Mowing robot

Abstract

The application provides a mowing robot, comprising: an image acquisition device configured to acquire image information of a target area, the target area being a lawn in the advancing direction of the mowing robot; the lighting device is configured to irradiate the target area so as to provide light supplement for the image acquisition device; the control device is configured to be connected with the image acquisition device and the lighting device and control the mowing robot to work; the lighting device comprises a first lighting unit and a second lighting unit, and the irradiation distance of the first lighting unit in the target area is smaller than the irradiation distance of the second lighting unit in the target area. And the irradiation distance of the first illumination unit in the target area is smaller than the visual distance of the image acquisition device in the target area. According to the invention, the corresponding illumination units can be controlled to work according to the actually required illumination distance, and reasonable illumination control is realized.

Description

Technical Field

[0001] The present application relates to the technical field of lawn mowing robots, and in particular to lawn mowing robots. Background Art

[0002] With the development of automation and intelligent technologies, robotic lawn mowers have become widely used for lawn care in public green spaces and home gardens. They can automatically complete mowing tasks, reducing manual labor and improving efficiency. However, their efficiency and safety are severely limited at night or in environments with poor lighting conditions. Furthermore, traditional robotic lawn mowers often require high-power lighting equipment to operate at night, which not only increases energy consumption but also can cause light pollution to the surrounding environment.

[0003] Most existing robotic lawn mower lighting solutions employ a single lighting mode and utilize a single lighting device. This single-device lighting solution has significant practical limitations: Overly bright lighting wastes energy and can irritate the eyes during mowing operations. Furthermore, insufficient light intensity can hinder the robot's ability to accurately and quickly locate the charging station when returning to it, impacting charging efficiency and the robot's battery life.

[0004] Therefore, how to achieve reasonable lighting control is an urgent problem to be solved in this field. Summary of the Invention

[0005] The purpose of this application is to provide a lawn mowing robot, in which a first lighting unit and a second lighting unit with different illumination distances are arranged in the lighting module, and the corresponding lighting units are controlled to work according to the illumination distance actually required, thereby reducing energy consumption and light pollution while ensuring work efficiency and safety.

[0006] The purpose of this application is achieved by the following technical solutions:

[0007] The present application provides a lawn mowing robot for performing a lawn mowing operation, comprising:

[0008] an image acquisition device configured to acquire image information of a target area, wherein the target area is a lawn in a direction in which the mowing robot moves;

[0009] an illumination device, configured to illuminate the target area to provide light supplement to the image acquisition device;

[0010] a control device, configured to be connected to the image acquisition device and the lighting device, and to control the lawn mowing robot to operate;

[0011] The lighting device includes a first lighting unit and a second lighting unit, wherein the illumination distance of the first lighting unit in the target area is smaller than the illumination distance of the second lighting unit in the target area, and the illumination distance of the first lighting unit in the target area is smaller than the visible distance of the image acquisition device in the target area.

[0012] In some embodiments, the control device is further configured to: in a mowing operation state, set the luminous intensity of the first lighting unit to be greater than the luminous intensity of the second lighting unit, or set only the first lighting unit to emit light and the second lighting unit not to emit light.

[0013] In some embodiments, the control device is further configured to: when the high beam compensation condition is met, set the luminous intensity of the second lighting unit to be greater than the luminous intensity of the first lighting unit, or only set the second lighting unit to emit light and the first lighting unit not to emit light.

[0014] In some embodiments, the high beam compensation condition includes: a battery pack voltage of the robot mower is lower than a specified voltage.

[0015] In some embodiments, the high beam compensation condition includes: a battery pack voltage of the robot mower is lower than a specified voltage, and a distance between the robot mower and the charging station is less than a specified distance.

[0016] In some embodiments, when the distance between the robotic lawn mower and the charging station is less than a specified distance, the illumination range of the second lighting unit covers one or more visual identifiers of the charging station.

[0017] In some embodiments, the number of the visual identifiers is 2, and the two visual identifiers are set on both sides of the charging station;

[0018] The second lighting unit includes two high-beam lights, which are distributed on both sides of the lawn mower robot and close to the top of the lawn mower robot.

[0019] In some embodiments, the first lighting unit includes a low beam lamp, which is arranged in a middle area of ​​the lawn mowing robot and is lower than the height of any high beam lamp.

