Boundary line tracking control method, system and equipment of intelligent mower and medium

Abstract

The invention relates to the technical field of machine control, and discloses a boundary line tracking control method, system and device of an intelligent mower and a medium. According to the method, data of two sensors which are symmetrically arranged relative to the central axis of a machine body of the intelligent mower are obtained, and the position relation between the intelligent mower and a boundary line is determined according to the data of the two sensors; determining the offset distance of the intelligent mower relative to the boundary line according to the position relation; the tracking path of the intelligent mower is adjusted according to the offset distance, so that the offset distance is equal to a preset distance, when the boundary line needs to be tracked for multiple times, the preset distance is a repeated or non-repeated numerical value, and therefore it is guaranteed that the intelligent mower tracks the boundary line at a certain offset distance; and the offset distances in each boundary line tracking process are different, so that lawn damage caused by repeated rolling of grass on the same path is avoided, and the maintenance cost of the lawn is reduced.

Description

[Technical field]

[0001] The embodiments of the present invention relate to the field of machine control technology, and in particular to a boundary line tracking control method, system, device and medium for an intelligent lawn mower. [Background Technology]

[0002] In recent years, household smart lawn mowers have received extensive attention and use. One of its key technologies is the recognition and cutting control of area boundaries when cutting area boundaries. Traditional lawn mowers usually rely on manual setting of the mowing range, while smart lawn mowers use technologies such as sensors, laser scanning and visual recognition to achieve autonomous navigation and automatic recognition of cutting areas. In order to ensure the cutting effect of the smart lawn mower at the edge of the area, the area boundary is usually cut by tracking the boundary line in the center.

[0003] However, the inventors have found that there are at least the following problems in the related art: when mowing the lawn, the same area will be tracked and cut multiple times to ensure the coverage effect of the cutting. When the boundary line is tracked by centering across the line, the smart mower will repeatedly roll over the same line when identifying the boundary and centering the line. The lawn on the rolled line will be damaged during the repeated rolling of the smart mower, which increases the maintenance cost of the lawn. Therefore, a boundary line tracking control method, system, device and medium for a smart mower are needed to reduce the damage caused by tracking and cutting the lawn boundary area. [Summary of the invention]

[0004] The purpose of the embodiments of the present invention is to provide a boundary line tracking control method, system, device and medium for an intelligent lawn mower, so that when cutting the area boundary line, the lawn mower can reduce the situation of repeatedly crushing the grass on the same path, thereby reducing the maintenance cost of the lawn.

[0005] To solve the above technical problems, an embodiment of the present invention provides a boundary line tracking control method for an intelligent lawn mower, comprising: obtaining first detection data of a first sensor of the intelligent lawn mower and second detection data of a second sensor of the intelligent lawn mower; the first sensor and the second sensor are symmetrically arranged with the central axis of the intelligent lawn mower as the axis of symmetry; determining the positional relationship between the intelligent lawn mower and the boundary line according to the first detection data and the second detection data; determining the offset distance of the intelligent lawn mower relative to the boundary line according to the positional relationship; adjusting the tracking path of the intelligent lawn mower so that the size of the offset distance is equal to a preset distance, wherein, when multiple boundary line tracking is required, the preset distance is a repeated or non-repeated value.

[0006] An embodiment of the present invention also provides a boundary line tracking control system for an intelligent lawn mower, comprising: a data acquisition module, used to acquire first detection data of a first sensor of the intelligent lawn mower and second detection data of a second sensor of the intelligent lawn mower; the first sensor and the second sensor are symmetrically arranged with the central axis of the intelligent lawn mower as the axis of symmetry; a data processing module, used to determine the positional relationship between the intelligent lawn mower and the boundary line according to the first detection data and the second detection data, and determine the offset distance of the intelligent lawn mower relative to the boundary line according to the positional relationship; a path adjustment module, used to adjust the tracking path of the intelligent lawn mower so that the size of the offset distance is equal to a preset distance, wherein, when multiple boundary line tracking is required, the preset distance is a repeated or non-repeated value.

[0007] An embodiment of the present invention also provides an intelligent lawn mower device, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the above-mentioned boundary line tracking control method of the intelligent lawn mower.

