Mowing robot and positioning method

Abstract

The invention provides a mowing robot and a positioning method. The method comprises the steps that when the mowing robot moves along a boundary guide line, multiple positioning signals are acquired in the process that the mowing robot moves by a preset positioning distance; multiple pieces of position information of the mowing robot are determined according to the multiple positioning signals, and the preset positioning distance is not smaller than the working distance of the mowing robot; the multiple pieces of position information are matched with a pre-established position information set, and the current position of the mowing robot is determined. The current position of the mowing robot is determined according to the positioning signals transmitted by the plurality of boundary wires and the position information set established in advance, and the positioning precision is improved.

Description

Technical Field

[0001] The present application belongs to the field of intelligent control technology, and in particular relates to a lawn mowing robot and a positioning method. Background Art

[0002] Mowing robots are widely used in maintaining lawns in home gardens and mowing large lawns. Mowing robots integrate technologies such as motion control, multi-sensor fusion, and path planning. In order to control the mowing robot to achieve mowing operations, it is necessary to accurately position the mowing robot.

[0003] At present, there are two main technical solutions for the positioning of lawn mower robots in the industry, one is the buried wire solution based on inertial navigation, and the other is the non-buried wire solution. The buried wire solution is the mainstream technical solution at present. The working principle of the buried wire lawn mower robot is to move forward in one direction, collide with the magnetic flux line, turn randomly or semi-planned and continue to move forward, and then repeat the above collision and turning process. The disadvantage of this solution is that it cannot achieve accurate positioning. Summary of the invention

[0004] The embodiments of the present application provide a lawn mowing robot and a positioning method, which can solve the problem of poor positioning accuracy.

[0005] In a first aspect, an embodiment of the present application provides a method for positioning a lawn mower robot, wherein a boundary wire is arranged on a boundary of a moving area of ​​the lawn mower robot, and the boundary wire can transmit a positioning signal; the method comprises:

[0006] When the lawn mowing robot moves along the boundary wire, a plurality of positioning signals are acquired in the process of the lawn mowing robot moving a preset positioning distance;

[0007] Determine multiple position information of the lawn mowing robot according to the multiple positioning signals, wherein the preset positioning distance is not less than the working distance of the lawn mowing robot;

[0008] The plurality of position information are matched with a pre-established position information set to determine the current position of the lawn mowing robot.

[0009] In one embodiment, when the mowing robot moves along the boundary wire, acquiring a plurality of positioning signals during the process of the mowing robot moving a preset positioning distance includes:

[0010] When the lawn mower robot encounters an obstacle that blocks the movement of the lawn mower robot while the lawn mower robot moves along the boundary wire, controlling the lawn mower robot to bypass the obstacle;

[0011] After the lawn mowing robot bypasses the obstacle, the lawn mowing robot is controlled to continue moving along the boundary wire, so that the distance moved by the lawn mowing robot along the boundary wire reaches the preset positioning distance.

[0012] In one embodiment, after the distance moved by the lawn mowing robot along the boundary wire reaches the preset positioning distance, the method further comprises:

[0013] Control the lawn mowing robot to move backward or turn around and then move forward to a preset position point on the planned path;

[0014] Controlling the lawn mowing robot to rotate from the preset position point to a second direction;

[0015] The lawn mowing robot is controlled to move in the second direction.

[0016] In one embodiment, after the distance moved by the lawn mowing robot along the boundary wire reaches the preset positioning distance, the method further comprises:

[0017] Controlling the lawn mowing robot to rotate to a second direction;

[0018] The lawn mowing robot is controlled to move in the second direction.

[0019] In one embodiment, after controlling the lawn mowing robot to move in the second direction, the method further includes:

[0020] determining whether the lawn mowing robot moves onto the boundary wire;

[0021] If yes, controlling the lawn mowing robot to rotate and move, so as to control the lawn mowing robot to move a first distance in a third direction;

[0022] The third direction is opposite to the first direction, and the first distance is a distance projected in the first direction or the third direction when the lawn mowing robot is controlled to move along the obstacle.

[0023] In one embodiment, after controlling the lawn mowing robot to move in the second direction, the method further includes:

[0024] determining whether the lawn mowing robot moves onto a boundary wire;

[0025] If yes, controlling the lawn mowing robot to rotate and move, so as to control the lawn mowing robot to move a second distance in a third direction;

[0026] The third direction is opposite to the first direction, and the second distance is determined by the distance projected in the first direction or the third direction when controlling the mowing robot to move along the obstacle, the preset positioning distance and the first working distance.

[0027] In one embodiment, after controlling the lawn mowing robot to move a second distance in a third direction, the method includes:

[0028] Controlling the mowing robot to mow according to a first working spacing or a second working spacing;

[0029] Wherein, the second working distance is determined by the second distance.

