Control method and apparatus for smart mower, and storage medium and smart mower

Abstract

A control method and control apparatus (100) for a smart mower (10), and a storage medium and a smart mower (10). The control method comprises: detecting an electromagnetic field by means of a boundary sensor (11), and generating a detection signal, wherein the electromagnetic field is formed by a current flowing through a boundary line (S1); preprocessing the detection signal, so as to obtain a gain signal (S2); and measuring the signal intensity of the gain signal, and if the signal intensity of the gain signal is less than a first threshold value, controlling a radio frequency identification reader (12) to stop operation (S3). The smart mower (10) measures a boundary signal intensity throughout an operation process, and when the boundary signal intensity is low, a radio frequency identification reader (12) is turned off to reduce the interference on a boundary sensor (11) from a magnetic field which is generated during the operation of the radio frequency identification reader (12), thereby avoiding the problem of shutdown protection of the smart mower (10) being frequently and accidentally triggered due to an excessively low boundary signal intensity caused by electromagnetic interference.

Description

Control method, device, storage medium and intelligent lawn mower Technical Field

[0001] The present invention relates to the technical field of garden tools, and in particular to a control method, a device, a storage medium and an intelligent lawn mower capable of preventing electromagnetic interference. Background Art

[0002] Smart lawn mowers are a common gardening tool, widely used for mowing lawns. To prevent the smart mower from roaming around and damaging the lawn, users must define a work area before the mower begins mowing. Existing methods for defining a work area primarily involve setting a boundary line around the lawn. The inner area formed by the boundary line is the work area. The smart mower uses boundary sensors to detect the boundary line and maintain mowing operations within the work area.

[0003] When a smart lawn mower performs mowing operations within its work area, it frequently needs to reposition itself to determine its current location for accurate navigation. Existing repositioning methods primarily involve installing multiple electronic tags along the boundary line. Each tag has unique identification information. The smart lawn mower stores the absolute coordinates of each tag's installation location and is equipped with a radio frequency identification (RFID) reader. When the smart lawn mower passes an electronic tag within its work area, the RFID reader reads the identification information of the tag at its current location and retrieves its corresponding absolute coordinates, which are then updated to reflect the smart mower's current location.

[0004] However, the above-mentioned smart lawn mower relocation solution has the following problems: the magnetic field generated by the RFID reader will interfere with the boundary sensor, reducing the strength of the magnetic field detected by the boundary sensor so that the smart lawn mower cannot detect the boundary line, thereby affecting the normal operation of the smart lawn mower.

[0005] In view of this, it is indeed necessary to provide an improved control method for an intelligent lawn mower to overcome the defects of the prior art. Summary of the Invention

[0006] In view of the deficiencies in the prior art, the present invention aims to provide a control method for an intelligent lawn mower that is resistant to electromagnetic interference.

[0007] The present invention solves the problems of the prior art by adopting the following technical solutions: a control method for an intelligent lawn mower, wherein the intelligent lawn mower autonomously moves and mows within a working area defined by a boundary line, and includes a boundary sensor and a radio frequency identification reader, wherein the radio frequency identification reader identifies electronic tags disposed within the working area; the control method comprises: detecting an electromagnetic field and generating a detection signal by the boundary sensor, wherein the electromagnetic field is formed by current flowing through the boundary line; preprocessing the detection signal to obtain a gain signal; and detecting the signal strength of the gain signal. If the signal strength of the gain signal is less than a first threshold, controlling the radio frequency identification reader to stop operating.

[0008] Furthermore, the control method further includes: if the signal strength of the gain signal is less than a second threshold, controlling the intelligent lawn mower to stop moving; and the first threshold is greater than the second threshold.

[0009] Furthermore, after controlling the smart lawn mower to stop moving, the control method also includes: recording the duration during which the signal strength of the gain signal is less than the second threshold to obtain a first duration; determining whether the first duration reaches a first time threshold, and if the first duration reaches the first time threshold, controlling the smart lawn mower to stop cutting and issuing an error reminder instruction.

[0010] Furthermore, after controlling the RFID reader to stop working, the control method further includes: recording the duration during which the signal strength of the gain signal is less than the first threshold to obtain a second duration; determining whether the second duration reaches a second time threshold, and if so, controlling the smart lawn mower to search for the boundary line; and if, while the smart lawn mower is moving to the boundary line, the signal strength of the gain signal is greater than or equal to the first threshold, resuming working of the RFID reader and controlling the smart lawn mower to continue planned cutting.

[0011] Furthermore, the control method further includes: when the smart lawn mower reaches the boundary line, if the signal strength of the gain signal is always less than the first threshold, controlling the smart lawn mower to stop moving and issuing an error reminder instruction.

