Mowing robot control method and mowing robot

Abstract

The invention provides a mowing robot control method and a mowing robot, and relates to the technical field of automatic control. The mowing robot control method comprises the steps that the mowing robot is controlled to steer according to a target steering angle when reaching the boundary of a target lawn, the target steering angle is a first angle or a second angle, the first angle is an angle larger than 90 degrees, and the second angle is smaller than the first angle; during the working period before the preset condition is met, the ratio of the number of times of steering according to the first angle to the number of times of steering according to the second angle of the mowing robot is a first ratio; in the working period after the preset condition is met, the ratio of the number of times that the mowing robot steers according to the first angle to the number of times that the mowing robot steers according to the second angle is a second ratio, and the second ratio is smaller than the first ratio. Through the application, the cutting coverage rate of the mowing robot in the target lawn is improved, and the efficiency of mowing operation is also ensured.

Description

Technical Field

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

[0002] Mowing robots have been widely used in home garden lawn trimming. Among them, mowing robots that use random path planning are popular in the market because of their reliability, stability, and affordable price. When the mowing robot detects the lawn boundary or encounters a non-mowing area (such as an obstacle), it will turn at a preset angle to return to the lawn area and continue mowing.

[0003] One type of lawn mowing robot, when reaching the lawn boundary, turns at a large angle to return to the lawn area, which easily results in insufficient cutting of the lawn boundary area, resulting in a low mowing coverage rate; another type of lawn mowing robot, when reaching the lawn boundary, turns at a small angle to return to the lawn area. Although this reduces the possibility of insufficient cutting of the lawn boundary area, the lawn mowing robot takes a long time to complete the entire lawn operation, resulting in low mowing efficiency.

[0004] Therefore, it is necessary to improve the existing mowing robot that adopts random path planning so as to ensure the efficiency of mowing operation while improving the mowing coverage rate. Summary of the invention

[0005] In order to solve the problem in the above-mentioned prior art that the mowing coverage rate and the mowing efficiency cannot be taken into account at the same time, the embodiment of the present application provides a mowing robot control method and a mowing robot, so as to ensure the efficiency of the mowing operation while improving the mowing coverage rate.

[0006] In the first aspect, an embodiment of the present application provides a control method for a lawn mower robot, which is used to control the lawn mower robot to turn when it reaches the boundary of a target lawn. The method includes: controlling the lawn mower robot to turn according to a target turning angle when it reaches the boundary of a target lawn, the target turning angle being a first angle or a second angle, the first angle being an angle greater than 90°, and the second angle being less than the first angle; wherein, during the working period before a preset condition is reached, the ratio of the number of times the lawn mower robot turns according to the first angle to the number of times it turns according to the second angle is a first ratio; during the working period after the preset condition is reached, the ratio of the number of times the lawn mower robot turns according to the first angle to the number of times it turns according to the second angle is a second ratio, and the second ratio is less than the first ratio.

[0007] In combination with the first aspect, in certain implementations of the first aspect, the preset conditions include: the operation time of the mowing robot in the target lawn is greater than the first time threshold, and the timing starting point of the operation time includes the time point when the mowing robot starts mowing in the target lawn or the time point when the first ratio is adjusted to the second ratio. Alternatively, the time for which the mowing robot fails to identify tall grass is greater than the second time threshold, tall grass is defined as grass with a height greater than or equal to the height threshold, and in the process of identifying tall grass, the timing starts when tall grass is not identified, and the timing is reset if tall grass appears during the timing process. Alternatively, the time for the mowing motor of the mowing robot to continuously output low current is greater than the third time threshold, and low current is defined as a current less than or equal to the current threshold, wherein the timing starts when the current output by the mowing motor is less than or equal to the current threshold, and during the timing process, if the current output by the mowing motor is greater than the current threshold, the timing is reset.

[0008] In combination with the first aspect, in certain implementations of the first aspect, the lawn mower robot is controlled to turn according to a target steering angle when it reaches the boundary of a target lawn, including: determining the target steering angle based on a steering angle probability value, wherein, during a working period before a preset condition is met, the steering angle probability value is calculated based on a first ratio, and during a working period after the preset condition is met, the steering angle probability value is calculated based on a second ratio; controlling the lawn mower robot to turn at the target steering angle.

