Mower recharging control and mapping method, device, equipment, medium and product

Abstract

The invention provides a mowing machine recharging control and mapping method, device, equipment, medium and product, and relates to the field of intelligent robotics.The mowing machine recharging control and mapping method comprises the steps that an intelligent mowing machine advances to a first position from an initial position to a base station, and at the position, when it is determined that a first deviation angle is larger than a threshold angle, the intelligent mowing machine deflects in the direction of reducing the first deviation angle; the mobile terminal travels from the first position to a first track range in front of the base station, and returns to the base station for charging from the first track range; the first deviation angle is an angle between the advancing direction and a connecting line of the center, facing the first track range, of the current position; the first track range is defined to be located between the first position and the base station, and the distance from any point in the first track range to the base station is smaller than the distance from the first position to the base station; in the process of returning to the base station from the first track range, the advancing direction of the intelligent mower is corrected at least twice, so that the advancing route of the intelligent mower is dynamically adjusted, and it is ensured that the intelligent mower and the base station are accurately connected.

Description

Technical Field

[0001] The present application relates to the field of intelligent robots, and in particular to a lawn mower recharging control and mapping method, device, equipment, medium and product. Background Art

[0002] A smart lawn mower is a device that maintains lawns through autonomous navigation and operation. However, the smart lawn mower needs to return to the base station regularly for docking and charging according to the workload and work cycle.

[0003] In the prior art, in order to achieve successful docking between a smart lawn mower and a base station, multiple positioning sensing sensors can be set on the smart lawn mower. After the smart lawn mower navigates to a preset position near the base station through map positioning, the docking markers on the base station are identified by the multiple positioning sensing sensors, and the docking direction of the smart lawn mower and the base station is adjusted according to the identified markers to achieve precise docking and charging.

[0004] However, the above-mentioned method of achieving precise docking and recharging requires the cooperation of multiple positioning sensing sensors. If docking and recharging are achieved through a single positioning sensing sensor, there is a problem of poor docking accuracy. To address this problem, the smart lawn mower needs to twist its body multiple times in the base station after arriving at the base station and try to dock, which will cause abnormal wear of the charging electrode; or the smart lawn mower needs to repeatedly exit the base station, and twist its body multiple times after driving a certain distance away from the base station, readjust the docking angle, and re-enter the base station to try docking, which increases the operation steps of docking and charging, and there is also the phenomenon of grinding the grass multiple times when entering the station, which destroys the overall aesthetics of the lawn. Summary of the invention

[0005] The present application provides a lawn mower recharging control and mapping method, device, equipment, medium and product, so that the smart lawn mower can achieve precise docking during the recharging process without twisting the body multiple times in a base station or after repeatedly exiting the base station.

[0006] In a first aspect, the present application provides a method for controlling recharging of an intelligent lawn mower, the method comprising:

[0007] The intelligent lawn mower moves from a starting position toward a base station to a first position. When the intelligent lawn mower is at the first position, if the first offset angle is greater than a threshold angle, the intelligent lawn mower deflects in a direction to reduce the first offset angle.

[0008] The intelligent lawn mower moves from a first position to a first trajectory range directly in front of the base station;

[0009] The smart lawn mower returns to the base station from the first track range for charging;

[0010] The first offset angle is: the angle between the moving direction of the intelligent lawn mower and the line connecting the current position of the intelligent lawn mower toward the center of the first trajectory range;

[0011] The first position is defined as being between the starting position and the base station; the first trajectory range is defined as being between the first position and the base station, and the distance from any point in the first trajectory range to the base station is less than the distance from the first position to the base station;

[0012] During the process of the intelligent lawn mower returning to the base station from the first trajectory range, the moving direction of the intelligent lawn mower is corrected at least twice.

[0013] In the present application, on the one hand, when the smart lawn mower returns to the base station for charging, it first reaches the first position. By detecting the offset angle at the first position, the path deviation can be timely identified and corrected, ensuring that the smart lawn mower can adjust its direction at an early stage, reducing the accumulation of errors in subsequent navigation. Furthermore, when the first offset angle is greater than the threshold angle, the direction can be adjusted in a timely manner to more accurately move to the first track range directly in front of the base station. By entering the first track range, the smart lawn mower can better align with the base station, and in the process of moving from the first track range to the base station, the direction of travel of the smart lawn mower will be corrected at least twice, ensuring that the smart lawn mower can accurately align with the charging interface of the base station.

[0014] On the other hand, when the smart lawn mower returns to the base station for charging, the first position it reaches is a random point between the starting position and the base station, and then it reaches a random point in the first trajectory range from the first position, so that the smart lawn mower can return to the base station from different routes as much as possible, avoiding the formation of obvious trajectories on the lawn caused by repeated paths for long-term driving, which affects the beauty and health of the lawn. The present application helps the lawn maintain a more uniform growth state through reasonable dynamic planning paths.

[0015] Therefore, by setting the first position and the first trajectory range, it can be ensured that the smart lawn mower can efficiently and accurately return to the base station for charging, and reduce the abnormal wear of the charging electrode when the body needs to be twisted multiple times for docking after entering the base station due to path deviation, which helps to extend the service life of the smart lawn mower. Based on the above-mentioned recharging control method, the operating steps of repeatedly twisting the body for docking and charging after repeatedly exiting the base station are also reduced, and the phenomenon of multiple grass grinding when entering the station is avoided, thereby ensuring the overall aesthetics of the lawn.

[0016] Optionally, the smart lawn mower is provided with one and only one positioning sensing sensor.

[0017] Therefore, in the present application, precise docking can be achieved by using a single sensor, which simplifies the hardware design of the smart lawn mower and reduces structural complexity and equipment costs.

[0018] Optionally, the positioning perception sensor is a laser radar, and the ranging accuracy of the laser radar is that the proportion of points with a measurement error value not exceeding 6 cm is greater than 68%.

[0019] In this way, it can be ensured that 68% of the points fall within the range of measurement error not exceeding 6 cm, which means that in multiple measurements, the errors of most measurement values ​​are within this range, and it shows that the lidar has high measurement accuracy and is suitable for application scenarios that require precise distance measurement.

[0020] Optionally, the first trajectory range is a circular area with the first distance as a radius, and the center of the first trajectory range is on the central axis of the base station.

[0021] In the present application, the circular trajectory range provides a clear target area, so that the distance between the smart lawn mower and the center position of the circle after entering the area is relatively controllable. The circular area allows the smart lawn mower to enter the base station from multiple angles and provides greater flexibility, helping the smart lawn mower to make precise path adjustments when approaching the base station, ensuring the accuracy of docking, reducing unnecessary movements and adjustments while avoiding repeated rolling on fixed paths, so that the smart lawn mower can more reliably align with the base station, reduce the risk of docking failure, and improve the effect of lawn maintenance.

[0022] Optionally, the first distance is 10 cm.

[0023] This allows the smart lawn mower to more efficiently and accurately complete the navigation process from the first position to the first trajectory range, ensuring reliable docking and charging.

[0024] Optionally, the base station further includes a bottom plate and a side plate, and the bottom plate is connected to the side plate to form a housing space for the smart lawn mower;

[0025] The side panel is also provided with a first marker and a second marker on both sides of the central axis. The projection of the midpoint of the line connecting the first marker and the second marker on the bottom plate is the origin position of the base station, and the origin position is separated from the center of the first trajectory range by a second distance.

[0026] In the present application, by defining the origin position and its relationship with the first trajectory range, the smart lawn mower can be more accurately guided to align with the base station to ensure reliable docking and charging. By providing physical markers, the navigation accuracy of the smart lawn mower can be improved, thereby better coping with sensor errors and environmental changes, reducing docking failures and unnecessary path adjustments, so that users can safely rely on the smart lawn mower to automatically return to the base station for charging, thereby improving the user experience.

[0027] Optionally, the second distance is 1.1-1.9m.

[0028] In this way, setting the minimum endpoint value of the second distance to 1.1m can ensure that when the smart lawn mower completely exits the base station, the wheels and the base station will not interfere with each other; setting the maximum endpoint value of the second distance to 1.9m can ensure that the marker is covered by at least 2 scanning lines of the laser radar, and then based on the position of the identified marker, the offset angle of the smart lawn mower and the distance from the base station can be determined, so that the route of the smart lawn mower can be adjusted based on the offset angle and the distance from the base station to achieve precise docking.

[0029] Optionally, the second distance is 1.35 m.

[0030] Therefore, by setting the second distance to 1.35m, effective path adjustment and docking preparation can be performed, so that the smart lawn mower can be more reliably aligned with the charging interface of the base station, reducing the risk of docking failure.

[0031] Optionally, the threshold angle is 20 degrees, and the first offset angle is: the angle between the moving direction of the smart lawn mower and a line connecting the current position of the smart lawn mower toward the center of the first trajectory range.

[0032] Therefore, by setting a threshold angle of 20 degrees, larger path deviations can be detected and corrected in a timely manner, ensuring that the smart mower moves along a precise path. Precise path adjustment reduces the risk of docking failure and increases the probability of the smart mower successfully returning to the base station for charging.

[0033] Optionally, the distance between the first position and the center of the first trajectory range is 0-20 cm.

