A method, system, device, and system for controlling a lawnmower.

Abstract

This invention discloses a control method, system, device, and system for a lawnmower, relating to the field of automatic control. The system includes pre-controlling the lawnmower to move along the boundaries of the work area; acquiring UWB positioning data from a UWB base station when RTK positioning data from a satellite system or RTK base station is unavailable; and achieving full coordinate coverage of the work area by constructing a virtual map using the UWB and RTK positioning data. During mowing, the lawnmower is controlled based on the received RTK and / or UWB positioning data and the constructed virtual map. Since UWB positioning data is unaffected by weather, it reduces the impact of weather or tall buildings obstructing positioning data, thus minimizing disruptions to the lawnmower's operation. If neither UWB nor RTK positioning data is available, the lawnmower is stopped to prevent it from moving out of bounds and causing safety issues.

Description

Technical Field

[0001] This invention relates to the field of automatic control, and in particular to a control method, system, device, and system for a lawnmower. Background Technology

[0002] When a smart lawnmower is working on the lawn, it mainly uses RTK (Real-time kinematic), relying on satellite signals and real-time differential algorithms for positioning and navigation, controlling the lawnmower to move along a preset route to achieve high-efficiency mowing. However, satellite signals are sometimes affected by the environment. When there are changes in weather (such as cloud cover thickness), or when tall buildings or trees block the view, the satellite signal may be weak or lost. This will cause a large positioning error for the lawnmower, resulting in unstable virtual boundaries. This may lead to the lawnmower malfunctioning, and it may only be able to circle in place searching for a signal, eventually entering a standby state, affecting the normal working efficiency of the lawnmower. Summary of the Invention

[0003] The purpose of this invention is to provide a control method, system, device, and system for a lawnmower. Since UWB (Ultra Wideband) positioning data is unaffected by weather, it reduces the impact on lawnmower operation caused by weather conditions or tall buildings obstructing the view and preventing the acquisition of positioning data. If neither UWB nor RTK positioning data is available, the lawnmower is controlled to stop working, preventing it from moving out of bounds and causing safety issues.

[0004] To solve the above-mentioned technical problems, the present invention provides a control method for a lawnmower, which is applied to a processor in the control device of the lawnmower. The control device of the lawnmower also includes an RTK base station and a UWB base station.

[0005] The control method for the lawnmower includes:

[0006] The lawnmower is pre-controlled to move along the boundaries of the work area;

[0007] Acquire RTK positioning data sent by the satellite system and the RTK base station during the lawnmower's movement;

[0008] When the RTK positioning data sent by the satellite system or the RTK base station cannot be obtained, the UWB positioning data sent by the UWB base station during the lawnmower's movement is obtained.

[0009] A virtual map is constructed based on the RTK positioning data and UWB positioning data, and the area formed by the boundary lines of the virtual map is the work area.

[0010] When performing lawn mowing, determine whether the current RTK positioning data and / or the current UWB positioning data are received;

[0011] If the current RTK positioning data and / or the current UWB positioning data are received, the lawnmower is controlled to traverse the work area based on the constructed virtual map and the current RTK positioning data and / or the current UWB positioning data.

[0012] If the current RTK positioning data and the current UWB positioning data are not received, the lawnmower will be controlled to stop operating.

[0013] On the other hand, acquiring UWB positioning data sent by the UWB base station during the lawnmower's movement includes:

[0014] When the RTK positioning data cannot be received, the lawnmower is controlled to return to a position where the RTK positioning data can be received. The distance between the position and the position where the RTK positioning data cannot be received is less than a preset distance.

[0015] The control prompt module indicates that a UWB base station needs to be added within a preset range of the location;

[0016] Obtain the UWB positioning data sent by the UWB base station.

[0017] On the other hand, the control device of the lawnmower also includes a UWB tag, which is detachably mounted on the lawnmower to acquire UWB positioning data sent by the UWB base station during the lawnmower's movement, including:

[0018] During the movement of the lawnmower, the UWB base station acquires UWB positioning data determined by the communication signal between the UWB base station and the UWB tag. The UWB positioning data is related to the transmission and reception time of the communication signal, the angle of the communication signal, and the phase difference.

[0019] On the other hand, the lawnmower includes a moving part and a drive motor, the drive motor being connected to the processor and the moving part respectively;

[0020] Pre-controlling the lawnmower to move along the boundary of the area to be worked includes:

[0021] Receive a user-sent edge-walking command, wherein the movement path of the lawnmower corresponding to the edge-walking command is the boundary of the work area;

[0022] The edge-walking command is sent to the drive motor so that the drive motor drives the moving parts to move the lawnmower.

