Intelligent mower control method and device, storage medium and intelligent mower

Abstract

The embodiment of the invention provides an intelligent mower control method and device, a storage medium and an intelligent mower, and the method comprises the steps: collecting a ground environment image in front of the intelligent mower and the magnetic field signal intensity near the current position of the intelligent mower when the intelligent mower carries out the mowing work; judging a position area in front of the intelligent mower based on the ground environment image and the magnetic field signal intensity; if the position area in front is a base station or a narrow channel, determining a working mode into which the magnetic detection unit should enter based on the presetting of a user; if it is determined that the working mode that the magnetic detection unit should enter is the guiding mode, the magnetic detection unit is controlled to enter the guiding mode, and the intelligent mower is controlled to advance along the guiding magnetic strip near the base station or the guiding magnetic strip in the narrow channel until the intelligent mower returns to the base station for charging or passes through the narrow channel. According to the embodiment of the invention, the intelligent mower can be controlled to be charged and pass through a narrow channel between different working sites.

Description

Technical Field

[0001] The present application relates to the technical field of intelligent lawn mower control, and in particular to an intelligent lawn mower control method, device, storage medium and intelligent lawn mower. Background Art

[0002] With the development of science and technology, environmentally friendly and intelligent robot lawn mowers have gradually appeared in the public's field of vision. Due to their safety, noiselessness, and high intelligence, they have become the new favorite in the lawn mower market. Therefore, it has become a trend for smart lawn mowers to replace traditional lawn mowers. As for smart lawn mowers, how to control them while mowing so that they can charge and pass through narrow passages between different work sites is a technical problem that needs to be solved. Summary of the invention

[0003] The embodiments of the present application provide a smart lawn mower control method, device, storage medium and smart lawn mower, which can control the smart lawn mower to charge and pass through narrow passages between different work sites while mowing.

[0004] The present application provides a method for controlling an intelligent lawn mower, wherein the intelligent lawn mower is provided with a visual unit and a magnetic detection unit, and the method comprises:

[0005] When the smart lawn mower is mowing, the ground environment image in front of the smart lawn mower is collected by the visual unit, and the magnetic field signal strength near the current location of the smart lawn mower is collected by the magnetic detection unit;

[0006] Determine the location area in front of the smart lawn mower based on the ground environment image and the magnetic field signal strength;

[0007] If it is determined that the location area in front of the intelligent lawn mower is a base station or a narrow passage, the working mode that the magnetic detection unit should enter is determined based on the user's pre-setting, wherein the working mode includes an obstacle avoidance mode and a guidance mode;

[0008] If it is determined that the working mode that the magnetic detection unit should enter is the guidance mode, the magnetic detection unit is controlled to enter the guidance mode, and the smart lawn mower is controlled to move along the guidance magnetic strip near the base station or the guidance magnetic strip in the narrow channel until it returns to the base station for charging or passes through the narrow channel, wherein a guidance magnetic strip is provided near the base station and in the narrow channel, for guiding the smart lawn mower to enter the base station for charging or guide the smart lawn mower to pass through the narrow channel.

[0009] In the intelligent lawn mower control method described in the embodiment of the present application, the determining the location area in front of the intelligent lawn mower based on the ground environment image and the magnetic field signal strength includes:

[0010] Determining whether the location area in front of the intelligent lawn mower is a working area or a non-working area through the ground environment image;

[0011] If it is a working area, determining whether the magnetic field signal strength is greater than a preset magnetic field signal strength threshold;

[0012] If so, it is determined through the ground environment image whether the location area in front of the intelligent lawn mower is a base station or a narrow passage.