[0009] In combination with the first aspect, in certain implementations of the first aspect, the target steering angle is determined based on the steering angle probability value, including: obtaining any integer from 1 to 100; if the integer is less than the value obtained by multiplying the steering angle probability value by 100, determining the first angle as the target steering angle; if the integer is greater than or equal to the value obtained by multiplying the steering angle probability value by 100, determining the second angle as the target steering angle.

[0010] In combination with the first aspect, in certain implementations of the first aspect, as the lawn mowing robot accumulates operating time in the target lawn, the steering angle probability value decreases to the target value according to a preset decreasing rule and then enters the next cycle.

[0011] In combination with the first aspect, in certain implementations of the first aspect, the preset decreasing rules include: a random decreasing rule, which is represented by a set of multiple randomly decreasing probability values; or an arithmetic decreasing rule, which is represented by a linear equation with a negative linear correlation coefficient, or by a fixed difference between adjacent probability values.

[0012] In combination with the first aspect, in certain implementations of the first aspect, the method further includes: when the mowing robot receives a turning instruction in the target lawn, controlling the mowing robot to turn according to the target turning angle. The generation condition of the turning instruction includes: the mowing robot detects the target obstacle; or a target sensor in the mowing robot is triggered, and the target sensor includes a lift sensor or a tilt sensor.

[0013] In combination with the first aspect, in certain implementations of the first aspect, the first angle is determined from a large angle set, and the second angle is determined from a small angle set, wherein the large angle set includes multiple angles greater than 90°, and the small angle set includes multiple angles less than or equal to 90°.

[0014] In combination with the first aspect, in some implementations of the first aspect, the first angle is 135° and the second angle is 60°. In a second aspect, an embodiment of the present application provides a lawn mower robot, comprising: a storage module for storing a computer program; and a processing module for executing the computer program to implement the steps of the lawn mower robot control method according to any one of claims 1 to 9.

[0015] When the mowing robot reaches the boundary of the target lawn, the present application adopts a dynamic ratio and a dynamic steering angle to control the mowing robot to operate in the target lawn. Since the first angle is greater than the second angle, when the mowing robot uses the first angle to turn, it can cover the entire target lawn area faster, reducing the time to complete the mowing of the entire target lawn and improving the operating efficiency of the mowing robot; when the mowing robot uses the second angle to turn, it can make the mowing robot cut some detail areas that are easily overlooked more carefully, which can improve the mowing coverage rate and reduce the situation of missed mowing. The present application adopts different ratios in different working periods (including the working period before the preset conditions are reached and the working period after the preset conditions are reached), so that when reaching the lawn boundary for turning in different working periods, the first angle or the second angle determined by the ratio corresponding to the working period is used as the steering angle, which not only improves the mowing coverage rate but also ensures the efficiency of the mowing operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] By describing the embodiments of the present application in more detail in conjunction with the accompanying drawings, the above and other purposes, features and advantages of the present application will become more apparent. The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation of the present application. In the accompanying drawings, the same reference numerals generally represent the same components or steps.

[0017] Figure 1 Shown is a flow chart of a lawn mowing robot control method provided by an exemplary embodiment of the present application.

[0018] Figure 2 It is a comparative schematic diagram of controlling a lawn mowing robot to turn at a first angle and a second angle provided by an exemplary embodiment of the present application.

[0019] Figure 3 The figure is a schematic diagram of a flow chart of controlling a lawn mowing robot to turn according to a target turning angle provided by an exemplary embodiment of the present application.

[0020] Figure 4 Shown is a module schematic diagram of a lawn mowing robot provided by an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0022] With the development of science and technology, the automation of lawn mowing robots is getting higher and higher, and their use is becoming more and more widespread. They can complete the work of mowing the grass autonomously without human control, and have the advantages of low power, low noise, exquisite appearance, etc.

[0023] In the related art, when the lawn mowing robot performs the lawn mowing operation, a single steering angle is adopted, which results in the inability to simultaneously ensure the lawn mowing coverage rate and the efficiency of the lawn mowing operation.