[0012] Furthermore, the RFID reader includes an antenna module and a reader module. The antenna module emits radio frequency waves to activate the electronic tag to emit radio frequency signals and receive the radio frequency signals. The reader module reads the identification information in the radio frequency signals. Controlling the RFID reader to stop working includes: turning off the antenna module or turning off the antenna module and the reader module at the same time.

[0013] Furthermore, the control method also includes: obtaining a partition map, the partition map including at least a first partition and a second partition; completing planned cutting for the first partition; controlling the smart lawn mower to move to the electronic tag; according to the correspondence between the electronic tag and the position coordinates, obtaining the position coordinates of the electronic tag at the current position and setting them as the position coordinates of the smart lawn mower; controlling the smart lawn mower to move to the second partition and perform planned cutting.

[0014] Furthermore, controlling the smart lawn mower to move to the electronic tag includes: controlling the smart lawn mower to move toward the electronic tag and detecting the electronic tag through the radio frequency identification reader; when the smart lawn mower moves to the target position, if the radio frequency identification reader detects the electronic tag, it is determined that the smart lawn mower has moved to the electronic tag, and the smart lawn mower is controlled to stop moving further toward the target position.

[0015] Furthermore, the smart lawn mower also includes a laser radar and a brushless motor that drives the laser radar to rotate; the electronic tag is set on the boundary line; the control method also includes: obtaining an instruction to establish a boundary map; turning off the brushless motor; controlling the smart lawn mower to start from the charging station and walk along the boundary line and establish the boundary map.

[0016] Furthermore, the smart lawn mower also includes a laser radar and a brushless motor that drives the laser radar to rotate; the electronic tag is set on the boundary line; and controlling the smart lawn mower to move to the electronic tag includes: when the smart lawn mower moves to the target position, if the radio frequency identification reader does not detect the electronic tag, controlling the smart lawn mower to search for the boundary line; controlling the smart lawn mower to move along the boundary line and simultaneously starting to record the duration during which the radio frequency identification reader does not detect the electronic tag to obtain a third duration; determining whether the third duration reaches a third time threshold, and if the third duration reaches the third time threshold, turning off the brushless motor.

[0017] Furthermore, after turning off the brushless motor, the control method further includes: controlling the smart lawn mower to continue moving along the boundary line, and simultaneously starting to record the duration during which the radio frequency identification reader fails to detect the electronic tag to obtain a fourth duration; determining whether the fourth duration reaches a fourth time threshold, and if so, controlling the smart lawn mower to stop moving and issuing an error reminder instruction.

[0018] In order to solve the problems of the prior art, the present invention further provides a storage medium storing computer program instructions, which implement any one of the above methods when executed.

[0019] To address the problems of the prior art, the present invention further provides a control device for an intelligent lawn mower, which autonomously moves and mows within a working area defined by a boundary line. The intelligent lawn mower includes a boundary sensor and a radio frequency identification reader, wherein the radio frequency identification reader identifies electronic tags disposed within the working area. The control device includes: an acquisition module for acquiring a detection signal generated by the boundary sensor detecting an electromagnetic field, wherein the electromagnetic field is formed by current flowing through the boundary line; a processing module for preprocessing the detection signal to obtain a gain signal; a comparison module for comparing the signal strength of the gain signal with a first threshold; and a control module for controlling the radio frequency identification reader to stop operating when the signal strength of the gain signal is less than the first threshold.

[0020] In order to solve the problems of the prior art, the present invention also provides an intelligent lawn mower that moves and mows grass autonomously within a working area defined by a boundary line. The intelligent lawn mower includes a boundary sensor and a radio frequency identification reader, wherein the radio frequency identification reader identifies electronic tags set within the working area. The intelligent lawn mower also includes a control device, which includes: an acquisition module for acquiring a detection signal generated by the boundary sensor detecting an electromagnetic field, wherein the electromagnetic field is formed by current flowing through the boundary line; a processing module for preprocessing the detection signal to obtain a gain signal; a comparison module for comparing the signal strength of the gain signal with a first threshold; and a control module for controlling the radio frequency identification reader to stop working when the signal strength of the gain signal is less than the first threshold.

[0021] In order to solve the problems of the prior art, the present invention also provides an automatic working system, including: a boundary line, which defines a working area; an electronic tag, which is installed in the working area; an intelligent lawn mower, which moves and mows autonomously in the working area, and includes a boundary sensor and a radio frequency identification reader, and the radio frequency identification reader identifies the electronic tag; the intelligent lawn mower also includes a control device, and the control device includes: an acquisition module, which is used to obtain a detection signal generated by the boundary sensor detecting an electromagnetic field, and the electromagnetic field is formed by the flow of current through the boundary line; a processing module, which is used to pre-process the detection signal to obtain a gain signal; a comparison module, which is used to compare the signal strength of the gain signal with a first threshold; and a control module, which is used to control the radio frequency identification reader to stop working when the signal strength of the gain signal is less than the first threshold.

