Mowing robot recharging control method, mowing robot and computer storage medium

Abstract

The embodiment of the invention discloses a mowing robot recharging control method, a mowing robot and a computer storage medium. The mowing robot recharging control method is used for improving the recharging efficiency of the mowing robot. The method comprises the steps that first signal information and second signal information are obtained, the first signal information is signal information which is obtained by the mowing robot and transmitted in the first direction of a wire, the second signal information is signal information which is obtained by the mowing robot and transmitted in the second direction of the wire, and the first direction is opposite to the second direction; determining a target recharging direction of the mowing robot from the first direction and the second direction according to the first signal information and the second signal information; and controlling the mowing robot to return to the charging station according to the target recharging direction.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of robot control, and in particular to a lawn mowing robot recharging control method, a lawn mowing robot, and a computer storage medium. Background Art

[0002] As people's living standards continue to improve, people have higher and higher requirements for leisure environments. Private gardens, parks, playgrounds and other places have become the best places for people to relax and entertain. However, private gardens, parks, playgrounds and other lawns need to be trimmed from time to time to ensure beauty. At present, mowing robots are usually used to replace manual trimming.

[0003] The lawn mower robot system includes a lawn mower robot, a charging station, and a boundary wire defining a lawn mowing area. When the lawn mower robot working in the working area needs to be charged, the lawn mower robot will first drive to the boundary wire, then drive along the boundary wire to the charging station in a preset direction or any random direction, and finally dock with the charging station for charging.

[0004] In actual applications, the mowing robot may need to charge when it travels to any working area, and the preset direction or any random direction is uncertain. For example, even if the current position of the mowing robot takes 10 minutes to return to the charging station along the first direction of the boundary wire, and the current position of the mowing robot takes only 1 minute to return to the charging station along the second direction of the boundary wire, if the preset direction or any random direction is the first direction, the mowing robot will only take a longer time to return to the charging station along the first direction, and cannot quickly return to the charging station along the second direction for charging, resulting in low recharging efficiency. Summary of the invention

[0005] The embodiments of the present application provide a lawn mowing robot recharging control method, a lawn mowing robot, and a computer storage medium, which are used to improve the recharging efficiency of the lawn mowing robot.

[0006] A first aspect of an embodiment of the present application provides a recharging control method for a lawn mowing robot, comprising:

[0007] Acquire first signal information and second signal information, wherein the first signal information is signal information acquired by the lawn mowing robot and transmitted along a first direction of the wire, and the second signal information is signal information acquired by the lawn mowing robot and transmitted along a second direction of the wire, and the first direction is opposite to the second direction;

[0008] Determining a target recharging direction of the lawn mowing robot from the first direction and the second direction according to the first signal information and the second signal information;

[0009] The lawn mowing robot is controlled to return to the charging station according to the target recharging direction.

[0010] In some specific implementations, determining the target recharging direction of the lawn mowing robot from the first direction and the second direction according to the first signal information and the second signal information includes:

[0011] Acquire a first time when the lawn mower robot senses the first signal according to the first signal information, and acquire a second time when the lawn mower robot senses the second signal according to the second signal information;

[0012] According to the first time and the second time, a target recharging direction of the lawn mowing robot is determined from the first direction and the second direction.

[0013] In some specific implementations, the method of determining a target recharging direction of the lawn mowing robot from the first direction and the second direction according to the first signal information and the second signal information includes:

[0014] Acquire a first signal strength of the first signal sensed by the lawn mowing robot according to the first signal information, and acquire a second signal strength of the second signal sensed by the lawn mowing robot according to the second signal information;

[0015] According to the first signal strength and the second signal strength, a target recharging direction of the lawn mowing robot is determined from the first direction and the second direction.

[0016] In some specific implementations, determining the target recharging direction of the lawn mowing robot from the first direction and the second direction according to the first signal strength and the second signal strength includes:

[0017] If the strength difference between the first signal strength and the second signal strength meets a preset strength threshold, determining the first direction or the second direction as a target recharging direction;

[0018] If the strength difference between the first signal strength and the second signal strength does not meet the preset strength threshold, determining whether the first signal strength is greater than the second signal strength;

[0019] If the first signal strength is greater than the second signal strength, determining the first direction as the target recharging direction;

[0020] If the second signal strength is greater than the first signal strength, the second direction is determined as the target recharging direction.

[0021] In some specific implementations, if the strength difference between the first signal strength and the second signal strength satisfies a preset strength threshold, determining the first direction or the second direction as a target recharging direction includes:

[0022] Obtaining a third time required for the lawn mower robot to return to the charging station along the first direction, and a fourth time required for the lawn mower robot to return to the charging station along the second direction, wherein the third time is determined by a first number of turns required for the lawn mower robot to return to the charging station along the first direction, and the fourth time is determined by a second number of turns required for the lawn mower robot to return to the charging station along the second direction;

[0023] determining a time difference between the third time and the fourth time;

[0024] If the time difference satisfies a preset time threshold, determining the first direction or the second direction as a target recharging direction;

[0025] If the time difference does not meet the preset time threshold, determining whether the third time is greater than the fourth time;

[0026] If the third time is greater than the fourth time, determining the second direction as the target recharging direction;

[0027] If the fourth time is greater than the third time, the first direction is determined as the target recharging direction.

[0028] In some specific implementations, before acquiring the first signal information and the second signal information, the method further includes:

[0029] Controlling the lawn mowing robot to move to a target position;

[0030] determining, at the target position, whether the moving direction of the lawn mowing robot is consistent with the first direction or the second direction;

[0031] If the moving direction of the lawn mowing robot is inconsistent with the first direction or the second direction, the lawn mowing robot is controlled to rotate to the first direction or the second direction.