[0008] An embodiment of the present invention further provides a computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the boundary line tracking control method of the intelligent lawn mower.

[0009] In addition, determining the positional relationship between the smart lawn mower and the boundary line based on the first detection data and the second detection data includes: determining the positional relationship between the smart lawn mower and the boundary line based on a functional relationship between the first detection data and the second detection data; wherein the functional relationship includes subtracting or quotient the first detection data and the second detection data.

[0010] In addition, when the functional relationship includes subtracting the first detection data from the second detection data, the method also includes: adjusting the tracking path of the smart lawn mower according to a first difference obtained by subtracting the first detection data from the second detection data, so that the size of the first difference is equal to a first preset value, thereby making the size of the offset distance equal to the preset distance, specifically including: subtracting the first difference from the first preset value to obtain a second difference y; adjusting the tracking path of the smart lawn mower according to the second difference y; if the second difference y is not equal to zero, adjusting the tracking path of the smart lawn mower.

[0011] In addition, the adjusting the tracking path of the smart lawn mower includes: adjusting the tracking path of the smart lawn mower by a PID control algorithm, and moving forward along the adjusted tracking path for a preset time; acquiring first adjusted detection data of the first sensor and second adjusted detection data of the second sensor; subtracting the first adjusted detection data from the second adjusted detection data to obtain a third difference; and calculating a fourth difference y' according to the third difference and the first preset value;

[0012] Determine whether the fourth difference y' converges to zero; if the fourth difference y' has converged to zero, continue tracking along the current tracking path; if the fourth difference y' has not yet converged to zero, readjust the tracking path of the intelligent lawn mower.

[0013] In addition, the value range of the first preset value is [-S1, S1], where S1 is a positive number; when multiple boundary tracking is required, the first preset value used in each boundary tracking process is set to a repeated or non-repeated value.

[0014] In addition, the first preset value used in each boundary tracking process is set to a non-repeating value, including: setting the first preset value used in odd-numbered boundary tracking to a positive value, and setting the first preset value used in even-numbered boundary tracking to a negative value; or, setting the first preset value used in odd-numbered boundary tracking to a negative value, and setting the first preset value used in even-numbered boundary tracking to a positive value.

[0015] In addition, the first preset value used in each boundary tracking process is set to a non-repeating value, including: in each boundary tracking process, a non-repeating random value z is taken within the value range [-S1, S1] as the first preset value.

[0016] The present application obtains data from two sensors of the intelligent lawn mower that are symmetrical with the central axis of the body as the axis of symmetry, and subtracts the two detection data to obtain a first difference, and adjusts the cutting path to keep the size of the first difference equal to a first preset value, thereby ensuring that in each boundary tracking process, the central axis of the body is separated from the boundary line by a certain offset distance, and the offset distance is different in each boundary tracking process, so there is no need to track the boundary line in the center every time, thereby avoiding the lawn on both sides of the boundary line being repeatedly crushed by the wheels, thereby reducing the maintenance cost of the lawn. [Drawings]

[0017] One or more embodiments are exemplarily described by pictures in the corresponding drawings, and these exemplified descriptions do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0018] Figure 1 This is the process of the boundary line tracking control method of the intelligent lawn mower provided in an embodiment of the present application Figure 1 ;

[0019] Figure 2 is a schematic diagram of the position of the smart lawn mower provided by an embodiment of the present application when tracking along a border;

[0020] Figure 3 This is the process of the boundary line tracking control method of the intelligent lawn mower provided in an embodiment of the present application Figure 2 ;

[0021] Figure 4 This is a schematic diagram of the position of the boundary line tracking cutting of the intelligent lawn mower provided in an embodiment of the present application Figure 1 ;

[0022] Figure 5 This is a schematic diagram of the position of the boundary line tracking cutting of the intelligent lawn mower provided in an embodiment of the present application Figure 2 ;

[0023] Figure 6 It is a structural schematic diagram of a boundary line tracking control system of an intelligent lawn mower provided in an embodiment of the present application;

[0024] Figure 7 It is a schematic diagram of the internal structure of an intelligent lawn mower device provided in one embodiment of the present application. [Specific implementation method]

[0025] During actual mowing, the same area will be tracked multiple times to ensure the coverage of the cutting. When the boundary line is tracked by centering the line, the smart mower will repeatedly roll over the same line when it identifies the boundary and centers the line to cut. The lawn on the rolled line will be damaged during the repeated rolling of the smart mower, increasing the maintenance cost of the lawn. Therefore, a boundary line tracking control method, system, device and medium for a smart mower are needed to reduce damage to the lawn boundary area during cutting.

