Control method for robotic lawn mower, and robotic lawn mower

Abstract

Provided in the present application are a control method for a robotic lawn mower, and a robotic lawn mower. The control method comprises: acquiring a position where a robotic lawn mower is placed in a target region; taking, as a starting position, the position where the robotic lawn mower is placed in the target region, controlling the robotic lawn mower to travel in the target region so as to execute a mowing operation; and during the operation, when a target return condition is met, controlling the robotic lawn mower to return to the starting position from the current position. By means of the present application, the retrieving of a drop-and-mow robotic lawn mower is facilitated, and in particular, in a lawn which has a relatively large area or complex terrain, and a user needs to only go to a starting position to retrieve the robotic lawn mower and does not need to look around for the robotic lawn mower on the lawn, thereby significantly reducing the burden on the user, and also improving the drop-and-mow flexibility of the robotic lawn mower.

Description

Control methods for lawn mowing robots and lawn mowing robots Technical Field

[0001] This application relates to the field of self-moving equipment technology, and in particular to a control method for a lawnmower robot and a lawnmower robot. Background Technology

[0002] In the field of modern garden maintenance, drop-and-mow lawnmowers without automatic recharging have gained widespread acceptance for small-scale, multi-zone lawn management due to their ease of use. However, in practical applications, drop-and-mow lawnmowers still face some challenges. For example, when mowing is complete, rain occurs, or the battery is nearly depleted, and the lawnmower needs to be retrieved, most current drop-and-mow lawnmowers can only pause in place, awaiting manual intervention. This forces users to personally go to the location of the lawnmower to manually move it or operate it by command. This is especially problematic when the lawn has complex terrain or a large area, making it difficult for users to locate the lawnmower and increasing inconvenience.

[0003] Based on this, this application provides a control method for a lawn mowing robot and a lawn mowing robot to improve related technologies. Summary of the Invention

[0004] The purpose of this application is to provide a control method for a lawn mowing robot and a lawn mowing robot that facilitates the recycling of a place-and-use lawn mowing robot.

[0005] The objective of this application is achieved through the following technical solution:

[0006] In a first aspect, this application provides a control method for a lawnmower robot, wherein the lawnmower robot can be placed in a target area to perform lawnmowing work, the method comprising:

[0007] The location where the lawnmower robot is placed in the target area is obtained;

[0008] Starting from the position where the mowing robot is placed in the target area, the robot is controlled to move within the target area to perform mowing work.

[0009] During operation, when the target return condition is met, the lawnmower robot is controlled to return from its current position to the starting position.

[0010] In some embodiments, obtaining the location where the lawnmower robot is placed in the target area includes:

[0011] Control the lawnmower to rotate in place, and select multiple first rotation postures of the lawnmower during the rotation process, and obtain a first reference image corresponding to each first rotation posture;

[0012] Feature point information in each of the first reference images is calculated to characterize the position where the lawnmower robot is placed in the target area.

[0013] In some embodiments, controlling the lawnmower robot to return from its current position to the starting position includes:

[0014] When the distance between the starting position and the boundary of the target area is less than the target distance, the lawnmower robot is controlled to move from the current position to the boundary of the target area and walk along the boundary.

[0015] During the walking process, a first retrieval image of the area around the lawnmower robot is acquired, and feature point information of the first retrieval image is calculated;

[0016] Based on the feature point information of the first retrieved image and the feature point information of multiple first reference images, the first retrieved image is matched with each of the first reference images respectively. When the first retrieved image matches one of the first reference images, the lawnmower robot is determined to return to the starting position.

[0017] In some embodiments, obtaining the location where the lawnmower robot is placed in the target area includes:

[0018] When the distance between the starting position and the boundary of the target area is not less than the target distance, the starting position and the intermediate position of the mowing robot are obtained. The intermediate position is the position on the boundary of the target area that is closest to the starting position, determined based on multiple first reference images.

[0019] The control of the lawnmower robot to return from its current position to the starting position includes:

[0020] Control the lawnmower robot to move from its current position to the transfer position;

[0021] Control the lawnmower robot to return from the intermediate position to the starting position.

