Lawn mower charging control and mapping method and device, equipment, medium and product

Abstract

The application provides a lawn mower charging control and mapping method, device, equipment, medium and product, and relates to the field of intelligent robots, which comprises the following steps: an intelligent lawn mower travels from a starting position to a first position towards a base station; when it is determined that a first offset angle is greater than a threshold angle, the intelligent lawn mower is deflected towards a direction in which the first offset angle is reduced; then the intelligent lawn mower travels from the first position to a first trajectory range in front of the base station, and returns to the base station for charging from the first trajectory range; the first offset angle is an angle between a traveling direction and a line connecting a current position and a center of the first trajectory range; the first trajectory range is defined as being located between the first position and the base station, and a distance from any point in the first trajectory range to the base station being less than a distance from the first position to the base station; during the process of returning to the base station from the first trajectory range, the traveling direction of the intelligent lawn mower is corrected at least twice to dynamically adjust the traveling route, so that the intelligent lawn mower and the base station are accurately docked.

Description

Technical Field

[0001] This application relates to the field of intelligent robots, and more particularly to a lawnmower recharge control and mapping method, apparatus, equipment, medium and product. Background Technology

[0002] A smart lawnmower is a device that maintains lawns through autonomous navigation and operation. However, smart lawnmowers need to return to the base station periodically for docking and charging, depending on the workload and work cycle.

[0003] In existing technologies, in order to achieve successful docking between a smart lawnmower and a base station, multiple positioning sensors can be installed on the smart lawnmower. After the smart lawnmower navigates to a preset location near the base station using a map, the multiple positioning sensors identify docking markers on the base station and adjust the docking direction between the smart lawnmower and the base station based on the identified markers to achieve precise docking and charging.

[0004] However, the aforementioned method for achieving precise docking and recharging requires the cooperation of multiple positioning sensors. If docking and recharging is achieved using a single positioning sensor, the docking accuracy will be poor. To address this issue, the smart lawnmower needs to twist its body multiple times within the base station after arriving, attempting docking, which can cause abnormal wear on the charging electrodes. Alternatively, the smart lawnmower needs to repeatedly exit the base station, drive a certain distance away, twist its body multiple times, readjust the docking angle, and re-enter the base station to attempt docking. This increases the number of docking and charging steps and also results in repeated grass abrasion upon entering the station, damaging the overall aesthetics of the lawn. Summary of the Invention

[0005] This application provides a method, apparatus, equipment, medium, and product for controlling and mapping a lawnmower's recharge process, enabling the intelligent lawnmower to achieve precise docking during recharge without having to twist the machine multiple times while inside or after repeatedly exiting the base station.

[0006] Firstly, this application provides a method for controlling the recharging of an intelligent lawnmower, the method comprising:

[0007] The intelligent lawnmower moves from the starting position toward the base station to the first position. When the intelligent lawnmower is in the first position, if the first offset angle is greater than the threshold angle, the intelligent lawnmower deflects in the direction that reduces the first offset angle.

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

[0009] The intelligent lawnmower returns to the base station to charge from the first trajectory range;

[0010] Wherein, the first offset angle is: the angle between the direction of travel of the smart lawnmower and the line connecting the current position of the smart lawnmower toward the center of the first trajectory range;

[0011] 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;

[0012] During the process of the intelligent lawnmower returning to the base station from the first trajectory range, the intelligent lawnmower's direction of travel was corrected at least twice.

[0013] In this application, on the one hand, during the process of the smart lawnmower returning to the base station for charging, it first reaches a first position. By detecting the offset angle at the first position, path deviations can be identified and corrected in a timely manner, ensuring that the smart lawnmower can adjust its direction in the early stage, reducing the accumulation of errors in subsequent navigation. Furthermore, if the first offset angle is greater than a threshold angle, timely direction adjustment allows it to more accurately travel to the first trajectory range directly in front of the base station. By entering the first trajectory range, the smart lawnmower can better align with the base station. Thus, during the process of moving from the first trajectory range to the base station, the smart lawnmower's direction of travel will be corrected at least twice, ensuring that the smart lawnmower can accurately align with the charging interface of the base station.

[0014] On the other hand, during the process of the intelligent lawnmower returning to the base station for charging, the first position it reaches is a random point between the starting position and the base station. From this first position, it then travels to random points within the first trajectory range. This allows the intelligent lawnmower to return to the base station via as many different routes as possible, avoiding the formation of obvious tracks on the lawn due to repeated travel along the same path, which would affect the lawn's appearance and health. This application, through reasonable dynamic path planning, helps maintain a more uniform growth state for the lawn.

[0015] Therefore, by setting the first position and the first trajectory range, it can be ensured that the smart lawnmower can return to the base station for charging efficiently and accurately, and reduce the abnormal wear of the charging plates when the machine body needs to be twisted multiple times to dock after entering the base station due to path deviation. This helps to extend the service life of the smart lawnmower. Furthermore, based on the above-mentioned recharge control method, it also reduces the operation steps of twisting the machine body multiple times to dock and charge after repeatedly exiting the base station, and avoids the phenomenon of multiple grass grindings upon entering the station, thus ensuring the overall aesthetics of the lawn.

[0016] Optionally, the smart lawnmower may be equipped with only one location sensing sensor.

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

[0018] Optionally, the positioning and sensing sensor is a lidar, and the ranging accuracy of the lidar is such that the percentage of points with a measurement error value not exceeding 6cm is greater than 68%.

[0019] This ensures that 68% of the points fall within a measurement error range of no more than 6 centimeters. This means that in multiple measurements, the error of most measurements is within this range, indicating that the lidar has high measurement accuracy and is suitable for applications requiring precise distance measurement.

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

[0021] In this application, the circular trajectory range provides a clearly defined target area, making the distance between the intelligent lawnmower and the center of the circle relatively controllable after entering the area. The circular area allows the intelligent lawnmower to enter the base station from multiple angles and provides greater flexibility, helping the intelligent lawnmower to make precise path adjustments when approaching the base station, ensuring the accuracy of docking, reducing unnecessary movement and adjustments, and avoiding repeated trampling on the fixed path. As a result, the intelligent lawnmower can more reliably align with the base station, reducing the risk of docking failure and improving the effect of lawn maintenance.

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

[0023] This allows the intelligent lawnmower to navigate from its initial position to its final trajectory more efficiently and accurately, ensuring reliable docking and charging.

[0024] Optionally, the base station also includes a base plate and side plates, with the base plate and side plates together forming the housing space of the smart lawnmower;

[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 onto the base 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.

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

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

[0028] By setting the minimum endpoint value of the second distance to 1.1m, it can be ensured that the wheels and the base station will not interfere with each other when the smart lawnmower completely exits the base station. Setting the maximum endpoint value of the second distance to 1.9m ensures that the marker is covered by at least two scanning lines of the LiDAR. Based on the position of the identified marker, the offset angle of the smart lawnmower and its distance from the base station can be determined. This allows the smart lawnmower's travel route to be adjusted based on the offset angle and the distance from the base station to achieve precise docking.

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

[0030] Therefore, by setting the second distance to 1.35m, effective path adjustment and docking preparation can be carried out, allowing the smart lawnmower to more reliably align with the base station's charging port and reducing the risk of docking failure.

[0031] Optionally, the threshold angle is 20 degrees, and the first offset angle is the angle between the direction of travel of the smart lawnmower and the line connecting the current position of the smart lawnmower to the center of the circle of the first trajectory range.

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

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

[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 lawnmower can first drive into the first trajectory range to buffer the entry into the base station, reducing the number of adjustments and corrections required, and thus 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 trajectory range of the intelligent lawnmower from the first position to directly in front of the base station includes:

[0036] The intelligent lawnmower moves from the first position to the second position, which is a random point within the range of the first trajectory.