[0026] To make the purpose, technical scheme and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. However, it will be appreciated by those skilled in the art that in the embodiments of the present invention, many technical details are proposed in order to enable the reader to better understand the present application. However, even without these technical details and various changes and modifications based on the following embodiments, the technical scheme claimed in the present application can be implemented. The division of the following embodiments is for the convenience of description, and should not constitute any limitation on the specific implementation of the present invention. The various embodiments can be combined and referenced with each other without contradiction.

[0027] An embodiment of the present invention relates to a boundary line tracking control method of an intelligent lawn mower. The boundary line tracking control method of the intelligent lawn mower includes: obtaining first detection data of a first sensor of the intelligent lawn mower and second detection data of a second sensor of the intelligent lawn mower; the first sensor and the second sensor are symmetrically arranged with the central axis of the intelligent lawn mower as the symmetry axis; determining the positional relationship between the intelligent lawn mower and the boundary line according to the first detection data and the second detection data; determining the offset distance of the intelligent lawn mower relative to the boundary line according to the positional relationship; adjusting the tracking path of the intelligent lawn mower so that the offset distance is equal to a preset distance, wherein when multiple boundary line tracking is required, the preset distance is a repeated or non-repeated value. In this way, it is ensured that the lawn mower tracks along the boundary line at a certain offset distance each time, rather than tracking the boundary line in the center each time, thereby avoiding the lawns on both sides of the boundary line from being repeatedly crushed by the wheels, thereby reducing the maintenance cost of the lawn. The following is a specific description of the implementation details of the boundary line tracking control method of the intelligent lawn mower of the embodiment of the present invention. The following content is only the implementation details provided for the convenience of understanding, and is not necessary for the implementation of this solution.

[0028] like Figure 1 As shown, in step 101, the smart lawn mower obtains first detection data of a first sensor of the smart lawn mower and second detection data of a second sensor of the smart lawn mower; the first sensor and the second sensor are symmetrically arranged with the central axis of the smart lawn mower as the symmetry axis.

[0029] Specifically, the smart lawn mower works in a working area defined by a physical boundary line. When tracking the boundary line, one side of the central axis of the body of the smart lawn mower is outside the physical boundary line, and the other side is inside the physical boundary line. The first sensor and the second sensor are located at the front end of the body of the smart lawn mower and are symmetrically arranged relative to the central axis of the body. The first detection data of the first sensor is the first magnetic field signal strength, which is used to reflect the positional relationship of the first sensor of the smart lawn mower relative to the boundary line. According to a specific logical operation, the distance between the first sensor and the boundary line can be indirectly obtained; the second detection data of the second sensor is the second magnetic field signal strength, which is used to reflect the positional relationship of the second sensor of the smart lawn mower relative to the boundary line. According to a specific logical operation, the distance between the second sensor and the boundary line can be indirectly obtained.

[0030] In step 102, a positional relationship between the smart lawn mower and the boundary line is determined according to the first detection data and the second detection data; an offset distance of the smart lawn mower relative to the boundary line is determined according to the positional relationship;

[0031] Specifically, the positional relationship between the smart lawn mower and the boundary line is determined according to the functional relationship between the first detection data and the second detection data; wherein the functional relationship includes subtracting or quotienting the first detection data and the second detection data. The technical effects achieved by subtracting and quotienting are equivalent, and the embodiment of the present application specifically takes subtracting as an example for explanation.

[0032] A magnetic field signal strength difference is obtained by subtracting the first detection data from the second detection data. The magnetic field strength difference can indirectly reflect the offset distance of the central axis of the lawn mower relative to the boundary line.

[0033] In step 103, the tracking path of the intelligent lawn mower is adjusted so that the offset distance is equal to a preset distance, wherein when multiple boundary line tracking is required, the preset distance is a repeated or non-repeated value.

