Solar charging type mowing robot and returning method thereof

Abstract

The invention provides a solar charging type mowing robot and a returning method thereof. The mowing robot is suitable for executing at least one work task in a work area, a user presets a solar charging position according to the illumination condition of the work area, the solar charging position is not provided with a charging base station, and before the mowing robot executes the work task, the controller stores a first GPS coordinate of the solar charging position, the regression method comprises the steps that when the mowing robot needs to return to a solar charging position, a controller compensates a first GPS coordinate of the solar charging position to obtain a second GPS coordinate or compensates a first real-time GPS coordinate of the mowing robot to obtain a second real-time GPS coordinate, and then the mowing robot is controlled to return. According to the method, a solar charging area with abundant sunlight can be provided for the mowing robot, and the returning precision of the mowing robot can be improved.

Description

Technical Field

[0001] The invention relates to the technical field of garden robots, in particular to a solar-powered charging lawn mowing robot and a return method thereof. Background Art

[0002] Traditional lawn mowing robots usually return to a charging base station to recharge after completing their work tasks. However, the charging base station is usually set up in the working area, which results in the lawn in the area being unable to be effectively mowed. If the charging base station is set up outside the working area, it will bring safety issues.

[0003] On the other hand, lawns have many unobstructed areas with abundant sunlight. How to combine solar energy with lawn mowing robots to improve their working efficiency has become an urgent problem to be solved. Summary of the invention

[0004] Based on this, the present invention aims to provide an improved solar-powered charging lawn mowing robot and a regression method thereof to solve at least one of the above problems.

[0005] In a first aspect, the present application provides a method for returning to a solar-powered lawn mower robot, the lawn mower robot comprising a battery, a solar component for charging the battery, a cutting component, a running wheel, a first driving component for controlling the rotation of the running wheel, a second driving component for controlling the rotation of the cutting component, and a controller, the controller being configured to control the first driving component, the second driving component, and the solar component to start and stop, and to store, obtain, and calculate the GPS coordinates of the lawn mower robot, wherein the lawn mower robot is suitable for performing at least one work task in a working area; The user presets a solar charging position according to the lighting conditions of the working area, and no charging base station is set at the solar charging position. Before the lawn mowing robot performs the working task, the controller stores the first GPS coordinates of the solar charging position; The method comprises: Acquire at least one working parameter of the lawn mower robot when performing a current working task; determine whether the lawn mower robot needs to return to the solar charging position according to the at least one working parameter; If the judgment result is yes, the controller compensates the first GPS coordinate of the preset solar charging position to obtain the second GPS coordinate, and controls the lawn mower robot to move toward the second GPS coordinate, so that the lawn mower robot returns to the solar charging position and receives sunlight for charging through the solar components arranged thereon; or, if the judgment result is yes, the controller compensates the first real-time GPS coordinate of the lawn mower robot to obtain the second real-time GPS coordinate, and controls the lawn mower robot to move toward the first GPS coordinate of the solar charging position according to the second real-time GPS coordinate, so that the lawn mower robot returns to the solar charging position and receives sunlight for charging through the solar components arranged thereon.

[0006] The above method, when the lawn mower robot performs a work task, determines whether the lawn mower robot needs to return to the preset solar charging position by obtaining relevant working parameters. If it needs to return, the control device returns and uses the received sunlight for charging. In this way, at least the following beneficial effects are achieved: 1. It can make full use of natural energy to ensure the energy supply of the lawn mower robot, and there is no need to set up a physical charging base station in the working area, so as to avoid the surface of the area where the charging base station is located from being effectively treated, which is conducive to improving the coverage rate of the working area; 2. The solar charging position in the working area can be pre-set to ensure that the lawn mower robot is provided with a solar charging area with abundant sunlight; 3. The above method can correct the coordinate drift of the lawn mower robot during the regression process through a compensation algorithm, so that the lawn mower robot can accurately go to a specific area for solar charging, which is beneficial to improve the regression accuracy of the solar-chargeable lawn mower robot and ensure the working efficiency of the lawn mower robot.

[0007] In one embodiment, controlling the lawn mower robot to drive to the second GPS coordinate to return to the solar charging position includes: obtaining the second GPS coordinate of the solar charging position; obtaining the first real-time GPS coordinate of the lawn mower robot; calculating the distance between the first real-time GPS coordinate of the lawn mower robot and the second GPS coordinate; determining whether the distance is less than or equal to a preset distance threshold, and if the determination result is yes, controlling the lawn mower robot to stop moving and then receiving sunlight for charging through the solar panel.

[0008] In one embodiment, controlling the lawn mower robot to drive to the first GPS coordinate to return to the solar charging position includes: obtaining the first GPS coordinate of the solar charging position; obtaining the first real-time GPS coordinate of the lawn mower robot, and compensating the first real-time GPS coordinate to obtain a second real-time GPS coordinate; calculating the distance between the second real-time GPS coordinate and the first GPS coordinate; determining whether the distance is less than or equal to a preset distance threshold, and if the determination result is yes, controlling the lawn mower robot to stop moving and then receive sunlight through the solar panel for charging.