[0034] In this way, by setting the distance between the first position and the center of the first trajectory range to 0-20cm, the smart lawn mower can first enter the first trajectory range to buffer the entry into the base station, reducing the number of adjustments and corrections required, and then efficiently and accurately completing the entire process from navigation to docking, ensuring that it can smoothly return to the base station for charging.

[0035] Optionally, the intelligent lawn mower moves from the first position to a first trajectory range directly in front of the base station, including:

[0036] The intelligent lawn mower moves from a first position to a second position, where the second position is a random point within the first trajectory.

[0037] Due to the existence of navigation offset, the smart lawn mower may not be able to accurately reach the predetermined target point. By allowing it to reach a random point within the first trajectory, it can flexibly respond to these offsets, ensuring that the smart lawn mower is still within an acceptable range for docking preparation, thereby improving the success rate of docking.

[0038] Optionally, in the process of the intelligent lawn mower returning to the base station from the first trajectory range, the moving direction of the intelligent lawn mower is corrected at least twice, including:

[0039] The smart lawn mower identifies a second offset angle of travel, and performs or does not perform deflection based on the second offset angle to correct a travel direction of the smart lawn mower returning to the base station;

[0040] The second offset angle is: the angle between the forward direction of the intelligent lawn mower and the central axis of the base station.

[0041] Therefore, in the present application, by identifying the size of the second offset angle to correct the direction of travel of the smart lawn mower returning to the base station, the smart lawn mower can be accurately aligned with the central axis of the base station, reducing path deviation, thereby increasing the probability of the smart lawn mower successfully docking with the charging interface of the base station and reducing the risk of docking failure. In the present application, it is also allowed to correct the direction of travel of the smart lawn mower multiple times to flexibly adapt to different environments.

[0042] Optionally, in the process of the intelligent lawn mower returning to the base station from the first trajectory range, the moving direction of the intelligent lawn mower is corrected at least twice, including:

[0043] The smart lawn mower identifies a third offset angle and a fourth offset angle of travel. When the angle difference between the third offset angle and the fourth offset angle is greater than a preset value, the smart lawn mower performs deflection to correct the travel route of the smart lawn mower returning to the base station in real time. When the angle difference between the third offset angle and the fourth offset angle is less than the preset value, the smart lawn mower does not perform deflection.

[0044] The base station also includes a bottom plate and a side plate, the bottom plate is connected to the side plate to form a storage space for the intelligent lawn mower, and the side plate is also provided with a first marker and a second marker on both sides of the central axis;

[0045] The third offset angle is: the angle between the moving direction of the smart lawn mower and the line connecting the current position of the smart lawn mower toward the first marker;

[0046] The fourth offset angle is: the angle between the moving direction of the smart lawn mower and the line connecting the current position of the smart lawn mower toward the second marker.

[0047] Therefore, the present application realizes precise docking and recharging by real-time identification of a pair of markers set on the base station, and real-time calculation of the relative position and offset angle of the marker and the smart lawn mower, and then corrects the deflection angle of the smart lawn mower entering the base station; among them, by comparing the two offset angles, the smart lawn mower can be more accurately aligned with the central axis of the base station, reducing path deviation, and timely path correction can reduce unnecessary movement and adjustment, thereby improving the success rate of docking.

[0048] Optionally, the smart lawn mower also includes an inertial measurement unit IMU, which is used to assist in correcting the route of the smart lawn mower returning to the base station.

[0049] Therefore, the IMU can help more accurately correct the smart lawn mower's route back to the base station and improve navigation accuracy.

[0050] In a second aspect, the present application provides a method for building a map for an intelligent lawn mower, the method comprising:

[0051] In the process of mapping of the intelligent lawn mower, the origin of the base station is determined, and the preset point is determined according to the origin of the base station, and the preset point is on the central axis of the base station;

[0052] Based on the base station origin and the preset point, a route is generated for the smart lawn mower to return from the starting position to the base station for charging;

[0053] The travel route has a first position, and the first position is spaced a third distance from the preset point, and the forward direction of the smart lawn mower at the starting position and at the first position are not colinear.

[0054] Therefore, the present application makes it possible to plan the return path more accurately and reduce path deviation by clarifying the base station origin and preset point. The use of the preset point ensures that the smart lawn mower can be aligned with the base station along the central axis, thereby improving the success rate of charging and docking. Moreover, through the non-collinear design between the starting position and the first position, the smart lawn mower can adjust the path more flexibly to adapt to different environments.

[0055] Optionally, the smart lawn mower is provided with one and only one positioning sensing sensor.

[0056] Optionally, the positioning perception sensor is a laser radar, and the ranging accuracy of the laser radar is that the proportion of points with a measurement error value not exceeding 6 cm is greater than 68%.

[0057] Optionally, the distance between the base station origin and the preset point is 1.1-1.9m.

[0058] Optionally, the distance between the base station origin and the preset point is 1.35m.

[0059] Optionally, the third distance is 0-20 cm.

[0060] It should be noted that the effects of the above optional solutions can be found in the effects described in the relevant solutions in the first aspect, and will not be elaborated here.

[0061] In a third aspect, the present application provides a smart lawn mower recharging control device, the device comprising:

[0062] A first control module is used to control the intelligent lawn mower to move from a starting position toward a base station to a first position, and when the intelligent lawn mower is located at the first position, when the first offset angle is greater than a threshold angle, the intelligent lawn mower deflects in a direction to reduce the first offset angle;

[0063] A second control module is used to control the intelligent lawn mower to move from the first position to a first trajectory range directly in front of the base station;

[0064] A third control module is used to control the smart lawn mower to return to the base station from the first trajectory range for charging;

[0065] The first offset angle is: the angle between the moving direction of the intelligent lawn mower and the line connecting the current position of the intelligent lawn mower toward the center of the first trajectory range;

[0066] The first position is defined as being between the starting position and the base station; the first trajectory range is defined as being between the first position and the base station, and the distance from any point in the first trajectory range to the base station is less than the distance from the first position to the base station;

[0067] During the process of the intelligent lawn mower returning to the base station from the first trajectory range, the moving direction of the intelligent lawn mower is corrected at least twice.

[0068] In a fourth aspect, the present application provides a smart lawn mower mapping device, the device comprising:

[0069] A determination module is used to determine the origin of the base station during the process of building a map of the intelligent lawn mower, and to determine a preset point based on the origin of the base station, where the preset point is on the central axis of the base station;

[0070] A generation module, for generating a route for the intelligent lawn mower to return from a starting position to a base station for charging based on a base station origin and a preset point;

[0071] The travel route has a first position, and the first position is spaced a third distance from the preset point, and the forward direction of the smart lawn mower at the starting position and at the first position are not colinear.

[0072] In a fifth aspect, the present application provides an electronic device, comprising: a processor, and a memory communicatively connected to the processor;

[0073] Memory stores computer-executable instructions;

[0074] The processor executes the computer-executable instructions stored in the memory to implement the method as described in any one of the first aspect and the second aspect.

[0075] In a sixth aspect, the present application provides a computer-readable storage medium, which stores computer-executable instructions. When the computer-executable instructions are executed by a processor, they are used to implement the method as described in any one of the first and second aspects.

[0076] In a seventh aspect, the present application provides a computer program product, comprising a computer program, which, when executed by a processor, implements the method as described in any one of the first and second aspects.

[0077] It should be understood that the third to seventh aspects of the present application correspond to the technical solutions of the first and second aspects of the present application, and the beneficial effects achieved by each aspect and the corresponding feasible implementation methods are similar and will not be repeated here.

[0078] In summary, the present application provides a method, device, equipment, medium and product for controlling charging and mapping of a smart lawn mower. When the smart lawn mower is roughly positioned and moves toward the base station, it can be navigated to a first position near the base station. When the smart lawn mower is at the first position, the angle between the direction of travel of the smart lawn mower and the line connecting the current position of the smart lawn mower toward the center of the first trajectory range is identified. The first trajectory range is located between the first position and the base station, and the distance from any point in the first trajectory range to the base station is less than the distance from the first position to the base station. Further, based on this angle, it is determined whether the direction of the lawn mower needs to be adjusted. For example, when this angle is greater than a threshold angle, the smart lawn mower is deflected in a direction that reduces the angle to ensure that it can travel to the first trajectory range directly in front of the base station. After the smart lawn mower enters the first trajectory range, the smart lawn mower can be controlled to return to the base station from the first trajectory range for charging. In the process of returning to the base station from the first trajectory range, the direction of travel of the smart lawn mower is corrected at least twice to dynamically adjust its travel route, thereby ensuring that the smart lawn mower and the base station are accurately docked. BRIEF DESCRIPTION OF THE DRAWINGS

[0079] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0080] Figure 1 A schematic diagram of an application scenario provided for an embodiment of the present application;

[0081] Figure 2 A flowchart of a recharging control method for an intelligent lawn mower provided in an embodiment of the present application;

[0082] Figure 3 A schematic diagram of a route for a smart lawn mower to return to a base station for charging provided in an embodiment of the present application;

[0083] Figure 4 A schematic diagram of the point distribution of the smart lawn mower provided in an embodiment of the present application within the first trajectory range;

[0084] Figure 5 A schematic diagram of the point distribution of the smart lawn mower provided in an embodiment of the present application at a first position;

[0085] Figure 6 A schematic diagram of a scenario for determining an offset direction of an intelligent lawn mower provided in an embodiment of the present application;

[0086] Figure 7 A schematic diagram of a process of a smart lawn mower mapping method is provided for an embodiment of the present application;

[0087] Figure 8 A schematic diagram of the structure of a smart lawn mower recharging control device provided in an embodiment of the present application;

[0088] Fig. 9 A schematic diagram of the structure of a smart lawn mower mapping device provided in an embodiment of the present application;

[0089] Fig.10 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0090] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0091] In order to facilitate the clear description of the technical solutions of the embodiments of the present application, in the embodiments of the present application, the words "first", "second" and the like are used to distinguish the same items or similar items with substantially the same functions and effects. For example, the first device and the second device are only used to distinguish different devices, and their order is not limited. Those skilled in the art can understand that the words "first", "second" and the like do not limit the quantity and execution order, and the words "first", "second" and the like do not necessarily limit them to be different.