[0023] On the other hand, if the current RTK positioning data and / or the current UWB positioning data are received, the lawnmower is controlled to traverse the work area based on the constructed virtual map and the current RTK positioning data and / or the current UWB positioning data, including:

[0024] If the current RTK positioning data and / or the current UWB positioning data are received, the lawnmower is controlled to move in a parallel straight line within the boundary line of the virtual map based on the constructed virtual map and the current RTK positioning data and / or the current UWB positioning data.

[0025] On the other hand, if the current RTK positioning data and / or the current UWB positioning data are received, the lawnmower is controlled to traverse the work area based on the constructed virtual map and the current RTK positioning data and / or the current UWB positioning data, including:

[0026] If both the current RTK positioning data and the current UWB positioning data are received simultaneously, then the average value of the current RTK positioning data and the current UWB positioning data is calculated.

[0027] The lawnmower is controlled to traverse the work area based on the constructed virtual map and the average value.

[0028] If only the current RTK positioning data or the current UWB positioning data is received, the lawnmower is controlled to traverse the work area based on the constructed virtual map, the current RTK positioning data, or the current UWB positioning data.

[0029] On the other hand, constructing a virtual map based on the RTK positioning data and UWB positioning data includes:

[0030] Determine the location where both UWB and RTK positioning data can be received simultaneously;

[0031] The correspondence between the UWB coordinate system and the RTK coordinate system is determined based on the UWB positioning data and RTK positioning data.

[0032] Based on the correspondence, determine the RTK positioning data of each point in the work area;

[0033] A virtual map is constructed based on the RTK positioning data of each point in the work area.

[0034] To solve the above-mentioned technical problems, the present invention also provides a control system for a lawnmower, which is a processor applied in the control device of the lawnmower. The control device of the lawnmower also includes an RTK base station and a UWB base station.

[0035] The control system of the lawnmower includes:

[0036] A boundary walking control unit is used to pre-control the lawnmower to walk along the boundary of the area to be worked.

[0037] The first positioning data receiving unit is used to acquire RTK positioning data sent by the satellite system and the RTK base station during the lawnmower's movement.

[0038] The second positioning data receiving unit is used to acquire UWB positioning data sent by the UWB base station during the lawnmower's movement when the RTK positioning data sent by the satellite system or the RTK base station cannot be acquired.

[0039] A virtual map construction unit is used to construct a virtual map based on the RTK positioning data and UWB positioning data, wherein the area formed by the boundary lines of the virtual map is the work area.

[0040] The judgment unit is used to determine whether the current RTK positioning data and / or the current UWB positioning data are received during the mowing operation; if yes, the first control unit is triggered; if no, the second control unit is triggered.

[0041] The first control unit is configured to, upon receiving the current RTK positioning data and / or the current UWB positioning data, control the lawnmower to traverse the work area based on the constructed virtual map and the current RTK positioning data and / or the current UWB positioning data.

[0042] The second control unit is configured to control the lawnmower to stop operating if it fails to receive the current RTK positioning data and the current UWB positioning data.

[0043] To solve the above-mentioned technical problems, the present invention also provides a control device for a lawnmower, comprising:

[0044] RTK base station;

[0045] UWB base station;

[0046] The processor is used to implement the steps of the above-described lawnmower control method.

[0047] To solve the above-mentioned technical problems, the present invention also provides a lawnmower system, including the above-mentioned lawnmower control device, and also including a lawnmower and a UWB tag;

[0048] The lawnmower includes a lawnmower body, on which a UWB tag is detachably mounted. The UWB base station is used to communicate with the UWB tag and generate UWB positioning data.

[0049] The RTK base station is used to transmit RTK positioning data;

[0050] The processor is connected to the lawnmower body and is used to acquire the UWB positioning data and / or the RTK positioning data, and control the lawnmower to move according to the UWB positioning data and / or the RTK positioning data.

[0051] This application provides a control method, system, device, and lawnmower system for a lawnmower, relating to the field of automatic control. The system includes pre-controlling the lawnmower to move along the boundaries of the work area; acquiring UWB positioning data transmitted by a UWB base station during the lawnmower's movement when RTK positioning data from a satellite system or RTK base station is unavailable; and achieving full coordinate coverage of the work area by constructing a virtual map using UWB and RTK positioning data. During mowing, the lawnmower is controlled based on the received RTK and / or UWB positioning data and the constructed virtual map. Since UWB positioning data is unaffected by weather, the inability to obtain positioning data due to weather or tall buildings reduces the impact on lawnmower operation. If neither UWB nor RTK positioning data is available, the lawnmower is stopped to prevent it from moving out of bounds and causing safety issues. Attached Figure Description

[0052] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the prior art and 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.

