Method and system for garden robot to recognize inside and outside of working area and computer equipment

Abstract

The invention relates to a method and system for a garden robot to recognize inside and outside of a working area and computer equipment, the garden robot is provided with a magnetic field sensor, and the method for recognizing inside and outside edge control of the working area comprises the steps that the garden robot is controlled to travel to a first preset position along a boundary wire; the garden robot is controlled to execute a preset action at the first preset position so as to recognize the inner side and the outer side of a working area defined by a boundary wire; in the process of controlling the garden robot to travel from the first preset position to a second preset position along the boundary lead, whether an interference environment exists or not is judged; if it is detected that the interference environment exists, the garden robot is controlled to continue to run along the boundary guide line from a second preset position, the recognition position meeting the preset recognition condition is obtained, and the preset action is executed at the recognition position to recognize the inner side and the outer side again. Therefore, the accuracy of identifying the inside and outside of the working area can be increased.

Description

Technical Field

[0001] The present application relates to the technical field of robots, and in particular, to a method, a system, and a computer device 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 is necessary 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 garden area and establish an initial positioning database. After the garden robot is staked, at a position of a first preset distance from the charging pile (for example, 1.5 m), the garden robot is controlled to perform a preset action to obtain the magnetic field signals inside and outside the working area, and based on the magnitudes of the magnetic field signals, determine which side of the charging pile is inside the working area and which side is outside the working area.

[0003] In the above solution, if there is other magnetic field interference at the position of the first preset distance, there will be a large error in determining the inside and outside of the working area at this position. Summary of the Invention

[0004] Based on this, in view of the above technical problems, it is necessary to provide a method, a system, and a computer device for a garden robot to identify inside and outside a working area, which can increase the accuracy of identifying the inside and outside of the working area.

[0005] In a first aspect, the present application provides a method for a garden robot to identify inside and outside a working area. A magnetic field sensor is provided on the garden robot. The method for identifying inside and outside the working area includes:

[0006] Controlling the garden robot to drive along the boundary wire to a first preset position;

[0007] Controlling the garden robot to perform a preset action at the first preset position to identify the inside and outside of the working area surrounded by the boundary wire;

[0008] During the process of controlling the garden robot to drive from the first preset position along the boundary wire to a second preset position, determining whether there is an interference environment;

[0009] If it is detected that there is the interference environment, controlling the garden robot to continue driving along the boundary wire from the second preset position, obtaining an identification position that meets the preset identification conditions, and performing the preset action at the identification position to identify the inside and the outside again.

[0010] In one embodiment, the step of determining whether there is an interference environment includes:

[0011] When the gardening robot is traveling along the boundary wire, it is determined whether the change in the intensity of the magnetic field signal detected by the magnetic field sensor exceeds a preset intensity threshold, and / or whether the angle of a single rotation of the gardening robot is greater than a preset angle threshold;

[0012] If the change in the intensity of the magnetic field signal detected by the magnetic field sensor exceeds the preset intensity threshold, and / or the angle of a single rotation of the robot is greater than the preset angle threshold, it is determined that there is an interfering environment.

[0013] In one embodiment, the step of controlling the gardening robot to continue traveling along the boundary wire from the second preset position and obtaining an identification position that meets the preset identification conditions includes:

[0014] Control the gardening robot to continue traveling along the boundary wire from the second preset position, and detect whether there is a boundary wire segment greater than a first preset distance, and the boundary wire segment meets the following conditions: when the gardening robot is traveling on the boundary wire segment, the change in the intensity of the magnetic field signal detected by the magnetic field sensor does not exceed the preset intensity threshold, and / or the angle of a single rotation of the gardening robot is less than or equal to the preset angle threshold;

[0015] If it is determined that there is the boundary wire segment, control the gardening robot to retreat a second preset distance at the end position of the boundary wire segment, and use the position after retreat as the identification position, where the second preset distance is equal to or greater than half of the first preset distance.

[0016] In one embodiment, the step of controlling the gardening robot to travel along the boundary wire to the first preset position includes:

[0017] Control the gardening robot to travel from the front side of the charging station along the boundary wire to the first preset position or from the current position of the gardening robot along the boundary wire to the first preset position.

[0018] In one embodiment, the step of controlling the gardening robot to perform a preset action at the first preset position to identify the inside and outside of the working area surrounded by the boundary wire includes:

[0019] Control the gardening robot to rotate to both sides of the boundary wire in sequence, and during the rotation, obtain the magnetic field signal through the magnetic field sensor, and identify the inside and outside of the working area according to the magnetic field signal.

[0020] In one embodiment, the step of identifying the inner and outer sides of the working area according to the magnetic field signal includes:

[0021] Identifying the side corresponding to the magnetic field sensor that detects a larger magnetic field signal as the inner side of the working area, and identifying the side corresponding to the magnetic field sensor that detects a smaller magnetic field signal as the outer side of the working area.

[0022] In one embodiment, the method further includes:

[0023] After identifying the inner and outer sides, if an obstacle is detected during the process of the gardening robot traveling along the boundary wire, controlling the gardening robot to edge along the side corresponding to the inner side of the obstacle.

[0024] In one embodiment, the method further includes:

[0025] When the gardening robot travels along the boundary wire to the back side of the charging station, controlling the gardening robot to travel along the side corresponding to the inner side of the charging station to return to the first preset position or between the first preset position and the second preset position.