[0037] Due to navigation offset, the smart lawnmower may not be able to reach the predetermined target point precisely. By allowing it to reach random points within the first trajectory range, it can flexibly cope with these offsets, ensuring that the smart lawnmower is still within an acceptable range for docking preparation, thus improving the docking success rate.

[0038] Optionally, during the process of the intelligent lawnmower returning to the base station from the first trajectory range, the intelligent lawnmower's direction of travel is corrected at least twice, including:

[0039] The intelligent lawnmower identifies a second offset angle and performs or does not perform a deflection based on the second offset angle to correct the intelligent lawnmower's direction of travel back to the base station;

[0040] The second offset angle is the angle between the forward direction of the smart lawnmower and the central axis of the base station.

[0041] Therefore, in this application, by identifying the magnitude of the second offset angle, the travel direction of the smart lawnmower returning to the base station is corrected, so that the smart lawnmower can accurately align with the central axis of the base station, reducing path deviation, thereby increasing the probability of the smart lawnmower successfully docking with the base station charging interface and reducing the risk of docking failure. In this application, the travel direction of the smart lawnmower is also allowed to be corrected multiple times to flexibly adapt to different environments.

[0042] Optionally, during the process of the intelligent lawnmower returning to the base station from the first trajectory range, the intelligent lawnmower's direction of travel is corrected at least twice, including:

[0043] The intelligent lawnmower identifies the third and fourth offset angles of its movement. When the angle difference between the third and fourth offset angles is greater than a preset value, the intelligent lawnmower deflects to correct its path back to the base station in real time. When the angle difference between the third and fourth offset angles is less than the preset value, the intelligent lawnmower does not deflect.

[0044] The base station also includes a base plate and side plates. The base plate and side plates together form the housing space of the smart lawnmower. The side plates are also equipped 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 direction of travel of the smart lawnmower and the line connecting the current position of the smart lawnmower to the first marker.

[0046] The fourth offset angle is the angle between the direction of travel of the smart lawnmower and the line connecting the current position of the smart lawnmower to the second marker.

[0047] Therefore, this application identifies a pair of markers set on the base station in real time and calculates the relative position and offset angle of the markers and the smart lawnmower in real time, thereby correcting the deflection angle of the smart lawnmower entering the base station and achieving precise docking and recharging. In particular, by comparing the two offset angles, the smart lawnmower can more accurately align with the central axis of the base station, reducing path deviation, and timely path correction can reduce unnecessary movement and adjustment, improving the success rate of docking.

[0048] Optionally, the smart lawnmower also includes an inertial measurement unit (IMU), which helps correct the smart lawnmower's path back to the base station.

[0049] Therefore, the IMU can help more accurately correct the route of the smart lawnmower returning to the base station, improving navigation accuracy.

[0050] Secondly, this application provides a mapping method for an intelligent lawnmower, the method comprising:

[0051] During the mapping process of the intelligent lawnmower, the origin of the base station is determined, and the preset point is determined based on the origin of the base station. The preset point is on the central axis of the base station.

[0052] Based on the base station origin and preset points, a route is generated for the smart lawnmower to return to the base station for charging from its starting position.

[0053] The route has a first position, and the first position is separated from the preset point by a third distance. The intelligent lawnmower is not collinear with the starting position and the direction of movement at the first position.

[0054] Therefore, this application enables more precise planning of the return path and reduces path deviation by clearly defining the base station origin and preset point. The use of the preset point ensures that the smart lawnmower can align with the base station along the central axis, improving the success rate of charging docking. Furthermore, the non-collinear design between the starting position and the first position allows the smart lawnmower to adjust its path more flexibly to adapt to different environments.

[0055] Optionally, the smart lawnmower may be equipped with only one location sensing sensor.

[0056] Optionally, the positioning and sensing sensor is a lidar, and the ranging accuracy of the lidar is such that the percentage of points with a measurement error value not exceeding 6cm 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] Optional, the third distance is 0-20cm.

[0060] It should be noted that the effects of the above-mentioned alternative solutions can be found in the descriptions of the relevant solutions in the first aspect, and will not be elaborated further here.

[0061] Thirdly, this application provides an intelligent lawnmower recharging control device, the device comprising:

[0062] The first control module is used to control the smart lawnmower to move from the starting position toward the base station to the first position. When the smart lawnmower is in the first position, if the first offset angle is greater than the threshold angle, the smart lawnmower will deflect in the direction that reduces the first offset angle.

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

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

[0065] Wherein, the first offset angle is: the angle between the direction of travel of the smart lawnmower and the line connecting the current position of the smart lawnmower toward the center of the first trajectory range;

[0066] 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;

[0067] During the process of the intelligent lawnmower returning to the base station from the first trajectory range, the intelligent lawnmower's direction of travel was corrected at least twice.

[0068] Fourthly, this application provides an intelligent lawnmower mapping device, the device comprising:

[0069] The determination module is used to determine the origin of the base station during the mapping process of the intelligent lawnmower, and to determine the preset point based on the origin of the base station. The preset point is on the central axis of the base station.

[0070] The generation module is used to generate the route for the smart lawnmower to return to the base station for charging from the starting position, based on the base station origin and preset points.

[0071] The route has a first position, and the first position is separated from the preset point by a third distance. The intelligent lawnmower is not collinear with the starting position and the direction of movement at the first position.

[0072] Fifthly, this application provides an electronic device, including: a processor, and a memory communicatively connected to the processor;

[0073] The memory stores the instructions that the computer executes;

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

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

[0076] In a seventh aspect, this application provides a computer program product, including a computer program that, 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 this application correspond to the technical solutions of the first and second aspects of this application, and the beneficial effects achieved by each aspect and the corresponding feasible implementation are similar, and will not be repeated here.

[0078] In summary, this application provides a method, apparatus, device, medium, and product for intelligent lawnmower recharging control and mapping. When the intelligent lawnmower is coarsely positioned and moving towards a base station, it can navigate to a first position near the base station. When the intelligent lawnmower is at the first position, the angle between the intelligent lawnmower's direction of travel and the line connecting the intelligent lawnmower's current position to the center of a first trajectory range is identified. This 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. Furthermore, based on this angle, it is determined whether the lawnmower's direction needs to be adjusted. If this angle is greater than a threshold angle, the intelligent lawnmower deflects in the 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 intelligent lawnmower enters the first trajectory range, it can be controlled to return to the base station for charging. During the return process from the first trajectory range to the base station, the intelligent lawnmower's direction of travel is corrected at least twice to dynamically adjust its travel route, thereby ensuring precise docking between the intelligent lawnmower and the base station. Attached Figure Description

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

[0080] Figure 1 This is a schematic diagram of an application scenario provided by an embodiment of this application;

[0081] Figure 2 A flowchart illustrating a smart lawnmower recharging control method provided in an embodiment of this application;

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

[0083] Figure 4 A schematic diagram of the point distribution of the intelligent lawnmower within the first trajectory range provided in the embodiments of this application;

[0084] Figure 5 A schematic diagram showing the location distribution of the intelligent lawnmower at the first position, provided in an embodiment of this application;

[0085] Figure 6 A schematic diagram illustrating a scenario for determining the offset direction of an intelligent lawnmower, provided as an embodiment of this application;

[0086] Figure 7 This is a flowchart illustrating a method for mapping intelligent lawnmowers, as provided in an embodiment of this application.

