A mowing method, device, mower and medium

Abstract

The application relates to the technical field of positioning and visual identification, in particular to a mowing method and device, a mower and a medium. The mowing method comprises the following steps: receiving a satellite signal through a satellite module; judging whether a satellite positioning state of the satellite signal reaches a preset requirement; if the satellite positioning state reaches the preset requirement, using a satellite navigation mode to mow; if the satellite positioning state does not reach the preset requirement, switching the satellite navigation mode to an auxiliary navigation mode; and mowing according to the auxiliary navigation mode. Therefore, the satellite navigation mode is used to mow when the satellite positioning state reaches the preset requirement, and the satellite navigation mode is switched to the auxiliary navigation mode when the satellite positioning state does not reach the preset requirement. In this way, the mower can be prevented from driving out of a working area due to the reduction of satellite positioning accuracy caused by the blocking of the satellite signal, and the situation that some lawns are not mowed due to the mowing of the lawns is avoided.

Description

Technical Field

[0001] This invention relates to the field of positioning and visual recognition technology, and in particular to a lawn mowing method, device, lawnmower and medium. Background Technology

[0002] With the rapid development of Real-time Kinematic (RTK) and visual recognition technologies, existing methods for mowing lawns typically utilize RTK technology to control the mower via a mobile terminal along the boundaries of its working area, facilitating boundary data collection and mapping. However, due to the complex operating environments of lawnmowers, buildings and trees can easily obstruct RTK satellite signals, reducing satellite positioning accuracy. In such cases, when the lawnmower relies entirely on RTK satellite signals, it may easily wander outside the working area or fail to follow the desired path, resulting in missed mowing spots.

[0003] Given the aforementioned problems, finding a way to completely mow lawns is a problem that those skilled in the art strive to solve. Summary of the Invention

[0004] The purpose of this invention is to provide a lawn mowing method, device, lawnmower, and medium to address the issues of lawnmowers traveling outside the work area due to reduced satellite positioning accuracy caused by satellite signal blockage, and the situation where some lawn is missed during lawn mowing.

[0005] To solve the above-mentioned technical problems, the present invention provides a lawn mowing method applicable to a lawnmower equipped with a satellite module and a visual recognition module, the method comprising:

[0006] Receive satellite signals via satellite module;

[0007] Determine whether the satellite positioning status of the satellite signal meets the preset requirements;

[0008] If the satellite positioning status meets the preset requirements, then satellite navigation will be used for mowing;

[0009] If the satellite positioning status does not meet the preset requirements, the satellite navigation mode will be switched to the auxiliary navigation mode.

[0010] Mowing is performed using assisted navigation.

[0011] On the other hand, after switching from satellite navigation to assisted navigation, but before mowing the lawn according to the assisted navigation method, the following also applies:

[0012] Capture images captured by the camera module;

[0013] Image processing is performed using visual recognition technology;

[0014] The auxiliary area for mowing is determined based on the processed images and satellite positioning status.

[0015] On the other hand, after determining the auxiliary area for lawn mowing using assisted navigation based on the processed images and satellite positioning status, it also includes:

[0016] The satellite navigation area that represents the positioning status to meet the preset requirements is determined based on the auxiliary area and the lawn area;

[0017] Obtain the overlapping area where the auxiliary area and the satellite navigation area overlap;

[0018] Set the starting point within the overlapping area;

[0019] Navigate the lawnmower to the starting point using satellite navigation;

[0020] Correspondingly, switching from satellite navigation mode to assisted navigation mode includes:

[0021] At the starting point, switch the satellite navigation mode to the auxiliary navigation mode.

[0022] On the other hand, after switching from satellite navigation to assisted navigation, but before mowing the lawn according to the assisted navigation method, the following also applies:

[0023] Obtain the pre-defined connectivity path between the auxiliary area and the satellite navigation area;

[0024] The lawnmower is controlled to be in the auxiliary area based on the connection path.

[0025] On the other hand, it also includes:

[0026] Use visual recognition technology to determine whether there are obstacles in the auxiliary area;

[0027] If an obstacle appears in the auxiliary area, control the lawnmower to change its direction of travel;

[0028] If there are no obstacles in the assisted area, the lawn will be mowed according to the assisted navigation method.

[0029] On the other hand, it also includes:

[0030] Get the lawn mowing time;

[0031] Determine if the mowing time has reached the preset mowing time;

[0032] If the mowing time reaches the preset mowing time, the mowing will be completed.

[0033] If the mowing time has not reached the preset mowing time, it is determined that the mowing has not ended, and the process returns to the step of mowing according to the assisted navigation method.

