A control method, device and storage medium of a lawn mower

Abstract

The application relates to the technical field of intelligent lawn mowers, and particularly discloses a control method and device of a lawn mower and a storage medium, when the lawn mower completes charging, the lawn mower is controlled to exit a first preset distance from the import and export side of a charging station to reach a first preset position, the lawn mower is then controlled to move forward from the first preset position and bypass the charging station to reach the back side of the charging station opposite to the import and export side of the charging station, and then work is performed on the back side of the charging station. Therefore, the lawn mower can work on the other side of the charging station after completing charging at the charging station, without needing to make a U-turn on the import and export side of the charging station to return, which leads to a waste of a large amount of time on a return path, thereby effectively improving the work efficiency of the lawn mower, reducing the number of times that the lawn mower needs to make a U-turn, relieving the burden of the lawn mower, and prolonging the service life of the lawn mower.

Description

[0001] This application claims priority to Chinese Patent Application No. 202310358486.5, filed on March 27, 2023, entitled "A Control Method, Device and Storage Medium for a Lawn Mower", the entire contents of which are incorporated herein by reference.

[0002] This application claims priority to the international application filed on September 5, 2023, with application number PCT / CN2023 / 116872 and entitled “Control method, apparatus and storage medium for lawnmower”, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This application relates to the field of intelligent lawnmower technology, and in particular to a control method, device and storage medium for a lawnmower. Background Technology

[0004] A smart lawnmower (hereinafter referred to as "lawnmower") is a gardening tool used for trimming lawns, vegetation, etc. It typically includes a self-propelled mechanism, a cutting mechanism, and a power source, such as a battery pack. Due to limitations in battery energy density and production costs, the battery pack carried by a lawnmower has a very limited capacity, resulting in a relatively small working area per cycle. When the lawn area is large, the lawnmower needs to return to a charging station for recharging after a certain period of operation. After recharging, it leaves the charging station and returns to the working area to continue mowing.

[0005] Existing lawnmowers typically have charging terminals at the front. When returning to a charging station, the front moves to the charging port and connects with the charging terminals. After charging is complete, the lawnmower detaches from the charging station and turns around in front of the charging port, moving away from the charging station to continue operating.

[0006] This recharge scheme means that after each charge, the lawnmower needs to turn around and return to its original position to adjust its posture before it can start working again. This not only increases the burden on the lawnmower but also greatly affects its operating efficiency.

[0007] Improving the operational efficiency of lawnmowers after charging is a technical problem that needs to be solved by those skilled in the art. Summary of the Invention

[0008] The purpose of this application is to provide a control method, device, and storage medium for a lawnmower to improve the operating efficiency of the lawnmower after charging.

[0009] To solve the above-mentioned technical problems, this application provides a control method for a lawnmower, comprising:

[0010] When the lawnmower finishes charging, it is controlled to exit from the inlet / outlet side of the charging station by a first preset distance to reach a first preset position;

[0011] The lawnmower is controlled to move forward from the first preset position and bypass the charging station to reach the back side of the charging station, wherein the back side of the charging station and the inlet / outlet side of the charging station are located on opposite sides of the charging station.

[0012] The lawnmower is controlled to operate from the back of the self-charging station.

[0013] Optionally, controlling the lawnmower to operate from the back of the charging station specifically involves:

[0014] The lawnmower is controlled to operate from the back side of the charging station along the boundary guide of the mowing area.

[0015] Optionally, controlling the lawnmower to exit the inlet / outlet side of the self-charging station by a first preset distance to reach a first preset position specifically involves:

[0016] The lawnmower is controlled to exit the charging station from the inlet / outlet side by a different first preset distance each time, so as to reach a different first preset position.

[0017] Optionally, controlling the lawnmower to move forward from the first preset position and bypass the charging station to reach the rear side of the charging station includes:

[0018] In different operations, the lawnmower is controlled to move forward from the first preset position and bypass the charging station and arrive at the back side of the charging station in different first positions;

[0019] The control of the lawnmower to operate from the back of the self-charging station includes:

[0020] The lawnmower is controlled to start operating from the rear side of the charging station in the first position.

[0021] Optionally, a first guide wire is provided around the working area of ​​the lawnmower, and a second guide wire is provided around the charging station;

[0022] The control of the lawnmower to move forward from the first preset position and around the charging station to reach the back side of the charging station includes:

[0023] Determine the first position in which the lawnmower begins operation on the back side of the charging station;

[0024] The first path is generated from the first preset position through the second guide wire to the working position based on the first pose;

[0025] The lawnmower is controlled to move from the first preset position along the first path to the back side of the charging station.

[0026] Optionally, controlling the lawnmower to move forward from the first preset position and bypass the charging station to reach the back side of the charging station specifically involves:

[0027] The lawnmower is controlled to move forward from the first preset position and bypass the charging station from either the side where the charging station is located inside the working area or the side where the charging station is located outside the working area to reach the back side of the charging station.

[0028] Optionally, controlling the lawnmower to move forward from the first preset position and bypass the charging station to reach the back side of the charging station specifically involves:

[0029] The lawnmower is controlled to move forward from the first preset position and alternately pass around the charging station from both sides to reach the back side of the charging station.

[0030] Before controlling the lawnmower to move forward from the first preset position and around the charging station to reach the rear side of the charging station, the method includes:

[0031] The lawnmower is controlled to rotate from the first preset position to the left and right sides of the charging station, and the magnetic field strength on the left and right sides of the charging station is detected.

[0032] The working area inside and outside the working area are determined based on the magnetic field strength on the left and right sides of the charging station.

[0033] Optionally, the method for detecting the magnetic field strength on the left and right sides of the charging station includes:

[0034] During the process of controlling the lawnmower to rotate from the first preset position to the left and right sides of the charging station, the changes in the magnetic field strength on the left and right sides of the charging station are detected.

[0035] The first magnetic field strength and the second magnetic field strength are determined based on the change in magnetic field strength. The first magnetic field strength is the maximum value of the magnetic field strength detected by the magnetic induction sensor during the process of the lawnmower rotating to the left of the charging station, and the second magnetic field strength is the maximum value of the magnetic field strength detected by the magnetic induction sensor during the process of the lawnmower rotating to the right of the charging station.

[0036] Optionally, the method for controlling the lawnmower to rotate from the first preset position to the left and right sides of the charging station includes:

[0037] The lawnmower is controlled to rotate from the first preset position to the left and right sides of the charging station by a first preset angle, wherein the first preset angle is not less than the angle corresponding to the maximum value of the magnetic field strength detected by the magnetic induction sensor.

[0038] or,

[0039] The lawnmower is controlled to shift from the first preset position to the left and right sides of the charging station by a third preset distance, the third preset distance being no less than the distance corresponding to the maximum value of the magnetic field strength detected by the magnetic induction sensor.

[0040] Optionally, the method for controlling the lawnmower to rotate from the first preset position to the left and right sides of the charging station by a first preset angle includes:

[0041] During the process of controlling the lawnmower to rotate from the first preset position to the left and right sides of the charging station, the change in magnetic field strength is detected;

[0042] When the detected change in magnetic field strength changes from increasing to decreasing, the lawnmower is controlled to decelerate and rotate.

[0043] When the lawnmower rotates to the first preset angle, the lawnmower is controlled to stop rotating;

[0044] The method for controlling the lawnmower to shift from the first preset position to the left and right sides of the charging station by a third preset distance includes:

[0045] During the process of controlling the lawnmower to shift from the first preset position to the left and right sides of the charging station by a third preset distance, the change in magnetic field strength is detected;

[0046] When the detected change in magnetic field strength changes from increasing to decreasing, the lawnmower is controlled to decelerate and rotate.

[0047] When the lawnmower deviates from the third preset distance, the lawnmower is controlled to stop rotating.

[0048] Optionally, the method for determining the interior and exterior of the working area based on the magnetic field strength on the left and right sides of the charging station includes:

[0049] If the first magnetic field strength is greater than the second magnetic field strength, then the left side of the charging station is determined to be the inside of the working area, and the right side of the charging station is determined to be the outside of the working area.

[0050] If the first magnetic field strength is less than the second magnetic field strength, then the right side of the charging station is determined to be the inside of the working area, and the left side of the charging station is determined to be the outside of the working area.