[0030] In one embodiment, before controlling the lawn mowing robot to move along the boundary wire, the method further includes:

[0031] Controlling the lawn mowing robot to move at least one circle along the boundary wire, and acquiring positioning signals at different positions during the movement;

[0032] A plurality of position information of the lawn mowing robot is acquired according to the positioning signal, and the plurality of position information is used as the pre-established position information.

[0033] In one embodiment, during the process of controlling the lawn mowing robot to move at least one circle along the boundary wire, the method includes:

[0034] Determining whether the lawn mowing robot reaches a closing point along the edge;

[0035] If yes, the lawn mowing robot is controlled to continue moving along the boundary wire for the preset positioning distance.

[0036] In a second aspect, an embodiment of the present application provides a positioning device for a lawn mower robot, wherein a boundary wire is arranged at a boundary of a moving area of ​​the lawn mower robot, and the boundary wire can transmit a positioning signal; the device comprises:

[0037] An acquisition module, configured to acquire a plurality of the positioning signals during the process of the lawn mowing robot moving a preset positioning distance when the lawn mowing robot moves along the boundary wire;

[0038] A positioning module is used to determine multiple position information of the lawn mowing robot based on the multiple positioning signals, wherein the preset positioning distance is not less than the working distance of the lawn mowing robot; and match the multiple position information with a pre-established position information set to determine the current position of the lawn mowing robot.

[0039] In a third aspect, an embodiment of the present application provides a lawn mowing robot, comprising:

[0040] the vehicle body, including the body and wheels; and

[0041] A control module, used to execute the method as described in any one of the first aspects above.

[0042] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method as described in any one of the above-mentioned first aspects is implemented.

[0043] In a fifth aspect, an embodiment of the present application provides a computer program product. When the computer program product is run on a lawn mower robot, the lawn mower robot executes any one of the methods described in the first aspect.

[0044] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0045] The embodiment of the present application obtains multiple positioning signals when the lawn mower robot moves along the boundary wire in the process of moving a preset positioning distance; determines multiple position information of the lawn mower robot according to the multiple positioning signals, wherein the preset positioning distance is not less than the working spacing of the lawn mower robot; matches the multiple position information with a pre-established position information set to determine the current position of the lawn mower robot, so as to determine the current position of the lawn mower robot according to the positioning signals transmitted by the multiple boundary wires and the pre-established position information set, thereby improving the positioning accuracy.

[0046] It can be understood that the beneficial effects of the second to fifth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0048] Figure 1 is a schematic diagram of a boundary wire provided in an embodiment of the present application;

[0049] Figure 2 is a flow chart of a lawn mowing robot positioning method provided by an embodiment of the present application;

[0050] Figure 3 is a first example diagram of positioning of a lawn mowing robot provided by an embodiment of the present application;

[0051] Figure 4is a second example diagram of positioning of a lawn mowing robot provided by an embodiment of the present application;

[0052] Figure 5 is a third exemplary diagram of positioning of a lawn mowing robot provided by an embodiment of the present application;

[0053] Figure 6 is a fourth example diagram of positioning of a lawn mowing robot provided by an embodiment of the present application;

[0054] Figure 7 is a fifth exemplary diagram of positioning of a lawn mowing robot provided by an embodiment of the present application;

[0055] Figure 8 This is the sixth example diagram of the positioning of the lawn mowing robot provided in an embodiment of the present application.

[0056] Fig. 9 is a structural schematic diagram of a lawn mowing robot positioning device provided in an embodiment of the present application;

[0057] Fig.10 Schematic diagram of the system structure of a lawn mowing robot provided in one embodiment of the present application. DETAILED DESCRIPTION

[0058] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0059] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0060] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0061] As used in the specification and appended claims of this application, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce [described condition or event] is detected" or "in response to detecting [described condition or event]", depending on the context.

[0062] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0063] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0064] Figure 1 Schematic diagram of a boundary wire provided by an embodiment of the present application. Figure 1 As shown, the moving area of ​​the lawn mower robot is a rectangular area 10 in the figure, and a boundary wire 11 is arranged on the boundary of the moving area of ​​the lawn mower robot, and the boundary wire can transmit a positioning signal of a target frequency.

[0065] Figure 2 FIG. 1 is a flow chart of a method for positioning a lawn mowing robot provided in an embodiment of the present application. Figure 2 As shown, the method includes:

[0066] S11: When the lawn mower robot moves along the boundary wire, a plurality of positioning signals are acquired in the process that the lawn mower robot moves a preset positioning distance.

[0067] In a possible implementation, the lawn mowing robot is provided with a positioning sensor to obtain a positioning signal transmitted by a boundary wire collected by the positioning sensor.

[0068] In the application, when the mowing robot moves along the boundary wire, the positioning signal transmitted by the boundary wire is continuously obtained. It is determined whether the distance moved by the mowing robot is equal to the preset positioning distance. If so, it can be determined that the mowing robot has moved the preset positioning distance, and step S12 is executed. If not, it can be determined that the mowing robot has not moved the preset positioning distance, and the mowing robot is controlled to continue to move along the boundary wire.