[0034] On the other hand, it also includes:

[0035] Get the area of ​​lawn that has been mowed;

[0036] Determine whether the completed lawn mowing area has reached the preset lawn mowing area;

[0037] If the area mowed reaches the preset area, the mowing is considered complete.

[0038] If the area mowed does not reach the preset area, the mowing is not completed, and the process returns to the step of mowing using the assisted navigation method.

[0039] To address the aforementioned technical problems, the present invention also provides a lawnmower device, applicable to a lawnmower equipped with a satellite module and a visual recognition module, the device comprising:

[0040] The receiving module is used to receive satellite signals through the satellite module;

[0041] The first judgment module is used to determine whether the satellite positioning status of the satellite signal meets the preset requirements;

[0042] If the satellite positioning status meets the preset requirements, the satellite navigation lawn mowing module is triggered to mow the lawn using satellite navigation.

[0043] If the satellite positioning status does not meet the preset requirements, the switching module is triggered to switch the satellite navigation mode to the auxiliary navigation mode;

[0044] The first random lawn mowing module is used to mow lawns according to the auxiliary navigation method.

[0045] In addition, the above-mentioned device also includes the following modules:

[0046] On the other hand, after switching from satellite navigation to assisted navigation, but before mowing the lawn according to the assisted navigation method, the following also applies:

[0047] The acquisition module is used to acquire images captured by the camera module;

[0048] The processing module is used to process images using visual recognition technology;

[0049] The first determining module is used to determine the auxiliary area for mowing using the assisted navigation method based on the processed image and satellite positioning status.

[0050] On the other hand, after determining the auxiliary area for lawn mowing using assisted navigation based on the processed images and satellite positioning status, it also includes:

[0051] The second determining module is used to determine the satellite navigation area that represents the positioning status meeting the preset requirements based on the auxiliary area and the lawn area;

[0052] The first acquisition module is used to acquire the overlapping area where the auxiliary area and the satellite navigation area overlap;

[0053] The configuration module is used to set the starting point within the overlapping area;

[0054] The navigation module is used to navigate the lawnmower to the starting point using satellite navigation.

[0055] Correspondingly, switching from satellite navigation mode to assisted navigation mode includes:

[0056] The second random mowing module is used to switch the satellite navigation mode to the auxiliary navigation mode at the starting point.

[0057] On the other hand, after switching from satellite navigation to assisted navigation, but before mowing the lawn according to the assisted navigation method, the following also applies:

[0058] The second acquisition module is used to acquire the pre-set connection path between the auxiliary area and the satellite navigation area;

[0059] The first control module is used to control the lawnmower to be in the auxiliary area based on the connecting path.

[0060] On the other hand, it also includes:

[0061] The second judgment module is used to determine whether there are obstacles in the auxiliary area using visual recognition technology;

[0062] If an obstacle appears in the auxiliary area, the second control module is triggered to control the lawnmower to change its direction of travel.

[0063] If an obstacle is found in the assisted area, the third random mowing module is triggered to mow the lawn according to the assisted navigation method.

[0064] On the other hand, it also includes:

[0065] The third acquisition module is used to acquire the lawn mowing time;

[0066] The third judgment module is used to determine whether the mowing time has reached the preset mowing time.

[0067] If the mowing time reaches the preset mowing time, the third confirmation module is triggered to determine that the mowing has ended;

[0068] If the mowing time has not reached the preset mowing time, the fourth determination module is triggered to determine that the mowing has not ended and return to the step of mowing according to the auxiliary navigation method.

[0069] On the other hand, it also includes:

[0070] The fourth acquisition module is used to acquire the area of ​​lawn that has been mowed.

[0071] The fourth judgment module is used to determine whether the completed mowing area has reached the preset mowing area;

[0072] If the mowing area reaches the preset mowing area, the fifth determination module is triggered to determine that mowing is complete.

[0073] If the completed lawn area does not reach the preset lawn area, the sixth determination module is triggered to determine that the lawn mowing is not finished and return to the step of mowing according to the auxiliary navigation method.

[0074] To solve the above-mentioned technical problems, the present invention also provides a lawnmower, comprising:

[0075] Memory, used to store computer programs;

[0076] A processor is used to execute computer programs to implement the steps of a lawn mowing method.

[0077] To address the aforementioned technical problems, the present invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements all the steps of the above-described lawn mowing method.