[0051] Optionally, before controlling the lawnmower to rotate from the first preset position to the left and right sides of the charging station, the method further includes:

[0052] Determine whether there is an inflection point within the preset area where the first preset position is located;

[0053] When there is an inflection point within the preset area where the first preset position is located, the lawnmower is controlled to turn around and move along the boundary guide to the back side of the charging station.

[0054] The lawnmower is controlled to move forward from the rear side of the charging station and bypass the charging station to reach the entrance / exit side of the charging station.

[0055] Optionally, the method for determining whether there is an inflection point within the preset area where the first preset position is located includes:

[0056] The lawnmower is controlled to continue retracting along the boundary line a fourth preset distance, and a magnetic field signal is detected by a magnetic induction sensor.

[0057] Based on the magnetic field signal, determine whether there is an inflection point within the preset area where the first preset position is located.

[0058] Optionally, a first magnetic induction sensor and a second magnetic induction sensor are provided on both sides of the central axis of the lawnmower. The method for determining whether there is an inflection point within the preset area where the first preset position is located based on the magnetic field signal includes:

[0059] Acquire the third magnetic field signal detected by the first magnetic induction sensor;

[0060] Acquire the fourth magnetic field signal detected by the second magnetic induction sensor;

[0061] If the polarity of the third magnetic field signal is the same as that of the fourth magnetic field signal, it is determined that there is an inflection point within the preset area where the first preset position is located.

[0062] Optionally, after the lawnmower reaches the inlet / outlet side of the charging station, the method further includes:

[0063] Control the lawnmower to travel along the boundary guide to the location of the charging station;

[0064] The lawnmower is controlled to retreat from the charging station to the first preset position and then begin mowing.

[0065] To address the aforementioned technical problems, this application also provides a control device for a lawnmower, comprising:

[0066] Memory, used to store computer programs;

[0067] A processor for executing the computer program, which, when executed by the processor, implements the steps of the lawnmower control method as described in any of the preceding descriptions.

[0068] To address the aforementioned technical problems, this application also provides a storage medium storing a computer program thereon, which, when executed by a processor, implements the steps of the lawnmower control method described in any of the above claims.

[0069] The lawnmower control method provided in this application, upon completion of charging, controls the lawnmower to exit from the inlet / outlet side of the charging station by a first preset distance to a first preset position. Then, the lawnmower moves forward from the first preset position and bypasses the charging station to reach the back side of the charging station, opposite the inlet / outlet side, where it performs its work. Thus, after charging is complete, the lawnmower can operate on the other side of the charging station without having to turn around at the inlet / outlet side, saving significant time on the return path. This effectively improves the lawnmower's operating efficiency, reduces the number of times it needs to turn around, alleviates the burden on the lawnmower, and extends its lifespan.

[0070] This application also provides a control device and storage medium for a lawnmower, which have the aforementioned beneficial effects, and will not be elaborated further here. Attached Figure Description

[0071] To more clearly illustrate the technical solutions of the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0072] Figure 1 A schematic diagram showing the positional relationship between the lawnmower and the charging station during charging;

[0073] Figure 2 A schematic diagram of a wire provided in an embodiment of this application;

[0074] Figure 3 A schematic diagram illustrating the principle of precise positioning based on wires, provided for an embodiment of this application;

[0075] Figure 4 A waveform diagram illustrating precise positioning based on a wire, provided as an embodiment of this application;

[0076] Figure 5 A flowchart illustrating a lawnmower control method provided in this application embodiment;

[0077] Figure 6A schematic diagram illustrating a lawnmower retracting to a first preset position, provided as an embodiment of this application;

[0078] Figure 7 A schematic diagram of a lawnmower bypass charging station provided in an embodiment of this application;

[0079] Figure 8 A schematic diagram illustrating the sensing principle of a magnetic induction sensor provided in an embodiment of this application;

[0080] Figure 9 This is a schematic diagram of the structure of a control device for a lawnmower provided in an embodiment of this application. Detailed Implementation

[0081] The core of this application is to provide a control method, device, and storage medium for a lawnmower, which improves the operating efficiency of the lawnmower after charging.

[0082] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0083] Example 1

[0084] Figure 1 A schematic diagram showing the positional relationship between the lawnmower and the charging station during charging; Figure 2 A schematic diagram of a wire provided in an embodiment of this application; Figure 3 A schematic diagram illustrating the principle of precise positioning based on wires, provided for an embodiment of this application; Figure 4 This is a waveform diagram illustrating precise positioning based on a wire, as provided in an embodiment of this application.

[0085] First, the lawnmower, charging station, positioning method, etc. involved in the control method of the lawnmower provided in the embodiments of this application will be described. These descriptions are only for the purpose of facilitating the understanding of the solution and are not limited to the fact that the devices and equipment involved in the control method of the lawnmower provided in the embodiments of this application must be based on such a structure or principle.

[0086] The lawnmower described in this application can specifically consist of a lawnmower body, sensors, and a lawnmower controller.

[0087] The lawnmower body can be composed of a blade disc, engine, wheels, walking mechanism, blades, handle, etc. Under the control of the lawnmower controller, it can perform tasks such as line mapping, line mowing, or mowing within a work area.

[0088] To facilitate user control, the lawnmower may also include a host computer located outside the lawnmower body. This host computer can be a terminal device such as a mobile phone, tablet computer, or personal computer, which can communicate with the lawnmower controller via wireless communication (such as Bluetooth or Wi-Fi), run the lawnmower control software, and provide the user with a control interface, a visual lawnmower interface, etc. Therefore, the lawnmower control method provided in this application embodiment can be applied to the lawnmower controller or to the host computer of the lawnmower controller.

[0089] Sensors are installed on the lawnmower body to provide the lawnmower controller with positioning signals for the lawnmower body, environmental information about the lawnmower body's surroundings, and external reference signals to assist the lawnmower in positioning. In this embodiment, the lawnmower continues its work after automatically recharging, and the sensors may include a first sensor, a second sensor, and a third sensor. The first sensor collects real-time positioning signals and sends them to the lawnmower controller to locate the lawnmower body's real-time position; it can be a positioning coil, gyroscope, or Global Positioning System (GPS) sensor. The second sensor detects obstacles in the path of the lawnmower during its movement; it can be a laser sensor, vision sensor, or temperature sensor. The third sensor senses the wires placed in the working area and obtains precise positioning signals from the wires; it needs to be set up in conjunction with the wires and can be a magnetic induction sensor, photodetector, temperature sensor, or vision sensor. It should be noted that the configuration of the first, second, and third sensors is only for functional illustration and does not mean that each type of sensor must be included at least once. For example, some types of sensors can have one or more of these functions, or some sensors may not be configured.

[0090] A charging station is a charging device for lawnmowers, which can be fixed within, at the boundary of, or outside the working area of ​​the lawnmower. A charging station typically consists of a charging station body, a charging cable, and a charging connector. The charging connector is located on the charging station body in a position that allows it to align with the charging connector on the lawnmower. One end of the charging cable connects to the charging connector, and the other end can connect to a battery or AC power.

[0091] like Figure 1 As shown, a limiting device, including but not limited to a limiting track, limiting fence, and limiting mark, can be installed at the position where the charging plates of the charging station 102 are facing. This allows the lawnmower 101 to detect the limiting track and drive along it into the charging station 102 to accurately connect with the charging plates. After charging, the lawnmower 101 exits the limiting track and proceeds to its next operating position.

[0092] The aforementioned guide wire is an auxiliary positioning device installed within the working area of ​​the lawnmower 101. It works in conjunction with the third sensor and can be positioned around the perimeter of the working area, within the working area, or near the boundary line of the working area. Installation can be done via ground fencing or underground burial. For ease of implementation, the guide wire provides a precise positioning signal, which the third sensor collects and sends to the lawnmower 101 controller to achieve precise positioning of the target lawnmower 101. This precise positioning system, consisting of the guide wire and the third sensor, allows the target lawnmower 101 to identify the guide wire and obtain positioning signals from it, based on electromagnetic induction, photoelectric induction, temperature sensing, or vision. This enables precise positioning of the target lawnmower 101 and can correct the positioning signal measured by the first sensor.