[0087] Figure 8 This is a schematic diagram of the structure of an intelligent lawnmower recharging control device provided in an embodiment of this application;

[0088] Figure 9 This is a schematic diagram of the structure of an intelligent lawnmower mapping device provided in an embodiment of this application;

[0089] Figure 10 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0090] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0091] To facilitate a clear description of the technical solutions in the embodiments of this application, the terms "first" and "second" are used in the embodiments of this application to distinguish identical or similar items with essentially the same function and purpose. For example, "first device" and "second device" are merely used to distinguish different devices and do not limit their order of execution. Those skilled in the art will understand that the terms "first" and "second" do not limit the quantity or execution order, and that "first" and "second" do not necessarily imply that they are different.

[0092] It should be noted that, in this application, the terms "exemplary" or "for example" are used to indicate that something is being described as an example, illustration, or illustration. Any embodiment or design described as "exemplary" or "for example" in this application should not be construed as being more preferred or advantageous than other embodiments or design solutions. Specifically, the use of terms such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0093] In this application, "at least one" means one or more, and "more than one" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one of the following" or similar expressions refer 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, and c can be single or multiple.

[0094] To achieve successful connection between the smart lawnmower and the base station, it is necessary to find the path from the smart lawnmower to the base station.

[0095] One possible implementation involves installing multiple positioning sensors on the smart lawnmower, such as at least two of the following: Global Positioning System (GPS), Real-Time Kinematic (RTK), LiDAR, visual sensors, infrared sensors, and ultrasonic sensors. After the smart lawnmower navigates to a preset location near the base station using a map, at least two positioning sensors identify docking markers on the base station. The docking direction between the smart lawnmower and the base station is then adjusted based on the identified markers to achieve precise docking and charging.

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

[0097] In another possible implementation, since the docking angle between the charging electrode on the smart lawnmower and the charging electrode on the base station cannot be precisely aligned, if the smart lawnmower and the base station are successfully docked by only setting a single positioning sensor, the smart lawnmower can twist its body multiple times and attempt to dock after arriving at the base station. However, this will cause abnormal wear on the charging electrode.

[0098] Alternatively, the smart lawnmower could repeatedly exit the base station, drive a certain distance away from the base station, twist its body multiple times, readjust the docking angle, and then re-enter the base station to attempt docking. However, this increases the number of docking and charging steps and also results in the lawn being rubbed multiple times upon entering the station, which damages the overall aesthetics of the lawn.

[0099] To address the aforementioned issues, this application provides a smart lawnmower recharging control method, enabling the smart lawnmower to achieve precise docking during recharging without requiring multiple twists of the machine body while inside or after repeatedly exiting a base station. Specifically, the smart lawnmower can coarsely position itself towards the base station and navigate to a first position near the base station. When the smart lawnmower is at the first position, the angle between the smart lawnmower's direction of travel and the line connecting the smart lawnmower's current position to the center of a first trajectory range is identified. This first trajectory range is located between the first position and the base station, and the distance from any point within the first trajectory range to the base station is defined. The distance from the first location to the base station is less than the distance from the first location to the base station. Furthermore, based on this angle, it is determined whether the direction of the lawnmower needs to be adjusted. If this angle is greater than a threshold angle, the smart lawnmower will deflect in the 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 lawnmower enters the first trajectory range, it can be controlled to return to the base station from the first trajectory range for charging. During the process of returning to the base station from the first trajectory range, the direction of travel of the smart lawnmower is corrected at least twice to dynamically adjust its travel route, thereby ensuring that the smart lawnmower and the base station achieve precise docking.

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

[0101] It should be noted that the location point o can also be determined by other methods. This application embodiment does not limit the method of determining the location point o or its specific location.

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

[0103] After the smart lawnmower 101 travels to location point B1, it can be controlled to return to base station 102 for charging. During the process of returning from location point B1 to base station 102, the smart lawnmower 101's direction of travel is corrected at least twice to dynamically adjust its route, thereby ensuring successful docking after returning to base station 102.

[0104] The path from the starting position X to the first position A1, from the first position A1 to the position point B1, and then back to the base station 102 from the position point B1 is the path for the intelligent lawnmower 101 to recharge at the base station 102. This application embodiment does not limit the specific shape of the path or the driving route of the intelligent lawnmower. For example, during the driving process from the first position A1 to the position point B1, there may be multiple turning points, which are the turning points corresponding to the intelligent lawnmower's deflection.

[0105] It should be noted that the embodiments of this application do not specifically limit the size of the threshold angle, which can be determined based on the application scenario requirements or the navigation accuracy requirements of the smart lawnmower and the accuracy of the sensor.

[0106] For example, Figure 2 This is a flowchart illustrating a smart lawnmower recharging control method provided in an embodiment of this application, as shown below. Figure 2 As shown, the intelligent lawnmower recharging control method includes the following steps:

[0107] S201. The intelligent lawnmower travels from the starting position toward the base station to the first position. When the intelligent lawnmower is at the first position, if the first offset angle is greater than a threshold angle, the intelligent lawnmower deflects in the direction that reduces the first offset angle. The first offset angle is the angle between the direction of travel of the intelligent lawnmower and the line connecting the current position of the intelligent lawnmower to the center of the first trajectory range. The first position is defined as being located between the starting position and the base station. The first trajectory range is defined as being 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 this embodiment, the threshold angle is a preset angle value used to determine whether the deviation between the current direction of travel of the smart lawnmower and the ideal route needs to be corrected. When the offset angle, that is, the angle between the direction of travel of the lawnmower and the target route is greater than the threshold angle, the direction adjustment is triggered to deflect in the direction that reduces the offset angle.

[0109] The target route is the route that the smart lawnmower is expected to follow, that is, the line connecting the current position of the smart lawnmower to the center of the first trajectory range. In this embodiment of the application, the size and shape of the first trajectory range are not specifically limited. Optionally, the first trajectory range can be a circular area or a square area.

[0110] It should be noted that the embodiments of this application do not specifically limit the size of the threshold angle setting, which can be set based on the navigation accuracy requirements, sensor accuracy, application scenario requirements, etc. of the intelligent lawnmower.

[0111] In this step, the smart lawnmower starts from its current starting position and aims to move towards the base station. During the movement, the smart lawnmower first moves to a first position, which is a point between the starting position and the base station. Further, when the smart lawnmower reaches the first position, a first offset angle between the smart lawnmower's direction of travel and the target route is detected. This first offset angle is defined as the angle between the smart lawnmower's current direction of travel and the line connecting its current position to the center of the first trajectory range.

[0112] If the first offset angle is greater than the preset threshold angle, it means that the smart lawnmower has deviated from the ideal route and may not be able to travel 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 lawnmower adjusts its direction of travel to reduce the first offset angle and thus get closer to the ideal route.

[0113] The first trajectory range is a specific area located between the first location and the base station. The characteristic of the first trajectory range is that the distance from any point within the range to the base station is less than the distance from the first location to the base station. This means that after the smart lawnmower enters the first trajectory range, it is closer to the base station than when it was in the first location.

[0114] S202, the intelligent lawnmower moves from the first position to the first trajectory range directly in front of the base station.

[0115] It should be noted that the center of the first trajectory range is the ideal position point of the smart lawnmower from the first position to the first trajectory range directly in front of the base station. However, since the positioning and sensing sensors of the smart lawnmower have ranging accuracy and positioning accuracy, the smart lawnmower is subject to navigation drift. Therefore, when the smart lawnmower moves from the first position to the center of the first trajectory range, it is actually the smart lawnmower moving from the first position to the first trajectory range directly in front of the base station.

[0116] Among them, navigation drift is the deviation between the actual location reached and the center of the first trajectory range caused by the accumulation of errors during the positioning and navigation process.

[0117] S203, the intelligent lawnmower returns to the base station for charging from the first trajectory range; wherein, during the process of the intelligent lawnmower returning to the base station from the first trajectory range, the direction of travel of the intelligent lawnmower is corrected at least twice.