[0092] It should be noted that, in this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in this application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0093] In the present application, "at least one" means one or more, and "plurality" means two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can mean: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or multiple.

[0094] In order to achieve successful docking between the smart lawn mower and the base station, it is necessary to find the path from the smart lawn mower to the base station.

[0095] In one possible implementation, multiple positioning sensing sensors can be set on the smart lawn mower, such as at least two of the global positioning system (GPS), real-time dynamic differential positioning (RTK), lidar, visual sensor, infrared sensor, ultrasonic sensor, etc.; after the smart lawn mower navigates to a preset position near the base station through map positioning, at least two positioning sensing sensors are used to identify the docking marker on the base station, and the docking direction of the smart lawn mower and the base station is adjusted according to the identified marker to achieve precise docking and charging.

[0096] However, the above-mentioned method of achieving precise docking and recharging requires the coordinated work of at least two positioning sensing sensors. If docking and recharging are achieved through a single positioning sensing sensor, there is a problem of poor docking accuracy.

[0097] In another possible implementation, since the docking angle of the charging electrode on the smart lawn mower and the charging electrode on the base station cannot be accurately aligned, if the smart lawn mower and the base station are successfully docked based on only a single positioning sensing sensor, the smart lawn mower can twist its body multiple times when it reaches the base station and try to dock, but this will cause abnormal wear of the charging electrode.

[0098] Alternatively, the smart lawn mower can repeatedly exit the base station, and after driving a certain distance away from the base station, twist the body multiple times, readjust the docking angle, and then re-enter the base station to try docking. However, this increases the operation steps of docking and charging, and there is also the phenomenon of entering the station multiple times to grind the grass, which destroys the overall aesthetics of the lawn.

[0099] In view of the above problems, the present application provides a smart lawn mower recharging control method, so that the smart lawn mower can achieve accurate docking during the recharging process without twisting the body multiple times in the base station or after repeatedly exiting the base station; specifically, the smart lawn mower can roughly locate and walk towards the base station, navigate to a first position near the base station, and when the smart lawn mower is at the first position, by identifying the angle between the direction of travel of the smart lawn mower and the line connecting the current position of the smart lawn mower toward the center of the first trajectory range, the first trajectory range is located between the first position and the base station, and the distance from any point in the first trajectory range to the base station. is smaller than the distance from the first position to the base station; further, based on this angle, it is determined whether the direction of the lawn mower needs to be adjusted. For example, when this angle is greater than the threshold angle, the smart lawn mower deflects in the direction of reducing the angle to ensure that it can travel to the first track range directly in front of the base station. After the smart lawn mower enters the first track range, the smart lawn mower can be controlled to return from the first track range to the base station for charging. In the process of returning from the first track range to the base station, the direction of the smart lawn mower is corrected at least twice to dynamically adjust its route, thereby ensuring that the smart lawn mower and the base station are accurately docked.

[0100] For example, Figure 1 A schematic diagram of an application scenario provided in an embodiment of the present application, such as Figure 1 As shown, the application scenario is applied to the process of the smart lawn mower returning to the base station for charging; the application scenario includes: a smart lawn mower 101 and a base station 102; at this time, the smart lawn mower 101 is located at the starting position X; the base station 102 has a position point o, and optionally, the position point o can be determined based on two markers on the base station 102, such as a reflective sticker 103 on the base station 102, such as Figure 1 As shown, the projection of the midpoint of the two reflective stickers 103 on the bottom plate of the base station 102 is position point o.

[0101] It should be noted that the position point o may also be determined based on other methods, and the embodiment of the present application does not limit the determination method and specific position of the position point o.

[0102] When the smart lawn mower 101 returns to the base station 102 for charging, the smart lawn mower 101 can move from the starting position X toward the base station 102 to the first position A1. When the smart lawn mower 101 is located at the first position A1, by identifying the angle D required for the smart lawn mower to deflect to the first trajectory range B, taking the movement to the position point B1 as an example, the distance b from B1 to the position point o is less than the distance c from the first position A1 to the position point o; further, when it is determined that the angle D is greater than the threshold angle, the smart lawn mower 101 deflects in the direction of reducing the angle D to ensure that it can move to the first trajectory range B directly in front of the base station 102.

[0103] After the smart lawn mower 101 travels to the position point B1, the smart lawn mower 101 can be controlled to return from the position point B1 to the base station 102 for charging. In the process of the smart lawn mower 101 returning from the position point B1 to the base station 102, the travel direction of the smart lawn mower 101 is corrected at least twice to dynamically adjust its travel route, thereby ensuring that the smart lawn mower 101 is successfully docked after returning to the base station 102.

[0104] Among them, the path formed from the starting position X to the first position A1, from the first position A1 to the position point B1, and then from the position point B1 back to the base station 102 is the path for the smart lawn mower 101 to go to the base station 102 for recharging. The embodiment of the present application does not limit the specific shape of the path and the driving route of the smart lawn mower robot. For example, in the process of driving from the first position A1 to the position point B1, there may be multiple turning points, and the multiple turning points are the turning points corresponding to the deflection performed by the smart lawn mower.

[0105] It should be noted that the embodiment of the present application does not specifically limit the size corresponding to the threshold angle, which can be determined based on the application scenario requirements or the navigation accuracy requirements and sensor accuracy of the smart lawn mower.

[0106] For example, Figure 2 A flow chart of a smart lawn mower recharging control method provided in an embodiment of the present application is shown in FIG. Figure 2 As shown, the intelligent lawn mower recharging control method includes the following steps:

[0107] S201, the smart lawn mower moves from the starting position toward the base station to the first position. When the smart lawn mower is at the first position, if the first offset angle is greater than the threshold angle, the smart lawn mower deflects in the direction of reducing the first offset angle; wherein the first offset angle is: the angle between the moving direction of the smart lawn mower and the line connecting the current position of the smart lawn mower toward the center of the first trajectory range; the first position is defined as: located between the starting position and the base station; the first trajectory range is defined as: located between the first position and the base station, and the distance from any point in the first trajectory range to the base station is less than the distance from the first position to the base station.

[0108] In an embodiment of the present application, the threshold angle is a preset angle value, which is used to determine whether the deviation between the current direction of travel of the smart lawn mower and the ideal route needs to be corrected. When the offset angle, that is, the angle between the direction of travel of the lawn mower and the target route is greater than the threshold angle, the direction adjustment is triggered to deflect in the direction of reducing the offset angle.

[0109] Among them, the target route is the route that the smart lawn mower is expected to follow, that is, the line from the current position of the smart lawn mower to the center of the first trajectory range. The embodiment of the present application does not specifically limit the size and shape of the first trajectory range. Optionally, the first trajectory range can be a circular area or a square area.

[0110] It should be noted that the embodiment of the present application does not specifically limit the setting size of the threshold angle, which can be set based on the navigation accuracy requirements, sensor accuracy, application scenario requirements, etc. of the smart lawn mower.

[0111] In this step, the smart lawn mower starts from its current starting position, and the goal is to move toward the base station. During the movement, the smart lawn mower first moves to the first position, which is a point between the starting position and the base station. Further, when the smart lawn mower reaches the first position, the first offset angle between the moving direction of the smart lawn mower and the target route is detected. The first offset angle is defined as: the angle between the current moving direction of the smart lawn mower and the line from its current position to the center of the first trajectory range.

[0112] If the first offset angle is greater than a preset threshold angle, it means that the smart lawn mower has deviated from the ideal route and may not be able to move from the first position to the first trajectory range directly in front of the base station. Therefore, the direction needs to be corrected, that is, the smart lawn mower adjusts its direction of travel to reduce the first offset angle so as to get closer to the ideal route.

[0113] The first trajectory range is a specific area located between the first position and the base station. The first trajectory range is characterized in that the distance from any point within the range to the base station is less than the distance from the first position to the base station, which means that after the smart lawn mower enters the first trajectory range, it is closer to the base station than when it is at the first position.

[0114] S202: The intelligent lawn mower moves from a first position to a first trajectory range directly in front of a base station.

