal to determine the preset area to further determine the search path. Then, the lawn mowing robot is controlled to move along the search path to search for the markers set on the base station. Finally, the location of the base station is determined based on the markers to return to the station. This realizes that even when there is a certain error in the navigation signal, the lawn mowing robot can autonomously search for the location of the base station and return to the station.

[0052] Example 1

[0053] Please see Figure 1 The method for returning the lawnmower robot to its station according to this application includes:

[0054] S1. During the process of the lawnmower returning to the base station according to the navigation signal, confirm whether the marker set on the base station is identified;

[0055] S2. If no marker is detected, control the lawnmower robot to search for markers within a preset area;

[0056] S3. When a marker is found, control the lawnmower robot to adjust its pose based on the marker to return to the station.

[0057] In the lawnmower return-to-base method of this application, when the lawnmower's navigation signal deviates, causing the lawnmower to be unable to return to the base station via the markers set on the base station, the lawnmower is controlled to search for the markers in a preset area, and finally determines the location of the base station based on the markers to return to the base station. This enables the lawnmower to autonomously search for markers to determine the location of the base station and perform the return-to-base method even when the marker information is lost.

[0058] It should be noted that with the development of the social environment, lawnmower robots are increasingly being used in people's production and daily life. Currently, there are boundary-guided lawnmower robots and boundaryless lawnmower robots on the market. Boundary-guided lawnmower robots can find the base station and return by walking along the boundary, while boundaryless lawnmower robots, because they do not have boundary lines to assist them, need to rely on navigation to accurately return to the base station location.

[0059] However, when there is a deviation in the navigation signal, the borderless lawnmower robot has difficulty accurately finding the base station location and returning, which causes the lawnmower robot to malfunction and affects its normal use.

[0060] In addition, in some technical solutions, borderless lawnmowers are generally equipped with a visual recognition module, and the base station of the borderless lawnmower is often affixed or engraved with a QR code image. Thus, the borderless lawnmower can identify the base station by recognizing the QR code image on the base station, and then gradually adjust its posture to return to the station.

[0061] However, when there is a deviation in the navigation signal, the lawnmower robot may be located far from the base station and unable to recognize the QR code image of the base station, thus failing to return to the station normally.

[0062] Therefore, this application provides a method for returning a lawnmower robot to its station to solve the above-mentioned problems. The lawnmower robot in this application is a borderless lawnmower robot, which may be equipped with a visual recognition module, and its base station may be equipped with markers to assist the robot in returning to its station.

[0063] In the specific implementation of the return-to-base method, in step S1, the navigation signal can be obtained by processing the signal between the base station and the global positioning system. The lawnmower often uses the navigation signal to accurately return to the base station.

[0064] It should be explained that during the process of the lawnmower returning to the base station based on navigation signals, the surrounding environment may cause deviations in the navigation signals, preventing the lawnmower from accurately returning to the station. For example, in enclosed environments, with tall buildings obstructing the view, or with clouds blocking the view, the navigation signals may deviate, causing errors in the distance the lawnmower judges between itself and the base station. For instance, the distance may be judged as 1 meter based on the navigation signals, while the actual distance is 2 meters.

[0065] Thus, even when there is a deviation in the navigation signal, the lawnmower robot may have already determined that it has reached the base station location, even at a considerable distance. However, at this point, the visual recognition module on the lawnmower robot cannot recognize the QR code image or other markers set on the base station to adjust its posture and return to the station. As a result, the lawnmower robot may not be able to accurately locate the base station and cannot return to the station normally.

[0066] In step S1, as the lawnmower robot returns to the base station based on the navigation signal, it can simultaneously check whether the visual recognition module has recognized the markers set on the base station, such as whether the camera has recognized a QR code image.

[0067] In steps S2 and S3, if no marker is identified, it can be confirmed that the navigation signal has a certain deviation and the actual position of the lawnmower robot is incorrect. At this time, the lawnmower robot is controlled to search within a preset area to find the marker, adjust its posture, and return to the station. For example, the lawnmower robot can calculate its relative position and heading angle with the marker, and adjust its posture based on the above data to return to the station.