[0022] In some embodiments, obtaining the starting position and intermediate position of the lawnmower robot includes:

[0023] The lawnmower is controlled to rotate in place at the starting position, and multiple second rotation postures of the lawnmower are selected during the rotation process. The first reference image corresponding to each second rotation posture is obtained. Feature point information in each first reference image is calculated to characterize the starting position.

[0024] Based on multiple first reference images, the location closest to the starting position on the boundary of the target area is determined as a transit position; the lawnmower is controlled to move to the transit position; when the lawnmower moves to the transit position, the lawnmower is controlled to face the starting position to obtain a corresponding second reference image, and the feature point information in the second reference image is calculated; at the transit position, the lawnmower is controlled to rotate in place, and during the rotation, multiple third rotation postures of the lawnmower are selected, a third reference image corresponding to each third rotation posture is obtained, and the feature point information in each third reference image is calculated to characterize the transit position.

[0025] In some embodiments, controlling the lawnmower robot to move from its current position to the transfer position includes:

[0026] Control the lawnmower robot to move from its current position to the boundary of the target area and walk along the boundary;

[0027] During the walking process, a second retrieval image of the area around the lawnmower robot is acquired, and feature point information of the second retrieval image is calculated;

[0028] Based on the feature point information of the second retrieved image and the feature point information of the multiple third reference images, the second retrieved image is matched with the multiple third reference images respectively. When the second retrieved image matches one of the third reference images, it is determined that the lawnmower robot returns to the transfer position.

[0029] In some embodiments, controlling the lawnmower robot to return from the transfer position to the starting position includes:

[0030] Control the lawnmower to rotate in place to obtain a third search image of the area around the lawnmower;

[0031] Based on the feature point information of the third retrieved image and the feature point information of the second reference image, the third retrieved image is matched with the second reference image respectively. When the third retrieved image matches the second reference image, it is determined that the lawn mowing robot is facing the starting position.

[0032] Control the lawnmower robot to move toward the starting position, and during the movement, acquire a fourth search image of the area around the lawnmower robot;

[0033] Based on the feature point information of the fourth retrieved image and the feature point information of multiple first reference images, the fourth retrieved image is matched with multiple first reference images respectively. When the fourth retrieved image matches one of the first reference images, it is determined that the lawnmower robot returns to the starting position.

[0034] In some embodiments, obtaining the position of the lawnmower robot placed in the target area includes: obtaining the starting position of the lawnmower robot, wherein the starting position is represented by position information;

[0035] The method further includes: creating an electronic map of the target area during the movement;

[0036] The control of the lawnmower robot to return from its current position to the starting position includes:

[0037] Based on the electronic map, a return path between the current position and the starting position is planned to control the lawnmower robot to move from the current position to the starting position along the return path.

[0038] In some embodiments, the target return condition includes at least one of the following: lawn mowing completed, rain, and the lawnmower robot's battery pack having insufficient power.

[0039] Secondly, this application provides a lawnmower robot, including a control module for performing any of the methods described above.

[0040] This application provides a control method for a lawnmower robot and the lawnmower robot itself. The control method includes acquiring the position of the lawnmower robot placed in a target area. Then, using the position of the lawnmower robot in the target area as the starting position, the method controls the lawnmower robot to move within the target area to perform mowing work. During operation, when a target return condition is met, the method controls the lawnmower robot to return from its current position to the starting position. During the mowing task, the lawnmower robot continuously monitors its working status (e.g., the battery level of the lawnmower robot's battery pack, weather conditions, etc.). This application facilitates the retrieval of the ready-to-use lawnmower robot, especially in large or complex lawns. Users only need to go to the starting position to retrieve the lawnmower robot, eliminating the need to search throughout the lawn and significantly reducing the user's burden. Furthermore, regardless of whether a charging station is provided on the lawn, the lawnmower robot can return to the starting position for the user's next operation, thereby enhancing the ready-to-use flexibility of the lawnmower robot. Attached Figure Description

[0041] This application will be further described below with reference to the accompanying drawings and specific embodiments.

[0042] Figure 1 is a flowchart illustrating a control method for a lawnmower robot provided in an embodiment of this application.

[0043] Figure 2 is a schematic diagram of a process for obtaining the starting position provided in an embodiment of this application.

[0044] Figure 3 is a schematic diagram of a process for returning from the current position to the starting position according to an embodiment of this application.

[0045] Figure 4 is a schematic diagram of a process for moving from the current position to a transfer position according to an embodiment of this application.