[0115] It should be noted that the center of the first trajectory range is the ideal position point in the first trajectory range where the smart lawn mower moves from the first position to the front of the base station. However, since the positioning perception sensor of the smart lawn mower has corresponding ranging accuracy and positioning accuracy, the smart lawn mower has navigation drift. Therefore, when the smart lawn mower moves from the first position to the center of the first trajectory range, it actually moves from the first position to the first trajectory range in front of the base station.

[0116] The navigation drift is the deviation between the actual driving position and the center of the first trajectory range caused by the accumulation of errors generated during the positioning and navigation process.

[0117] S203: The smart lawn mower returns from the first trajectory range to the base station for charging; wherein, in the process of the smart lawn mower returning from the first trajectory range to the base station, the moving direction of the smart lawn mower is corrected at least twice.

[0118] It should be noted that the embodiment of the present application does not specifically limit the number of times the direction of travel of the smart lawn mower is corrected during the process of returning to the base station from the first trajectory range, which can be determined based on the position point where the smart lawn mower travels to within the first trajectory range.

[0119] In this step, the smart lawn mower will continuously monitor the deviation between its current direction of travel and the angle corresponding to the precise docking and charging when entering the base station. If the direction of travel of the smart lawn mower deviates from this angle, the first direction correction will be performed. After the first correction, the smart lawn mower will continue to move toward the base station. During the movement, the deviation of the direction of travel will continue to be monitored.

[0120] As the smart lawn mower approaches the base station, deviations may occur again, which may be caused by complex environmental factors or navigation errors. At this time, a second direction correction will be performed to ensure that the smart lawn mower can accurately align with the charging port of the base station. Furthermore, after at least two direction corrections, the smart lawn mower should be able to accurately reach the base station and successfully connect to the charging port for charging.

[0121] Among them, the method for the smart lawn mower to continuously monitor the angle between its current direction of travel and the angle corresponding to the entry into the base station to achieve precise docking and charging can be by real-time monitoring of the angle between the forward direction of the smart lawn mower and the central axis of the base station, and / or, by real-time monitoring of the angle between the direction of travel of the smart lawn mower and the line connecting the current position of the smart lawn mower to the marker on the base station. The embodiments of the present application do not make specific limitations on this.

[0122] In the present application, on the one hand, when the smart lawn mower returns to the base station for charging, it first reaches the first position. By detecting the offset angle at the first position, the path deviation can be timely identified and corrected, ensuring that the smart lawn mower can adjust its direction at an early stage, reducing the accumulation of errors in subsequent navigation. Furthermore, when the first offset angle is greater than the threshold angle, the direction can be adjusted in a timely manner to more accurately move to the first track range directly in front of the base station. By entering the first track range, the smart lawn mower can better align with the base station, and in the process of moving from the first track range to the base station, the direction of travel of the smart lawn mower will be corrected at least twice, ensuring that the smart lawn mower can accurately align with the charging interface of the base station.

[0123] On the other hand, when the smart lawn mower returns to the base station for charging, the first position it reaches is a random point between the starting position and the base station, and then it reaches a random point in the first trajectory range from the first position, so that the smart lawn mower can return to the base station from different routes as much as possible, avoiding the formation of obvious tracks on the lawn due to repeated paths for long-term driving, thereby affecting the beauty and health of the lawn. Through reasonable dynamic planning of paths, it helps the lawn maintain a more uniform growth state.

[0124] Therefore, by setting the first position and the first trajectory range, it can be ensured that the smart lawn mower can efficiently and accurately return to the base station for charging, and reduce the abnormal wear of the charging electrode when the body needs to be twisted multiple times for docking after entering the base station due to path deviation, which helps to extend the service life of the smart lawn mower. Based on the above-mentioned recharging control method, the operating steps of repeatedly twisting the body for docking and charging after repeatedly exiting the base station are also reduced, and the phenomenon of multiple grass grinding when entering the station is avoided, thereby ensuring the overall aesthetics of the lawn.

[0125] Optionally, the smart lawn mower is provided with one and only one positioning sensing sensor.

[0126] In the embodiment of the present application, the smart lawn mower can return to the base station for charging through a positioning sensing sensor. The embodiment of the present application does not specifically limit the type of the positioning sensing sensor. For example, the positioning sensing sensor can be GPS, RTK, lidar, ultrasonic sensor, infrared sensor or visual sensor. The positioning sensing sensor is used to provide location information and environmental perception of the smart lawn mower.

[0127] Exemplarily, when the smart lawn mower is located at the first position, the positioning sensing sensor is used to identify the first offset angle required for the smart lawn mower to move to the first trajectory range. Further, when it is determined that the first offset angle is greater than a threshold angle, the smart lawn mower is deflected in the direction of reducing the first offset angle to ensure that it can move to the first trajectory range directly in front of the base station; further, in the process of the smart lawn mower returning to the base station from the first trajectory range for charging, the smart lawn mower continues to use the positioning sensing sensor to identify the location of the base station in real time, and based on the real-time identified base station location, controls its travel direction to be corrected at least twice to dynamically adjust its travel route to ensure that the smart lawn mower and the base station are accurately docked.

[0128] Therefore, in the present application, precise docking can be achieved by using a single sensor, which simplifies the hardware design of the smart lawn mower and reduces structural complexity and equipment costs.

[0129] Optionally, the positioning perception sensor is a laser radar, and the ranging accuracy of the laser radar is that the proportion of points with a measurement error value not exceeding 6 cm is greater than 68%.

[0130] Among them, the ranging accuracy of the lidar describes the error range of most points in the measurement process, and the point share is the ratio of the number of point clouds emitted by the lidar that fall on the object to the number of point clouds emitted by all laser point clouds. This point share is related to the probability within one standard deviation of the normal distribution.

[0131] In this application, the ranging accuracy of the laser radar is that the proportion of points with a measurement error value not exceeding 6cm is greater than 68%, which means that the measured distance value of each laser point cloud emitted by the laser radar hitting the object, compared with the actual distance value of the laser radar from the object, the proportion of points with a measurement error value within ±6cm exceeds 68%.

[0132] In the present application, only one positioning sensing sensor is used for recharging control of the smart lawn mower and to achieve precise docking. The positioning sensing sensor can be a lidar, and the ranging accuracy of the lidar is that the proportion of points with a measurement error value not exceeding 6 cm is greater than 68%. In this way, it can be ensured that 68% of the points fall within the range of measurement error not exceeding 6 cm, which means that in multiple measurements, the errors of most measurement values ​​are within this range, and it shows that the lidar has a high measurement accuracy and is suitable for application scenarios that require precise distance measurement.

[0133] Optionally, the first trajectory range is a circular area with the first distance as a radius, and the center of the first trajectory range is on the central axis of the base station.

[0134] In the embodiment of the present application, a circular area with a radius of a first distance is set with the central axis of the base station as the center, and the circular area is the first trajectory range. The definition of the circular area ensures that the smart lawn mower approaching the base station from any direction can be accurately docked after entering this range.

[0135] For example, Figure 3 A schematic diagram of a route for a smart lawn mower to return to a base station for charging is provided in an embodiment of the present application, such as Figure 3 As shown, the first trajectory range B is a circular area with a first distance r as a radius, and the center of the first trajectory range B is on the central axis of the base station 102; the central axis refers to the symmetric center line of the base station structure.

[0136] For example, the smart lawn mower 101 moves from position A1 with the goal of entering a circular area with a first distance r as a radius, so that the smart lawn mower can use a positioning perception sensor, such as a lidar, to accurately locate the position of the smart lawn mower 101 relative to the base station 102.

[0137] In the present application, the circular trajectory range provides a clear target area, so that the distance between the smart lawn mower and the center position of the circle after entering the area is relatively controllable. The circular area allows the smart lawn mower to enter the base station from multiple angles and provides greater flexibility, helping the smart lawn mower to make precise path adjustments when approaching the base station, ensuring the accuracy of docking, reducing unnecessary movements and adjustments while avoiding repeated rolling on fixed paths, so that the smart lawn mower can more reliably align with the base station, reduce the risk of docking failure, and improve the effect of lawn maintenance.

[0138] Optional, such as Figure 3 As shown, the first distance r is 10 cm.

[0139] Exemplarily, when the smart lawn mower 101 is located at point An, such as point A1 or point A2, the angle between the direction of travel of the smart lawn mower 101 and the line connecting the current position of the smart lawn mower 101 toward the center of the first trajectory range B can be identified by laser radar, and then whether the smart lawn mower 101 has deflected is determined according to the size of the angle. When the first offset angle is greater than the threshold angle, the smart lawn mower 101 has deflected; wherein, at point An, the position of the base station 102 can be roughly identified by laser radar, and navigated from point An to the center of the first trajectory range B on the central axis directly in front of the base station 102. Due to the navigation offset, the smart lawn mower 102 may not actually reach the center of the first trajectory range B, but is located at point Bn, such as point B1 or B2. The trajectory range of point Bn is a circle with a radius of 10 cm, and the center of the circle is on the central axis of the base station 102.