[0009] In one of the embodiments, controlling the lawn mowing robot to stop moving and then charging the battery by receiving sunlight through the solar panel specifically includes: the controller turning off the first driving component and turning on the solar panel after the walking wheel stops, so that the solar panel receives sunlight to charge the battery.

[0010] In one of the embodiments, before the lawn mowing robot performs a work task, the method further includes: obtaining and storing the initial coordinates of at least one compensation position in the working area; wherein, when the working area is provided with a plurality of the compensation positions, the distance between two adjacent compensation positions is greater than or equal to 3m; accordingly, compensating the first GPS coordinate of the solar charging position or compensating the first real-time GPS coordinate of the lawn mowing robot comprises: obtaining the third real-time GPS coordinate of one of the compensation positions; comparing the third real-time GPS coordinate of the compensation position with its initial coordinate to obtain compensation data.

[0011] In one of the embodiments, the method of obtaining the third real-time GPS coordinates of one of the compensation positions and comparing the third real-time GPS coordinates of the compensation position with its initial coordinates to obtain compensation data includes: determining whether at least one third real-time GPS coordinate of the compensation position has been stored within a predetermined time period before the current moment; wherein the predetermined time period is less than or equal to 30 minutes; if the determination result is yes, selecting the stored third real-time GPS coordinates of one of the compensation positions and comparing it with the initial coordinates of the compensation position to obtain compensation data.

[0012] In one of the embodiments, at least one of the compensation positions is located at the boundary of the working area, and the obtaining of the third real-time GPS coordinates of one of the compensation positions and comparing the third real-time GPS coordinates of the compensation position with its initial coordinates to obtain compensation data also includes: if the judgment result is no, controlling the lawn mowing robot to move along the boundary of the working area until the lawn mowing robot passes the compensation position located at the boundary, and obtaining the third real-time GPS coordinates of the compensation position and comparing them with the initial coordinates of the compensation position to obtain compensation data.

[0013] In one embodiment, each compensation position is provided with a marker, the marker is used to be detected by the lawn mowing robot so that the lawn mowing robot generates sensing data, the sensing data is used to indicate that the lawn mowing robot passes through the compensation position where the marker is located; the marker includes a coil or a magnet.

[0014] In one of the embodiments, the working parameters include at least one of the coverage rate of the working area, the driving progress of the planned path, the remaining power, the driving power, and the workload; the controller is provided with a threshold value related to the working parameter; accordingly, judging whether the lawn mower robot needs to return to the solar charging position according to the at least one working parameter at least includes: comparing the working parameter with the threshold value of the working parameter and judging whether the lawn mower robot needs to return to the solar charging position; accordingly, the controller controls the lawn mower robot to return to the solar charging position, and also includes: the controller controls the second driving component to shut down, and controls the lawn mower robot to drive to the solar charging position after the cutting component stops.

[0015] In a second aspect, the present application provides a solar-powered lawn mower robot, which is suitable for performing at least one work task in a work area, and comprises a battery, a solar component for charging the battery, a cutting component, a running wheel, a first drive component for controlling the rotation of the running wheel, a second drive component for controlling the rotation of the cutting component, and a controller, wherein the controller is configured to control the opening and closing of the first drive component, the second drive component, and the solar component, and to store, obtain, and calculate the GPS coordinates of the lawn mower robot; The controller is further configured to execute a control process, which includes the steps of any of the methods described above.

[0016] The above-mentioned lawn mower robot has a solar panel and can use natural solar energy for charging to ensure working efficiency; at the same time, the lawn mower robot can also correct the coordinate drift of the lawn mower robot during the regression process through a compensation algorithm, so that the lawn mower robot can accurately go to a specific area for solar charging, which is beneficial to improving the regression accuracy of the solar-chargeable lawn mower robot and ensuring the working efficiency of the lawn mower robot; and the omission of the charging base station in the working area is also beneficial to improving the coverage rate of the working area, thereby ensuring the surface treatment quality of the working area. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the implementation methods of this specification or the technical solutions in the prior art, the drawings required for use in the implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some implementation methods recorded in this specification. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0018] Figure 1 This is a schematic diagram of the structure of a lawn mowing robot according to an embodiment of the present application; Figure 2 This is a flowchart of the steps of the regression method of the lawn mowing robot according to an embodiment of the present application; Figure 3 A schematic diagram of a return path of a lawn mowing robot according to an embodiment of the present application; Figure 4 A flowchart of a regression method for a lawn mowing robot according to an embodiment of the present application; Figure 5 A flowchart of another regression method of a lawn mowing robot according to an embodiment of the present application; Figure 6 The present invention is a flowchart of the steps of obtaining compensation data for a lawn mowing robot according to an embodiment of the present application. DETAILED DESCRIPTION

[0019] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

[0020] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0021] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0022] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

[0023] With the rapid development of science and technology, intelligent control technology is increasingly used in people's lives. As an intelligent product derived from intelligent control technology, lawn mowing robots can bring convenience and speed to people's lives. Therefore, lawn mowing robots are frequently used in people's lives.