[0069] In a possible implementation, the base station is provided with a positioning sensor, which acquires a positioning signal transmitted by a boundary wire collected by the positioning sensor, and then the base station sends the positioning signal to the lawn mowing robot.

[0070] Among them, the timing of multiple positioning signals is continuous.

[0071] In a possible implementation, the speed at which the lawn mowing robot moves along the boundary wire is lower than the speed at which the lawn mowing robot moves not along the boundary wire, so as to obtain a more accurate positioning signal.

[0072] S12: Determine multiple position information of the lawn mowing robot according to the multiple positioning signals.

[0073] The preset positioning distance is not less than the working distance of the mowing robot. The working distance of the mowing robot is a bow-shaped distance.

[0074] In the application, after obtaining a plurality of continuous positioning signals, the position information corresponding to each positioning signal is determined to obtain a plurality of continuous position information.

[0075] S13: Match the multiple pieces of position information with a pre-established position information set to determine the current position of the lawn mowing robot.

[0076] In the application, multiple position information is matched with a pre-established position information set to obtain corresponding multiple continuous positions. The position corresponding to the latest acquired positioning signal is used as the current position of the mowing robot.

[0077] It is understandable that the lawn mower robot performs positioning based on multiple positioning signals, which also solves the problem of positioning error that exists when positioning based on one positioning signal. Because the positioning signals obtained at different positions may be the same, this will lead to mismatching of the positioning signal and the position, resulting in positioning error.

[0078] For example, the moving area of ​​the lawn mowing robot is the lawn mowing area, and the lawn mowing task is performed in the lawn mowing area. Figure 3 1 is a first example diagram of positioning a lawn mowing robot provided by an embodiment of the present application. Figure 3 As shown, the solid line 20 with arrows in the figure is the path of the lawn mower mowing the grass, and the direction of the arrow is the moving direction of the lawn mower. Among them, the positioning sensor of the lawn mower collects the positioning signal indicating that the lawn mower moves along the boundary wire.

[0079] When the lawn mower moves along the boundary wire according to the mowing path, a positioning signal is obtained. When it is determined that the distance moved by the lawn mower is equal to the preset positioning distance, multiple position information of the lawn mower robot is determined according to multiple positioning signals, and the multiple position information is matched with the pre-established position information set to determine the current position of the lawn mower robot. When it is determined that the current position of the lawn mower is the turning point of the mowing path, the lawn mower is controlled to enter the mowing area according to the mowing path to mow. After the lawn mower reaches the boundary wire at the opposite end according to the mowing path, it continues to move along the boundary wire. When it is determined that the distance moved by the lawn mower is equal to the preset positioning distance, multiple position information of the lawn mower robot is determined according to multiple positioning signals, and the multiple position information is matched with the pre-established position information set to determine the current position of the lawn mower robot. When it is determined that the current position of the lawn mower is the turning point of the mowing path, the lawn mower is controlled to enter the mowing area according to the mowing path to mow.

[0080] When the lawn mower performs a mowing task, it uses a pre-established position information set to accurately locate the lawn mower robot based on multiple position information determined by multiple positioning signals, thereby obtaining an accurate position of the lawn mower robot, allowing the lawn mower robot to mow the lawn better and reduce the situation where the lawn mowing is not clean.

[0081] The embodiment of the present application obtains multiple positioning signals when the lawn mower robot moves along the boundary wire in the process of moving a preset positioning distance; determines multiple position information of the lawn mower robot according to the multiple positioning signals, wherein the preset positioning distance is not less than the working spacing of the lawn mower robot; matches the multiple position information with a pre-established position information set to determine the current position of the lawn mower robot, so as to determine the current position of the lawn mower robot according to the positioning signals transmitted by the multiple boundary wires and the pre-established position information set, thereby improving the positioning accuracy.

[0082] In one embodiment, step S11 includes:

[0083] S21: When the lawn mower robot moves along the boundary wire, if it encounters an obstacle that blocks the movement of the lawn mower robot, the lawn mower robot is controlled to bypass the obstacle.

[0084] In the application, when the lawn mowing robot moves along the boundary wire, it encounters an obstacle that blocks its movement and needs to bypass the obstacle to continue moving.

[0085] S22: After the lawn mower robot bypasses the obstacle, the lawn mower robot is controlled to continue to move along the boundary wire, so that the distance moved by the lawn mower robot along the boundary wire reaches a preset positioning distance.

[0086] In the application, since the lawn mower robot cannot move along the boundary wire in the process of bypassing obstacles, the lawn mower robot cannot obtain positioning signals during the distance it moves to bypass the obstacles. After the lawn mower robot bypasses the obstacles, it is necessary to control the lawn mower robot to continue moving along the boundary wire and make the moving distance reach the preset positioning distance, and obtain multiple positioning signals at the same time, so as to achieve the acquisition of multiple positioning signals collected within the preset positioning distance of the lawn mower robot.