[0053] Figure 1 A flowchart of a lawnmower control method provided by the present invention;

[0054] Figure 2 A schematic diagram of a working area provided by the present invention;

[0055] Figure 3 A schematic diagram of another working area provided by the present invention;

[0056] Figure 4 A schematic diagram of a UWB tag provided by the present invention;

[0057] Figure 5A schematic diagram of the control system for a lawnmower provided by the present invention;

[0058] Figure 6 This is a schematic diagram of the structure of a control device for a lawnmower provided by the present invention. Detailed Implementation

[0059] The core of this invention is to provide a control method, system, device, and system for a lawnmower. Because UWB positioning data is unaffected by weather, it reduces the impact on lawnmower operation caused by weather conditions or tall buildings obstructing the view. If neither UWB nor RTK positioning data is available, the lawnmower is stopped to prevent it from moving out of bounds and causing safety issues.

[0060] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0061] Figure 1 The flowchart of a lawnmower control method provided by the present invention is shown. The lawnmower control method is applied to the processor in the lawnmower control device, which also includes an RTK base station and a UWB base station.

[0062] The control methods for lawnmowers include:

[0063] S11: Pre-control the lawnmower to travel along the boundary of the work area;

[0064] Before controlling a lawnmower, its working range needs to be determined, i.e., a virtual map needs to be constructed. Furthermore, during operation, the lawnmower only needs to operate within the area defined on the virtual map. The purpose of constructing the virtual map is to convert the actual working range into individual points, and the lawnmower can be controlled based on the coordinates of these points.

[0065] S12: Acquire RTK positioning data sent by the satellite system and RTK base station during the lawnmower's movement;

[0066] S13: When RTK positioning data sent by satellite system or RTK base station cannot be obtained, obtain UWB positioning data sent by UWB base station during lawnmower movement;

[0067] S14: Construct a virtual map based on RTK positioning data and UWB positioning data. The area defined by the boundary lines of the virtual map is the work area.

[0068] Satellite signals are sometimes affected by the environment. When there are changes in weather (such as cloud thickness) or obstruction by tall buildings or trees, the satellite signal may become weak or lost. This can cause a large positioning error for the lawnmower robot, resulting in an unstable virtual boundary. This may lead to the lawnmower not working properly. In this case, the lawnmower can only circle in place to search for a signal and eventually enters a standby state, affecting the normal working efficiency of the lawnmower.

[0069] Therefore, pre-configured RTK base stations may not be able to cover all locations within the working area. To address this issue, this application adds UWB base stations. The locations of UWB base stations are not arbitrary, nor is more necessarily better. Instead, they are placed in locations that RTK base stations cannot cover, thus achieving full positioning coverage while reducing the cost of adding UWB base stations.

[0070] Specifically, the working principle of RTK is that both the lawnmower (mobile station) and the RTK base station (fixed station) have a GNSS module. Both modules simultaneously observe and receive GNSS (Global Navigation Satellite System) satellite data. The GNSS satellite data received by the RTK base station is transmitted to the lawnmower via communication. The lawnmower performs real-time differential calculations using the relative positioning principle on the GNSS satellite data it receives and the GNSS satellite data received by the RTK base station to calculate the lawnmower's position coordinates relative to the RTK base station. RTK positioning data is GNSS satellite data. Therefore, the lawnmower's position coordinates are calculated using two sets of GNSS positioning coordinate data at a certain time, one for itself and one for the RTK base station. Therefore, positioning cannot be achieved by only obtaining its own GNSS positioning coordinates or only obtaining the GNSS data transmitted by the RTK base station. Both coordinates must be obtained to calculate its own coordinates. If one of them is not obtained, its own coordinates cannot be calculated, and UWB coordinates provided by the UWB base station are needed for positioning.

[0071] The actual working range of the lawnmower is predetermined, and a virtual map is constructed based on this range. When the lawnmower is working, its controller moves according to the virtual map to achieve the mowing task.

[0072] S15: When performing lawn mowing, determine whether the current RTK positioning data and / or the current UWB positioning data are received; if yes, proceed to step S16; if no, proceed to step S16.

[0073] S16: Based on the constructed virtual map and the current RTK positioning data and / or the current UWB positioning data, control the lawnmower to traverse the work area;

[0074] S17: Control the lawnmower to stop running.

[0075] During operation, a lawnmower may receive both RTK and UWB positioning data simultaneously, or it may only receive RTK or UWB positioning data, or it may receive neither RTK nor UWB positioning data.