[0046] Figure 5 is a schematic diagram of a process for returning from a transit position to a starting position according to an embodiment of this application. Detailed Implementation

[0047] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0048] 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 construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0049] With the increasing maturity of automation technology, lawnmower robots have been widely used in home and commercial garden maintenance. Drop-and-mow robots, in particular, can automatically perform mowing tasks simply by being placed on the lawn, requiring no complex installation, greatly improving user convenience and making them very popular in the market. However, in practical applications, drop-and-mow robots still face some challenges. For example, when mowing is complete, rain occurs, or the battery is nearly depleted, and the robot needs to be retrieved, most existing drop-and-mow robots can only pause in place, awaiting manual intervention. Users must personally go to the location of the robot to manually move it or give commands, which increases inconvenience, especially on lawns with complex terrain or large areas. Particularly in inclement weather, not only is it difficult to find the robot, leading to retrieval difficulties, but the weight of the robot itself also makes long-distance transport a burden.

[0050] Referring to Figure 1, Figure 1 is a flowchart illustrating a control method for a lawnmower robot provided in an embodiment of this application.

[0051] In order to improve the relevant technology and enhance the control flexibility of the lawn mowing robot, this application provides a control method for the lawn mowing robot, which can be placed in a target area to perform lawn mowing work. The method includes steps S101 to S103.

[0052] Step S101: Obtain the position where the lawnmower robot is placed in the target area.

[0053] Step S102: Starting from the position where the mowing robot is placed in the target area, control the mowing robot to walk in the target area to perform mowing work.

[0054] Step S103: During the operation, when the target return condition is met, control the lawn mowing robot to return from the current position to the starting position.

[0055] The target area refers to the specific area where the lawnmower robot needs to perform its mowing operations, as specified by the user. This can be a single, continuous large lawn or multiple scattered small lawns. The starting position refers to the initial location where the lawnmower robot is placed within the target area by the user, ready to begin work. Target return conditions include, but are not limited to, triggering conditions that require the lawnmower robot to stop its current operation and return, such as completion of mowing, rain, or insufficient battery power.

[0056] In the above embodiments, when the lawnmower robot is started to prepare for mowing, its position in the target area is obtained. This position is used as the starting position. For example, a GPS module can be used to accurately locate the starting position, or a vision module can be used to scan the surrounding environment of the starting position, take images, and calculate and store visual feature points (e.g., ORB feature points, Oriented Fast and Rotated BRIEF) in the images to characterize the starting position. During the mowing task, the lawnmower robot continuously monitors its working status (e.g., the battery level of the lawnmower robot, weather conditions, and the working status of the lawnmower robot). When the target return conditions are met (e.g., job completion, rain, or low battery), the lawnmower robot automatically returns from its current position to the starting position.

[0057] The above embodiments enable users to quickly and easily retrieve the lawnmower robot, especially in large or complex lawns. Users only need to return to the starting point to retrieve the robot, eliminating the need to search the lawn and significantly reducing the user's burden, thus enhancing the robot's flexibility for immediate use. Secondly, the lawnmower robot can automatically make judgments and take actions based on its working status without human intervention, improving the continuity and efficiency of operations. Furthermore, regardless of whether a charging station is provided on the lawn, the lawnmower robot can return to its starting point for the user's next operation, increasing its flexibility and making it particularly suitable for managing multiple small or scattered lawns.

[0058] Referring to Figure 2, Figure 2 is a schematic flowchart of obtaining the starting position provided by an embodiment of this application.

[0059] To improve the accuracy of obtaining the starting position of the lawnmower robot, in some embodiments, obtaining the position of the lawnmower robot placed in the target area may include steps S201 to S202.

[0060] Step S201: Control the lawnmower robot to rotate in place, and select multiple first rotation postures of the lawnmower robot during the rotation process, and obtain a first reference image corresponding to each first rotation posture.

[0061] Step S202: Calculate feature point information in each of the first reference images to characterize the position where the lawnmower robot is placed in the target area.