[0078] This invention provides a lawnmower method applicable to lawnmowers equipped with a satellite module and a visual recognition module. The method includes: receiving satellite signals via the satellite module; determining whether the satellite positioning status of the satellite signal meets preset requirements; if the satellite positioning status meets the preset requirements, using satellite navigation for mowing; if the satellite positioning status does not meet the preset requirements, switching the satellite navigation mode to an auxiliary navigation mode; and mowing according to the auxiliary navigation mode. Therefore, by using satellite navigation for mowing when the satellite positioning status meets the preset requirements, and switching to auxiliary navigation mode when the satellite positioning status does not meet the preset requirements, this avoids situations where satellite signal obstruction reduces satellite positioning accuracy, causing the lawnmower to wander outside the working area, and preventing missed mowing of parts of the lawn.

[0079] The present invention also provides a mowing device, a mower, and a medium, with the same effect as above. Attached Figure Description

[0080] To more clearly illustrate the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0081] Figure 1 This is a flowchart of a lawn mowing method provided in an embodiment of the present invention;

[0082] Figure 2 This is a schematic diagram illustrating a situation where the satellite signal strength in a portion of a lawn is lower than a preset strength, as provided in an embodiment of the present invention.

[0083] Figure 3 This is a schematic diagram illustrating a situation where the satellite signal strength in a boundary area within a lawn is lower than a preset strength, as provided in an embodiment of the present invention.

[0084] Figure 4 This is a schematic diagram illustrating that the satellite signal strength in most areas of a lawn is lower than a preset strength, as provided in an embodiment of the present invention.

[0085] Figure 5 This is a schematic diagram showing that the satellite signal strength in most areas of a lawn is lower than a preset strength, as provided in an embodiment of the present invention.

[0086] Figure 6 This is a schematic diagram illustrating a third type of lawn where the satellite signal strength is lower than a preset strength, as provided in this embodiment of the invention.

[0087] Figure 7 This is a structural diagram of a lawn mowing device provided in an embodiment of the present invention;

[0088] Figure 8 This is a structural diagram of a lawnmower provided in an embodiment of the present invention. Detailed Implementation

[0089] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present invention.

[0090] The core of this invention is to provide a lawn mowing method, device, lawnmower, and medium that can prevent the lawnmower from driving outside the work area due to reduced satellite positioning accuracy caused by satellite signal blockage, and to prevent the lawn from being missed during mowing.

[0091] To enable those skilled in the art to better understand the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0092] Figure 1 A flowchart of a lawn mowing method provided in an embodiment of the present invention is shown below. Figure 1 As shown, this lawn mowing method is applied to lawnmowers equipped with satellite modules and visual recognition modules, and the method includes:

[0093] S10: Receive satellite signals via satellite module;

[0094] S11: Determine whether the satellite positioning status of the satellite signal meets the preset requirements;

[0095] If the satellite positioning status meets the preset requirements, proceed to step S12: mow the lawn using satellite navigation.

[0096] If the satellite positioning status does not meet the preset requirements, proceed to step S13: switch the satellite navigation mode to the auxiliary navigation mode;

[0097] S14: Mow the lawn using the assisted navigation method.

[0098] In this embodiment, it should be noted that the lawnmower includes at least a satellite module and a vision recognition module. In some embodiments, a wireless communication module is also provided. The satellite module is used to output RTK satellite signals and transmit them to application software that can be used to set various mowing parameters, so as to control the movement of the lawnmower to mow the grass according to the satellite signals. When mowing according to the satellite signals, a parallel mowing method with the ends connected is generally used. The vision recognition module uses a camera installed on the lawnmower to collect images, so as to process the images and determine the lawn boundary. The wireless communication module is used to transmit the signals of the lawnmower to the application software, so as to control the mowing operation of the lawnmower according to the transmitted signals.

[0099] Satellite positioning status can be divided into high-precision positioning status and non-high-precision positioning status. In this embodiment, the preset requirements can be the number of satellites that the reference station and the rover station can detect, as well as the satellite signal strength and the signal-to-noise ratio of the satellite signals. High-precision positioning status can achieve centimeter-level positioning, while non-high-precision positioning status can achieve positioning at the tens of centimeter or meter level.

[0100] Additionally, it should be noted that the application software can map the lawn using a visual recognition module to determine the lawn area that needs to be mowed. The lawn area can be divided into a satellite navigation area with good satellite signal and an auxiliary area with poor satellite signal.

[0101] As a specific embodiment, it should be noted that the lawnmower normally operates based on satellite signals. Therefore, the lawnmower switches from satellite navigation mode, which relies on satellite signals, to random mowing mode, which does not rely on satellite signals, based on the strength of the satellite signals.

[0102] The auxiliary navigation methods are specifically either deductive navigation or random cutting navigation. Deductive navigation can use one or more of the following data sources: satellite data, data collected by inertial sensors (which are equipped with multiple inertial measurement units (IMUs)), data collected by odometry, and data collected by visual odometry. The deductive navigation primarily uses data collected by inertial sensors and odometry to calculate the navigation position. Random cutting navigation simply involves turning in a direction that does not exceed the lawn boundary or the auxiliary area.

