Driving control method and mowing robot

Abstract

The invention is suitable for the technical field of mowing robots, and provides a driving control method and a mowing robot, the driving control method is applied to the mowing robot, and the driving control method comprises the following steps: controlling the mowing robot to detect a guide signal from a guide line; if the guiding signal meets the preset condition, the mowing robot is controlled to continue driving by a first preset distance; after the mowing robot travels for the first preset distance, the mowing robot is controlled to change the traveling direction, so that the mowing robot travels along the guide line. After the mowing robot detects that the mowing robot crosses the guide line, the mowing robot continues to run for a certain distance and then changes the running direction, so that the area between the mowing assembly and the guide line is prevented from being missed in mowing, and the mowing coverage rate is increased.

Description

Technical Field

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

[0002] The lawn mower robot has an automatic driving function and can complete the task of mowing the lawn autonomously. It is a tool suitable for lawn mowing and maintenance in places such as home gardens and public green spaces. The lawn mower robot is usually a wire-buried lawn mower robot, that is, a guide wire is buried in the working area of ​​the lawn mower robot to limit the driving range of the lawn mower robot. At present, when the wire-buried lawn mower robot is driving in the working area, if it detects that it has crossed the guide wire, it controls the differential steering of the drive wheels on the left and right sides. However, since the mowing component of the lawn mower robot is usually located at the rear of the lawn mower robot, if the lawn mower robot turns when it detects that it has crossed the guide wire, it is easy to cause the area between the mowing component and the guide wire to be missed, thereby reducing the mowing coverage rate. Summary of the invention

[0003] The embodiments of the present application provide a driving control method and a lawn mowing robot, which can solve the problem in the prior art that if the lawn mowing robot turns when detecting that it has crossed a guide line, it is easy to cause the area between the mowing component and the guide line to be missed, thereby reducing the mowing coverage rate.

[0004] A first aspect of an embodiment of the present application provides a driving control method, which is applied to a lawn mowing robot, comprising:

[0005] controlling the lawn mowing robot to detect a guidance signal from the guidance line;

[0006] If the guidance signal meets the preset conditions, the lawn mowing robot is controlled to continue to travel the first preset distance;

[0007] After the lawn mowing robot travels a first preset distance, the lawn mowing robot is controlled to change the travel direction so that the lawn mowing robot travels along the guide line.

[0008] In one embodiment, before controlling the lawn mowing robot to continue traveling the first preset distance, the method includes:

[0009] Determine whether there is an obstacle in the forward direction of the lawn mowing robot;

[0010] If there is an obstacle, obtain the distance between the mowing robot and the obstacle;

[0011] The driving strategy of the lawn mowing robot is determined according to the distance.

[0012] In one embodiment, a method for determining a driving strategy of a lawn mowing robot according to a distance includes:

[0013] If the distance is not greater than the first preset distance, the lawn mowing robot needs to be controlled to turn around and then retreat the first preset distance.

[0014] If the distance is greater than the first preset distance, the lawn mowing robot needs to be controlled to move forward the first preset distance.

[0015] In one embodiment, a method for controlling a lawn mowing robot to turn around and then retreat a first preset distance includes:

[0016] The lawn mowing robot is controlled to move forward a second preset distance, and the lawn mowing robot is controlled to turn around and move backward a third preset distance, wherein the sum of the second preset distance and the third preset distance is the first preset distance.

[0017] In one embodiment, before controlling the lawn mowing robot to detect a guidance signal from a guidance line, the method includes:

[0018] Determine whether the mowing robot needs to drive onto the guide line for positioning;

[0019] When the mowing robot needs to drive to the guide line for positioning, the mowing robot is controlled to drive in the direction of the guide line;

[0020] When the lawn mower robot does not need to drive onto the guide line for positioning, the lawn mower robot is controlled to drive in the direction of the guide line, and the distance between the lawn mower robot and the guide line is obtained in real time; when the distance between the lawn mower robot and the guide line is a fourth preset distance, the lawn mower robot is controlled to change the driving direction until the lawn mower robot needs to execute the step of driving onto the guide line for positioning.

[0021] In one embodiment, the lawn mowing robot is provided with a boundary sensor and a positioning sensor, and the preset condition is that the polarity of the guidance signal detected by the boundary sensor changes, and / or the intensity of the guidance signal detected by the positioning sensor reaches a maximum value.