[0026] In a second aspect, the present application also provides a system for a gardening robot to identify the inside and outside of a working area. The system includes: a first control module for controlling the gardening robot to travel along a boundary wire to a first preset position; an identification module for controlling the gardening robot to perform a preset action at the first preset position to identify the inner and outer sides of the working area surrounded by the boundary wire; a judgment module for judging whether there is an interference environment during the process of controlling the gardening robot to travel from the first preset position along the boundary wire to a second preset position; a second control module for, when the judgment module judges that there is the interference environment, controlling the gardening robot to continue to travel along the boundary wire from the second preset position, obtaining an identification position that meets the preset identification conditions, and performing the preset action at the identification position to identify the inner and outer sides again.

[0027] The above describes a method, system, and computer device for a garden robot to identify the inside and outside of a working area. A magnetic field sensor is provided on the garden robot. The method for controlling the inside and outside along the edge of the identified working area includes: controlling the garden robot to drive along the boundary wire to a first preset position; controlling the garden robot to perform a preset action at the first preset position to identify the inside and outside of the working area surrounded by the boundary wire; during the process of controlling the garden robot to drive from the first preset position along the boundary wire to a second preset position, determining whether there is an interference environment; if it is detected that there is the interference environment, controlling the garden robot to continue driving along the boundary wire from the second preset position, obtaining an identification position that meets the preset identification conditions, and performing the preset action at the identification position to identify the inside and the outside again. Therefore, in this application, the inside and outside of the working area are first identified at the first preset position. When an interference environment is determined during the subsequent preset driving process, the inside and outside of the working area are re-identified, avoiding the influence of the interference environment on the identification result at the first preset position, thereby being able to increase the accuracy of identifying the inside and outside of the working area. Description of the Drawings

[0028] Figure 1 is a schematic diagram of the existence of an interference environment provided by an embodiment of the present application;

[0029] Figure 2 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;

[0030] Figure 3 is a schematic diagram of a scenario of a method for a garden robot to drive from a charging station to a first preset position;

[0031] Figure 4 is a schematic diagram of a scenario of another method for a garden robot to drive from a charging station to a first preset position;

[0032] Figure 5 is a schematic flowchart of another method for a garden robot to identify the inside and outside of a working area provided by an embodiment of the present application;

[0033] Figure 6 is a schematic diagram of a scenario where a garden robot continues to drive at a second preset position and detects whether there is a boundary wire segment that meets the conditions;

[0034] Figure 7 and Figure 8 is a schematic diagram of a scenario where a garden robot re-identifies the inside and outside of a working area at an identification position;

[0035] Figure 9 is a schematic diagram of a driving scheme when a garden robot detects an obstacle during the process of driving along the boundary wire;

[0036] Figure 10 It is a schematic diagram of the driving scheme when the gardening robot drives along the boundary wire to the back side of the charging station;

[0037] Figure 11 It is a schematic structural diagram of a gardening robot provided by an embodiment of the present application for identifying inside and outside the working area;

[0038] Figure 12 It is a basic structural block diagram of a computer device provided by an embodiment of the present application. Detailed implementation manners

[0039] In order to make the purpose, technical solutions and advantages of the present application clearer, 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.

[0040] Please refer to Figure 1 , a gardening robot is a movable robot for gardening operations. For example, a lawn mowing robot and a disinfection robot belong to gardening robots. Before working, the gardening robot usually needs to set a boundary wire in the working area, and the boundary wire encloses the working area of the gardening robot. Both ends of the boundary wire are connected to the base station of the gardening robot. The base station serves as the charging station of the gardening 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 also includes an interface (not shown in the figure), and the interface is connected to both ends of the boundary wire for transmitting 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 to the boundary wire through the base station, and the electrical signal generates a magnetic field with polarity. In other applications, the signal generator can also be set independently. For example, the charging device and the signal generator can be independently set at the same position.

[0041] Two magnetic field sensors are symmetrically arranged on both sides of the central axis of the gardening robot, and the two magnetic field sensors are symmetrical about the central axis of the gardening robot. And the sensitive axes of the two magnetic field sensors are parallel to each other.

[0042] When the gardening robot travels on the boundary wire, it determines the inside and outside of the working area by identifying the magnetic field signal corresponding to the electrical signal through the magnetic field sensor provided thereon. Specifically, the boundary signal generated by the signal generator is transmitted on the boundary wire, generating a magnetic field signal. Under normal circumstances, there is a magnetic field superposition inside the working area surrounded by the boundary wire. Therefore, the magnetic field inside the working area is greater than the magnetic field outside the working area, that is, when the gardening robot is on the boundary wire, the magnetic field signal detected by the magnetic field sensor located inside the working area is greater than the magnetic field signal detected by the magnetic field sensor located outside the working area. However, if there is a magnetic field interference environment, for example Figure 1 , at the position of the charging station, there is a guiding wire, and the guiding wire is also energized to generate a magnetic field signal. Then, the magnetic field signal within the preset distance range of the charging station includes the magnetic field signal of the boundary wire and the magnetic field signal of the guiding wire. If the magnetic field signal is detected within the preset distance range of the charging station to determine the inside or outside of the working area, it is likely to cause inaccurate judgment. Another example is that the boundary wire has a large curvature, for example Figure 1 , at the bending point of the boundary wire, there is also a magnetic field superposition outside its working area. That is, near the bending point of the boundary wire, the magnetic field signal detected by the magnetic field sensor is interfered, which is likely to cause inaccurate judgment results. The embodiment of the present application provides a method for a gardening robot to identify the inside and outside of the working area to solve the above technical problems.