[0118] It should be noted that, in this embodiment of the application, the number of times the intelligent lawnmower corrects its direction of travel during the process of returning to the base station from the first trajectory range is not specifically limited, but can be determined based on the position point of the intelligent lawnmower within the first trajectory range.

[0119] In this step, the smart lawnmower will continuously monitor the deviation between its current direction of travel and the angle corresponding to the precise docking and charging at the base station. If the smart lawnmower's direction of travel deviates from this angle, it will perform the first direction correction. After the first correction, the smart lawnmower will continue to move towards the base station, and will continue to monitor the deviation of its direction of travel during the movement.

[0120] As the smart lawnmower moves toward the base station, it may deviate again, possibly due to complex environmental factors or navigation errors. In this case, a second directional correction will be performed to ensure that the smart lawnmower can accurately align with the base station's charging port. Furthermore, after at least two directional corrections, the smart lawnmower should be able to accurately reach the base station and successfully connect to the charging port for charging.

[0121] The method for the intelligent lawnmower to continuously monitor the angle between its current direction of travel and the base station to achieve precise docking and charging can be achieved by monitoring the angle between the intelligent lawnmower's direction of travel and the central axis of the base station in real time, and / or by monitoring the angle between the intelligent lawnmower's direction of travel and the line connecting the intelligent lawnmower's current position to the marker on the base station in real time. This application embodiment does not specifically limit this method.

[0122] In this application, on the one hand, during the process of the smart lawnmower returning to the base station for charging, it first reaches a first position. By detecting the offset angle at the first position, path deviations can be identified and corrected in a timely manner, ensuring that the smart lawnmower can adjust its direction in the early stage, reducing the accumulation of errors in subsequent navigation. Furthermore, if the first offset angle is greater than a threshold angle, timely direction adjustment allows it to more accurately travel to the first trajectory range directly in front of the base station. By entering the first trajectory range, the smart lawnmower can better align with the base station. Thus, during the process of moving from the first trajectory range to the base station, the smart lawnmower's direction of travel will be corrected at least twice, ensuring that the smart lawnmower can accurately align with the charging interface of the base station.

[0123] On the other hand, during the process of the smart lawnmower returning to the base station for charging, the first position it reaches is a random point between the starting position and the base station. Then, it travels from the first position to a random point within the first trajectory range. This allows the smart lawnmower to return to the base station via different routes as much as possible, avoiding the formation of obvious tracks on the lawn due to long-term repetitive travel paths, which would affect the aesthetics and health of the lawn. Through reasonable dynamic path planning, 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 lawnmower can return to the base station for charging efficiently and accurately, and reduce the abnormal wear of the charging plates when the machine body needs to be twisted multiple times to dock after entering the base station due to path deviation. This helps to extend the service life of the smart lawnmower. Furthermore, based on the above-mentioned recharge control method, it also reduces the operation steps of twisting the machine body multiple times to dock and charge after repeatedly exiting the base station, and avoids the phenomenon of multiple grass grindings upon entering the station, thus ensuring the overall aesthetics of the lawn.

[0125] Optionally, the smart lawnmower may be equipped with only one location sensing sensor.

[0126] In this embodiment, the smart lawnmower can return to the base station for charging via a positioning sensor. This embodiment does not specifically limit the type of positioning sensor, such as GPS, RTK, LiDAR, ultrasonic sensor, infrared sensor, or vision sensor. The positioning sensor is used to provide the location information and environmental perception of the smart lawnmower.

[0127] For example, when the smart lawnmower is in the first position, the positioning sensor identifies the first offset angle required for the smart lawnmower to travel to the first trajectory range. Furthermore, if it is determined that the first offset angle is greater than a threshold angle, the smart lawnmower deflects in the direction that reduces the first offset angle to ensure that it can travel to the first trajectory range directly in front of the base station. Furthermore, during the process of the smart lawnmower returning to the base station from the first trajectory range for charging, the smart lawnmower continuously uses the positioning sensor to identify the position of the base station in real time, and based on the real-time identified position of the base station, controls its travel direction to be corrected at least twice to dynamically adjust its travel route and ensure that the smart lawnmower and the base station achieve precise docking.

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

[0129] Optionally, the positioning and sensing sensor is a lidar, and the ranging accuracy of the lidar is such that the percentage of points with a measurement error value not exceeding 6cm is greater than 68%.

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

[0131] In this application, the ranging accuracy of the lidar is that the percentage of points with a measurement error value of no more than 6cm is greater than 68%, which means that the measured distance value of each laser point cloud emitted by the lidar hitting the object, compared with the actual distance value of the lidar from the object, has a measurement error value within ±6cm of more than 68%.

[0132] In this application, only one positioning and sensing sensor is used for intelligent lawnmower recharging control and to achieve precise docking. This positioning and sensing sensor can be a lidar, and the lidar's ranging accuracy is such that the percentage of points with a measurement error value not exceeding 6 cm is greater than 68%. This ensures that 68% of the points fall within the range of measurement error not exceeding 6 cm, meaning that in multiple measurements, the error of most measurement values ​​is within this range. This also indicates that the lidar has high measurement accuracy and is suitable for applications requiring precise distance measurement.

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

[0134] In this embodiment of the application, a circular area with a radius of a first distance is defined with the central axis of the base station as the center. This circular area is the first trajectory range. The definition of this circular area ensures that a smart lawnmower approaching the base station from any direction can accurately dock after entering this range.

[0135] For example, Figure 3 This application provides a schematic diagram of the route for a smart lawnmower to return to a base station for charging, as shown in the embodiments of this application. Figure 3 As shown, the first trajectory range B is a circular region with a first distance r as its 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 symmetrical center line of the base station structure.

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

[0137] In this application, the circular trajectory range provides a clearly defined target area, making the distance between the intelligent lawnmower and the center of the circle relatively controllable after entering the area. The circular area allows the intelligent lawnmower to enter the base station from multiple angles and provides greater flexibility, helping the intelligent lawnmower to make precise path adjustments when approaching the base station, ensuring the accuracy of docking, reducing unnecessary movement and adjustments, and avoiding repeated trampling on the fixed path. As a result, the intelligent lawnmower can more reliably align with the base station, reducing the risk of docking failure and improving the effect of lawn maintenance.

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

[0139] For example, when the smart lawnmower 101 is located at point An, such as point A1 or point A2, the angle between the direction of travel of the smart lawnmower 101 and the line connecting the current position of the smart lawnmower 101 to the center of the first trajectory range B can be identified by the LiDAR. Then, based on the size of the angle, it can be determined whether the smart lawnmower 101 has deviated. If the first deviation angle is greater than the threshold angle, the smart lawnmower 101 has deviated. At point An, the position of the base station 102 can be roughly identified by the LiDAR. From point An, the smart lawnmower 102 can navigate to the center of the first trajectory range B on the central axis directly in front of the base station 102. Because of the navigation deviation, the smart lawnmower 102 may not actually reach the center of the first trajectory range B, but will be located at point Bn, such as point B1 or B2. The trajectory range of point Bn is a circle with a radius of 10cm, and the center of the circle is on the central axis of the base station 102.

[0140] like Figure 4 The diagram shows the point distribution within the first trajectory range. The origin 0 represents the center of the first trajectory range, and the black dots represent random points within the first trajectory range that the intelligent lawnmower actually travels to. The positional relationship between the random points and the origin 0 is determined based on the accuracy of the positioning sensor. The higher the accuracy of the positioning sensor, the closer the random points are to the origin 0. When the positioning sensor is a lidar with a measurement error value of no more than 68% of the points being greater than 6cm, the intelligent lawnmower travels from the first position to a random point within the first trajectory range. This random point is distributed within a circle with the origin 0 as the center and a radius of 10cm.

