Method and system for garden robot to identify inside and outside of working area

Abstract

The invention relates to a method and system for a garden robot to recognize the inside and outside of a working area, and the method comprises the steps: judging whether the garden robot travels to an inflection point position of a boundary lead or not in a process of controlling the garden robot to travel along the boundary lead; if the garden robot travels to the inflection point position of the boundary lead, the garden robot is controlled to execute a preset action at the inflection point position or before and after the inflection point position, and feature signals of the two sides of the boundary lead are obtained; and identifying the inner side and the outer side of a working area enclosed by the boundary wires based on the characteristic signals. As the garden robot can identify the inner side and the outer side of the working area, the garden robot can be controlled to run along the inner side of an obstacle or a base station according to the identified inner side and the identified outer side when encountering the obstacle or the base station, and the situation that the garden robot is threatened due to the fact that the outer side condition is not clear when the garden robot walks on the outer side is avoided; and the driving efficiency and the driving safety are improved.

Description

Technical Field

[0001] This application relates to the field of robot technology, and particularly to a method and system for a garden robot to identify inside and outside a working area. Background Art

[0002] Before a garden robot starts working, it usually needs to pre-bury boundary wires in the working area to determine the working area and position the garden robot. When the garden robot receives a working instruction, it needs to control the garden robot to leave the charging pile, drive around the boundary wire for one week and then return to the charging pile to determine the working area and establish an initial positioning database. When the garden robot is driving along the boundary wire, if it encounters a charging pile or other obstacles, it needs to drive around the charging pile or other obstacles. Since it is impossible to know which side of the charging pile or other obstacles is inside the working area, the garden robot can only randomly choose a side to drive. If it drives along the side outside the working area, in the case of a cliff or obstacles on the outside, it will hinder the driving of the garden robot, be unfavorable to the driving of the garden robot, affect the driving efficiency of the garden robot, and even pose a safety threat to the garden robot in dangerous situations such as a cliff on the outside. Summary of the Invention

[0003] Based on this, in view of the above technical problems, it is necessary to provide a method and system for a garden robot to identify inside and outside a working area, which can identify the inside and outside of the working area, so as to control the correct driving of the garden robot, improve the driving efficiency and driving safety.

[0004] In a first aspect, this application provides a method for a garden robot to identify inside and outside a working area. The method includes:

[0005] During the process of controlling the garden robot to drive along the boundary wire, determine whether the garden robot has driven to the inflection point position of the boundary wire;

[0006] If the garden robot has driven to the inflection point position of the boundary wire, at or around the inflection point position, control the garden robot to perform a preset action to obtain the characteristic signals on both sides of the boundary wire;

[0007] Based on the characteristic signals, identify the inside and outside of the working area surrounded by the boundary wire.

[0008] In one embodiment, the step of determining whether the garden robot has driven to the inflection point position of the boundary wire further includes:

[0009] Detect whether the angle by which the garden robot rotates during driving is greater than a preset angle threshold;

[0010] If the rotation angle is greater than the preset angle threshold, it is determined that the inflection point position of the boundary wire is detected.

[0011] In one embodiment, the step of determining whether the gardening robot has traveled to the inflection point position of the boundary wire further includes:

[0012] Detect whether the intensity of the magnetic field signal detected by the magnetic field sensor during the travel of the gardening robot is less than the preset intensity threshold;

[0013] If the intensity of the magnetic field signal is less than the preset intensity threshold, it is determined that the inflection point position of the boundary wire is detected.

[0014] In one embodiment, the step of controlling the gardening robot to perform a preset action further includes:

[0015] At the inflection point position, control the gardening robot to turn the driving direction, and then perform the preset action, or detect an identification position that meets the preset identification conditions within a preset distance on both sides of the inflection point position, and control the gardening robot to perform the preset action at the identification position.

[0016] In one embodiment, the step of detecting an identification position that meets the preset identification conditions within a preset distance on both sides of the inflection point position and controlling the gardening robot to perform the preset action at the identification position further includes:

[0017] When the gardening robot travels within the preset distance before the inflection point position, initially determine whether there is a first boundary wire segment that satisfies the following conditions: the length of the first boundary wire segment is greater than or equal to the preset length threshold, and when the gardening robot travels on the first boundary wire segment, the rotation angle thereof is less than or equal to the preset angle threshold;

[0018] If the result of the initial determination is yes, control the gardening robot to retreat from the inflection point position to the first boundary wire segment to perform the preset action.

[0019] In one embodiment, the step of detecting an identification position that meets the preset identification conditions within a preset distance on both sides of the inflection point position and controlling the gardening robot to perform the preset action at the identification position further includes:

[0020] If the result of the initial judgment is negative, control the gardening robot to continue traveling along the boundary wire from the inflection point position, and then determine again whether there is a second boundary wire segment within the preset distance that meets the following conditions: the length of the second boundary wire segment is greater than or equal to the preset length threshold, and when the gardening robot travels on the second boundary wire segment, the rotation angle is less than or equal to the preset angle threshold;

[0021] If the result of the re-judgment is positive, control the gardening robot to travel to the second boundary wire segment to perform the preset action.

[0022] In one embodiment, the step of detecting recognition positions that meet the preset recognition conditions within the preset distance on both sides of the inflection point position and controlling the gardening robot to perform the preset action at the recognition positions further includes:

[0023] If the result of the re-judgment is negative, obtain the rotation angles of the gardening robot within the preset distance on both sides of the inflection point position respectively, select the third boundary wire segment with the smaller angle, and control the gardening robot to travel to the third boundary wire segment to perform the preset action.

[0024] In one embodiment, the step of detecting recognition positions that meet the preset recognition conditions within the preset distance on both sides of the inflection point position and controlling the gardening robot to perform the preset action at the recognition positions further includes:

[0025] When the gardening robot travels to the preset distance after reaching the inflection point position, obtain the rotation angles of the gardening robot within the preset distance on both sides of the inflection point position respectively, select the fourth boundary wire segment with the smaller angle, and control the gardening robot to travel to the fourth boundary wire segment to perform the preset action.

[0026] In one embodiment, the step of controlling the gardening robot to perform the preset action and obtaining the characteristic signals on both sides of the boundary wire further includes:

[0027] Control the gardening robot to rotate towards both sides of the boundary wire in sequence, and during the rotation process, obtain the magnetic field signals generated when the electrical signals are transmitted on the boundary wire through the two magnetic field sensors on both sides of the gardening robot respectively;

[0028] The step of identifying the inner and outer sides of the working area enclosed by the boundary wire according to the magnetic field signals further includes:

[0029] Identify the side corresponding to the magnetic field sensor that detects a larger magnetic field signal as the inner side, and identify the side corresponding to the magnetic field sensor that detects a smaller magnetic field signal as the outer side.

[0030] In one embodiment, the preset distance is not less than 110 cm.

[0031] In one embodiment, after the gardening robot travels to the inflection point of the boundary wire, the method further includes:

[0032] Control the gardening robot to continue traveling along the boundary wire, and determine whether the gardening robot is still traveling in the preset direction;

[0033] If the gardening robot no longer travels in the preset direction, use the inner and outer sides identified near the inflection point as the inner and outer sides of the working area.