[0076] Specifically, during actual operation, the lawnmower primarily relies on RTK positioning data. If RTK data can be received simultaneously, it takes precedence. If no RTK data is received, the lawnmower is controlled based on UWB positioning data. If neither RTK nor UWB positioning data is received, the lawnmower may wander out of its designated area if it continues to operate. If the lawnmower goes beyond the boundary of its working area, safety issues may arise. Therefore, if neither RTK nor UWB positioning data is received, the lawnmower is stopped to ensure safety.

[0077] This application provides a lawnmower control method, relating to the field of automatic control. The method includes pre-controlling the lawnmower to move along the boundaries of the work area; acquiring UWB positioning data transmitted by a UWB base station during the lawnmower's movement when RTK positioning data from a satellite system or RTK base station is unavailable; and achieving full coordinate coverage of the work area by constructing a virtual map using the UWB and RTK positioning data. During mowing, the lawnmower is controlled based on the received RTK and / or UWB positioning data and the constructed virtual map. Since UWB positioning data is unaffected by weather, the inability to obtain positioning data due to weather or tall buildings reduces the impact on lawnmower operation. If neither UWB nor RTK positioning data is available, the lawnmower is stopped to prevent it from moving out of bounds and causing safety issues.

[0078] Based on the above embodiments:

[0079] Figure 2 This is a schematic diagram of a working area provided by the present invention. Figure 3 A schematic diagram of another working area provided by the present invention;

[0080] In some embodiments, acquiring UWB positioning data sent by a UWB base station during the lawnmower's movement includes:

[0081] When RTK positioning data cannot be received, the lawnmower is controlled to return to a position where RTK positioning data can be received. The distance between the current position and the position where RTK positioning data cannot be received is less than a preset distance.

[0082] The control prompt module displays that within the preset range of the location, an additional UWB base station is required;

[0083] Obtain UWB positioning data sent by UWB base stations.

[0084] Area R refers to an open lawn with no obstructions above it, where the RTK satellite signal is good and can provide accurate positioning data for the lawnmower. Here, the lawnmower can be positioned and work normally.

[0085] Area U generally refers to the area around the base of a building, near a tall building, or on the ground under a bridge or dense trees. Due to the obstruction of satellite signals and the weakness of RTK signals, the lawnmower cannot be accurately positioned, and therefore cannot be properly positioned and operated in this area.

[0086] If the lawnmower's working area is entirely within zone R, which is the working area with good RTK satellite signal, the machine will work smoothly during boundary map construction and automatic operation based on accurate and timely RTK positioning data.

[0087] However, if a portion of the working area needs to be included in area U, which is an area with weak or no RTK satellite signal, then when the lawnmower is within area U, it cannot obtain accurate and timely RTK positioning data. In this case, the lawnmower can only wait in place or circle, waiting for RTK to recover and provide positioning data suitable for normal operation. This waiting time is very long, and often recovery is not possible. The user must manually intervene to move the lawnmower to the area R.

[0088] When a user remotely controls a lawnmower to map along the boundary of the work area, in areas with normal RTK signal, such as from point A to point B and then to point C, the RTK data provides positioning to form a map. However, once the boundary line ABC has been formed and the lawnmower crosses point C into area U, the RTK cannot provide normal positioning data, and the lawnmower will report a weak RTK signal, preventing it from continuing to map.

[0089] Figure 4 A schematic diagram of a UWB tag provided by the present invention;

[0090] Users can install one or more UWB base stations in or near area U beforehand or at this time. These UWB base stations are typically designed as poles with their own power supply, built-in UWB communication modules, and antennas, which can be easily inserted and fixed to the grass. When the user moves the smart lawnmower back to the vicinity of point C, the lawnmower can simultaneously receive RTK and UWB positioning data. The smart lawnmower's data processing module records both sets of positioning data and converts the UWB positioning data of point C into coordinate parameters on the RTK positioning map.

[0091] The user remotely controls the lawnmower to move from point C to point D, from point D to point E, and from point E to point F. The data processing module records the UWB positioning data for each point along this route and converts it into coordinate parameters in the RTK positioning map. At point F, the smart lawnmower can simultaneously receive both RTK and UWB positioning data. The data processing module records both sets of positioning data and converts the UWB positioning data at point F into coordinate parameters in the RTK positioning map.

[0092] In some embodiments, the lawnmower control device further includes a UWB tag, which is detachably mounted on the lawnmower to acquire UWB positioning data sent by a UWB base station during the lawnmower's movement, including:

[0093] The UWB positioning data is obtained by the UWB base station based on the communication signal between the UWB base station and the UWB tag during the lawnmower's movement. The UWB positioning data is related to the transmission and reception time of the communication signal, the angle of the communication signal, and the phase difference.