[0022] In one embodiment, the method for determining the first preset distance includes:

[0023] Determine whether two boundary sensors symmetrically distributed on both sides of the mowing robot simultaneously detect a change in the polarity of the guidance signal;

[0024] If the polarity change of the guide signal cannot be detected at the same time, the distance between the boundary sensor that detects the polarity change last and the axle of the driving wheel of the lawn mowing robot is used as the first preset distance.

[0025] In one embodiment, before controlling the lawn mowing robot to change the driving direction, the method includes:

[0026] Determine whether the axis of the driving wheel of the mowing robot intersects or coincides with the guide line or the extension line of the guide line;

[0027] When the axis line of the driving wheel of the lawn mower robot intersects or coincides with the guide line or the extension line of the guide line, the rotation center of the lawn mower robot is determined based on the intersection or coincidence information.

[0028] In one embodiment, a method for controlling a lawn mowing robot to change a driving direction includes:

[0029] If the rotation center is located at the center of the driving wheel axle of the lawn mower robot, the lawn mower robot is controlled to rotate in situ until two boundary sensors symmetrically distributed on both sides of the lawn mower robot respectively detect guidance signals with opposite polarities.

[0030] A second aspect of an embodiment of the present application provides a lawn mowing robot, which includes a memory and a processor. The memory is used to store a computer program, and the processor is used to execute the computer program to implement the driving control method of the lawn mowing robot as described above.

[0031] The driving control method provided by the first aspect of the embodiment of the present application controls the lawn mower robot to detect the guidance signal from the guide line, and controls the lawn mower robot to continue to travel a first preset distance if the guidance signal meets the preset conditions. After the lawn mower robot travels the first preset distance, the lawn mower robot is controlled to change the driving direction so that the lawn mower robot travels along the guide line. After the lawn mower robot detects that it has crossed the guide line, it can continue to travel for a distance and then change the driving direction, thereby avoiding missing the area between the mowing component and the guide line and improving the mowing coverage rate.

[0032] It can be understood that the beneficial effects of the second aspect mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the specific implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0034] Figure 1 A schematic diagram of the structure of a lawn mowing robot provided in an embodiment of the present application;

[0035] Figure 2 A first flow chart of the driving control method provided in the embodiment of the present application;

[0036] Figure 3 A schematic diagram of a first application of the driving control method provided in an embodiment of the present application;

[0037] Figure 4 A second flow chart of the driving control method provided in the embodiment of the present application;

[0038] Figure 5 A third flow chart of the driving control method provided in the embodiment of the present application;

[0039] Figure 6 A second application schematic diagram of the driving control method provided in an embodiment of the present application;

[0040] Figure 7 A third application schematic diagram of the driving control method provided in the embodiment of the present application;

[0041] Figure 8 A fourth flow chart of the driving control method provided in the embodiment of the present application;

[0042] Fig. 9 A fifth flow chart of the driving control method provided in the embodiment of the present application;

[0043] Fig.10 A fourth application schematic diagram of the driving control method provided in the embodiment of the present application;

[0044] Fig.11 A sixth flow chart of the driving control method provided in the embodiment of the present application;

[0045] Fig.12 A fifth application schematic diagram of the driving control method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0046] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0047] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0048] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0049] As used in the specification and appended claims of this application, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "uponce determined" or "in response to determining" or "uponce [described condition or event] is detected" or "in response to detecting [described condition or event]", depending on the context.

[0050] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0051] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways. "Multiple" means "two or more".

[0052] At present, when a wire-embedded lawn mower robot is driving in a working area, if it detects that it has crossed a guide line, it controls the left and right driving wheels to turn at differential speed. However, since the mowing component of the lawn mower robot is usually located at the rear of the lawn mower robot, if the lawn mower robot turns when it detects that it has crossed a guide line, it is easy to cause the area between the mowing component and the guide line to be missed, thereby reducing the mowing coverage rate.

[0053] In response to the above problems, an embodiment of the present application provides a driving control method, which is applied to a lawn mowing robot. The method controls the lawn mowing robot to detect a guidance signal from a guide line. If the guidance signal meets a preset condition, the lawn mowing robot is controlled to continue driving a first preset distance. After the lawn mowing robot has driven the first preset distance, the lawn mowing robot is controlled to change the driving direction so that the lawn mowing robot drives along the guide line. After the lawn mowing robot detects that it has crossed the guide line, it can continue driving for a certain distance before changing the driving direction, thereby avoiding missing the area between the mowing component and the guide line and improving the mowing coverage rate.