[0022] Compared with the prior art, the present invention has the following beneficial effects: the intelligent lawn mower includes a boundary sensor for detecting a boundary line and a radio frequency identification reader for repositioning, the radio frequency identification reader identifies an electronic tag set in a working area, and a control method for the intelligent lawn mower includes detecting an electromagnetic field and generating a detection signal by the boundary sensor, the electromagnetic field being formed by a current flowing through the boundary line; preprocessing the detection signal to obtain a gain signal; detecting the signal strength of the gain signal, and controlling the radio frequency identification reader to stop working if the signal strength of the gain signal is less than a first threshold; thereby, during the operation of the intelligent lawn mower, if the boundary signal strength is low, the radio frequency identification reader is turned off to reduce interference of the magnetic field generated by the operation of the radio frequency identification reader on the boundary sensor, thereby avoiding frequent false triggering of shutdown protection of the intelligent lawn mower due to excessively low boundary signal strength caused by electromagnetic interference. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The specific embodiments of the present invention are further described in detail below with reference to the accompanying drawings:

[0024] FIG1 is a schematic structural diagram of an intelligent lawn mower in a preferred embodiment of the present invention;

[0025] FIG2 is a flow chart of a control method for the intelligent lawn mower shown in FIG1 ;

[0026] FIG3 is a structural block diagram of a control device in the intelligent lawn mower shown in FIG1 ;

[0027] FIG4 is a schematic structural diagram of an automatic working system in a preferred embodiment of the present invention. DETAILED DESCRIPTION

[0028] The technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. In the description of this specification, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in an appropriate manner.

[0029] The terms used in this disclosure are for the purpose of describing specific embodiments only and are not intended to limit the disclosure. For example, terms such as "upper," "lower," "front," and "rear" indicating orientation or positional relationships are based solely on the orientation or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the disclosure. They do not indicate or imply that the device or element referred to must have a specific orientation or be constructed or operated in a specific orientation. Therefore, they should not be construed as limiting the disclosure.

[0030] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0031] 1 to 4 illustrate a control method, device, storage medium, smart lawn mower, and automatic operation system for a smart lawn mower according to an embodiment of the present invention. The automatic operation system includes a smart lawn mower 10 , an electronic tag 20 , and a boundary line 30 .

[0032] The working area of ​​the smart lawn mower 10 is formed by a boundary line 30. Boundary line 30 is used to divide a specific area into two areas: the working area within boundary line 30, and the non-working area outside boundary line 30. The smart lawn mower 10 moves and mows autonomously within the working area. Specifically, boundary line 30 is constructed as an electric cable, through which a corresponding periodic current flows. This current generates a periodic electromagnetic field near boundary line 30. The electromagnetic field has directionality and strength. The directions on both sides of boundary line 30 are opposite, that is, the directions are opposite inside and outside the working range. The closer to boundary line 30, the stronger the magnetic field signal. Therefore, the smart lawn mower 10 determines its distance from boundary line 30 and whether it is inside or outside the working area by detecting the direction and strength of the electromagnetic field of boundary line 30.

[0033] It should be noted that in this embodiment, the above-mentioned periodic current signal can be a square wave pulse signal, because its generation and identification are relatively easy, which can reduce costs and improve efficiency. Of course, in other embodiments, the current signal type can be selected and adaptively adjusted according to specific circumstances.

[0034] A plurality of electronic tags 20 are arranged at intervals on the boundary line 30. The electronic tags are constructed as RFID beacons, and each electronic tag 20 has unique identification information pre-stored therein. Specifically, before the smart lawn mower 10 performs a cutting operation on the work area, it is necessary to first establish a boundary map. During the process of establishing the boundary map, the smart lawn mower 10 will move along the boundary line 30. When passing by an electronic tag 20, it will read the identification information of the electronic tag 20 at the current location, establish a corresponding relationship between the electronic tag and the position coordinates of the current location, and store it in the memory of the smart lawn mower 10. When the smart lawn mower 10 is performing a cutting operation according to the planned path, if repositioning is required, it will move to the electronic tag 20 at the nearest location, identify and read the identification information of the electronic tag 20 at the current location, retrieve the corresponding relationship between the identification information and the position coordinates pre-stored in the memory, and then update the position coordinates corresponding to the current electronic tag 20 to the coordinates of the current location of the smart lawn mower 10 to achieve repositioning.