[0093] Please refer to Figure 2 , Figure 3 , Figure 4 This application provides a scheme for precise positioning of a lawnmower 101 based on a guide wire. By setting a signal providing device on the guide wire and / or a device on the guide wire, the target lawnmower 101 can identify the guide wire and perform precise positioning after entering its sensing area. The signal providing device can be a wire, a light emitter, a heater, an electronic tag, or a pre-defined pattern, etc. Correspondingly, the third sensor can be a magnetic sensor, a photoelectric sensor, a temperature sensor, a card reader, or a camera, etc. Figure 2 As shown, an implementation of the signal generator and signal receiver in this application will be further described using an embodiment of the present application. Specifically, the two ends of the wire can be connected to the charging station 102. A signal generator and a signal receiver are respectively set at the charging station 102 and the lawnmower 101. The lawnmower 101 interacts with the charging station 102 to obtain its precise position on the wire.

[0094] like Figure 2 As shown, a wire is used as the signal line for transmitting signals, with the charging station 102 and the lawnmower 101 acting as the signal generator and receiver, respectively. The signal generator transmits a first signal s1 and a second signal s2 to the signal receiver along two directions of the wire. Based on the reception status of the first signal s1 and the second signal s2, the path length from the receiver to the signal generator along the wire in both directions can be obtained, thereby achieving precise positioning of the target lawnmower 101 on the wire. Figure 2The diagram shows a signal generator located at the charging station 102 and a signal receiver located at the target lawnmower 101. In practical applications, the reverse can also be used: the signal generator is located at the target lawnmower 101 and the signal receiver is located at the charging station 102. The charging station 102 determines the precise position of the target lawnmower 101 on the guide wire based on the first signal s1 and the second signal s2, and then feeds back the position information to the target lawnmower 101 via wireless communication.

[0095] like Figure 3 As shown, let A be the location of charging station 102. Sixteen path nodes, p1 to p16, can be set on the guide wire. During mowing operations, the lawnmower 101 can be controlled to mow along the path p16—p15—p14—…—p2—p1 (or vice versa). That is, after mowing in a straight line within the work area, the lawnmower 101 reaches a path node on the guide wire, and then travels along the guide wire to the next path node for steering adjustments and precise positioning. After that, it turns back to the work area and continues mowing in a straight line until it reaches the next path node on the guide wire. In other words, each time the lawnmower 101 reaches the guide wire, it obtains a precise position.

[0096] Taking the example of a lawnmower 101 and a charging station 102 located on a guide wire, respectively equipped with a signal transmitter and a signal receiver, the method for precise positioning of the lawnmower 101 based on the guide wire can specifically include:

[0097] Based on the transmission time difference or phase difference between the first signal and the second signal sent by the signal generator to the signal receiver in two directions along the conductor, the difference in distance between the signal generator and the signal receiver in the two directions along the conductor is determined, and thus the relative position between the signal generator and the signal receiver is determined.

[0098] The first precise position of the target lawnmower 101 is determined based on the relative position between the signal generator and the signal receiver.

[0099] The signal generator is located at the target lawnmower 101, and the signal receiver is located at the charging station 102; or the signal receiver is located at the target lawnmower 101, and the signal generator is located at the charging station 102.

[0100] Specifically, the signal generator can emit the first signal and the second signal at the same time, or at different times. The transmission time of the first signal is determined by the transmission and reception time of the first signal, and the transmission time of the second signal is determined by the transmission and reception time of the second signal. Thus, the transmission time difference or phase difference between the first signal and the second signal can be determined.

[0101] Such as 2 and Figure 4As shown, assuming the signal generator is located at charging station 102 and the signal receiver is located at lawnmower 101, when the target lawnmower 101 runs onto the guide wire, it receives the first signal s1 emitted by charging station 102 in a clockwise direction at time T0 at time T1, and the second signal s2 emitted by charging station 102 in a counterclockwise direction at time T2 at time T3. Let the length of the guide wire between lawnmower 101 and charging station 102 in the clockwise direction be L2, and the length of the guide wire between target lawnmower 101 and charging station 102 in the counterclockwise direction be L1. The guide wire length is then calculated using the following formula:

[0102] L1-L2 = [T3-T1-(T2-T0)]×V;

[0103] L1 + L2 = L;

[0104] Where V is the transmission rate of the first signal s1 and the second signal s2 along the conductor, and L is the total length of the conductor.

[0105] By measuring T3 / T1, the precise position of the lawnmower 101 on the guide wire can be obtained.

[0106] exist Figure 2 , Figure 3 , Figure 4 In the proposed solution, the signal generator is placed at the charging station 102. However, the signal generator can also be placed at any location on the conductor, not limited to the charging station 102.

[0107] Example 2

[0108] Figure 5 A flowchart illustrating a lawnmower control method provided in this application embodiment; Figure 6 A schematic diagram illustrating a lawnmower retracting to a first preset position, provided as an embodiment of this application; Figure 7 This is a schematic diagram of a lawnmower bypass charging station provided in an embodiment of this application.

[0109] like Figure 5 As shown in the embodiments of this application, the control method for a lawnmower includes:

[0110] S501: When the lawnmower finishes charging, control the lawnmower to exit from the inlet / outlet side of the charging station by a first preset distance to reach a first preset position.

[0111] S502: Control the lawnmower to move forward from the first preset position and bypass the charging station to reach the back side of the charging station. The back side of the charging station and the inlet and outlet sides of the charging station are located on opposite sides of the charging station.

[0112] S503: Controls the lawnmower to operate from the back of the self-charging station.

[0113] Lawn mowers primarily operate in three modes: mapping mode, mowing mode, and area mowing mode. Mapping mode is typically used when the mower reaches a new or unknown work area. Specifically, the mower identifies the boundary signals of pre-laid guide wires within the work area and travels along these wires to determine the area's boundaries. Mowing mode involves mowing along guide wires, which can include boundary wires around the work area or wires within the work area itself. Area mowing mode mows within a designated work area. While mowing within the work area, the mower uses its first sensor to detect its real-time position and its third sensor to detect the position of the guide wires to determine its location, mowing as it travels.

[0114] The lawnmower control method provided in this application can be applied to, but is not limited to, the three operating modes mentioned above. In any operating mode, when the lawnmower needs charging, it plans its own path to the charging station for charging. After charging is complete, the existing solution is for the lawnmower to return from the charging station to the breakpoint (i.e., the position where it was determined to pause operation and charge) to continue operating. Depending on the breakpoint, the lawnmower may need to make a sharp turn in place and travel a longer path to reach the breakpoint, which not only increases the burden on the lawnmower, but also leaves it idle on the return path, resulting in low operating efficiency. In response, the lawnmower control method provided in this application controls the lawnmower to first exit from the charging station's inlet / outlet side (e.g., the charging station's entrance / exit side) when charging is complete. Figure 1 The lawnmower exits the charging station (in the area with the limiting track shown) and then reverses a first preset distance to reach a first preset position. After allowing turning space, it moves forward around the charging station and operates from the back side of the charging station (the other side of the charging station's entrance and exit). This eliminates the need for turning around and returning, thus saving a lot of time on the return path and effectively improving the lawnmower's operating efficiency. The first preset distance can be 1 meter to 10 meters.

[0115] In specific implementation, for S501, such as Figure 6 , Figure 7As shown, the starting and ending points of the boundary line d1 intersect at charging station 102, which is located at point A (which can be the center point of charging station 102). The lawnmower 101 has charging plates at its front. When the lawnmower 101's battery is low, it moves from the inlet / outlet side of charging station 102 and connects with the charging plates to charge. After charging, the lawnmower 101 exits from the inlet / outlet side of charging station 102 and moves further to a first preset position B away from charging station 102. The first preset position B can be the position reached by the lawnmower 101 after retreating a first preset distance in a straight line from the inlet / outlet of charging station 102, or the position reached by the lawnmower 101 after retreating to the left or right after exiting from the inlet / outlet of charging station 102. For example... Figure 6 As shown, if the lawnmower 101 reverses and circles around the left side of the charging station 102, the first preset position B can be the position reached by the lawnmower 101 after exiting the inlet / outlet of the charging station 102 and reversing to the right and rear. This allows the lawnmower 101 to adjust its head angle to face the left side of the charging station 102 during reversal, without needing to turn in place at the first preset position B. Alternatively, if the lawnmower 101 is to reverse and circle around the right side of the charging station 102, the first preset position B can be the position reached by the lawnmower 101 after exiting the inlet / outlet of the charging station 102 and reversing to the left and rear. This allows the lawnmower 101 to adjust its head angle to face the right side of the charging station 102 during reversal, without needing to turn in place at the first preset position B.