[0013] In the intelligent lawn mower control method described in the embodiment of the present application, after determining whether the location area in front of the intelligent lawn mower is a base station or a narrow passage through the ground environment image, the method further includes:

[0014] If not, the position area in front of the smart lawn mower is determined to be an obstacle area. At this time, the direction of the obstacle magnetic strip that generates the magnetic field signal and the distance between the obstacle magnetic strip and the smart lawn mower are determined based on the orientation of the magnetic field signal and the strength of the magnetic field signal, wherein the obstacle area is surrounded by the obstacle magnetic strip;

[0015] Based on the direction of the obstacle magnetic strip and the distance between the obstacle magnetic strip and the intelligent lawn mower, the intelligent lawn mower is controlled to perform a backward or turning operation to avoid the obstacle magnetic strip.

[0016] In the intelligent lawn mower control method described in the embodiment of the present application, after determining whether the location area in front of the intelligent lawn mower is a working area or a non-working area through the ground environment image, the method further includes:

[0017] If it is a non-working area, determining whether the magnetic field signal strength is greater than a preset magnetic field signal strength threshold;

[0018] If yes, it is determined that the position area in front of the smart lawn mower is a boundary of the working area blocked by a magnetic strip, and the smart lawn mower is controlled to move backward or turn to avoid the obstacle magnetic strip;

[0019] If not, it is determined that the location area in front of the intelligent lawn mower is a non-grass area or a boundary of a working area composed of three-dimensional obstacles. At this time, the intelligent lawn mower is controlled to move backward or turn to continue mowing.

[0020] In the intelligent lawn mower control method described in the embodiment of the present application, after determining the working mode that the magnetic detection unit should enter based on the user's pre-setting, it also includes:

[0021] If it is determined that the working mode that the magnetic detection unit should enter is the obstacle avoidance mode, the intelligent lawn mower is controlled to stay away from the base station or the narrow passage.

[0022] In the intelligent lawn mower control method described in the embodiment of the present application, before controlling the intelligent lawn mower to move away from the base station or the narrow passage, the method further includes:

[0023] Determine the direction of the guide magnetic strip that generates the magnetic field signal and the distance between the guide magnetic strip and the smart lawn mower based on the orientation of the magnetic field signal and the strength of the magnetic field signal;

[0024] The controlling the intelligent lawn mower to move away from the base station or the narrow passage includes:

[0025] Based on the direction of the guide magnetic strip and the distance between the guide magnetic strip and the smart lawn mower, the smart lawn mower is controlled to perform a backing or turning operation to avoid the guide magnetic strip.

[0026] In the intelligent lawn mower control method described in the embodiment of the present application, after the intelligent lawn mower walks out of the narrow channel along the guide magnetic strip in the narrow channel, the magnetic detection unit is controlled to enter the obstacle avoidance mode.

[0027] An embodiment of the present application also provides an intelligent lawn mower control device, which includes a processor and a memory, wherein a computer program is stored in the memory, and the processor is used to execute the intelligent lawn mower control method described in any of the above embodiments by calling the computer program stored in the memory.

[0028] The embodiment of the present application further provides an intelligent lawn mower, which includes the intelligent lawn mower control device described in the above embodiment.

[0029] An embodiment of the present application further provides a computer-readable storage medium, wherein a computer program is stored in the computer-readable storage medium. When the computer program is executed on a computer, the computer executes the intelligent lawn mower control method described in any of the above embodiments.

[0030] The smart lawn mower control method provided by the embodiment of the present application is provided with a visual unit and a magnetic detection unit. When the smart lawn mower is mowing, the ground environment image in front of the smart lawn mower is collected by the visual unit, and the magnetic field signal strength near the current position of the smart lawn mower is collected by the magnetic detection unit, and then the position area in front of the smart lawn mower is judged based on the ground environment image and the magnetic field signal strength; if it is judged that the position area in front of the smart lawn mower is a base station or a narrow passage, the working mode that the magnetic detection unit should enter is determined based on the user's pre-setting; if it is determined that the working mode that the magnetic detection unit should enter is the guidance mode, the magnetic detection unit is controlled to enter the guidance mode, and the smart lawn mower is controlled to move along the guidance magnetic strip near the base station or the guidance magnetic strip in the narrow passage until it returns to the base station for charging or passes through the narrow passage, thereby being able to control the smart lawn mower to charge and pass through the narrow passage between different work sites. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application, and those skilled in the art can obtain other drawings based on these drawings without creative work.