[0035] The smart lawn mower 10 includes a boundary sensor 11 for detecting a boundary line 30 and a radio frequency identification (RFID) reader 12 for identifying electronic tags 20 placed within the work area. Specifically, the boundary sensor 11 is an inductive sensor capable of detecting the strength and direction of an electromagnetic field. Based on this electromagnetic field strength and direction, the smart lawn mower 10 identifies whether it is inside or outside the boundary line 30 and uses this information to control its movement. The RFID reader 12 is an RFID reader that works with RFID beacons installed within the work area to reposition the smart lawn mower 10.

[0036] Please refer to FIG2 for details. In this embodiment, a control method for an intelligent lawn mower is provided, including:

[0037] S1: detecting an electromagnetic field by the boundary sensor and generating a detection signal, wherein the electromagnetic field is formed by current flowing through the boundary line;

[0038] S2: Preprocessing the detection signal to obtain a gain signal;

[0039] S3: Detecting the signal strength of the gain signal, and if the signal strength of the gain signal is less than a first threshold, controlling the RFID reader to stop working.

[0040] Specifically, to avoid safety hazards caused by the intelligent lawn mower 10 leaving the working area during its mobile operation, the boundary sensor 11 is always in operation during the operation of the intelligent lawn mower 10 to detect the electromagnetic field and generate a detection signal. Since the detection signal is usually noisy and weak, after obtaining the detection signal, it is pre-processed by modules such as an amplifier circuit and a filter circuit to remove noise and enhance the detection signal to obtain a gain signal. After obtaining the gain signal, the signal strength of the gain signal is detected in real time and compared with a first threshold. When the strength of the gain signal is less than the first threshold, it is determined that the magnetic field generated by the operation of the RFID reader 12 and the magnetic field in the working environment of the intelligent lawn mower 10 interfere with the boundary sensor 11, and the electromagnetic field strength detected by the boundary sensor 11 is reduced. At this time, the RFID reader 12 is controlled to stop operating to prevent the gain signal strength from further decreasing, which would cause the intelligent lawn mower 10 to be unable to recognize the boundary signal and trigger the shutdown protection. This reduces the frequency of false shutdowns of the intelligent lawn mower 10 and improves the operating stability of the intelligent lawn mower 10.

[0041] The above control method further includes: if the signal strength of the gain signal is less than a second threshold, controlling the intelligent lawn mower to stop moving; the first threshold is greater than the second threshold.

[0042] After controlling the intelligent lawn mower to stop moving, the control method further includes:

[0043] Recording a duration during which the signal strength of the gain signal is less than the second threshold value to obtain a first duration;

[0044] It is determined whether the first duration reaches a first time threshold; if the first duration reaches the first time threshold, the intelligent lawn mower is controlled to stop cutting and an error reminder instruction is issued.

[0045] Specifically, if the signal strength of the gain signal further decreases until it falls below a second threshold after the RFID reader 12 is stopped, and the second threshold is less than the first threshold, the smart lawn mower 10 is stopped to prevent the smart lawn mower 10 from continuing to move outside the boundary line 30 and causing a safety hazard. At this time, the RFID reader 12 is kept stopped, and the duration during which the signal strength of the gain signal is less than the second threshold is recorded as a first duration. When the first duration reaches the first time threshold, and the gain signal strength is still less than the second threshold, the smart lawn mower 10 is determined to be in an abnormal state, and the smart lawn mower 10 is controlled to stop cutting and an error reminder instruction is issued.

[0046] Furthermore, after the radio frequency identification reader is controlled to stop working in step S3, the control method further includes:

[0047] Recording a duration during which the signal strength of the gain signal is less than the first threshold value to obtain a second duration;

[0048] determining whether the second duration reaches a second time threshold, and if the second duration reaches the second time threshold, controlling the intelligent lawn mower to search for the boundary line;

[0049] When the smart lawn mower moves to the boundary line, if the signal strength of the gain signal is greater than or equal to the first threshold, the RFID reader resumes operation and controls the smart lawn mower to continue planned cutting.

[0050] When the smart lawn mower reaches the boundary line, if the signal strength of the gain signal is always less than the first threshold, the smart lawn mower is controlled to stop moving and an error reminder instruction is issued.