[0034] In one embodiment, the preset direction is the axis direction of the map building and positioning of the gardening robot.

[0035] In one embodiment, after identifying the inner and outer sides of the working area enclosed by the boundary wire based on the characteristic signal, the method includes:

[0036] During the process of the gardening robot traveling along the boundary wire, determine whether the gardening robot detects a first obstacle;

[0037] If the gardening robot detects the first obstacle, control the gardening robot to trim the part of the obstacle located inside the working area along the edge;

[0038] After trimming the part of the first obstacle located inside the working area along the edge, control the gardening robot to continue traveling along the boundary wire.

[0039] In one embodiment, after controlling the gardening robot to continue traveling along the boundary wire, the method further includes:

[0040] Determine whether the gardening robot detects a base station;

[0041] If the gardening robot detects the base station, control the gardening robot to trim the part of the base station located inside the working area along the edge;

[0042] After trimming the part of the base station located inside the working area along the edge, control the gardening robot to return to the base station along the boundary wire.

[0043] In one embodiment, before reaching the inflection point of the boundary wire, the edge-following control method further includes:

[0044] During the process of traveling along the boundary wire, determine whether the gardening robot encounters a second obstacle;

[0045] If the gardening robot encounters the second obstacle, control the gardening robot to follow the second obstacle along a preset edge-following direction;

[0046] Determine whether the gardening robot is obstructed during the process of following the second obstacle along the preset edge-following direction;

[0047] If the gardening robot is obstructed during the process of following the second obstacle along the preset edge-following direction, control the gardening robot to retreat to the edge-following starting position and follow the second obstacle along the opposite direction of the preset edge-following direction.

[0048] In a second aspect, the present application further provides a system for a gardening robot to identify inside and outside a working area. The system includes: a judgment module, configured to determine whether the gardening robot travels to the inflection point of the boundary wire during the process of controlling the gardening robot to travel along the boundary wire;

[0049] An acquisition module, configured to, when the judgment module determines that the gardening robot travels to the inflection point of the boundary wire, control the gardening robot to perform a preset action before and after the inflection point to acquire characteristic signals on both sides of the boundary wire;

[0050] An identification module, configured to identify the inside and outside of the working area enclosed by the boundary wire based on the characteristic signals.

[0051] The above introduces a method and system for a gardening robot to identify inside and outside a working area. During the process of controlling the gardening robot to travel along the boundary wire, determine whether the gardening robot travels to the inflection point of the boundary wire; if the gardening robot travels to the inflection point of the boundary wire, control the gardening robot to perform a preset action at or before and after the inflection point to acquire characteristic signals on both sides of the boundary wire; identify the inside and outside of the working area enclosed by the boundary wire based on the characteristic signals. Therefore, the gardening robot can identify the inside and outside of the working area, so that when encountering obstacles or base stations, etc., it can control the gardening robot to travel along the side where the obstacle or base station is located inside according to the identified inside and outside, avoiding being threatened by safety due to unclear outside conditions when walking outside, and improving the traveling efficiency and traveling safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1It is a schematic diagram of the scenario where the gardening robot in the embodiment of the present application travels along the edge wire;

[0053] Figure 2 It is a schematic flowchart of a method for a gardening robot provided by an embodiment of the present application to identify inside and outside the working area;

[0054] Figure 3 It is a schematic flowchart of another method for a gardening robot provided by an embodiment of the present application to identify inside and outside the working area;

[0055] Figure 4 It is a schematic flowchart of yet another method for a gardening robot provided by an embodiment of the present application to identify inside and outside the working area;

[0056] Figures 5 - 8 It is a schematic diagram of the process where the gardening robot performs a preset action at the inflection point position;

[0057] Figure 9 It is a schematic flowchart of yet another method for a gardening robot provided by an embodiment of the present application to identify inside and outside the working area;

[0058] Figures 10 - 12 It is a schematic diagram of the process where the gardening robot performs a preset action at the first boundary wire segment before the inflection point position;

[0059] Figure 13 It is a schematic flowchart of yet another method for a gardening robot provided by an embodiment of the present application to identify inside and outside the working area;

[0060] Figure 14 It is a schematic flowchart of yet another method for a gardening robot provided by an embodiment of the present application to identify inside and outside the working area;

[0061] Figure 15 It is a schematic flowchart of yet another method for a gardening robot provided by an embodiment of the present application to identify inside and outside the working area;

[0062] Figure 16 It is a schematic flowchart of yet another method for a gardening robot provided by an embodiment of the present application to identify inside and outside the working area;

[0063] Figure 17 It is a schematic structural diagram of a system for a gardening robot provided by an embodiment of the present application to identify inside and outside the working area;

[0064] Figure 18 It is the basic structural block diagram of the computer device in this embodiment. Detailed implementation manners

[0065] In order to make the objectives, technical solutions and advantages of the present application more clear and understandable, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0066] As a mobile robot for garden operations, a garden robot can include a lawn mowing robot, a weeding robot, a fertilizing robot, an irrigation robot, etc. Unless otherwise specified, the garden robot in the present application is described as a lawn mowing robot. When the garden robot is operating, real-time positioning is required. If only relying on its own positioning sensors for positioning, inaccurate positioning will be caused due to the complex outdoor environment. Currently, the solution to this problem is to set boundary wires in the area where the garden robot works. Specifically, please refer to Figure 1 , Figure 1 which is a schematic diagram of the scene where the garden robot in the embodiment of the present application travels along the boundary wire. As Figure 1 shown, the boundary wires enclose to form the working area of the garden robot. The two ends of the boundary wires are connected to the base station of the garden robot. The base station serves as the charging station of the garden robot and includes a charging device (not shown in the figure) and a signal generator (not shown in the figure). The signal generator includes a processor (not shown in the figure) and a memory (not shown in the figure). The signal generator further includes an interface (not shown in the figure). The interface is connected to both ends of the boundary wire and is used to transmit the boundary signal generated by the signal generator to the boundary wire. The boundary signal generates a magnetic field with polarity, that is, an electrical signal is transmitted from the base station to the boundary wire, and the electrical signal generates a magnetic field with polarity. On the other hand, the interface is also connected to the guiding wire looped around the base of the base station. The guiding wire is used to control the garden robot to move along the edge of the charging station. In other embodiments, the charging station may only include a charging device, and the signal generator may be separately arranged at a preset position.

[0067] Two magnetic field sensors, also known as boundary sensors (the first boundary sensor and the second boundary sensor respectively), are symmetrically arranged on both sides of the central axis of the garden robot. The first boundary sensor and the second boundary sensor are axisymmetric about the central axis of the garden robot. The first boundary sensor includes a third sensing coil, and the second boundary sensor includes a fourth sensing coil. The third sensitive axis of the third sensing coil and the fourth sensitive axis of the fourth sensing coil are parallel. The garden robot is also provided with a positioning sensor, such as a positioning coil, a gyroscope, an odometer, a camera, etc. arranged on the garden robot, which is used to position the garden robot during its travel.