[0043] Please refer to Figure 2 , Figure 2 which is a schematic flowchart of a 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 2 shown, the method for identifying the inside and outside of the working area in this embodiment includes the following steps:

[0044] Step S1: Control the gardening robot to travel along the boundary wire to the first preset position.

[0045] Step S2: Control the gardening robot to perform a preset action at the first preset position to identify the inside and outside of the working area surrounded by the boundary wire.

[0046] Step S3: During the process of controlling the gardening robot to travel from the first preset position along the boundary wire to the second preset position, determine whether there is an interference environment.

[0047] Among them, as described above, the interference environment may include the following two types: The first type: the magnetic field signal generated by other energized wires outside the boundary wire, such as Figure 1 the magnetic field signal generated by the guiding wire of the charging station shown; The second type: the influence of the magnetic field superposition outside the working area at special positions of the boundary wire, such as near the bending point. It should be understood that other situations that cause changes in the magnetic field near the boundary wire can be the interference environment of the present application.

[0048] Step S4: If it is determined that there is the interference environment, control the gardening robot to continue traveling along the boundary wire from the second preset position, obtain an identification position that meets the preset identification conditions, and perform the preset action at the identification position to identify the inner side and the outer side again.

[0049] It should be understood that if it is determined in step S3 that there is no interference environment, control the gardening robot to continue traveling along the boundary wire.

[0050] Therefore, in this application, the inner side and the outer side of the working area are first identified at the first preset position. When an interference environment is determined during the traveling process of subsequent preset trips, the inner side and the outer side of the working area are re-identified, avoiding the interference environment from affecting the identification result at the first preset position, thereby being able to increase the accuracy of identifying the inner side and the outer side of the working area.

[0051] Step S1 can further specifically control the gardening robot to travel along the boundary wire from the front side of the charging station to the first preset position or travel along the boundary wire from the current position of the gardening robot to the first preset position.

[0052] In a specific embodiment, the first preset position can be a position at a preset distance from the reference position. For example, in the environment as Figure 1 shown, both ends of the boundary wire are connected to the charging station. During the traveling process of the gardening robot, the charging station can be used as the origin position of the coordinate system, and the gardening robot will record its relative position from the charging station as its specific position information. Therefore, in this embodiment, the first preset position can be set as a position at a preset distance from the charging station, so as to accurately perform positioning. Before controlling the gardening robot to travel along the boundary wire to the first preset position, it is necessary to determine whether the gardening robot is located on the charging station. When the gardening robot is located on the charging station, control the gardening robot to travel along the boundary wire from the charging station to the first preset position; when the gardening robot is not on the charging station, the gardening robot can be controlled to travel to the charging station, and then control the gardening robot to travel along the boundary wire from the charging station to the first preset position; controlling the gardening robot to travel along the boundary wire from the charging station to the first preset position can accurately position the gardening robot through the boundary wire, so as to control the gardening robot to accurately travel to the first preset position.

[0053] Alternatively, when the gardening robot is not at the charging station, the gardening robot can also be controlled to directly drive to the first preset position. After driving to the first preset position, the gardening robot is controlled to adjust its pose so that the gardening robot can drive along the boundary wire. The solution of directly driving to the first preset position can improve the driving efficiency of the gardening robot. For example, a straight-line path between two points from the current position to the first preset position can be planned, and then drive directly to the first preset position along this straight-line path to improve the driving efficiency.

[0054] Please refer to Figure 3 and Figure 4 , the specific solution for the gardening robot to drive from the charging station to the first preset position may include: as Figure 3 shown, directly retreat from the charging station to the first preset position; or as Figure 4 shown, first retreat and unpeg from the charging station, and then turn around and drive to the first preset position.

[0055] In other embodiments, the first preset position can also be other pre-set positions, but it needs to be on the boundary wire. Therefore, the gardening robot can be controlled to directly drive or drive along the boundary wire to the first preset position. Among them, the solution of directly driving to the first preset position can improve the driving efficiency of the gardening robot. For example, a straight-line path between two points from the current position to the first preset position can be planned, and then drive directly to the first preset position along this straight-line path to improve the driving efficiency. The solution of controlling the gardening robot to drive along the boundary wire to the first preset position can improve the accuracy of the gardening robot because the gardening robot can perform precise positioning on the boundary wire, so as to control the gardening robot to drive to the first preset position more precisely.

[0056] The preset actions performed at the first preset position may include the actions of the gardening robot turning left and right, and may also include the preset actions of the gardening robot moving forward and backward. Correspondingly, step S2 can further specifically control the gardening robot to turn to both sides of the boundary wire in sequence, and during the turning process, obtain the magnetic field signal through the magnetic field sensor, and identify the inside and outside of the working area according to the magnetic field signal. Or step S2 can further specifically control the gardening robot to move forward and backward at the first preset position, and during the moving process, obtain the magnetic field signal through the magnetic field sensor, and identify the inside and outside of the working area according to the magnetic field signal.