[0032] Figure 1 A flowchart of a smart lawn mower control method provided in an embodiment of the present application.

[0033] Figure 2 Another flowchart of the intelligent lawn mower control method provided in an embodiment of the present application.

[0034] Figure 3 This is an overall schematic diagram of the working area of ​​the smart lawn mower provided in an embodiment of the present application.

[0035] Figure 4 A schematic diagram of an intelligent lawn mower provided in an embodiment of the present application passing through a narrow passage.

[0036] Figure 5 A schematic diagram of the structure of an intelligent lawn mower control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0037] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0038] An embodiment of the present application provides a smart lawn mower control method, which can be applied to a smart lawn mower.

[0039] See also Figure 1 and Figure 2 , Figure 1 and Figure 2 All of them are flow charts of the intelligent lawn mower control method provided in the embodiments of the present application. Figure 2 The self-propelled device in the invention is an intelligent lawn mower. The intelligent lawn mower control method is applied to an intelligent lawn mower, and the intelligent lawn mower is provided with a visual unit and a magnetic detection unit. The method may include the following steps:

[0040] Step 10: When the smart lawn mower is mowing, the ground environment image in front of the smart lawn mower is collected by the visual unit, and the magnetic field signal strength near the current location of the smart lawn mower is collected by the magnetic detection unit.

[0041] The visual unit is located at the upper front part of the housing of the smart lawn mower, and is used to collect image information of the ground environment in front of the smart lawn mower. The image range collected by the visual unit is a fixed preset image detection area. In the embodiment of the present application, the preset image detection area includes at least one rectangular area, the central axis of the rectangular area coincides with the central axis of the smart lawn mower, and the width of the rectangular area should be greater than the body width of the smart lawn mower. The magnetic detection unit is located below the smart lawn mower, and is used to detect magnetic field signals near the ground.

[0042] Specifically, the visual unit includes a camera and a detection circuit. The camera is installed at the upper front part of the smart lawn mower, preferably near the central axis of the smart lawn mower, and is used to collect ground environment image information in front of the smart lawn mower; the detection circuit is used to process the image information of the predetermined area in front of the smart lawn mower collected by the camera, analyze the various information in the image information and judge the attributes of each part in the area, such as color information or texture features, etc., so as to judge whether the location area in front of the smart lawn mower is a working area or a non-working area. At the same time, the detection circuit also extracts the RGB component value of each pixel point in the image of the area from the image information, calculates the proportion of specific pixels in each area, and combines the length, width and area of ​​the image to further judge the actual size of each area in the image.

[0043] The magnetic detection unit includes a magnetic sensor and a detection circuit. The magnetic sensor is used to detect static magnetic field signals within a certain range near the smart lawn mower, such as the magnetic field from a magnetic strip, and generate a corresponding signal of detectable magnetic field strength or value. The magnetic detection unit should include at least two magnetic sensors. The detection circuit is used to obtain the geomagnetic data obtained by the magnetic sensor in real time, and compare it with a preset threshold to determine whether the smart lawn mower has reached the vicinity of the preset magnetic field.

[0044] Among them, the magnetic detection unit can be used as a separate module, that is, the magnetic sensor and the detection circuit are placed together and placed in any suitable position such as under the outer shell of the smart lawn mower, on the lower side of the equipment cabin, etc. The magnetic detection unit can also separate the magnetic sensor and the detection circuit and place them in suitable positions of the smart lawn mower. In either case, the installation position of the magnetic sensor must be designed to have a certain gap from the ground, and there must be no shielding caused by any metal objects to avoid interference with the signal from the magnetic field. The embodiments of the present application are not limited to specific sizes and heights. For smart lawn mowers, the suitable range of height is 6cm to 10cm.