[0032] In some specific implementations, controlling the lawn mowing robot to rotate to the first direction or the second direction includes:

[0033] Acquire a first angle formed by the traveling direction and the first direction and a second angle formed by the traveling direction and the second direction;

[0034] If the angle difference between the first angle and the second angle meets a preset angle threshold, controlling the lawn mowing robot to rotate to the first direction or the second direction;

[0035] If the angle difference between the first angle and the second angle does not meet the preset angle threshold, determining whether the first angle is greater than the second angle;

[0036] If the first angle is greater than the second angle, controlling the lawn mowing robot to rotate to the second direction;

[0037] If the first angle is smaller than the second angle, the lawn mowing robot is controlled to rotate to the first direction.

[0038] In some specific implementations, the obtaining the first signal information and the second signal information includes:

[0039] If the direction angle between the forward direction of the lawn mower robot and the wire meets a first preset condition, the lawn mower robot is controlled to move a preset measurement distance along the first direction or the second direction, so as to obtain a plurality of first signal information and a plurality of second signal information at different positions by using the first sensor;

[0040] If the direction angle between the forward direction of the lawn mower robot and the wire meets a second preset condition, the lawn mower robot is controlled to move a preset measurement distance along the first direction or the second direction to respectively obtain multiple first signal information and multiple second signal information at different positions using the first sensor and the second sensor.

[0041] A second aspect of an embodiment of the present application provides a lawn mowing robot, comprising:

[0042] a processing unit, configured to obtain first signal information and second signal information, wherein the first signal information is signal information transmitted along a first direction of a wire acquired by the lawn mowing robot, and the second signal information is signal information transmitted along a second direction of the wire acquired by the lawn mowing robot, and the first direction is opposite to the second direction;

[0043] The processing unit is further configured to determine a target recharging direction of the lawn mowing robot from the first direction and the second direction according to the first signal information and the second signal information;

[0044] The driving unit is used to control the lawn mowing robot to return to the charging station according to the target recharging direction.

[0045] In some specific implementations, the processing unit is specifically configured to obtain a first time when the lawn mower robot senses the first signal according to the first signal information, and to obtain a second time when the lawn mower robot senses the second signal according to the second signal information;

[0046] According to the first time and the second time, a target recharging direction of the lawn mowing robot is determined from the first direction and the second direction.

[0047] In some specific implementations, the processing unit is specifically configured to obtain a first signal strength of the first signal sensed by the lawn mowing robot according to the first signal information, and to obtain a second signal strength of the second signal sensed by the lawn mowing robot according to the second signal information;

[0048] According to the first signal strength and the second signal strength, a target recharging direction of the lawn mowing robot is determined from the first direction and the second direction.

[0049] In some specific implementations, the processing unit is specifically configured to determine the first direction or the second direction as a target recharging direction if a strength difference between the first signal strength and the second signal strength satisfies a preset strength threshold;

[0050] If the strength difference between the first signal strength and the second signal strength does not meet the preset strength threshold, determining whether the first signal strength is greater than the second signal strength;

[0051] If the first signal strength is greater than the second signal strength, determining the first direction as the target recharging direction;

[0052] If the second signal strength is greater than the first signal strength, the second direction is determined as the target recharging direction.

[0053] In some specific implementations, the processing unit is specifically used to obtain a third time required for the lawn mower robot to return to the charging station along the first direction, and a fourth time required for the lawn mower robot to return to the charging station along the second direction, the third time being determined by a first number of turns required for the lawn mower robot to return to the charging station along the first direction, and the fourth time being determined by a second number of turns required for the lawn mower robot to return to the charging station along the second direction;

[0054] determining a time difference between the third time and the fourth time;

[0055] If the time difference satisfies a preset time threshold, determining the first direction or the second direction as a target recharging direction;

[0056] If the time difference does not meet the preset time threshold, determining whether the third time is greater than the fourth time;

[0057] If the third time is greater than the fourth time, determining the second direction as the target recharging direction;

[0058] If the fourth time is greater than the third time, the first direction is determined as the target recharging direction.

[0059] In some specific implementations, before acquiring the first signal information and the second signal information, the method further includes:

[0060] The driving unit is also used to control the lawn mowing robot to move to a target position;

[0061] The processing unit is further used to determine whether the moving direction of the lawn mowing robot is consistent with the first direction or the second direction at the target position;

[0062] The driving unit is further configured to control the lawn mower robot to rotate to the first direction or the second direction if the moving direction of the lawn mower robot is inconsistent with the first direction or the second direction.

[0063] In some specific implementations, the driving unit is specifically used to obtain a first angle formed by the traveling direction and the first direction and a second angle formed by the traveling direction and the second direction;

[0064] If the angle difference between the first angle and the second angle meets a preset angle threshold, controlling the lawn mowing robot to rotate to the first direction or the second direction;

[0065] If the angle difference between the first angle and the second angle does not meet the preset angle threshold, determining whether the first angle is greater than the second angle;

[0066] If the first angle is greater than the second angle, controlling the lawn mowing robot to rotate to the second direction;

[0067] If the first angle is smaller than the second angle, the lawn mowing robot is controlled to rotate to the first direction.

[0068] In some specific implementations, the processing unit is specifically configured to control the lawn mower robot to move a preset measurement distance along the first direction or the second direction if the direction angle between the forward direction of the lawn mower robot and the wire satisfies a first preset condition, so as to obtain a plurality of first signal information and a plurality of second signal information at different positions by using the first sensor;

[0069] If the direction angle between the forward direction of the lawn mower robot and the wire meets a second preset condition, the lawn mower robot is controlled to move a preset measurement distance along the first direction or the second direction to respectively obtain multiple first signal information and multiple second signal information at different positions using the first sensor and the second sensor.