[0057] Further, the side corresponding to the magnetic field sensor that detects the larger magnetic field signal is identified as the inside of the working area, and the side corresponding to the magnetic field sensor that detects the smaller magnetic field signal is identified as the outside of the working area.

[0058] In a practical application, two magnetic field sensors may be included, symmetrically arranged on both sides of the central axis of the garden robot, and the sensitive axis of the magnetic field sensor is perpendicular to the working plane. Please also refer to Figure 3 , when the garden robot rotates towards its right side, the magnetic field sensor on the left first detects a magnetic field signal whose intensity first decreases and then increases. When the intensity of the detected magnetic field signal decreases again, it indicates that the garden robot has rotated to the limit position. At this time, it is necessary to control the garden robot to rotate towards its left side. When the garden robot rotates towards its left side, the magnetic field sensor on the right first detects a magnetic field signal whose intensity first decreases and then increases. When the intensity of the detected magnetic field signal decreases again, it indicates that the garden robot has rotated to the limit position. At this time, it is necessary to control the garden robot to rotate towards the right side. It should be understood that when the garden robot rotates, it cannot determine whether which direction (i.e., the left and right sides) is the inner side or the outer side of the boundary wire (i.e., the inner side and the outer side of the working area). It can only judge the left or right side of its own direction. However, the position relationship between the garden robot and the working area can be judged by comparing the maximum values of the magnetic field signals detected during rotation. If the maximum value of the magnetic field signal detected during the rotation of the garden robot towards its left side is greater than the maximum value of the magnetic field signal detected during the rotation towards its right side, it is judged that the right side of the garden robot corresponds to the outer side of the working area, and the left side of the garden robot corresponds to the inner side of the working area. As Figure 3 shown, its right side corresponds to the outer side of the boundary wire, and its left side corresponds to the inner side of the boundary wire.

[0059] Therefore, in the embodiment of the present application, due to the superposition of the magnetic fields on the inner side of the working area resulting in a magnetic field signal greater than that on the outer side of the working area, the garden robot is controlled to identify the inner side and the outer side of the working area. The identification process of the garden robot does not require adding additional identification sensors, the solution is simple, and the cost is relatively low.

[0060] Moreover, in the embodiment of the present application, different magnetic field signals are obtained by operating the rotation of the garden robot, and the operation is simple and easy to control.

[0061] Optionally, the judgment of whether there is an interference environment in step S3 specifically includes the following solutions:

[0062] The first solution is to judge whether the intensity change of the magnetic field signal detected by the magnetic field sensor exceeds a preset intensity threshold when the garden robot is traveling along the boundary wire.

[0063] That is, obtain the magnetic field signal of the boundary wire between the first preset position and the second preset position, and determine whether the intensity change of the magnetic field signal of this section of the boundary wire exceeds the intensity threshold. The specific acquisition method can be to detect it in real time through a magnetic field sensor during the driving process of the garden robot, or the garden robot can stop driving when it reaches a position at a preset distance, and then perform the preset actions described above to obtain the magnetic field signal. Among them, the preset distance can be set according to the actual situation, such as 0.3 meters, 0.4 meters, 0.5 meters, etc.

[0064] Among them, the intensity threshold can be a fixed value of the magnetic field intensity, or a dynamically changing value. For example, based on the maximum value of the magnetic field intensity detected at the first preset position, the preset intensity threshold is half larger or half smaller than the maximum value of this benchmark.

[0065] The first scheme is suitable for the situation where there are energized wires near the first preset position. For example, Figure 1 in the environment shown, if there are guiding wires only at the charging station, the first scheme can be adopted.

[0066] Adopting the first scheme, when there are other boundary wires, other signal generators, etc. near the boundary wire between the first preset position and the second preset position, it can accurately detect the existence of an interference environment, thereby rejecting the recognition result of the first preset position, and controlling the garden robot to re-recognize the inside and outside of the accurate working area again, which can improve the recognition accuracy.

[0067] For the second scheme, during the process of the garden robot driving along the boundary wire, judge whether the angle of a single rotation of the garden robot is greater than the preset angle threshold.

[0068] That is, judge whether the curvature of the boundary wire from the first preset position to the second preset position is greater than the curvature threshold. When the curvature of the boundary wire is large, for example, Figure 1 at the bending point of the boundary wire shown, the magnetic field signal of the boundary wire after bending will be superimposed on the magnetic field signal of the boundary wire before bending outside the boundary wire, affecting the judgment of the magnetic field signal intensity in the first preset position, and thus affecting the recognition results of the inside and outside of the working area.

[0069] In the second scheme, during the process of continuing to drive along the boundary wire from the first preset position to the second preset position, determine whether the rotation angle of the garden robot exceeds the preset angle threshold. For example, the preset angle threshold is 45 degrees. When the single rotation angle of the garden robot exceeds the preset value, it is determined that there is a curvature greater than the curvature threshold.

[0070] It should be understood that the second scheme is suitable for the situation where the boundary wire has a large bend near the first preset position, such as Figure 1In the environment shown, if there is a large bend in the boundary wire only near the first preset position, the second solution can be adopted.