[0045] When the magnetic sensor is set directly below the direction of the smart lawn mower, if there are multiple magnetic sensors, the positions of the multiple magnetic sensors should be symmetrical and at the same height. Through such a design, the deviation angle of the smart lawn mower relative to the magnetic field signal generating device can be accurately detected. By adjusting the left and right swing of the smart lawn mower in real time, the smart lawn mower can perform obstacle avoidance or guidance actions.

[0046] Among them, in addition to the visual unit and the magnetic detection unit, the smart lawn mower also includes a motion unit and a charging unit. The motion unit is the working mode performed by the smart lawn mower. In the embodiment of the present application, the motion unit includes a walking motor controlled by a drive circuit (used to drive the smart lawn mower to move forward, backward or perform tasks such as turning) and a mowing motor (used to drive the smart lawn mower to perform mowing work). The charging unit is used for the smart lawn mower to return to the base station for charging.

[0047] Step 20: determine the location area in front of the intelligent lawn mower based on the ground environment image and the magnetic field signal strength.

[0048] In some embodiments, the determining the location area in front of the smart lawn mower based on the ground environment image and the magnetic field signal strength includes:

[0049] Determining whether the location area in front of the intelligent lawn mower is a working area or a non-working area through the ground environment image;

[0050] If it is a working area, determining whether the magnetic field signal strength is greater than a preset magnetic field signal strength threshold;

[0051] If so, it is determined through the ground environment image whether the location area in front of the intelligent lawn mower is a base station or a narrow passage.

[0052] When the smart lawn mower is working, it first detects the grass information in the direction of the smart lawn mower through the visual unit at the front end. If it detects a non-working area, it will retreat or turn to continue working. If the visual unit detects the working area, but the magnetic detection unit detects magnetic field information exceeding the threshold, the smart lawn mower will start to slow down and slowly swing left and right, and then determine whether the location area in front of the smart lawn mower is near the base station or a narrow passage based on the detection results of the visual unit.

[0053] In some embodiments, after determining through the ground environment image whether the location area in front of the intelligent lawn mower is a working area or a non-working area, the method further includes:

[0054] If it is a non-working area, determining whether the magnetic field signal strength is greater than a preset magnetic field signal strength threshold;

[0055] If yes, it is determined that the position area in front of the smart lawn mower is a boundary of the working area blocked by a magnetic strip, and the smart lawn mower is controlled to move backward or turn to avoid the obstacle magnetic strip;

[0056] If not, it is determined that the location area in front of the intelligent lawn mower is a non-grass area or a boundary of a working area composed of three-dimensional obstacles. At this time, the intelligent lawn mower is controlled to move backward or turn to continue mowing.

[0057] Among them, Figure 3 As shown, the ground is divided into a working area (101) and a non-working area (100), and the boundary line between the working area (101) and the non-working area (100) forms a boundary (110), and the working area (101) and the non-working area (100) should be visually different. In the embodiment of the present application, 102 is an intelligent lawn mower, and the base station (103) is arranged on the boundary (110). The intelligent lawn mower walks and mows grass in the working area (101) defined by the boundary (110). Specifically, the boundary of the working area (101) is composed of a ground boundary composed of a non-grass area (105), a three-dimensional fence composed of three-dimensional obstacles (106), and a virtual fence formed by a flexible magnetic strip (104), and the three-dimensional obstacle (106) can be a shrub, a house, etc. Among them, the non-grass area (105), the three-dimensional fence (106) and the grass in the same working area can be distinguished visually, for example, the color and texture are different. The virtual fence (104) can be set at the edge of the lawn or an area that needs to be blocked from entry according to user needs, and is used to artificially define the boundary of the non-working area.