[0068] Before working, the garden robot takes the base station as the coordinate origin and travels along the boundary wire for at least one lap. It can travel clockwise for at least one lap, or counterclockwise for at least one lap, or both clockwise and counterclockwise for at least one lap. During the process of traveling along the boundary wire, the position coordinate database is established through the positioning sensors on the body to achieve the specific coordinate positioning on the boundary wire. When the garden robot is working, it also travels along the boundary wire. At this time, on the one hand, the garden robot can be accurately positioned according to the previously established coordinate database, and on the other hand, the area near the boundary wire (such as the range of the width of the garden robot body) can be operated. During the operation, the first boundary sensor and the second boundary sensor of the garden robot can sense the magnetic field component perpendicular to the working surface, and the polarity of the signal on one side of the boundary wire is opposite to that on the other side of the boundary wire. When the garden robot travels along the boundary wire, the polarities detected by the first boundary sensor and the second boundary sensor are just opposite. The distance between the first boundary sensor and the central axis of the garden robot and the distance between the second boundary sensor and the central axis of the mowing robot are controlled by the detected boundary signal strength to control the mowing robot to travel along the boundary wire.

[0069] Furthermore, the inner and outer sides of the working area are judged by the first boundary sensor and the second boundary sensor. If the inner or outer side of the boundary wire is not distinguished in advance, when encountering an obstacle or the base station, it is impossible to determine whether it bypasses from the inner side of the working area. If it bypasses from the outer side of the working area, in the case of a cliff or an obstacle on the outer side of the working area, it will hinder the travel of the garden robot and may even damage the garden robot, posing a safety threat to the garden robot. Therefore, in the embodiment of the present application, when the garden robot travels along the boundary wire, it is necessary to accurately identify the inner and outer sides of the working area to provide a reference for the subsequent travel direction of the garden robot.

[0070] Please refer to Figure 2 , Figure 2 which is a schematic flowchart of a method for a garden robot to identify the inside and outside of a working area provided by an embodiment of the present application. As Figure 2 shown, the method for identifying the inside and outside of the working area in this embodiment includes the following steps:

[0071] Step S1: During the process of controlling the garden robot to travel along the boundary wire, judge whether the garden robot travels to the inflection point position of the boundary wire.

[0072] Because the boundary wire is laid according to the area to be operated according to the user's needs. For example, in the application of a mowing robot, the boundary wire is laid according to the shape of the lawn to be cut. During the laying process, according to the shape of the lawn and the existing obstacles, such as stones, spraying piles, animal houses, etc., it is necessary to bend and bypass, forming the inflection points of the boundary wire. For exampleFigure 1 As shown, at least inflection points 1, 2, and 3 are formed according to the curvature of the bend of the boundary wire. If the position where the gardening robot automatically docks at the base station is defined as the origin position of the coordinates, the central axis direction of the base station floor is defined as the coordinate X-axis direction, and the direction perpendicular to the central axis of the base station is defined as the coordinate Y-axis direction, or the central axis direction of the charging station floor is defined as the coordinate Y-axis direction, and the direction perpendicular to the central axis of the charging station is defined as the coordinate X-axis direction, the inflection point position is a position point where the Y-axis coordinate within a preset distance after a certain position on the boundary wire does not increase, and the inflection point position can also be a position point where the X-axis coordinate within a preset distance after a certain position on the boundary wire does not increase. Among them, the preset range can be 0.5 - 1.5 m, which can be set according to the body length of the gardening robot. Since the coordinates in the X-axis or Y-axis direction do not increase, no expanded working area will be formed in the X-axis or Y-axis direction. The inflection point position is the outermost position in the X-axis or Y-axis direction. Therefore, there is no or very little interference magnetic field generated by other segments of the boundary wire. Therefore, in the embodiment of the present application, it is most accurate to judge the inside and outside of the working area at or near the inflection point position, which can improve the accuracy.

[0073] Step S2: If the gardening robot travels to the inflection point position of the boundary wire, at or before and after the inflection point position, control the gardening robot to perform a preset action to obtain the characteristic signals on both sides of the boundary wire.

[0074] Step S3: Based on the characteristic signals, identify the inside and outside of the working area surrounded by the boundary wire.

[0075] Therefore, the gardening robot can identify the inside and outside of the working area, so that when encountering obstacles or base stations, etc., it can control the gardening robot to travel along the side of the obstacle or base station located inside according to the identified inside and outside, avoiding being threatened by safety due to unclear external conditions when walking outside, and improving the driving efficiency and driving safety.

[0076] As described above, since the inflection point position is a position where the boundary wire bends greatly, during the process of the gardening robot traveling along the boundary wire, the bending curvature of the boundary wire can be judged by the rotation angle of the gardening robot, so as to judge whether the gardening robot travels to the inflection point position of the boundary wire. Please refer to Figure 3 , Figure 3 is a schematic flowchart of another method for the gardening robot to identify the inside and outside of the working area provided by the embodiment of the present application. As Figure 3 shown, the step of judging whether the gardening robot travels to the inflection point position of the boundary wire further includes:

[0077] Step S11: Detect whether the rotation angle of the gardening robot during driving is greater than a preset angle threshold.

[0078] Step S11 mainly obtains the angle of rotation during driving through an angle measuring instrument such as a gyroscope of the gardening robot itself, and further determines whether the obtained angle is greater than a preset angle threshold.

[0079] Step S12: If the angle of rotation is greater than the preset angle threshold, it is determined that the inflection point position of the boundary wire is detected.

[0080] If the angle of rotation is greater than the preset angle threshold, it indicates that the curvature of the boundary wire is relatively large, and it is determined that the inflection point position is reached.

[0081] Since the angle of rotation of the gardening robot is closely related to the curvature of the boundary wire, in addition, the inflection point position of the boundary wire can be characterized by the curvature of the boundary wire. In this embodiment, the curvature of the boundary wire is judged by detecting the angle of rotation of the gardening robot, so as to judge the inflection point position of the boundary wire. The scheme is simple and easy to implement. On the other hand, since an angle measuring instrument for detecting the change in the body angle needs to be installed on the body of the gardening robot during operation to obtain the rotation angle, the scheme of this embodiment for detecting the rotation angle of the gardening robot through an angle measuring instrument such as a gyroscope to judge whether the inflection point position of the boundary wire is reached does not require additional setting of other sensors for detection and judgment. The method is simple to implement and has low cost.

[0082] In other embodiments, considering that when the gardening robot travels to the inflection point position, the first boundary sensor (i.e., the magnetic field sensor) and the second boundary sensor (i.e., the magnetic field sensor) provided in front of it are already outside the boundary wire, the magnetic field signal formed by the detected electrical signal on the boundary wire will be very small. Therefore, it is possible to judge whether the inflection point position of the boundary wire is reached by detecting the intensity of the magnetic field signal. For details, please refer to Figure 4 , Figure 4 which is a flowchart of another method for a gardening robot to identify the inside and outside of the working area provided by the embodiment of the present application. As Figure 4 shown, it includes the following steps:

[0083] Step S13: Detect whether the intensity of the magnetic field signal detected by the magnetic field sensor during the driving of the gardening robot is less than a preset intensity threshold.