[0103] In this embodiment, the lawnmower is mowed using satellite navigation when the satellite positioning status meets the preset requirements, and the satellite navigation mode is switched to auxiliary navigation mode when the satellite positioning status does not meet the preset requirements. This avoids the lawnmower driving outside the work area due to reduced satellite positioning accuracy caused by satellite signal blockage, and also avoids the situation where some lawn is missed during mowing.

[0104] Based on the above embodiments, as a more preferred embodiment, after switching the satellite navigation mode to the assisted navigation mode, and before mowing the lawn according to the assisted navigation mode, the following steps are also included:

[0105] Capture images captured by the camera module;

[0106] Image processing is performed using visual recognition technology;

[0107] The auxiliary area for mowing is determined based on the processed images and satellite positioning status.

[0108] In this embodiment, visual recognition technology can be divided into Blob Analysis, Template Matching, and Deep Learning, as detailed below:

[0109] Firstly, Blob analysis refers to the analysis of connected regions in an image that share similar colors, textures, and other features. It involves analyzing connected regions of the same pixels in an image (these connected regions are called blobs). The process involves binarizing the image to segment it into foreground and background, and then performing connected region detection to obtain blob blocks.

[0110] Secondly, template matching is the most primitive and basic pattern recognition method. It studies where the pattern of a specific object is located in an image, and then identifies the object. It can be understood as follows: given a small image that needs to be matched, a target is searched in a large image. It is known that the target exists in the image and that the target has the same size, orientation, and image elements as the template. By statistically calculating the image's mean, gradient, distance, variance, and other features, the target can be found in the image, and its coordinates can be determined.

[0111] Third, deep learning methods have improved both detection accuracy and speed. Deep learning methods are generally divided into two categories: one is a series of two-stage object detection algorithms that combine Region Proposal Networks (RPNs) with region-with-CNN features (R-CNN); the other is a single-stage object detection algorithm that transforms object detection into a regression problem.

[0112] In this embodiment, the camera module can identify the lawn boundary or obstacles so that the lawnmower can move beyond the lawn boundary or collide with other obstacles during the mowing process.

[0113] Based on the above embodiments, as a more preferred embodiment,

[0114] After determining the auxiliary area for lawn mowing using assisted navigation based on the processed images and satellite positioning status, the process also includes:

[0115] The satellite navigation area that represents the positioning status to meet the preset requirements is determined based on the auxiliary area and the lawn area;

[0116] Obtain the overlapping area where the auxiliary area and the satellite navigation area overlap;

[0117] Set the starting point within the overlapping area;

[0118] Navigate the lawnmower to the starting point using satellite navigation;

[0119] Correspondingly, switching from satellite navigation mode to assisted navigation mode includes:

[0120] At the starting point, switch the satellite navigation mode to the auxiliary navigation mode.

[0121] Correspondingly, after switching from satellite navigation to assisted navigation, and before mowing the lawn according to the assisted navigation method, the following steps are also included:

[0122] Obtain the pre-defined connectivity path between the auxiliary area and the satellite navigation area;

[0123] The lawnmower is controlled to be in the auxiliary area based on the connection path.

[0124] Figure 2 This is a schematic diagram illustrating a scenario where the satellite signal strength in a portion of a lawn is lower than a preset strength, as provided in an embodiment of the present invention. Figure 2 As shown, the area where the satellite signal strength reaches the preset strength is the auxiliary area. In this case, the lawnmower's movement path shown in the auxiliary area is an irregular mowing pattern. The area where the satellite signal strength does not reach the preset strength is the satellite navigation area. In this case, the lawnmower's movement path shown in the satellite navigation area is a regular parallel mowing pattern with the ends connected.

[0125] Additionally, it should be noted that in order to ensure that... Figure 2 The lawn diagram shown allows for a more complete mowing operation, and overlapping areas can be set on one side of the auxiliary area or at the outer boundary of the auxiliary area.

[0126] At this point, the decision to perform a complete lawn mowing is as follows:

[0127] One of them is:

[0128] Get the lawn mowing time;

[0129] Determine if the mowing time has reached the preset mowing time;

[0130] If the mowing time reaches the preset mowing time, the mowing will be completed.

[0131] If the mowing time has not reached the preset mowing time, it is determined that the mowing has not ended, and the process returns to the step of mowing according to the assisted navigation method;

[0132] The second is:

[0133] Get the area of ​​lawn that has been mowed;

[0134] Determine whether the completed lawn mowing area has reached the preset lawn mowing area;

[0135] If the area mowed reaches the preset area, the mowing is considered complete.