[0062] In this context, "rotation in place" refers to the lawnmower robot performing circular motion around its central axis without moving from its starting position (i.e., the position where the lawnmower robot is placed in the target area), in order to observe the surrounding environment from different angles. Feature point information refers to a set of pixels with unique properties extracted from an image, typically referring to corner points, edge points, etc. In the above embodiment, ORB feature points are mainly used. ORB feature points can adapt well to various types of image content and are adept at identifying objects with obvious corners and edges, such as the edges of trees or buildings. The calculation of feature point information can, for example, employ visual AI or OpenCV.

[0063] In the above embodiment, firstly, when the lawnmower robot is placed in the target area to begin mowing, it is controlled to rotate in place at multiple angles. Each time it reaches a first rotational posture, a first reference image is captured. During this process, the lawnmower robot selects multiple different angles to ensure that it can record environmental information around its starting position from all directions. Subsequently, image processing algorithms are used to analyze each first reference image, calculating and extracting feature point information (such as ORB feature points). Through the collection of feature point information, a unique environmental feature "fingerprint" is constructed to characterize the lawnmower robot's starting position.

[0064] The above embodiments, through the acquisition of multi-pose images and the calculation of feature point information, can obtain richer environmental information and significantly improve the positioning accuracy of the starting position. Secondly, by accurately recording the position of the lawnmower robot placed in the target area (i.e., the starting position), the lawnmower robot can return to the starting position when the target return conditions are met, making it convenient for users to quickly locate and retrieve the lawnmower robot without having to conduct a thorough search of the lawn. Furthermore, the automatic return-to-starting-position function reduces the inconvenience for users in inclement weather or when transporting the lawnmower robot over long distances, improving user satisfaction.

[0065] Referring to Figure 3, Figure 3 is a schematic flowchart of returning from the current position to the starting position provided by an embodiment of this application.

[0066] To improve the positioning accuracy of the lawnmower robot during the return to the starting position, in some embodiments, controlling the lawnmower robot to return from the current position to the starting position may include steps S301 to S303.

[0067] Step S301: When the distance between the starting position and the boundary of the target area is less than the target distance, control the lawnmower robot to move from the current position to the boundary of the target area and walk along the boundary.

[0068] Step S302: During the walking process, acquire a first retrieval image of the area around the lawnmower robot and calculate the feature point information of the first retrieval image.

[0069] Step S303: Based on the feature point information of the first retrieved image and the feature point information of multiple first reference images, the first retrieved image is matched with each of the first reference images respectively. When the first retrieved image matches one of the first reference images, the lawn mowing robot is determined to return to the starting position.

[0070] The target distance is a pre-set distance threshold used to determine the distance between the starting position of the lawnmower and the boundary of the target area. The target distance can be, for example, 2m, 5m, 8m or 10m.

[0071] In the above embodiment, firstly, the distance between the starting position and the boundary of the target area is evaluated. If this distance is less than the target distance, it indicates that the starting position is close to the boundary. In this case, the lawnmower robot first moves to the boundary of the target area and then walks along the boundary. While walking along the boundary, the lawnmower robot continuously acquires a first retrieval image and calculates the feature point information in the first retrieval image. Using the real-time acquired first retrieval image, feature matching is performed with multiple previously stored first reference images to obtain the matching degree between the first retrieval image and each first reference image. When the matching degree of the feature point information between the first retrieval image and one of the first reference images reaches a corresponding set threshold, it is determined that the first retrieval image and the first reference image are matched, and it is considered that the lawnmower robot has returned to the starting position.

[0072] The above embodiments optimize the return path of the lawnmower robot by combining target distance judgment and boundary walking strategies, effectively avoiding the risk of directly traversing complex environments. Secondly, the real-time matching mechanism of the first retrieved image enables the lawnmower robot to continuously correct its direction during movement, accurately finding the return path even under changing environmental conditions. Furthermore, the above method is applicable to lawns of different sizes, shapes, and obstacle distributions, improving the adaptability and reliability of the lawnmower robot in varied outdoor environments.

[0073] To optimize return path planning when the distance between the starting position and the boundary of the target area is far, in some embodiments, obtaining the position of the lawnmower robot placed in the target area may include: when the distance between the starting position and the boundary of the target area is not less than the target distance, obtaining the starting position and the intermediate position of the lawnmower robot, wherein the intermediate position is the position on the boundary of the target area that is closest to the starting position, determined based on multiple first reference images.