[0020] In some embodiments, the number of the visual identifier is 1, and the visual identifier is disposed in a middle area of ​​the charging station;

[0021] The second lighting unit includes a high beam lamp, which is arranged in the middle area of ​​the lawn mower robot and close to the top of the lawn mower robot.

[0022] In some embodiments, the first lighting unit includes two low-beam lights, which are distributed on both sides of the lawn mowing robot and are lower than the height of the high-beam light.

[0023] In some embodiments, the number of visual identifiers is N, the second lighting unit includes NP high beams, each visual identifier corresponds to P high beams, and the P high beams corresponding to the same visual identifier correspond to the corresponding visual identifier positions, where N and P are both positive integers.

[0024] In some embodiments, the number of visual identifiers is MQ, the second lighting unit includes M high beams, each high beam corresponds to Q visual identifiers, and the Q visual identifiers corresponding to the same high beam correspond to the corresponding high beam positions, where M and Q are both positive integers.

[0025] The present application provides a lawn mower robot that employs a split design for its lighting module, providing a first lighting unit and a second lighting unit with different illumination distances. The illumination distance of the first lighting unit is relatively short, while the illumination distance of the second lighting unit is relatively long. This allows the operation of the corresponding lighting unit to be controlled according to the illumination distance actually required, thereby achieving reasonable illumination control. Furthermore, since the first lighting unit is used for close-range local illumination, and the local area requiring illumination at close range is typically within the visual range of an image acquisition device to facilitate the operation of the lawn mower robot, the illumination distance of the first lighting unit is configured to be shorter than the visual range of the image acquisition device at the target area, so that the area illuminated by the first lighting unit is within the visual range of the image acquisition device, thereby avoiding unnecessary energy waste. This reduces energy consumption and light pollution while ensuring work efficiency and safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The present application is further described below with reference to the accompanying drawings and specific implementation methods.

[0027] Figure 1 This is a structural block diagram of a lawn mowing robot provided in an embodiment of the present application.

[0028] Figure 2 This is a side view schematic diagram of a lawn mowing robot provided in an embodiment of the present application.

[0029] Figure 3 An image acquisition device 20 provided in an embodiment of the present application captures an image of a target area.

[0030] Figure 4 This is a structural diagram of a charging station provided in an embodiment of the present application.

[0031] Figure 5 This is a schematic top view of a lawn mowing robot provided in an embodiment of the present application.

[0032] Figure 6 This is a top view schematic diagram of another lawn mowing robot provided in an embodiment of the present application.

[0033] In the figure: 100, lawn mowing robot; 10, lighting device; 20, image acquisition device; 30, control device; 101, low beam; 102, high beam; 200, charging station; 201, base; 202, charging port; 203, visual identification. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without making any creative work are within the scope of protection of this application.

[0035] In the description of the embodiments of this application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly indicate the number of technical features indicated. Therefore, features defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0036] See also Figures 1 to 3 , Figure 1 1 is a structural block diagram of a lawn mowing robot 100 provided in an embodiment of the present application. Figure 2 is a side view schematic diagram of a lawn mowing robot 100 provided in an embodiment of the present application. Figure 3 An image acquisition device 20 provided in an embodiment of the present application captures an image of a target area.

[0037] An embodiment of the present application provides a lawn mower robot 100 for performing lawn mowing operations. The robot mower robot 100 includes an image acquisition device 20, an illumination device 10, and a control device 30. The image acquisition device 20 is configured to acquire image information of a target area, which is the lawn in the direction of travel of the lawn mower robot 100. The illumination device 10 is configured to illuminate the target area to provide supplemental light to the image acquisition device 20. The control device 30 is configured to be connected to the image acquisition device 20 and the illumination device 10, respectively, and to control the operation of the lawn mower robot 100.

[0038] The lighting device 10 includes a first lighting unit and a second lighting unit, wherein the illumination distance L1 of the first lighting unit in the target area is smaller than the illumination distance L2 of the second lighting unit in the target area, and the illumination distance L1 of the first lighting unit in the target area is smaller than the visible distance L3 of the image acquisition device 20 in the target area.

[0039] The first lighting unit is a light source in the lighting module with a relatively short illumination distance and a small coverage area. The first lighting unit is used for local illumination when the mowing robot 100 performs a mowing task, so as to improve mowing efficiency and accuracy.