[0058] The intelligent lawn mower (102) relies on the visual unit and the magnetic detection unit to work in the working area (101). The intelligent lawn mower identifies the working area (101) and the non-working area (100) through color information or texture characteristics. The visual unit first identifies the color information and then makes a judgment in combination with the identified texture information. In the embodiment of the present application, the grass is used as the working area, the color of the grass should be green, and the texture is a natural irregular pattern. As a non-working area, the non-grass area (105) may be land or concrete floor or other types of ground paving. The three-dimensional boundary fence (106) may be a three-dimensional obstacle such as a shrub or a house. The color of the non-working area is usually different from the color of the grass. Even if the color is the same, it is usually artificially processed and has a regular texture. Therefore, the intelligent lawn mower can identify grass and non-grass by combining color characteristics with texture features.

[0059] During normal operation, when the smart lawn mower moves to the vicinity of a non-grass boundary (105) or a three-dimensional fence (106), the visual unit detects the non-grass information or the three-dimensional fence information, confirms that it has reached the boundary of the working area, and the smart lawn mower retreats or turns. When the smart lawn mower moves to the vicinity of the flexible magnetic strip (104), the magnetic sensor detects the set boundary and then retreats.

[0060] The flexible magnetic strip (104) of the embodiment of the present application does not need to be arranged in the entire area, but only needs to be placed in a specific position (such as an open boundary, around obstacles, near base stations, etc.). The prior art usually pre-buries a closed coil in the lawn to generate an electronic fence to demarcate the boundary line, and then the smart lawn mower detects the electromagnetic field signal of the closed coil to keep running only in the working area. However, this method is not convenient for replacing the coil after it is worn. After wear, the coil needs to be cut in sections for investigation. If it is internal wear, it is necessary to use power-on and other means to find the damaged coil (it is difficult to effectively calibrate the working area with the worn coil), and it is cumbersome to rearrange the coil after it is arranged.

[0061] In some embodiments, after determining whether the location area in front of the smart lawn mower is a base station or a narrow passage through the ground environment image, the method further includes:

[0062] If not, the position area in front of the smart lawn mower is determined to be an obstacle area. At this time, the direction of the obstacle magnetic strip that generates the magnetic field signal and the distance between the obstacle magnetic strip and the smart lawn mower are determined based on the orientation of the magnetic field signal and the strength of the magnetic field signal, wherein the obstacle area is surrounded by the obstacle magnetic strip;

[0063] Based on the direction of the obstacle magnetic strip and the distance between the obstacle magnetic strip and the intelligent lawn mower, the intelligent lawn mower is controlled to perform a backward or turning operation to avoid the obstacle magnetic strip.

[0064] Among them, since the obstacle area is surrounded by the obstacle magnetic strip, if it is determined that the smart lawn mower is not near the base station or the narrow passage, it means that the location area in front of the smart lawn mower is the obstacle area. At this time, the distance and direction of the obstacle magnetic strip that generates the magnetic field signal are determined according to the orientation and strength of the magnetic field signal, and the smart lawn mower is controlled to perform obstacle avoidance operations such as backing up and turning to stay away from the obstacle magnetic strip.

[0065] like Figure 3 As shown, the flexible magnetic strip (107) goes around the obstacle (108) to form the boundary of the obstacle. When the smart lawn mower moves to the vicinity of the obstacle (108) and enters the flexible magnetic strip (107), the smart lawn mower detects the magnetic field signal and determines that it has entered the obstacle (108). At this time, it retreats or turns to exit the obstacle area (108).

[0066] Step 30: If it is determined that the location area in front of the smart lawn mower is a base station or a narrow passage, the working mode that the magnetic detection unit should enter is determined based on the user's pre-settings, wherein the working modes include obstacle avoidance mode and guidance mode.

[0067] Among them, when the smart lawn mower is mowing normally, it is in obstacle avoidance mode by default. If it is determined that the smart lawn mower is near a base station or a narrow passage, and according to the program requirements preset by the user, the smart lawn mower needs to be charged or pass through a narrow passage to reach another work site, the magnetic detection unit enters the guidance mode. If it is determined that the smart lawn mower is near a base station or a narrow area, but according to the program requirements preset by the user, it is determined that the smart lawn mower does not need to be charged or pass through a narrow passage to reach another work site, it is considered that the smart lawn mower remains in obstacle avoidance mode.