[0024] Figure 1 FIG. 1 is a flow chart of a control method of a lawn mowing robot provided by an exemplary embodiment of the present application. The lawn mowing robot is configured to work in a working area, such as Figure 1 As shown, the lawn mowing robot control method provided in the embodiment of the present application includes the following steps.

[0025] Step S110, controlling the lawn mower robot to turn according to the target turning angle when reaching the boundary of the target lawn; wherein, during the working period before the preset condition is met, the ratio of the number of times the lawn mower robot turns according to the first angle to the number of times it turns according to the second angle is a first ratio, and during the working period after the preset condition is met, the ratio of the number of times the lawn mower robot turns according to the first angle to the number of times it turns according to the second angle is a second ratio, and the second ratio is smaller than the first ratio.

[0026] The target steering angle is a first angle or a second angle, the first angle is an angle greater than 90°, and the second angle is less than the first angle. In the present embodiment, the first angle and the second angle are both fixed values, the first angle is 135°, and the second angle is 60°. In other embodiments, the first angle may also be determined from a large angle set, and the second angle may also be determined from a small angle set, wherein the large angle set includes a plurality of angles greater than 90°, and the small angle set includes a plurality of angles less than or equal to 90°. For example, the large angle set is {120°, 125°, 130°, 135°, 140°}, and the small angle set is {40°, 50°, 60°, 70°, 80°}. It should be noted that the two adjacent large angles in the large angle set may be equidistant values ​​or non-equidistant values, and this application does not impose any restrictions on this.

[0027] In this embodiment, after the target turning angle is determined, the forward direction of the mowing robot can be changed by adjusting the angular velocity and linear velocity of the driving wheel of the mowing robot, so as to achieve the turning of the mowing robot within the target lawn.

[0028] It is understandable that the first ratio represents the current ratio, the second ratio represents the adjusted ratio, and the first ratio and the second ratio are not limited to only two ratios in this case. In the embodiment of the present application, the second ratio is less than the first ratio, and the preset condition indicates that the uncut area in the target lawn is less than the preset threshold.

[0029] Exemplarily, the preset condition can be set according to the operation status of the mowing robot and the operation requirements of the user. For example, in some implementations, an image within the target field of view collected by the mowing robot in the working area is obtained, the area of ​​the unmowed area in the image is calculated, and the preset condition is determined according to the area. Specifically, based on this, the preset condition is that the area ratio of the unmowed area is less than the area ratio threshold, wherein, in this case, the first ratio is greater than the second ratio. Based on this, the method for determining whether the preset condition is met includes: obtaining an image of the working area in the forward direction collected in real time by the mowing robot, segmenting the working area image, and obtaining a segmented image. Exemplarily, the working area image can be semantically segmented, that is, each pixel in the working area image is classified, different colors are used to represent different areas according to the classification results, and pixels of different colors corresponding to the unmowed area and the mowed area are obtained, and the area of ​​the unmowed area in the working area image is further calculated. Assuming that the area ratio threshold is 60%, if the area of ​​the unmowed area in the working area image accounts for less than 60% of the area of ​​the entire working area image, it is determined that the mowing robot is in the working period before the preset condition is met; otherwise, it is considered that the mowing robot is in the working period after the preset condition is met.

[0030] Continuing with the above example, if the preset condition is that the area ratio of the unmowed area is less than the area ratio threshold, then when the area of ​​the unmowed area is large, the first ratio is used to control the mowing robot to move in the target lawn. At this time, during the movement, the probability value of the first angle is relatively large; when the area of ​​the unmowed area is small, the second ratio is used to control the mowing robot to move in the target lawn. At this time, during the movement, the probability value of the second angle is relatively large. Since the first angle is greater than the second angle, when the mowing robot uses the first angle with a larger probability value to turn, the mowing robot can cover the unmowed area faster to mow. When the mowing robot uses the second angle with a larger probability value to turn, it can make the mowing robot cut some detail areas that are easily overlooked more carefully, improve the accuracy and smoothness of cutting, and reduce missed cutting.

[0031] In other implementations, the preset conditions may also be determined based on feature information of the unmowed area in the working area, and the preset conditions may be set based on a single dimension or multiple dimensions, which will not be described in detail in the embodiments of the present application.