[0024] At present, some lawn mower robots are equipped with solar panels to convert natural light energy into electrical energy for use by automatic lawn mowers. However, some of these lawn mower robots usually still need to set up charging base stations, which is not conducive to improving the coverage rate of lawn mower robots. Although some have proposed charging and going, there are no related products on the market, and the specific implementation effect is still unknown. Therefore, there is an urgent need for a lawn mower robot that can implement the application of solar charging technology on lawn mower robots and does not need to set up charging base stations in the working area.

[0025] The present application provides a lawn mowing robot, which has a battery and a solar panel for charging the battery, so that the lawn mowing robot can be charged by receiving solar energy from nature to ensure work efficiency; at the same time, the lawn mowing robot can also correct the coordinate drift of the lawn mowing robot during the regression process through a compensation algorithm, so that the lawn mowing robot can accurately go to a specific area for solar charging, which is beneficial to improving the regression accuracy of the solar-chargeable lawn mowing robot and ensuring the work efficiency of the lawn mowing robot; and the omission of the charging base station in the working area is also beneficial to improving the coverage rate of the working area, thereby ensuring the processing quality of the surface of the working area.

[0026] In some embodiments of the present application, the lawn mower robot can collect the positioning information of the lawn mower robot (including longitude and latitude information, speed, time, etc.) through the GPS module, and transmit it to the controller for analysis and processing to generate instructions that can control the rotation of the cutting component and the walking wheel, thereby enabling the lawn mower robot to move and / or work in the working area, and turn on the solar component to receive sunlight for charging when moving to the solar charging position.

[0027] In some embodiments of the present application, the solar charging position for charging the lawn mower robot can be pre-set by the user according to the lighting conditions of the working area. For example, an unobstructed or substantially unobstructed area with abundant sunlight in the working area can be selected as the solar charging position. Optionally, multiple solar charging positions can be set to avoid the lawn at the same solar charging position being returned to by the lawn mower robot every time and causing wear and tear on the lawn at that position. It should be noted that no charging base station will be set at the solar charging position.

[0028] The lawn mowing robot provided in the embodiment of the present application will be described in detail below with reference to the accompanying drawings.

[0029] In one embodiment, if Figure 1 As shown, the lawn mower robot 1 includes a body 10, and a cutting component 20, a walking wheel 30, a GPS module 40, a solar component 50 and a battery 60 connected to the body 10 respectively, and the GPS module 40 is at least configured to obtain position data of the lawn mower robot 1.

[0030] Exemplarily, the body 10 may include a shell and a chassis of the lawn mowing robot 1, which may be mainly used to install a cutting assembly 20, a walking wheel 30, a GPS module 40, a solar assembly 50, a battery 60, and interactive components (such as buttons, keys, touch panels, etc.).

[0031] Exemplarily, the lawn mower robot 1 can control the rotation of the running wheel 30 through the first driving component. Specifically, the running wheel 30 can rotate under the driving of the first driving component according to the driving instruction, thereby driving the lawn mower robot 1 to move. Exemplarily, the running wheel 30 can generally be installed at the bottom of the lawn mower robot 1, and can include a universal wheel, a driving wheel, etc.

[0032] Exemplarily, the mowing robot 1 can control the rotation of the cutting assembly 20 through the second driving assembly. Specifically, the cutting assembly 20 can rotate under the driving of the second driving assembly according to the cutting instruction, thereby achieving mowing or chopping grass. Exemplarily, the cutting assembly 20 can be installed at the bottom of the mowing robot 1.

[0033] For example, in addition to the GPS module 40 , the lawn mower robot 1 may also be provided with an electromagnetic induction sensor, an ultrasonic sensor, an infrared sensor, a visual sensor, etc., to sense environmental information in the working area.

[0034] Exemplarily, the solar component 50 may include a solar panel, a solar film, and a switch element / circuit for controlling the lawn mower robot 1 to enter or exit a charging mode. Exemplarily, the lawn mower robot 1 is also provided with a battery 60 to store the electric energy converted by the solar component 50 and to power various components of the lawn mower robot 1.

[0035] Furthermore, the mowing robot 1 also includes a controller 70, which can be coupled with the cutting component 20, the walking wheel 30, the GPS module 40, the solar component 50, and the battery 60, for example, it can be electrically connected / communicationally connected, and some of them can be mechanically connected. In addition, the controller 70 can be directly connected to these components, or it can be indirectly connected through an intermediate medium, or it can be connected through internal components, etc. In addition, the controller 70 can include a processor, and the processor can be a general-purpose central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc.

[0036] Before the lawn mowing robot 1 performs a work task, the controller 70 can store the first GPS coordinates of the solar charging position. Figure 3 As shown, before starting the lawn mower robot 1 to perform a work task, the user can first select an unobstructed and sunny area in the home yard as the solar charging position A1, and then place the lawn mower robot 1 stationary at the solar charging position A1 for a period of time, and control the lawn mower robot 1 to read the longitude and latitude coordinates of the position as the first GPS coordinates of the solar charging position.