[0068] Step 40: If it is determined that the working mode that the magnetic detection unit should enter is the guidance mode, the magnetic detection unit is controlled to enter the guidance mode, and the smart lawn mower is controlled to move along the guidance magnetic strip near the base station or the guidance magnetic strip in the narrow channel until it returns to the base station for charging or passes through the narrow channel, wherein a guidance magnetic strip is provided near the base station and in the narrow channel for guiding the smart lawn mower to enter the base station for charging or guide the smart lawn mower to pass through the narrow channel.

[0069] Among them, after the magnetic detection unit enters the guidance mode, the smart lawn mower rotates in a specific direction, controls the smart lawn mower to approach the guide magnetic strip, moves to the top of the guide magnetic strip, makes the guide magnetic strip be on the central axis of the smart lawn mower, and controls the smart lawn mower to move along the guide magnetic strip until it enters the base station for charging or passes through a narrow passage.

[0070] like Figure 3 As shown, a guide magnetic strip (109) is arranged near the base station (103).

[0071] like Figure 4 As shown, the working area consists of site 1 and site 2. The two sites are connected by a narrow passage. The two sides of the passage are formed by boundaries composed of obstacles. A guide magnetic strip is laid in the middle of the passage. Both ends of the magnetic strip extend out of the passage and enter the two sites respectively. The length of the magnetic strip extending into the site should satisfy the requirement that the magnetic detection unit of the smart lawn mower can detect accurate magnetic field information, and the visual unit can detect boundary information. Taking one embodiment as an example, the length of the guide magnetic strip extending into the site should be equal to the length of the smart lawn mower, which is more appropriate. When the smart lawn mower needs to enter site 2 from site 1, the three-dimensional fence or non-grass information is detected by the visual unit, and the magnetic detection unit detects the magnetic field information. At this time, the smart lawn mower enters the guidance mode and enters site 2 along the guide magnetic strip through the narrow passage. When the visual unit re-detects the grass information, and the magnetic field information detected by the magnetic detection unit is lower than the set threshold, it is considered that the smart lawn mower has passed through the narrow passage, then the smart lawn mower re-enters the obstacle avoidance mode and starts working in site 2. Among them, Figure 4 The self-propelled device in the system is the smart lawn mower.

[0072] In some embodiments, after determining the working mode that the magnetic detection unit should enter based on the user's preset, the method further includes:

[0073] If it is determined that the working mode that the magnetic detection unit should enter is the obstacle avoidance mode, the intelligent lawn mower is controlled to stay away from the base station or the narrow passage.

[0074] In some embodiments, before controlling the smart lawn mower to move away from the base station or the narrow passage, the method further includes:

[0075] Determine the direction of the guide magnetic strip that generates the magnetic field signal and the distance between the guide magnetic strip and the smart lawn mower based on the orientation of the magnetic field signal and the strength of the magnetic field signal;

[0076] The controlling the intelligent lawn mower to move away from the base station or the narrow passage includes:

[0077] Based on the direction of the guide magnetic strip and the distance between the guide magnetic strip and the smart lawn mower, the smart lawn mower is controlled to perform a backing or turning operation to avoid the guide magnetic strip.

[0078] In some embodiments, after the smart lawn mower walks out of the narrow passage along the guide magnetic strip in the narrow passage, the magnetic detection unit is controlled to enter the obstacle avoidance mode.

[0079] All the above optional technical solutions can be arbitrarily combined to form optional embodiments of the present application, which will not be described one by one here.

[0080] In specific implementation, the present application is not limited by the execution order of the various steps described. If no conflict occurs, some steps can be performed in other orders or simultaneously.