[0051] Specifically, when it is detected that the gain signal strength is less than the first threshold, the RFID reader 12 is controlled to stop working, and the smart lawn mower 10 continues to cut according to the original planned path and begins to record the duration of the gain signal strength less than the first threshold, i.e., the second duration. When the second duration reaches the second time threshold, if the gain signal strength is still less than the first threshold, it is determined that there is an abnormality in the current working state, such as being affected by abnormal electromagnetic waves in the surrounding environment or being trapped in an area far away from the boundary line and unable to return to the normal walking path; at this time, a rescue action is performed, i.e., the smart lawn mower 10 is controlled to search for the boundary line 30 and move toward the nearest boundary line 30. During the process of the smart lawn mower 10 moving to the boundary line 30, if the detected gain signal strength is again greater than or equal to the first threshold, it is determined that the smart lawn mower 10 has been rescued, the RFID reader 12 resumes working, and the planned cutting continues; when the smart lawn mower 10 reaches the boundary line 30, if the gain signal strength is still less than the first threshold, it is determined that the smart lawn mower 10 is in an abnormal state, the smart lawn mower is controlled to stop moving, and an error reminder instruction is issued.

[0052] Furthermore, the step S3 of controlling the RFID reader to stop working includes:

[0053] Turn off the antenna module or turn off the antenna module and the reading module at the same time.

[0054] Specifically, the RFID reader 12 includes an antenna module and a reader module. The antenna module emits radio frequency waves to activate the electronic tag 20 to emit radio frequency signals and receives radio frequency signals. The reader module reads the identification information in the radio frequency signals. When the RFID reader 12 is working, the antenna module emits electromagnetic waves to activate the electronic tag 20 and interfere with the boundary sensor 11, while the reader module only reads the identification information of the electronic tag 20.

[0055] In this embodiment, controlling the RFID reader 12 to stop working only controls the antenna module to stop working. This allows the RFID reader 12 to quickly resume normal operation after the smart lawn mower 10 exits an abnormal state, thereby improving the operating efficiency of the smart lawn mower 10. Of course, it should be noted that in other embodiments, both the antenna module and the reader module can be controlled to stop working simultaneously, thereby further reducing the energy consumption of the smart lawn mower 10 and improving energy utilization.

[0056] The smart lawn mower 10 also includes a laser radar 13 and a brushless motor that drives the laser radar 13 to rotate. The laser radar 13 is used to detect the surrounding environment of the smart lawn mower 10 to prevent the smart lawn mower 10 from coming into contact with obstacles. The brushless motor drives the laser radar 13 to rotate to increase the detection range of the laser radar 13, thereby improving the obstacle avoidance capability of the smart lawn mower 10. The control method of the smart lawn mower 10 also includes:

[0057] Get instructions for building a border map;

[0058] Turning off the brushless motor;

[0059] The intelligent lawn mower is controlled to start from the charging station and move along the boundary line and establish the boundary map.

[0060] Specifically, before the smart lawn mower 10 officially starts the cutting operation, the user can issue a mapping instruction through an external terminal or the operation panel of the smart lawn mower 10. After receiving the mapping instruction, the smart lawn mower 10 turns off the above-mentioned brushless motor and controls the smart lawn mower 10 to start from the charging station and walk along the boundary line 30 to build the map. In this way, when the smart lawn mower 10 walks past the above-mentioned electronic tag 20, it can accurately read the identification information of the electronic tag 20, establish the corresponding relationship between the electronic tag 20 and the absolute coordinates of the current position and store it in the memory of the smart lawn mower 10, and will not be unable to recognize the electronic tag 20 due to the influence of the magnetic field generated by the rotation of the above-mentioned brushless motor, thereby avoiding the omission of the electronic tag 20 during the mapping process of the smart lawn mower 10, resulting in subsequent planned cutting abnormalities.

[0061] Please refer to FIG4 for details. The control method of the intelligent lawn mower 10 further includes: obtaining a partition map, the partition map including at least a first partition and a second partition;

[0062] Complete the planned cutting of the first partition;

[0063] Controlling the intelligent lawn mower to move to the electronic tag;

[0064] According to the correspondence between the electronic tag and the position coordinates, the position coordinates of the electronic tag at the current position are obtained and set as the position coordinates of the smart lawn mower;

[0065] The intelligent lawn mower is controlled to move to the second partition and perform planned cutting.

[0066] Specifically, when the smart lawn mower 10 completes the creation of a boundary map and officially begins a cutting operation, it partitions the boundary map to obtain a partition map, which includes at least a first partition 40 and a second partition 50. After obtaining the partition map, the smart lawn mower 10 randomly selects or selects the closest partition to it for planned cutting, such as the first partition 40. After the smart lawn mower 10 completes the planned cutting of the first partition 40, it controls the smart lawn mower 10 to move to the nearest electronic tag 20. Based on the correspondence between the current electronic tag 20 and the position coordinates pre-stored in the memory, the position coordinates of the current electronic tag 20 are obtained and updated as the position coordinates of the smart lawn mower 10 to complete repositioning. The smart lawn mower 10 is then controlled to move from the repositioning point to the second partition 50 and continue the planned cutting.