[0037] Further, such as Figure 2 As shown, the controller 70 may be configured to execute a control program. When executing the control program, the controller 70 may implement the following steps: S100: Obtain at least one working parameter of the lawn mowing robot 1 when performing a current working task.

[0038] Exemplarily, the working parameters may include at least one of the coverage rate of the working area, the driving progress of the planned path, the remaining power, the driving power, and the workload. The coverage rate represents the ratio of the processed area of ​​the mowing robot 1 to the overall processable area of ​​the working area.

[0039] Exemplarily, the controller may be provided with thresholds related to the working parameters. For example, when the working parameter is coverage, the corresponding threshold may be the coverage threshold; when the working parameter is the driving progress of the planned path, the corresponding threshold may be the remaining progress threshold of the planned path; when the working parameter is the remaining power, the corresponding threshold may be the remaining power threshold, and so on.

[0040] S200: Determine whether the lawn mowing robot 1 needs to return to a preset solar charging position according to at least one working parameter.

[0041] Exemplarily, the operating parameter may be compared with a threshold value of the operating parameter to determine whether the lawn mowing robot 1 needs to return to the solar charging position.

[0042] Optionally, in the random working mode, the controller 70 can determine whether the lawn mowing robot 1 has completed the current working task based on the coverage rate of the working area. If it is judged as yes, it will be controlled to return to the solar charging position for charging; in the path planning working mode, it can determine whether the current working task is completed based on the coverage rate of the working area and the driving progress of the planned path. If it is judged as yes, it will be controlled to return to the solar charging position for charging.

[0043] Optionally, whether the lawn mower robot 1 needs to return to charging can be determined based on whether the remaining power of the lawn mower robot 1 is less than or equal to a preset power threshold. If the determination is yes, the lawn mower robot 1 is controlled to return to the solar charging position for charging.

[0044] Optionally, whether the lawn mower robot 1 has an abnormal operation or encounters an abnormal environment can be determined based on whether the driving power and / or workload of the lawn mower robot 1 is greater than or equal to a preset value. If it is determined to be so, it can also be controlled to return to the solar charging position for charging, or an alarm can be issued simultaneously to remind the user.

[0045] Optionally, after determining that it is necessary to return to the solar charging position, the controller 70 can control the second driving component to turn off, and control the lawn mower robot 1 to drive to the solar charging position after the cutting component stops. This is conducive to improving the safety of the lawn mower robot 1 during the process.

[0046] Optionally, the lawn mower robot 1 may obtain the above working parameters every 50 ms, 100 ms, 500 ms, 1 s or 2 s, so as to monitor in real time whether the lawn mower robot 1 needs to return to the solar charging position.

[0047] S300. If the judgment result is yes, the controller 70 compensates the first GPS coordinate of the preset solar charging position to obtain the second GPS coordinate, and controls the lawn mower robot 1 to move toward the second GPS coordinate, so that the lawn mower robot 1 returns to the solar charging position A1 and receives sunlight for charging through the solar components arranged thereon; or, if the judgment result is yes, the controller 70 compensates the first real-time GPS coordinate of the lawn mower robot 1 to obtain the second real-time GPS coordinate, and controls the lawn mower robot 1 to move toward the first GPS coordinate of the solar charging position A1 according to the second real-time GPS coordinate, so that the lawn mower robot 1 returns to the solar charging position A1 and receives sunlight for charging through the solar components arranged thereon.

[0048] For example, Figure 3 As shown, when the lawn mower robot 1 needs to return to the solar charging position A1, the lawn mower robot 1 can be controlled to return. Optionally, the lawn mower robot 1 can be controlled to return directly to the solar charging position A1, or the lawn mower robot 1 can be controlled to go to other positions B1 / B2 / B3 that are helpful for its return, and then return to the solar charging position A1 from the position. Optionally, there can be multiple solar charging positions, that is, there can also be solar charging position A2, solar charging position A3, etc., to avoid the lawn mower robot returning to the same solar charging position every time and causing wear and tear on the lawn at that position.

[0049] However, due to the influence of satellite movement, after a long interval, the coordinate data collected by the GPS module may drift, resulting in inaccurate coordinate data collected previously. Figure 3 As shown, taking the solar charging position A1 and the compensation position B2 as an example, at the first moment, the first initial position data of the solar charging position A1 is (0, 0), and the second initial position data of the compensation position B2 is (-3, -2). However, as time changes, the position corresponding to the (0, 0) coordinate data at the second moment may deviate from the position of the solar charging position A1.