[0087] After step S13, the method further includes:

[0088] S23: Control the lawn mowing robot to move backward or turn around and then move forward to a preset position point on the planned path.

[0089] S24: Control the lawn mowing robot to rotate from the preset position point to a second direction.

[0090] S25: Control the lawn mowing robot to move in a second direction.

[0091] In the application, the current position of the mowing robot may not be at the preset position point of the planned path because the mowing robot moves the preset positioning distance after bypassing the obstacle. Generally, the current position of the mowing robot is in front of the preset position point. In order for the mowing robot to move on the planned path, the mowing robot is controlled to retreat or turn around and move forward to the preset position point on the planned path, and then the mowing robot is controlled to rotate from the preset position point to the second direction, and the mowing robot is controlled to move in the second direction. The second direction is the direction of moving to the mowing area.

[0092] For example, the moving area of ​​the lawn mowing robot is the lawn mowing area, and the lawn mowing task is performed in the lawn mowing area. Figure 4 2 is a second example diagram of positioning of a lawn mowing robot provided by an embodiment of the present application. Figure 4 As shown in the figure, the solid line with an arrow in the figure is the mowing path of the lawn mower, the direction of the arrow is the moving direction of the lawn mower, and there are obstacles on the boundary wire, which are solid squares. The lawn mower encounters an obstacle while moving along the boundary wire. After controlling the lawn mower to bypass the obstacle, the lawn mower is continued to be controlled to continue to move along the boundary wire, so that the distance moved by the lawn mower along the boundary wire reaches the preset positioning distance, and multiple positioning signals are obtained at the same time. Multiple position information of the lawn mower robot is determined according to the multiple positioning signals, and the multiple position information is matched with the pre-established position information set to determine the current position of the lawn mower. Because the preset positioning distance is continued to bypass the obstacle, the moving distance is longer than the distance of the mowing path on the boundary wire, and the lawn mower needs to be controlled to retreat or turn around to advance to the preset position point. The dotted line with an arrow in the figure is the path for the lawn mower to retreat or turn around to advance to the preset position point. Then the lawn mower is controlled to rotate from the preset position point to the second direction, and the lawn mower is controlled to move in the second direction, and then the lawn mower is controlled to mow along the planned path.

[0093] The embodiment of the present application controls the mowing robot to bypass the obstacle when there is an obstacle on the boundary wire, and after the mowing robot bypasses the obstacle, controls the mowing robot to continue to move along the boundary wire for a preset positioning distance and obtains multiple positioning signals. According to the multiple positioning signals, multiple position information of the mowing robot is determined, and the multiple position information is matched with a pre-established position information set to determine the current position of the mowing robot, so as to accurately locate the mowing robot when there is an obstacle on the boundary wire; and by controlling the mowing robot to retreat or turn around and then advance to a preset position point on the planned path, the mowing robot is controlled to rotate from the preset position point to a second direction, so as to ensure that the mowing robot can travel according to the planned path after bypassing the obstacle.

[0094] In one embodiment, after step S13, the method further includes:

[0095] S31: Control the lawn mowing robot to rotate to a second direction.

[0096] S32: Control the lawn mowing robot to move in a second direction.

[0097] S33: Determine whether the lawn mowing robot moves onto the boundary wire.

[0098] S34: If yes, control the lawn mowing robot to rotate and move, so as to control the lawn mowing robot to move a first distance in a third direction.

[0099] The third direction is opposite to the first direction, and the first distance is the distance projected in the first direction or the third direction when the lawn mowing robot is controlled to move along the edge of the obstacle.

[0100] In the application, after the mowing robot bypasses an obstacle, the current position of the mowing robot may not be on the planned path, and the driving path of the mowing robot needs to be adjusted. In order for the mowing robot to move on the planned path, after the mowing robot is controlled to move in the second direction and move to the boundary wire, the mowing robot is controlled to rotate and move, and the mowing robot is controlled to move in the third direction by a first distance, so that the mowing robot is located on the planned path.

[0101] Figure 5 FIG. 4 is a fourth example diagram of positioning of a lawn mowing robot provided by an embodiment of the present application. Figure 5As shown in the figure, the solid line with an arrow is the mowing path of the lawn mower, the direction of the arrow is the moving direction of the lawn mower, and there are obstacles on the boundary wire, which are solid squares. The lawn mower encounters an obstacle while moving along the boundary wire, and the lawn mower is controlled to bypass the obstacle in a first direction 31, at which time the lawn mower moves a first distance. Then the lawn mower continues to be controlled to move along the boundary wire so that the distance moved by the lawn mower along the boundary wire reaches a preset positioning distance, and multiple positioning signals are obtained at the same time. Multiple position information of the lawn mower is determined based on the multiple positioning signals, and the multiple position information is matched with a pre-established position information set to determine the current position of the lawn mower.