[0032] When the mowing robot reaches the boundary of the target lawn, the present application adopts a dynamic ratio and a dynamic steering angle to control the mowing robot to operate in the target lawn. Since the first angle is greater than the second angle, when the mowing robot uses the first angle to turn, it can cover the entire target lawn area faster, reducing the time to complete the mowing of the entire target lawn and improving the operating efficiency of the mowing robot; when the mowing robot uses the second angle to turn, the mowing coverage rate can be improved, and the mowing robot can cut some detail areas that are easily overlooked more carefully, improve the accuracy and smoothness of cutting and the mowing coverage rate, and reduce missed cutting. The present application adopts different ratios in different working periods (including the working period before reaching the preset condition and the working period after reaching the preset condition), so that when reaching the lawn boundary and turning in different working periods, the first angle or the second angle determined by the ratio corresponding to the working period is used as the steering angle, which not only improves the mowing coverage rate but also ensures the efficiency of the mowing operation.

[0033] Optionally, in some embodiments of the present application, the preset condition further includes: the operation time of the mowing robot in the target lawn is greater than a first time threshold. In this case, the timing starting point of the operation time includes the time point when the mowing robot starts mowing in the target lawn or the time point when the first ratio is adjusted to the second ratio.

[0034] The time point at which the mowing robot described in the embodiment performs mowing refers to the earliest time at which the mowing robot is placed in the target lawn and moves to perform mowing. Based on this, the method for determining whether the mowing robot meets the preset conditions includes: after determining the timing starting point of the operation time of the mowing robot, accumulating the timing starting point to determine the operation time of the mowing robot. Assuming that the first time threshold is 1h, when the operation time of the mowing robot is less than 1h, it is determined that the mowing robot meets the preset conditions, that is, the mowing robot is in the working period before the preset conditions are met, otherwise, it is considered that the mowing robot does not meet the preset conditions.

[0035] Furthermore, in this embodiment, during the working period before the mowing robot reaches the preset conditions, the probability value of the mowing robot using the first angle to turn and mow is relatively large; during the working period after the preset conditions are reached, the probability value of the mowing robot using the second angle to turn and mow is relatively large. This arrangement facilitates the mowing robot to increase the proportion of the first angle and reduce the proportion of the second angle when it first starts working, so that the mowing robot can cover the entire lawn faster and improve the working efficiency of the mowing robot. After the mowing robot has been working for a period of time, the proportion of the first angle is reduced and the proportion of the second angle is increased, so that the mowing robot can more conveniently handle the details that were overlooked during the previous operation, and cut the uncut area more carefully to reduce the situation of missed cutting.

[0036] Optionally, in this embodiment, the preset condition further includes: the time during which the mowing robot fails to identify tall grass is greater than a second time threshold. In this case, during the process of identifying tall grass, the timing starts when tall grass is not identified, and the timing is reset if tall grass appears during the timing process.

[0037] In this embodiment, tall grass is defined as grass whose height is greater than or equal to a height threshold. In one implementation, the height threshold may be set by the mowing robot before leaving the factory, or, in order to ensure the accuracy of mowing, before mowing, the mowing robot may first take multiple images of the entire target lawn through its own configured image acquisition module (e.g., a binocular camera), and calculate the height of the grass to be cut in the target lawn, and then determine the height threshold. The height threshold determined by this method varies according to the grass to be cut in different target lawns, thereby maximizing the compatibility of the height threshold with the grass to be cut in the target lawn.

[0038] Furthermore, the continuous failure of the mowing robot to identify tall grass can be understood as the absence of tall grass within the target field of view of the mowing robot within the target time period, for example, the target time period is 1 minute. At the beginning of operation, the binocular camera of the mowing robot can see tall grass, but because the field of view of the binocular camera is limited, there may be no tall grass in the previous frame image, but tall grass appears in the current frame image. For fault tolerance, it is considered that there is really no tall grass only when there is no tall grass for a period of time.

[0039] Optionally, in this embodiment, the preset condition further includes: the time for which the mowing motor of the mowing robot continuously outputs low current is greater than a third time threshold. In this case, the timing starts when the current output by the mowing motor is less than or equal to the current threshold, and during the timing process, if the current output by the mowing motor is greater than the current threshold, the timing is reset.