[0094] The UWB positioning base station is located near the working area of ​​the smart lawnmower. It receives signals sent by the UWB positioning tag and sends feedback signals back to the UWB positioning tag.

[0095] The UWB positioning tag, mounted on the main unit, determines the distance from the UWB positioning tag to the positioning base station by utilizing the time difference between transmitting and receiving signals. Simultaneously, it determines the UWB positioning tag's orientation relative to the positioning base station by utilizing the angle or phase difference when the UWB positioning base station receives the signal. The UWB positioning tag is electrically connected to a data processing module, which collects and transmits its distance and orientation information relative to the UWB positioning base station in real time.

[0096] UWB positioning base stations communicate with UWB positioning tags. The time when the UWB positioning base station sends a signal and the time when it receives a return signal from the UWB positioning tag, along with the angle and phase difference between the sent and returned signals, can be used to calculate the location of the lawnmower where the UWB positioning tag is located.

[0097] In some embodiments, the lawnmower includes a moving part and a drive motor, the drive motor being connected to the processor and the moving part respectively;

[0098] Pre-controlling the lawnmower to move along the boundaries of the area to be worked includes:

[0099] Receive the edge-walking command sent by the user. The movement path of the lawnmower corresponding to the edge-walking command is the boundary of the area to be worked.

[0100] Send a travel command along the edge to the drive motor so that the drive motor can drive the moving parts to move the lawnmower.

[0101] The lawnmower is equipped with a moving part, which is connected to a drive motor. The drive motor drives the moving part, which enables the smart lawnmower to move. The specific moving part can be a wheel.

[0102] The lawnmower is also equipped with a satellite signal receiving device (commonly known as an antenna), which is configured to receive positioning signals from navigation satellites or positioning correction signals from base stations.

[0103] In some embodiments, if current RTK positioning data and / or current UWB positioning data are received, the lawnmower is controlled to traverse the work area based on the constructed virtual map and the current RTK positioning data and / or current UWB positioning data, including:

[0104] If the current RTK positioning data and / or the current UWB positioning data are received, the lawnmower is controlled to move back and forth in a parallel straight line within the boundary line of the virtual map based on the constructed virtual map and the current RTK positioning data and / or the current UWB positioning data.

[0105] During mowing, the intelligent lawnmower follows a pre-planned strategy, traversing the entire ABCDEFGHA area using a reciprocating parallel path. Because the intelligent lawnmower can obtain UWB positioning coordinates in the CDEF area, and the data processing module can convert these UWB coordinates at each moment into coordinates on an RTK positioning map, the intelligent lawnmower can smoothly traverse the entire area and complete the mowing operation.

[0106] In some embodiments, if current RTK positioning data and / or current UWB positioning data are received, the lawnmower is controlled to traverse the work area based on the constructed virtual map and the current RTK positioning data and / or current UWB positioning data, including:

[0107] If both current RTK positioning data and current UWB positioning data are received simultaneously, calculate the average of the current RTK positioning data and the current UWB positioning data.

[0108] The lawnmower is controlled to traverse the work area based on a pre-constructed virtual map and average values.

[0109] If only the current RTK positioning data or the current UWB positioning data is received, the lawnmower is controlled to traverse the work area based on the constructed virtual map, the current RTK positioning data, or the current UWB positioning data.

[0110] When the lawnmower is performing traversal mowing, it follows the RTK positioning data if only RTK positioning data is available; it follows the UWB positioning data if only UWB positioning data is available; when both RTK and UWB positioning data are sufficient, the system can choose to use either RTK or UWB positioning data, or their mathematical average, depending on the situation; when neither RTK nor UWB positioning data is sufficient, the intelligent lawnmower should stop moving forward.

[0111] In some embodiments, a virtual map is constructed based on RTK positioning data and UWB positioning data, including:

[0112] Determine the location where both UWB and RTK positioning data can be received simultaneously;

[0113] The correspondence between the UWB coordinate system and the RTK coordinate system is determined based on UWB positioning data and RTK positioning data;

[0114] Based on the correspondence, determine the RTK positioning data of each point in the work area;

[0115] A virtual map is constructed based on RTK positioning data of various points in the area to be worked on.

[0116] The user remotely controls the lawnmower to move from point C to point D, from point D to point E, and from point E to point F. The data processing module records the UWB positioning data for each point along this route and converts it into coordinate parameters for the RTK positioning map. At point F, the smart lawnmower can simultaneously receive both RTK and UWB positioning data. The data processing module records both sets of positioning data and converts the UWB positioning data at point F into coordinate parameters for the RTK positioning map.