[0040] The second lighting unit is the light source in the lighting module with a relatively long illumination distance and a large coverage area. The second lighting unit is used to illuminate distant objects or areas, such as the visual marker 203 of the charging station 200, to help the robot locate the charging station 200 and provide lighting for the recharging path.

[0041] Luminous intensity refers to the intensity of light emitted by a light source, for example, measured in lumens.

[0042] In some embodiments, the control device 30 can also be configured to: in the mowing operation state, set the luminous intensity of the first lighting unit to be greater than the luminous intensity of the second lighting unit, or set only the first lighting unit to emit light and the second lighting unit not to emit light.

[0043] In some embodiments, the control device 30 can also be configured to: when the high beam compensation condition is met, set the luminous intensity of the second lighting unit to be greater than the luminous intensity of the first lighting unit, or only set the second lighting unit to emit light and the first lighting unit not to emit light.

[0044] In some embodiments, the high-beam compensation condition may include: the battery pack voltage of the robot mower 100 being lower than a specified voltage. Specifically, when the robot mower 100 needs to be controlled to return to the charging station 200 due to the battery pack voltage being lower than the specified voltage, the high-beam compensation condition is triggered. This allows the image capture device 20 to promptly identify the charging station 200 within its visible range, thereby improving the success rate of docking between the robot mower 100 and the charging station 200.

[0045] In other embodiments, the high beam compensation condition may include: the battery pack voltage of the lawn mower robot 100 is lower than a specified voltage, and the distance between the lawn mower robot 100 and the charging station 200 is less than a specified distance. In other words, when the lawn mower robot 100 is controlled to start returning to the charging station 200 due to the battery pack voltage being lower than the specified voltage, the high beam supplementary condition is not immediately triggered; the high beam supplementary condition is triggered only when the lawn mower robot 100 walks near the charging station 200, which can ensure the success rate of docking between the lawn mower robot 100 and the charging station 200 while further saving the energy consumption of the lawn mower robot 100.

[0046] The battery pack is a power supply component that provides power to the lawn mower robot 100 , and is composed of, for example, a plurality of battery cells, for storing electrical energy to ensure the continuous working capability of the lawn mower robot 100 .

[0047] The high-beam compensation condition is a preset condition that triggers the robot mower 100 to automatically return to the charging station for charging, illuminating the charging station 200 with the second lighting unit. These conditions are intended to ensure that the robot mower has sufficient power and operates efficiently, while also ensuring its own power supply to avoid interruptions due to power depletion.

[0048] The battery pack voltage is lower than a specified voltage. This condition is based on monitoring the remaining charge of the battery pack. When the battery voltage drops below a preset threshold, it means that the battery energy is about to be depleted and needs to be recharged to continue operation.

[0049] The distance between the robot mower 100 and the charging station 200 is less than a specified distance. This condition takes into account the relative positions of the robot mower 100 and the charging station 200. When the robot mower 100 detects that the battery pack voltage is lower than a specified voltage and the distance between the robot mower 100 and the charging station 200 is less than a preset distance, it is determined that the high beam compensation condition is met.

[0050] In the above embodiment, by controlling the luminous intensity of the first and second lighting units in the lighting module, light compensation requirements are achieved in different operating states. When the robot mower 100 is mowing, the first lighting unit provides higher luminous intensity to ensure adequate illumination of the mowing area, while the second lighting unit provides lower luminous intensity, or the second lighting unit is turned off, leaving only the first lighting unit as the lighting source. This optimizes energy use and reduces light pollution. When the robot mower 100 needs to return to the charging station 200, the second lighting unit provides higher luminous intensity to help the robot mower 100 locate the charging station 200. The first lighting unit provides lower luminous intensity, or the first lighting unit is turned off, leaving only the second lighting unit as the lighting source. This conserves energy and reduces the impact of light on the environment and the human eye.

[0051] The above embodiment independently adjusts the luminous intensity of the first and second lighting units according to the operating state, achieving higher energy efficiency and effectively reducing unnecessary energy waste. By reducing unnecessary light exposure, light pollution is reduced, protecting the surrounding environment and improving user visual comfort, especially during nighttime operation. By providing appropriate lighting for different operating states, the robot mower 100's operational safety and efficiency are enhanced at night or in low-light conditions, ensuring that the robot mower 100 can accurately and safely complete its mowing and recharging tasks.