[0102] Then the lawn mower is controlled to rotate to the second direction 30, and is controlled to move in the second direction to enter the mowing area. When reaching the boundary wire, because the lawn mower moves a first distance along the edge obstacle in the first direction 31, the lawn mower is controlled to move a first distance in the third direction 32, so that the lawn mower is located on the planned path. The dotted line 21 with an arrow in the figure is the path of the lawn mower moving the first distance in the third direction.

[0103] Then the lawn mower is controlled to enter the mowing area. When it reaches the boundary wire, the lawn mower is controlled to move along the first direction 31 along the boundary wire for a first working distance and then rotate to the second direction 30 to enter the mowing area. When it reaches the boundary wire again, the lawn mower is controlled to move along the first direction 31 along the boundary wire for a first working distance, and then the lawn mower is controlled to rotate and enter the mowing area. And so on.

[0104] After controlling the lawn mower robot to continue moving a preset positioning distance along the boundary wire, this embodiment controls the lawn mower robot to move in a second direction, and after moving to the boundary wire, controls the lawn mower robot to rotate and move, so as to control the lawn mower robot to move a first distance in a third direction. The first distance is the distance projected in the first direction or the third direction when controlling the lawn mower robot to move along the edge of the obstacle, thereby ensuring that the lawn mower robot can travel according to the planned path after bypassing the obstacle.

[0105] In one embodiment, after step S13, the method further includes:

[0106] S31: Control the lawn mowing robot to rotate to a second direction.

[0107] S32: Control the lawn mowing robot to move in a second direction.

[0108] S35: Determine whether the lawn mowing robot moves onto the boundary wire.

[0109] S36: If yes, control the lawn mowing robot to rotate and move, so as to control the lawn mowing robot to move a second distance in a third direction.

[0110] The third direction is opposite to the first direction, and the second distance is determined by the distance projected in the first direction or the third direction when controlling the mowing robot to move along the obstacle, the preset positioning distance and the first working distance.

[0111] Specifically, the calculation formula of the second distance is:

[0112] The second distance = the distance in the first direction or the third direction + (the preset positioning distance - the first working distance).

[0113] S37: Control the mowing robot to mow according to the first working distance or the second working distance.

[0114] The second working distance is determined by the second distance, and is smaller than and close to the first working distance.

[0115] The calculation formula of the second working distance is: second working distance = second distance / N, where N is a positive number.

[0116] In the application, after the mowing robot bypasses the obstacle, the current position of the mowing robot may not be on the planned path, and the driving path of the mowing robot needs to be adjusted. In order for the mowing robot to move on the planned path, after the mowing robot is controlled to move in the second direction and move to the boundary wire, the mowing robot is controlled to rotate and move, and the mowing robot is controlled to move a second distance in the third direction, so that the mowing robot is located on the planned path. Then the mowing robot is controlled to mow according to the first working spacing or the second working spacing to ensure that the mowing robot can perform the mowing task.

[0117] Figure 6 FIG. 4 is a fourth example diagram of positioning of a lawn mowing robot provided by an embodiment of the present application. Figure 6 As shown in the figure, the solid line with an arrow is the mowing path of the lawn mower, the direction of the arrow is the moving direction of the lawn mower, and there are obstacles on the boundary wire, which are solid squares. The lawn mower encounters an obstacle while moving along the boundary wire, and the lawn mower is controlled to bypass the obstacle in a first direction 31, at which time the lawn mower moves a first distance. Then the lawn mower is controlled to continue moving along the boundary wire so that the distance moved by the lawn mower along the boundary wire reaches a preset positioning distance, and multiple positioning signals are obtained at the same time. Multiple position information of the lawn mower is determined based on the multiple positioning signals, and the multiple position information is matched with a pre-established position information set to determine the current position of the lawn mower.

[0118] Then the lawn mower is controlled to move three working pitches to rotate to the second direction, and the lawn mower is controlled to move in the second direction 30 to enter the mowing area. When the lawn mower reaches the boundary wire, because the lawn mower moves three working pitches after bypassing the edge obstacle in the first direction 31, it moves a second distance in total, and the lawn mower is controlled to move the second distance in the third direction 32 so that the lawn mower is located on the planned path. The dotted line 22 with an arrow in the figure is the path for the lawn mower to move the second distance in the third direction 32. Then the lawn mower is controlled to enter the mowing area. When it reaches the boundary wire, the lawn mower is controlled to move the second working pitch 33 along the boundary wire along the first direction 31 and then rotate to the second direction 30 to enter the mowing area. The second working pitch in this figure is obtained by unequally dividing the second distance.

[0119] Then, when the lawn mower reaches the boundary wire again, the lawn mower is controlled to move along the boundary wire in the first direction 31 to a second working distance 33, and then the lawn mower is controlled to rotate and enter the mowing area.