[0054] The driving control method provided in the present application is exemplarily described below in conjunction with specific embodiments.

[0055] The driving control method provided in this embodiment is applied to a lawn mower robot, which includes a guide signal sensing module and a drive module, wherein the guide signal sensing module is used to detect the guide signal from the guide line, and the drive module is used to drive the lawn mower robot to travel. The guide signal sensing module may include a boundary sensor and a positioning sensor, wherein the positioning sensor is used to position the lawn mower robot traveling along the guide line, and the boundary sensor is used to detect the magnetic field signal in the working area, and the processor analyzes the magnetic field signal to determine the boundary information. The drive module may include a drive wheel and a drive motor.

[0056] like Figure 1 As shown, the positioning sensor includes a first positioning sensor 101 and a second positioning sensor 102. The first positioning sensor 101 is a first sensor coil having a first sensitive axis for detecting signals in the direction of the first sensitive axis. The second positioning sensor 102 is a second sensor coil having a second sensitive axis for detecting signals in the direction of the second sensitive axis. The first sensitive axis and the second sensitive axis are parallel or perpendicular to each other. The first positioning sensor 101 and the second positioning sensor 102 are distributed on the central axis of the lawn mower robot. The distance L2 between the first positioning sensor 101 and the second positioning sensor 102 is not less than the axle spacing L1 between the front and rear action wheels 103.

[0057] The boundary sensor includes a first boundary sensor 104, a second boundary sensor 105 and a third boundary sensor 106. The first boundary sensor 104 and the second boundary sensor 105 are distributed on both sides of the first positioning sensor 101 and are symmetrical about the central axis of the lawn mowing robot. The third boundary sensor 106 is located on the central axis of the lawn mowing robot. The first boundary sensor 104 is a third sensor coil, the second boundary sensor 105 is a fourth sensor coil, and the third boundary sensor 106 is a fifth sensor coil. The third sensitive axis of the third sensor coil, the fourth sensitive axis of the fourth sensor coil and the fifth sensitive axis of the fifth sensor coil are parallel to each other, and the third sensitive axis, the fourth sensitive axis and the fifth sensitive axis are all perpendicular to the first sensitive axis and the second sensitive axis.

[0058] The guide line is connected to the base station, and a signal generator is arranged in the base station or on the guide line. The first signal output terminal of the signal generator is connected to the first end of the guide line, and the second signal output terminal of the signal generator is connected to the second end of the guide line. The positioning signal generated by the signal generator is output from the first signal output terminal and then injected into the first end of the guide line, or is output from the second signal output terminal and then injected into the second end of the guide line. The boundary signal generated by the signal generator is output from the second signal output terminal and then injected into the first end of the guide line or the second end of the guide line.

[0059] The mowing robot may further include a mowing component 107, a collision sensor component, a lifting sensor component, a blade lifting sensor component, a blade in-position sensor component, and a control module, wherein the mowing component includes an element for mowing, and the collision sensor component is used to detect whether the body of the mowing robot is hit, and can detect the direction of the collision on the body, thereby accurately controlling the robot to move in the opposite direction. The lifting sensor component is used to detect whether the body is off the ground, and if the body is off the ground, the mowing component and the driving module are controlled to stop working. The control module communicates with the mowing component, the driving module, the guide signal sensor module, the collision sensor component, and the lifting sensor component, and the control module is configured to operate the mowing component and the driving module in response to the positioning information of the mowing robot obtained from the guide signal sensor module, the collision information of the mowing robot obtained from the collision sensor component, and the lifting information of the mowing robot obtained from the lifting sensor component.

[0060] like Figure 2 As shown, the driving control method includes:

[0061] S21. Control the lawn mowing robot to detect a guidance signal from the guidance line.

[0062] In application, the guide line can be set at the boundary of the working area of ​​the lawn mower robot, the guide signal can include a boundary signal and a positioning signal, and the control of the lawn mower robot to detect the guide signal from the guide line can be to control the lawn mower robot to detect the boundary signal from the guide line in real time through a boundary sensor during the driving process of the lawn mower robot, or to detect the positioning signal from the guide line in real time through a positioning sensor.