[0081] As can be seen from the above, the smart lawn mower control method provided in the embodiment of the present application, when the smart lawn mower is mowing, collects the ground environment image in front of the smart lawn mower through the visual unit, and collects the magnetic field signal strength near the current position of the smart lawn mower through the magnetic detection unit, and then judges the location area in front of the smart lawn mower based on the ground environment image and the magnetic field signal strength; if it is determined that the location area in front of the smart lawn mower is a base station or a narrow channel, the working mode that the magnetic detection unit should enter is determined based on the user's pre-setting; if it is determined that the working mode that the magnetic detection unit should enter is the guidance mode, the magnetic detection unit is controlled to enter the guidance mode, and the smart lawn mower is controlled to move along the guidance magnetic strip near the base station or the guidance magnetic strip in the narrow channel until it returns to the base station for charging or passes through the narrow channel, thereby being able to control the smart lawn mower to charge and pass through the narrow channel between different work sites.

[0082] The embodiment of the present application also provides an intelligent lawn mower control device, and the intelligent lawn mower control can be integrated in an intelligent lawn mower.

[0083] See also Figure 5 , Figure 5A schematic diagram of the structure of an intelligent lawn mower control device provided in an embodiment of the present application. The intelligent lawn mower control device 30 includes a memory 120, one or more processors 180, and one or more applications, wherein the one or more applications are stored in the memory 120 and configured to be executed by the processor 180; the memory 120 can be used to store applications and data. The applications stored in the memory 120 contain executable code. The applications can be composed of various functional modules. The processor 180 executes various functional applications and data processing by running the applications stored in the memory 120. In addition, the memory 120 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage devices. Accordingly, the memory 120 may also include a memory controller to provide the processor 180 with access to the memory 120.

[0084] The processor 180 is the control center of the device, and uses various interfaces and lines to connect various parts of the entire terminal, and executes various functions of the device and processes data by running or executing applications stored in the memory 120, and calling data stored in the memory 120, so as to monitor the device as a whole. Optionally, the processor 180 may include one or more processing cores; preferably, the processor 180 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, and application programs.

[0085] Specifically in this embodiment, a computer program is stored in the memory 120 , and the processor 180 executes the intelligent lawn mower control method described in any of the above embodiments by calling the computer program stored in the memory 120 .

[0086] An embodiment of the present application further provides an intelligent lawn mower, which includes the intelligent lawn mower control device described above.

[0087] An embodiment of the present application further provides a computer-readable storage medium, wherein a computer program is stored in the storage medium. When the computer program is executed on a computer, the computer executes the intelligent lawn mower control method described in any of the above embodiments.

[0088] It should be noted that, for the intelligent lawn mower control method described in the present application, ordinary testers in the field can understand that the whole or part of the process of implementing the intelligent lawn mower control method described in the embodiment of the present application can be completed by controlling the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium, such as stored in the memory of the intelligent lawn mower, and executed by at least one processor in the intelligent lawn mower, and the execution process may include the process of the embodiment of the intelligent lawn mower control method. Among them, the storage medium can be a disk, an optical disk, a read-only memory (ROM), a random access memory (RAM), etc.

[0089] The above is a detailed introduction to the intelligent lawn mower control method, device, storage medium and intelligent lawn mower provided in the embodiments of the present application. This article uses specific examples to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method and core ideas of the present application; at the same time, for technicians in this field, according to the ideas of the present application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A control method for an intelligent lawn mower, wherein the intelligent lawn mower is provided with a visual unit and a magnetic detection unit, characterized in that: The method comprises: When the smart lawn mower is mowing, the ground environment image in front of the smart lawn mower is collected by the visual unit, and the magnetic field signal strength near the current location of the smart lawn mower is collected by the magnetic detection unit; Determine the location area in front of the smart lawn mower based on the ground environment image and the magnetic field signal strength; If it is determined that the location area in front of the intelligent lawn mower is a base station or a narrow passage, the working mode that the magnetic detection unit should enter is determined based on the user's pre-setting, wherein the working mode includes an obstacle avoidance mode and a guidance mode; If it is determined that the working mode that the magnetic detection unit should enter is the guidance mode, the magnetic detection unit is controlled to enter the guidance mode, and the smart lawn mower is controlled to move along the guidance magnetic strip near the base station or the guidance magnetic strip in the narrow channel until it returns to the base station for charging or passes through the narrow channel, wherein a guidance magnetic strip is provided near the base station and in the narrow channel, for guiding the smart lawn mower to enter the base station for charging or guide the smart lawn mower to pass through the narrow channel.