[0084] Step S14: If the intensity of the magnetic field signal is less than the preset intensity threshold, it is determined that the inflection point position of the boundary wire is detected.

[0085] When the gardening robot travels to the inflection point of the boundary wire, the magnetic field sensor is located outside the working area. At this time, the intensity of the magnetic field signal detected by the magnetic field sensor is small. In this embodiment, the inflection point position of the boundary wire is judged by detecting the intensity of the magnetic field signal detected by the magnetic field sensor. The scheme is simple and easy to implement. On the other hand, since a magnetic field sensor needs to be set on the body of the gardening robot during operation to obtain the magnetic field signal of the boundary wire, and then guide the gardening robot to travel along the boundary wire, therefore, in this embodiment, the scheme of judging whether the inflection point position of the boundary wire is reached by detecting the intensity of the magnetic field signal by the magnetic field sensor does not require additional setting of other sensors for detection and judgment. The method is simple to implement and has low cost.

[0086] It should be understood that Figure 3 and Figure 4 the schemes for judging the inflection point position of the boundary wire shown are parallel, and either one can be selected for judgment, or they can be combined for judgment. For example, only the Figure 3 scheme shown by judging whether the rotation angle of the gardening robot reaches a preset angle threshold can be adopted to judge whether it travels to the inflection point position; or only the Figure 4 scheme shown by judging whether the intensity of the magnetic field signal detected by the gardening robot is less than a preset intensity threshold can be adopted to judge whether it travels to the inflection point position; or it can also be judged whether the gardening robot simultaneously satisfies: the rotation angle reaches the preset angle threshold and the intensity of the detected magnetic field signal is less than the preset intensity threshold, to judge whether it travels to the inflection point position.

[0087] After judging the inflection point position, the gardening robot can be controlled to execute a preset action to identify the inside and outside of the working area according to the magnetic field signal detected during the execution of the preset action. The preset action may include the actions of the gardening robot rotating to its right side and rotating to its left side. It can be understood that the order of rotating to the right side and rotating to the left side is not limited. In addition, the rotation angle is such that the magnetic field signals detected by two boundary sensors on the gardening robot reach the maximum value. For example, when rotating to the right, the maximum value of the right magnetic field signal is detected, and when rotating to the left, the maximum value of the left magnetic field signal is detected. Since the two sides of the boundary wire are respectively located inside and outside the working area, the maximum values detected by the gardening robot when rotating to the right and when rotating to the left are different. Due to the superposition of the stored magnetic fields inside the working area, the magnetic field intensity inside the working area is greater than that outside the working area.

[0088] Therefore, the solution for controlling the garden robot to perform preset actions is specifically to control the garden robot to turn to both sides of the boundary wire in sequence. During the turning process, the magnetic field sensors (i.e., boundary sensors) on both sides of the garden robot are used to respectively obtain the magnetic field signals generated when the electrical signal is transmitted on the boundary wire. Further, the side corresponding to the magnetic field sensor that detects the larger magnetic field signal is identified as the inner side of the working area, and the side corresponding to the magnetic field sensor that detects the smaller magnetic field signal is identified as the outer side of the working area.

[0089] Since the rotation control of the garden robot is the most basic control during operation, the solution of obtaining the magnetic field signal by controlling the rotation of the garden robot in this embodiment does not require additional rotation components, and the solution is simple and low-cost. In addition, since the garden robot must be equipped with magnetic field sensors on its body to obtain the magnetic field signal of the boundary wire during operation, and then guide the garden robot to travel, the solution of detecting the magnetic field signal by the magnetic field sensors in this embodiment does not require additional sensors either. Therefore, the solution is simple and low-cost. Finally, this embodiment directly uses the characteristics of the magnetic field signals inside and outside the working area (the magnetic field intensity inside the working area is greater than that outside the working area) as the conditions for identifying the inner and outer sides of the working area, without constructing other identification conditions, and the identification solution is simple and easy to implement.

[0090] In one embodiment, the garden robot can be controlled to turn the driving direction at the inflection point position, and then perform the above-mentioned preset actions. For details, please refer to Figures 5 - 8 , Figures 5 - 8 which is a schematic diagram of the process of the garden robot performing preset actions at the inflection point position. As Figure 5 shown, when the garden robot travels to the inflection point position 1, the intensities of the magnetic field signals detected by its two magnetic field sensors are less than the preset intensity threshold, and the garden robot determines that it has traveled to the inflection point position. Then, the garden robot is controlled to turn, as Figure 6 shown. After controlling the garden robot to turn, the mowing robot is controlled to rotate to the right, and at the same time, the magnetic field sensor detects the magnetic field signal. When the maximum value of the magnetic field signal is detected, the garden robot is further controlled to turn to the left. Similarly, the magnetic field sensor detects the magnetic field signal and stops turning when the maximum value of the magnetic field signal is detected. Specifically, as Figure 7 and Figure 8 shown.

[0091] After obtaining the maximum values of the magnetic field signals on the left and right sides, the inner and outer sides of the working area can be determined according to the obtained maximum values. For example, the right side of the garden robot as shown in Figures 5 - 8 can be obtained as the inner side of the working area, and the left side as the outer side of the working area according to the method described above.

[0092] Performing the preset action directly at the inflection point position to identify the inner and outer sides of the working area eliminates the need to detect other identification positions, resulting in higher efficiency.

[0093] In other embodiments, before controlling the garden robot to turn left and right to identify the inner and outer sides of the working area, it is further possible to determine whether the boundary wire within the preset range of the garden robot's position at this time is a straight line or a near-straight line. If it is a straight line, the left and right turning actions are directly performed. If it is not a straight line or a near-straight line, the garden robot needs to be controlled to drive to a nearby straight segment before turning left and right. Therefore, the present application can also detect identification positions that meet the preset identification conditions within a preset distance on both sides of the inflection point position, and control the garden robot to perform the preset action at the identification position. Since the identification position meets the preset identification conditions, for example, the area within the preset range of the identification position is a straight line or a near-straight line, and there is less interference environment nearby (the interference environment is the boundary wire segment that forms an interfering magnetic field), the result of identifying the inner and outer sides of the working area at the identification position is more accurate.

[0094] Specifically, please refer to Figure 9 , Figure 9 which is a schematic flowchart of another method for a garden robot to identify the inside and outside of the working area provided by an embodiment of the present application. As Figure 9 shown, it includes the following steps:

[0095] Step S21: When the garden robot is driving within a preset distance before the inflection point position, initially determine whether there is a first boundary wire segment that satisfies the following conditions: the length of the first boundary wire segment is greater than or equal to a preset length threshold, and when the garden robot is driving on the first boundary wire segment, the angle of its rotation is less than or equal to a preset angle threshold.

[0096] In step S21, it is necessary to start determining whether there is the above-mentioned first boundary wire segment after the garden robot drives to the inflection point position.