[0052] See also Figure 4 , Figure 4 2 is a schematic structural diagram of a charging station 200 provided in an embodiment of the present application.

[0053] Please combine Figure 2 and Figure 4 In some embodiments, when the distance between the lawn mower robot 100 and the charging station 200 is less than a specified distance, the illumination range of the second lighting unit covers one or more visual identifiers 203 of the charging station 200 .

[0054] The visual identifier 203 is one or more specific signs placed on the charging station 200 to help the robotic lawn mower 100 identify and locate the charging station 200. The visual identifier 203 can be a graphic, text, or any other mark recognizable to the robotic lawn mower 100. For example, the visual identifier 203 can be a color band, and the color band can be yellow, red, or other colors easily recognized by the robotic lawn mower 100, although this application is not limited thereto.

[0055] In some embodiments, the robotic lawn mower 100 may further include a vision module configured to capture the surrounding environment of the robotic lawn mower 100 and generate an image of the environment. When the robotic lawn mower 100 is performing a recharging task, the vision module may capture the image of the charging station 200 and, based on the visual identifier 203 of the charging station 200, determine the positional relationship between the robotic lawn mower 100 and the charging station 200, thereby guiding the robotic lawn mower 100 to accurately recharge.

[0056] The vision module is capable of capturing images of the environment surrounding the robotic mower 100. For example, the vision module may include one or more cameras and associated image processing software, enabling the robotic mower 100 to perform image processing and identify obstacles, the visual marker 203 of the charging station 200, and other objects in the environmental image, thereby assisting the robotic mower 100 in autonomously navigating complex environments. Alternatively, the vision module may be used solely to capture environmental images, with the control module performing image processing, although this application is not limited thereto.

[0057] In the above embodiment, the lawn mower robot 100, by integrating a lighting module and a control module, is capable of intelligently performing tasks such as mowing and automatic recharging. The control module automatically adjusts the luminous intensity of the first and second lighting units based on the operating state of the lawn mower robot 100 (e.g., mowing or recharging). In the mowing state, the luminous intensity of the first lighting unit is set to be greater than that of the second lighting unit, and the first lighting unit provides sufficient local illumination to ensure the accuracy and efficiency of the mowing task. When recharging is required, the luminous intensity of the second lighting unit is set to be greater than that of the first lighting unit, and the second lighting unit illuminates the visual marker 203 of the charging station 200 to help the robot locate the charging station 200.

[0058] The above embodiment can improve operating efficiency at night or in low-light conditions. Through intelligent control of the first and second lighting units, the robot mower 100 can efficiently and accurately complete mowing tasks under various lighting conditions. Furthermore, the automatic recharging process can be optimized by utilizing the second lighting unit to illuminate the visual marker 203 of the charging station 200, improving the accuracy and efficiency of the robot mower 100's recharging in low-light conditions and reducing the time required to find the charging station 200. Furthermore, through intelligent lighting control and recognition of the visual marker 203, the robot mower 100 can complete more tasks autonomously, reducing the user's operational burden while providing a safer and more convenient mowing and charging experience.

[0059] The embodiment of the present application does not limit the number of visual markers 203; for example, there may be one or more. In the embodiment of the present application, the second lighting unit may include one or more high-beam lamps 102, and the first lighting unit may include one or more low-beam lamps 101. To facilitate illumination of the visual marker 203, the high-beam lamp 102 may be positioned in a manner corresponding to the visual marker 203. For example, if there is one visual marker 203, there is also one high-beam lamp 102, and its position corresponds to that of the visual marker 203. That is, if the visual marker 203 is located in the center of the charging station 200, the high-beam lamp 102 is positioned in the center of the robotic mower 100. If the visual marker 203 is located on one side of the charging station 200, the high-beam lamp 102 is positioned on the side of the robotic mower 100 that mirrors the position of the visual marker 203. Accordingly, if there is more than one visual marker 203, the high-beam lamp 102 may also be more than one, and their positions correspond. The above examples show situations where the number of visual identifiers 203 and high beams 102 is equal and corresponds one to one. However, the number of visual identifiers 203 and high beams 102 may also be unequal, that is, one visual identifier 203 may correspond to multiple high beams 102, and each visual identifier 203 corresponds to its corresponding high beam 102 position; or, one high beam 102 may correspond to multiple visual identifiers 203, and each high beam 102 corresponds to its corresponding visual identifier 203 position.