[0136] If the area mowed does not reach the preset area, the mowing is not completed, and the process returns to the step of mowing using the assisted navigation method.

[0137] Figure 3 This is a schematic diagram illustrating a situation where the satellite signal strength in a boundary area within a lawn is lower than a preset strength, as provided in an embodiment of the present invention. Figure 3As shown, the area where the satellite signal strength does not reach the preset strength is the satellite navigation area. In this area, the lawnmower's movement path is a regular, parallel mowing pattern with the ends connected. The area where the satellite signal strength reaches the preset strength is the auxiliary area. In this area, the lawnmower's movement path is an irregular mowing pattern. In addition, to enable the lawnmower to navigate to the starting point in the auxiliary area and start mowing operations in the auxiliary area, an overlapping area is also provided. In this overlapping area, the satellite signal strength does not reach the preset strength, and the lawnmower can be navigated to the starting point by satellite signal.

[0138] At this point, the decision to perform a complete lawn mowing is as follows:

[0139] One of them is:

[0140] Get the lawn mowing time;

[0141] Determine if the mowing time has reached the preset mowing time;

[0142] If the mowing time reaches the preset mowing time, the mowing will be completed.

[0143] If the mowing time has not reached the preset mowing time, it is determined that the mowing has not ended, and the process returns to the step of mowing according to the assisted navigation method;

[0144] The second is:

[0145] Get the area of ​​lawn that has been mowed;

[0146] Determine whether the completed lawn mowing area has reached the preset lawn mowing area;

[0147] If the area mowed reaches the preset area, the mowing is considered complete.

[0148] If the area mowed does not reach the preset area, the mowing is not completed, and the process returns to the step of mowing using the assisted navigation method.

[0149] Figure 4 This is a schematic diagram illustrating a scenario where the satellite signal strength in most areas of a lawn is lower than a preset strength, as provided in an embodiment of the present invention. Figure 4 As shown, the area where the satellite signal strength reaches the preset strength is the auxiliary area. In this case, the lawnmower's movement path shown in the auxiliary area is an irregular mowing pattern. The area where the satellite signal strength does not reach the preset strength is the satellite navigation area. In this case, the lawnmower's movement path shown in the satellite navigation area is a regular parallel mowing pattern with the ends connected.

[0150] Additionally, it should be noted that when there is a gap between the satellite navigation area and the auxiliary area, the lawnmower can be controlled to move from the satellite navigation area to the auxiliary area by setting guide lines, magnetic strips, or a preset connection path based on satellite signals, and then perform lawnmowing operations in the auxiliary area. In the embodiment where guide strips are set, a guide line signal transmitter is set in the auxiliary area to transmit the guide line setting signal. The guide line is set according to the setting signal to facilitate the lawnmower's movement from the satellite navigation area to the auxiliary area.

[0151] At this point, the decision to perform a complete lawn mowing is as follows:

[0152] One of them is:

[0153] Get the lawn mowing time;

[0154] Determine if the mowing time has reached the preset mowing time;

[0155] If the mowing time reaches the preset mowing time, the mowing will be completed.

[0156] If the mowing time has not reached the preset mowing time, it is determined that the mowing has not ended, and the process returns to the step of mowing according to the assisted navigation method;

[0157] The second is:

[0158] Get the area of ​​lawn that has been mowed;

[0159] Determine whether the completed lawn mowing area has reached the preset lawn mowing area;

[0160] If the area mowed reaches the preset area, the mowing is considered complete.

[0161] If the area mowed does not reach the preset area, the mowing is not completed, and the process returns to the step of mowing using the assisted navigation method.

[0162] Figure 5 This is a schematic diagram illustrating a second type of lawn where the satellite signal strength is lower than a preset strength, as provided in this embodiment of the invention. Figure 5As shown, the area where the satellite signal strength does not reach the preset strength is the satellite navigation area. In this area, the lawnmower's movement path is a regular, parallel mowing pattern with the ends connected. The area where the satellite signal strength reaches the preset strength is the auxiliary area. In this area, the lawnmower's movement path is an irregular mowing pattern. In addition, to enable the lawnmower to navigate to the starting point in the auxiliary area and start mowing operations in the auxiliary area, an overlapping area is also provided. In this overlapping area, the satellite signal strength does not reach the preset strength, and the lawnmower can be navigated to the starting point by satellite signal.

[0163] After the satellite navigation area is cut using the parallel cutting method, the auxiliary area is cut. When the mower returns to the overlapping area and belongs to the boundary of the auxiliary area after cutting from the starting point, the mower is controlled to turn to avoid going out of bounds.