[0034] Specifically, the tracking path of the smart lawn mower is adjusted according to a first difference obtained by subtracting the first detection data from the second detection data, so that the first difference is equal to a first preset value, thereby further making the offset distance equal to the preset distance.

[0035] like Figure 2As shown, in the prior art, when tracking along the border, the smart lawn mower usually performs cross-line centering tracking, that is, the central axis of the body is aligned with the border line, and the signal strength of the border line detected by the first sensor and the second sensor is the same, that is, the signal strength difference between the first sensor and the second sensor is 0. However, if the border line is tracked across the line center every time, the tracking path of the smart lawn mower will not change, so that the same lawn on both sides of the border line will be repeatedly crushed, causing damage.

[0036] In an embodiment of the present application, the first difference value can be set to zero or to other non-zero values ​​(wherein the non-zero value is a preferred embodiment), and the first difference value used in each boundary tracking process is different, thereby ensuring that in each boundary tracking process, the central axis of the smart lawn mower body and the boundary line are separated by different offset distances, that is, the smart lawn mower can perform boundary tracking at different offset distances each time, thereby avoiding continuous crushing of the lawn on the same path.

[0037] In one embodiment of the present application, adjusting the tracking path of the smart lawn mower so that the size of the first difference is equal to a first preset value includes: subtracting the first difference from the first preset value to obtain a second difference y; adjusting the tracking path of the smart lawn mower according to the second difference y; if the second difference y is not equal to zero, adjusting the tracking path of the smart lawn mower.

[0038] Specifically, the value range of the first preset value is [-S1, S1], where S1 is a positive number. Those skilled in the art will appreciate that, in the actual working process, the value range of S1 can be adjusted accordingly according to actual working requirements, and the present application does not impose any restrictions thereon. Since the offset distance of the center axis of the lawn mower body relative to the boundary line is indirectly controlled according to the first preset value, the offset distance of the center axis of the lawn mower body relative to the boundary line also has a preset range [-L, L], where L is a positive number. In an optional embodiment, for example, the offset distance of the center axis of the lawn mower body relative to the boundary line ranges from [-5cm, 5cm].

[0039] The present application selects a random value from [-S1, S1] as the first preset value, thereby indirectly controlling the random offset distance between the central axis of the lawn mower body and the boundary line.

[0040] Specifically, Figure 3 As shown, the adjustment process of the tracking path is as follows:

[0041] In step 201, the tracking path of the intelligent lawn mower is adjusted by a PID control algorithm, and the intelligent lawn mower moves along the adjusted tracking path for a preset time;

[0042] In step 202, first adjusted detection data of the first sensor and second adjusted detection data of the second sensor are obtained;

[0043] In step 203, the first adjusted detection data and the second adjusted detection data are subtracted to obtain a third difference value;

[0044] In step 204, a fourth difference y' is calculated according to the third difference and the first preset value;

[0045] In step 205, it is determined whether the fourth difference y' converges to zero; if the fourth difference y' has not yet converged to zero, step 206 is executed; if the fourth difference y' has converged to zero, step 207 is executed;

[0046] In step 206, the tracking path of the intelligent lawn mower is readjusted, and the process jumps to step 201;

[0047] In step 207, tracking continues along the current tracking path.

[0048] PID control algorithm (proportional-integral-differential controller) is widely used in industrial control systems and can control a variety of parameters. By adjusting the combination of the three parameters of proportion (P), integration (I) and differentiation (D), it can achieve fast response, steady-state accuracy and system damping to adapt to different application scenarios. In this application, the PID control algorithm is used to adjust the moving speed and motor torque of the smart lawn mower. It should be noted that other parameters can also be adjusted through the PID control algorithm to adjust the cutting path of the lawn mower, such as acceleration, direction, posture, trajectory tracking, etc. It is only necessary to change the path of the smart lawn mower, and this application is not limited here.

[0049] It should be noted that the third difference has the same function as the first difference, the only difference being that the third difference is the difference between the first sensor and the second sensor that is re-detected and calculated after the tracking path is adjusted through the PID control algorithm; the fourth difference y' has the same function as the second difference y, the only difference being that the fourth difference is the difference between the third difference and the first preset value that is re-detected and calculated after the tracking path is adjusted through the PID control algorithm, and the fourth difference is used to further control the tracking path of the smart lawn mower after the tracking path is adjusted.