[0050] Therefore, in order to correct such positioning drift, the first GPS coordinate of the solar charging position can be compensated by a compensation algorithm to obtain a second GPS coordinate, and the lawn mower robot 1 can be controlled to move toward the second GPS coordinate, so that the lawn mower robot 1 returns to the solar charging position and receives sunlight for charging through the solar components arranged thereon; or, the first real-time GPS coordinate of the lawn mower robot 1 can be compensated by a compensation algorithm to obtain a second real-time GPS coordinate, and the lawn mower robot 1 can be controlled to move toward the first GPS coordinate of the solar charging position according to the second real-time GPS coordinate, so that the lawn mower robot returns to the solar charging position and receives sunlight for charging through the solar components arranged thereon.

[0051] In some embodiments, Figure 4 As shown, in step S300, controlling the lawn mower robot 1 to drive to the second GPS coordinate to return to the solar charging position A1 may include: S310, obtaining the second GPS coordinates of the solar charging position A1; S320, obtaining a first real-time GPS coordinate of the lawn mowing robot 1; S330, calculating the distance between the first real-time GPS coordinate and the second GPS coordinate of the lawn mowing robot 1; S340, determining whether the distance is less than or equal to a preset distance threshold, if the determination result is yes, controlling the lawn mowing robot 1 to stop moving and receive sunlight through the solar module 50 for charging.

[0052] For example, Figure 3 As shown, by acquiring the second GPS coordinates of the solar charging position A1 and combining them with the first real-time GPS coordinates of the position of the lawn mower robot 1 itself, the distance between the lawn mower robot 1 and the solar charging position A1 can be measured in real time, and when the distance is less than or equal to a preset distance threshold, it can be considered that the lawn mower robot 1 has reached the solar charging position A1, thereby controlling the lawn mower robot 1 to stop moving and enter the charging mode to receive sunlight through the solar module 50 for charging.

[0053] Optionally, the distance threshold may be less than or equal to 2 m, for example, may be one of 2 m, 1.5 m, 1 m, 0.5 m, and 0.1 m.

[0054] In some embodiments, Figure 5 As shown, in step S300, controlling the lawn mower robot 1 to drive to the first GPS coordinate to return to the solar charging position A1 may include: S310', obtaining the first GPS coordinates of the solar charging position A1; S320', obtaining a first real-time GPS coordinate of the lawn mowing robot 1, and compensating the first real-time GPS coordinate to obtain a second real-time GPS coordinate; S330', calculating the distance between the second real-time GPS coordinate and the first GPS coordinate; S340', determining whether the distance is less than or equal to a preset distance threshold, if the determination result is yes, controlling the lawn mowing robot 1 to stop moving and receive sunlight through the solar module 50 for charging.

[0055] For example, Figure 3As shown, by acquiring the first GPS coordinates of the solar charging position A1 and combining them with the first real-time GPS coordinates of the position of the lawn mower robot 1 itself, the first real-time GPS coordinates can be compensated to obtain the second real-time GPS coordinates, and then the second real-time GPS coordinates can be used to measure the distance between the lawn mower robot 1 and the solar charging position A1 in real time, and when the distance is less than or equal to a preset distance threshold, it can be considered that the lawn mower robot 1 has reached the solar charging position A1, thereby controlling the lawn mower robot 1 to stop moving and enter the charging mode to receive sunlight through the solar panel 50 for charging.

[0056] Optionally, the distance threshold may be less than or equal to 2 m, for example, may be one of 2 m, 1.5 m, 1 m, 0.5 m, and 0.1 m.

[0057] In some embodiments, in step S340 and step S340', controlling the lawn mower robot 1 to stop moving and then charging by receiving sunlight through the solar module 50 specifically includes: the controller 70 turns off the first driving component, and turns on the solar module 50 after the running wheel 30 stops, so that the solar module 50 receives sunlight to charge the battery. In this way, it is helpful to ensure the safety of the lawn mower robot 1 during the charging process.

[0058] In some embodiments, before the lawn mowing robot 1 performs a work task, the method further includes: The initial coordinates of at least one compensation position in the working area are obtained and stored; wherein, when the working area is provided with a plurality of compensation positions, the distance between two adjacent compensation positions is greater than or equal to 3m.

[0059] For example, before starting the lawn mower robot 1 to perform a work task, the user can select an unobstructed and sunny area in the home yard as the solar charging position A1, and can also select at least one wide and obstacle-free area as a compensation position to determine the compensation data for compensating for the positioning drift; after selecting the compensation position, the lawn mower robot 1 can be placed stationary at the solar charging position A1 and each compensation position for a period of time in turn, and the lawn mower robot 1 can be controlled to read the longitude and latitude coordinates of the corresponding position and store them as the initial coordinate data of the corresponding position.

[0060] Accordingly, the acquisition of compensation data in step S310 or step S320' may include: The third real-time GPS coordinates of one of the compensated positions are obtained and stored; the third real-time GPS coordinates of the compensated position are compared with its initial coordinates to obtain compensation data.