[0164] At this point, the decision to perform a complete lawn mowing is as follows:

[0165] One of them is:

[0166] Get the lawn mowing time;

[0167] Determine if the mowing time has reached the preset mowing time;

[0168] If the mowing time reaches the preset mowing time, the mowing will be completed.

[0169] If the mowing time has not reached the preset mowing time, it is determined that the mowing has not ended, and the process returns to the step of mowing according to the assisted navigation method;

[0170] The second is:

[0171] Get the area of ​​lawn that has been mowed;

[0172] Determine whether the completed lawn mowing area has reached the preset lawn mowing area;

[0173] If the area mowed reaches the preset area, the mowing is considered complete.

[0174] If the area mowed does not reach the preset area, the mowing is not completed, and the process returns to the step of mowing using the assisted navigation method.

[0175] Figure 6 This is a schematic diagram illustrating a third type of lawn where the satellite signal strength is lower than a preset strength, as provided in this embodiment of the invention. Figure 6As shown, the area where the satellite signal strength reaches the preset strength is the auxiliary area. In this case, the lawnmower's movement path shown in the auxiliary area is an irregular mowing pattern. The area where the satellite signal strength does not reach the preset strength is the satellite navigation area. In this case, the lawnmower's movement path shown in the satellite navigation area is a regular parallel mowing pattern with the ends connected.

[0176] Additionally, it should be noted that when there is a gap between the satellite navigation area and the auxiliary area, the lawnmower can be controlled to move from the satellite navigation area to the auxiliary area by setting guide lines, magnetic strips, or a preset connection path based on satellite signals, and then perform lawnmowing operations in the auxiliary area. In the embodiment where guide strips are set, a guide line signal transmitter is set in the auxiliary area to transmit the guide line setting signal. The guide line is set according to the setting signal to facilitate the lawnmower's movement from the satellite navigation area to the auxiliary area.

[0177] At this point, the decision to perform a complete lawn mowing is as follows:

[0178] One of them is:

[0179] Get the lawn mowing time;

[0180] Determine if the mowing time has reached the preset mowing time;

[0181] If the mowing time reaches the preset mowing time, the mowing will be completed.

[0182] If the mowing time has not reached the preset mowing time, it is determined that the mowing has not ended, and the process returns to the step of mowing according to the assisted navigation method;

[0183] The second is:

[0184] Get the area of ​​lawn that has been mowed;

[0185] Determine whether the completed lawn mowing area has reached the preset lawn mowing area;

[0186] If the area mowed reaches the preset area, the mowing is considered complete.

[0187] If the area mowed does not reach the preset area, the mowing is not completed, and the process returns to the step of mowing using the assisted navigation method.

[0188] Based on the above embodiments, as a more preferred embodiment, it further includes:

[0189] Use visual recognition technology to determine whether there are obstacles in the auxiliary area;

[0190] If an obstacle appears in the auxiliary area, control the lawnmower to change its direction of travel;

[0191] If there are no obstacles in the assisted area, the lawn will be mowed according to the assisted navigation method.

[0192] In the above embodiments, the lawn mowing method has been described in detail. The present invention also provides embodiments corresponding to the lawn mowing device. It should be noted that the present invention describes the embodiments of the device from two perspectives: one based on functional modules, and the other based on hardware.

[0193] Figure 7 This is a structural diagram of a lawn mowing device provided in an embodiment of the present invention, as shown below. Figure 7 As shown, the present invention also provides a lawnmower device for use in lawnmowers equipped with a satellite module and a visual recognition module. The device includes:

[0194] Receiver module 70 is used to receive satellite signals through the satellite module;

[0195] The first judgment module 71 is used to judge whether the satellite positioning status of the satellite signal meets the preset requirements;

[0196] If the satellite positioning status meets the preset requirements, the satellite navigation lawn mowing module 72 is triggered to mow the lawn using satellite navigation.

[0197] If the satellite positioning status does not meet the preset requirements, the switching module 73 is triggered to switch the satellite navigation mode to the auxiliary navigation mode;

[0198] The first random lawn mowing module 74 is used to mow lawns according to the auxiliary navigation method.

[0199] In addition, the above-mentioned device also includes the following modules:

[0200] In some embodiments,

[0201] After switching from satellite navigation to assisted navigation, and before mowing the lawn using assisted navigation, the following steps are also included:

[0202] The acquisition module is used to acquire images captured by the camera module;

[0203] The processing module is used to process images using visual recognition technology;

[0204] The first determining module is used to determine the auxiliary area for mowing using the assisted navigation method based on the processed image and satellite positioning status.