[0117] The data processing module compares the coordinate parameters of points C and F in RTK and UWB coordinate systems, including distance and azimuth angle. By taking the average value and other methods, it corrects the coordinate parameters of points C and F, thereby correcting the UWB coordinate parameters of the entire CDEF region.

[0118] In the area near points C and F, as well as the line connecting CF, the smart lawnmower can simultaneously receive RTK and UWB positioning data. The data processing module converts the UWB positioning data of each point into coordinate parameters in the RTK positioning map.

[0119] Conversion between RTK positioning coordinates and UWB positioning coordinates:

[0120] Near the CF line, both RTK and UWB can accurately locate and overlap.

[0121] (RX0, RY0) is the origin of the RTK positioning coordinate system.

[0122] (UX0, UY0) is the origin of the UWB positioning coordinate system.

[0123] At this moment, the coordinates of the intelligent lawnmower in the RTK positioning coordinate system are (RX1, RY1).

[0124] At this moment, the coordinates of the intelligent lawnmower in the UWB positioning coordinate system are (UX1, UY1).

[0125] (RX11, RY11) is the average of (RX1, RY1) and (UX1, UY1), that is:

[0126] (RX11, RY11)=((RX1+UX1) / 2, RY11=(RY1+UY1) / 2).

[0127] Then the coordinates of the calibrated UWB base station in the RTK positioning coordinate system can be calculated:

[0128] The coordinates of base station 1 in the RTK positioning coordinate system are:

[0129] (RX01, RY01) = ((RX11-UX1), (RY11+UY1));

[0130] The coordinates of base station 2 in the RTK positioning coordinate system are:

[0131] (RX001, RY001) = ((RX11+UX00), (RY11+UY1)).

[0132] Figure 5 This is a schematic diagram of the structure of a control system for a lawnmower provided by the present invention. The control system for the lawnmower is applied to the processor in the control device of the lawnmower. The control device of the lawnmower also includes an RTK base station and a UWB base station.

[0133] The control system of a lawnmower includes:

[0134] The boundary walking control unit 51 is used to pre-control the lawnmower to walk along the boundary of the area to be worked;

[0135] The first positioning data receiving unit 52 is used to acquire RTK positioning data sent by the satellite system and RTK base station during the lawnmower's movement.

[0136] The second positioning data receiving unit 53 is used to acquire UWB positioning data sent by the UWB base station during the lawnmower's movement when the RTK positioning data sent by the satellite system or RTK base station cannot be acquired.

[0137] The virtual map building unit 54 is used to build a virtual map based on RTK positioning data and UWB positioning data. The area formed by the boundary lines of the virtual map is the work area.

[0138] The judgment unit 55 is used to determine whether the current RTK positioning data and / or the current UWB positioning data are received during the mowing operation; if yes, the first control unit is triggered; if no, the second control unit is triggered.

[0139] The first control unit 56 is used to control the lawnmower to traverse the work area based on the constructed virtual map and the current RTK positioning data and / or the current UWB positioning data if it receives the current RTK positioning data and / or the current UWB positioning data.

[0140] The second control unit 57 is used to control the lawnmower to stop operating if it cannot receive the current RTK positioning data and the current UWB positioning data.

[0141] Based on the above embodiments, it also includes:

[0142] The second positioning data receiving unit 53 is specifically used to control the lawnmower to return to a position where RTK positioning data can be received when RTK positioning data cannot be received. The distance between the position and the position where RTK positioning data cannot be received is less than a preset distance.

[0143] The prompting unit is used to control the prompting module to display the requirement that a UWB base station needs to be added within a preset range of the location;

[0144] The UWB positioning data acquisition unit is used to acquire UWB positioning data sent by the UWB base station.

[0145] The lawnmower's control system also includes a UWB tag, which is detachably mounted on the lawnmower.

[0146] The second positioning data receiving unit 53 is specifically used to acquire UWB positioning data determined by the UWB base station based on the communication signal between the UWB base station and the UWB tag during the lawnmower's movement. The UWB positioning data is related to the transmission and reception time of the communication signal, the angle of the communication signal, and the phase difference.

[0147] The lawnmower includes a moving part and a drive motor, which is connected to the processor and the moving part respectively.

[0148] The instruction receiving unit is used to receive the edge-walking instruction sent by the user. The movement path of the lawnmower corresponding to the edge-walking instruction is the boundary of the work area.

[0149] The boundary walking control unit 51 is specifically used to send a boundary walking command to the drive motor so that the drive motor can drive the moving parts to move the lawnmower.