[0050] In the present application, the detection data (magnetic field signal strength) of the first sensor and the second sensor are calculated, and the first detection data and the second detection data are subtracted to obtain a first difference, wherein the first difference represents the offset distance between the center axis of the smart lawn mower body and the boundary line; further, the first difference is subtracted from the first preset value to obtain a second difference, and the second difference is used to represent the gap between the first difference and the first preset value, and the tracking path is adjusted through the PID control algorithm so that the second difference converges to near 0, reducing the gap between the first difference and the first preset value, and controlling the offset distance to remain at the first preset value, that is, controlling the smart lawn mower body to track and cut the boundary line according to a fixed offset distance.

[0051] In one embodiment of the present application, when multiple boundary tracking operations are required, the first preset value used in each boundary tracking process is set to a repeated or non-repeated value.

[0052] In one embodiment of the present application, the first preset value used in each boundary tracking process is set to a non-repeating value, including: setting the first preset value used in odd-numbered boundary tracking to a positive value, and setting the first preset value used in even-numbered boundary tracking to a negative value; or, setting the first preset value used in odd-numbered boundary tracking to a negative value, and setting the first preset value used in even-numbered boundary tracking to a positive value. Or, in each boundary tracking process, a non-repeating random value z is taken within the preset interval [-S1, S1] as the first preset value.

[0053] By setting the first preset value to a non-repeating value, when the smart lawn mower tracks the same boundary line multiple times, the boundary line is tracked at a different offset distance each time, so that the smart lawn mower tracks along a different path each time. While ensuring the tracking effect, it can also avoid repeated crushing along the same path, thereby reducing the chance of damage to the lawn.

[0054] In one embodiment of the present application, Figure 4 As shown, when the first preset value is set to a negative number, it means that the intelligent lawn mower is biased toward the inside of the boundary area, that is, when the first preset value is set to a negative number, the intelligent lawn mower is biased toward the inside of the lawn; Figure 5 As shown, when the first preset value is set to a positive number, it means that the smart lawn mower is biased outside the boundary area, that is, when the first preset value is set to a positive number, the smart lawn mower is biased toward the outside of the lawn. That is, the first preset value is a key parameter for controlling the bias direction and distance of the smart lawn mower.

[0055] In an embodiment of the present invention, data of two sensors symmetrical with the central axis of the body of the intelligent lawn mower as the axis of symmetry are obtained, and a first difference representing the offset distance between the central axis of the body and the boundary line is obtained by subtracting the two detection data, and the cutting path is adjusted to keep the size of the first difference equal to a first preset value, thereby keeping the offset distance between the central axis of the body and the boundary line unchanged, so that when the intelligent lawn mower is cutting the boundary line, the lawn mower is kept cutting along the boundary line according to the first difference, i.e., the offset distance, and there is no need to align the cutting according to the central axis every time the boundary tracking is performed, thereby avoiding repeated crushing of grass on the same path to cause damage to the lawn, thereby reducing the maintenance cost of the lawn.

[0056] The steps of the above method are divided only for the purpose of clear description. When implemented, they can be combined into one step or some steps can be split and decomposed into multiple steps. As long as they include the same logical relationship, they are all within the scope of protection of this patent; adding insignificant modifications to the algorithm or process or introducing insignificant designs without changing the core design of the algorithm and process are all within the scope of protection of this patent.

[0057] In addition, the examples mentioned in the above embodiments can be freely combined, and any combination can be understood as an embodiment. The "embodiment" or "example" appearing in various positions in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It can be understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0058] In summary, specific embodiments of the subject matter have been described. Other embodiments are within the scope of the appended claims. In some cases, the actions recited in the claims can be performed in a different order and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or sequential order shown to achieve the desired results.

[0059] In the description of the embodiments of the present application, the technical terms "first", "second", etc. are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present application, the meaning of "multiple" is more than two, unless otherwise clearly and specifically defined.

[0060] In the description of the embodiments of the present application, the orientations or positional relationships indicated by technical terms such as "center", "front", "back", "left", "right", "inside", "outside", "clockwise", "counterclockwise", and "axial" are based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they should not be understood as limitations on the embodiments of the present application.