[0061] For example, see Figure 3Taking the solar charging position A1 and the compensation position B2 as an example, at the first moment, the first GPS coordinate of the solar charging position A1 is (0, 0), and the initial coordinate of the compensation position B2 is (-3, -2). However, as time changes, the position corresponding to the coordinate data of (0, 0) at the second moment may deviate from the position of the solar charging position A1. Therefore, in order to correct such positioning drift, the position data of the compensation position B2 can be obtained again at the second moment to obtain the third GPS real-time coordinate of the compensation position B2 and store it, for example, (1, 3), and then the positioning drift can be obtained by subtracting it from the initial coordinate (-3, -2) of the compensation position B2, and then the positioning drift can be used to compensate the first GPS coordinate (0, 0) of the solar charging position A1, and the second GPS coordinate of the solar charging position A1 is obtained as (4, 5). Then, the first real-time GPS coordinate of the lawn mower robot 1 is obtained by using the GPS module, and then combined with the second GPS coordinate of the solar charging position A1, the lawn mower robot 1 can be controlled to return to the solar charging position A1.

[0062] Alternatively, after the positioning drift is obtained by difference, the first real-time GPS coordinate of the lawn mower robot 1 can be obtained, for example, the first real-time GPS coordinate at the current moment is (5, 6), and then the first real-time GPS coordinate is compensated by the positioning drift to obtain the second real-time GPS coordinate, for example, the second real-time GPS coordinate at the current moment is (1, 1), and then the lawn mower robot 1 can be controlled to drive to the first GPS coordinate (0, 0) according to the second real-time GPS coordinate, and finally return to the solar charging position A1.

[0063] Optionally, the working area AR may be provided with a plurality of compensation positions to increase the probability of the mowing robot 1 encountering a compensation position when performing a working task. Optionally, the distance between two adjacent compensation positions is greater than or equal to 3m, for example, the distance between two adjacent compensation positions may be 3m, 4m, 5m, 6m, 7m, etc., but it should be noted that any compensation position cannot exceed the boundary of the working area AR to ensure the driving safety of the mowing robot 1.

[0064] Through the above method, the GPS module can be used to realize the regression charging of the lawn mower robot 1, and the regression accuracy of the lawn mower robot 1 can also be guaranteed. Compared with the lawn mower robot that uses differential GPS (DGPS) or real-time kinematic (RTK) technology for precise positioning, the present application can significantly reduce the preparation cost of the lawn mower robot 1.

[0065] In some embodiments, Figure 6 As shown, step S310 or step S320' may include: SA, determining whether a third real-time GPS coordinate of at least one compensated position has been stored within a predetermined time period before the current moment; wherein the predetermined time period is less than or equal to 30 minutes; SB. If the judgment result is yes, then the third real-time GPS coordinates of one of the stored compensation positions are selected and compared with the initial coordinates of the compensation position to obtain compensation data.

[0066] Exemplarily, when executing a work task, if the mowing robot 1 passes through a compensation position, the position data of the compensation position will be recorded. Therefore, when the mowing robot 1 completes the current work task at the second moment, it can first determine whether it has stored the position data of at least one compensation position within a predetermined time period before the second moment. If so, it means that the mowing robot 1 has passed through a preset compensation position during the time period, so that the coordinate data of one of the stored compensation positions can be selected to obtain the required compensation data through the aforementioned positioning drift calculation method. Optionally, the time period determined by the predetermined time period can indicate that the position data obtained during the time period can be considered to have a small positioning drift due to the short interval time and can be basically ignored. Optionally, the predetermined time period can be less than or equal to 30 minutes, for example, it can be one of 30 minutes, 20 minutes, 10 minutes, and 5 minutes.

[0067] It should be noted that the third real-time GPS coordinate represents the GPS coordinate read when the lawn mower robot 1 passes the compensation position. Since the positioning drift that occurs within the predetermined time period is small, even if the third real-time GPS coordinate is not obtained when the lawn mower robot 1 needs to return to the solar charging position, as long as the third real-time GPS coordinate is stored within the predetermined time period, it can still be used to calculate the compensation data.

[0068] Optionally, each compensation position is provided with a marker that can be detected by the mowing robot 1, so that when the mowing robot 1 passes through the compensation position, the marker is detected and corresponding sensing data is generated. Optionally, the marker can be a coil or a magnet, so the GPS module 40 can also include an electromagnetic induction sensor to sense the coil or magnet at the compensation position.

[0069] Optionally, step SB may further include: if the judgment result is yes, then selecting the third real-time GPS coordinates of the compensation position stored in the shortest time before the current moment and comparing them with the initial coordinates of the compensation position to obtain compensation data. In this way, it is helpful to reduce the drift error of the third real-time GPS coordinates, further improve the accuracy of the compensation data, and thus further ensure the accuracy of the regression of the lawn mowing robot 1.

[0070] Optionally, if the judgment result is yes, the current position data of the mowing robot 1 can also be obtained, and combined with the position data of the compensation position stored in the time period to determine which compensation position the mowing robot 1 is currently closest to, thereby retrieving the position data of the nearest compensation position as the required comparison position data.