[0070] A third aspect of the embodiments of the present application provides a computer program product comprising instructions, and when the computer program product is run on a computer, the computer is caused to execute the method described in the first aspect.

[0071] A fourth aspect of an embodiment of the present application provides a computer storage medium, wherein the computer storage medium stores instructions, and when the instructions are executed on a computer, the computer executes the method described in the first aspect.

[0072] It can be seen from the above technical solutions that the embodiments of the present application have the following advantages: obtaining first signal information and second signal information, the first signal information is the signal information transmitted along the first direction of the wire obtained by the lawn mower robot, and the second signal information is the signal information transmitted along the second direction of the wire obtained by the lawn mower robot, and the first direction is opposite to the second direction; according to the first signal information and the second signal information, determining the target recharging direction of the lawn mower robot from the first direction and the second direction; controlling the lawn mower robot to return to the charging station according to the target recharging direction. Compared with the existing technical solutions of driving along the wire to the charging station according to a preset direction or any random direction, the embodiments of the present application determine the target recharging direction according to the first signal information and the second signal information, so that the lawn mower robot can return to the charging station faster, and improve the recharging efficiency in a simple way. BRIEF DESCRIPTION OF THE DRAWINGS

[0073] Figure 1 A schematic diagram of the structure of the sensor arrangement of the lawn mowing robot disclosed in the embodiment of the present application;

[0074] Figure 2 A schematic flow chart of a lawn mowing robot recharging control method disclosed in an embodiment of the present application;

[0075] Figure 3 A schematic diagram showing that the direction angle disclosed in the embodiment of the present application is within a first preset range;

[0076] Figure 4 A schematic diagram showing that the direction angle disclosed in the embodiment of the present application is within a second preset range;

[0077] Figure 5 A schematic diagram showing that the direction angle disclosed in the embodiment of the present application is within a third preset range;

[0078] Figure 6A schematic diagram of determining a target recharging direction disclosed in an embodiment of the present application;

[0079] Figure 7 Another schematic diagram of determining a target recharging direction disclosed in an embodiment of the present application;

[0080] Figure 8 A schematic diagram of the structure of the lawn mowing robot disclosed in the embodiment of the present application;

[0081] Fig. 9 This is another structural schematic diagram of the lawn mowing robot disclosed in an embodiment of the present application. DETAILED DESCRIPTION

[0082] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0083] The embodiments of the present application provide a lawn mowing robot recharging control method, a lawn mowing robot, and a computer storage medium, which are used to improve the recharging efficiency of the lawn mowing robot.

[0084] In order to better implement the mowing control method of the embodiment of the present application, the embodiment of the present application provides a mowing robot system, which includes: a mowing robot, a charging station, a boundary wire (or wire), and a signal generator arranged in the charging station. The boundary wire is a metal wire or a guide wire arranged at the boundary of the working area. The signal generator is used to inject boundary signals and / or positioning signals into the boundary wire, so that the mowing robot obtains the boundary signal and / or positioning signal according to the sensor arranged on the robot body to perform posture judgment. Among them, one end of the signal generator is connected to one end of the boundary wire, and the other end of the signal generator is connected to the other end of the boundary wire (that is, the two ends of the signal generator are respectively connected to the two ends of the boundary wire).

[0085] In order to prevent the robot signal generator from confusing the boundary signal and the positioning signal injected into the boundary wire, the signal generator usually sends the boundary signal and the positioning signal at a certain interval. Generally, the interval between the positioning signal and the boundary signal input is not less than 200us. In some specific implementations, in order to further facilitate the sensor to distinguish between the boundary signal and the positioning signal, the signal configuration can be performed as follows: the boundary signal is a low-frequency square wave signal with a frequency range of 20kHz to 30kHz, and 3 periodic square wave signals are grouped together; the positioning signal is a high-frequency sine wave signal with a frequency of 100KHz, and 8 sine wave signals are grouped together.

[0086] See also Figure 1 , the following combination Figure 1 A structural schematic diagram of the sensor layout of the lawn mower robot is shown, which describes the specific implementation method of the lawn mower robot in the embodiment of the present application to judge the posture through the boundary signal and / or the positioning signal.

[0087] 1. The specific implementation method of posture judgment based on boundary signals.

[0088] like Figure 1 As shown, the lawn mower robot is provided with a plurality of boundary sensors (including but not limited to the first boundary sensor and the second boundary sensor) for detecting boundary signals, which are symmetrically distributed on both sides of the central axis of the lawn mower robot. The boundary sensor is a sensor coil having a first sensitive axis, and the boundary sensor is used to detect signals in the direction of the first sensitive axis. Figure 1 As shown, the first sensitive direction is the vertical direction. After the signal generator inputs the boundary signal of the first frequency to the wire, when the robot rides on the wire, the boundary sensor on the left side of the central axis and the boundary sensor on the right side of the central axis detect the opposite direction of the magnetic field. The mowing robot controls its movement along the wire according to the direction and strength of the magnetic field.

[0089] 2. The specific implementation method of posture judgment based on positioning signals.

[0090] The signal generator inputs the first positioning signal and the second positioning signal to both ends of the wire at a preset time interval or simultaneously, wherein the first positioning signal is injected by the signal generator along one end of the wire and transmitted along the first direction of the wire, and the second positioning signal is injected by the signal generator along the other end of the wire and transmitted along the second direction of the wire. It should be noted that the first positioning signal can be the same or different from the second positioning signal (here, the same or different means that the signal waveform is the same or different), but the directions of the first positioning signal and the second positioning signal need to remain opposite. If the preset time interval is 8us, the duration of the first positioning signal is 8us, and the duration of the second positioning signal is also 8us.