[0040] In this embodiment, low current is defined as current less than or equal to the current threshold, and the current threshold can be set before the mowing robot leaves the factory. When the mowing motor of the mowing robot is operating, the current output is less than the current threshold, indicating that the mowing resistance of the mowing robot is small, and the probability of it driving to the mowing area is relatively high; conversely, the current output of the mowing motor of the mowing robot is greater than or equal to the current threshold, indicating that the mowing resistance of the mowing robot is large, and the probability of it driving to the area to be mowed is relatively high.

[0041] In addition, in combination with the above-mentioned examples of preset conditions, the first ratio is greater than the second ratio. That is, during the working period before the preset conditions in the examples of the embodiments of the present application are met, the mowing robot moves in the target lawn with a higher first angle turning probability value; during the working period after the preset conditions in the examples of the embodiments of the present application are met, the mowing robot moves in the target lawn with a higher second angle turning probability value.

[0042] The above three situations of preset conditions are described in detail. It can be seen that the preset conditions are different, but the effects are the same. The operating time of the mowing robot in the target lawn is greater than the first time threshold as a preset condition because when the mowing robot initially works, the uncut area of ​​the target lawn is relatively large, and the mowing robot needs to perform initial cutting of the uncut area at a first ratio (representing a higher turning probability value of the first angle) faster. When the operating time reaches a certain length of time, the mowing robot can achieve detailed cutting of the previously ignored uncut areas, such as obstacles or areas near the border, at a second ratio (representing a higher turning probability value of the second angle), to achieve the effect of trimming. The preset condition is that the time during which the mowing robot fails to identify high grass is greater than the second time threshold or the time during which the mowing motor of the mowing robot continuously outputs low current is greater than the third time threshold, wherein the second time threshold is recorded as T2 and the third time threshold is recorded as T3. In the time period of 0-T2, low grass continues to appear in the target field of view of the mowing robot, or, in the time period of 0-T3, the current output by the mowing motor is continuously less than the current threshold, indicating that the probability of the mowing robot driving in the mowing area is relatively large. At this time, the mowing robot needs to adjust the ratio, reduce the probability value of the first angle, and use the second angle with a larger probability value to turn, so that the mowing robot can better trim the border and cut some detail areas that are easily overlooked, improve the accuracy and smoothness of cutting, and reduce missed cutting. This embodiment determines whether the mowing robot meets the preset conditions according to different operating conditions of the mowing robot, and also improves the intelligence and automation control level of the mowing robot.

[0043] In some embodiments of the present application, the lawn mower robot control method further includes: when the lawn mower robot receives a turning instruction in the target lawn, controlling the lawn mower robot to turn according to the target turning angle.

[0044] Specifically, the conditions for generating the steering command include: the mowing robot detects the target obstacle. Alternatively, the target sensor in the mowing robot is triggered, and the target sensor includes a lift sensor or a tilt sensor. The mowing robot may encounter target obstacles during operation, including: fixed obstacles such as trees, shrubs, and flower beds; terrain obstacles such as undulating terrain and slopes; weather obstacles such as rainwater accumulation and mud; other obstacles, such as toys, stones, etc. The mowing robot can detect the target obstacles through a variety of sensors equipped with it, such as ultrasonic, infrared, laser radar, etc., so as to detect the target obstacles in time and avoid them when mowing. Alternatively, the mowing robot uses its own visual recognition system to identify the target obstacles through the camera and avoid them.

[0045] The lift sensor or tilt sensor of the mowing robot can be used to detect whether the mowing robot is working at the correct height and angle. When the mowing robot encounters an obstacle or uneven terrain, the lift sensor or tilt sensor will detect it and send a signal to the mowing robot to stop or adjust the height and angle to avoid damage to the mowing robot or mowing tool. The lift sensor or tilt sensor is a very important component of the mowing robot, which can improve the safety and efficiency of the robot.

[0046] Figure 2 The figure is a schematic diagram of a flow chart of controlling a lawn mowing robot to turn according to a target turning angle provided by an exemplary embodiment of the present application. Figure 2 The embodiment shown is described below in detail. Figure 2 The differences between the illustrated embodiment and the aforementioned embodiment and the similarities thereof will not be described in detail.