[0068] The identifier can be a QR code image. In this case, the lawnmower can use a visual recognition module to search for the QR code image to confirm the location of the base station. For example, in one scenario, the lawnmower can analyze images captured by a camera to determine whether a QR code image has been found.

[0069] Of course, in other embodiments, the markers may also include RFID tags, UWB tags, and various special artificial markings. Correspondingly, the lawnmower robot may be equipped with an RFID reader, a UWB detection module, a visual recognition module, etc. This application does not impose inherent limitations on the specific type of marker; in the following explanation, the marker will be a QR code image used for the return-to-station method.

[0070] In particular, it should be noted that in step S3, in one scenario, the marker is a QR code image set on the base station. When the lawnmower moves along the search path, it recognizes the QR code image through the visual recognition module, and then calculates the relative position and distance between the lawnmower and the QR code image.

[0071] In other words, the lawnmower robot can extract the image coordinates of the QR code from the image captured by the camera, and then transform it from the image coordinate system to the lawnmower robot coordinate system using a transformation matrix. This allows it to obtain the relative position and distance between the lawnmower robot and the QR code image, and thus determine the heading angle of the lawnmower robot, so that the lawnmower robot can adjust its posture according to the heading angle to enter the base station.

[0072] When the marker is an RFID tag, UWB tag, or similar object, the lawnmower can receive data from the tag upon recognition of the marker. This allows it to accurately locate the current position of the lawnmower and determine the location of the base station. It can then determine the relative orientation and distance between the lawnmower and the marker, and consequently determine the heading angle of the lawnmower. This allows the lawnmower to adjust its posture according to the heading angle and enter the base station.

[0073] Example 2

[0074] Please see Figure 2 , Figure 2 The steps of the return-to-station method prior to step S2, wherein the return-to-station method prior to step S2 may further include:

[0075] S11. Calculate the navigation error range based on the navigation signals;

[0076] S12. Determine the preset area based on the navigation error range.

[0077] In this way, a preset area can be determined and the lawnmower robot can be controlled to search and move within the preset area.

[0078] In specific implementation, in step S11, the navigation error range can be calculated based on the relevant information of the navigation signal after the navigation signal of the lawnmower robot is obtained, where the unit of the navigation error range is distance.

[0079] In step S12, the preset area is determined based on the navigation error range, which clarifies the size of the preset area and improves the efficiency and accuracy of the lawnmower robot's search and return to the station.

[0080] Understandably, after determining the preset area, the lawnmower robot can plan and generate a search path within the preset area according to relevant algorithms, and then travel along the search path to search for the markers set on the base station.

[0081] Example 3

[0082] Please see Figure 3 , Figure 3 In one specific implementation of step S11, step S11 may include:

[0083] S111, the duration of the error in acquiring navigation signals and the distance traveled by the lawnmower robot;

[0084] S112. Based on the duration of the error and the distance traveled by the lawnmower robot, the navigation error range is calculated.

[0085] In specific implementation, in steps S111 and S112, the duration of the navigation signal error is the duration of the navigation signal deviation. In some embodiments, the lawnmower robot can determine whether its navigation module receives GPS satellite signals from more than a preset number of satellites, thereby determining whether the navigation signal may have a deviation that could cause inaccurate navigation positioning when the lawnmower robot is working at that location. The preset number can be 5, and can be determined based on the required positioning accuracy of the lawnmower robot, its working performance, etc.

[0086] In other words, if the lawnmower's navigation module receives GPS satellite signals from 5 or fewer satellites, the received GPS satellite signals are considered weak. Therefore, it can be assumed that the navigation position is inaccurate and the navigation signal is biased under these circumstances. Timing is started at this point and stopped when the lawnmower's navigation module receives GPS satellite signals from more than 5 satellites to obtain the duration of the error.

[0087] Furthermore, the distance traveled by the lawnmower robot is the distance it covers within the duration of the error. That is, the calculation of the distance traveled by the lawnmower robot begins as soon as a deviation in the navigation signal is confirmed, and continues until the received navigation signal returns to normal, at which point the calculation stops, ultimately yielding the distance traveled. It can be understood that the distance traveled by the lawnmower robot can be calculated by multiplying the duration of the error by the robot's real-time speed. Finally, after obtaining the duration of the error and the distance traveled by the lawnmower robot, a weighted average is calculated to obtain the navigation error range.