[0091] At the same time, if Figure 1As shown, the lawn mower robot is provided with a first positioning sensor and a second positioning sensor, and the first positioning sensor and the second positioning sensor are distributed on the central axis of the lawn mower robot. The first positioning sensor is a sensor coil, having a second sensitive axis (perpendicular to the first sensitive axis), and is used to detect the signal in the direction of the second sensitive axis; the second positioning sensor is a sensor coil, having a third sensitive axis (the first sensitive axis is perpendicular to the third sensitive axis), and is used to detect the signal in the direction of the third sensitive axis. It should be noted that the direction of the second sensitive axis is not parallel to the direction of the third sensitive axis. In order to further reduce the mutual interference between the signal in the direction of the second sensitive axis and the signal in the direction of the third sensitive axis, the direction of the second sensitive axis and the direction of the third sensitive axis are preferably perpendicular to each other.

[0092] Based on the above mentioned lawn mowing robot system, please refer to Figure 2 The present application provides a lawn mowing robot recharging control method, comprising the following steps:

[0093] 201. Obtain first signal information and second signal information, where the first signal information is signal information transmitted along a first direction of a wire obtained by a lawn mowing robot, and the second signal information is signal information transmitted along a second direction of the wire obtained by the lawn mowing robot, and the first direction is opposite to the second direction.

[0094] Considering that the embodiment of the present application is intended to solve the problem of the prior art, it is envisioned that: to obtain information that affects the time required for the lawn mowing robot to return to the charging station along the first direction or the second direction of the wire in the current position (such as the first signal information and the second signal information), to decide whether to return to the charging station from the first direction or the second direction, therefore, we should first obtain the information that affects the return time, namely the first signal information and the second signal information.

[0095] According to the aforementioned embodiments, the first signal and the second signal are emitted by the signal generator of the charging station and are received by the sensor of the lawn mowing robot through different directions (the first direction and the second direction) of the wire, that is, the signal transmission directions of the first signal information and the second signal information are opposite.

[0096] 202. Determine a target recharging direction of the lawn mowing robot from the first direction and the second direction according to the first signal information and the second signal information.

[0097] The first signal information records information that affects the time required for the lawn mower robot to return to the charging station along the first direction of the wire in the current position; the second signal information records information that affects the time required for the lawn mower robot to return to the charging station along the second direction of the wire in the current position, wherein the signal information (including but not limited to the first signal information and the second signal information) includes but is not limited to the signal transmission time and / or signal strength.

[0098] Since the first signal information is related to the time it takes for the lawn mower robot to return to the charging station along the first direction of the wire, and the second signal information is related to the time it takes for the lawn mower robot to return to the charging station along the first direction of the wire, the target return charging direction of the lawn mower robot can be determined from the first direction and the second direction based on the first signal information and the second signal information, depending on the correlation (positive correlation or negative correlation) between the signal information and the time of returning to the charging station.

[0099] 203. Control the lawn mower robot to return to the charging station according to the target recharging direction.

[0100] It can be seen from the aforementioned related embodiments that the target recharging direction determined in step 202 is the preferred direction for the lawn mower robot to return to the charging station. Therefore, after the target recharging direction is determined in step 202, the lawn mower robot is controlled to return to the charging station according to the target recharging direction for charging.

[0101] In the embodiment of the present application, compared with the existing technical solution of traveling along a wire to a charging station in a preset direction or any random direction, the embodiment of the present application determines the target recharging direction based on the first signal information and the second signal information, so that the lawn mower robot can return to the charging station faster, thereby improving the recharging efficiency in a simple way.

[0102] In actual application, if the mowing robot receives a recharge instruction while mowing, or detects that its power is lower than a preset power threshold, it is determined that the mowing robot needs to return to the charging station for charging. When the mowing robot receives a recharge instruction or detects that its power is lower than a preset power threshold, the mowing robot may be at any position in the working area, but the signal is transmitted through a wire, and the mowing robot can only detect the signal information when it is near or on the wire. Therefore, before obtaining the first signal information and the second signal information, it is first necessary to control the mowing robot to move from the current mowing position to the target position. Next, in order to ensure that the sensors arranged on the mowing robot can accurately obtain the first signal information and the second signal information, we need to determine whether the direction of travel of the mowing robot is consistent with the first direction or the second direction at the target position; if the direction of travel of the mowing robot is inconsistent with the first direction or the second direction, the mowing robot is controlled to rotate to the first direction or the second direction; if the direction of travel of the mowing robot is consistent with the first direction or the second direction, the steps of obtaining the first signal information and the second signal information are performed.

[0103] Specifically, the mowing robot returns from the current mowing position to the target position at a preset distance from the boundary wire, or returns from the current mowing position to the target position on the boundary wire. In other words, the target position is a position at a preset distance from the boundary wire, or a position on the boundary wire. For example, the target position may be a path node closest to the mowing position (here the path node is a node on the boundary wire), or the target position may also be a position point on the boundary wire closest to the current mowing position, or the target position may also be a position point on the straight segment of the boundary wire closest to the current mowing position. In addition, whether the direction of travel of the mowing robot is consistent with the first direction or the second direction may be that the directions of the two directions are completely consistent, or the angle difference between the directions of the two directions is not greater than a preset angle threshold, which is not specifically limited here.

[0104] Furthermore, if a positioning sensor arranged on the lawn mower robot is used to acquire the first signal information and the second signal information (such as the aforementioned second positioning sensor), then in order to further improve the efficiency of the lawn mower robot in acquiring the first signal information and the second signal information, the aforementioned step of "controlling the lawn mower robot to rotate to the first direction or the second direction" can be specifically referred to the following implementation method: acquiring a first angle formed by the traveling direction and the first direction and a second angle formed by the traveling direction and the second direction; if the angle difference between the first angle and the second angle satisfies a preset angle threshold, controlling the lawn mower robot to rotate to the first direction or the second direction; if the angle difference between the first angle and the second angle does not meet the preset angle threshold, determining whether the first angle is greater than the second angle; if the first angle is greater than the second angle, controlling the lawn mower robot to rotate to the second direction; if the first angle is less than the second angle, controlling the lawn mower robot to rotate to the first direction.