[0071] By adopting the second solution, when there is a large bend in the boundary wire between the first preset position and the second preset position, the interference environment can be accurately detected, so as to discard the recognition result of the first preset position and control the gardening robot to re-recognize the inside and outside of the accurate working area again, which can improve the recognition accuracy.

[0072] For the third solution, during the process of the gardening robot traveling along the boundary wire, it is judged whether the intensity change of the magnetic field signal detected by the magnetic field sensor exceeds a preset intensity threshold, and whether the angle of a single rotation of the gardening robot is greater than a preset angle threshold.

[0073] The third solution combines the characteristics of the first and second solutions described above, that is, it is necessary to judge the change of the magnetic field signal and the change of the rotation angle at the same time.

[0074] The third solution is suitable for the situation where there is a live wire in the charging station and there is a large bend in the boundary wire near the first preset position, such as Figure 1 the environment shown can adopt the third solution. It can be seen that the conditions defined by the third solution are relatively complex. Only when there are other boundary wires, other signal generators, etc. near the first preset position and there is a large bend in the boundary wire can the interference environment be detected, and it is necessary to control the gardening robot to re-recognize the inside and outside of the working area again. Otherwise, the gardening robot can continue to travel along the boundary wire, which can improve the travel efficiency of the gardening robot.

[0075] In summary, the first to third solutions can be selected according to the actual situation, or a combined solution can be selected according to the actual situation. For example, the change in the intensity of the magnetic field signal of the first solution can be used to judge whether there is an interference environment. If the judgment result is negative, then the change in the angle of a single rotation of the second solution can be further used to judge whether there is an interference environment. In practical applications, at least one of the above solutions can be selected according to the actual situation, and this application does not make any restrictions.

[0076] If the intensity change of the magnetic field signal detected by the magnetic field sensor exceeds the preset intensity threshold, or / and the angle of a single rotation of the robot is greater than the preset angle threshold, it is judged that there is the interference environment. That is, if the judgment results of the first to third solutions described above are yes, it is judged that there is an interference environment.

[0077] If it is determined that there is an interference environment, it means that the results of the inner and outer sides of the working area judged at the first preset position are inaccurate, and it is necessary to re-find the recognition position to judge the inner and outer sides of the working area. For the specific determination scheme of the recognition position, please refer to Figure 5 , Figure 5 FIG. Figure 5 is a schematic flowchart of another method for a gardening robot to identify the inside and outside of a working area provided by an embodiment of the present application. As Figure 5 shown, it includes the following steps:

[0078] Step S41: Control the gardening robot to continue to travel along the boundary wire from the second preset position, and detect whether there is a boundary wire segment greater than the first preset distance, and the boundary wire segment satisfies the following conditions: when the gardening robot travels on the boundary wire segment, the intensity change of the magnetic field signal detected by the magnetic field sensor does not exceed the preset intensity threshold, or / and the angle of a single rotation of the gardening robot is less than or equal to the preset angle threshold.

[0079] That is, it is necessary to find a boundary wire without environmental interference, and thus re-determine the recognition positions of the inner and outer sides of the recognizable working area on this boundary wire without environmental interference. Because there is no environmental interference, the accuracy of the results of the inner and outer sides of the recognized working area can be ensured.

[0080] Specifically, please refer to Figure 6 , when the gardening robot judges that there is an interference environment at the second preset position due to the curvature of the boundary wire being greater than the preset curvature threshold, based on the foregoing, control the gardening robot to continue to travel along the boundary wire from the second position, and determine whether there is a boundary wire segment greater than the first preset distance and the curvature of this boundary wire segment is not greater than the preset curvature threshold. If as Figure 6 shown, it travels a first preset distance L on the rightmost boundary wire, and this boundary wire segment of the first preset distance L is a straight line, which meets the conditions.

[0081] It can be understood that when it is determined that there is an interference environment by judging the magnitude of the magnetic field change, the scheme of controlling the gardening robot to continue to travel to find a boundary wire without environmental interference is the same as the foregoing, and will not be repeated here.

[0082] Among them, the range of the first preset distance can be from 100 cm to 120 cm. That is, if there is a boundary wire segment with a length of 100 cm to 120 cm without environmental interference, the results of identifying the inside and outside of the working area in this boundary wire segment are relatively accurate. It should be noted that the first preset distance can be set according to the body length of the gardening robot. Setting the first preset distance to a distance greater than twice the body length of the gardening robot can ensure that the magnetic field signals detected by the gardening robot on the boundary wire of this length are more stable, thereby improving the accuracy of the recognition results.

[0083] Step S42: If it is determined that there is the boundary wire segment, control the gardening robot to retreat a second preset distance at the end position of the boundary wire segment, and use the position after retreat as the recognition position, where the second preset distance is equal to or greater than half of the first preset distance.

[0084] Please refer to Figure 7 and Figure 8 , that is, control the gardening robot to retreat to the midpoint position between the second position and the recognition position or a position more biased towards the second position based on this intermediate position. After retreating, control the gardening robot to perform a preset action, such as turning left and right, to determine the inside and outside of the working area through magnetic field signals.