[0047] like Figure 2 As shown, in an embodiment of the present application, controlling the lawn mowing robot to turn according to the target turning angle when reaching the boundary of the target lawn includes the following steps.

[0048] Step S210: determining a target steering angle based on the steering angle probability value.

[0049] During the working period before the preset condition is met, the steering angle probability value is calculated based on the first ratio, and during the working period after the preset condition is met, the steering angle probability value is calculated based on the second ratio.

[0050] In some implementations, as the lawn mowing robot accumulates operating time in the target lawn, the steering angle probability value decreases to the target value according to a preset decreasing rule and then enters the next cycle.

[0051] That is to say, in one cycle, the magnitude of the steering angle probability value is inversely proportional to the operating time of the mowing robot. For example, as the operating time of the mowing robot increases, the steering angle probability value takes 80%, 60%, 40%, ... in turn. If the steering angle probability value currently executed by the mowing robot has reduced the target value, then when entering the next round of steering angle probability value adjustment, the steering angle probability value returns to the maximum value of the new cycle and starts a new cycle.

[0052] Optionally, the preset decreasing rules include: a random decreasing rule, which is represented by a set of multiple randomly decreasing probability values; or an arithmetic decreasing rule, which is represented by a linear equation with a negative linear correlation coefficient, or by a fixed difference between adjacent probability values.

[0053] Exemplarily, the set of randomly decreasing probability values ​​is {80%, 70%, 40%, 15%, 0}, and it can be seen that the difference between two adjacent probability values ​​is not equal. It can be understood that the set of randomly decreasing probability values ​​in this embodiment is only an example, and those skilled in the art can arbitrarily set the size and number of the set of randomly decreasing probability values.

[0054] For example, a linear equation with a negative linear correlation coefficient can be expressed as y=-20x+30. Alternatively, the difference between adjacent probability values ​​is fixed to 10, and the difference is configured in the lawn mowing robot.

[0055] Step S220: Control the lawn mowing robot to turn at a target turning angle.

[0056] After determining the target steering angle, the mowing robot can control the steering in a variety of ways. For example, using differential drive to steer, that is, controlling the speed difference between the left and right wheels to achieve steering. In addition, a servo or motor can be used to control the direction of the steering wheel to achieve steering. It is understandable that no matter which method is used for steering, the mowing robot needs to use a precise positioning and navigation system to ensure the accuracy and stability of the steering. At the same time, the mowing robot also needs to cope with various complex scenarios and environments, such as slopes, obstacles, etc., to ensure the efficiency and safety of the operation.

[0057] In the embodiment of the present application, after determining the first ratio or the second ratio that matches the preset conditions of the lawn mower robot, the steering angle probability value is further determined according to the first ratio or the second ratio. The longer the operation time, the smaller the steering angle probability value, that is, the probability value of the lawn mower robot turning at the second angle is getting larger and larger, which can enable the lawn mower robot to better trim the operation boundary or effectively cut the missed area locally.

[0058] Figure 3 The flowchart of determining the target steering angle provided by an exemplary embodiment of the present application is shown. Figure 2 Based on the embodiment shown, Figure 3 The embodiment shown is described below in detail. Figure 3 The embodiment shown and Figure 2 The differences and similarities of the illustrated embodiments are not described in detail.

[0059] like Figure 3 As shown, in an embodiment of the present application, determining a target steering angle based on a steering angle probability value includes the following steps.

[0060] Step S310, obtaining any integer between 1 and 100.

[0061] In one example, the integer is randomly generated by the lawn mowing robot.

[0062] In another example, the integer is determined based on the characteristic information of the target turning sign. Exemplarily, the characteristic information includes one or more of length, area, boundary angle, geometric shape, turning sign type, etc. For example, if the turning sign type of the target turning sign is an operating boundary, the length of the operating boundary, the straight-line distance from the mowing robot, the boundary angle, and other information can be further determined. If the straight-line distance between the operating boundary and the mowing robot is close, when the mowing robot is controlled to move with a higher turning probability value of the second angle, there is a possibility that the mowing robot will go out of bounds. Therefore, it is necessary to control the mowing robot to turn quickly with a higher turning probability value of the first angle. Based on the characteristic information of the operating boundary, an integer of adaptive size can be generated.