[0105] It should be noted that the first signal and the second signal referred to in the embodiments of the present application are both positioning signals, and the boundary signal and the boundary sensor mentioned in the aforementioned embodiments are used for the lawn mowing robot to return to the charging station along the edge (traveling along the wire) in the target recharging direction after determining the target recharging direction.

[0106] Furthermore, if the mowing robot is equipped with multiple positioning sensors (such as the aforementioned first positioning sensor and the second positioning sensor), then after the mowing robot moves to the target position, there is no need to adjust the posture (i.e., control the mowing robot to rotate to the first direction or the second direction), but only by using different positioning sensors, the first signal information and the second signal information can be obtained. In some specific methods, it can be achieved by the following steps: if the direction angle between the forward direction of the mowing robot and the wire meets the first preset condition, the mowing robot is controlled to move a preset measurement distance along the first direction or the second direction to obtain multiple first signal information and multiple second signal information at different positions using the first sensor; if the direction angle between the forward direction of the mowing robot and the wire meets the second preset condition, the mowing robot is controlled to move a preset measurement distance along the first direction or the second direction to obtain multiple first signal information and multiple second signal information at different positions using the first sensor and the second sensor. The purpose of moving the preset measurement distance and obtaining multiple sets of first signal information and corresponding second signal information at different positions during the movement is to reduce system errors. When multiple first signal information is obtained, multiple first signal information that meets the preset approximate condition can be selected from the multiple first signal information and averaged, and the averaged first signal information is used as the condition for determining the target recharging direction; or the multiple first signal information obtained are directly averaged, and the averaged first signal information is used as the condition for determining the target recharging direction, without specific restrictions here. It can be understood that the processing method of multiple second signal information is similar to the processing method of multiple first signal information, which will not be repeated here.

[0107] For details, please refer to Figure 3 , Figure 4 and Figure 5 First, multiple preset ranges of the direction angle of the target position are configured. When the direction angle of the target position is in different preset ranges, different positioning sensors are used to obtain the first signal information and the second signal information. The direction angle of the target position refers to the angle between the forward direction of the mowing robot and the wire. In some specific implementations, three preset ranges can be configured, wherein the first preset range is 0 degrees to 5 degrees (in this case, the first sensor is Figure 1 The second positioning sensor shown in the figure has a first preset condition that the direction angle is within a first preset range), and a second preset range of 5 degrees to 85 degrees (in this case, the first sensor is different from the second sensor, and the first sensor is Figure 1 The first sensor or the second positioning sensor is shown, and the second sensor is Figure 1 The first sensor or the second positioning sensor shown, the second preset condition is that the direction angle is within the second preset range), and the third preset range is 85 to 90 degrees (at this time, the first sensor is Figure 1For the first positioning sensor shown, the first preset condition is that the direction angle is within a third preset range).

[0108] by Figure 3 For example, if the direction of the target position is within the first preset range, the second positioning sensor is used to detect the first signal and the second signal to obtain the first signal information and the second signal information. Figure 4 For example, if the direction angle of the target position is within the second preset range, the first positioning sensor is used to detect the first positioning signal and the second positioning signal, and the second positioning sensor is used to detect the first positioning signal and the second positioning signal, so as to obtain the first signal information and the second signal information detected by the first positioning sensor, and obtain the first signal information and the second signal information detected by the second positioning sensor. Figure 5 For example, if the direction angle of the target position is within the third preset range, the first positioning sensor is used to detect the first positioning signal and the second positioning signal to obtain the first signal information and the second signal information detected by the first positioning sensor.

[0109] In practical applications, in order to avoid errors in the first signal information and the second signal information, each positioning sensor should use different

[0110] In addition, it should be noted that Figure 5 For example, Figure 5 The wires and charging station shown in the figure constitute a closed working area. The first direction and the second direction of the wire can be understood as the direction from the positive pole to the negative pole and the direction from the negative pole to the positive pole in a similar circuit. That is, each position on the wire has two directions (the first direction and the second direction) at the same time.

[0111] As mentioned in the above embodiments, signal information includes but is not limited to the time of signal transmission and / or signal strength, and different signal information has different correlations with the time required to return to the charging station. For example, the longer the first time of the first signal information (signal transmission), the longer the time to return to the charging station along the first direction of the wire, that is, the signal transmission time is positively correlated with the time required to return to the charging station; the stronger the first signal strength of the first signal information received by the lawn mowing robot, the weaker the attenuation of the first signal transmission process, or the shorter the transmission distance of the first signal, that is, the shorter the time to return to the charging station along the first direction of the wire, that is, the signal strength is negatively correlated with the time required to return to the charging station.

[0112] Therefore, according to the specific content included in the signal information, different methods should be used to determine the target recharging direction, that is, the aforementioned step 202 can be specifically implemented in the following different ways.

[0113] 1. Determine the specific implementation method of the target recharging direction according to the signal transmission time included in the signal information.

[0114] If the signal information only includes the time of signal transmission, the first time when the lawn mower robot senses the first signal (i.e. the time from the signal generator sending the first signal to the lawn mower robot receiving the first signal) is obtained according to the first signal information, and the second time when the lawn mower robot senses the second signal (i.e. the time from the signal generator sending the second signal to the lawn mower robot receiving the second signal) is obtained according to the second signal information; based on the first time and the second time, the target charging direction of the lawn mower robot is determined from the first direction and the second direction.