[0150] The first control unit 56 is specifically used to, upon receiving the current RTK positioning data and / or the current UWB positioning data, control the lawnmower to perform reciprocating parallel straight-line movement within the boundary line of the virtual map based on the constructed virtual map and the current RTK positioning data and / or the current UWB positioning data.

[0151] The average value calculation unit is used to calculate the average value of the current RTK positioning data and the current UWB positioning data if the current RTK positioning data and the current UWB positioning data are received simultaneously.

[0152] The first control unit 56 is specifically used to control the lawnmower to traverse the work area based on the constructed virtual map and average values.

[0153] If only the current RTK positioning data or the current UWB positioning data is received, the lawnmower is controlled to traverse the work area based on the constructed virtual map, the current RTK positioning data, or the current UWB positioning data.

[0154] The location determination unit is used to determine the location where both UWB positioning data and RTK positioning data can be received simultaneously;

[0155] The correspondence determination unit is used to determine the correspondence between the UWB coordinate system and the RTK coordinate system based on UWB positioning data and RTK positioning data.

[0156] The positioning data determination unit is used to determine the RTK positioning data of each point in the work area based on the correspondence relationship;

[0157] The virtual map building unit 54 is specifically used to build a virtual map based on the RTK positioning data of each point in the area to be worked on.

[0158] The description of the control system for the lawnmower provided in this application is given in the above embodiments and will not be repeated here.

[0159] Figure 6 This is a schematic diagram of a control device for a lawnmower provided by the present invention. The control device for the lawnmower includes:

[0160] RTK base station 61;

[0161] UWB base station 62;

[0162] Processor 63 is used to implement the steps of the above-described lawnmower control method.

[0163] The description of the control device for the lawnmower provided in this application is given in the above embodiments and will not be repeated here.

[0164] This application also provides a lawnmower system, including the above-mentioned lawnmower control device, and also includes a lawnmower and a UWB tag;

[0165] The lawnmower includes the lawnmower body, on which a UWB tag can be detachably installed. The UWB base station is used to communicate with the UWB tag and generate UWB positioning data.

[0166] RTK base stations are used to transmit RTK positioning data;

[0167] The processor is connected to the lawnmower body to acquire UWB positioning data and / or RTK positioning data, and to control the lawnmower's movement based on the UWB positioning data and / or RTK positioning data.

[0168] Please refer to the above embodiments for a description of the lawnmower system provided in this application, and it will not be repeated here.

[0169] 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.

[0170] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. 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 implementations should not be considered beyond the scope of this invention.

[0171] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A control method of a mower, characterized by, A processor used in the control device of a lawnmower, the control device of which also includes an RTK base station and a UWB base station; The control method for the lawnmower includes: The lawnmower is pre-controlled to move along the boundaries of the work area; Acquire RTK positioning data sent by the satellite system and the RTK base station during the lawnmower's movement; When the RTK positioning data sent by the satellite system or the RTK base station cannot be obtained, the UWB positioning data sent by the UWB base station during the lawnmower's movement is obtained. A virtual map is constructed based on the RTK positioning data and UWB positioning data, and the area formed by the boundary lines of the virtual map is the work area. When performing lawn mowing, determine whether the current RTK positioning data and / or the current UWB positioning data are received; If the current RTK positioning data and / or the current UWB positioning data are received, the lawnmower is controlled to traverse the work area based on the constructed virtual map and the current RTK positioning data and / or the current UWB positioning data. If the current RTK positioning data and the current UWB positioning data are not received, the lawnmower will be controlled to stop running. Acquiring UWB positioning data sent by the UWB base station during the lawnmower's movement, including: When the RTK positioning data cannot be received, the lawnmower is controlled to return to a position where the RTK positioning data can be received. The distance between the position where the RTK positioning data can be received and the position where the RTK positioning data cannot be received is less than a preset distance. The control prompt module displays that a UWB base station needs to be added within a preset range of the location where the RTK positioning data can be received; Obtain the UWB positioning data sent by the UWB base station; Constructing a virtual map based on the RTK positioning data and UWB positioning data includes: Determine the location where both UWB and RTK positioning data can be received simultaneously; The correspondence between the UWB coordinate system and the RTK coordinate system is determined based on the UWB positioning data and RTK positioning data. Based on the correspondence, determine the RTK positioning data of each point in the work area; A virtual map is constructed based on the RTK positioning data of each point in the work area.

2. The control method of the mower according to claim 1, characterized by, The control device for the lawnmower also includes a UWB tag, which is detachably mounted on the lawnmower to acquire UWB positioning data sent by the UWB base station during the lawnmower's movement, including: During the movement of the lawnmower, the UWB base station acquires UWB positioning data determined by the communication signal between the UWB base station and the UWB tag. The UWB positioning data is related to the transmission and reception time of the communication signal, the angle of the communication signal, and the phase difference.