2. The intelligent lawn mower control method according to claim 1, characterized in that: The determining the location area in front of the intelligent lawn mower based on the ground environment image and the magnetic field signal strength includes: Determining whether the location area in front of the intelligent lawn mower is a working area or a non-working area through the ground environment image; If it is a working area, determining whether the magnetic field signal strength is greater than a preset magnetic field signal strength threshold; If so, it is determined through the ground environment image whether the location area in front of the intelligent lawn mower is a base station or a narrow passage.

3. The intelligent lawn mower control method according to claim 2, characterized in that: After determining whether the location area in front of the intelligent lawn mower is a base station or a narrow passage through the ground environment image, the method further includes: If not, the position area in front of the smart lawn mower is determined to be an obstacle area. At this time, the direction of the obstacle magnetic strip that generates the magnetic field signal and the distance between the obstacle magnetic strip and the smart lawn mower are determined based on the orientation of the magnetic field signal and the strength of the magnetic field signal, wherein the obstacle area is surrounded by the obstacle magnetic strip; Based on the direction of the obstacle magnetic strip and the distance between the obstacle magnetic strip and the intelligent lawn mower, the intelligent lawn mower is controlled to perform a backward or turning operation to avoid the obstacle magnetic strip.

4. The intelligent lawn mower control method according to claim 2, characterized in that: After judging whether the location area in front of the intelligent lawn mower is a working area or a non-working area through the ground environment image, the method further includes: If it is a non-working area, determining whether the magnetic field signal strength is greater than a preset magnetic field signal strength threshold; If yes, it is determined that the position area in front of the smart lawn mower is a boundary of the working area blocked by a magnetic strip, and the smart lawn mower is controlled to move backward or turn to avoid the obstacle magnetic strip; If not, it is determined that the location area in front of the intelligent lawn mower is a non-grass area or a boundary of a working area composed of three-dimensional obstacles. At this time, the intelligent lawn mower is controlled to move backward or turn to continue mowing.

5. The intelligent lawn mower control method according to claim 1, characterized in that: After determining the working mode that the magnetic detection unit should enter based on the user's pre-setting, the method further includes: If it is determined that the working mode that the magnetic detection unit should enter is the obstacle avoidance mode, the intelligent lawn mower is controlled to stay away from the base station or the narrow passage.

6. The intelligent lawn mower control method according to claim 5, characterized in that: Before controlling the intelligent lawn mower to move away from the base station or the narrow passage, the method further includes: Determine the direction of the guide magnetic strip that generates the magnetic field signal and the distance between the guide magnetic strip and the smart lawn mower based on the orientation of the magnetic field signal and the strength of the magnetic field signal; The controlling the intelligent lawn mower to move away from the base station or the narrow passage includes: Based on the direction of the guide magnetic strip and the distance between the guide magnetic strip and the smart lawn mower, the smart lawn mower is controlled to perform a backing or turning operation to avoid the guide magnetic strip.

7. The intelligent lawn mower control method according to claim 1, characterized in that: When the intelligent lawn mower walks out of the narrow passage along the guide magnetic strip in the narrow passage, the magnetic detection unit is controlled to enter the obstacle avoidance mode.

8. An intelligent lawn mower control device, characterized in that: The device includes a processor and a memory, wherein a computer program is stored in the memory, and the processor is used to execute the intelligent lawn mower control method according to any one of claims 1 to 7 by calling the computer program stored in the memory.

9. An intelligent lawn mower, characterized in that: The intelligent lawn mower comprises the intelligent lawn mower control device according to claim 8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed on a computer, the computer executes the intelligent lawn mower control method according to any one of claims 1 to 7.

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