[0120] Figure 7 FIG. 5 is a fifth example diagram of positioning of a lawn mowing robot provided by an embodiment of the present application. Figure 7 As shown in the figure, the solid line with an arrow is the mowing path of the lawn mower, the direction of the arrow is the moving direction of the lawn mower, and there are obstacles on the boundary wire, which are solid squares. The lawn mower encounters an obstacle while moving along the boundary wire, and the lawn mower is controlled to bypass the obstacle in a first direction 31, at which time the lawn mower moves a first distance. Then the lawn mower is controlled to continue moving along the boundary wire so that the distance moved by the lawn mower along the boundary wire reaches a preset positioning distance, and multiple positioning signals are obtained at the same time. Multiple position information of the lawn mower is determined based on the multiple positioning signals, and the multiple position information is matched with a pre-established position information set to determine the current position of the lawn mower.

[0121] Then the lawn mower is controlled to move three working distances to rotate to the second direction, and the lawn mower is controlled to move in the second direction 30 to enter the mowing area. When reaching the boundary wire, because the lawn mower moves three working distances along the edge obstacle in the first direction 31, it moves a second distance in total, and the lawn mower is controlled to move the second distance in the third direction 32 so that the lawn mower is located on the planned path. The dotted line 22 with an arrow in the figure is the path for the lawn mower to move the second distance in the third direction 32. Then the lawn mower is controlled to enter the mowing area. When reaching the boundary wire, the lawn mower is controlled to move the second working distance 33' along the boundary wire along the first direction 31 and then rotate to the second direction 30 to enter the mowing area. The second working distance in this figure is obtained by dividing the second distance into three equal parts.

[0122] Then, when the lawn mower reaches the boundary wire again, the lawn mower is controlled to move along the boundary wire along the first direction 31 to the second working distance 33', and then the lawn mower is controlled to rotate and enter the mowing area. And so on.

[0123] In this embodiment, after controlling the lawn mower robot to continue to move along the boundary wire for a preset positioning distance, the lawn mower robot is controlled to move in a second direction, and after moving to the boundary wire, the lawn mower robot is controlled to rotate and move, so as to control the lawn mower robot to move a second distance in the third direction. The second distance is determined by the distance projected in the first direction or the third direction when controlling the lawn mower robot to move along the edge of the obstacle, the preset positioning distance and the first working distance, so as to ensure that the lawn mower robot can travel according to the planned path after bypassing the obstacle.

[0124] In one embodiment, before step S11, the method further includes:

[0125] S41: Control the lawn mowing robot to move at least one circle along the boundary wire, and obtain positioning signals at different positions during the movement.

[0126] In the application, when the mowing robot moves at least one circle along the boundary wire, the cutter disc does not work to reduce the impact of vibration on signal acquisition.

[0127] Among them, there is a working distance of a lawn mowing robot between two adjacent positions, and the working distance is smaller than the preset positioning distance.

[0128] In a possible implementation, each position is determined by a position sensor (such as a gyroscope or an odometer), and a positioning signal collected by the positioning sensor is acquired at each position.

[0129] The position may be expressed as the distance from the charging pile. For example, if the working distance is 0.1 m, the position may be 0 m from the charging pile, 0.1 m from the charging pile, 0.2 m from the charging pile, etc. The value of the positioning signal may be expressed as an amplitude.

[0130] S42: Acquire multiple position information of the lawn mowing robot according to the positioning signal, and use the multiple position information as pre-established position information.

[0131] For example, the mowing robot moves along the boundary wire. The mowing robot obtains the corresponding positioning signal at the previous position, and determines the position information of the mowing robot according to the positioning signal. Then, the mowing robot moves a working distance to the current position, obtains the corresponding positioning signal at the current position, and determines the position information of the mowing robot according to the positioning signal. And so on, the positioning signal of each position is obtained.

[0132] After the mowing robot moves at least one circle along the boundary wire, a position information set is established according to the plurality of position information.

[0133] In one embodiment, step S11 includes:

[0134] S51: Determine whether the lawn mowing robot reaches the edge closing point.

[0135] The edge closing point is closed to the moving starting point of the mowing robot.

[0136] S52: If yes, control the lawn mowing robot to continue moving along the boundary wire for a preset positioning distance.

[0137] For example, Figure 8 6 is a sixth example diagram of positioning of a lawn mowing robot provided by an embodiment of the present application. Figure 8 As shown, the solid point in the figure is the edge closing point. After the lawn mower reaches the edge closing point, the lawn mower is controlled to continue moving along the boundary wire for a preset positioning distance to obtain enough positioning signals.

[0138] The embodiment of the present application determines that when the lawn mower robot reaches the closing point along the edge, it controls the lawn mower robot to continue moving a preset positioning distance along the boundary wire to obtain multiple positioning signals, determines multiple position information of the lawn mower robot according to the multiple positioning signals, matches the multiple position information with a pre-established position information set, determines the current position of the lawn mower robot, and accurately positions the lawn mower robot so that the lawn mower robot can perform subsequent operations.