[0115] Specifically, from the above description, it can be known that the time of signal transmission is positively correlated with the time required to return to the charging station. Therefore, when the signal information only includes the time of signal transmission, if the first time is greater than the second time, the second direction is determined to be the target recharging direction of the lawn mower robot; if the second time is greater than the first time, the first direction is determined to be the target recharging direction of the lawn mower robot. In actual applications, a preset time threshold can also be configured. If the error between the first time and the second time is not greater than the preset time threshold, the time to return to the charging station from the first direction or the second direction is almost the same. Therefore, any direction can be randomly selected from the first direction and the second direction as the target recharging direction; if the error between the first time and the second time is greater than the aforementioned preset time threshold, the direction with a smaller corresponding signal transmission time is selected as the target recharging direction.

[0116] 2. Determine the specific implementation method of the target recharging direction based on the signal information including the received signal strength.

[0117] If the signal information only includes the received signal strength, the first signal strength of the first signal sensed by the lawn mower robot is obtained according to the first signal information, and the second signal strength of the second signal sensed by the lawn mower robot is obtained according to the second signal information; based on the first signal strength and the second signal strength, the target charging direction of the lawn mower robot is determined from the first direction and the second direction.

[0118] Specifically, from the above description, it can be seen that the signal transmission time is positively correlated with the time required to return to the charging station, and the signal strength is negatively correlated with the time required to return to the charging station. Therefore, when the signal information only includes the received signal strength (including but not limited to the first signal strength and the second signal strength), if the first signal strength is greater than the second signal strength, the first direction is determined to be the target recharging direction of the lawn mower robot; if the second signal strength is greater than the first signal strength, the second direction is determined to be the target recharging direction of the lawn mower robot. It should be noted that the premise of directly comparing the second signal strength with the first signal strength is that the first signal and the second signal emitted by the signal generator are the same.

[0119] Please continue reading Figure 6 In actual applications, a preset strength threshold may also be configured. If the strength difference between the first signal strength E1 and the second signal strength E2 meets the preset strength threshold, the first direction or the second direction is determined as the target recharging direction; if the strength difference between the first signal strength and the second signal strength does not meet the preset strength threshold, it is determined whether the first signal strength is greater than the second signal strength; if the first signal strength is greater than the second signal strength, the first direction is determined as the target recharging direction; if the second signal strength is greater than the first signal strength, the second direction is determined as the target recharging direction; if the error between the first signal strength and the second signal strength is not greater than the preset signal strength threshold, the time to return to the charging station from the first direction or the second direction is almost the same, so any direction may be randomly selected from the first direction and the second direction as the target recharging direction.

[0120] In some other implementations, when the error between the first signal strength and the second signal strength is not greater than a preset signal strength threshold, in order to further improve the recharging efficiency of the lawn mowing robot, the following steps may be introduced.

[0121] For details, please refer to Figure 7 , for the case where "the error between the first signal strength and the second signal strength is not greater than the preset signal strength threshold", before determining the first direction or the second direction as the recharging direction, it is also necessary to determine the angle θ1 between the forward direction of the mowing robot at the target position and the first direction and the angle θ2 between the forward direction of the mowing robot at the target position and the second direction, and determine the recharging direction according to the size of θ1 and θ2: if θ1<θ2, the first direction is determined as the recharging direction; if θ1>θ2, the second direction is determined as the recharging direction; if θ1=θ2, the first direction or the second direction is determined as the recharging direction. In this way, the direction with a smaller rotation angle (the angle required for the mowing robot to adjust from the forward direction to the first direction or the second direction) is always used as the recharging direction, which can prevent the robot from excessively trampling on the lawn during rotation.

[0122] Further, if the signal information further includes the time of signal transmission on the basis that the aforementioned signal information only includes the received signal strength (in order to distinguish it from the aforementioned embodiment that only includes the time of signal reception, here the first signal corresponds to the third time and the second signal corresponds to the fourth time), then the aforementioned step of "if the strength difference between the first signal strength and the second signal strength meets the preset strength threshold, then the first direction or the second direction is determined as the target recharging direction" can be implemented with reference to the following method: obtaining the third time required for the lawn mower robot to return to the charging station along the first direction and the fourth time required for the lawn mower robot to return to the charging station along the second direction, the third time being determined by the first number of turns required for the lawn mower robot to return to the charging station along the first direction, and the fourth time being determined by the second number of turns required for the lawn mower robot to return to the charging station along the second direction; determining the time difference between the third time and the fourth time; if the time difference meets the preset time threshold, then determining the first direction or the second direction as the target recharging direction; if the time difference does not meet the preset time threshold, determining whether the third time is greater than the fourth time; if the third time is greater than the fourth time, then determining the second direction as the target recharging direction; if the fourth time is greater than the third time, then determining the first direction as the target recharging direction.

[0123] Among them, in addition to being input by the user to the lawn mower robot, the number of turns can also be obtained and stored by the lawn mower robot during the historical recharging process, and there is no specific restriction here. Specifically, when the position of the lawn mower robot is within a preset distance range from the wire, and the rotation angle of the lawn mower robot exceeds the preset rotation angle threshold, it is considered that the lawn mower robot has made a turn. In addition, in addition to confirming the target recharging direction based on the number of turns of the lawn mower robot, during the process of the lawn mower robot returning to charge in different directions along the wire, changes in terrain (such as uphill and downhill), potholes, and changes in bottom friction can also be used as the basis for determining the third time and the fourth time, which will not be repeated here.