[0067] As shown in FIG4 , in one embodiment of the present invention, the partition map includes a first partition, a second partition, a third partition, and a fourth partition, respectively. However, it should be noted that in other embodiments, the number of partition maps may also be adjusted according to the specific circumstances of the working environment.

[0068] Furthermore, controlling the smart lawn mower to move to the electronic tag includes:

[0069] Controlling the intelligent lawn mower to move toward the electronic tag and detecting the electronic tag through the radio frequency identification reader;

[0070] When the smart lawn mower moves to the target position, if the RFID reader detects the electronic tag, it is determined that the smart lawn mower has moved to the electronic tag, and the smart lawn mower is controlled to stop moving toward the target position.

[0071] When the smart lawn mower moves to the target location, if the RFID reader does not detect the electronic tag, controlling the smart lawn mower to search for the boundary line;

[0072] controlling the intelligent lawn mower to move along the boundary line and simultaneously starting to record a duration during which the radio frequency identification reader fails to detect the electronic tag to obtain a third duration;

[0073] It is determined whether the third duration reaches a third time threshold, and if the third duration reaches the third time threshold, the brushless motor is turned off.

[0074] Specifically, after the smart lawn mower 10 completes the planned cutting of the first partition, it will plan a path from its current position to move to the electronic tag 20 closest to it. However, due to the cutting movement through the first partition, the positioning device of the smart lawn mower 10 has already produced an error, and there is a deviation between the target position where the electronic tag 20 is placed and the actual placement position of the electronic tag 20. Therefore, during the process of the smart lawn mower 10 moving to the above-mentioned target position, if the RFID reader 12 has detected and identified the electronic tag 20, it is determined that the smart lawn mower 10 has moved to the electronic tag 20, and the smart lawn mower 10 is controlled to stop moving towards the target position.

[0075] If the smart lawn mower 10 has reached the target location but the RFID reader 12 still fails to detect the electronic tag 20, the smart lawn mower 10 is controlled to search for the nearest boundary line 30 and move along it. The smart lawn mower 10 also begins recording the duration of the RFID reader 12 failing to detect the electronic tag 20, i.e., a third duration. If the third duration reaches a third time threshold, the smart lawn mower 10's RFID reader 12 is determined to be potentially affected by interference from the brushless motor, and the brushless motor is shut down. The third time threshold is related to the length of the boundary line 30, the number of electronic tags 20, and the speed at which the smart lawn mower 10 moves along the boundary. In this embodiment, the third time threshold is the time it takes for the smart lawn mower 10 to move from one electronic tag 20 to the next along the boundary line 30.

[0076] Furthermore, after turning off the brushless motor, the control method further includes:

[0077] controlling the intelligent lawn mower to continue moving along the boundary line, and simultaneously starting to record a duration during which the radio frequency identification reader fails to detect the electronic tag, to obtain a fourth duration;

[0078] It is determined whether the fourth duration reaches a fourth time threshold; if the fourth duration reaches the fourth time threshold, the intelligent lawn mower is controlled to stop moving and an error reminder instruction is issued.

[0079] Specifically, after shutting down the brushless motor to prevent interference from the RFID reader 12, the smart lawn mower 10 is controlled to continue moving along the boundary line 30 and restarts recording the duration during which the RFID reader 12 fails to detect the electronic tag 20, i.e., the fourth duration. If the RFID reader 12 still fails to detect the electronic tag 20 after the fourth duration reaches a fourth time threshold, the smart lawn mower 10 is determined to be in an abnormal state, and the smart lawn mower 10 is controlled to stop moving and an error warning is issued. The fourth time threshold is also related to the length of the boundary line 30, the number of electronic tags 20, and the speed at which the smart lawn mower moves along the boundary. In this embodiment, the fourth time threshold is greater than the third time threshold, that is, greater than the time it takes for the smart lawn mower 10 to move from one electronic tag 20 to the next along the boundary line 30, to avoid erroneous judgments that the smart lawn mower 10 is abnormal.

[0080] In order to implement the above control method, in this embodiment, a control device 100 for an intelligent lawn mower is further provided, comprising:

[0081] An acquisition module 200 is configured to acquire a detection signal generated by the boundary sensor detecting an electromagnetic field, where the electromagnetic field is formed by a current flowing through the boundary line;

[0082] The processing module 300 is configured to pre-process the detection signal to obtain a gain signal;

[0083] A comparison module 400, configured to compare the signal strength of the gain signal with a first threshold;

[0084] The control module 500 is configured to control the RFID reader to stop working when the signal strength of the gain signal is less than the first threshold.