[0141] By setting the first distance to 10cm, the smart lawnmower can 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 also includes a base plate 104 and a side plate 105. The base plate 104 and the side plate 105 together form the housing space of the intelligent lawnmower 101.

[0143] The side plate 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 onto the base 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 this embodiment, the first marker 11 and the second marker 12 are disposed on both sides of the central axis of the side plate 105 to form an identifiable reference point, which is used to provide a clear visual or sensor reference point to help the intelligent lawnmower 101 make precise path adjustments when approaching the base station 102.

[0145] For example, the smart lawnmower 101 can more reliably align with the charging port of the base station 102 by aligning with the origin position o determined based on the first marker 11 and the second marker 12, thus ensuring successful docking.

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

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

[0148] Taking a smart lawnmower with a total length of 60cm, a laser radar distance of 40cm from the center of the rear wheel of the smart lawnmower, and a base station base plate length of 65cm as an example, when the smart lawnmower is completely removed from the base station so that the smart lawnmower and the base station do not interfere with each other, the distance from the front end of the smart lawnmower to the center of the rear wheel is 45cm. Therefore, the minimum value of the second distance b is 65cm + 45cm = 110cm = 1.1m. Thus, setting the minimum endpoint value of the second distance to 1.1m can ensure that when the smart lawnmower is completely removed from the base station, the wheels and the base station will not interfere with each other.

[0149] Setting the distance from the front of the smart lawnmower to the center of the rear wheel to 45cm ensures that the front wheel does not get stuck on the protruding base plate when the smart lawnmower turns.

[0150] It should be noted that the markers are usually 4cm wide reflective stickers. If a 4cm wide reflective sticker is to be covered by two scanning lines of the LiDAR, the corresponding distance needs to be calculated by using the angular resolution formula of the LiDAR.

[0151] Since the angular resolution of the lidar is 0.6 degrees, meaning the angle between two adjacent scan lines is 0.6 degrees, in order to ensure that the interval between each scan line is equal to or slightly greater than 2 cm, which is half the width of the reflector, so as to guarantee that it is covered by the two scan lines of the lidar.

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

[0153] Therefore, we can conclude that:

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

[0155] Therefore, at a distance of approximately 1.9m from the base station, a 4cm wide reflective sticker can ensure that it is covered by at least two scan lines of the lidar, thus setting the maximum distance of the second distance b to 1.9m.

[0156] By setting the maximum endpoint value of the second distance to 1.9m, it can be ensured that the marker is covered by at least two scanning lines of the LiDAR. Based on the identified position of the marker, the offset angle of the smart lawnmower and its distance from the base station can be determined. This allows the smart lawnmower's travel route to be adjusted based on the offset angle and the distance from the base station to achieve precise docking.

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

[0158] At a distance of 1.35m, the smart lawnmower has enough time and space to adjust its path. This 1.35m distance allows the smart lawnmower 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 carried out, allowing the smart lawnmower to more reliably align with the base station's charging port and reducing the risk of docking failure.

[0160] Optionally, the threshold angle is 20 degrees, and the first offset angle is the angle between the direction of travel of the smart lawnmower and the line connecting the current position of the smart lawnmower to the center of the circle of the first trajectory range.

[0161] For example, when the smart lawnmower is located at point An, the angle between the smart lawnmower's forward direction and the line connecting the smart lawnmower's current position to the center of the first trajectory range can be identified by the LiDAR. When the angle is greater than 20°, the smart lawnmower deflects; when the angle is less than or equal to 20°, the smart lawnmower does not deflect.

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

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

[0164] It should be noted that the distance 'a' between the center of the first position and the center of the first trajectory range is determined to be 0-20cm. Figure 5 This is a schematic diagram showing the location distribution of the intelligent lawnmower at the first position, as provided in the embodiments of this application. Figure 5 As shown, the intelligent lawnmower travels from the starting position to the first position, with most points distributed within a quadrant at a distance 'a' from the center of the first trajectory range, such as... Figure 3 As shown, taking the starting position of the intelligent lawnmower 101 at the lower left corner of the base station 102 as an example, this quadrant is the third quadrant within 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 this quadrant is determined based on the starting position of the smart lawnmower 101. For example, if the starting position of the smart lawnmower 101 is in the upper left corner of the base station 102, then this quadrant is the second quadrant; if the starting position of the smart lawnmower 101 is in the lower right corner of the base station 102, then this quadrant is the fourth quadrant; and if the starting position of the smart lawnmower 101 is in the upper right corner of the base station 102, then this quadrant is the first quadrant.

[0166] like Figure 5 As shown, Figure 5 The central point 0 represents the center of the first trajectory range, and the black dot represents the first position that the intelligent lawnmower has traveled from the starting position. The first position is 0-20cm 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 0-20cm.

[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 lawnmower can first drive into the first trajectory range to buffer the entry into the base station, reducing the number of adjustments and corrections required, and thus 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 trajectory range of the intelligent lawnmower from the first position to directly in front of the base station includes:

[0169] The intelligent lawnmower moves from the first position to the second position, which is a random point within the range of the first trajectory.

[0170] For example, such as Figure 3 As shown, when the smart lawnmower 101 travels to the first position A1, and after determining 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 navigation offset, the smart lawnmower 101 travels from the first position A1 to the second position B1, which is a random point within the first trajectory range B.

[0171] Optionally, when the smart lawnmower 101 travels to the first position A2 and, after determining that the first offset angle is greater than the threshold angle, it deflects in the direction of reducing the first offset angle, it 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 lawnmower 101 travels from the first position A2 to the second position B2, which is a random point within the first trajectory range B.

[0172] Therefore, the specific location of the intelligent lawnmower 101 from the first position to the second 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 application. The first position and the second position can be determined by the navigation accuracy requirements and sensor accuracy of the intelligent lawnmower.

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

[0174] Due to navigation offset, the smart lawnmower may not be able to reach the predetermined target point precisely. By allowing it to reach random points within the first trajectory range, it can flexibly cope with these offsets, ensuring that the smart lawnmower is still within an acceptable range for docking preparation, thus improving the docking success rate.

[0175] Optionally, during the process of the intelligent lawnmower returning to the base station from the first trajectory range, the intelligent lawnmower's direction of travel is corrected at least twice, including:

[0176] The intelligent lawnmower identifies a second offset angle and performs or does not perform a deflection based on the second offset angle to correct the intelligent lawnmower's direction of travel back to the base station;

[0177] The second offset angle is the angle between the forward direction of the smart lawnmower and the central axis of the base station.

[0178] In this embodiment, the surrounding environment can be scanned by a lidar to identify its position and orientation relative to the base station. The lidar provides accurate distance and angle information to help calculate the second offset angle. This embodiment does not specifically limit the device for identifying the position and orientation of the smart lawnmower relative to the base station; it can also be other types of positioning and sensing sensors.

[0179] In this step, when the second offset angle is determined to exceed a certain preset threshold, the smart lawnmower performs a deflection action to correct its direction of travel and bring it closer to the centerline of the base station. If the second offset angle is determined to be within an acceptable range, the deflection is not performed and the current path is continued.

[0180] During the process of the smart lawnmower returning to the base station, the smart lawnmower performs at least two directional corrections to ensure that it can accurately dock and return to the charging station even in complex or dynamic environments.

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

[0182] For example, Figure 6 This application provides a schematic diagram of a scenario for determining the offset direction of a smart lawnmower, as shown in the embodiment of the present application. 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 smart lawnmower and line 3 is the central axis of the base station.

[0183] Therefore, in this application, by identifying the magnitude of the second offset angle, the travel direction of the smart lawnmower returning to the base station is corrected, so that the smart lawnmower can accurately align with the central axis of the base station, reducing path deviation, thereby increasing the probability of the smart lawnmower successfully docking with the base station charging interface and reducing the risk of docking failure. In this application, the travel direction of the smart lawnmower is also allowed to be corrected multiple times to flexibly adapt to different environments.