[0097] If the result of the initial determination is yes, jump to step S22; if the determination result is no, jump to step S23.

[0098] Step S22: Control the garden robot to back from the inflection point position to the first boundary wire segment to perform the preset action.

[0099] That is, if there is a first boundary wire segment that meets the length threshold and the curvature of the first boundary wire segment is small, such as the first boundary wire segment is arranged in a straight line or similar to a straight line, the magnetic field signal generated by the electrical signal on the first boundary wire segment will be relatively stable. Control the garden robot to swing left and right on the first boundary wire segment to obtain the magnetic field signals on both sides of the first boundary wire segment to judge the inside and outside of the working area, so that the judgment result is more accurate. Among them, the preset distance is not less than 110 cm. The preset length threshold can also be set to not less than 110 CM, that is, if there is a first boundary wire segment with a length of not less than 110 CM and a small curvature, the results of identifying the inside and outside of the working area in the first boundary wire segment are relatively accurate. In order to further improve the recognition accuracy, the distance for controlling the garden robot to retreat can be equal to or greater than half of the first boundary wire segment. That is, control the garden robot to perform a preset left and right rotation action at approximately the middle position of the first boundary wire segment to identify the inside and outside of the working area. The magnetic field at the middle position of the first boundary wire segment is more stable than the magnetic fields at other positions of the first boundary wire segment, so the recognition accuracy is further improved.

[0100] For example, please refer to Figures 10 - 12 , Figures 10 - 12 which is a schematic diagram of the process of the garden robot performing a preset action at the first boundary wire segment before the inflection point. As Figures 10 - 12 shown, after the garden robot travels to the inflection point 1 and determines that there is a first boundary wire segment that meets the above conditions before the inflection point 1, control the garden robot to retreat to the first boundary wire segment, then control the garden robot to turn to its right, and then control the garden robot to turn to its left to judge the inside and outside of the working area through the above solution.

[0101] Step S23: Control the garden robot to continue to travel along the boundary wire from the inflection point position, and judge again whether there is a second boundary wire segment that meets the following conditions within the preset distance: the length of the second boundary wire segment is greater than or equal to the preset length threshold, and when the garden robot travels on the second boundary wire segment, the rotation angle is less than or equal to the preset angle threshold.

[0102] If no qualified boundary wire segment is obtained before the inflection point position, it is selected to continue to judge whether there is a qualified boundary wire segment after the inflection point position. The judgment method is similar to the judgment method before the inflection point position described above. That is, control the gardening robot to travel a preset distance, and then judge whether there is a second boundary wire segment that meets the length threshold within the preset distance passed by the travel, and the curvature of the second boundary wire segment is small. For example, the second boundary wire segment is arranged in a straight line or similar to a straight line, so that the angle of rotation of the gardening robot when traveling on the second boundary wire segment is less than or equal to the preset angle threshold.

[0103] If the result of the judgment in step S23 is yes, jump to step 24; if the result of the judgment in step S23 is no, jump to step S25.

[0104] Step S24: Control the gardening robot to travel onto the second boundary wire segment to perform the preset action. The specific solution is the same as the solution for the gardening robot to perform the preset action on the first boundary wire segment described above, and will not be elaborated here.

[0105] That is, if there is a second boundary wire segment that meets the length threshold and the curvature of the second boundary wire segment is small. For example, the second boundary wire segment is arranged in a straight line or similar to a straight line, then the magnetic field signal generated by the electric signal on the second boundary wire segment will be relatively stable (that is, less affected by the interference environment near the straight line or similar straight line segment). Control the gardening robot to swing left and right on the second boundary wire segment to obtain the magnetic field signals on both sides of the second boundary wire segment to judge the inside and outside of the working area, so that the judgment result is more accurate.

[0106] In order to further improve the recognition accuracy, the gardening robot can be controlled to perform a preset left-right rotation action at approximately the middle position of the second boundary wire segment to identify the inside and outside of the working area. The area near the middle position of the second boundary wire segment is less affected by the interference environment, so the recognition accuracy is further improved.

[0107] Step S25: Then obtain the angles of rotation of the gardening robot within the preset distances on both sides of the inflection point position, and select the third boundary wire segment with the smaller angle, and control the gardening robot to travel onto the third boundary wire segment to perform the preset action.

[0108] Specifically, for example, when the gardening robot encounters the inflection point position 1, after controlling the gardening robot to continue to travel a preset distance after the inflection point position 1, then obtain the rotation angle of the gardening robot within the preset distance before the inflection point position 1 and the rotation angle within the preset distance after the inflection point position 1 respectively, and select the third boundary wire segment with the smaller rotation angle. Then the third boundary wire segment is most suitable for identifying the inside and outside of the working area near the inflection point position 1.

[0109] If there are no boundary wire segments that strictly meet the conditions before and after the inflection point, then respectively judge the boundary wire segments before and after the inflection point, and select the third boundary wire segment with a smaller rotation angle of the gardening robot, that is, select the third boundary wire segment with a smaller curvature to identify the inside and outside of the working area. Since the area near the third boundary wire segment with a smaller curvature is less affected by the interference environment, the recognition accuracy of the inside and outside of the working area can be improved.

[0110] In other embodiments, it is also possible to directly obtain the rotation angles of the gardening robot within the preset distance on both sides of the inflection point after the gardening robot travels to the preset distance after the inflection point, select the fourth boundary wire segment with a smaller angle, and control the gardening robot to travel to the fourth boundary wire segment to perform the preset action.

[0111] Directly judge the boundary wire segments on both sides of the inflection point after traveling to the inflection point, and select the fourth boundary wire segment with a smaller rotation angle of the gardening robot, that is, select the fourth boundary wire segment with a smaller curvature to identify the inside and outside of the working area. Since the area near the fourth boundary wire segment with a smaller curvature is less affected by the interference environment, the recognition accuracy of the inside and outside of the working area can be improved.

[0112] The above introduces the solutions for performing preset left and right rotation actions at the inflection point to identify the inside and outside of the working area, and finding qualified boundary wire segments before and after the inflection point to identify the inside and outside of the working area. Among them, the solution of controlling the gardening robot to rotate left and right to identify the inside and outside of the working area immediately after turning at the inflection point can improve work efficiency. The solution of finding qualified boundary wire segments before and after the inflection point to identify the inside and outside of the working area can increase the probability of finding straight segments and improve the accuracy of judging inside and outside the working area. Therefore, corresponding adjustments can be made according to the actual situation.