[0124] Because in actual applications, the working area (or mowing area) of the mowing robot is likely to be irregular. Figure 4 Taking the working area formed by the conductor in the figure as an example, if the current direction shown in the figure is the second direction, and the opposite direction of the current direction shown in the figure is the first direction, then Figure 4 The robot needs to go through two turns (① and ② in the figure) to return to the charging station along the first direction of the wire. Figure 4 The robot in the middle needs to make a turn (point ③ shown in the figure) to return to the charging station along the second direction of the wire.

[0125] It is understandable that the lawn mower robot needs to adjust its forward direction each time it turns, so it takes a certain amount of time. However, no matter how big the angle needs to be adjusted, the time for each forward direction adjustment is usually close. Therefore, the single turning time can be pre-configured, and the first time when the lawn mower robot senses the first signal and the total turning time required for the lawn mower robot to return to the charging station along the first direction corresponding to the first signal (i.e., the product of the first number of turns and the single turning time) is taken as the third time; the second time when the lawn mower robot senses the second signal and the total turning time required for the lawn mower robot to return to the charging station along the second direction corresponding to the second signal (i.e., the product of the second number of turns and the single turning time) is taken as the fourth time. Then, the target recharging direction is determined based on the third time and the fourth time, which is similar to the aforementioned determination of the target recharging direction based on the first time and the second time, and will not be repeated.

[0126] Under the premise of the aforementioned multiple target position embodiments, the aforementioned step 203 can be specifically implemented in the following manner: If the target position is a position at a preset distance from the boundary wire, the robot (i.e., the mowing robot) is controlled to repeatedly perform forward and rotating actions until the robot's forward direction is parallel to the target recharging direction, the positioning sensor is located directly above the boundary wire, and the signal strengths detected by the first boundary sensor and the second boundary sensor are approximately the same, then the robot can be controlled to drive to the charging station in the determined target recharging direction. If the target position is a certain position on the boundary wire, and the robot's forward direction is consistent with the target recharging direction, the robot (i.e., the mowing robot) is controlled to repeatedly perform forward and rotating actions until the robot's positioning sensor is located directly above the boundary wire, and the signal strengths detected by the first boundary sensor and the second boundary sensor are approximately the same, then the robot can be controlled to drive to the charging station in the determined target recharging direction. If the target position is a certain position on the boundary wire and the robot's forward direction forms a certain angle with the first direction or the second direction, the robot is controlled to repeatedly rotate and move forward until the robot's forward direction is parallel to the target recharging direction, the positioning sensor is located directly above the boundary wire, and the signal strengths detected by the first boundary sensor and the second boundary sensor are approximately the same. The robot can then be controlled to drive to the charging station in the determined target recharging direction.

[0127] It should be noted that the first direction of the wire and the second direction of the wire referred to in the embodiments of the present application actually refer to the first direction or the second direction of the electrical signal running in the wire under macroscopic observation, rather than the direction of each segment of the wire under macroscopic observation. Therefore, the need to make the forward direction or the moving direction of the lawn mower robot and the first direction, the second direction or the angle of the wire mentioned in the above and later embodiments of the present application refer to the first direction of the wire segment, the second direction of the wire segment or the angle of the wire segment at the position of the lawn mower robot when performing angle confirmation, and will not be repeated here.

[0128] See also Figure 8 , an embodiment of the present application provides a lawn mowing robot, comprising:

[0129] The processing unit 801 is used to obtain first signal information and second signal information, wherein the first signal information is signal information transmitted along a first direction of a wire obtained by the lawn mowing robot, and the second signal information is signal information transmitted along a second direction of the wire obtained by the lawn mowing robot, and the first direction is opposite to the second direction;

[0130] The processing unit 801 is further configured to determine a target recharging direction of the lawn mowing robot from the first direction and the second direction according to the first signal information and the second signal information;

[0131] The driving unit 802 is used to control the lawn mowing robot to return to the charging station according to the target recharging direction.

[0132] The processing unit 801 here is the control module in the aforementioned embodiment, and the processing unit 801 can control the relevant execution modules of the mowing robot to perform operations such as rotation, forward movement, and backward movement according to the various implementation methods of the aforementioned embodiment and the signal information provided by the sensor. Specifically, the operations such as rotation, forward movement, and backward movement can be performed by the driving unit 802.

[0133] It should be noted that the processing unit 801 does not perform specific operations such as rotation, forward, and backward, but determines the actuator (including but not limited to the drive unit 802) of the lawn mower robot to perform specific operations such as rotation, forward, and backward through the various implementation methods of the aforementioned embodiments and the signal information obtained by the sensor, and controls the execution of the actuator. In this embodiment, the processing unit 801 obtains the area to be mowed by controlling the drive unit 802 to drive along the edge. Then, the processing unit 801 determines the target recharging direction through various specific implementation methods. After the processing unit 801 completes the determination of the target recharging direction, it can control the drive unit 802 to move the lawn mower robot in the target recharging direction to the charging station for charging.

[0134] Fig. 9Schematic diagram of the structure of a lawn mower robot provided in an embodiment of the present application. The lawn mower robot 900 may include one or more central processing units (CPU) 901 and a memory 905. The memory 905 stores one or more application programs or data.

[0135] The memory 905 may be a volatile storage or a persistent storage. The program stored in the memory 905 may include one or more modules, each of which may include a series of instruction operations on the lawn mowing robot. Furthermore, the central processor 901 may be configured to communicate with the memory 905 to execute a series of instruction operations in the memory 905 on the lawn mowing robot 900.

[0136] The lawn mowing robot 900 may also include one or more power supplies 902, one or more wired or wireless network interfaces 903, one or more input and output interfaces 904, and / or one or more operating systems, such as Windows ServerTM, Mac OS XTM, UnixTM, LinuxTM, FreeBSDTM, etc.

[0137] The CPU 901 can execute the aforementioned Figures 1 to 8 The operations performed by the lawn mowing robot in the illustrated embodiment will not be described in detail herein.