[0085] Thus, the control device described above can be used to disable the RFID reader during operation of the smart lawn mower if the boundary signal strength is low, thereby reducing interference with the boundary sensor caused by the magnetic field generated by the RFID reader. This prevents the smart lawn mower from frequently falsely triggering shutdown protection due to low boundary signal strength caused by electromagnetic interference. It should be noted that in this embodiment, the smart lawn mower 10 also has other control methods, and the details of how the control device implements these control methods will not be further described here.

[0086] Furthermore, in this embodiment, a storage medium based on the above-mentioned control method is also provided, storing computer program instructions, which, when executed, achieve: detecting an electromagnetic field by the boundary sensor and generating a detection signal, wherein the electromagnetic field is formed by current flowing through the boundary line; preprocessing the detection signal to obtain a gain signal; detecting the signal strength of the gain signal, and if the signal strength of the gain signal is less than a first threshold, controlling the radio frequency identification reader to stop working.

[0087] Thus, the storage medium described above can be used to disable the RFID reader during operation of the smart lawn mower if the boundary signal strength is low, thereby reducing interference with the boundary sensor caused by the magnetic field generated by the RFID reader. This prevents the smart lawn mower from frequently falsely triggering shutdown protection due to low boundary signal strength caused by electromagnetic interference. It should be noted that in this embodiment, the smart lawn mower 10 also has other control methods, and how the storage medium implements these control methods will not be further described here.

[0088] The above storage media include, but are not limited to, random access memory (RAM), read-only memory (ROM), cache, hard disk (HDD) or memory card.

[0089] Although the present invention provides method operation steps as described in the embodiments or flow charts, more or fewer operation steps may be included based on conventional or non-creative means. The order of steps listed in the embodiments is only one way of executing the order of many steps and does not represent the only execution order. When the device or client product in practice is executed, it can be executed in sequence or in parallel according to the method shown in the embodiments or the drawings (for example, a parallel processor or a multi-threaded processing environment, or even a distributed data processing environment). The term "include", "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, product or device including a series of elements includes not only those elements, but also includes other elements that are not explicitly listed, or also includes elements inherent to such process, method, product or device. In the absence of more restrictions, it is not excluded that there are other identical or equivalent elements in the process, method, product or device including the elements. Words such as first and second are used to represent names and do not represent any particular order.

[0090] Those skilled in the art will also appreciate that, in addition to implementing the controller in pure computer-readable program code, it is entirely possible to implement the same functionality by logically programming the method steps in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, embedded microcontrollers, and the like. Therefore, such a controller can be considered a hardware component, and the devices included therein for implementing various functions can also be considered structures within the hardware component. Alternatively, the devices for implementing various functions can be considered both software modules implementing the method and structures within the hardware component.

[0091] The present invention may be described in the general context of computer-executable instructions, such as program modules, executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, classes, and the like that perform specific tasks or implement specific abstract data types. The present invention may also be practiced in distributed computing environments where tasks are performed by remote processing devices connected through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media, including storage devices.

[0092] Through the description of the above embodiments, it can be seen that those skilled in the art can clearly understand that this specification can be implemented by means of software plus the necessary general hardware platform. Based on this understanding, the technical solution of this specification can essentially be embodied in the form of a software product. This computer software product can be stored in a storage medium such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for enabling a computer device (which can be a personal computer, a mobile terminal, a server, or a network device, etc.) to execute the methods described in various embodiments or certain parts of the embodiments of this specification.

[0093] The various embodiments of the present invention are described in a progressive manner. Reference will be made to the common or similar parts of the various embodiments. Each embodiment focuses on the differences from the other embodiments. This specification can be used in a variety of general-purpose or specialized computer system environments or configurations. For example, personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable electronic devices, network PCs, minicomputers, mainframe computers, and distributed computing environments that include any of the above systems or devices.

[0094] The present invention is not limited to the specific embodiments described above. Those skilled in the art will readily appreciate that numerous alternatives exist to the control method, device, and automatic operating system for the intelligent lawn mower of the present invention without departing from the principles and scope of the present invention. The scope of protection of the present invention shall be determined by the claims.

Claims

1. A control method for an intelligent lawn mower, wherein the intelligent lawn mower autonomously moves and mows within a working area defined by a boundary line, comprises a boundary sensor and a radio frequency identification reader, wherein the radio frequency identification reader identifies an electronic tag set within the working area; characterized in that: The control method comprises: Detecting an electromagnetic field by the boundary sensor and generating a detection signal, the electromagnetic field being formed by a current flowing through the boundary line; Preprocessing the detection signal to obtain a gain signal; The signal strength of the gain signal is detected. If the signal strength of the gain signal is less than a first threshold, the radio frequency identification reader is controlled to stop working; if the signal strength of the gain signal is less than a second threshold, the smart lawn mower is controlled to stop moving; wherein the first threshold is greater than the second threshold.