[0140] like Figure 4 The schematic diagram of point distribution of the first trajectory range is shown, the origin 0 represents the center of the first trajectory range, the black dot represents the random point within the first trajectory range that the smart lawn mower actually moves to, and the positional relationship between the random point and the origin 0 is determined according to the accuracy of the positioning perception sensor; when the accuracy of the positioning perception sensor is higher, the position of the random point is closer to the origin 0; when the positioning perception sensor is a laser radar with a point proportion greater than 68% when the measurement error value does not exceed 6 cm, the smart lawn mower moves from the first position to the random point in the first trajectory range, and the random point is distributed in a circle with the origin 0 as the center and a radius of 10 cm.

[0141] In this way, setting the first distance to 10 cm can enable the smart lawn mower to complete the navigation process from the first position to the first trajectory range more efficiently and accurately, ensuring reliable docking and charging.

[0142] Optional, such as Figure 3 As shown, the base station 102 further includes a bottom plate 104 and a side plate 105 , and the bottom plate 104 is connected to the side plate 105 to form a housing space for the smart lawn mower 101 ;

[0143] The side panel 105 is also provided with a first marker 11 and a second marker 12 on both sides of the central axis. The projection of the midpoint of the line connecting the first marker 11 and the second marker 12 on the bottom plate 104 is the origin position o of the base station 102. The origin position o is separated from the center of the first trajectory range B by a second distance b.

[0144] In the embodiment of the present application, the first marker 11 and the second marker 12 are arranged on both sides of the central axis of the side panel 105 to form an identifiable reference point for providing a clear visual or sensor reference point to help the smart lawn mower 101 make precise path adjustments when approaching the base station 102.

[0145] Exemplarily, the smart lawn mower 101 is aligned with the origin position o determined based on the first marker 11 and the second marker 12, so that it can be more reliably aligned with the charging interface of the base station 102 to ensure successful docking.

[0146] In the present application, by defining the origin position and its relationship with the first trajectory range, the smart lawn mower can be more accurately guided to align with the base station to ensure reliable docking and charging. By providing physical markers, the navigation accuracy of the smart lawn mower can be improved, thereby better coping with sensor errors and environmental changes, reducing docking failures and unnecessary path adjustments, so that users can safely rely on the smart lawn mower to automatically return to the base station for charging, thereby improving the user experience.

[0147] Optional, such as Figure 3 As shown, the second distance b is 1.1-1.9 m.

[0148] Among them, taking the total length of the smart lawn mower as 60 cm, the distance from the laser radar to the center of the rear wheel of the smart lawn mower as 40 cm, and the length of the base station bottom plate as 65 cm as an example, when the smart lawn mower completely exits the base station so that the smart lawn mower and the base station do not interfere with each other, the distance from the front end of the smart lawn mower to the center of the rear wheel is 45 cm. Therefore, the minimum value of the second distance b is 65 cm + 45 cm = 110 cm = 1.1 m. In this way, setting the minimum endpoint value of the second distance to 1.1 m can ensure that when the smart lawn mower completely exits the base station, the wheels and the base station do not interfere with each other.

[0149] Setting the distance from the front end of the smart lawn mower to the center of the rear wheel to 45 cm can ensure that the front wheel of the smart lawn mower is not stuck on the protrusion of the base station bottom plate when turning.

[0150] It should be noted that the marker is usually a 4 cm wide reflective sticker. If a 4 cm wide reflective sticker is to be covered by two scanning lines of the laser radar, the corresponding distance needs to be deduced based on the angular resolution formula of the laser radar.

[0151] Since the angular resolution of the laser radar is 0.6 degrees, that is, the angle between two adjacent scanning lines is 0.6 degrees, in order to make the interval between each scanning line equal to or slightly greater than 2 cm, that is, half the width of the reflective tape, to ensure that it is covered by the two scanning lines of the laser radar.

[0152] First, using the distance formula, the distance interval between the two scanning lines of the laser radar = 2×the second distance b×tan(angular resolution / 2), and then the angular resolution (radians) = (0.6 / 360)×2π=0.01047 radians. Since the distance interval is set to 2cm (0.02m), it can be deduced that: 0.02m=2×the second distance b×tan(0.01047 / 2).

[0153] From this we can get:

[0154] The second distance b=0.02 / (2×tan(0.01047 / 2))=0.02 / (2×tan(0.005235)≈0.02 / 0.01047≈1.91022 m.

[0155] Therefore, at a distance of about 1.9 m from the base station, a 4 cm wide reflective sticker can ensure that it is covered by at least 2 scanning lines of the laser radar, thereby setting the maximum distance of the second distance b to 1.9 m.

[0156] In this way, setting the maximum endpoint value of the second distance to 1.9m can ensure that the marker is covered by at least 2 scanning lines of the laser radar, and then based on the identified position of the marker, the offset angle of the smart lawn mower and the distance from the base station can be determined, so that the route of the smart lawn mower can be adjusted based on the offset angle and the distance from the base station to achieve precise docking.

[0157] Optionally, the second distance is 1.35 m.

[0158] Among them, at a distance of 1.35m, the smart lawn mower can get enough time and space to adjust the path. The distance of 1.35m allows the smart lawn mower to make fine navigation adjustments when approaching the base station to ensure accurate docking.

[0159] Therefore, by setting the second distance to 1.35m, effective path adjustment and docking preparation can be performed, so that the smart lawn mower can be more reliably aligned with the charging interface of the base station, reducing the risk of docking failure.

[0160] Optionally, the threshold angle is 20 degrees, and the first offset angle is: the angle between the moving direction of the smart lawn mower and a line connecting the current position of the smart lawn mower toward the center of the first trajectory range.

[0161] Exemplarily, when the smart lawn mower is located at point An, the laser radar can be used to identify the angle between the forward direction of the smart lawn mower and the line connecting the current position of the smart lawn mower toward the center of the circle of the first trajectory range. When the angle is greater than 20°, the smart lawn mower deflects; when the angle is less than or equal to 20°, the smart lawn mower does not deflect.

[0162] Therefore, by setting a threshold angle of 20 degrees, larger path deviations can be detected and corrected in a timely manner, ensuring that the smart mower moves along a precise path. Precise path adjustment reduces the risk of docking failure and increases the probability of the smart mower successfully returning to the base station for charging.

[0163] Optional, such as Figure 3 As shown, the distance a between the first position and the center of the first trajectory range is 0-20 cm.

[0164] It should be noted that the distance a between the first position and the center of the first trajectory range is determined to be 0-20 cm. Figure 5 A schematic diagram of the point distribution of the smart lawn mower provided in the embodiment of the present application at the first position, as shown in FIG. Figure 5 As shown in FIG. 1 , the intelligent lawn mower moves from the starting position to the first position, and most of the points are distributed in the quadrant with a distance a from the center of the first trajectory range, such as Figure 3 As shown, taking the starting position of the intelligent lawn mower 101 at the lower left corner of the base station 102 as an example, the quadrant is the third quadrant in the coordinate area formed by taking the center of the first trajectory range as the origin, the central axis of the base station as the vertical coordinate, and the diameter of the first trajectory range as the horizontal coordinate.

[0165] It should be noted that the quadrant is determined based on the starting position of the smart lawn mower 101. For example, if the starting position of the smart lawn mower 101 is at the upper left corner of the base station 102, the quadrant is the second quadrant; if the starting position of the smart lawn mower 101 is at the lower right corner of the base station 102, the quadrant is the fourth quadrant; if the starting position of the smart lawn mower 101 is at the upper right corner of the base station 102, the quadrant is the first quadrant.

[0166] like Figure 5 As shown, Figure 5 The origin 0 represents the center of the first trajectory range, and the black dot represents the first position from which the smart lawn mower moves from the starting position. The first position is 0-20 cm away from the center of the first trajectory range, so the distance between the first position and the center of the first trajectory range is set to 0-20 cm.

[0167] In this way, by setting the distance between the first position and the center of the first trajectory range to 0-20cm, the smart lawn mower can first enter the first trajectory range to buffer the entry into the base station, reducing the number of adjustments and corrections required, and then efficiently and accurately completing the entire process from navigation to docking, ensuring that it can smoothly return to the base station for charging.

[0168] Optionally, the intelligent lawn mower moves from the first position to a first trajectory range directly in front of the base station, including:

[0169] The intelligent lawn mower moves from a first position to a second position, where the second position is a random point within the first trajectory.

[0170] For example, Figure 3 As shown, when the smart lawn mower 101 travels to the first position A1, and when it is determined that the first offset angle is greater than the threshold angle, it deflects in the direction of reducing the first offset angle, and can travel from the first position A1 to the first trajectory range B directly in front of the base station 102. Due to the existence of navigation offset, the smart lawn mower 101 travels from the first position A1 to the second position B1, and the second position B1 is a random point within the first trajectory range B.

[0171] Optionally, when the smart lawn mower 101 travels to the first position A2, and when it is determined that the first offset angle is greater than a threshold angle, it deflects in the direction of reducing the first offset angle, and can travel from the first position A2 to the first trajectory range B directly in front of the base station 102. Due to the navigation offset, the smart lawn mower 101 travels from the first position A2 to the second position B2, and the second position B2 is a random point within the first trajectory range B.

[0172] It can be seen that the specific position of the second position from which the smart lawn mower 101 moves from the first position is not specifically limited in this application. Correspondingly, the first position corresponding to each second position is not specifically limited in this embodiment of the present application. The first position and the second position can be determined by the navigation accuracy requirements and sensor accuracy of the smart lawn mower.