[0113] After the gardening robot travels to the inflection point of the boundary wire and identifies the inside and outside of the working area, during the subsequent driving process of the gardening robot, it can continue to monitor whether it is necessary to re-identify the inside and outside of the working area. Specifically, please refer to Figure 13 , Figure 13 is a schematic flowchart of another method for a gardening robot to identify inside and outside the working area provided by an embodiment of the present application. As Figure 13 , it includes the following steps:

[0114] Step S31: Control the gardening robot to continue traveling along the boundary wire, and determine whether the gardening robot is still traveling in the preset direction. Herein, the preset direction is the coordinate axis direction for the gardening robot to construct a map and position itself. For example, Figure 1 in the coordinate axis directions shown, the position where the gardening robot automatically returns to the base station is the coordinate origin, the right direction is the X-axis of the coordinate axis, and the downward direction is the Y-axis of the coordinate axis. Specifically, if the gardening robot is still traveling to the right or downward, it is determined that it is still traveling in the preset direction. If the gardening robot has not reached the rightmost boundary wire of the X-axis and / or the lowermost boundary wire of the Y-axis, then jump to step S33. On the contrary, if the gardening robot is traveling to the left or upward, it is determined that it is no longer traveling in the preset direction. If the gardening robot has reached the rightmost boundary wire of the X-axis and / or the lowermost boundary wire of the Y-axis, then jump to step S32.

[0115] Step S32: Take the inner and outer sides identified at or around the inflection point as the inner and outer sides of the working area. When the gardening robot has reached the rightmost boundary wire of the X-axis and / or the lowermost boundary wire of the Y-axis, it indicates that the inner and outer sides of the working area identified at or on both sides of the inflection point previously are accurate. Therefore, use this recognition result as the final recognition result to control the traveling of the gardening robot.

[0116] Step S33: Re-identify the inner and outer sides of the working area. If the gardening robot has not reached the rightmost boundary wire of the X-axis and / or the lowermost boundary wire of the Y-axis, it will continue to encounter inflection points during subsequent traveling. Then, re-identify the inner and outer sides of the working area according to the scheme described above at the subsequent inflection points encountered.

[0117] For example, Figure 1 in the schematic diagram shown, if the gardening robot identifies the inner and outer sides of the working area after traveling to inflection point 1, but there is still a boundary wire on the right side, that is, the gardening robot will also encounter inflection point 2 and inflection point 3. Near these inflection points, the identification of the inside and outside of the working area is carried out. That is, when the gardening robot has not reached the rightmost boundary wire of the X-axis and / or the lowermost boundary wire of the Y-axis, every time an inflection point is encountered, the inner and outer sides of the working area are re-identified. Since the X-axis coordinate no longer increases after traveling along the boundary wire to inflection point 3, the results of the inner and outer sides of the working area identified at or on both sides of inflection point 3 are relatively accurate. Take the results of the inner and outer sides of the working area identified at inflection point 3 as the basis for subsequent control of the traveling of the gardening robot.

[0118] Since the results of the inner and outer sides of the working area recognized at the outermost edge position of the boundary wire are the most accurate, when the gardening robot encounters an inflection point position that is more outside than the previous inflection point position, the inner and outer sides of the working area are re-recognized to improve the accuracy of the recognition result.

[0119] After determining the inner and outer sides of the working area, if an obstacle is encountered during the continuous driving process, the edge following direction can be provided according to the determined inner and outer sides of the working area. For details, please refer to Figure 14 , Figure 14 which is a schematic flowchart of another method for a gardening robot to recognize the inside and outside of a working area provided by an embodiment of the present application; as Figure 14 shown, it includes the following steps:

[0120] Step S41: During the process of the gardening robot driving along the boundary wire, determine whether the gardening robot detects a first obstacle. It can be determined whether the gardening robot detects a first obstacle through the vision sensor, laser sensor, or touch sensor of the gardening robot.

[0121] In step S41, if it is determined that there is a first obstacle, jump to step S42; if it is determined that there is no first obstacle, jump to step S43.

[0122] Step S42: Control the gardening robot to perform edge following on the part of the obstacle located inside the working area. Specifically, the inner side of the working area recognized according to the method described above can be used to guide the gardening robot to follow the edge. Since the inner side of the working area is the area planned for the gardening robot to drive and operate, the factors that threaten the driving and operation of the gardening robot will be excluded during the setting. The gardening robot following the edge inside the working area can ensure its driving safety and prevent the gardening robot from following the edge outside the working area and encountering safety threats.

[0123] Step S43: Continue to drive along the boundary wire.

[0124] If it is determined in step S41 that there is no first obstacle, step S43 controls the gardening robot to continue driving along the boundary wire. If it is determined in step S41 that there is a first obstacle and step S42 is executed, that is, after completing the edge following of the part of the first obstacle located inside the working area, control the gardening robot to continue driving along the boundary wire.

[0125] Among them, after controlling the gardening robot to continue driving along the boundary wire, if a base station is encountered, the edge following direction can be provided according to the determined inner and outer sides of the working area. For details, please refer to Figure 15 , Figure 15 which is a schematic flowchart of another method for a gardening robot to recognize the inside and outside of a working area provided by an embodiment of the present application; asFigure 15 As shown, it includes the following steps:

[0126] Step S51: Determine whether the gardening robot detects the base station. That is, it can determine whether the coordinate axis position returns near the origin, and then determine whether the gardening robot detects the base station by means of the vision sensor, laser sensor, touch sensor of the gardening robot, or the magnetic field signal corresponding to the guiding wire for detecting the base station, etc.

[0127] If the result of the determination in step S51 is yes, jump to step S52; if the result of the determination in step S51 is no, jump to step S53.

[0128] Step S52: Control the gardening robot to perform edge following on the part of the base station located inside the working area. Specifically, the inside of the working area identified according to the method described above can be used to guide the gardening robot to follow the edge. Since the inside of the working area is the area planned for the gardening robot to drive and operate, factors that threaten the driving and operation of the gardening robot will be excluded during setting. The gardening robot following the edge inside the working area can ensure its driving safety and prevent the gardening robot from encountering safety threats when following the edge outside the working area.

[0129] Step S53: Continue to drive along the boundary wire.

[0130] Step S53: After completing the edge following on the part of the base station located inside the working area, control the gardening robot to return to the base station along the boundary wire. Specifically, after completing the edge following on the part of the base station located inside the working area, the gardening robot returns to the boundary wire in front of the base station, and then further returns to the base station along the boundary wire.

[0131] In summary, after the gardening robot encounters the inflection point position, it first identifies the inside and outside of the working area according to the magnetic field signals at or on both sides of the inflection point position, so as to control the gardening robot to drive along the inside of the working area in case of encountering obstacles, thereby avoiding the safety threats when the gardening robot drives along the outside of the working area.

[0132] Among them, if before reaching the inflection point position of the boundary wire, that is, before the gardening robot identifies the inside and outside of the working area through the above solution, the edge following solution when encountering an obstacle is as Figure 16 , Figure 16 is the flowchart of another method for the gardening robot to identify the inside and outside of the working area provided by the embodiment of the present application. As Figure 16 shown, it includes the following steps:

[0133] Step S61: During the process of traveling along the boundary wire, determine whether the gardening robot encounters a second obstacle. It can be determined whether the gardening robot detects a second obstacle through the vision sensor, laser sensor, touch sensor, etc. of the gardening robot.

[0134] In step S61, if it is determined that there is a second obstacle, jump to step S62; if it is determined that there is no second obstacle, jump to step S63.