[0085] As mentioned above, if the first preset distance is set to a distance greater than twice the body length of the gardening robot, when controlling the gardening robot to retreat to the midpoint position between the second position and the recognition position or a position more biased towards the second position based on this intermediate position, it can ensure that there are approximately one body length of boundary wire segments without environmental interference on both sides of the gardening robot, meeting the recognition conditions. When the gardening robot turns left and right at this position to detect magnetic field signals, no other magnetic field signals will be detected, that is, the detected magnetic field signal is the normal magnetic field signal of the boundary wire, improving the accuracy of the recognition.

[0086] It should be noted that if it is determined that there is no boundary wire segment without environmental interference as described above, set one side (left or right) of the charging station to be inside the working area, and the other side to be outside the working area.

[0087] Please refer to Figure 9 , after identifying the inside and outside, if an obstacle is detected during the process of the gardening robot driving along the boundary wire, control the gardening robot to edge along the side corresponding to the inside of the obstacle. This can avoid the situation that when the gardening robot edges along the side corresponding to the outside of the obstacle, it is outside the working area and is prone to other threatening situations such as cliffs.

[0088] Please refer to Figure 10, when the gardening robot travels along the boundary wire to the back side of the charging station, control the gardening robot to travel along the side corresponding to the inner side of the charging station to return to the first preset position, and then return to the charging station from this first preset position.

[0089] In other embodiments, the gardening robot can also be controlled to travel along the side corresponding to the inner side of the charging station to return to a position between the first preset position and the second preset position.

[0090] This can avoid the situation that when the gardening robot travels along the side corresponding to the outer side of the charging station, it is outside the working area and is likely to encounter other threatening situations such as cliffs.

[0091] The embodiment of the present application also provides a system for a gardening robot to identify inside and outside the working area. This control system is applied to the method for identifying inside and outside the working area described above. Please refer to Figure 11 , the system 100 for a gardening robot to identify inside and outside the working area includes:

[0092] The first control module 101 is used to control the gardening robot to travel along the boundary wire to the first preset position.

[0093] Specifically, control the gardening robot to travel from the front side of the charging station along the boundary wire to the first preset position or from the current position of the gardening robot along the boundary wire to the first preset position.

[0094] In a specific embodiment, the first preset position can be a position at a preset distance from the reference position. For example, in the environment shown in Figure 1 , both ends of the boundary wire are connected to the charging station. During the travel of the gardening robot, the charging station can be used as the origin position of the coordinate system, and the gardening robot will record its relative position from the charging station as its specific position information. Therefore, in this embodiment, the first preset position can be set as a position at a preset distance from the charging station, so as to accurately perform positioning. Before controlling the gardening robot to travel along the boundary wire to the first preset position, it is necessary to judge whether the gardening robot is located on the charging station. When the gardening robot is located on the charging station, control the gardening robot to travel from the charging station along the boundary wire to the first preset position; when the gardening robot is not on the charging station, the gardening robot can be controlled to travel to the charging station, and then control the gardening robot to travel from the charging station along the boundary wire to the first preset position.

[0095] Please refer to Figure 3 and Figure 4 , the specific solution for the gardening robot to travel from the charging station to the first preset position can include: as shown in Figure 3 , directly retreat from the charging station to the first preset position; or as shown in Figure 4As shown, first, reverse the pile from the charging station, and then turn around and drive to the first preset position.

[0096] In other embodiments, the first preset position can also be other pre-set positions, but it needs to be on the boundary wire. Therefore, the gardening robot can be controlled to directly drive to the first preset position. Among them, the gardening robot needs to drive along the boundary wire to the first preset position.

[0097] The recognition module 102 is used to control the gardening robot to perform a preset action at the first preset position to recognize the inside and outside of the working area surrounded by the boundary wire.

[0098] The preset action can include the action of the gardening robot turning left and right, and can also include the preset action of the gardening robot moving forward and backward.

[0099] The recognition module 102 can further specifically control the gardening robot to turn to both sides of the boundary wire in sequence, and during the turning process, obtain the magnetic field signal through the magnetic field sensor, and recognize the inside and outside of the working area according to the magnetic field signal. Or the recognition module 102 can further specifically control the gardening robot to move forward and backward at the first preset position, and during the moving process, obtain the magnetic field signal through the magnetic field sensor, and recognize the inside and outside of the working area according to the magnetic field signal. The specific judgment process is as described above and will not be elaborated here.

[0100] The judgment module 103 is used to judge whether there is an interference environment during the process of controlling the gardening robot to drive along the boundary wire from the first preset position to the second preset position.

[0101] The solutions for the judgment module 103 to judge whether there is an interference environment include the following three:

[0102] The first solution is to judge whether the intensity change of the magnetic field signal detected by the magnetic field sensor exceeds a preset intensity threshold during the process of the gardening robot driving along the boundary wire.

[0103] That is to say, obtain the magnetic field signal of the boundary wire between the first preset position and the second preset position, and judge whether the intensity change of the magnetic field signal of this section of the boundary wire exceeds the intensity threshold. The specific acquisition method can be to detect in real time through the magnetic field sensor during the driving process of the gardening robot, or the gardening robot can stop driving when it reaches a preset distance position, and then perform the preset action described above to obtain the magnetic field signal. Among them, the preset distance can be set according to the actual situation, such as 0.3 meters, 0.4 meters, 0.5 meters, etc.