[0116] It should be noted that the location of the charging station 102 mentioned in the embodiments of this application is not limited to, for example, the location of the charging station 102. Figure 6 , Figure 7 The charging station 102 shown is on conductor d1 (a boundary conductor, arranged through the central axis of the charging station 102), meaning that the charging station 102 can be located on or outside the boundary of the working area. The inlet and outlet of the charging station 102 and the back side of the charging station 102 can respectively face as shown. Figure 6 , Figure 7 The boundary lines shown can have one side facing the inside of the work area and the other side facing the outside of the work area, or any other arbitrary orientation. Therefore, in this embodiment, only the inlet / outlet side and the back side of the charging station 102 are used as the basis for dividing the area. Thus, when the lawnmower 101 starts working, it can work according to the divided areas, first operating in the area facing the inlet / outlet side of the charging station 102, then stopping at the charging station 102 to charge before continuing work from the back side of the charging station 102, thereby achieving efficient operation.

[0117] For S502, such as Figure 6 , Figure 7As shown, after the lawnmower 101 moves forward from the first preset position B and bypasses the charging station 102, it arrives at the back side of the charging station 102 (i.e., another partition compared to the working partition before charging). The first path it travels can be as shown in r1, but is not limited to r1.

[0118] To facilitate accurate navigation of the lawnmower 101, the lawnmower 101 is positioned along a first path by signals provided around the charging station 102. Since the charging station 102 is equipped with charging pile wires (i.e., charging wires around the charging piles), the magnetic field signal of the charging pile wires can be sensed by a magnetic induction sensor located on the lawnmower 101 based on the principle of electromagnetic induction. Therefore, no additional auxiliary positioning device is needed, allowing the lawnmower 101 to travel along the edge of the charging station 102. Alternatively, positioning wires can be pre-installed around the charging station 102. These wires can be placed in a groove at the bottom of the charging station 102 and can be energized to allow the lawnmower 101 to sense the wire's position based on the principle of electromagnetic induction. Alternatively, the lawnmower 101 can sense the wire and navigate around the charging station 102 based on the wire-based precise positioning scheme provided in Embodiment 1 of this application.

[0119] Based on the type of signal from the auxiliary lawnmower 101 as it navigates around the charging station 102, the positional relationship between the lawnmower 101 and the signal source during its circumvention is further configured. For example, the configuration could be set as follows: Figure 6 , Figure 7 The wire at position r1 controls the lawnmower 101 to be positioned between the two wheels when it is in the first preset position B. As the lawnmower 101 travels along the first path, the wire is continuously adjusted to bring it closer to the wheel on the side of the lawnmower 101 closest to the charging station 102, until the wheel on the side of the lawnmower 101 closest to the charging station 102 is in contact with, overlaps with, or crosses the wire (so that the wire is located at a second preset distance outside the wheel). This maintains the distance at which the lawnmower 101 can sense the wire, and the position of the lawnmower 101 is continuously adjusted.

[0120] Based on the precise positioning scheme based on the guide wire provided in Embodiment 1 of this application, the signal for the auxiliary lawnmower 101 to bypass the charging station 102 can also be the signal for the auxiliary lawnmower 101 to be positioned on the first path. Then, after recognizing the guide wire, the lawnmower 101 can complete the precise positioning based on the guide wire so as to accurately and smoothly drive to the position to continue working.

[0121] For S503, under different operating modes, the lawnmower 101 is controlled to operate from the back side of the charging station 102 according to the corresponding continued operating method, or the lawnmower 101 can be controlled to switch to another operating mode to continue operating after reaching the back side of the charging station 102, according to the settings. As mentioned above, the back side of the charging station 102 may include a pre-defined area facing the back side of the charging station 102. Therefore, operating from the back side of the charging station 102 in S503 can be based on a pre-determined continued operating position (according to different operating modes), or it can be operating at a re-planned continued operating position.

[0122] Specifically, in S503, controlling the lawnmower 101 to operate from the back side of the charging station 102 can be achieved by controlling the lawnmower 101 to operate along the boundary line of the mowing area from the back side of the charging station 102. When the lawnmower 101 is in line-following operation mode (including but not limited to line-following mapping mode and line-following mowing mode), the planned location for continued operation can be the boundary line on the back side of the charging station 102.

[0123] Based on this, the lawnmower 101 can also travel in the direction of the entrance / exit side of the charging station 102 when performing line patrol operations. Specifically, refer to... Figure 6 , Figure 7 In the line-following operation mode, assuming that the lawnmower 101 moves clockwise around the boundary guide d1 before charging, and needs to charge midway, it goes to the charging station 102 and enters the charging station 102 from the inlet / outlet side to charge. After charging, the lawnmower 101 retreats from the inlet / outlet side of the charging station 102 to the first preset position B, then goes around the charging station 102 along the path r1, and then reaches position C, which is located on the back side of the charging station 102 and on the boundary guide d1. From position C, it continues the line-following mapping operation or the line-following mowing operation. This ensures that the charging direction and the moving direction of the lawnmower 101 are the same, and it can directly move to the charging station 102 for charging without turning around.

[0124] In the area mowing mode, the mowing blades and other mowing components can be started to continue working after the mower 101 reaches the back of the charging station 102 from the first preset position B, just like in the line patrol mode. Alternatively, the mowing blades and other mowing components can be started to continue working immediately after the mower 101 moves back to the first preset position B, thereby further improving the efficiency of mowing operations within the area.

[0125] The lawnmower control method provided in this application embodiment, when the lawnmower completes charging, controls the lawnmower to exit from the inlet / outlet side of the charging station by a first preset distance to a first preset position. Then, the lawnmower is controlled to move forward from the first preset position and bypass the charging station to reach the back side of the charging station opposite the inlet / outlet side, and then performs operations on the back side of the charging station. Therefore, the lawnmower can operate on the other side of the charging station after charging is complete, without having to turn around at the inlet / outlet side, thus avoiding wasting a lot of time on the return path. This effectively improves the lawnmower's operating efficiency, reduces the number of times the lawnmower needs to turn around, alleviates the burden on the lawnmower, and extends its lifespan.

[0126] Example 3

[0127] Based on the above embodiments, in the lawnmower control method provided in this application embodiment, S501, controlling the lawnmower to exit the inlet / outlet side of the charging station by a first preset distance to reach a first preset position, can specifically be as follows:

[0128] The first preset distance from the inlet and outlet of the charging station is different each time the lawnmower exits, so as to reach a different first preset position.

[0129] In practical implementation, to avoid excessive damage to the lawn along the path caused by the lawnmower using the same path when retreating from the inlet and outlet sides of the charging station to the first preset position, the lawnmower is designed to go to a different first preset position each time it leaves the charging station, thus taking different retreat paths. The way to reach different first preset positions can involve different first preset distances. For example, if the lawnmower always retreats in a straight line, the first preset distance after the first charge could be one meter, the second charge two meters, and so on. When the lawnmower does not retreat in a straight line, it can also retreat at different angles each time, or retreat at the same angle but different first preset distances, thus reaching a different first preset position and taking different retreat paths after each charge.

[0130] Furthermore, regarding the continuous mowing control of the lawnmower, in the lawnmower control method provided in the embodiments of this application, when controlling the lawnmower to move forward from the first preset position and bypass the charging station to reach the back side of the charging station in S502, the first posture of the lawnmower starting to work on the back side of the charging station can be determined first, and then a first path for the lawnmower to move forward from the first preset position to the working position can be generated based on the first posture, so as to control the lawnmower to move forward from the first preset position along the first path to the working position.