2. The control method of the intelligent lawn mower according to claim 1, characterized in that: After controlling the intelligent lawn mower to stop moving, the control method further includes: Recording the duration during which the signal strength of the gain signal is less than the second threshold, to obtain a first duration; It is determined whether the first duration reaches a first time threshold. If the first duration reaches the first time threshold, the intelligent lawn mower is controlled to stop cutting and an error reminder instruction is issued.

3. The control method of the intelligent lawn mower according to claim 1, characterized in that: After controlling the RFID reader to stop working, the control method further includes: Recording the duration during which the signal strength of the gain signal is less than the first threshold, to obtain a second duration; determining whether the second duration reaches a second time threshold, and if the second duration reaches the second time threshold, controlling the intelligent lawn mower to search for the boundary line; When the smart lawn mower moves to the boundary line, if the signal strength of the gain signal is greater than or equal to the first threshold, the RFID reader resumes operation and controls the smart lawn mower to continue the planned cutting.

4. The control method of the intelligent lawn mower according to claim 3, characterized in that: The control method further comprises: When the smart lawn mower reaches the boundary line, if the signal strength of the gain signal is always less than the first threshold, the smart lawn mower is controlled to stop moving and an error reminder instruction is issued.

5. The control method of the intelligent lawn mower according to claim 1, characterized in that: The control method further comprises: Acquire a partition map, where the partition map includes at least a first partition and a second partition; Complete planning and cutting of the first partition; Controlling the smart lawn mower to move to the electronic tag; According to the correspondence between the electronic tag and the position coordinates, the position coordinates of the electronic tag at the current position are obtained and set as the position coordinates of the intelligent lawn mower; The intelligent lawn mower is controlled to move to the second partition and perform planned cutting.

6. The control method of the intelligent lawn mower according to claim 5, characterized in that: The controlling the intelligent lawn mower to move to the electronic tag comprises: Controlling the intelligent lawn mower to move toward the electronic tag and detecting the electronic tag through the radio frequency identification reader; During the process of the smart lawn mower moving to the target position, if the RFID reader detects the electronic tag, it is determined that the smart lawn mower has moved to the electronic tag, and the smart lawn mower is controlled to stop moving further toward the target position.

7. The control method of the intelligent lawn mower according to claim 5, characterized in that: The smart lawn mower further includes a laser radar and a brushless motor for driving the laser radar to rotate; the electronic tag is arranged on the boundary line; and controlling the smart lawn mower to move to the electronic tag includes: When the smart lawn mower moves to the target position, if the RFID reader does not detect the electronic tag, the smart lawn mower is controlled to search for the boundary line; Controlling the intelligent lawn mower to move along the boundary line, and simultaneously starting to record the duration during which the radio frequency identification reader fails to detect the electronic tag, to obtain a third duration; It is determined whether the third duration reaches a third time threshold, and if the third duration reaches the third time threshold, the brushless motor is turned off.

8. A storage medium storing computer program instructions, characterized in that: When the computer program instructions are executed, the method according to any one of claims 1 to 7 is implemented.

9. A control device for an intelligent lawn mower, wherein the intelligent lawn mower autonomously moves and mows within a working area defined by a boundary line, comprising a boundary sensor and a radio frequency identification reader, wherein the radio frequency identification reader identifies an electronic tag disposed within the working area; characterized in that: The control device comprises: An acquisition module, used for acquiring a detection signal generated by the boundary sensor detecting an electromagnetic field, wherein the electromagnetic field is formed by a current flowing through the boundary line; A processing module, used for preprocessing the detection signal to obtain a gain signal; A comparison module, used for comparing the signal strength of the gain signal with a first threshold; The control module is used to control the radio frequency identification reader to stop working when the signal strength of the gain signal is less than the first threshold.

10. An intelligent lawn mower that autonomously moves and mows within a working area defined by a boundary line, comprising a boundary sensor and a radio frequency identification reader, wherein the radio frequency identification reader identifies an electronic tag disposed within the working area; characterized in that: The intelligent lawn mower further comprises a control device, which comprises: An acquisition module, used for acquiring a detection signal generated by the boundary sensor detecting an electromagnetic field, wherein the electromagnetic field is formed by a current flowing through the boundary line; A processing module, used for preprocessing the detection signal to obtain a gain signal; A comparison module, used for comparing the signal strength of the gain signal with a first threshold; The control module is used to control the radio frequency identification reader to stop working when the signal strength of the gain signal is less than the first threshold.

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