[0104] Among them, the intensity threshold can be a fixed value of the magnetic field intensity or a dynamically changing value. For example, based on the maximum value of the magnetic field intensity detected at the first preset position as a reference, the preset intensity threshold is half larger or half smaller than the maximum value of this reference.

[0105] The first solution is suitable for the situation where there is a live wire near the first preset position. For example, Figure 1 in the environment shown, if there is only a guiding wire at the charging station, the first solution can be adopted.

[0106] In the second solution, during the process of the gardening robot driving along the boundary wire, it is judged whether the angle of a single rotation of the gardening robot is greater than a preset angle threshold.

[0107] That is, it is judged whether the curvature of the boundary wire from the first preset position to the second preset position is greater than the curvature threshold. When the curvature of the boundary wire is large, for example, Figure 1 at the bending point of the boundary wire shown, the magnetic field signal of the boundary wire after bending will be superimposed with the magnetic field signal of the boundary wire before bending outside the boundary wire, affecting the judgment of the magnetic field signal intensity at the first preset position, and thus affecting the recognition results of the inside and outside of the working area.

[0108] In the second solution, during the process of continuing to drive along the boundary wire from the first preset position to the second preset position, it is determined whether the rotation angle of the gardening robot exceeds the preset angle threshold. For example, the preset angle threshold is 45 degrees. When the single rotation angle of the gardening robot exceeds the preset value, it is determined that there is a curvature greater than the curvature threshold.

[0109] It should be understood that the second solution is suitable for the situation where the boundary wire has a large bend near the first preset position. For example, Figure 1 in the environment shown, if there is only a large bend in the boundary wire near the first preset position, the second solution can be adopted.

[0110] In the third solution, during the process of the gardening robot driving along the boundary wire, it is judged whether the change in the intensity of the magnetic field signal detected by the magnetic field sensor exceeds a preset intensity threshold, and it is judged whether the angle of a single rotation of the gardening robot is greater than a preset angle threshold.

[0111] The third solution combines the characteristics of the first solution and the second solution described above, that is, it is necessary to judge the change in the magnetic field signal and the change in the rotation angle at the same time.

[0112] The third solution is suitable for the situation where there is a live wire at the charging station and the boundary wire has a large bend near the first preset position. For example, Figure 1 the environment shown can adopt the third solution.

[0113] If the intensity change of the magnetic field signal detected by the magnetic field sensor exceeds the preset intensity threshold, and / or the angle of a single rotation of the robot is greater than the preset angle threshold, it is determined that there is the interference environment. That is, if the judgment results of the first to the third solutions described above are all yes, it is determined that there is an interference environment.

[0114] A second control module 104, configured to, when the judgment module determines that there is the interference environment, control the gardening robot to continue traveling along the boundary wire from the second preset position, obtain an identification position that meets the preset identification conditions, and perform the preset action at the identification position to identify the inner side and the outer side again.

[0115] Specifically, the second control module 104 can specifically control the gardening robot to continue traveling along the boundary wire from the second preset position, and detect whether there is a boundary wire segment greater than a first preset distance, and the boundary wire segment meets the following conditions: when the gardening robot travels on the boundary wire segment, the intensity change of the magnetic field signal detected by the magnetic field sensor does not exceed the preset intensity threshold, and / or the angle of a single rotation of the gardening robot is less than or equal to the preset angle threshold. The specific solution is as described above and will not be elaborated here.

[0116] If it is determined that there is the boundary wire segment, control the gardening robot to retreat a second preset distance at the end position of the boundary wire segment, and use the position after retreat as the identification position, where the second preset distance is equal to or greater than half of the first preset distance. The specific solution is as described above and will not be elaborated here.

[0117] To solve the above technical problems, an embodiment of the present application further provides a computer device. Specifically, please refer to Figure 12 , Figure 12 which is the basic structural block diagram of the computer device in this embodiment.

[0118] The computer device 6 includes a memory 61, a processor 62, and a network interface 63 that are communicatively connected to each other via 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 implemented alternatively. 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.

[0119] 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 interact with the user through a keyboard, a mouse, a remote control, a touchpad, or a voice control device, etc.

[0120] The memory 61 includes at least one type of readable storage medium, and the readable storage medium 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 disk, etc. In some embodiments, the memory 61 can 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 can also be an external storage device of the computer device 6, such as a plug - in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the computer device 6. Of course, the memory 61 can 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 can also be used to temporarily store various data that have been output or will be output.

[0121] In some embodiments, the processor 62 may be a Central Processing Unit (CPU), a controller, a microcontroller, a microprocessor, or other data processing chips. 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 of the image calibration method of the HUD.

[0122] The network interface 63 may include a wireless network interface or a wired network interface. The network interface 63 is generally used to establish a communication connection between the computer device 6 and other electronic devices.

[0123] The present 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.

[0124] The present application provides a method, a system and a computer device for a gardening robot to identify the inside and outside of a working area. A magnetic field sensor is provided on the gardening robot. The method for controlling the inside and outside edges of the identified working area includes: controlling the gardening robot to drive along the boundary wire to a first preset position; controlling the gardening robot to perform a preset action at the first preset position to identify the inside and outside of the working area surrounded by the boundary wire; during the process of controlling the gardening robot to drive from the first preset position along the boundary wire to a second preset position, judging whether there is an interference environment; if it is detected that there is the interference environment, controlling the gardening robot to continue to drive along the boundary wire from the second preset position, obtaining an identification position that meets the preset identification conditions, and performing the preset action at the identification position to identify the inside and the outside again. Therefore, the present application first identifies the inside and outside of the working area at the first preset position. When it is judged that there is an interference environment during the driving process of the subsequent preset journey, the inside and outside of the working area are re-identified, avoiding the influence of the interference environment on the identification result at the first preset position, so as to increase the accuracy of identifying the inside and outside of the working area.