[0063] This embodiment determines the size of the random number according to the characteristic information of the target turning mark, enriches the working conditions of the lawn mower robot, improves the lawn mowing efficiency of the lawn mower robot, and avoids missing lawn mowing and wasting energy.

[0064] Step S320, determining whether the integer is smaller than the value obtained by multiplying the steering angle probability value by 100.

[0065] In this step, if the judgment result is yes, step S330 is executed; if the judgment result is no, step S340 is executed.

[0066] Step S330: determining the first angle as the target turning angle.

[0067] Exemplarily, the integer is 67, and the steering angle probability value is 80%. Therefore, 67 is less than the value 80 obtained by multiplying 80% by 100. Therefore, the first angle is determined as the target steering angle.

[0068] Step S340: determine the second angle as the target turning angle.

[0069] Exemplarily, the integer is 80, and the steering angle probability value is 70%. Then, 80 is greater than the value obtained by multiplying 70% by 100, and therefore, the second angle is determined as the target steering angle.

[0070] It should be noted that, in this embodiment, the size of the integer is adapted to the steering logic of the lawn mowing robot.

[0071] This embodiment describes the logic of determining the target steering angle of the mowing robot. Specifically, according to the relationship between the generated integer and the value obtained by multiplying the steering angle probability value currently executed by 100, the first angle or the second angle is determined as the target steering angle, and the mowing robot is controlled to turn at the first angle or the second angle, thereby improving the mowing efficiency and mowing completion of the mowing robot in the entire working area, and ensuring the use safety and operation safety of the mowing robot.

[0072] Figure 4 FIG. 1 is a schematic diagram of a lawn mowing robot module provided by an exemplary embodiment of the present application. Figure 4 As shown, the mowing robot includes a storage module and a processing module, as well as a walking module, a mowing module and a positioning module, and these modules are interconnected through a bus system and / or other forms of connection mechanisms (not shown). Among them, the walking module is used to drive the movement of the mowing robot, the mowing module is used to cut high grass into low grass, and the positioning module is used to determine the position of the mowing robot.

[0073] Specifically, the processing module may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other modules in the lawn mowing robot 40 to perform desired functions.

[0074] The storage module may include one or more computer program products, and the computer program product may include various forms of computer-readable storage media, such as volatile storage modules and / or non-volatile storage modules. The volatile storage module may, for example, include a random access storage module (RAM) and / or a cache storage module (cache), etc. The non-volatile storage module may, for example, include a read-only storage module (ROM), a hard disk, a flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processing module may run the program instructions to implement the mowing robot control method of each embodiment of the present application described above and / or other desired functions. Various contents such as target steering angle, first angle, second angle, preset condition, first ratio, second ratio, etc. may also be stored in the computer-readable storage medium.

[0075] The basic principles of the present application are described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, effects, etc. mentioned in the present application are only examples and not limitations, and it cannot be considered that these advantages, strengths, effects, etc. are required by each embodiment of the present application. In addition, the specific details disclosed above are only for the purpose of illustration and ease of understanding, not for limitation, and the above details do not limit the present application to being implemented by adopting the above specific details.

[0076] The block diagrams of the devices, apparatuses, equipment, and systems involved in this application are only illustrative examples and are not intended to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagram. As will be appreciated by those skilled in the art, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including", "comprising", "having", etc. are open words, referring to "including but not limited to", and can be used interchangeably with them. The words "or" and "and" used here refer to the words "and / or" and can be used interchangeably with them, unless the context clearly indicates otherwise. The words "such as" used here refer to the phrase "such as but not limited to", and can be used interchangeably with them.

[0077] It should also be noted that in the apparatus, device and method of the present application, each component or each step can be decomposed and / or recombined. Such decomposition and / or recombination should be regarded as equivalent solutions of the present application.

[0078] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present application. Therefore, the present application is not intended to be limited to the aspects shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

[0079] The above description has been given for the purpose of illustration and description. In addition, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although multiple example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions and sub-combinations thereof.