[0131] To accurately plan the path for the lawnmower to continue operation after charging and avoid missing work areas, this embodiment of the application, when controlling the lawnmower to move forward from a first preset position and bypass the charging station to reach the back side of the charging station, first determines the first position for the lawnmower to start working on the back side of the charging station based on the mode to be controlled for continued operation (either continuing the operation mode before charging or resetting the operation mode). For example, in the line-following operation mode, the working position for the lawnmower to start working on the back side of the charging station can be selected on the guide wire or in the sensing area around the guide wire; in the area mowing mode, the working position for the lawnmower to start working on the back side of the charging station can be selected on the guide wire or in the sensing area around the guide wire, or it can be selected within the working area on the back side of the charging station, in an area closer to the charging station, or on a path node on the guide wire closer to the charging station. The posture of the lawnmower when it starts working on the back side of the charging station can be either the posture after the lawnmower reaches the position to start working on the back side of the charging station, that is, adjusting the posture on the spot before continuing to work; or the posture after the lawnmower reaches the position to start working on the back side of the charging station according to the path the lawnmower takes around the charging station, and then adjusting the posture while working.

[0132] Based on the first posture of the lawnmower starting work on the back side of the charging station, a first path is generated from the first preset position to the working position. Specifically, it can be generated based on the coordinates of the first preset position, the coordinates of the working position, the positions of known obstacles, and the first path traveled in the history, so as to obtain a first path that can bypass the charging station and avoid obstacles from the first preset position to the working position, and can avoid repeatedly rolling the lawn in the same position.

[0133] When controlling the lawnmower to move from the first preset position along the first path to the work position, if there are unknown obstacles on the road or the ground is slippery and the preset first path cannot be executed, the position of the sensing wire can be used to accurately locate the location and then replan the path to the work position.

[0134] The first path may not be a precise path. For example, as described in Embodiment 2 of this application, the lawnmower can navigate around the charging station by sensing a wire that runs around the charging station once.

[0135] Building upon this, to prevent the lawnmower from making sharp, stationary turns on the lawn, which could strain its components and damage the lawn, a first path can be set to ensure that the angle at which the lawnmower adjusts its position is less than a preset angle. The preset angle can be less than 90°, or it can be set according to the type of lawnmower and the type of lawn, or different preset angles can be set for different locations within the work area. This allows the lawnmower to minimize sharp, stationary turns in dense lawn areas, while allowing for larger turns in sparse lawn areas.

[0136] When the work area is large, the lawnmower may need to be charged multiple times during operation. Therefore, in step S502, controlling the lawnmower to move from the first preset position and bypass the charging station to reach the back side of the charging station may include:

[0137] In different operations, the lawnmower is controlled to move forward from the first preset position and bypass the charging station, and arrive at the back of the charging station in different first positions.

[0138] S503: Controlling the lawnmower to operate from the rear of the self-charging station, which may include:

[0139] Control the lawnmower to start operation in the first position from the back of the self-charging station.

[0140] Specifically, when planning the next work location after each charge, different work locations are selected, and then the machine travels along different work paths from different work locations. This further improves the operating efficiency of the lawnmower by going to different work locations each time, while ensuring that the work direction is consistent with the direction of the charging station's entrance and exit sides.

[0141] Example 4

[0142] Based on the above embodiments, a first wire can be provided around the working area of ​​the lawnmower, and a second wire can be provided around the charging station;

[0143] S502, controlling the lawnmower to move forward from the first preset position and bypass the charging station to reach the back side of the charging station, may include:

[0144] Determine the first position of the lawnmower when it begins operation on the back side of the charging station;

[0145] A first path is generated from the first preset position to the working position via the second guide wire, based on the first pose.

[0146] Control the lawnmower to travel from the first preset position along the first path to the back side of the charging station.

[0147] In specific implementation, the first conductor may refer to the boundary conductor described in the above embodiments of this application, such as... Figure 6 , Figure 7The boundary conductor d1 is shown. The second conductor can refer to the conductor that wraps around the charging station 102 as described in the above embodiments of this application. It can be the charging cable of the charging station 102 itself, or a separate conductor can be set.

[0148] Then as Figure 6 , Figure 7 As shown, the first guide wire can pass through the central axis of the charging station 102. The inlet and outlet sides and the back side of the charging station 102 face two directions of the first guide wire, respectively. The first preset position B can be located on the first guide wire, that is, after the lawnmower 101 is fully charged, it moves backward along the first guide wire to the first preset position B. By sensing the second guide wire, the location of the charging station 102 can be known, thereby determining the back side area of ​​the charging station 102 and the working position for continued operation. Therefore, in this embodiment, after determining the first pose of the lawnmower 101 at the working position for continued operation, a first path is generated from the first preset position through the second guide wire to the working position, and the lawnmower 101 is controlled to move along the first path by sensing the second guide wire.

[0149] The first and second guide wires can be of different types, allowing the lawnmower 101 to determine its positional relationship with itself by sensing different signals. In situations such as line-following operation mode, area-based mowing operation mode continuing from the boundary guide wire, or in-operation mowing operation mode failing to execute the first path and requiring re-precision positioning, if... Figure 6 , Figure 7 As shown, the lawnmower 101 can sense the first wire at the first preset position B, and then determine the first path around the charging station 102 by sensing the second wire, and then go to the position C on the first wire by sensing the first wire.

[0150] In Embodiment 2 of this application, it is described that when controlling the lawnmower 101 to move from a first preset position B around the charging station 102 to the working position for continued operation, the positional relationship between the guide wire and the walking wheels is adjusted by sensing the guide wire set around the charging station 102. Based on this, using the scheme of setting the first guide wire and the second guide wire provided in this embodiment, the signal waveform of the first guide wire can be set as signal waveform a, and the signal waveform of the second guide wire can be set as signal waveform b. When the lawnmower 101 moves on the first guide wire, the third sensor on the lawnmower 101, which is used to sense the first guide wire, senses signal waveform a, and then controls the walking wheels on both sides of the lawnmower 101 to move on both sides of the first guide wire. Specifically, the movement position of the lawnmower 101 can be controlled by controlling the signal strength of the signal waveform a sensed by the third sensor. If the third sensor is set between the two walking wheels of the lawnmower 101, when signal waveform a is sensed, the lawnmower 101 is controlled to move so that the signal sensed by the third sensor is the strongest. Therefore, the movement of the two walking wheels of the lawnmower 101 on both sides of the first guide wire can be controlled by controlling the signal strength of the signal waveform a sensed by the third sensor. Similarly, when the third sensor on the lawnmower 101 used to sense the second guide wire (which can be the same sensor as the third sensor used to sense the first guide wire or a different sensor) senses the signal waveform b, the intensity of the waveform sensed by the third sensor can be controlled to be within a preset threshold range. This controls the walking wheel of the lawnmower 101 on the side near the charging station 102 to walk along the second guide wire, so that the second guide wire is close to the walking wheel of the lawnmower 101 on the side near the charging station 102 and is located inside or outside the walking wheel.

[0151] The first and second conductors can transmit signal waveforms simultaneously or alternately. The transmission form of the signal waveform can be referred to the above embodiments of this application, but is not limited to the transmission form provided in the above embodiments of this application.

[0152] Example 5

[0153] If the charging station is located at the boundary of the lawnmower's working area, the lawnmower has two ways to bypass the charging station after recharging: it can bypass the station through the inside of the working area or it can bypass the station through the outside of the working area. The lawnmower can choose to bypass the charging station along the same path after each charge, or it can choose to bypass the charging station along a different path after each charge, or it can plan different paths to bypass the charging station inside and outside the working area.

[0154] In some implementations, S502 controls the lawnmower to move forward from the first preset position and bypass the charging station to reach the back side of the charging station. Specifically, it can be controlled to move forward from the first preset position and bypass the charging station from either the side where the charging station is located inside the work area or the side where the charging station is located outside the work area to reach the back side of the charging station.

[0155] At a pre-set position in front of the charging station, the lawnmower can be controlled to move along a path inside the work area and bypass the charging station. Alternatively, it can be controlled to move along a path outside the work area and bypass the charging station. The solution is simple and does not require planning multiple paths.

[0156] In another embodiment, if the lawnmower follows the same path around the charging station after each charge, it will also cause significant damage to the lawn along that path. Therefore, considering the protection of the lawn, in S502, the lawnmower is controlled to move forward from the first preset position and bypass the charging station to reach the back side of the charging station. Specifically, this can be done as follows:

[0157] Control the lawnmower to move forward from the first preset position and alternately pass around the charging station from both sides to reach the back side of the charging station.