[0071] In some embodiments, at least one compensation position is located at a boundary of the working area, and step S310 or step S320' may further include: SC. If the judgment result is no, the mowing robot 1 is controlled to move along the boundary of the working area until the mowing robot 1 passes the compensation position at the boundary, and the third real-time GPS coordinates of the compensation position are obtained and compared with the initial coordinates of the compensation position to obtain compensation data.

[0072] For example, if the mowing robot 1 has not stored any position data of a compensation position in the previous corresponding period of time, it means that the mowing robot 1 has not passed any compensation position in the previous corresponding period of time. At this time, it is necessary to find a compensation position before calculating the compensation data. Figure 3 As shown in the example, the controller 70 can control the mowing robot 1 to move along the edge first to find the compensation position B3 located on the boundary of the working area. When the mowing robot 1 finds the compensation position B3 located on the boundary of the working area, the coordinates of the compensation position B3 can be obtained and compared with the initial coordinates of the compensation position B3 to obtain compensation data.

[0073] Optionally, a plurality of compensation positions may be provided on the boundary of the working area to reduce the time for the mowing robot 1 to search for the compensation position along the edge and improve the return efficiency of the mowing robot 1 .

[0074] In some embodiments, the working area AR is provided with a plurality of solar charging positions, so step S300 may further include: controlling the lawn mower robot 1 to return to the solar charging position closest to the lawn mower robot 1 .

[0075] For example, after correcting the current GPS coordinate data of the lawn mower robot 1 or the first GPS coordinate of each solar charging position A1, the distance between the lawn mower robot 1 and each solar charging position A1 can be calculated, so that the nearest solar charging position A1 can be selected as the charging position to be returned, which is conducive to further improving the return efficiency of the lawn mower robot 1.

[0076] It should be understood that in the various embodiments of the present application, the size of the serial numbers of the above steps does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present disclosure.

[0077] It should be understood that, during the implementation process, each of the above steps can be completed by an integrated logic circuit of the hardware in the controller or by instructions in the form of software. The method for requesting uplink transmission resources disclosed in conjunction with the embodiments of the present disclosure can be directly embodied as being executed by a hardware processor, or can be executed by a combination of hardware and software modules in the processor. The software module can be located in a mature storage medium in the art, such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory, and the controller reads the information in the memory and completes the steps of the above method in conjunction with its hardware. To avoid repetition, it will not be described in detail here.

[0078] An embodiment of the present application further provides an autonomous working system, comprising the lawn mowing robot 1 as described in any of the above embodiments, and a wire defining a boundary of a working area AR.

[0079] In the above-mentioned autonomous working system, no charging base station is set at the solar charging position, thereby improving the coverage of the working area. At the same time, using natural solar energy for charging can ensure the working efficiency of the lawn mowing robot. Moreover, the fixed-position charging method of the lawn mowing robot is also conducive to reducing the difficulty of applying solar charging technology on the device and improving the availability of the solar lawn mowing robot.

[0080] An embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed, the steps of the method described in any of the above embodiments are implemented.

[0081] It should be understood that in the embodiments of the present disclosure, "B corresponding to A" means that B is associated with A, and B can be determined based on A. However, it should also be understood that determining B based on A does not mean determining B only based on A, and B can also be determined based on A and / or other information.

[0082] It should be noted that the numbers representing quantities or properties used to describe and claim certain embodiments of the present application should be understood to be modified by the terms "roughly", "about", "approximately" or "substantially" in some cases. For example, unless otherwise specified, "roughly", "about", "approximately" or "substantially" can indicate a ±20% variation of the value described. Accordingly, in some embodiments, the numerical parameters used in the specification and claims are approximate values, which may change according to the required features of individual embodiments. In some embodiments, the numerical parameters should take into account the specified significant digits and adopt the general method of retaining digits. Although the numerical domains and parameters used to confirm the breadth of their range in some embodiments of the present application are approximate values, in specific embodiments, the setting of such numerical values ​​is as accurate as possible within the feasible range.

[0083] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0084] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A method for returning a solar-powered lawn mower robot, the lawn mower robot comprising a battery, a solar component for charging the battery, a cutting component, a running wheel, a first drive component for controlling the rotation of the running wheel, a second drive component for controlling the rotation of the cutting component, and a controller, the controller being configured to control the opening and closing of the first drive component, the second drive component, and the solar component, and to store, obtain, and calculate the GPS coordinates of the lawn mower robot, the lawn mower robot being suitable for performing at least one work task in a working area, and characterized in that: The user presets a solar charging position according to the lighting conditions of the working area, and no charging base station is set at the solar charging position. Before the lawn mowing robot performs the working task, the controller stores the first GPS coordinates of the solar charging position; The method comprises: Acquire at least one working parameter of the lawn mower robot when performing a current working task; determine whether the lawn mower robot needs to return to the solar charging position according to the at least one working parameter; If the judgment result is yes, the controller compensates the first GPS coordinate of the preset solar charging position to obtain the second GPS coordinate, and controls the lawn mower robot to move toward the second GPS coordinate, so that the lawn mower robot returns to the solar charging position and receives sunlight for charging through the solar components arranged thereon; or, if the judgment result is yes, the controller compensates the first real-time GPS coordinate of the lawn mower robot to obtain the second real-time GPS coordinate, and controls the lawn mower robot to move toward the first GPS coordinate of the solar charging position according to the second real-time GPS coordinate, so that the lawn mower robot returns to the solar charging position and receives sunlight for charging through the solar components arranged thereon.