Claims

1. A lawn mowing robot control method, used to control the lawn mowing robot to turn when reaching the boundary of a target lawn, characterized in that: include: Controlling the mowing robot to turn according to a target turning angle when reaching the boundary of the target lawn, wherein the target turning angle is a first angle or a second angle, wherein the first angle is an angle greater than 90°, and the second angle is less than the first angle; Wherein, during the working period before the preset condition is met, the ratio of the number of times the lawn mowing robot turns according to the first angle to the number of times the lawn mowing robot turns according to the second angle is a first ratio; During operation after the preset condition is met, the ratio of the number of times the mowing robot turns at the first angle to the number of times the mowing robot turns at the second angle is a second ratio, and the second ratio is smaller than the first ratio.

2. The lawn mowing robot control method according to claim 1, characterized in that: The preset conditions include: The operation time of the mowing robot in the target lawn is greater than a first time threshold, and the timing starting point of the operation time includes the time point when the mowing robot starts mowing in the target lawn or the time point when the first ratio is adjusted to the second ratio; or The lawn mowing robot fails to identify tall grass for a period of time greater than a second time threshold, the tall grass being defined as grass having a height greater than or equal to a height threshold. During the process of identifying the tall grass, timing is started when the tall grass is not identified, and the timing is reset if the tall grass appears during the timing process; or The time during which the mowing motor of the mowing robot continuously outputs a low current is greater than a third time threshold, where the low current is defined as a current that is less than or equal to a current threshold, wherein timing starts when the current output by the mowing motor is less than or equal to the current threshold, and during the timing process, if the current output by the mowing motor is greater than the current threshold, the timing is reset.

3. The lawn mowing robot control method according to claim 2, characterized in that: The controlling the lawn mowing robot to turn according to a target turning angle when reaching the boundary of the target lawn comprises: Determine a target steering angle based on a steering angle probability value, wherein during a working period before the preset condition is met, the steering angle probability value is calculated based on the first ratio, and during a working period after the preset condition is met, the steering angle probability value is calculated based on the second ratio; The lawn mowing robot is controlled to turn at the target turning angle.

4. The lawn mowing robot control method according to claim 3, characterized in that: The step of determining the target steering angle based on the steering angle probability value includes: Get any integer from 1 to 100; If the integer is smaller than a value obtained by multiplying the steering angle probability value by 100, determining the first angle as the target steering angle; If the integer is greater than or equal to a value obtained by multiplying the steering angle probability value by 100, the second angle is determined as the target steering angle.

5. The lawn mowing robot control method according to claim 3, characterized in that: As the lawn mowing robot accumulates operating time in the target lawn, the steering angle probability value decreases to the target value according to a preset decreasing rule and then enters the next cycle.

6. The lawn mower robot control method according to claim 5, characterized in that: The preset decreasing rules include: A random decreasing rule, wherein the random decreasing rule is represented by a set of a plurality of randomly decreasing probability values; or, The arithmetic difference decreasing rule is represented by a linear equation with a negative linear correlation coefficient, or by fixing the difference between adjacent probability values.

7. The lawn mowing robot control method according to any one of claims 1 to 6, characterized in that: Also includes: When the lawn mowing robot receives a turning instruction in the target lawn, the lawn mowing robot is controlled to turn according to the target turning angle; The generation conditions of the steering instruction include: The lawn mowing robot detects a target obstacle; Alternatively, a target sensor in the lawn mowing robot is triggered, wherein the target sensor comprises a lift sensor or a tilt sensor.

8. The lawn mowing robot control method according to any one of claims 1 to 6, characterized in that: The first angle is determined from a large angle set, and the second angle is determined from a small angle set, wherein the large angle set includes a plurality of angles greater than 90°, and the small angle set includes a plurality of angles less than or equal to 90°.

9. The lawn mowing robot control method according to any one of claims 1 to 6, characterized in that: The first angle is 135°, and the second angle is 60°.

10. A lawn mowing robot, characterized in that: include: A storage module storing a computer program; The processing module can implement the steps of the lawn mowing robot control method according to any one of claims 1 to 9 when executing the computer program.

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