[0088] In another specific implementation, the navigation error range can be an empirical parameter obtained by the lawnmower robot.

[0089] Specifically, when there is a deviation in the navigation signal, the distance between the lawnmower robot and the base station may be inaccurate, such as the distance between the robot and the base station being judged to be 1 meter according to the navigation signal, while the actual distance is 2 meters. In this case, the navigation error range is 1 meter.

[0090] If multiple navigation error ranges are obtained through hundreds of tests, the duration of the error and the distance traveled by the lawnmower robot can be calculated for each obtained navigation error range. This allows us to summarize the relationship between the duration of the error, the distance traveled by the lawnmower robot, and the navigation error range, and use the navigation error range as an empirical parameter for the lawnmower robot to acquire.

[0091] In this way, after obtaining the duration of the error and the distance traveled by the lawnmower, the robot can easily find the empirical value of the navigation error range based on the corresponding relationship and proceed with subsequent steps.

[0092] Example 4

[0093] Please see Figure 4 , Figure 4 In one specific implementation of step S12, the preset area is a square, and step S12 may include:

[0094] S121. Determine a preset area centered on half the side length of the navigation error range and the current position of the lawnmower robot.

[0095] In practice, the calculated navigation error range is used as half the side length of the preset area, and the current position of the lawnmower is used as the center of the preset area to determine a square preset area. It can be understood that defining the preset area as a square rather than a circle can improve the lawnmower's search efficiency. Of course, in other implementations, the preset area can also be circular, with the navigation error range as the radius and the current position of the lawnmower as the center, to determine a circular preset area.

[0096] Example 5

[0097] Please see Figures 5 to 7 , Figure 5 In one specific implementation of step S2, step S2 includes:

[0098] S21. Starting from the current position of the lawnmower robot, in the first direction, based on the area boundary of the preset area and the obstacle information within the area, determine the length of each segment of the first search path;

[0099] S22. Based on the visual range parameters of the lawnmower robot, determine the interval between two adjacent path segments in the first search path;

[0100] S23. Taking the end point of the first search path as the starting point of the second search path, in the second direction, based on the area boundary of the preset area and the obstacle information within the area, determine the length of each segment of the second search path.

[0101] S24. Based on the visual range parameters of the lawnmower robot, determine the interval between two adjacent path segments in the second search path;

[0102] The first direction is perpendicular to the second direction.

[0103] In this way, by generating two search paths within a preset area, the accuracy of the lawnmower's search is ensured, and the lawnmower is prevented from missing the base station location.

[0104] Please see Figure 6 and Figure 7 , Figure 6 This is a schematic diagram of the scenario for the generated first search path. Figure 7 A schematic diagram of the scenario for generating the second search path.

[0105] In specific implementation, the first direction can be a random direction, and the second direction can be perpendicular to the first direction. In the embodiments described below, the first direction is a direction perpendicular to the base station, and the second direction is a direction parallel to the base station. Of course, this application does not impose inherent restrictions on the first direction, as long as the second direction is perpendicular to the first direction.

[0106] Furthermore, both the first and second search paths can be bow-shaped. Based on steps S21 and S22, a bow-shaped first search path is generated, which may include multiple path segments. The length of each path segment is determined based on the boundary of the preset area and the obstacle information within the area. This means that, when there are no obstacles within the preset area, the length of each path segment in the first search path can be up to the same as the side length of the preset area. It is easy to understand that when obstacles exist within the preset area, obstacle avoidance is performed during path planning, i.e., a turnaround path is planned at the obstacle.

[0107] The bow-shaped path has intervals between adjacent path segments. These intervals can be set based on the visual range parameters of the lawnmower robot, thereby making full use of the lawnmower robot's visual recognition module and improving the lawnmower robot's search efficiency.

[0108] It is understood that a first search path is generated through steps S21 and S22. The first search path covers the path search in the direction perpendicular to the base station. In order to ensure the accuracy of the lawn mower's search and avoid the lawn mower missing the base station location, a second search path is generated through steps S23 and S24. The planning direction of the second search path is the direction parallel to the base station.