[0139] It should be understood that the size of the serial numbers of the steps in the above embodiments 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 application.

[0140] Corresponding to the method described in the above embodiment, for the sake of convenience of explanation, only the part related to the embodiment of the present application is shown.

[0141] Fig. 9 Schematic diagram of the structure of a lawn mowing robot positioning device provided by an embodiment of the present application. Fig. 9 As shown, the device comprises:

[0142] An acquisition module 40 is used to acquire a plurality of positioning signals in a process in which the lawn mower robot moves a preset positioning distance when the lawn mower robot moves along the boundary wire;

[0143] The positioning module 41 is used to determine multiple position information of the lawn mower robot according to multiple positioning signals; match the multiple position information with a pre-established position information set to determine the current position of the lawn mower robot, wherein the preset positioning distance is not less than the working distance of the lawn mower robot.

[0144] In one embodiment, the acquisition module is specifically used to control the lawn mower robot to bypass the obstacle when there is an obstacle on the boundary wire; after the lawn mower robot bypasses the obstacle, the lawn mower robot is controlled to continue moving along the boundary wire for a preset positioning distance and acquire multiple positioning signals.

[0145] In one embodiment, the acquisition module is specifically used to control the lawn mower robot to bypass the obstacle if it encounters an obstacle that blocks the movement of the lawn mower robot during its movement along the boundary wire; after the lawn mower robot bypasses the obstacle, the lawn mower robot is controlled to continue moving along the boundary wire so that the distance moved by the lawn mower robot along the boundary wire reaches a preset positioning distance.

[0146] In one embodiment, the apparatus further comprises:

[0147] The moving module is used to control the mowing robot to move backward or turn around and then move forward to a preset position point on the planned path; control the mowing robot to rotate from the preset position point to a second direction; and control the mowing robot to move in the second direction.

[0148] In one embodiment, the moving module is further used to control the lawn mowing robot to rotate to a second direction; and control the lawn mowing robot to move in the second direction.

[0149] In one embodiment, the moving module is also used to determine whether the lawn mower robot moves to the boundary wire; if so, the lawn mower robot is controlled to rotate and move to control the lawn mower robot to move a first distance in a third direction; wherein the third direction is opposite to the first direction, and the first distance is the distance projected in the first direction or the third direction when controlling the lawn mower robot to move along the edge of the obstacle.

[0150] In one embodiment, the moving module is also used to determine whether the lawn mower robot moves to the boundary wire; if so, the lawn mower robot is controlled to rotate and move to control the lawn mower robot to move a second distance in a third direction; wherein the third direction is opposite to the first direction, and the second distance is determined by the distance projected in the first direction or the third direction when controlling the lawn mower robot to move along the edge of the obstacle, the preset positioning distance and the first working distance.

[0151] In one embodiment, the apparatus further comprises:

[0152] The execution module is also used to control the mowing robot to mow according to the first working distance or the second working distance; wherein the second working distance is determined by the second distance.

[0153] In one embodiment, the apparatus further comprises a establishing module;

[0154] The acquisition module is also used to control the mowing robot to move at least one circle along the boundary wire and acquire positioning signals at different positions during the movement;

[0155] The establishing module is used to obtain multiple position information of the lawn mowing robot according to the positioning signal, and use the multiple position information as the pre-established position information.

[0156] In one embodiment, the acquisition module is specifically used to determine whether the lawn mowing robot has reached the edge closing point; if yes, the lawn mowing robot is controlled to continue moving along the boundary wire for a preset positioning distance.

[0157] Fig.10 This is a schematic diagram of the system structure of a lawn mowing robot provided in an embodiment of the present application. Fig. 9 As shown, the lawn mowing robot 5 of this embodiment includes: at least one processor 50 ( Fig.10 Only one is shown in the figure), a memory 51, and a computer program 52 stored in the memory 51 and executable on the at least one processor 50, wherein the processor 50 implements the steps of any of the above-mentioned method embodiments when executing the computer program 52.

[0158] The lawn mowing robot 5 may include, but is not limited to, a processor 50 and a memory 51. Those skilled in the art will appreciate that Fig. 9 This is only an example of the lawn mower robot 5 and does not constitute a limitation of the lawn mower robot 5. The lawn mower robot 5 may include more or fewer components than shown in the figure, or a combination of certain components, or different components, for example, it may also include input and output devices, network access devices, etc.

[0159] The processor 50 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0160] In some embodiments, the memory 51 may be an internal storage unit of the lawn mower robot 5, such as a hard disk or memory of the lawn mower robot 5. In other embodiments, the memory 51 may also be an external storage device of the lawn mower robot 5, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the lawn mower robot 5. Further, the memory 51 may also include both an internal storage unit and an external storage device of the lawn mower robot 5. The memory 51 is used to store an operating system, an application program, a boot loader (BootLoader), data, and other programs, such as the program code of the computer program. The memory 51 may also be used to temporarily store data that has been output or is to be output.