[0173] Optional, such as Figure 3 As shown, based on the first position and the second position determined above, a route for the smart lawn mower 101 to return to the base station 102 for charging can be formed, such as the first position A1-the second position B1-the base station origin o, or the first position A2-the second position B2-the base station origin o.

[0174] Due to the existence of navigation offset, the smart lawn mower may not be able to accurately reach the predetermined target point. By allowing it to reach a random point within the first trajectory, it can flexibly respond to these offsets, ensuring that the smart lawn mower is still within an acceptable range for docking preparation, thereby improving the success rate of docking.

[0175] Optionally, in the process of the intelligent lawn mower returning to the base station from the first trajectory range, the moving direction of the intelligent lawn mower is corrected at least twice, including:

[0176] The smart lawn mower identifies a second offset angle of travel, and performs or does not perform deflection based on the second offset angle to correct a travel direction of the smart lawn mower returning to the base station;

[0177] The second offset angle is: the angle between the forward direction of the intelligent lawn mower and the central axis of the base station.

[0178] In an embodiment of the present application, a laser radar can be used to scan the surrounding environment to identify the position and direction of the smart lawn mower relative to the base station. The laser radar provides accurate distance and angle information to help calculate the second offset angle. The embodiment of the present application does not specifically limit the device for identifying the position and direction of the smart lawn mower relative to the base station, and it can also be other types of positioning perception sensors.

[0179] In this step, when it is determined that the second offset angle exceeds a preset threshold, the smart lawn mower performs a deflection action to correct its direction of travel so that it is closer to the central axis of the base station. If it is determined that the second offset angle is within an acceptable range, no deflection is performed and the current path is continued.

[0180] Among them, during the process of the smart lawn mower returning to the base station, the smart lawn mower corrects its direction at least twice to ensure that the smart lawn mower can achieve accurate docking and recharging even in complex or dynamic environments.

[0181] It should be noted that the embodiment of the present application does not specifically limit the size of the preset threshold, which can be determined based on the application scenario requirements or the navigation accuracy requirements and sensor accuracy of the smart lawn mower. Optionally, the preset threshold can be set to 0 degrees.

[0182] For example, Figure 6 A schematic diagram of a scenario for determining the offset direction of an intelligent lawn mower provided in an embodiment of the present application, such as Figure 6 As shown, the second offset angle can be understood as the angle between line 4 and line 3, where line 4 is the forward direction of the intelligent lawn mower and line 3 is the central axis of the base station.

[0183] Therefore, in the present application, by identifying the size of the second offset angle to correct the direction of travel of the smart lawn mower returning to the base station, the smart lawn mower can be accurately aligned with the central axis of the base station, reducing path deviation, thereby increasing the probability of the smart lawn mower successfully docking with the charging interface of the base station and reducing the risk of docking failure. In the present application, it is also allowed to correct the direction of travel of the smart lawn mower multiple times to flexibly adapt to different environments.

[0184] Optionally, in the process of the intelligent lawn mower returning to the base station from the first trajectory range, the moving direction of the intelligent lawn mower is corrected at least twice, including:

[0185] The smart lawn mower identifies a third offset angle and a fourth offset angle of travel. When the angle difference between the third offset angle and the fourth offset angle is greater than a preset value, the smart lawn mower performs deflection to correct the travel route of the smart lawn mower returning to the base station in real time. When the angle difference between the third offset angle and the fourth offset angle is less than the preset value, the smart lawn mower does not perform deflection.

[0186] The base station also includes a bottom plate and a side plate, the bottom plate is connected to the side plate to form a storage space for the intelligent lawn mower, and the side plate is also provided with a first marker and a second marker on both sides of the central axis;

[0187] The third offset angle is: the angle between the moving direction of the smart lawn mower and the line connecting the current position of the smart lawn mower toward the first marker;

[0188] The fourth offset angle is: the angle between the moving direction of the smart lawn mower and the line connecting the current position of the smart lawn mower toward the second marker.

[0189] Exemplarily, when the smart lawn mower is located at point Bn, it can use laser radar to identify the reflective marker set on the base station, and based on the identified reflective marker, determine the third offset angle and the fourth offset angle of travel, and then determine whether the smart lawn mower deflects based on the third offset angle and the fourth offset angle. For example, when it is determined that the angle difference between the third offset angle and the fourth offset angle is greater than a preset value, the smart lawn mower performs a deflection, and when the angle difference between the third offset angle and the fourth offset angle is less than or equal to the preset value, the smart lawn mower does not perform a deflection. In this way, in the process of the smart lawn mower returning to the base station from the first trajectory range, the walking path from point Bn to the base station can be adjusted in real time. For example, in the actual walking path of the smart lawn mower from point Bn to the base station, the route of the smart lawn mower may be a left and right deflection correction in the first half, and a straight line walking in the second half to enter the station for docking.

[0190] It should be noted that the embodiment of the present application does not specifically limit the device for identifying reflective markers, and it can also be other types of positioning sensing sensors.

[0191] Among them, Figure 6 As shown, the third offset angle can be understood as the angle between line 1 and line 4, where line 4 is the forward direction of the smart lawn mower, and line 1 is the line from the current position of the smart lawn mower to the first marker; the fourth offset angle can be understood as the angle between line 2 and line 4, where line 2 is the line from the current position of the smart lawn mower to the second marker.

[0192] It should be noted that the embodiment of the present application does not specifically limit the size of the preset value, which can be determined based on the application scenario requirements or the navigation accuracy requirements and sensor accuracy of the smart lawn mower. Optionally, the preset value can be set to 0 degrees.

[0193] Therefore, the present application realizes precise docking and recharging by real-time identification of a pair of markers set on the base station, and real-time calculation of the relative position and offset angle of the marker and the smart lawn mower, and then corrects the deflection angle of the smart lawn mower entering the base station; among them, by comparing the two offset angles, the smart lawn mower can be more accurately aligned with the central axis of the base station, reducing path deviation, and timely path correction can reduce unnecessary movement and adjustment, thereby improving the success rate of docking.

[0194] Optionally, the smart lawn mower also includes an inertial measurement unit IMU, which is used to assist in correcting the route of the smart lawn mower returning to the base station.

[0195] In this application, an inertial measurement unit (IMU) is usually composed of an accelerometer, a gyroscope and sometimes a magnetometer. The IMU can detect the posture changes of the smart lawn mower in real time, including parameters such as tilt angle, rotation speed and acceleration.

[0196] In this step, during the navigation process of the smart lawn mower, the posture data provided by the IMU can be used in conjunction with the data from the lidar to more accurately calculate the current position and direction of the smart lawn mower. When a deviation in the direction of travel is detected, the IMU data can help calculate the required corrective actions, such as steering angle and speed adjustment, to more accurately guide the smart lawn mower back to the base station.

[0197] Therefore, the IMU can help more accurately correct the smart lawn mower's route back to the base station and improve navigation accuracy.

[0198] For example, Figure 7 A flowchart of a method for building a map of an intelligent lawn mower is provided for an embodiment of the present application. Figure 7 As shown, the intelligent lawn mower mapping method includes the following steps:

[0199] S701. During the process of mapping the intelligent lawn mower, determine the origin of the base station, and determine a preset point based on the origin of the base station, where the preset point is on the central axis of the base station.

[0200] In the process of mapping the smart lawn mower, the base station origin is first determined. The base station origin is usually a fixed reference point of the base station for navigation and path planning. The base station origin can be identified by sensor data, such as a lidar or a visual sensor, and marked in the map of the smart lawn mower. The embodiment of the present application does not specifically limit the method for determining the base station origin.

[0201] In the present application, a preset point can be determined based on the base station origin. The preset point is located on the central axis of the base station to help plan the return path of the smart lawn mower to ensure that it can achieve accurate docking and recharging.

[0202] S702. Based on the base station origin and the preset point, generate a travel route for the smart lawn mower to return from the starting position to the base station for charging; wherein the travel route has a first position, and the first position is separated from the preset point by a third distance, and the forward direction of the smart lawn mower at the starting position and at the first position are not colinear.

[0203] Optionally, information of the base station origin and preset points may be sent to the smart lawn mower so that the smart lawn mower uses these points as navigation references to help generate a travel route for the smart lawn mower to return from the starting position to the base station.

[0204] It can be understood that, based on the base station origin and the preset point, the device for generating the route of the smart lawn mower from the starting position to the base station for charging can also be a terminal device, which establishes a communication connection with the smart lawn mower. For example, when an application (Application, APP) based on the terminal device generates a route for the smart lawn mower from the starting position to return to the base station for charging, the route can be sent to the smart lawn mower. The embodiment of the present application does not specifically limit the execution subject of the smart lawn mower mapping method. The execution subject can be the smart lawn mower and / or the terminal device, that is, the smart lawn mower executes S701-S702, or the terminal device executes S701-S702, or the smart lawn mower executes some steps and the terminal device executes some steps.

[0205] Since the forward direction of the smart lawn mower is not collinear at the starting position and the first position, it means that the smart lawn mower may need to adjust its direction to align with the preset point during the process of moving toward the base station.