[0184] Optionally, during the process of the intelligent lawnmower returning to the base station from the first trajectory range, the intelligent lawnmower's direction of travel is corrected at least twice, including:

[0185] The intelligent lawnmower identifies the third and fourth offset angles of its movement. When the angle difference between the third and fourth offset angles is greater than a preset value, the intelligent lawnmower deflects to correct its path back to the base station in real time. When the angle difference between the third and fourth offset angles is less than the preset value, the intelligent lawnmower does not deflect.

[0186] The base station also includes a base plate and side plates. The base plate and side plates together form the housing space of the smart lawnmower. The side plates are also equipped 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 direction of travel of the smart lawnmower and the line connecting the current position of the smart lawnmower to the first marker.

[0188] The fourth offset angle is the angle between the direction of travel of the smart lawnmower and the line connecting the current position of the smart lawnmower to the second marker.

[0189] For example, when the smart lawnmower is located at point Bn, it can identify reflective markers set on the base station using LiDAR. Based on the identified reflective markers, it can determine the third and fourth offset angles of its movement. Then, based on the third and fourth offset angles, it can determine whether the smart lawnmower has deflected. For example, if the angle difference between the third and fourth offset angles is greater than a preset value, the smart lawnmower will deflect. If the angle difference between the third and fourth offset angles is less than or equal to the preset value, the smart lawnmower will not deflect. In this way, during the process of the smart lawnmower 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 lawnmower from point Bn to the base station, the route of the smart lawnmower may involve left and right deviation correction in the first half, and then tending to walk in a straight line to dock with the base station in the second half.

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

[0191] Among them, such as 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 lawnmower and line 1 is the line connecting the current position of the smart lawnmower 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 connecting the current position of the smart lawnmower to the second marker.

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

[0193] Therefore, this application identifies a pair of markers set on the base station in real time and calculates the relative position and offset angle of the markers and the smart lawnmower in real time, thereby correcting the deflection angle of the smart lawnmower entering the base station and achieving precise docking and recharging. In particular, by comparing the two offset angles, the smart lawnmower can more accurately align with the central axis of the base station, reducing path deviation, and timely path correction can reduce unnecessary movement and adjustment, improving the success rate of docking.

[0194] Optionally, the smart lawnmower also includes an inertial measurement unit (IMU), which helps correct the smart lawnmower's path back to the base station.

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

[0196] In this step, during the navigation of the smart lawnmower, the attitude data provided by the IMU can be combined with the data from the LiDAR to more accurately calculate the current position and orientation of the smart lawnmower. When a deviation in the direction of travel is detected, the IMU data can help calculate the necessary corrective actions, such as steering angle and speed adjustment, so as to more accurately guide the smart lawnmower back to the base station.

[0197] Therefore, the IMU can help more accurately correct the route of the smart lawnmower returning to the base station, improving navigation accuracy.

[0198] For example, Figure 7 This application provides a flowchart illustrating a method for mapping intelligent lawnmowers, as shown in the embodiments below. Figure 7 As shown, the mapping method for this intelligent lawnmower includes the following steps:

[0199] S701. During the mapping process of the intelligent lawnmower, the origin of the base station is determined, and a preset point is determined based on the origin of the base station. The preset point is on the central axis of the base station.

[0200] In the mapping process of the intelligent lawnmower, the origin of the base station is first determined. The origin of the base station is usually a fixed reference point of the base station for navigation and path planning. The origin of the base station can be identified by sensor data, such as LiDAR or visual sensors, and marked on the map of the intelligent lawnmower. The embodiments of this application do not specifically limit the method of determining the origin of the base station.

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

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

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

[0204] It is understandable that the device that generates the route for the smart lawnmower to return to the base station for charging from the starting position, based on the base station origin and preset point, can also be a terminal device. The terminal device establishes a communication connection with the smart lawnmower. For example, the route for the smart lawnmower to return to the base station for charging from the starting position can be generated in the application (APP) based on the terminal device, and the route can be sent to the smart lawnmower. The embodiments of this application do not specifically limit the executing subject of the smart lawnmower mapping method. The executing subject can be the smart lawnmower and / or the terminal device, that is, the smart lawnmower executes S701-S702, or the terminal device executes S701-S702, or the smart lawnmower executes some steps and the terminal device executes some steps.

[0205] Since the smart lawnmower's forward direction is not collinear at the starting position and the first position, it means that the smart lawnmower may need to adjust its direction to align with the preset point as it moves toward the base station.

[0206] For example, when a smart lawnmower enters a new operating environment or the base station location is updated, a new operating map needs to be created. During the mapping process, the location o of the base station origin can be identified, and a preset point can be determined. This 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 lawnmower so that the smart lawnmower can generate a route from the starting position back to the base station for charging, based on the base station origin o and the preset point. Figure 3 As shown, the route can be starting position - first position A1 - second position B1 - base station origin o. This application embodiment does not specifically limit the route generated by the smart lawnmower to return to the base station for charging from the starting position. Different routes are generated in different application scenarios.

[0207] Therefore, this application enables more precise planning of the return path and reduces path deviation by clearly defining the base station origin and preset point. The use of the preset point ensures that the smart lawnmower can align with the base station along the central axis, improving the success rate of charging docking. Furthermore, the non-collinear design between the starting position and the first position allows the smart lawnmower to adjust its path more flexibly to adapt to different environments.

[0208] Optionally, the smart lawnmower may be equipped with only one location sensing sensor.

[0209] Optionally, the positioning and sensing sensor is a lidar, and the ranging accuracy of the lidar is such that the percentage of points with a measurement error value not exceeding 6cm 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] Optional, the third distance is 0-20cm.

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

[0214] It is 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 foregoing embodiments, the intelligent lawnmower recharging control method provided in this application has been described. To implement the functions of the methods provided in the above embodiments, the electronic device serving as the execution subject may include hardware structures and / or software modules, implementing the above functions in the form of hardware structures, software modules, or a combination of hardware structures and software modules. Whether a particular function is executed in the form of hardware structures, software modules, or a combination of hardware structures and software modules depends on the specific application and design constraints of the technical solution.

[0216] For example, Figure 8 This is a schematic diagram of the structure of an intelligent lawnmower recharging control device provided in an embodiment of this application, as shown below. Figure 8 As shown, the device 800 includes:

[0217] The first control module 801 is used to control the smart lawnmower to move from the starting position toward the base station to the first position. When the smart lawnmower is in the first position, if the first offset angle is greater than the threshold angle, the smart lawnmower will deflect in the direction that reduces the first offset angle.

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

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

[0220] Wherein, the first offset angle is: the angle between the direction of travel of the smart lawnmower and the line connecting the current position of the smart lawnmower toward the center of the first trajectory range;

[0221] 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;

[0222] During the process of the intelligent lawnmower returning to the base station from the first trajectory range, the intelligent lawnmower's direction of travel was corrected at least twice.

[0223] Optionally, the smart lawnmower may be equipped with only one location sensing sensor.

[0224] Optionally, the positioning and sensing sensor is a lidar, and the ranging accuracy of the lidar is such that the percentage of points with a measurement error value not exceeding 6cm is greater than 68%.

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

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

[0227] Optionally, the base station also includes a base plate and side plates, with the base plate and side plates together forming the housing space of the smart lawnmower;

[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 onto the base 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.

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

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

[0231] Optionally, the threshold angle is 20 degrees, and the first offset angle is the angle between the direction of travel of the smart lawnmower and the line connecting the current position of the smart lawnmower to the center of the circle of the first trajectory range.