[0161] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0162] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0163] The embodiment of the present application provides a vehicle body, including a vehicle body and wheels; and

[0164] The control module is used to execute the steps in the above-mentioned method embodiments.

[0165] An embodiment of the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.

[0166] An embodiment of the present application provides a computer program product. When the computer program product runs on a lawn mowing robot, the lawn mowing robot can implement the steps in the above-mentioned various method embodiments when executing the computer program product.

[0167] 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 present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium can at least include: any entity or device that can carry the computer program code to the camera / terminal device, recording medium, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, RandomAccess Memory), electric carrier signal, telecommunication signal and software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electric carrier signals and telecommunication signals.

[0168] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0169] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0170] In the embodiments provided in the present application, it should be understood that the disclosed devices / network equipment and methods can be implemented in other ways. For example, the device / network equipment embodiments described above are merely schematic. For example, the division of the modules or 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 through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0171] 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.

[0172] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A lawn mowing robot positioning method, characterized in that: A boundary wire is arranged on the boundary of the moving area of ​​the lawn mowing robot, and the boundary wire can transmit a positioning signal; the method comprises: When the lawn mowing robot moves along the boundary wire, a plurality of positioning signals are acquired in the process of the lawn mowing robot moving a preset positioning distance; Determining multiple position information of the lawn mowing robot according to the multiple positioning signals, wherein the preset positioning distance is not less than the working distance of the lawn mowing robot; The plurality of position information are matched with a pre-established position information set to determine the current position of the lawn mowing robot.

2. The method according to claim 1, characterized in that When the lawn mowing robot moves along the boundary wire, a plurality of positioning signals are obtained during the process of the lawn mowing robot moving a preset positioning distance, including: When the lawn mower robot encounters an obstacle that blocks the movement of the lawn mower robot while the lawn mower robot moves along the boundary wire, controlling the lawn mower robot to bypass the obstacle; After the lawn mowing robot bypasses the obstacle, the lawn mowing robot is controlled to continue moving along the boundary wire, so that the distance moved by the lawn mowing robot along the boundary wire reaches the preset positioning distance.

3. The method according to claim 2, characterized in that After the distance moved by the lawn mowing robot along the boundary wire reaches the preset positioning distance, the method further comprises: Control the lawn mowing robot to move backward or turn around and then move forward to a preset position point on the planned path; Controlling the lawn mowing robot to rotate from the preset position point to a second direction; The lawn mowing robot is controlled to move in the second direction.

4. The method according to claim 2, characterized in that: After the distance moved by the lawn mowing robot along the boundary wire reaches the preset positioning distance, the method further comprises: Controlling the lawn mowing robot to rotate to a second direction; The lawn mowing robot is controlled to move in the second direction.

5. The method according to claim 4, characterized in that After controlling the lawn mowing robot to move in the second direction, the method further includes: determining whether the lawn mowing robot moves onto the boundary wire; If yes, controlling the lawn mowing robot to rotate and move, so as to control the lawn mowing robot to move a first distance in a third direction; The third direction is opposite to the first direction, and the first distance is a distance projected in the first direction or the third direction when the lawn mowing robot is controlled to move along the obstacle.

6. The method according to claim 4, characterized in that After controlling the lawn mowing robot to move in the second direction, the method further includes: determining whether the lawn mowing robot moves onto a boundary wire; If yes, controlling the lawn mowing robot to rotate and move, so as to control the lawn mowing robot to move a second distance in a third direction; The third direction is opposite to the first direction, and the second distance is determined by the distance projected in the first direction or the third direction when controlling the mowing robot to move along the obstacle, the preset positioning distance and the first working distance.

7. The method according to claim 6, characterized in that After controlling the lawn mowing robot to move a second distance in a third direction, the method includes: Controlling the mowing robot to mow according to a first working spacing or a second working spacing; Wherein, the second working distance is determined by the second distance.

8. The method according to any one of claims 1 to 7, characterized in that: Before controlling the lawn mowing robot to move along the boundary wire, the method further includes: Controlling the lawn mowing robot to move at least one circle along the boundary wire, and acquiring positioning signals at different positions during the movement; A plurality of position information of the lawn mowing robot is acquired according to the positioning signal, and the plurality of position information is used as the pre-established position information.

9. The method according to claim 8, characterized in that In the process of controlling the lawn mowing robot to move at least one circle along the boundary wire, the method includes: Determining whether the lawn mowing robot reaches a closing point along the edge; If yes, the lawn mowing robot is controlled to continue moving along the boundary wire for the preset positioning distance.

10. A lawn mowing robot, characterized in that: include: The vehicle body, including the body and wheels; as well as A control module, used to execute the method as described in any one of claims 1 to 9 above.

Images