3. The control method of the mower according to claim 1, characterized by, The lawnmower includes a moving part and a drive motor, the drive motor being connected to the processor and the moving part respectively; Pre-controlling the lawnmower to move along the boundary of the area to be worked includes: Receive a user-sent edge-walking command, wherein the movement path of the lawnmower corresponding to the edge-walking command is the boundary of the work area; The edge-walking command is sent to the drive motor so that the drive motor drives the moving parts to move the lawnmower.

4. The control method of the mower according to claim 1, characterized by, If the current RTK positioning data and / or the current UWB positioning data are received, the lawnmower is controlled to traverse the work area based on the constructed virtual map and the current RTK positioning data and / or the current UWB positioning data, including: If the current RTK positioning data and / or the current UWB positioning data are received, the lawnmower is controlled to move in a parallel straight line within the boundary line of the virtual map based on the constructed virtual map and the current RTK positioning data and / or the current UWB positioning data.

5. The control method of the mower according to claim 1, characterized by, If the current RTK positioning data and / or the current UWB positioning data are received, the lawnmower is controlled to traverse the work area based on the constructed virtual map and the current RTK positioning data and / or the current UWB positioning data, including: If both the current RTK positioning data and the current UWB positioning data are received simultaneously, then the average value of the current RTK positioning data and the current UWB positioning data is calculated. The lawnmower is controlled to traverse the work area based on the constructed virtual map and the average value. If only the current RTK positioning data or the current UWB positioning data is received, the lawnmower is controlled to traverse the work area based on the constructed virtual map, the current RTK positioning data, or the current UWB positioning data.

6. A control system for a lawnmower, characterized in that, A processor used in the control device of a lawnmower, the control device of which also includes an RTK base station and a UWB base station; The control system of the lawnmower includes: A boundary walking control unit is used to pre-control the lawnmower to walk along the boundary of the area to be worked. The first positioning data receiving unit is used to acquire RTK positioning data sent by the satellite system and the RTK base station during the lawnmower's movement. The second positioning data receiving unit is used to acquire UWB positioning data sent by the UWB base station during the lawnmower's movement when the RTK positioning data sent by the satellite system or the RTK base station cannot be acquired. A virtual map construction unit is used to construct a virtual map based on the RTK positioning data and UWB positioning data, wherein the area formed by the boundary lines of the virtual map is the work area. The judgment unit is used to determine whether the current RTK positioning data and / or the current UWB positioning data are received during the mowing operation; if yes, the first control unit is triggered; if no, the second control unit is triggered. The first control unit is configured to, upon receiving the current RTK positioning data and / or the current UWB positioning data, control the lawnmower to traverse the work area based on the constructed virtual map and the current RTK positioning data and / or the current UWB positioning data. The second control unit is configured to control the lawnmower to stop operating if it fails to receive the current RTK positioning data and the current UWB positioning data. The second positioning data receiving unit is specifically used to control the lawnmower to return to a position where the RTK positioning data can be received when the RTK positioning data cannot be received. The distance between the position where the RTK positioning data can be received and the position where the RTK positioning data cannot be received is less than a preset distance. Also includes: The prompting unit is used to control the prompting module to display that a UWB base station needs to be added within a preset range of the location where the RTK positioning data can be received; A UWB positioning data acquisition unit is used to acquire UWB positioning data sent by the UWB base station; The location determination unit is used to determine the location where both UWB positioning data and RTK positioning data can be received simultaneously; The correspondence determination unit is used to determine the correspondence between the UWB coordinate system and the RTK coordinate system based on the UWB positioning data and the RTK positioning data. A positioning data determination unit is used to determine the RTK positioning data of each point in the work area based on the correspondence relationship. The virtual map construction unit is specifically used to construct a virtual map based on the RTK positioning data of each point in the area to be worked on.

7. A control device for a lawnmower, characterized in that, include: RTK base station; UWB base station; A processor for implementing the steps of the lawnmower control method as described in any one of claims 1 to 5.

8. A lawnmower system, characterized in that, The lawnmower control device as described in claim 7 is also included, as well as the lawnmower and the UWB tag. The lawnmower includes a lawnmower body, on which a UWB tag is detachably mounted. A UWB base station is used to communicate with the UWB tag and generate UWB positioning data. RTK base stations are used to transmit RTK positioning data; The processor is connected to the lawnmower body and is used to acquire the UWB positioning data and / or the RTK positioning data, and control the lawnmower to move according to the UWB positioning data and / or the RTK positioning data.

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