[0060] In some embodiments, the number of visual identifiers 203 may be N, and the second lighting unit includes NP high-beam lamps 102. Each visual identifier 203 corresponds to P high-beam lamps 102, and the P high-beam lamps 102 corresponding to the same visual identifier 203 correspond to the position of the corresponding visual identifier 203, where N and P are both positive integers. NP represents N×P, where N can be, for example, 1, 2, 3, etc., and P can be, for example, 1, 2, 3, etc. When N=2 and P=3, NP=6.

[0061] In some embodiments, the number of visual indicators 203 may be MQ. The second lighting unit includes M high beams 102, each high beam 102 corresponds to Q visual indicators 203, and the Q visual indicators 203 corresponding to the same high beam 102 correspond to the corresponding position of the high beam 102, where M and Q are both positive integers. MQ represents M×Q, where M can be, for example, 1, 2, 3, and Q can be, for example, 1, 2, 3, and so on. When M=2 and Q=3, MQ=6.

[0062] In the above embodiment, the lawn mower robot 100 implements a flexible lighting configuration, namely, the number and position of the high beams 102 in the second lighting unit are configured accordingly based on the number and position of the visual identifiers 203. When the charging station 200 has only one visual identifier 203, the lawn mower robot 100 configures a corresponding number of high beams 102 to match the position of the visual identifier 203, thereby achieving accurate illumination and recognition. The positional relationship between the visual identifier 203 and the high beams 102 is corresponding, aiming to maximize the lighting effect and visual recognition efficiency. The number of visual identifiers 203 can be any positive integer, and the number and position of the high beams 102 included in the second lighting unit are configured based on the settings of the visual identifiers 203. Each visual identifier 203 can correspond to one or more high beams 102, and vice versa, ensuring that regardless of the settings of the visual identifiers 203, the lawn mower robot 100 can achieve effective recognition and positioning through the illumination of the high beams 102. By precisely matching the number and position of visual markers 203 with the high beams 102, the robot mower 100 improves its positioning accuracy when approaching the charging station 200. This one-to-one, or one-to-many, or many-to-one, configuration ensures that the robot mower 100 can effectively identify the exact location of the charging station 200 under all environmental conditions. By precisely allocating required lighting resources—specifically, configuring the number and position of high beams 102 based on the number and position of visual markers 203 in the actual charging station 200—energy efficiency is maximized, reducing the robot mower's 100 energy consumption and extending its operating time.

[0063] See also Figure 5 , Figure 5 1 is a top view schematic diagram of a lawn mowing robot 100 provided in an embodiment of the present application.

[0064] Please combine Figure 4 and Figure 5 In some embodiments, the number of the visual identification 203 can be 2, and the two visual identifications 203 are set on both sides of the charging station 200; the second lighting unit can include two high beam lights 102, and the two high beam lights 102 are distributed on both sides of the lawn mower robot 100 and close to the top of the lawn mower robot 100.

[0065] When the charging station 200 includes a base 201 and a charging port 202 mounted on the base 201 , two visual markers 203 can be set on the top surface of the base 201 near the two side edges to facilitate the lawn mower robot 100 to approach and correctly dock with the charging port 202 from any direction.

[0066] In the above embodiment, two visual markers 203 are provided on either side of the charging station 200, and two high-beam lights 102 are positioned on either side of the top of the lawn mower robot 100. When the lawn mower robot 100 needs to be recharged, the two high-beam lights 102 provide illumination, facilitating the robot's search for the visual markers 203 of the charging station 200. These visual markers 203 can be designed to be easily recognized by the lawn mower robot 100. For example, the visual markers 203 can be colored stripes to help the robot determine the exact location and orientation of the charging station 200. Once the visual markers 203 are recognized by the lawn mower robot 100, the control module uses the location information of the visual markers 203 to control the robot's movement toward the charging station 200 and accurately dock with the charging port 202 on the base 201. By utilizing the visual markers 203 on either side of the charging station 200 and the illumination from the second lighting unit, the lawn mower robot 100 can quickly and accurately identify the location and orientation of the charging station 200, thereby improving the efficiency and success rate of the recharging process.