[0158] Normally, controlling the lawnmower to move around one side of the charging station can be done by controlling the lawnmower to move forward from the first preset position B and alternately move around both sides of the charging station to the back side of the charging station.

[0159] While controlling the lawnmower to move forward from the first preset position and alternately bypass the charging station from both sides to reach the back of the charging station, it is also possible to control the lawnmower to use different bypass paths when bypassing the charging station on each side, so as to reduce damage to the lawn on the same path.

[0160] The lawnmower is controlled to move forward from a first preset position, alternating between the two sides of the charging station to reach the back of the charging station. This can be done by alternating between the inside and outside of the working area; that is, the lawnmower travels the path inside the working area once, then the path outside the working area once, and so on. Alternatively, it can travel inside the working area a preset number of times, then alternate to the outside of the working area a preset number of times, and so on. It can also travel inside the working area n times, then alternate to the outside of the working area m times, where n and m are not equal, and so on.

[0161] Example 6

[0162] Figure 8 This is a schematic diagram illustrating the sensing principle of a magnetic induction sensor provided in an embodiment of this application.

[0163] Based on the above embodiments, this application further describes a method for determining the interior and exterior of the mowing operation area. As described in Embodiment 1 of this application, mowing can be located by sensing the magnetic field signal transmitted on the boundary wire surrounding the work area using a sensor. The boundary wire transmits the magnetic field signal. By installing a magnetic induction sensor on the lawnmower, when the lawnmower is near the boundary wire and the sensor detects the magnetic field strength, the magnetic field strength inside the work area is higher than that outside the work area. Therefore, the interior and exterior of the work area can be determined by comparing the magnetic field strength on the left and right sides of the charging station before the lawnmower passes the charging station.

[0164] The number of magnetic induction sensors can be one or more. When the number of magnetic induction sensors is greater than one, the signal of one magnetic induction sensor can be selected as a reference to detect the difference between the other magnetic induction sensors and that reference. If the signals of each magnetic induction sensor are used as the more accurate detection result, then, based on the above embodiment, before controlling the lawnmower to move forward from the first preset position and bypass the charging station to reach the back side of the charging station in S502, the lawnmower control method provided in this application embodiment may further include:

[0165] Control the lawnmower to rotate from the first preset position to the left and right sides of the charging station respectively, and detect the magnetic field strength on the left and right sides of the charging station;

[0166] The working area inside and outside the working area are determined based on the magnetic field strength on the left and right sides of the charging station.

[0167] As described in the above embodiments, the charging station can be located on, inside, or outside the boundary guide line, such that the centerline from the inlet / outlet side of the charging station to the back side of the charging station overlaps with or is parallel to the boundary guide line. Based on the principle of electromagnetic induction, the boundary guide line surrounding the working area causes the magnetic field strength inside the working area to be greater than the magnetic field strength outside the working area. By controlling the lawnmower to rotate to the left of the charging station from a first preset position and to the right of the charging station from a first preset position, the inside and outside of the working area can be distinguished based on the magnitude of the magnetic field strength sensed by the magnetic induction sensor installed on the lawnmower during rotation.

[0168] The method for detecting the magnetic field strength on the left and right sides of the charging station may include:

[0169] During the process of controlling the lawnmower to rotate from the first preset position to the left and right sides of the charging station, the changes in the magnetic field strength on the left and right sides of the charging station are detected.

[0170] The first magnetic field strength and the second magnetic field strength are determined based on the change in magnetic field strength. The first magnetic field strength is the maximum value of the magnetic field strength detected by the magnetic induction sensor during the process of the lawnmower rotating to the left of the charging station, and the second magnetic field strength is the maximum value of the magnetic field strength detected by the magnetic induction sensor during the process of the lawnmower rotating to the right of the charging station.

[0171] In other words, to ensure the accuracy of identifying the magnetic field strength on the left and right sides of the charging station, the maximum magnetic field strength on both sides should be found before comparing the magnetic field strengths. For example... Figure 8 As shown, after a current I flows through the boundary conductor 801, a magnetic field H is generated around the boundary conductor 801. The location with the strongest magnetic field strength in the magnetic field H will appear on both sides of the boundary conductor 801, i.e., as shown in the figure. Figure 8 At the sensing position 802 shown, the sensing axis of the induction coil of the magnetic induction sensor 803 is Hz, and the detected horizontal magnetic field strength is Hx. As the lawnmower rotates from the first preset position to the left (or right) of the charging station to the sensing position 802, the magnetic field strength detected by the magnetic induction sensor 803 on the lawnmower tends to increase. However, with further rotation, the magnetic field strength detected by the magnetic induction sensor 803 decreases, thus achieving the position where the magnetic field strength H detected by the magnetic induction sensor 803 is the greatest. The method for determining the interior and exterior of the working area based on the magnetic field strength on the left and right sides of the charging station can include:

[0172] If the strength of the first magnetic field is greater than that of the second magnetic field, then the left side of the charging station is defined as the inside of the working area, and the right side of the charging station is defined as the outside of the working area.

[0173] If the first magnetic field strength is less than the second magnetic field strength, then the right side of the charging station is defined as the inside of the working area, and the left side of the charging station is defined as the outside of the working area.

[0174] Specifically, if the magnetic sensor on the lawnmower detects that the maximum magnetic field strength when the lawnmower rotates to the left (first magnetic field strength) is greater than the maximum magnetic field strength when the lawnmower rotates to the right (second magnetic field strength), it means that the lawnmower is closer to the working area when rotating to the left. In this case, the left side of the charging station is the inside of the working area, and the right side of the charging station is the outside of the working area. Conversely, if the magnetic sensor on the lawnmower detects that the maximum magnetic field strength when the lawnmower rotates to the left (first magnetic field strength) is less than the maximum magnetic field strength when the lawnmower rotates to the right (second magnetic field strength), it means that the lawnmower is closer to the working area when rotating to the right. In this case, the left side of the charging station is the outside of the working area, and the right side of the charging station is the inside of the working area.

[0175] To further control the lawnmower to accurately locate the maximum magnetic field strength during left and right rotation, a method for controlling the lawnmower to rotate from a first preset position to the left and right sides of the charging station may include:

[0176] Control the lawnmower to rotate from the first preset position to the left and right sides of the charging station by a first preset angle, the first preset angle being no less than the angle corresponding to the maximum value of the magnetic field strength detected by the magnetic induction sensor;

[0177] or,

[0178] The lawnmower is controlled to shift from the first preset position to the left and right sides of the charging station by a third preset distance. The third preset distance is not less than the distance corresponding to the maximum value of the magnetic field strength detected by the magnetic induction sensor.

[0179] In other words, controlling the lawnmower to rotate left and right from the first preset position can be done by adjusting the angle of the lawnmower in place at the first preset position, or by controlling the lawnmower to move forward to the left and forward to the right from the first preset position. Regardless of the rotation method used, the lawnmower will inevitably rotate at an angle during the rotation process, so the lawnmower must be controlled to rotate at least to the maximum value of the detected magnetic field strength in both left and right directions. If the lawnmower is controlled to move forward to the left and forward to the right from the first preset position, the lawnmower will leave the first preset position, and the lawnmower must then shift to at least the maximum value of the detected magnetic field strength in both left and right directions.

[0180] By setting a first preset angle or a third preset distance, the lawnmower ensures sufficient movement when rotating left and right from the first preset position. That is, the settings of the first and third preset angles correspond precisely to the maximum value of the magnetic field strength detected by the magnetic induction sensor, or exceed the maximum value of the magnetic field strength detected by the magnetic induction sensor. The method for controlling the lawnmower to rotate a first preset angle from the first preset position to the left and right sides of the charging station includes:

[0181] During the process of controlling the lawnmower to rotate from the first preset position to the left and right sides of the charging station, the change in magnetic field strength is detected.

[0182] When the detected change in magnetic field strength changes from increasing to decreasing, the lawnmower is controlled to slow down its rotation.

[0183] When the lawnmower rotates to the first preset angle, control the lawnmower to stop rotating;

[0184] A method for controlling a lawnmower to deviate from a first preset position to the left and right sides of a charging station by a third preset distance includes:

[0185] During the process of controlling the lawnmower to shift from the first preset position to the left and right sides of the charging station by a third preset distance, the change in magnetic field strength is detected;

[0186] When the detected change in magnetic field strength changes from increasing to decreasing, the lawnmower is controlled to slow down its rotation.