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

[0233] Optionally, the second control module 802 is specifically used for:

[0234] The intelligent lawnmower moves from the first position to the second position, which is a random point within the range of the first trajectory.

[0235] Optionally, during the process of the intelligent lawnmower returning to the base station from the first trajectory range, the intelligent lawnmower's direction of travel is corrected at least twice, including:

[0236] The intelligent lawnmower identifies a second offset angle and performs or does not perform a deflection based on the second offset angle to correct the intelligent lawnmower's direction of travel back to the base station;

[0237] The second offset angle is the angle between the forward direction of the smart lawnmower and the central axis of the base station.

[0238] Optionally, during the process of the intelligent lawnmower returning to the base station from the first trajectory range, the intelligent lawnmower's direction of travel is corrected at least twice, including:

[0239] The intelligent lawnmower identifies the third and fourth offset angles of its movement. When the angle difference between the third and fourth offset angles is greater than a preset value, the intelligent lawnmower deflects to correct its path back to the base station in real time. When the angle difference between the third and fourth offset angles is less than the preset value, the intelligent lawnmower does not deflect.

[0240] The base station also includes a base plate and side plates. The base plate and side plates together form the housing space of the smart lawnmower. The side plates are also equipped 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 direction of travel of the smart lawnmower and the line connecting the current position of the smart lawnmower to the first marker.

[0242] The fourth offset angle is the angle between the direction of travel of the smart lawnmower and the line connecting the current position of the smart lawnmower to the second marker.

[0243] Optionally, the smart lawnmower also includes an inertial measurement unit (IMU), which helps correct the smart lawnmower's path back to the base station.

[0244] It should be noted that the specific implementation principle and effect of the above-mentioned intelligent lawnmower recharge control device can be found in the relevant descriptions and effects of the above embodiments, and will not be elaborated further here.

[0245] For example, Figure 9 This is a schematic diagram of the structure of an intelligent lawnmower mapping device provided in an embodiment of this application, as shown below. Figure 9 As shown, the device 900 includes:

[0246] The module 901 is used to determine the origin of the base station during the mapping process of the intelligent lawnmower, and to determine the preset point based on the origin of the base station. The preset point is on the central axis of the base station.

[0247] The generation module 902 is used to generate a route for the smart lawnmower to return to the base station for charging from the starting position based on the base station origin and preset points;

[0248] The route has a first position, and the first position is separated from the preset point by a third distance. The intelligent lawnmower is not collinear with the starting position and the direction of movement at the first position.

[0249] Optionally, the smart lawnmower may be equipped with only one location sensing sensor.

[0250] Optionally, the positioning and sensing sensor is a lidar, and the ranging accuracy of the lidar is such that the percentage of points with a measurement error value not exceeding 6cm 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] Optional, the third distance is 0-20cm.

[0254] It should be noted that the specific implementation principle and effect of the above-mentioned intelligent lawnmower mapping device can be found in the relevant description and effect of the above embodiments, and will not be elaborated further here. The intelligent lawnmower mapping device can be applied to intelligent lawnmowers and / or terminal equipment.

[0255] This application also provides a schematic diagram of the structure of an electronic device. Figure 10 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application, such as... Figure 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, causing the processor 1001 to perform the method described in any of the above embodiments.

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

[0257] This application also provides a computer-readable storage medium storing computer-executable instructions that, when executed by a processor, are used to implement the methods described in any of the foregoing embodiments of this application.

[0258] This application also provides a chip for executing instructions, which is used to perform the methods described in any of the foregoing embodiments executed by an electronic device as described in any of the foregoing embodiments of this application.

[0259] This application also provides a computer program product, which includes a computer program that, when executed by a processor, can implement the methods described in any of the foregoing embodiments executed by an electronic device as described in any of the foregoing embodiments of this application.

[0260] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or modules may be electrical, mechanical, or other forms.

[0261] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to implement the solution of this embodiment according to actual needs.

[0262] Furthermore, the functional modules in the various embodiments of this 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 unit composed of the above modules can be implemented in hardware or in the form of hardware plus software functional units.

[0263] The integrated modules implemented as software functional modules described above can be stored in a computer-readable storage medium. These software functional modules, stored in a storage medium, include several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute some steps of the methods described in the various embodiments of this application.

[0264] It should be understood that the aforementioned processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. A general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the application can be directly manifested as being executed by a hardware processor, or executed by a combination of hardware and software modules within the processor.

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

[0266] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0267] The aforementioned storage media can be implemented from 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 storage, flash memory, magnetic disk, or optical disk. The storage media can be any available medium accessible to general-purpose or special-purpose computers.

[0268] An exemplary storage medium is coupled to a processor, enabling the processor to read information from and write information to the storage medium. Alternatively, the storage medium can be an integral part of the processor. Both the processor and the storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and storage medium can exist as discrete components in an electronic device or host device.

[0269] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily essential to this application.

[0270] It should be further noted that although the steps in the flowchart are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowchart may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

[0271] In the above embodiments, the descriptions of each embodiment have their own emphasis. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments. The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as the combination of these technical features does not contradict each other, it should be considered within the scope of this specification.

[0272] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the claims.

[0273] The above description is merely a specific implementation of the embodiments of this application, but the protection scope of the embodiments of this application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the embodiments of this application should be covered within the protection scope of the embodiments of this application. Therefore, the protection scope of the embodiments of this application should be determined by the protection scope of the claims.

Claims

1. A method for controlling the recharging of an intelligent lawnmower, characterized in that, The method includes: The intelligent lawnmower travels from the starting position toward the base station to the first position. When the intelligent lawnmower is at the first position, if the first offset angle is greater than the threshold angle, the intelligent lawnmower deflects in the direction that reduces the first offset angle. The first position is a random point located between the starting position and the base station. The intelligent lawnmower travels from the first position to a random point within a first trajectory range directly in front of the base station; 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; The intelligent lawnmower returns to the base station for charging from a random point within the first trajectory range; Wherein, the first offset angle is: the angle between the traveling direction of the smart lawnmower and the line connecting the current position of the smart lawnmower toward the center of the first trajectory range; During the process of the intelligent lawnmower returning to the base station from a random point within the first trajectory range, the intelligent lawnmower's direction of travel is corrected at least twice; The intelligent lawnmower is equipped with only one lidar, and the base station includes a first marker and a second marker set on opposite sides of the central axis. The first marker and the second marker are reflective stickers. During the process of the intelligent lawnmower returning to the base station from a random point within the first trajectory range, the intelligent lawnmower's direction of travel is corrected at least twice, including: The intelligent lawnmower identifies the third and fourth offset angles of its movement. When the angle difference between the third and fourth offset angles is greater than a preset value, the intelligent lawnmower performs a deflection to correct the route of the intelligent lawnmower returning to the base station in real time. The third offset angle is the angle between the direction of travel of the smart lawnmower and the line connecting the current position of the smart lawnmower to the first marker; the fourth offset angle is the angle between the direction of travel of the smart lawnmower and the line connecting the current position of the smart lawnmower to the second marker.

2. The method according to claim 1, characterized in that, The ranging accuracy of the lidar is such that the percentage of points with a measurement error value not exceeding 6cm is greater than 68%.

3. The method according to claim 2, characterized in that, The first trajectory range is a circular area with a first distance as its radius, and the center of the first trajectory range is on the central axis of the base station.

4. The method according to claim 3, characterized in that, The first distance is 10cm.

5. The method according to claim 3, characterized in that, The base station also includes a base plate and a side plate, the base plate and the side plate together forming the housing space of the intelligent lawnmower; The first marker and the second marker are disposed on both sides of the central axis of the side plate. The projection of the midpoint of the line connecting the first marker and the second marker on the base 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.