[0063] In the application, a signal generator is arranged in the base station or on the guide line, the first signal output end of the signal generator is connected to the first end of the guide line, the second signal output end of the signal generator is connected to the second end of the guide line, the positioning signal generated by the signal generator is output from the first signal output end and then injected into the first end of the guide line, or is output from the second signal output end and then injected into the second end of the guide line, and the boundary signal generated by the signal generator is output from the second signal output end and then injected into the first end of the guide line or the second end of the guide line. The signal generator injects high-frequency positioning signals and low-frequency boundary signals into the guide line at intervals. When the guide line is located between the first boundary sensor and the second boundary sensor, the directions of the magnetic field signals sensed by the first boundary sensor and the second boundary sensor are opposite, and the magnetic field strength is equivalent. When the guide line is located outside the lawn mowing robot, the directions of the magnetic fields sensed by the first boundary sensor and the second boundary sensor are the same, and the magnetic field strength sensed by one of the boundary sensors closer to the guide line is larger. When the guide line is located directly below the first positioning sensor or / and the second positioning sensor, the magnetic field strength sensed by the positioning sensor is the largest.

[0064] S22: If the guidance signal meets the preset condition, control the lawn mowing robot to continue traveling the first preset distance.

[0065] In application, the above preset condition may be a condition related to the lawn mower robot crossing the guide line. Specifically, if the guide signal is a boundary signal, the preset condition is that the polarity of the boundary signal detected by the boundary sensor changes. At this time, the first critical position of the lawn mower robot when the boundary sensor detects that the polarity of the boundary signal changes can be recorded; if the guide signal is a positioning signal, the preset condition is that the intensity of the positioning signal detected by the positioning sensor reaches the maximum value. At this time, the second critical position of the lawn mower robot when the intensity of the positioning signal detected by the positioning sensor reaches the maximum value can be recorded. The above control of the lawn mower robot to continue to travel the first preset distance may be to control the lawn mower robot to continue to travel the first preset distance starting from the first critical position or the second critical position. The lawn mower robot can travel forward or backward, which is mainly determined by the relative position relationship between the sensor and the axis of the drive wheel.

[0066] In the application, the first preset distance is not less than the distance between the sensor for detecting the guide signal and the axle of the driving wheel of the mowing robot. For example, if the sensor for detecting the guide signal is the first boundary sensor or / and the second boundary sensor, and the distance between the first boundary sensor or the second boundary sensor and the axle of the driving wheel is D1, then the first preset distance is not less than D1; if the sensor for detecting the guide signal is the third boundary sensor, and the distance between the third boundary sensor and the axle of the driving wheel is D2, then the first preset distance is not less than D2; if the sensor for detecting the guide signal is the first positioning sensor, and the distance between the first positioning sensor and the axle of the driving wheel is D3, then the first preset distance is not less than D3; if the sensor for detecting the guide signal is the second positioning sensor, and the distance between the second positioning sensor and the axle of the driving wheel is D4, then the first preset distance is not less than D4.

[0067] S23. After the lawn mowing robot travels a first preset distance, control the lawn mowing robot to change the travel direction so that the lawn mowing robot travels along the guide line.

[0068] In the application, after the mowing robot travels the first preset distance, the mowing robot is controlled to change the driving direction so that the mowing robot travels along the guide line. After the mowing robot travels the first preset distance, the mowing robot is controlled to rotate in situ with the center point between the two driving wheels as the rotation center and the distance D between the center point and one of the driving wheels as the radius so that the mowing robot travels along the guide line. Before controlling the mowing robot to rotate in situ, the rotation direction needs to be determined according to the working mode of the mowing robot. If the mowing robot is in the recharging mode, the direction with the shortest recharging time is determined as the rotation direction. If the mowing robot is in the mowing mode, the direction of the area to be mowed is determined as the rotation direction.

[0069] See also Figure 3 , Figure 3 This is a schematic diagram of an application of the driving control method provided in an embodiment of the present application, such as Figure 3 As shown, ① is the lawn mower robot moving toward the guide line, ② is the boundary sensor set on the lawn mower robot detecting a change in signal polarity, ③ is the lawn mower robot moving forward a first preset distance, and ④ is the state of the lawn mower robot after turning.

[0070] The driving control method provided in the embodiment of the present application controls the lawn mower robot to detect the guidance signal from the guide line. If the guidance signal meets the preset conditions, the lawn mower robot is controlled to continue to travel a first preset distance. After the lawn mower robot travels the first preset distance, the lawn mower robot is controlled to change the driving direction so that the lawn mower robot travels along the guide line. After the lawn mower robot detects that it has crossed the guide line, it can continue to travel for a distance and then change the driving direction, thereby avoiding missing the area between the mowing component and the guide line and improving the mowing coverage rate.