[0187] When the lawnmower deviates from the third preset distance, the control will stop the lawnmower from rotating.

[0188] In other words, by setting a sufficiently large first preset angle or third preset distance, the magnetic induction sensor on the lawnmower can detect the magnetic field strength changing from weak to strong and then from strong to weak when the lawnmower rotates left and right from the first preset position, that is, it can detect the maximum value of the magnetic field strength. Thus, when the lawnmower rotates to the first preset angle or deflects to the third preset distance, it is ensured that the magnetic induction sensor on the lawnmower has detected the maximum value of the magnetic field strength on both the left and right sides.

[0189] Example 7

[0190] The above embodiments describe a method for determining the interior and exterior of the mowing operation area. However, when detecting changes in magnetic field strength as the mower rotates to the left and right using a magnetic induction sensor, the method may be affected by the inflection point of the magnetic field strength near the first preset position, leading to inaccuracies in determining the interior and exterior of the work area. To improve the accuracy of determining the interior and exterior of the work area before the mower passes the charging station, based on the above embodiments, the control method for the mower provided in this application may further include the following before controlling the mower to rotate to the left and right sides of the charging station from the first preset position:

[0191] Determine whether there is an inflection point within the preset area where the first preset position is located;

[0192] When there is an inflection point within the preset area where the first preset position is located, the lawnmower is controlled to turn around and move along the boundary guide to the back side of the charging station;

[0193] Control the lawnmower to move forward from the back of the charging station and bypass the charging station to reach the entrance / exit side of the charging station.

[0194] In other words, before identifying the area inside and outside the working area by rotating the lawnmower from the first preset position to the left and right to detect changes in magnetic field strength, it is first determined whether there is an inflection point within the preset area where the first preset position is located. If an inflection point exists, it indicates that there are factors mentioned above that affect the accuracy of the lawnmower's judgment of the area inside and outside the working area. In this case, the scheme of controlling the lawnmower to rotate from the first preset position to the left and right to detect changes in magnetic field strength to identify the area inside and outside the working area is no longer used. Instead, the lawnmower is controlled to turn around and find the boundary guide (see the description of Embodiment 1 of this application for details) to obtain accurate positioning. After traveling along the boundary guide to the back side of the charging station, it travels forward from the back side of the charging station, bypasses the charging station, and then reaches the entrance and exit side of the charging station. If there is no inflection point, the steps described in the above embodiment of controlling the lawnmower to rotate from the first preset position to the left and right to detect changes in magnetic field strength to identify the area inside and outside the working area are executed.

[0195] The preset area can be a circular area with a preset radius (e.g., 5 meters) centered on the first preset position. Alternatively, the preset area can be a square area or other shaped area including the first preset position; the specific setting can be customized as needed.

[0196] The method for determining whether there is an inflection point within the preset area where the first preset position is located may include:

[0197] The lawnmower is controlled to continue retracting along the boundary line a fourth preset distance, and a magnetic induction sensor is used to detect the magnetic field signal.

[0198] Determine whether there is an inflection point within the preset area where the first preset position is located based on the magnetic field signal.

[0199] In other words, after the lawnmower finishes charging at the charging station and retreats from the entrance / exit side of the charging station to the first preset position, it first retreats along the boundary guide line by a fourth preset distance in order to detect whether there is an inflection point within the preset range area of ​​the first preset position during the retreat process.

[0200] A first magnetic induction sensor and a second magnetic induction sensor are installed on both sides of the central axis of the lawnmower. A method for determining whether there is an inflection point within a preset area where a first preset position is located based on the magnetic field signal may include:

[0201] Acquire the third magnetic field signal detected by the first magnetic induction sensor;

[0202] Acquire the fourth magnetic field signal detected by the second magnetic induction sensor;

[0203] If the polarity of the third magnetic field signal is the same as that of the fourth magnetic field signal, it is determined that there is an inflection point within the preset area where the first preset position is located.

[0204] The central axis of the lawnmower is the central axis along the direction of the lawnmower's movement. A first magnetic induction sensor and a second magnetic induction sensor are respectively installed on both sides of the central axis to sense the magnetic field signals on the left and right sides of the lawnmower. The first preset position is the position reached after the lawnmower retreats a first preset distance from the inlet / outlet side of the charging station. At the first preset position, the magnetic field polarities detected by the first and second magnetic induction sensors should be opposite. If, during the lawnmower's retreat along the boundary line a fourth preset distance from the first preset position, the magnetic field polarities detected by the first and second magnetic induction sensors change from opposite to the same, it indicates that the magnetic field within the preset range of the first preset position is not uniformly distributed left and right, i.e., there is an inflection point. Therefore, the method of controlling the lawnmower to rotate left and right from the first preset position to identify changes in magnetic field strength and thus determine whether the area is inside or outside the working area cannot be used in this case.

[0205] In addition, the magnetic field signal changes during the process of the lawnmower retracting from the first preset position by a fourth preset distance can be detected by a magnetic induction sensor. If the magnetic field signal sensed during the process of the lawnmower retracting from the first preset position by a fourth preset distance gradually decreases, it can also be determined that there is an inflection point within the preset area where the first preset position is located.

[0206] If it is not possible to identify the area outside the working zone by controlling the lawnmower to rotate left and right from the first preset position to identify changes in magnetic field strength, that is, to control the lawnmower to travel along the boundary guide to the back side of the charging station and then around the charging station, after the lawnmower reaches the entrance and exit side of the charging station, the lawnmower control method provided in this application embodiment may further include:

[0207] Control the lawnmower to travel along the boundary line to the location of the charging station;

[0208] After the lawnmower is moved back from the charging station to the first preset position, it will begin mowing.

[0209] In other words, since the location of the charging station is fixed and accurate, and there is an inflection point of the magnetic field within the preset range of the first preset location, controlling the lawnmower to travel around the work area along the boundary guide can control the lawnmower to travel back to the charging station, so that the lawnmower's controller can calibrate the lawnmower's posture. Specifically, by calibrating the angle of the lawnmower's inertial measurement unit at the charging station, that is, by setting the angle of the inertial measurement unit to zero when the lawnmower is connected to the charging station, the lawnmower's posture is (0, 0, 0), so that subsequent mowing operations can continue under accurate posture.

[0210] The above details various embodiments of the control method for a lawnmower. Based on this, this application also discloses a control device and storage medium for a lawnmower corresponding to the above method.

[0211] Example 8

[0212] Figure 9 This is a schematic diagram of the structure of a control device for a lawnmower provided in an embodiment of this application.

[0213] like Figure 9 As shown, the control device for the lawnmower provided in this embodiment includes:

[0214] Memory 910 is used to store computer program 911;

[0215] Processor 920 is configured to execute computer program 911, which, when executed by processor 920, implements the steps of the lawnmower control method as described in any of the above embodiments.

[0216] The processor 920 may include one or more processing cores, such as a 3-core processor or a 9-core processor. The processor 920 may be implemented using at least one hardware form selected from Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), and Programmable Logic Array (PLA). The processor 920 may also include a main processor and a coprocessor. The main processor, also known as a 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 920 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 920 may also include an Artificial Intelligence (AI) processor, which handles computational operations related to machine learning.

[0217] The memory 910 may include one or more storage media, which may be non-transitory. The memory 910 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 910 is used to store at least the following computer program 911, which, after being loaded and executed by the processor 920, can implement the relevant steps in the lawnmower control method disclosed in any of the foregoing embodiments. In addition, the resources stored in the memory 910 may also include an operating system 912 and data 913, and the storage method may be temporary storage or permanent storage. The operating system 912 may be Windows. The data 913 may include, but is not limited to, the data involved in the above methods.

[0218] In some embodiments, the control device of the lawnmower may further include a display screen 930, a power supply 940, a communication interface 950, an input / output interface 960, a sensor 970, and a communication bus 980.

[0219] Those skilled in the art will understand that Figure 9 The structure shown does not constitute a limitation on the control device of the lawnmower and may include more or fewer components than shown.