[0067] In some embodiments, the first lighting unit may include a low beam lamp 101 . The low beam lamp 101 may be disposed in a middle area of ​​the lawn mower robot 100 and lower than the height of any high beam lamp 102 .

[0068] In the above embodiment, the first lighting unit comprises a low-beam headlight 101, mounted in the center of the robot mower 100. Positioned below the high-beam headlight 102, the low-beam headlight 101 provides focused illumination of the mowing area, avoiding glare or interference with distant visual indicators 203. The robot mower 100 achieves highly optimized lighting through the ingenious combination of the low-beam headlight 101 and the high-beam headlight 102. Positioned in the center of the robot mower 100 and lower than the high-beam headlight 102, this layout allows the low-beam headlight 101 to more effectively illuminate the working area directly in front of the robot, providing sufficient illumination to ensure accurate and efficient mowing operations. The combined use of the low-beam headlight 101 and the high-beam headlight 102 allows the robot mower 100 to operate efficiently at night or in low-light environments, ensuring operational quality while also extending the robot's operational timeframe.

[0069] See also Figure 6 , Figure 6 1 is a top view schematic diagram of another lawn mowing robot 100 provided in an embodiment of the present application.

[0070] In some embodiments, the number of the visual identification 203 can be 1, and the visual identification 203 is set in the middle area of ​​the charging station 200; the second lighting unit may include 1 high beam light 102, and the high beam light 102 is set in the middle area of ​​the lawn mower robot 100 and close to the top of the lawn mower robot 100.

[0071] The provision of a single visual identifier 203 can simplify the identification process of the charging station 200 and improve positioning efficiency.

[0072] In some embodiments, the first lighting unit may include two low-beam lights 101 , which are distributed on both sides of the lawn mowing robot 100 and are lower than the height of the high-beam light 102 .

[0073] In the above embodiment, through the lighting configuration and visual marker 203 arrangement on the robot mower 100 and charging station 200, when the robot mower 100 needs to be recharged, the high beam 102 illuminates and identifies the visual marker 203 located in the center area of ​​the charging station 200. Because the high beam 102 is positioned in the center and near the top of the robot mower 100, it provides sufficient illumination range and luminous intensity, ensuring that the visual marker 203 is clearly visible even at long distances or in low light conditions. During mowing operations, the two low beams 101 ensure that the ground in front of and to the sides of the robot is fully illuminated. This lighting arrangement helps the robot identify and avoid obstacles while ensuring high-quality mowing.

[0074] The present application utilizes the first and second lighting units for different lighting needs, effectively managing energy consumption. For example, the low beam 101 can be used for daily mowing operations, while the high beam 102 is used only when necessary to locate the charging station 200. This optimizes overall energy utilization and avoids unnecessary use of the high-brightness high beam 102, reducing light pollution and potential eye damage.

[0075] In some embodiments, the lawn mower robot 100 may further include a positioning module for acquiring position information of the lawn mower robot 100 .

[0076] The positioning module can obtain the location information of the robot mower 100, providing basic data for the robot mower 100's movement and task execution, facilitating mowing path planning and avoiding repeated mowing. The positioning module can be implemented based on different technologies, such as Beidou, GPS, Wi-Fi positioning, Bluetooth positioning, etc.

[0077] In some embodiments, the control module is further configured to perform path planning based on the location information and the environmental image, thereby enabling autonomous navigation. By combining the positioning module with the vision module, the robotic mower 100 can achieve highly precise autonomous navigation, effectively avoid obstacles, and accurately perform mowing tasks, significantly improving mowing efficiency and quality.

[0078] It should be noted that although some embodiments of the present application take the lawn mower robot 100 as an example, the present application can be applied to other self-moving devices (such as sweeping robots, cleaning robots, disinfection robots, etc.) or electric tools of non-self-moving devices, and the present application does not limit this.

[0079] The user information or user account information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, etc.) involved in multiple implementation methods of this specification are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws and standards of relevant countries and regions, and corresponding instruction entrances are provided for users to choose to authorize or refuse.

[0080] It should be understood that the specific examples in this specification are only intended to help those skilled in the art better understand the implementation methods of the present application, rather than to limit the scope of protection of the present application.

[0081] It can be understood that in the various implementations of this specification, the size of the serial number of each process does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of this application.

[0082] It can be understood that the various implementation methods described in this specification can be implemented individually or in combination, and this application is not limited to this.