[0109] At this point, the endpoint of the first search path is taken as the starting point of the second search path. Based on the area boundary of the preset region and the obstacle information within the region, the length of each segment in the second search path is determined. The determination of the path length of the second search path and the determination of the interval between two adjacent path segments are consistent with those of the first search path, and will not be elaborated here.

[0110] Example 6

[0111] Please see Figure 8 , Figure 8 In another specific implementation of step S2, step S2 may include:

[0112] S25. Control the lawnmower robot to search along the first search path;

[0113] S26. End the search when a marker is identified;

[0114] S27. If no marker is identified, control the lawnmower robot to search along the second search path.

[0115] This ensures the accuracy of the lawnmower's search, prevents it from missing base station locations, and improves its search efficiency.

[0116] In specific implementation, as described above, the first direction in this embodiment is perpendicular to the base station, and the second direction is parallel to the base station. The first direction is perpendicular to the second direction. Therefore, in steps S25 to S27, the first search path and the second search path are bow-shaped paths in different directions. Controlling the lawnmower robot to search along the first search path means controlling the lawnmower robot to perform an equally spaced bow-shaped search in the direction perpendicular to the base station.

[0117] If the search process confirms that an identifier, such as a QR code image, has been identified through the visual recognition module, the search will end.

[0118] If no marker is detected, the lawnmower robot is controlled to perform a symmetrical bow-shaped search parallel to the base station along the second search path at the end of the first search path. This ensures that the lawnmower robot can find the marker within the preset area, thereby determining the base station location and returning to the station.

[0119] Example 7

[0120] Please see Figure 9 , Figure 9 In another specific implementation of step S2, step S2 may include the following steps:

[0121] S28. After each preset distance traveled by the lawnmower robot, control the lawnmower robot to rotate in place to search for markers at different angles.

[0122] This can improve the efficiency and accuracy of lawnmower robots in searching for markers.

[0123] In specific implementation, in step S28, since the accuracy of the lawn mowing robot in visually recognizing markers varies at different angles, in order to avoid missing base stations while walking along the search path and to improve search efficiency, after each preset distance traveled, the lawn mowing robot can be controlled to stop and rotate left and right in place to confirm whether the marker can be recognized and searched at different angles.

[0124] When the marker is a QR code image, the preset distance can be determined based on the maximum recognizable distance parameter of the visual recognition module on the lawnmower robot, for example, it can be 2 meters. This can significantly improve the efficiency and accuracy of searching for markers.

[0125] Example 8

[0126] Please see Figure 10 , Figure 10 This is a schematic diagram of one embodiment of the return-to-station device for the lawnmower robot of this application, as a reference. Figure 1 The implementation of the lawnmower's return-to-station method shown in this embodiment provides a lawnmower's return-to-station device 200, which is similar to... Figure 1 Corresponding to the method embodiment shown, the return station device 200 includes:

[0127] The confirmation module 21 is used to confirm whether an identifier set on the base station is recognized during the process of the lawn mowing robot returning to the base station according to the navigation signal.

[0128] The first control module 22 is used to control the lawnmower robot to search for the marker within a preset area when the marker is not identified.

[0129] The second control module 23 is used to control the lawnmower robot to adjust its posture based on the marker to perform a return to the station when the marker is found.

[0130] The beneficial effects of the control device 200 for the lawn mowing robot in this embodiment of the invention are equivalent to the beneficial effects of the lawn mowing robot return method described above, and will not be repeated here.

[0131] Example 9

[0132] Please see Figure 6 , Figure 7 and Figure 11This application embodiment also provides a lawn mowing robot system 100, which includes a lawn mowing robot 11 and a base station 12. The lawn mowing robot 11 includes a memory 111 and a processor 112. The memory 111 is used to store computer programs, and the processor 112 is used to execute the computer programs to implement the lawn mowing robot return-to-base method as described above.

[0133] The beneficial effects of the lawnmower robot system 100 in this embodiment are equivalent to the beneficial effects of the lawnmower robot return method described above, and will not be repeated here.