[0138] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0139] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0140] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0141] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0142] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially 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, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, read-only memory), random access memory (RAM, random access memory), disk or optical disk and other media that can store program code.

[0143] An embodiment of the present application also provides a computer program product including instructions. When the computer program product is executed on a computer, the computer executes the above-mentioned lawn mowing robot recharging control method.

Claims

1. A recharging control method for a lawn mowing robot, characterized in that: include: Acquire first signal information and second signal information, wherein the first signal information is signal information acquired by the lawn mowing robot and transmitted along a first direction of the wire, and the second signal information is signal information acquired by the lawn mowing robot and transmitted along a second direction of the wire, and the first direction is opposite to the second direction; Determining a target recharging direction of the lawn mowing robot from the first direction and the second direction according to the first signal information and the second signal information; The lawn mowing robot is controlled to return to the charging station according to the target recharging direction.

2. The recharge control method according to claim 1, characterized in that: The determining a target recharging direction of the lawn mowing robot from the first direction and the second direction according to the first signal information and the second signal information includes: Acquire a first time when the lawn mower robot senses the first signal according to the first signal information, and acquire a second time when the lawn mower robot senses the second signal according to the second signal information; According to the first time and the second time, a target recharging direction of the lawn mowing robot is determined from the first direction and the second direction.

3. The recharge control method according to claim 1, characterized in that: The step of determining a target recharging direction of the lawn mowing robot from the first direction and the second direction according to the first signal information and the second signal information includes: Acquire a first signal strength of the first signal sensed by the lawn mowing robot according to the first signal information, and acquire a second signal strength of the second signal sensed by the lawn mowing robot according to the second signal information; According to the first signal strength and the second signal strength, a target recharging direction of the lawn mowing robot is determined from the first direction and the second direction.

4. The recharge control method according to claim 3, characterized in that: The step of determining a target recharging direction of the lawn mowing robot from a first direction and a second direction according to the first signal strength and the second signal strength includes: If the strength difference between the first signal strength and the second signal strength meets a preset strength threshold, determining the first direction or the second direction as a target recharging direction; If the strength difference between the first signal strength and the second signal strength does not meet the preset strength threshold, determining whether the first signal strength is greater than the second signal strength; If the first signal strength is greater than the second signal strength, determining the first direction as the target recharging direction; If the second signal strength is greater than the first signal strength, the second direction is determined as the target recharging direction.

5. The recharging control method according to claim 4, characterized in that: If the strength difference between the first signal strength and the second signal strength meets a preset strength threshold, determining the first direction or the second direction as a target recharging direction includes: Obtaining a third time required for the lawn mower robot to return to the charging station along the first direction, and a fourth time required for the lawn mower robot to return to the charging station along the second direction, wherein the third time is determined by a first number of turns required for the lawn mower robot to return to the charging station along the first direction, and the fourth time is determined by a second number of turns required for the lawn mower robot to return to the charging station along the second direction; determining a time difference between the third time and the fourth time; If the time difference satisfies a preset time threshold, determining the first direction or the second direction as a target recharging direction; If the time difference does not meet the preset time threshold, determining whether the third time is greater than the fourth time; If the third time is greater than the fourth time, determining the second direction as the target recharging direction; If the fourth time is greater than the third time, the first direction is determined as the target recharging direction.

6. The recharging control method according to claim 2 or 3, characterized in that: Before acquiring the first signal information and the second signal information, the method further includes: Controlling the lawn mowing robot to move to a target position; determining, at the target position, whether the moving direction of the lawn mowing robot is consistent with the first direction or the second direction; If the moving direction of the lawn mowing robot is inconsistent with the first direction or the second direction, the lawn mowing robot is controlled to rotate to the first direction or the second direction.

7. The recharge control method according to claim 6, characterized in that: The controlling the lawn mowing robot to rotate to the first direction or the second direction comprises: Acquire a first angle formed by the traveling direction and the first direction and a second angle formed by the traveling direction and the second direction; If the angle difference between the first angle and the second angle meets a preset angle threshold, controlling the lawn mowing robot to rotate to the first direction or the second direction; If the angle difference between the first angle and the second angle does not meet the preset angle threshold, determining whether the first angle is greater than the second angle; If the first angle is greater than the second angle, controlling the lawn mowing robot to rotate to the second direction; If the first angle is smaller than the second angle, the lawn mowing robot is controlled to rotate to the first direction.

8. The recharging control method according to claim 7, characterized in that: The obtaining of the first signal information and the second signal information includes: If the direction angle between the forward direction of the lawn mower robot and the wire meets a first preset condition, the lawn mower robot is controlled to move a preset measurement distance along the first direction or the second direction, so as to obtain a plurality of first signal information and a plurality of second signal information at different positions by using the first sensor; If the direction angle between the forward direction of the lawn mower robot and the wire meets a second preset condition, the lawn mower robot is controlled to move a preset measurement distance along the first direction or the second direction to respectively obtain multiple first signal information and multiple second signal information at different positions using the first sensor and the second sensor.

9. A lawn mowing robot, characterized in that: include: a processing unit, configured to obtain first signal information and second signal information, wherein the first signal information is signal information transmitted along a first direction of a wire acquired by the lawn mowing robot, and the second signal information is signal information transmitted along a second direction of the wire acquired by the lawn mowing robot, and the first direction is opposite to the second direction; The processing unit is further configured to determine a target recharging direction of the lawn mowing robot from the first direction and the second direction according to the first signal information and the second signal information; The driving unit is used to control the lawn mowing robot to return to the charging station according to the target recharging direction.

10. A computer storage medium, characterized in that: The computer storage medium stores instructions, and when the instructions are executed on a computer, the computer is caused to execute the method according to any one of claims 1 to 8.

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