[0071] like Figure 4 As shown, in one embodiment, before the lawn mowing robot is controlled to continue to travel the first preset distance, the travel control method includes:

[0072] S41: Determine whether there is an obstacle in the forward direction of the lawn mowing robot.

[0073] S42: If there is an obstacle, obtain the distance between the lawn mowing robot and the obstacle.

[0074] S43: Determine a driving strategy of the lawn mowing robot according to the distance.

[0075] In the application, if there is an obstacle in the forward direction of the lawn mower robot, the lawn mower robot may hit the obstacle when traveling forward for the first preset distance, so that the lawn mower robot cannot turn correctly. Therefore, it is necessary to determine the strategy for the lawn mower robot to travel the first preset distance according to the distance between the lawn mower robot and the obstacle when the lawn mower robot detects that the guidance signal meets the preset conditions. Specifically, the distance between the lawn mower robot and the obstacle can be the distance between the front end of the lawn mower robot in the forward direction and the obstacle.

[0076] like Figure 5 As shown, in one embodiment, the method for determining the driving strategy of the lawn mowing robot according to the distance includes:

[0077] S51: If the distance is not greater than the first preset distance, the lawn mowing robot needs to be controlled to turn around and then retreat the first preset distance.

[0078] S52: If the distance is greater than the first preset distance, the lawn mowing robot needs to be controlled to move forward the first preset distance.

[0079] In the application, if the distance between the mowing robot and the obstacle is greater than the first preset distance, it means that the mowing robot will not hit the obstacle when it moves forward by the first preset distance, so the mowing robot can be directly controlled to move forward by the first preset distance. If the distance between the mowing robot and the obstacle is not greater than the first preset distance, it means that the mowing robot will hit the obstacle when it moves forward by the first preset distance, so the mowing robot can be controlled to use the center point between the two driving wheels as the rotation center, turn around, and then move back by the first preset distance.

[0080] See also Figure 6 , Figure 6 This is a schematic diagram of an application of the driving control method provided in an embodiment of the present application, such as Figure 6 As shown, ① is the lawn mower robot moving towards the guide line, ② is the boundary sensor set on the lawn mower robot detecting a change in signal polarity, ③ is the lawn mower robot turning around, ④ is the lawn mower robot retreating a first preset distance after turning around, and ⑤ is the state of the lawn mower robot after turning around.

[0081] The driving control method provided in the embodiment of the present application determines whether there is an obstacle in the forward direction of the lawn mower robot. If there is an obstacle, the distance between the lawn mower robot and the obstacle is obtained, and the driving strategy of the lawn mower robot is determined according to the distance. This can ensure that the lawn mower robot does not collide with the obstacle during the process of traveling the first preset distance, thereby enabling the lawn mower robot to turn effectively.

[0082] In one embodiment, the method of controlling the lawn mower robot to turn around and then retreat a first preset distance includes: controlling the lawn mower robot to advance a second preset distance, and controlling the lawn mower robot to turn around and then retreat a third preset distance, wherein the sum of the second preset distance and the third preset distance is the first preset distance.

[0083] In application, the lawn may be damaged by the lawn mower robot when turning around. Therefore, when controlling the lawn mower robot to turn around and then retreat a first preset distance, the lawn mower robot can be controlled to move forward a second preset distance first, and then controlled to retreat a third preset distance after turning around, so that the lawn mower robot turns around as close as possible to the boundary of the working area, thereby reducing the damage to the lawn caused by the lawn mower robot turning around.

[0084] See also Figure 7 , Figure 7 This is a schematic diagram of an application of the driving control method provided in an embodiment of the present application, such as Figure 7As shown, ① is the lawn mower robot moving towards the guide line, ② is the boundary sensor set on the lawn mower robot detecting a change in signal polarity, ③ is the lawn mower robot moving forward a second preset distance, ④ is the lawn mower robot turning around, ⑤ is the lawn mower robot moving back a third preset distance after turning around, and ⑥ is the state of the lawn mower robot after turning.

[0085] like Figure 8 As shown, in one embodiment, before controlling the lawn mowing robot to detect the guidance signal from the guide line, the travel control method includes:

[0086] S81: Determine whether the lawn mowing robot needs to drive to the guide line for positioning.

[0087] S82: When the lawn mower robot needs to move onto the guide line for positioning, control the lawn mower robot to move in the direction of the guide line.