[0125] Through the description of the above embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus a necessary general hardware platform. Of course, they 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 disk) and includes several instructions for causing a terminal device (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in various embodiments of the present application.

[0126] The technical features of the above embodiments can be combined arbitrarily. For the sake of concise description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered to be within the scope described in this specification.

[0127] 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 the working area, wherein a magnetic field sensor is provided on the garden robot, characterized in that, The method for identifying inside and outside of a working area comprises: Controlling the garden robot to move to a first preset position along the boundary wire; Controlling the garden robot to perform a preset action at the first preset position to identify the inner side and the outer side of the working area surrounded by the boundary wire; In the process of controlling the garden robot to travel from the first preset position along the boundary wire to the second preset position, determining whether there is an interference environment; If it is determined that the interference environment exists, the garden robot is controlled to continue to travel along the boundary wire from the second preset position, obtain an identification position that meets the preset identification conditions, and perform the preset action at the identification position to identify the inner side and the outer side again.

2. The method for identifying inside and outside a working area according to claim 1, wherein The step of determining whether there is an interference environment includes: When the garden robot is moving along the boundary wire, determining whether the intensity change of the magnetic field signal detected by the magnetic field sensor exceeds a preset intensity threshold, or / and detecting whether the angle of a single rotation of the garden robot is greater than a preset angle threshold; If the intensity change of the magnetic field signal detected by the magnetic field sensor exceeds the preset intensity threshold, or / and the angle of a single rotation of the robot is greater than the preset angle threshold, it is determined that the interference environment exists.

3. The method for identifying inside and outside a working area according to claim 2, wherein, The step of controlling the garden robot to continue to travel along the boundary wire from the second preset position to obtain an identification position that meets the preset identification condition includes: Control the garden robot to continue to travel along the boundary wire from the second preset position, and detect whether there is a boundary wire segment greater than the first preset distance, and the boundary wire segment meets the following conditions: when the garden robot travels on the boundary wire segment, the intensity change of the magnetic field signal detected by the magnetic field sensor does not exceed the preset intensity threshold, or / and the angle of a single rotation of the garden robot is less than or equal to the preset angle threshold; If it is determined that the boundary wire segment exists, the garden robot is controlled to retreat a second preset distance at the end position of the boundary wire segment, and the retreated position is used as the identification position, wherein the second preset distance is equal to or greater than half of the first preset distance.

4. The method for identifying inside and outside a working area according to claim 1, wherein The step of controlling the garden robot to travel to a first preset position along the boundary wire comprises: The gardening robot is controlled to move from the front side of the charging station along the boundary wire to the first preset position or from the current position of the gardening robot along the boundary wire to the first preset position.

5. 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 at the first preset position to identify the inside and the outside of the working area surrounded by the boundary wire includes: The garden robot is controlled to rotate toward both sides of the boundary wire in sequence, and during the rotation, the magnetic field signal is acquired through the magnetic field sensor, and the inner side and the outer side of the working area are identified according to the magnetic field signal.

6. The method for identifying inside and outside a working area according to claim 5, wherein The step of identifying the inner side and the outer side of the working area according to the magnetic field signal comprises: Identify the side corresponding to the magnetic field sensor that detects a larger magnetic field signal as the inner side of the working area, and identify the side corresponding to the magnetic field sensor that detects a smaller magnetic field signal as the outer side of the working area.

7. The method for identifying inside and outside a working area according to claim 1, characterized in that, The method further includes: After identifying the inner side and the outer side, if an obstacle is detected during the process of the gardening robot traveling along the boundary wire, control the gardening robot to edge along the side corresponding to the inner side of the obstacle.

8. The method for identifying inside and outside a working area according to claim 1, wherein, The method further includes: When the gardening robot travels along the boundary wire to the back side of the charging station, control the gardening robot to travel along the side corresponding to the inner side of the charging station to return to the first preset position or between the first preset position and the second preset position.

9. A system for a garden robot to identify inside and outside a working area, characterized in that, The system includes: A first control module for controlling the gardening robot to travel along the boundary wire to a first preset position; An identification module for controlling the gardening robot to perform a preset action at the first preset position to identify the inner side and the outer side of the working area surrounded by the boundary wire; A judgment module for judging whether there is an interference environment during the process of controlling the gardening robot to travel from the first preset position along the boundary wire to a second preset position; A second control module for, when the judgment module judges that there is the interference environment, controlling the gardening robot to continue traveling along the boundary wire from the second preset position, obtaining an identification position that meets the preset identification conditions, and performing the preset action at the identification position to identify the inner side and the outer side again.

10. A computer device, characterized in that, The computer device includes a memory and a processor. The memory stores computer-readable instructions, and the processor is used to implement the steps of the method according to any one of claims 1 to 8 when executing the computer-readable instructions.

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