[0061] Another embodiment of the present invention relates to a boundary line tracking control system of an intelligent lawn mower, such as Figure 6 As shown, including:

[0062] A data acquisition module, used for acquiring first detection data of a first sensor of the intelligent lawn mower and second detection data of a second sensor of the intelligent lawn mower; the first sensor and the second sensor are symmetrically arranged with the central axis of the intelligent lawn mower as the symmetry axis;

[0063] a data processing module, configured to determine a positional relationship between the intelligent lawn mower and a boundary line according to the first detection data and the second detection data, and determine an offset distance of the intelligent lawn mower relative to the boundary line according to the positional relationship;

[0064] The path adjustment module is used to adjust the tracking path of the intelligent lawn mower so that the offset distance is equal to a preset distance, wherein when multiple boundary line tracking is required, the preset distance is a repeated or non-repeated value.

[0065] In an embodiment of the present invention, data of two sensors symmetrical with the central axis of the body of the intelligent lawn mower as the axis of symmetry are obtained, and a first difference is obtained by subtracting the two detection data. The cutting path is adjusted to keep the size of the first difference equal to a first preset value, thereby ensuring that in each boundary tracking process, the central axis of the body and the boundary line are separated by a certain offset distance, and the offset distance is different in each boundary tracking process. Therefore, there is no need to track the boundary line in the center every time, thereby avoiding the lawns on both sides of the boundary line being repeatedly crushed by the wheels, thereby reducing the maintenance cost of the lawn.

[0066] It is not difficult to find that this embodiment is a device embodiment corresponding to the above method embodiment, and this embodiment can be implemented in conjunction with the above method embodiment. The relevant technical details mentioned in the above method embodiment are still valid in this embodiment, and in order to reduce repetition, they are not repeated here. Accordingly, the relevant technical details mentioned in this embodiment can also be applied in the above method embodiment.

[0067] It is worth mentioning that all modules involved in this embodiment are logic modules. In practical applications, a logic unit can be a physical unit, a part of a physical unit, or a combination of multiple physical units. In addition, in order to highlight the innovative part of the present invention, this embodiment does not introduce units that are not closely related to solving the technical problem proposed by the present invention, but this does not mean that there are no other units in this embodiment.

[0068] Another embodiment of the present invention relates to an intelligent lawn mower device, such as Figure 7 As shown, it includes at least one processor; and a memory connected to the at least one processor in communication; wherein the memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the boundary line tracking control method of the intelligent lawn mower as described above.

[0069] Among them, the memory and the processor are connected in a bus manner, and the bus may include any number of interconnected buses and bridges, and the bus connects various circuits of one or more processors and memories together. The bus can also connect various other circuits such as peripherals, voltage regulators, and power management circuits, which are well known in the art and are therefore not further described herein. The bus interface provides an interface between the bus and the transceiver. The transceiver can be one element or multiple elements, such as multiple receivers and transmitters, providing a unit for communicating with various other devices on a transmission medium. The data processed by the processor is transmitted on a wireless medium via an antenna, and further, the antenna also receives data and transmits the data to the processor.

[0070] The processor is responsible for managing the bus and general processing, and can also provide various functions, including timing, peripheral interfaces, voltage regulation, power management, and other control functions. Memory can be used to store data used by the processor when performing operations.

[0071] Another embodiment of the present invention relates to a computer-readable storage medium storing a computer program, which implements the above method embodiment when executed by a processor.

[0072] That is, those skilled in the art can understand that all or part of the steps in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a program, and the program is stored in a storage medium, including several instructions to enable a device (which can be a single-chip microcomputer, chip, etc.) or a processor to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0073] Those skilled in the art will appreciate that the above embodiments are specific embodiments for implementing the present invention, and that in actual applications, various changes may be made in form and detail without departing from the spirit and scope of the present invention.