2. The method according to claim 1, characterized in that The controlling the lawn mowing robot to drive to the second GPS coordinate to return to the solar charging position comprises: Obtaining a second GPS coordinate of the solar charging location; Obtaining a first real-time GPS coordinate of the lawn mowing robot; Calculating the distance between the first real-time GPS coordinates of the lawn mowing robot and the second GPS coordinates; It is determined whether the distance is less than or equal to a preset distance threshold. If the determination result is yes, the lawn mowing robot is controlled to stop moving and then receives sunlight for charging through the solar module.

3. The method according to claim 1, characterized in that The controlling the lawn mowing robot to drive to the first GPS coordinate to return to the solar charging position comprises: Obtaining a first GPS coordinate of the solar charging location; Acquire a first real-time GPS coordinate of the lawn mowing robot, and compensate the first real-time GPS coordinate to obtain a second real-time GPS coordinate; Calculating the distance between the second real-time GPS coordinate and the first GPS coordinate; It is determined whether the distance is less than or equal to a preset distance threshold. If the determination result is yes, the lawn mowing robot is controlled to stop moving and then receives sunlight for charging through the solar module.

4. The method according to claim 2 or 3, characterized in that: Controlling the lawn mowing robot to stop moving and then charging by receiving sunlight through the solar panel specifically includes: The controller turns off the first driving component, and turns on the solar component after the travel wheel stops, so that the solar component receives sunlight to charge the battery.

5. The method according to claim 4, characterized in that Before the mowing robot performs a work task, the method further includes: obtaining and storing the initial coordinates of at least one compensation position in the working area; wherein, when the working area is provided with a plurality of compensation positions, the distance between two adjacent compensation positions is greater than or equal to 3m; accordingly, Compensating the first GPS coordinate of the solar charging position or compensating the first real-time GPS coordinate of the lawn mowing robot includes: Obtain a third real-time GPS coordinate of one of the compensated positions; compare the third real-time GPS coordinate of the compensated position with its initial coordinate to obtain compensation data.

6. The method according to claim 5, characterized in that The step of acquiring the third real-time GPS coordinates of one of the compensated positions and comparing the third real-time GPS coordinates of the compensated position with its initial coordinates to obtain compensation data includes: Determine whether at least one third real-time GPS coordinate of the compensation position has been stored in a predetermined time period before the current moment; wherein the predetermined time period is less than or equal to 30 minutes; If the judgment result is yes, then the third real-time GPS coordinates of one of the stored compensation positions are selected and compared with the initial coordinates of the compensation position to obtain compensation data.

7. The method according to claim 6, characterized in that At least one of the compensation positions is located at a boundary of the working area, and the obtaining of the third real-time GPS coordinates of one of the compensation positions and comparing the third real-time GPS coordinates of the compensation position with its initial coordinates to obtain compensation data also includes: If the judgment result is no, the mowing robot is controlled to move along the boundary of the working area until the mowing robot passes the compensation position located at the boundary, and the third real-time GPS coordinates of the compensation position are obtained and compared with the initial coordinates of the compensation position to obtain compensation data.

8. The method according to claim 5, characterized in that Each compensation position is provided with a marker, and the marker is used to be detected by the lawn mowing robot so that the lawn mowing robot generates sensing data, and the sensing data is used to indicate that the lawn mowing robot passes through the compensation position where the marker is located; the marker includes a coil or a magnet.

9. The method according to claim 1, characterized in that: The working parameters include at least one of the coverage rate of the working area, the driving progress of the planned path, the remaining power, the driving power, and the workload; the controller is provided with a threshold value related to the working parameter; Accordingly, judging whether the lawn mower robot needs to return to the solar charging position according to the at least one working parameter at least includes: comparing the working parameter with a threshold value of the working parameter and judging whether the lawn mower robot needs to return to the solar charging position; Accordingly, the controller controls the lawn mowing robot to return to the solar charging position, and further includes: The controller controls the second driving component to be turned off, and controls the lawn mowing robot to move toward the solar charging position after the second driving component is turned off or the cutting component stops.

10. A solar-powered lawnmower robot, the lawnmower robot being suitable for performing at least one work task in a work area, comprising a battery, a solar component for charging the battery, a cutting component, a running wheel, a first drive component for controlling the rotation of the running wheel, a second drive component for controlling the rotation of the cutting component, and a controller, wherein the controller is configured to control the opening and closing of the first drive component, the second drive component, and the solar component, and to store, obtain, and calculate the GPS coordinates of the lawnmower robot; It is characterized in that The controller is further configured to execute a control process, wherein the control process comprises the steps of the method according to any one of claims 1 to 9.

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