[0088] S83. When the lawn mower robot does not need to drive onto the guide line for positioning, control the lawn mower robot to drive in the direction of the guide line, and obtain the distance between the lawn mower robot and the guide line in real time; when the distance between the lawn mower robot and the guide line is a fourth preset distance, control the lawn mower robot to change the driving direction until the lawn mower robot needs to execute the step of driving onto the guide line for positioning.

[0089] In the application, when the mowing robot is moving along the guide line and the forward direction is parallel to the guide line, the first positioning sensor and the second positioning sensor can be used for positioning. The specific method is that the mowing robot starts from the charging station and then enters the line patrol and mapping mode. In the line patrol and mapping mode, the odometer is used to obtain the distance set S moved relative to the initial position, and the first positioning sensor and the second positioning sensor are used to obtain positioning data respectively. After the line patrol and mapping is completed, two positioning data sets A and B are obtained, and a mapping relationship between the positioning data sets A and B and the distance set S is established.

[0090] In the application, when the lawn mower robot is positioned on the guide line, the lawn mower robot is controlled to travel a distance L on the guide line. During this process, the first positioning sensor and the second positioning sensor are used to obtain positioning data, and two positioning data sets M and N are obtained after traveling the distance L. The positioning data sets M and N are then matched with the aforementioned data sets A and B, and a distance set S1 corresponding to a section of positioning data in A and B that best matches M and N is obtained through a certain evaluation function. Then, based on the distance set S1, multiple postures of the lawn mower robot traveling on the guide line are obtained.

[0091] In the application, if the mowing robot needs to drive onto the guide line for positioning, the mowing robot detects the guidance signal from the guide line, and if the guidance signal meets the preset conditions, the mowing robot is controlled to continue to drive the first preset distance, and after the mowing robot drives the first preset distance, the mowing robot is controlled to change the driving direction so that the mowing robot drives along the guide line and performs positioning. If the mowing robot does not need to drive onto the guide line for positioning, that is, when the mowing robot is in the mowing mode, the distance between the mowing robot and the guide line can be obtained in real time. When the distance between the mowing robot and the guide line is the fourth preset distance, the mowing robot is controlled to change the driving direction so that the mowing robot does not cross the guide line and mows inside the boundary of the working area until the mowing robot needs to drive onto the guide line for positioning.

[0092] The driving control method provided in the embodiment of the present application can improve the applicability of the driving control method of the lawn mower robot by determining whether the lawn mower robot needs to drive to the guide line for positioning and executing different driving strategies in different situations.

[0093] like Fig. 9 As shown, in one embodiment, the method for determining the first preset distance includes:

[0094] S91: Determine whether two boundary sensors symmetrically distributed on both sides of the lawn mowing robot simultaneously detect that the polarity of the guidance signal changes.

[0095] S92: If the polarity change of the guide signal cannot be detected at the same time, the distance between the boundary sensor that detects the polarity change last and the axle of the driving wheel of the lawn mowing robot is used as the first preset distance.

[0096] In applications, such as Fig.10 As shown, when the lawn mower robot is moving toward the guide line, the central axis of the lawn mower robot may not be perpendicular to the guide line. Therefore, two boundary sensors symmetrically distributed on both sides of the lawn mower robot may not be able to detect the change in polarity of the guide signal at the same time. When one of the boundary sensors first detects the change in polarity of the guide signal, the lawn mower robot may not have completely crossed the guide wire. Therefore, the distance between the boundary sensor that last detects the change in polarity of the guide signal and the axle of the driving wheel of the lawn mower robot can be used as the first preset distance.

[0097] The driving control method provided in the embodiment of the present application, by using the distance between the boundary sensor that last detects the polarity change and the driving wheel axle of the lawn mower robot as the first preset distance, can enable the lawn mower robot to travel the first preset distance more accurately, thereby ensuring that the lawn mower robot can turn correctly.

[0098] like Fig.11As shown, in one embodiment, before controlling the lawn mowing robot to change the driving direction, the driving control method includes:

[0099] S111. Determine whether the axis line of the driving wheel of the lawn mowing robot intersects or coincides with the guide line or the extension line of the guide line.

[0100] S112: When the axis line of the driving wheel of the lawn mower robot intersects or coincides with the guide line or the extension line of the guide line, determine the rotation center of the lawn mower robot based on the intersection or coincidence information.