[0206] For example, when the smart lawn mower enters a new working environment or the base station position is updated, a new working map needs to be established. During the map building process, the preset point can be determined by identifying the position o of the base station origin. The preset point is on the central axis of the base station. Then, the base station origin o and the preset point can be sent to the smart lawn mower, so that the smart lawn mower generates a travel route from the starting position back to the base station for charging based on the base station origin o and the preset point, such as Figure 3 As shown, the route can be the starting position-first position A1-second position B1-base station origin o. The embodiment of the present application does not specifically limit the route generated by the smart lawn mower from the starting position to return to the base station for charging. Different application scenarios generate different routes.

[0207] Therefore, the present application makes it possible to plan the return path more accurately and reduce path deviation by clarifying the base station origin and preset point. The use of the preset point ensures that the smart lawn mower can be aligned with the base station along the central axis, thereby improving the success rate of charging and docking. Moreover, through the non-collinear design between the starting position and the first position, the smart lawn mower can adjust the path more flexibly to adapt to different environments.

[0208] Optionally, the smart lawn mower is provided with one and only one positioning sensing sensor.

[0209] Optionally, the positioning perception sensor is a laser radar, and the ranging accuracy of the laser radar is that the proportion of points with a measurement error value not exceeding 6 cm is greater than 68%.

[0210] Optionally, the distance between the base station origin and the preset point is 1.1-1.9m.

[0211] Optionally, the distance between the base station origin and the preset point is 1.35m.

[0212] Optionally, the third distance is 0-20 cm.

[0213] It should be noted that the specific implementation principles and effects of the above-mentioned embodiments can be found in the relevant descriptions and effects of the previous corresponding embodiments, and will not be elaborated here.

[0214] It can be understood that the distance between the base station origin and the preset point can be understood as the second distance in the above embodiment; the third distance can be understood as the distance between the first position and the center of the first trajectory range in the above embodiment.

[0215] In the above embodiments, the intelligent lawn mower recharging control method provided by the embodiment of the present application is introduced. In order to realize the functions of the method provided by the embodiment of the present application, the electronic device as the execution subject may include a hardware structure and / or a software module, and realize the above functions in the form of a hardware structure, a software module, or a hardware structure plus a software module. Whether one of the above functions is executed in the form of a hardware structure, a software module, or a hardware structure plus a software module depends on the specific application and design constraints of the technical solution.

[0216] For example, Figure 8 A schematic diagram of a smart lawn mower recharging control device provided in an embodiment of the present application is shown in FIG. Figure 8 As shown, the device 800 includes:

[0217] The first control module 801 is used to control the intelligent lawn mower to move from the starting position toward the base station to the first position. When the intelligent lawn mower is at the first position, if the first offset angle is greater than a threshold angle, the intelligent lawn mower deflects in a direction to reduce the first offset angle;

[0218] The second control module 802 is used to control the intelligent lawn mower to move from the first position to a first trajectory range directly in front of the base station;

[0219] The third control module 803 is used to control the intelligent lawn mower to return from the first trajectory range to the base station for charging;

[0220] The first offset angle is: the angle between the moving direction of the intelligent lawn mower and the line connecting the current position of the intelligent lawn mower toward the center of the first trajectory range;

[0221] The first position is defined as being between the starting position and the base station; the first trajectory range is defined as being between the first position and the base station, and the distance from any point in the first trajectory range to the base station is less than the distance from the first position to the base station;

[0222] During the process of the intelligent lawn mower returning to the base station from the first trajectory range, the moving direction of the intelligent lawn mower is corrected at least twice.

[0223] Optionally, the smart lawn mower is provided with one and only one positioning sensing sensor.

[0224] Optionally, the positioning perception sensor is a laser radar, and the ranging accuracy of the laser radar is that the proportion of points with a measurement error value not exceeding 6 cm is greater than 68%.

[0225] Optionally, the first trajectory range is a circular area with the first distance as a radius, and the center of the first trajectory range is on the central axis of the base station.

[0226] Optionally, the first distance is 10 cm.

[0227] Optionally, the base station further includes a bottom plate and a side plate, and the bottom plate is connected to the side plate to form a housing space for the smart lawn mower;

[0228] The side panel is also provided with a first marker and a second marker on both sides of the central axis. The projection of the midpoint of the line connecting the first marker and the second marker on the bottom plate is the origin position of the base station, and the origin position is separated from the center of the first trajectory range by a second distance.

[0229] Optionally, the second distance is 1.1-1.9m.

[0230] Optionally, the second distance is 1.35 m.

[0231] Optionally, the threshold angle is 20 degrees, and the first offset angle is: the angle between the moving direction of the smart lawn mower and a line connecting the current position of the smart lawn mower toward the center of the first trajectory range.

[0232] Optionally, the distance between the first position and the center of the first trajectory range is 0-20 cm.

[0233] Optionally, the second control module 802 is specifically configured to:

[0234] The intelligent lawn mower moves from a first position to a second position, where the second position is a random point within the first trajectory.

[0235] Optionally, in the process of the intelligent lawn mower returning to the base station from the first trajectory range, the moving direction of the intelligent lawn mower is corrected at least twice, including:

[0236] The smart lawn mower identifies a second offset angle of travel, and performs or does not perform deflection based on the second offset angle to correct a travel direction of the smart lawn mower returning to the base station;

[0237] The second offset angle is: the angle between the forward direction of the intelligent lawn mower and the central axis of the base station.

[0238] Optionally, in the process of the intelligent lawn mower returning to the base station from the first trajectory range, the moving direction of the intelligent lawn mower is corrected at least twice, including:

[0239] The smart lawn mower identifies a third offset angle and a fourth offset angle of travel. When the angle difference between the third offset angle and the fourth offset angle is greater than a preset value, the smart lawn mower performs deflection to correct the travel route of the smart lawn mower returning to the base station in real time. When the angle difference between the third offset angle and the fourth offset angle is less than the preset value, the smart lawn mower does not perform deflection.

[0240] The base station also includes a bottom plate and a side plate, the bottom plate is connected to the side plate to form a storage space for the intelligent lawn mower, and the side plate is also provided with a first marker and a second marker on both sides of the central axis;

[0241] The third offset angle is: the angle between the moving direction of the smart lawn mower and the line connecting the current position of the smart lawn mower toward the first marker;

[0242] The fourth offset angle is: the angle between the moving direction of the smart lawn mower and the line connecting the current position of the smart lawn mower toward the second marker.

[0243] Optionally, the smart lawn mower also includes an inertial measurement unit IMU, which is used to assist in correcting the route of the smart lawn mower returning to the base station.

[0244] It should be noted that the specific implementation principle and effects of the above-mentioned intelligent lawn mower recharging control device can be found in the relevant descriptions and effects corresponding to the above-mentioned embodiments, and no further details will be given here.

[0245] For example, Fig. 9 A schematic diagram of the structure of a smart lawn mower mapping device provided in an embodiment of the present application is shown in FIG. Fig. 9 As shown, the device 900 includes:

[0246] The determination module 901 is used to determine the origin of the base station during the process of building a map of the intelligent lawn mower, and determine the preset point according to the origin of the base station, and the preset point is on the central axis of the base station;

[0247] A generation module 902 is used to generate a travel route for the intelligent lawn mower to return from the starting position to the base station for charging based on the base station origin and the preset point;

[0248] The travel route has a first position, and the first position is spaced a third distance from the preset point, and the forward direction of the smart lawn mower at the starting position and at the first position are not colinear.

[0249] Optionally, the smart lawn mower is provided with one and only one positioning sensing sensor.

[0250] Optionally, the positioning perception sensor is a laser radar, and the ranging accuracy of the laser radar is that the proportion of points with a measurement error value not exceeding 6 cm is greater than 68%.

[0251] Optionally, the distance between the base station origin and the preset point is 1.1-1.9m.

[0252] Optionally, the distance between the base station origin and the preset point is 1.35m.

[0253] Optionally, the third distance is 0-20 cm.

[0254] It should be noted that the specific implementation principle and effects of the above-mentioned intelligent lawn mower mapping device can refer to the relevant descriptions and effects corresponding to the above-mentioned embodiments, and will not be elaborated here. The intelligent lawn mower mapping device can be applied to intelligent lawn mowers and / or terminal devices.

[0255] The present application also provides a schematic diagram of the structure of an electronic device. Fig.10 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application is shown in FIG. Fig.10 As shown, the electronic device may include: a processor 1001 and a memory 1002 communicatively connected to the processor; the memory 1002 stores a computer program; the processor 1001 executes the computer program stored in the memory 1002, so that the processor 1001 executes the method described in any of the above embodiments.

[0256] The memory 1002 and the processor 1001 may be connected via a bus 1003 .

[0257] An embodiment of the present application further provides a computer-readable storage medium, which stores computer-executable instructions. When the computer-executable instructions are executed by a processor, they are used to implement the method described in any of the aforementioned embodiments of the present application.

[0258] An embodiment of the present application further provides a chip for executing instructions, wherein the chip is used to execute the method described in any of the aforementioned embodiments as executed by an electronic device in any of the aforementioned embodiments of the present application.

[0259] An embodiment of the present application further provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the method described in any of the aforementioned embodiments of the present application executed by an electronic device can be implemented.