Claims

1. A boundary line tracking control method for an intelligent lawn mower, characterized in that: include: Acquire first detection data of a first sensor of the intelligent lawn mower and second detection data of a second sensor of the intelligent lawn mower; The first sensor and the second sensor are symmetrically arranged with the central axis of the intelligent lawn mower as the symmetry axis; Determine a positional relationship between the intelligent lawn mower and a boundary line according to the first detection data and the second detection data; Determining an offset distance of the intelligent lawn mower relative to the boundary line according to the positional relationship; The tracking path of the intelligent lawn mower is adjusted so that the offset distance is equal to a preset distance, wherein when multiple boundary line tracking is required, the preset distance is a repeated or non-repeated value.

2. The boundary line tracking control method of the intelligent lawn mower according to claim 1, characterized in that: Determining the positional relationship between the intelligent lawn mower and the boundary line according to the first detection data and the second detection data includes: The positional relationship between the intelligent lawn mower and the boundary line is determined according to the functional relationship between the first detection data and the second detection data; wherein the functional relationship includes subtracting or quotient the first detection data and the second detection data.

3. The boundary line tracking control method of the intelligent lawn mower according to claim 2, characterized in that: When the functional relationship includes subtracting the first detection data from the second detection data, the method further includes: adjusting the tracking path of the intelligent lawn mower according to a first difference value obtained by subtracting the first detection data from the second detection data, so that the magnitude of the first difference value is equal to a first preset value, thereby making the magnitude of the offset distance equal to the preset distance, specifically including: Subtract the first difference from the first preset value to obtain a second difference y; adjusting the tracking path of the intelligent lawn mower according to the second difference y; If the second difference y is not equal to zero, the tracking path of the intelligent lawn mower is adjusted.

4. The boundary line tracking control method of the intelligent lawn mower according to claim 3, characterized in that: The step of adjusting the tracking path of the intelligent lawn mower comprises: Adjusting the tracking path of the intelligent lawn mower by using a PID control algorithm, and moving forward along the adjusted tracking path for a preset time; Acquire first adjusted detection data of the first sensor and second adjusted detection data of the second sensor; Subtracting the first adjusted detection data from the second adjusted detection data to obtain a third difference value; Calculate a fourth difference value y' according to the third difference value and the first preset value; Determining whether the fourth difference y' converges to zero; If the fourth difference y' has converged to zero, continue tracking along the current tracking path; If the fourth difference y' still does not converge to zero, the tracking path of the intelligent lawn mower is readjusted.

5. The boundary line tracking control method of the intelligent lawn mower according to claim 4, characterized in that: The value range of the first preset value is [-S1, S1], where S1 is a positive number; when multiple boundary tracking is required, the first preset value used in each boundary tracking process is set to a repeated or non-repeated value.

6. The boundary line tracking control method of the intelligent lawn mower according to claim 5, characterized in that: The first preset value used in each boundary tracking process is set to a non-repeated value, including: The first preset value used in odd-numbered boundary tracking is set to a positive value, and the first preset value used in even-numbered boundary tracking is set to a negative value; or, the first preset value used in odd-numbered boundary tracking is set to a negative value, and the first preset value used in even-numbered boundary tracking is set to a positive value.

7. The boundary line tracking control method of the intelligent lawn mower according to claim 5, characterized in that: The first preset value used in each boundary tracking process is set to a non-repeated value, including: In each boundary tracking process, a non-repeating random value z is taken within the value range [-S1, S1] as the first preset value.

8. A boundary line tracking control system for an intelligent lawn mower, characterized in that: include: A data acquisition module, used for acquiring first detection data of a first sensor of the intelligent lawn mower and second detection data of a second sensor of the intelligent lawn mower; The first sensor and the second sensor are symmetrically arranged with the central axis of the intelligent lawn mower as the symmetry axis; a data processing module, configured to determine a positional relationship between the intelligent lawn mower and a boundary line according to the first detection data and the second detection data, and determine an offset distance of the intelligent lawn mower relative to the boundary line according to the positional relationship; The path adjustment module is used to adjust the tracking path of the intelligent lawn mower so that the offset distance is equal to a preset distance, wherein when multiple boundary line tracking is required, the preset distance is a repeated or non-repeated value.

9. An intelligent lawn mower device, characterized in that: include: at least one processor; And, a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the boundary line tracking control method of the intelligent lawn mower as described in any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the boundary line tracking control method of the intelligent lawn mower according to any one of claims 1 to 7 is implemented.

Images