[0083] Unless otherwise indicated, all technical and scientific terms used in this specification have the same meaning as commonly understood by those skilled in the art in the technical field of this specification. The terms used in this specification are only for the purpose of describing specific embodiments and are not intended to limit the scope of this specification. The term "and / or" used in this specification includes any and all combinations of one or more of the relevant listed items. The singular forms "a", "above", and "the" used in this specification and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise.

[0084] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this specification.

[0085] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described embodiments may refer to the corresponding processes in other embodiments and will not be repeated here.

[0086] In the several embodiments provided in this specification, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed can be through some interface, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0087] Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected according to actual needs to achieve the objectives of the technical solutions of this application.

[0088] In addition, each functional unit in each embodiment of this specification may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0089] The above are only specific embodiments of this specification, but the scope of protection of this application is not limited to them. Any changes or substitutions that can be easily conceived by any person skilled in the art within the technical scope disclosed in this specification should be included in the scope of protection of this specification. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A lawn mowing robot for performing a lawn mowing operation, comprising: an image acquisition device configured to acquire image information of a target area, wherein the target area is a lawn in a direction in which the mowing robot moves; an illumination device, configured to illuminate the target area to provide light supplement to the image acquisition device; a control device, configured to be connected to the image acquisition device and the lighting device, and to control the lawn mowing robot to operate; Its characteristics are: The lighting device includes a first lighting unit and a second lighting unit, wherein the illumination distance of the first lighting unit in the target area is smaller than the illumination distance of the second lighting unit in the target area, and the illumination distance of the first lighting unit in the target area is smaller than the visible distance of the image acquisition device in the target area.

2. The lawn mowing robot according to claim 1, characterized in that: The control device is further configured to: in a mowing operation state, set the luminous intensity of the first lighting unit to be greater than the luminous intensity of the second lighting unit, or set only the first lighting unit to emit light and the second lighting unit not to emit light.

3. The lawn mowing robot according to claim 1 or 2, characterized in that: The control device is further configured to: when a high beam compensation condition is met, set the luminous intensity of the second lighting unit to be greater than the luminous intensity of the first lighting unit, or set only the second lighting unit to emit light and the first lighting unit not to emit light.

4. The lawn mowing robot according to claim 3, characterized in that: The high beam compensation condition includes: the battery pack voltage of the lawn mowing robot is lower than a specified voltage; or, The high beam compensation condition includes: a battery pack voltage of the lawn mower robot is lower than a specified voltage and a distance between the lawn mower robot and the charging station is less than a specified distance.

5. The lawn mowing robot according to claim 1, characterized in that: When the distance between the lawn mower robot and the charging station is less than a specified distance, the illumination range of the second lighting unit covers one or more visual identifiers of the charging station.

6. The lawn mowing robot according to claim 5, characterized in that: The number of the visual signs is 2, and the two visual signs are set on both sides of the charging station; The second lighting unit includes two high-beam lights, which are distributed on both sides of the lawn mower robot and close to the top of the lawn mower robot.

7. The lawn mowing robot according to claim 6, characterized in that: The first lighting unit includes a low beam lamp, which is arranged in the middle area of ​​the lawn mowing robot and is lower than the height of any high beam lamp.

8. The lawn mowing robot according to claim 5, characterized in that: The number of the visual signs is 1, and the visual signs are arranged in the middle area of ​​the charging station; The second lighting unit includes a high beam lamp, which is arranged in the middle area of ​​the lawn mower robot and close to the top of the lawn mower robot.

9. The lawn mowing robot according to claim 8, characterized in that: The first lighting unit includes two low-beam lights, which are distributed on both sides of the lawn mowing robot and are lower than the height of the high-beam light.

10. The lawn mowing robot according to claim 5, characterized in that: The number of the visual identifiers is N, the second lighting unit includes NP high-beam lamps, each visual identifier corresponds to P high-beam lamps, and the P high-beam lamps corresponding to the same visual identifier correspond to the corresponding visual identifier position, wherein N and P are both positive integers; Alternatively, the number of visual identifiers is MQ, the second lighting unit includes M high beams, each high beam corresponds to Q visual identifiers, and the Q visual identifiers corresponding to the same high beam correspond to the corresponding high beam positions, where M and Q are both positive integers.

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