[0260] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of modules is only a logical function division. There may be other division methods in actual implementation, such as multiple modules 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 modules, which can be electrical, mechanical or other forms.

[0261] The modules described as separate components may or may not be physically separated, and the components shown as modules 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 modules may be selected according to actual needs to implement the solution of this embodiment.

[0262] In addition, each functional module in each embodiment of the present application can be integrated into one processing unit, or each module can exist physically separately, or two or more modules can be integrated into one unit. The above-mentioned module-composed unit can be implemented in the form of hardware or in the form of hardware plus software functional units.

[0263] The above-mentioned integrated module implemented in the form of a software function module can be stored in a computer-readable storage medium. The above-mentioned software function module is stored in a storage medium, including a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to perform some steps of the method described in each embodiment of the present application.

[0264] It should be understood that the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in the application may be directly implemented as being executed by a hardware processor, or may be implemented by a combination of hardware and software modules in the processor.

[0265] The memory may include high-speed random access memory (RAM), and may also include non-volatile memory (NVM), such as at least one disk storage, and may also be a USB flash drive, a mobile hard disk, a read-only memory, a disk or an optical disk, etc.

[0266] The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of the present application is not limited to only one bus or one type of bus.

[0267] The above storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The storage medium can be any available medium that can be accessed by a general or special computer.

[0268] An exemplary storage medium is coupled to a processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can be located in an application specific integrated circuit (ASIC). Of course, the processor and the storage medium can also exist as discrete components in an electronic device or a main control device.

[0269] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required by the present application.

[0270] It should be further noted that, although the various steps in the flowchart are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless there is a clear description in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowchart may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these sub-steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0271] In the above embodiments, the description of each embodiment has its own emphasis. For the part not described in detail in a certain embodiment, please refer to the relevant description of other embodiments. The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0272] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the claims.

[0273] The above is only a specific implementation of the embodiment of the present application, but the protection scope of the embodiment of the present application is not limited thereto, and any changes or replacements within the technical scope disclosed in the embodiment of the present application should be included in the protection scope of the embodiment of the present application. Therefore, the protection scope of the embodiment of the present application should be based on the protection scope of the claims.

Claims

1. A method for controlling the recharging of an intelligent lawn mower, characterized in that: The method comprises: The smart lawn mower moves from a starting position toward a base station to a first position, and when the smart lawn mower is at the first position, in a case where a first offset angle is greater than a threshold angle, the smart lawn mower deflects in a direction to reduce the first offset angle; The intelligent lawn mower moves from the first position to a first trajectory range directly in front of the base station; The smart lawn mower returns to the base station from the first trajectory range to charge; The first offset angle is: the angle between the moving direction of the smart lawn mower and the line connecting the current position of the smart lawn mower toward the center of the first trajectory range; The first position is defined as being between the starting position and the base station; the first trajectory range is defined as being between the first position and the base station, and the distance from any point in the first trajectory range to the base station is less than the distance from the first position to the base station; During the process of the intelligent lawn mower returning from the first trajectory range to the base station, the moving direction of the intelligent lawn mower is corrected at least twice.

2. The method according to claim 1, characterized in that The intelligent lawn mower is provided with one and only one positioning sensing sensor.

3. The method according to claim 2, characterized in that The positioning perception sensor is a laser radar, and the ranging accuracy of the laser radar is that the proportion of points with a measurement error value not exceeding 6 cm is greater than 68%.

4. The method according to claim 3, characterized in that The first trajectory range is a circular area with a first distance as a radius, and the center of the first trajectory range is on the central axis of the base station.

5. The method according to claim 4, characterized in that The first distance is 10 cm.

6. The method according to claim 4, characterized in that The base station further includes a bottom plate and a side plate, wherein the bottom plate is connected to the side plate to form a housing space for the smart lawn mower; The side panel is also provided with a first marker and a second marker on both sides of the central axis. The projection of the midpoint of the line connecting the first marker and the second marker on the bottom plate is the origin position of the base station. The origin position is separated from the center of the first trajectory range by a second distance.

7. The method according to claim 6, characterized in that The second distance is 1.1-1.9 m.

8. The method according to claim 7, characterized in that The second distance is 1.35 m.

9. The method according to claim 4, characterized in that The threshold angle is 20 degrees, and the first offset angle is: the angle between the moving direction of the smart lawn mower and the line connecting the current position of the smart lawn mower toward the center of the first trajectory range.

10. The method according to claim 4, characterized in that The distance between the first position and the center of the first trajectory range is 0-20 cm.

11. The method according to claim 4, characterized in that The intelligent lawn mower moves from the first position to a first trajectory range directly in front of the base station, including: The intelligent lawn mower moves from the first position to a second position, where the second position is a random point within the first trajectory.

12. The method according to claim 1, characterized in that In the process of the intelligent lawn mower returning from the first trajectory range to the base station, the moving direction of the intelligent lawn mower is corrected at least twice, including: The smart lawn mower identifies a second offset angle of travel, and performs or does not perform deflection based on the second offset angle to correct a travel direction of the smart lawn mower returning to the base station; The second offset angle is: the angle between the forward direction of the intelligent lawn mower and the central axis of the base station.

13. The method according to claim 1, characterized in that In the process of the intelligent lawn mower returning from the first trajectory range to the base station, the moving direction of the intelligent lawn mower is corrected at least twice, including: The smart lawn mower identifies a third offset angle and a fourth offset angle of travel, and when the angle difference between the third offset angle and the fourth offset angle is greater than a preset value, the smart lawn mower performs deflection to correct the travel route of the smart lawn mower returning to the base station in real time, and when the angle difference between the third offset angle and the fourth offset angle is less than a preset value, the smart lawn mower does not perform deflection; The base station further includes a bottom plate and a side plate, wherein the bottom plate is connected to the side plate to form a storage space for the intelligent lawn mower, and the side plate is also provided with a first marker and a second marker on both sides of the central axis; The third offset angle is: an angle between a moving direction of the smart lawn mower and a line connecting a current position of the smart lawn mower toward the first marker; The fourth offset angle is: an angle between a line connecting the moving direction of the smart lawn mower and the current position of the smart lawn mower toward the second marker.

14. The method according to claim 1, characterized in that The smart lawn mower further includes an inertial measurement unit (IMU), which is used to assist in correcting a travel route of the smart lawn mower returning to the base station.

15. A method for building a map of an intelligent lawn mower, characterized in that: The method comprises: During the process of mapping of the intelligent lawn mower, the base station origin is determined, and a preset point is determined according to the base station origin, wherein the preset point is on the central axis of the base station; Based on the base station origin and the preset point, generating a travel route for the smart lawn mower to return from a starting position to the base station for charging; The travel route has a first position, and the first position is spaced a third distance from the preset point, and the advancing directions of the smart lawn mower at the starting position and at the first position are not colinear.

16. The method according to claim 15, characterized in that The intelligent lawn mower is provided with one and only one positioning sensing sensor.

17. The method according to claim 16, characterized in that The positioning perception sensor is a laser radar, and the ranging accuracy of the laser radar is that the proportion of points with a measurement error value not exceeding 6 cm is greater than 68%.

18. The method according to claim 17, characterized in that The base station origin is 1.1-1.9m away from the preset point.

19. The method according to claim 18, characterized in that The distance between the base station origin and the preset point is 1.35m.

20. The method according to claim 17, characterized in that The third distance is 0-20 cm.

21. An intelligent lawn mower recharging control device, characterized in that: The device comprises: A first control module, configured to control the intelligent lawn mower to move from a starting position toward a base station to a first position, and when the intelligent lawn mower is located at the first position, in the case where a first offset angle is greater than a threshold angle, the intelligent lawn mower deflects in a direction to reduce the first offset angle; A second control module, used for controlling the intelligent lawn mower to move from the first position to a first trajectory range directly in front of the base station; A third control module, used for controlling the smart lawn mower to return from the first trajectory range to the base station for charging; The first offset angle is: the angle between the moving direction of the smart lawn mower and the line connecting the current position of the smart lawn mower toward the center of the first trajectory range; The first position is defined as being between the starting position and the base station; the first trajectory range is defined as being between the first position and the base station, and the distance from any point in the first trajectory range to the base station is less than the distance from the first position to the base station; During the process of the intelligent lawn mower returning from the first trajectory range to the base station, the moving direction of the intelligent lawn mower is corrected at least twice.

22. An intelligent lawn mower mapping device, characterized in that: The device comprises: A determination module, used to determine the origin of the base station during the process of mapping of the intelligent lawn mower, and determine a preset point according to the origin of the base station, wherein the preset point is on the central axis of the base station; A generation module, based on the base station origin and the preset point, generates a travel route for the smart lawn mower to return from a starting position to the base station for charging; The travel route has a first position, and the first position is spaced a third distance from the preset point, and the advancing directions of the smart lawn mower at the starting position and at the first position are not colinear.

23. An electronic device, characterized in that: include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory to implement the method according to any one of claims 1 to 20.

24. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, they are used to implement the method according to any one of claims 1 to 20.

25. A computer program product, characterized in that The invention comprises a computer program, which, when executed by a processor, implements the method according to any one of claims 1 to 20.

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