[0135] Step S62: Control the gardening robot to perform edge following on the second obstacle in accordance with a preset edge-following direction. Among them, the preset direction can be the direction preset by the gardening robot at the base station position. For example, at the base station position, it is stipulated that the right side of the gardening robot corresponds to the inner side of the working area, and the left side of the gardening robot corresponds to the outer side of the working area. Then, when encountering a second obstacle, the gardening robot can be controlled to turn to the right and then perform edge following on the second obstacle.

[0136] Step S63: Continue to travel along the boundary wire.

[0137] Step S64: Determine whether the gardening robot is hindered during the process of performing edge following in accordance with the preset edge-following direction. Among them, the hindrance is a situation where the gardening robot cannot continue to travel, such as encountering a cliff, encountering other obstacles, etc. If it is determined that the gardening robot is hindered, jump to step S65; if it is determined that the gardening robot is not hindered, return to step S63, that is, when there is no hindrance, after the gardening robot finishes edge following on the second obstacle, it continues to travel along the boundary wire.

[0138] Step S65: Control the gardening robot to retreat to the edge-following starting position and perform edge following on the second obstacle in the opposite direction of the preset edge-following direction. That is, if the edge following on the second obstacle along the preset direction is hindered, it means that the edge following in this direction is not feasible, then return to the edge-following starting position and perform edge following on the second obstacle in another direction to improve the ability of the gardening robot to bypass the second obstacle.

[0139] The embodiment of the present application also provides a system for a gardening robot to identify inside and outside the working area, which is applied to the method for identifying inside and outside the working area described above. For details, please refer to Figure 17 , Figure 17 is a schematic structural diagram of a system for a gardening robot to identify inside and outside the working area provided by the embodiment of the present application. As Figure 17 shown, the system 70 includes:

[0140] A judgment module 71, configured to judge whether the gardening robot reaches an inflection point of the boundary wire during the process of controlling the gardening robot to travel along the boundary wire. In one embodiment, the bending curvature of the boundary wire can be judged by the rotation angle of the gardening robot, so as to judge whether the gardening robot reaches the inflection point of the boundary wire. Specifically, as described above, it will not be elaborated here.

[0141] In another embodiment, it is also possible to judge whether the inflection point of the boundary wire is reached by detecting the intensity of the magnetic field signal. Specifically, as described above, it will not be elaborated here.

[0142] An acquisition module 72, configured to, when the judgment module 71 judges that the gardening robot reaches the inflection point of the boundary wire, control the gardening robot to execute a preset action before and after the inflection point, and acquire characteristic signals on both sides of the boundary wire. Specifically, as described above, it will not be elaborated here.

[0143] An identification module 73, configured to identify the inside and outside of the working area surrounded by the boundary wire based on the characteristic signals. Specifically, as described above, it will not be elaborated here.

[0144] To solve the above technical problems, an embodiment of the present application further provides a computer device. For details, please refer to Figure 18 , Figure 18 which is the basic structural block diagram of the computer device in this embodiment.

[0145] The computer device 6 includes a memory 61, a processor 62, and a network interface 63 that are communicatively connected to each other through a system bus. It should be noted that only the computer device 6 with components 61-63 is shown in the figure, but it should be understood that it is not required to implement all the shown components, and more or fewer components can be alternatively implemented. Among them, those skilled in the art of the present technology can understand that the computer device here is a device that can automatically perform numerical calculations and / or information processing according to pre-set or stored instructions, and its hardware includes but is not limited to microprocessors, application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), digital signal processors (DSPs), embedded devices, etc.

[0146] The computer device can be a computing device such as a desktop computer, a notebook, a palm computer, and a cloud server. The computer device can perform human-computer interaction with the user through means such as a keyboard, a mouse, a remote control, a touchpad, or a voice control device.

[0147] The memory 61 includes at least one type of readable storage medium, which includes flash memory, hard disk, multimedia card, card-type memory (such as SD or DX memory, etc.), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic memory, magnetic disk, optical disc, etc. In some embodiments, the memory 61 may be an internal storage unit of the computer device 6, such as the hard disk or memory of the computer device 6. In other embodiments, the memory 61 may also be an external storage device of the computer device 6, such as a plug-in hard disk, Smart Media Card (SMC), Secure Digital (SD) card, Flash Card, etc. equipped on the computer device 6. Of course, the memory 61 may also include both the internal storage unit and the external storage device of the computer device 6. In this embodiment, the memory 61 is generally used to store the operating system installed on the computer device 6 and various information management operating systems, such as computer-readable instructions for the method of the gardening robot to identify the inside and outside of the working area. In addition, the memory 61 may also be used to temporarily store various data that have been output or will be output.

[0148] In some embodiments, the processor 62 may be a central processing unit (CPU), controller, microcontroller, microprocessor, or other data processing chip. The processor 62 is generally used to control the overall operation of the computer device 6. In this embodiment, the processor 62 is used to run the computer-readable instructions stored in the memory 61 or process data, such as running the computer-readable instructions for the image calibration method of the HUD.

[0149] The network interface 63 may include a wireless network interface or a wired network interface, and this network interface 63 is generally used to establish a communication connection between the computer device 6 and other electronic devices.

[0150] This application also provides another implementation manner, that is, to provide a computer program product, the computer program product stores computer-readable instructions, and the computer-readable instructions can be executed by at least one processor, so that the at least one processor executes the steps of the method for the gardening robot to identify the inside and outside of the working area as described above.

[0151] The present application provides a method, a system, a computer device and a computer program product for a garden robot to identify the inside and outside of a working area. During the process of controlling the garden robot to travel along a boundary wire, it is determined whether the garden robot has traveled to an inflection point position of the boundary wire; if the garden robot has traveled to the inflection point position, at or around the inflection point position, the garden robot is controlled to perform a preset action to obtain characteristic signals on both sides of the boundary wire; based on the characteristic signals, the inside and outside of the working area surrounded by the boundary wire are identified. Therefore, the garden robot can identify the inside and outside of the working area, so that when encountering obstacles or base stations, etc., the garden robot can be controlled to travel along the side where the obstacle or base station is located inside according to the identified inside and outside, avoiding being threatened by safety due to unclear external conditions when walking outside, and improving the travel efficiency and travel safety.

[0152] Through the description of the above embodiments, those skilled in the art can clearly understand that the method of the above embodiments can be implemented by means of software plus a necessary general hardware platform. Of course, it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disc), and includes several instructions for causing a terminal device (which may be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to execute the methods described in the various embodiments of the present application.

[0153] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as these combinations of technical features do not conflict, they should be considered to be within the scope described in this specification.

[0154] The above-described embodiments only represent several implementation manners of the present application. The description is relatively specific and detailed, but it should not be construed as a limitation on the patent scope of the present application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A method for a garden robot to identify inside and outside a working area, characterized in that The method includes: During the process of controlling the garden robot to travel along the boundary wire, determining whether the garden robot travels to an inflection point position of the boundary wire; If the garden robot travels to the inflection point position of the boundary wire, at or around the inflection point position, controlling the garden robot to perform a preset action and obtaining characteristic signals on both sides of the boundary wire; Based on the characteristic signals, identifying the inner and outer sides of the working area surrounded by the boundary wire.