[0220] The lawnmower control device provided in this application includes a memory and a processor. When the processor executes the program stored in the memory, it can implement the lawnmower control method described above, with the same effect.

[0221] Example 9

[0222] It should be noted that the device and equipment embodiments described above are merely illustrative. For example, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or modules may be electrical, mechanical, or other forms. Modules described as separate components may or may not be physically separate, and components shown as modules may or may not be physical modules; that is, they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0223] Furthermore, the functional modules in the various embodiments of this application can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The integrated modules described above can be implemented in hardware or as software functional modules.

[0224] If the integrated modules are implemented as software functional modules and sold or used as independent products, they can be stored in a storage medium. Based on this understanding, the technical solution of this application, 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 this application.

[0225] Therefore, this application embodiment also provides a storage medium storing a computer program, which, when executed by a processor, implements the steps of a control method such as a lawnmower.

[0226] The storage medium can include various media that can store program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0227] The computer program contained in the storage medium provided in this embodiment can implement the steps of the lawnmower control method described above when executed by a processor, with the same effect.

[0228] The foregoing provides a detailed description of a lawnmower control method, device, and storage medium provided in this application. 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. Regarding the device and storage medium disclosed in the embodiments, since they correspond to the methods 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 this application without departing from the principles of this application, and these improvements and modifications also fall within the protection scope of the claims of this application.

[0229] 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 control method for a lawnmower, characterized in that, include: When the lawnmower finishes charging, it is controlled to exit from the inlet / outlet side of the charging station by a first preset distance to reach a first preset position; Determine whether there is an inflection point in the magnetic field strength within the preset area where the first preset position is located; When an inflection point of the magnetic field strength exists within the preset area where the first preset position is located, the lawnmower is controlled to turn around and move forward along the boundary guide to the back side of the charging station; the lawnmower is controlled to move forward from the back side of the charging station and bypass the charging station to reach the entrance / exit side of the charging station; the lawnmower is controlled to travel along the boundary guide to the position of the charging station; the lawnmower is controlled to retreat from the charging station to the first preset position and then start mowing. When there is no inflection point of the magnetic field strength within the preset area where the first preset position is located, the lawnmower is controlled to rotate from the first preset position to the left and right sides of the charging station respectively, and the magnetic field strength on the left and right sides of the charging station is detected. The working area inside and outside the working area are determined based on the magnetic field strength on the left and right sides of the charging station. Based on the determination result, the lawnmower is controlled to move forward from the first preset position from one side inside the working area or one side outside the working area and bypass the charging station to reach the back side of the charging station. The back side of the charging station and the entrance and exit sides of the charging station are located on opposite sides of the charging station. The lawnmower is controlled to operate from the back side of the charging station.

2. The control method according to claim 1, characterized in that, The control of the lawnmower to operate from the back of the self-charging station specifically includes: The lawnmower is controlled to operate from the back side of the charging station along the boundary guide of the mowing area.

3. The control method according to claim 1, characterized in that, The control of the lawnmower to exit the inlet / outlet side of the self-charging station by a first preset distance to reach a first preset position specifically includes: The lawnmower is controlled to exit the charging station from the inlet / outlet side by a different first preset distance each time, so as to reach a different first preset position.

4. The control method according to claim 1, characterized in that, The control of the lawnmower to move forward from the first preset position and around the charging station to reach the back side of the charging station includes: In different operations, the lawnmower is controlled to move forward from the first preset position and bypass the charging station and arrive at the back side of the charging station in different first positions; The control of the lawnmower to operate from the back of the self-charging station includes: The lawnmower is controlled to start operating from the rear side of the charging station in the first position.

5. The control method according to claim 1, characterized in that, The lawnmower's working area is provided with a first wire around its perimeter, and the charging station is provided with a second wire around its perimeter. The control of the lawnmower to move forward from the first preset position and around the charging station to reach the back side of the charging station includes: Determine the first position in which the lawnmower begins operation on the back side of the charging station; A first path is generated from the first preset position through the second guide wire to the working position based on the first pose. The lawnmower is controlled to move from the first preset position along the first path to the back side of the charging station.

6. The control method according to claim 1, characterized in that, The control of the lawnmower to move forward from the first preset position and bypass the charging station to reach the back side of the charging station specifically involves: The lawnmower is controlled to move forward from the first preset position and alternately pass around the charging station from both sides to reach the back side of the charging station.

7. The control method according to any one of claims 1 to 6, characterized in that, The method for detecting the magnetic field strength on the left and right sides of the charging station includes: During the process of controlling the lawnmower to rotate from the first preset position to the left and right sides of the charging station, the changes in the magnetic field strength on the left and right sides of the charging station are detected. The first magnetic field strength and the second magnetic field strength are determined based on the change in magnetic field strength. The first magnetic field strength is the maximum value of the magnetic field strength detected by the magnetic induction sensor during the process of the lawnmower rotating to the left of the charging station, and the second magnetic field strength is the maximum value of the magnetic field strength detected by the magnetic induction sensor during the process of the lawnmower rotating to the right of the charging station.

8. The control method according to claim 7, characterized in that, The method for controlling the lawnmower to rotate from the first preset position to the left and right sides of the charging station includes: The lawnmower is controlled to rotate from the first preset position to the left and right sides of the charging station by a first preset angle, wherein the first preset angle is not less than the angle corresponding to the maximum value of the magnetic field strength detected by the magnetic induction sensor. or, The lawnmower is controlled to shift from the first preset position to the left and right sides of the charging station by a third preset distance, the third preset distance being no less than the distance corresponding to the maximum value of the magnetic field strength detected by the magnetic induction sensor.

9. The control method according to claim 8, characterized in that, The method for controlling the lawnmower to rotate from the first preset position to the left and right sides of the charging station by a first preset angle includes: During the process of controlling the lawnmower to rotate from the first preset position to the left and right sides of the charging station, the change in magnetic field strength is detected; When the detected change in magnetic field strength changes from increasing to decreasing, the lawnmower is controlled to decelerate and rotate. When the lawnmower rotates to the first preset angle, the lawnmower is controlled to stop rotating; The method for controlling the lawnmower to shift from the first preset position to the left and right sides of the charging station by a third preset distance includes: During the process of controlling the lawnmower to shift from the first preset position to the left and right sides of the charging station by a third preset distance, the change in magnetic field strength is detected; When the detected change in magnetic field strength changes from increasing to decreasing, the lawnmower is controlled to decelerate and rotate. When the lawnmower deviates from the third preset distance, the lawnmower is controlled to stop rotating.

10. The control method according to claim 7, characterized in that, The method for determining the interior and exterior of the working area based on the magnetic field strength on the left and right sides of the charging station includes: If the first magnetic field strength is greater than the second magnetic field strength, then the left side of the charging station is determined to be the inside of the working area, and the right side of the charging station is determined to be the outside of the working area. If the first magnetic field strength is less than the second magnetic field strength, then the right side of the charging station is determined to be the inside of the working area, and the left side of the charging station is determined to be the outside of the working area.

11. The control method according to any one of claims 1 to 6, characterized in that, The method for determining whether there is an inflection point in the magnetic field strength within the preset area where the first preset position is located includes: The lawnmower is controlled to continue retracting along the boundary line a fourth preset distance, and a magnetic field signal is detected by a magnetic induction sensor. Based on the magnetic field signal, determine whether there is an inflection point in the magnetic field strength within the preset area where the first preset position is located.

12. The control method according to claim 11, characterized in that, The lawnmower has a first magnetic induction sensor and a second magnetic induction sensor on both sides of its central axis. The method for determining whether there is an inflection point in the magnetic field strength within a preset area where the first preset position is located based on the magnetic field signal includes: Acquire the third magnetic field signal detected by the first magnetic induction sensor; Acquire the fourth magnetic field signal detected by the second magnetic induction sensor; If the polarity of the third magnetic field signal is the same as that of the fourth magnetic field signal, it is determined that there is an inflection point of the magnetic field strength within the preset area where the first preset position is located.

13. A control device for a lawnmower, characterized in that, include: Memory, used to store computer programs; A processor for executing the computer program, which, when executed by the processor, implements the steps of the lawnmower control method as described in any one of claims 1 to 12.

14. A storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the lawnmower control method as described in any one of claims 1 to 12.

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