[0205] In some embodiments,

[0206] After determining the auxiliary area for lawn mowing using assisted navigation based on the processed images and satellite positioning status, the process also includes:

[0207] The second determining module is used to determine the satellite navigation area that represents the positioning status meeting the preset requirements based on the auxiliary area and the lawn area;

[0208] The first acquisition module is used to acquire the overlapping area where the auxiliary area and the satellite navigation area overlap;

[0209] The configuration module is used to set the starting point within the overlapping area;

[0210] The navigation module is used to navigate the lawnmower to the starting point using satellite navigation.

[0211] Correspondingly, switching from satellite navigation mode to assisted navigation mode includes:

[0212] The second random mowing module is used to switch the satellite navigation mode to the auxiliary navigation mode at the starting point.

[0213] In some embodiments,

[0214] After switching from satellite navigation to assisted navigation, and before mowing the lawn using assisted navigation, the following steps are also included:

[0215] The second acquisition module is used to acquire the pre-set connection path between the auxiliary area and the satellite navigation area;

[0216] The first control module is used to control the lawnmower to be in the auxiliary area based on the connecting path.

[0217] In some embodiments, it also includes:

[0218] The second judgment module is used to determine whether there are obstacles in the auxiliary area using visual recognition technology;

[0219] If an obstacle appears in the auxiliary area, the second control module is triggered to control the lawnmower to change its direction of travel.

[0220] If an obstacle is found in the assisted area, the third random mowing module is triggered to mow the lawn according to the assisted navigation method.

[0221] In some embodiments, it also includes:

[0222] The third acquisition module is used to acquire the lawn mowing time;

[0223] The third judgment module is used to determine whether the mowing time has reached the preset mowing time.

[0224] If the mowing time reaches the preset mowing time, the third confirmation module is triggered to determine that the mowing has ended;

[0225] If the mowing time has not reached the preset mowing time, the fourth determination module is triggered to determine that the mowing has not ended and return to the step of mowing according to the auxiliary navigation method.

[0226] In some embodiments, it also includes:

[0227] The fourth acquisition module is used to acquire the area of ​​lawn that has been mowed.

[0228] The fourth judgment module is used to determine whether the completed mowing area has reached the preset mowing area;

[0229] If the mowing area reaches the preset mowing area, the fifth determination module is triggered to determine that mowing is complete.

[0230] If the completed lawn area does not reach the preset lawn area, the sixth determination module is triggered to determine that the lawn mowing is not finished and return to the step of mowing according to the auxiliary navigation method.

[0231] Since the embodiments of the apparatus and the embodiments of the method correspond to each other, please refer to the description of the embodiments of the method for the embodiments of the apparatus, which will not be repeated here.

[0232] Figure 8 A structural diagram of a lawnmower provided in an embodiment of the present invention is shown below. Figure 8 As shown, a lawnmower includes:

[0233] Memory 80 is used to store computer programs;

[0234] The processor 81 is used to execute computer programs to implement the steps of the lawn mowing method as described in the above embodiments.

[0235] The processor 81 may include one or more processing cores, such as a quad-core processor or an octa-core processor. The processor 81 may be implemented using at least one hardware form of Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), or Programmable Logic Array (PLA). The processor 81 may also include a main processor and a coprocessor. The main processor, also known as the Central Processing Unit (CPU), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, the processor 81 may integrate a Graphics Processing Unit (GPU), which is responsible for rendering and drawing the content to be displayed on the screen. In some embodiments, the processor 81 may also include an Artificial Intelligence (AI) processor, which is used to handle computational operations related to machine learning.

[0236] The memory 80 may include one or more computer-readable storage media, which may be non-transitory. The memory 80 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In this embodiment, the memory 80 is used to store at least the following computer program, which, after being loaded and executed by the processor 81, is capable of implementing the relevant steps of the lawn mowing method disclosed in any of the foregoing embodiments. In addition, the resources stored in the memory 80 may also include an operating system and data, and the storage method may be temporary or permanent. The operating system may include Windows, Unix, Linux, etc. The data may include, but is not limited to, lawn mowing methods.

[0237] In some embodiments, the lawnmower may also include a display screen, input / output interfaces, a communication interface, a power supply, and a communication bus.

[0238] Those skilled in the art will understand that Figure 8 The structure shown is not intended to limit the lawnmower and may include more or fewer components than illustrated.

[0239] The lawnmower provided in this embodiment of the invention includes a memory 80 and a processor 81. When the processor 81 executes the program stored in the memory 80, it can implement a lawnmower method.