2. The method for identifying inside and outside a working area according to claim 1, wherein The step of determining whether the garden robot travels to the inflection point position of the boundary wire further includes: Detecting whether an angle by which the garden robot rotates during travel is greater than a preset angle threshold; If the rotated angle is greater than the preset angle threshold, it is determined that the inflection point position of the boundary wire is detected to be reached.

3. The method for identifying inside and outside a working area according to claim 1 or 2, characterized in that, The step of determining whether the garden robot travels to the inflection point position of the boundary wire further includes: Detecting whether the intensity of a magnetic field signal detected by the magnetic field sensor of the garden robot during travel is less than a preset intensity threshold; If the intensity of the magnetic field signal is less than the preset intensity threshold, it is determined that the inflection point position of the boundary wire is detected to be reached.

4. The method for identifying inside and outside a working area according to claim 1, wherein The step of controlling the garden robot to perform a preset action further includes: At the inflection point position, controlling the garden robot to turn the travel direction and then perform the preset action, or detecting an identification position that meets a preset identification condition within a preset distance on both sides of the inflection point position, and at the identification position, controlling the garden robot to perform the preset action.

5. The method for identifying inside and outside a working area according to claim 4, wherein The step of detecting an identification position that meets a preset identification condition within a preset distance on both sides of the inflection point position and, at the identification position, controlling the garden robot to perform the preset action further includes: When the garden robot travels within the preset distance before the inflection point position, initially determining whether there is a first boundary wire segment that satisfies the following conditions: the length of the first boundary wire segment is greater than or equal to a preset length threshold, and when the garden robot travels on the first boundary wire segment, the angle by which it rotates is less than or equal to the preset angle threshold; If the result of the initial determination is yes, controlling the garden robot to retreat from the inflection point position to the first boundary wire segment to perform the preset action.

6. The method for identifying inside and outside a working area according to claim 5, wherein, The step of detecting an identification position that meets a preset identification condition within a preset distance on both sides of the inflection point position and, at the identification position, controlling the garden robot to perform the preset action further includes: If the result of the initial determination is no, controlling the garden robot to continue traveling along the boundary wire from the inflection point position and again determining whether there is a second boundary wire segment that satisfies the following conditions within the preset distance: the length of the second boundary wire segment is greater than or equal to the preset length threshold, and when the garden robot travels on the second boundary wire segment, the angle by which it rotates is less than or equal to the preset angle threshold; If the result of the re - determination is yes, controlling the garden robot to travel to the second boundary wire segment to perform the preset action.

7. The method for identifying inside and outside a working area according to claim 6, characterized in that, The step of detecting, within a preset distance on both sides of the inflection point position, an identification position that meets a preset identification condition, and controlling the gardening robot to perform the preset action at the identification position further includes: If the result of the re-judgment is negative, obtain the angles by which the gardening robot rotates within the preset distance on both sides of the inflection point position, select the third boundary wire segment with the smaller angle, and control the gardening robot to travel to the third boundary wire segment to perform the preset action.

8. The method for identifying inside and outside a working area according to claim 4, wherein The step of detecting, within a preset distance on both sides of the inflection point position, an identification position that meets a preset identification condition, and controlling the gardening robot to perform the preset action at the identification position further includes: When the gardening robot travels to the preset distance after reaching the inflection point position, obtain the angles by which the gardening robot rotates within the preset distance on both sides of the inflection point position, select the fourth boundary wire segment with the smaller angle, and control the gardening robot to travel to the fourth boundary wire segment to perform the preset action.

9. The method for identifying inside and outside a working area according to any one of claims 4-8, characterized in that The step of controlling the gardening robot to perform a preset action and obtaining the characteristic signals on both sides of the boundary wire further includes: Control the gardening robot to rotate successively to both sides of the boundary wire, and during the rotation, respectively obtain, by two magnetic field sensors on both sides of the gardening robot, the magnetic field signals generated when the electrical signal is transmitted on the boundary wire. The step of identifying the inner and outer sides of the working area enclosed by the boundary wire based on the magnetic field signals further includes: Identify the side corresponding to the magnetic field sensor that detects the larger magnetic field signal as the inner side, and identify the side corresponding to the magnetic field sensor that detects the smaller magnetic field signal as the outer side.

10. The method for identifying inside and outside a working area according to any one of claims 4-8, characterized in that, The preset distance is not less than 110 cm.

11. The method for identifying inside and outside a working area according to claim 1, characterized in that, After the gardening robot travels to the inflection point position of the boundary wire, the method further includes: Control the gardening robot to continue traveling along the boundary wire, and judge whether the gardening robot is still traveling in the preset direction. If the gardening robot no longer travels in the preset direction, use the inner and outer sides identified at or around the inflection point position as the inner and outer sides of the working area.

12. The method for identifying inside and outside a working area according to claim 11, wherein The preset direction is the axis direction for the gardening robot to map and position.

13. The method for identifying inside and outside a working area according to claim 1, wherein After identifying the inner and outer sides of the working area enclosed by the boundary wire based on the characteristic signals, the method includes: During the process of the gardening robot traveling along the boundary wire, judge whether the gardening robot detects a first obstacle. If the gardening robot detects the first obstacle, control the gardening robot to edge along the part of the obstacle located inside the working area. After completing edging along the part of the first obstacle located inside the working area, control the gardening robot to continue traveling along the boundary wire.

14. The method for identifying inside and outside a working area according to claim 13, characterized in that, After controlling the gardening robot to continue traveling along the boundary wire, the method further includes: Judge whether the gardening robot detects a base station. If the gardening robot detects the base station, control the gardening robot to perform edge following on the part of the base station located inside the working area; After completing the edge following on the part of the base station located inside the working area, control the gardening robot to return to the base station along the boundary wire.

15. The method for identifying inside and outside a working area according to claim 1, wherein Before reaching the inflection point of the boundary wire, the method further includes: During the process of traveling along the boundary wire, determine whether the gardening robot encounters a second obstacle; If the gardening robot encounters the second obstacle, control the gardening robot to perform edge following on the second obstacle in accordance with a preset edge following direction; Determine whether the gardening robot is obstructed during the process of performing edge following in the preset edge following direction; If the gardening robot is obstructed during the process of performing edge following in the preset edge following direction, control the gardening robot to retreat to the edge following starting position and perform edge following on the second obstacle in the opposite direction of the preset edge following direction.

16. A system for a gardening robot to identify inside and outside of a working area, characterized in that, The system includes: A judgment module, configured to determine whether the gardening robot travels to the inflection point of the boundary wire during the process of controlling the gardening robot to travel along the boundary wire; An acquisition module, configured to, when the judgment module determines that the gardening robot travels to the inflection point of the boundary wire, control the gardening robot to execute a preset action before and after the inflection point to acquire characteristic signals on both sides of the boundary wire; An identification module, configured to identify the inside and outside of the working area enclosed by the boundary wire based on the characteristic signals.

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