[0134] Example 10

[0135] This application also proposes a storage medium storing program instructions for executing the above-described lawnmower robot return-to-station method.

[0136] The beneficial effects of the storage medium provided in this application are equivalent to the beneficial effects of the aforementioned lawnmower robot return method, and will not be elaborated here.

[0137] The foregoing has described specific embodiments of this specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in a different order than that shown in the embodiments and may still achieve the desired result. Furthermore, the processes depicted in the drawings do not necessarily require the specific or sequential order shown to achieve the desired result. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0138] Program instructions include computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. Storage media include: any entity or device capable of carrying computer program code, recording media, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the contents of storage media may be appropriately added to or subtracted according to the requirements of legislation and patent practice in a jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, storage media may not include electrical carrier signals and telecommunication signals.

[0139] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0140] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0141] The embodiments of this application have been described in detail above with reference to the accompanying drawings. However, this application is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of this application.

Claims

1. A method for a lawnmower robot to return to its station, characterized in that, The return-to-station method includes: During the process of the lawnmower returning to the base station based on navigation signals, it is confirmed whether any markers set on the base station are identified; If the marker is not identified, the lawnmower robot is controlled to search for the marker within a preset area; Upon detecting the marker, the lawnmower robot is controlled to adjust its pose based on the marker to return to its original position. Before controlling the lawnmower robot to search for the marker within a preset area if the marker is not identified, the return-to-station method includes: Calculate the navigation error range based on the navigation signals; The preset area is determined based on the navigation error range.

2. The return-to-station method according to claim 1, characterized in that, The step of calculating the navigation error range based on the navigation signal includes: The duration of the navigation signal error and the distance traveled by the lawnmower robot are obtained. The navigation error range is calculated based on the duration of the error and the distance traveled by the lawnmower robot.

3. The return-to-station method according to claim 1, characterized in that, The preset area is a square, and determining the preset area based on the navigation error range includes: The preset area is determined with the navigation error range being half the side length of the square and the current position of the lawnmower robot as the center.

4. The return-to-station method according to claim 1, characterized in that, The step of controlling the lawnmower robot to search for the marker within a preset area when the marker is not identified includes: Starting from the current position of the lawnmower robot, in the first direction, based on the area boundary of the preset area and the obstacle information within the area, the length of each segment of the first search path is determined; Based on the visual range parameters of the lawnmower robot, the interval between two adjacent path segments in the first search path is determined; Taking the end point of the first search path as the starting point of the second search path, in the second direction, based on the area boundary of the preset area and the obstacle information within the area, the length of each segment of the second search path is determined; Based on the visual range parameters of the lawnmower robot, the interval between two adjacent path segments in the second search path is determined; The first direction is perpendicular to the second direction.

5. The return-to-station method according to claim 4, characterized in that, The method of controlling the lawnmower robot to search for the marker within a preset area also includes: Control the lawnmower robot to search along the first search path; The search ends when the identified marker is confirmed. If the marker is not identified, the lawnmower robot is controlled to search along the second search path.

6. The return-to-station method according to claim 5, characterized in that, The control of the lawnmower robot to search for the marker within a preset area includes: After the lawnmower has traveled a preset distance, it is controlled to rotate in place to search for the marker at different angles.

7. A return-to-station device for a lawnmower robot, characterized in that, The return station device includes: The confirmation module is used to confirm whether an identifier set on the base station is recognized during the process of the lawnmower returning to the base station according to the navigation signal; The first control module is used to calculate the navigation error range based on the navigation signal when the marker is not identified, determine a preset area based on the navigation error range, and control the lawn mowing robot to search for the marker in the preset area. The second control module is used to control the lawnmower robot to adjust its posture based on the marker to return to the station when the marker is found.

8. A lawnmowing robot system, characterized in that, The system includes a lawnmower robot and a base station, the base station being equipped with an identifier. The lawnmower robot includes a memory and a processor, the memory being used to store a computer program, and the processor being used to execute the computer program to implement a method for returning the lawnmower robot to its base station as described in any one of claims 1 to 6.

9. A storage medium, characterized in that: The storage medium stores program instructions for executing the return-to-station method of the lawnmower robot according to any one of claims 1 to 6.

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