[0240] Finally, the present invention also provides an embodiment corresponding to a computer-readable storage medium. The computer-readable storage medium stores a computer program, which, when executed by a processor, performs the steps described in the above method embodiments.

[0241] It is understood that if the methods in the above embodiments are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and executes all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes: USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, optical disks, and other media capable of storing program code.

[0242] The foregoing has provided a detailed description of a lawn mowing method, apparatus, lawnmower, and medium provided by the present invention. The various embodiments in the specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to in the method section. It should be noted that those skilled in the art can make various improvements and modifications to the present invention without departing from its principles, and these improvements and modifications also fall within the protection scope of the claims of the present invention.

[0243] It should also be noted that, in this specification, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. A method for mowing lawns, characterized in that, The method, applied to lawnmowers equipped with satellite modules and visual recognition modules, includes: Receive satellite signals via satellite module; Determine whether the satellite positioning status of the satellite signal meets the preset requirements; If the satellite positioning status meets the preset requirements, then the lawn is mowed using satellite navigation. If the satellite positioning status does not meet the preset requirements, the satellite navigation mode is switched to assisted navigation mode; Mow the lawn according to the aforementioned auxiliary navigation method; After switching the satellite navigation mode to assisted navigation mode, and before mowing the lawn according to the assisted navigation mode, the method further includes: Capture images captured by the camera module; The image is processed using visual recognition technology; The auxiliary area for mowing is determined based on the processed image and the satellite positioning status; After determining the auxiliary area for mowing using the assisted navigation method based on the processed image and the satellite positioning status, the method further includes: The satellite navigation area representing the positioning state meeting the preset requirements is determined based on the auxiliary area and the lawn area; Obtain the overlapping area where the auxiliary area and the satellite navigation area overlap; A starting point is set within the overlapping area; The lawnmower is guided to the starting point using the satellite navigation method described above. Correspondingly, switching the satellite navigation mode to an assisted navigation mode includes: At the starting point, the satellite navigation mode is switched to the auxiliary navigation mode.

2. The lawn mowing method according to claim 1, characterized in that, Also includes: The visual recognition technology is used to determine whether there are obstacles in the auxiliary area; If the obstacle appears in the auxiliary area, the lawnmower is controlled to change its direction of travel; If no obstacle appears in the auxiliary area, the lawn is mowed according to the auxiliary navigation method.

3. The lawn mowing method according to claim 1, characterized in that, Also includes: Get the lawn mowing time; Determine whether the mowing time has reached the preset mowing time; If the mowing time reaches the preset mowing time, then the mowing is determined to be over; If the mowing time does not reach the preset mowing time, it is determined that the mowing has not ended, and the process returns to the step of mowing according to the auxiliary navigation method.

4. The lawn mowing method according to claim 1, characterized in that, Also includes: Get the area of ​​lawn that has been mowed; Determine whether the completed mowing area has reached the preset mowing area; If the completed mowing area reaches the preset mowing area, then the mowing is considered complete. If the completed mowing area does not reach the preset mowing area, it is determined that mowing is not finished, and the process returns to the step of mowing according to the auxiliary navigation method.

5. A lawn mowing device, characterized in that, A device for use with lawnmowers equipped with satellite modules and visual recognition modules, the device comprising: The receiving module is used to receive satellite signals through the satellite module; The first judgment module is used to determine whether the satellite positioning status of the satellite signal meets the preset requirements; If the satellite positioning status meets the preset requirements, the satellite navigation lawn mowing module is triggered to mow the lawn using satellite navigation. If the satellite positioning status does not meet the preset requirements, the switching module is triggered to switch the satellite navigation mode to the assisted navigation mode; The first random mowing module is used to mow grass according to the auxiliary navigation method; Also includes: The acquisition module is used to acquire images captured by the camera module; The processing module is used to process the image using visual recognition technology; The first determining module is used to determine the auxiliary area for mowing using the assisted navigation method based on the processed image and the satellite positioning status. The second determining module is used to determine, based on the auxiliary area and the lawn area, a satellite navigation area that represents the positioning state reaching the preset requirements; The first acquisition module is used to acquire the overlapping area where the auxiliary area and the satellite navigation area overlap; A setting module is used to set a starting point within the overlapping area; A navigation module is used to navigate the lawnmower to the starting point based on the satellite navigation method. Correspondingly, switching from satellite navigation mode to assisted navigation mode includes: The second random mowing module is used to switch the satellite navigation mode to the auxiliary navigation mode at the starting point.

6. A lawnmower, characterized in that, include: Memory, used to store computer programs; A processor for executing the computer program to implement the steps of the lawn mowing method as described in any one of claims 1 to 4.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the lawn mowing method as described in any one of claims 1 to 4.

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