[0101] In application, when the lawn mower robot is traveling in the direction of the guide line, if the central axis of the lawn mower robot is perpendicular to the guide line, then after the lawn mower robot travels a first preset distance, the wheel axis of the driving wheel of the lawn mower robot can coincide with the guide line; if the central axis of the lawn mower robot is not perpendicular to the guide line, then after the lawn mower robot travels a first preset distance, the wheel axis of the driving wheel of the lawn mower robot can intersect with the guide line or the extension of the guide line, so the rotation center of the lawn mower robot can be determined based on the coincidence information of the wheel axis of the driving wheel and the guide line, or the intersection of the wheel axis of the driving wheel and the guide line or the extension of the guide line. For example, when the wheel axis of the driving wheel coincides with the guide line, the center of the wheel axle of the driving wheel is determined as the rotation center, and when the wheel axis of the driving wheel intersects with the guide line or the extension of the guide line, the intersection is determined as the rotation center.

[0102] In one embodiment, a method for controlling a lawn mower robot to change its driving direction includes: if the rotation center is located at the center of the axle of a driving wheel of the lawn mower robot, controlling the lawn mower robot to rotate in place until two boundary sensors symmetrically distributed on both sides of the lawn mower robot respectively detect guidance signals with opposite polarities and comparable magnetic field strengths.

[0103] In the application, after the lawn mower robot travels the first preset distance, it is also necessary to determine whether the center of the driving wheel axle of the lawn mower robot is located on the guide line. When the driving wheel axis coincides with the guide line, it can be determined that the driving wheel axle center is located on the guide line, and the lawn mower robot can be controlled to rotate in situ. When the intersection of the driving wheel axis and the guide line or the extension of the guide line does not coincide with the center of the driving wheel axle, it can be determined that the driving wheel axle center is not located on the guide line, and the lawn mower robot can be controlled to move forward or backward until the intersection of the driving wheel axis and the guide line or the extension of the guide line coincides with the center of the driving wheel axle, that is, the driving wheel axle center is located on the guide line and then rotates in situ.

[0104] In the application, after controlling the lawn mower robot to rotate in place, it is also possible to determine whether the distances between the first boundary sensor and the second boundary sensor and the tangent of the guide line are consistent. When the distances between the first boundary sensor and the second boundary sensor and the tangent of the guide line are consistent, the robot is controlled to stop rotating in place. When the distances between the first boundary sensor and the second boundary sensor and the tangent of the guide line are inconsistent, the robot continues to rotate to make the distances between the first boundary sensor and the second boundary sensor and the tangent of the guide line consistent, so that the central axis of the lawn mower robot coincides with the guide line, thereby facilitating the lawn mower robot to travel along the guide line.

[0105] See also Fig.12 , Fig.12 This is a schematic diagram of an application of the driving control method provided in an embodiment of the present application, such as Fig.12 As shown in the figure, the central axis of the lawn mower robot is not perpendicular to the guide line, ① is the lawn mower robot moving towards the guide line, ② is the boundary sensor arranged on the lawn mower robot detecting a change in signal polarity, ③ is the lawn mower robot moving forward a first preset distance, ④ is the lawn mower robot moving backward and adjusting its posture so that the center of the driving wheel axle of the lawn mower robot is located on the guide line, and ⑤ is the state of the lawn mower robot after turning.

[0106] The driving control method provided in the embodiment of the present application controls the lawn mower robot to rotate in situ when the rotation center is located at the center of the driving wheel axle of the lawn mower robot, until two boundary sensors symmetrically distributed on both sides of the lawn mower robot respectively detect guidance signals with opposite polarities, and when the two boundary sensors symmetrically distributed on both sides of the lawn mower robot are at the same distance from the tangent of the guide line, controls the robot to stop rotating in situ, thereby ensuring that the center axis of the lawn mower robot coincides with the guide line after turning, thereby facilitating the lawn mower robot to travel along the guide line, and because the center axis of the lawn mower robot is located on the guide line after turning, the working efficiency of the lawn mower robot can be improved compared to the lawn mower robot needing to adjust its posture after turning to make the center axis located on the guide line.

[0107] An embodiment of the present application further provides a lawn mowing robot, which includes a memory and a processor. The memory is used to store a computer program, and the processor is used to execute the computer program to implement the driving control method of the lawn mowing robot as described above.

[0108] In applications, the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.

[0109] In the application, the memory may be an internal storage unit of the lawn mower robot in some embodiments, such as a hard disk or memory of the lawn mower robot. In other embodiments, the memory may also be an external storage device of the lawn mower robot, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the lawn mower robot. The memory may also include both an internal storage unit and an external storage device of the lawn mower robot. The memory is used to store an operating system, an application program, a boot loader (BootLoader), data, and other programs, such as program code of a computer program. The memory may also be used to temporarily store data that has been output or is to be output.