6. The method according to claim 5, characterized in that, The second distance is 1.1-1.9m.

7. The method according to claim 6, characterized in that, The second distance is 1.35m.

8. 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 direction of travel of the smart lawnmower and the line connecting the current position of the smart lawnmower to the center of the circle of the first trajectory range.

9. The method according to claim 3, characterized in that, The distance between the first position and the center of the first trajectory range is 0-20cm.

10. The method according to claim 1, characterized in that, During the process of the intelligent lawnmower returning to the base station from a random point within the first trajectory range, the intelligent lawnmower's direction of travel is corrected at least twice, including: The intelligent lawnmower identifies a second offset angle and performs or does not perform a deflection based on the second offset angle to correct the direction of travel of the intelligent lawnmower back to the base station; The second offset angle is the angle between the forward direction of the intelligent lawnmower and the central axis of the base station.

11. The method according to claim 1, characterized in that, Also includes: When the angle difference between the third offset angle and the fourth offset angle is less than a preset value, the intelligent lawnmower does not perform deflection; The base station also includes a base plate and a side plate. The base plate and the side plate together form the housing space of the intelligent lawnmower. The first marker and the second marker are set on both sides of the central axis of the side plate.

12. The method according to claim 1, characterized in that, The intelligent lawnmower also includes an inertial measurement unit (IMU), which is used to assist in correcting the route taken by the intelligent lawnmower when returning to the base station.

13. A mapping method for an intelligent lawnmower, characterized in that, The method includes: During the mapping process of the intelligent lawnmower, the origin of the base station is determined, and a preset point is determined based on the origin of the base station. The preset point is located on the central axis of the base station. Based on the origin of the base station and the preset point, a travel route is generated for the smart lawnmower to return to the base station for charging from the starting position; wherein, the travel route has a first position, and the first position is separated from the preset point by a third distance, and the smart lawnmower's direction of travel at the starting position and at the first position is not collinear; the first position is a random point located between the starting position and the base station; The travel route is used to instruct the smart lawnmower to first travel from the starting position toward the base station to the first position, and then, if the first offset angle of the smart lawnmower at the first position is greater than a threshold angle, instruct the smart lawnmower to deflect in the direction that reduces the first offset angle, and travel from the first position to a random point within a first trajectory range directly in front of the base station, and then return to the base station for charging from the random point within the first trajectory range. During the process of returning to the base station for charging from the random point within the first trajectory range, the travel direction of the smart lawnmower is instructed to be corrected at least twice. Wherein, the first offset angle is the angle between the traveling direction of the intelligent lawnmower and the line connecting the current position of the intelligent lawnmower towards 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 less than the distance from the first position to the base station; the center of the first trajectory range is the preset point; The intelligent lawnmower is equipped with only one lidar, and the base station includes a first marker and a second marker set on opposite sides of the central axis. The first marker and the second marker are reflective stickers. During the process of returning to the base station for charging from a random point within the first trajectory range, the intelligent lawnmower's direction of travel is corrected at least twice, including: The travel route indicates that the smart lawnmower identifies a third and a fourth offset angle. When the angle difference between the third and fourth offset angles is greater than a preset value, the smart lawnmower is instructed to deflect to correct its return route to the base station in real time. The third offset angle is the angle between the smart lawnmower's travel direction and the line connecting its current position to the first marker. The fourth offset angle is the angle between the smart lawnmower's travel direction and the line connecting its current position to the second marker.

14. The method according to claim 13, characterized in that, The ranging accuracy of the lidar is such that the percentage of points with a measurement error value not exceeding 6cm is greater than 68%.

15. The method according to claim 14, characterized in that, The distance between the origin of the base station and the preset point is 1.1-1.9m.

16. The method according to claim 15, characterized in that, The distance between the origin of the base station and the preset point is 1.35m.

17. The method according to claim 14, characterized in that, The third distance is 0-20cm.

18. A smart lawnmower recharge control device, characterized in that, The device includes: A first control module is used to control the intelligent lawnmower to move from a starting position toward a base station to a first position. When the intelligent lawnmower is at the first position, if the first offset angle is greater than a threshold angle, the intelligent lawnmower deflects in a direction that reduces the first offset angle. The first position is a random point located between the starting position and the base station. The intelligent lawnmower is equipped with one and only one lidar. The base station includes a first marker and a second marker arranged on opposite sides of the central axis, and the first marker and the second marker are reflective stickers. The second control module is used to control the intelligent lawnmower to travel from the first position to a random point within a first trajectory range directly in front of the base station; 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; The third control module is used to control the smart lawnmower to return to the base station for charging from a random point within the first trajectory range, and to control the smart lawnmower to make at least two corrections in its direction of travel during the process of returning to the base station from the random point within the first trajectory range. Wherein, the first offset angle is: the angle between the traveling direction of the smart lawnmower and the line connecting the current position of the smart lawnmower toward the center of the first trajectory range; Specifically, the third control module is used to control the intelligent lawnmower to identify the third and fourth offset angles of its movement. When the angle difference between the third and fourth offset angles is greater than a preset value, the intelligent lawnmower performs a deflection to correct its path back to the base station in real time. The third offset angle is the angle between the direction of travel of the intelligent lawnmower and the line connecting the current position of the intelligent lawnmower to the first marker. The fourth offset angle is the angle between the direction of travel of the intelligent lawnmower and the line connecting the current position of the intelligent lawnmower to the second marker.

19. A smart lawnmower mapping device, characterized in that, The device includes: The determination module is used to determine the origin of the base station during the mapping process of the intelligent lawnmower, and to determine a preset point based on the origin of the base station, wherein the preset point is on the central axis of the base station; wherein the intelligent lawnmower is equipped with one and only one lidar, and the base station includes a first marker and a second marker set on opposite sides of the central axis, wherein the first marker and the second marker are reflective stickers; The generation module generates a route for the smart lawnmower to return to the base station for charging from its starting position, based on the origin of the base station and the preset point. The travel route has a first position, and the first position is separated from the preset point by a third distance. The intelligent lawnmower is not collinear with the starting position and the direction of travel at the first position. The first position is a random point located between the starting position and the base station. The travel route is used to instruct the smart lawnmower to first travel from the starting position toward the base station to the first position, and then, if the first offset angle of the smart lawnmower at the first position is greater than a threshold angle, instruct the smart lawnmower to deflect in the direction that reduces the first offset angle, and travel from the first position to a random point within a first trajectory range directly in front of the base station, and then return to the base station for charging from the random point within the first trajectory range. During the process of returning to the base station for charging from the random point within the first trajectory range, the travel direction of the smart lawnmower is instructed to be corrected at least twice. Wherein, the first offset angle is the angle between the traveling direction of the intelligent lawnmower and the line connecting the current position of the intelligent lawnmower towards 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 less than the distance from the first position to the base station; the center of the first trajectory range is the preset point; During the process of returning to the base station for charging from a random point within the first trajectory range, the intelligent lawnmower's direction of travel is corrected at least twice, including: The travel route indicates that the smart lawnmower identifies the third and fourth offset angles. When the angle difference between the third and fourth offset angles is greater than a preset value, the smart lawnmower is instructed to perform a deflection to correct the travel route of the smart lawnmower back to the base station in real time. The third offset angle is the angle between the direction of travel of the smart lawnmower and the line connecting the current position of the smart lawnmower to the first marker; the fourth offset angle is the angle between the direction of travel of the smart lawnmower and the line connecting the current position of the smart lawnmower to the second marker.

20. An electronic device, characterized in that, include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory to implement the method as described in any one of claims 1-17.

21. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method as described in any one of claims 1-17.

22. A computer program product, characterized in that, Includes a computer program that, when executed by a processor, implements the method as described in any one of claims 1-17.

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