[0110] The embodiment of the present application further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.

[0111] The present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processor, the steps of each of the above-mentioned method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may at least include: any entity or device that can carry the computer program code to the lawn mowing robot, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electric carrier signal, a telecommunication signal, and a software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk.

[0112] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0113] Those of ordinary skill in the art will appreciate that the devices and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0114] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interface, indirect coupling or communication connection of devices, which can be electrical, mechanical or other forms.

[0115] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A driving control method, characterized in that: Applied to lawn mowing robots, including: Controlling the lawn mowing robot to detect a guide signal from a guide line; If the guidance signal meets the preset condition, controlling the lawn mowing robot to continue traveling a first preset distance; After the lawn mowing robot travels the first preset distance, the lawn mowing robot is controlled to change a travel direction so that the lawn mowing robot travels along the guide line.

2. The driving control method according to claim 1, characterized in that: Before controlling the lawn mowing robot to continue traveling the first preset distance, the method includes: Determine whether there is an obstacle in the forward direction of the lawn mowing robot; If the obstacle exists, obtaining the distance between the lawn mowing robot and the obstacle; A driving strategy of the lawn mowing robot is determined according to the distance.

3. The driving control method according to claim 2, characterized in that: The method for determining the driving strategy of the lawn mowing robot according to the distance includes: If the distance is not greater than the first preset distance, the lawn mowing robot needs to be controlled to turn around and then retreat the first preset distance. If the distance is greater than the first preset distance, the lawn mowing robot needs to be controlled to move forward the first preset distance.

4. The driving control method according to claim 3, characterized in that: The method for controlling the lawn mowing robot to turn around and then retreat the first preset distance comprises: The lawn mower robot is controlled to move forward a second preset distance, and the lawn mower robot is controlled to turn around and move backward a third preset distance, wherein the sum of the second preset distance and the third preset distance is the first preset distance.

5. The driving control method according to claim 1, characterized in that: Before controlling the lawn mowing robot to detect a guide signal from a guide line, the method includes: Determining whether the lawn mowing robot needs to drive onto a guide line for positioning; When the lawn mowing robot needs to drive to the guide line for positioning, controlling the lawn mowing robot to drive in the direction of the guide line; When the lawn mower robot does not need to drive onto the guide line for positioning, the lawn mower robot is controlled to drive in the direction of the guide line, and the distance between the lawn mower robot and the guide line is acquired in real time; when the distance between the lawn mower robot and the guide line is a fourth preset distance, the lawn mower robot is controlled to change the driving direction until the lawn mower robot needs to execute the step of driving onto the guide line for positioning.

6. The driving control method according to claim 1, characterized in that: The lawn mowing robot is provided with a boundary sensor and a positioning sensor, and the preset condition is that the polarity of the guidance signal detected by the boundary sensor changes, and / or the intensity of the guidance signal detected by the positioning sensor reaches a maximum value.

7. The driving control method according to any one of claims 1 to 6, characterized in that: The method for determining the first preset distance includes: Determining whether two boundary sensors symmetrically distributed on both sides of the lawn mowing robot simultaneously detect a change in the polarity of the guidance signal; If the polarity change of the guide signal cannot be detected at the same time, the distance between the boundary sensor that detects the polarity change last and the axle of the driving wheel of the mowing robot is used as the first preset distance.

8. The driving control method according to any one of claims 1 to 6, characterized in that: Before controlling the lawn mowing robot to change the driving direction, the method includes: Determine whether the axis of the driving wheel of the lawn mowing robot intersects or coincides with the guide line or an extension line of the guide line; When the axis line of the driving wheel of the lawn mowing robot intersects or coincides with the guide line or the extension line of the guide line, the rotation center of the lawn mowing robot is determined based on the intersection or coincidence information.

9. The driving control method according to claim 8, characterized in that: The method for controlling the lawn mowing robot to change the driving direction comprises: If the rotation center is located at the center of the axle of the driving wheel of the lawn mower robot, the lawn mower robot is controlled to rotate in situ until two boundary sensors symmetrically distributed on both sides of the lawn mower robot respectively detect the guide signals with opposite polarities.

10. A lawn mowing robot, characterized in that: The lawn mowing robot comprises a memory and a processor, wherein the memory is used to store a computer program, and the processor is used to execute the computer program to implement the driving control method of the lawn mowing robot according to any one of claims 1 to 9.

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