[0074] The step of controlling the lawnmower robot to return from its current position to the starting position may include: controlling the lawnmower robot to move from its current position to the intermediate position; and controlling the lawnmower robot to return from the intermediate position to the starting position.

[0075] The intermediate position is determined based on multiple first reference images. When the distance between the starting position and the boundary of the target area is large, a specific position located on the boundary of the target area and close to the starting position is selected as an intermediate position in the return path of the lawnmower robot.

[0076] In the above embodiments, before the lawnmower robot starts working, it first rotates in place and captures a first reference image in multiple poses, calculating feature point information to determine the starting position. When the distance between the starting position and the boundary of the target area exceeds the target distance, the feature point information in the first reference image is analyzed to determine the position on the boundary of the target area in the first reference image that is closest to the starting position as the intermediate position. When it is necessary to control the lawnmower robot to return to the starting position, a path along the boundary can be planned and executed to move to the intermediate position based on the relative relationship between the current position and the intermediate position. After reaching the intermediate position, the lawnmower robot uses the feature point information in the previously recorded first reference image to accurately locate the starting position and plans the shortest or safest path to return to the starting position.

[0077] The above embodiments reduce the processing complexity of path planning for the lawnmower robot from its current position to its starting position by introducing intermediate locations, thus improving return efficiency. Secondly, using intermediate locations as reference points for phased navigation allows the lawnmower robot to accurately find and return to its starting position even after long-distance travel, enhancing positioning reliability in complex environments. Furthermore, by walking along the boundary to the intermediate location, the lawnmower robot can effectively avoid obstacles and complex terrain within the lawn, improving the safety of path planning.

[0078] In some embodiments, the process of obtaining the starting position of the lawnmower robot may include: controlling the lawnmower robot to rotate in place at the starting position, selecting multiple second rotation postures of the lawnmower robot during the rotation, obtaining the first reference image corresponding to each second rotation posture, and calculating feature point information in each first reference image to characterize the starting position.

[0079] In some embodiments, the process of obtaining the transit position of the lawnmower robot may include: determining, based on multiple first reference images, the position on the boundary of the target area closest to the starting position as the transit position; controlling the lawnmower robot to move to the transit position; when the lawnmower robot moves to the transit position, controlling the lawnmower robot to face the starting position to obtain a corresponding second reference image, and calculating feature point information in the second reference image; controlling the lawnmower robot to rotate in place at the transit position, and selecting multiple third rotation postures of the lawnmower robot during the rotation, obtaining a third reference image corresponding to each third rotation posture, and calculating feature point information in each third reference image to characterize the transit position.

[0080] In the above embodiment, at the starting position, the lawnmower robot selects multiple second rotation postures by rotating in place and acquires multiple first reference images corresponding to the multiple second rotation postures. It calculates the feature point information of each first reference image to form a visual feature library for the starting position. Using the feature point information of the first reference images, it determines the position on the boundary of the target area closest to the starting position as the intermediate position. After the lawnmower robot moves to the intermediate position, it faces the starting position and takes a second reference image. Then, it rotates in place at the intermediate position to acquire a third reference image and calculates the feature point information in the third reference image. Using the stored information of the starting and intermediate positions, the lawnmower robot moves from its current position to the intermediate position along a planned path through feature matching, and then returns from the intermediate position to the starting position.

[0081] The above embodiments significantly improve the positioning accuracy of the lawnmower robot for its starting and intermediate positions through multi-pose image acquisition and feature point matching. Secondly, during the determination of the intermediate position, the lawnmower robot can adjust its return path based on real-time environmental information, selecting the safest and most efficient route, thus improving operational efficiency. Furthermore, the increased automation reduces the need for user intervention; users no longer need to manually search for the lawnmower robot, especially in inclement weather or at night, greatly enhancing the user experience.

[0082] Referring to Figure 4, Figure 4 is a schematic diagram of a process for moving from the current position to a transfer position according to an embodiment of this application.

[0083] In complex and variable outdoor environments, direct path planning from the current position to the starting position for a lawnmower robot may not be efficient or accurate enough. In some embodiments, controlling the lawnmower robot to move from its current position to the transfer position may include steps S401-S403.

[0084] Step S401: Control the lawnmower robot to move from the current position to the boundary of the target area and walk along the boundary.

[0085] Step S402: During the walking process, acquire a second retrieval image around the lawnmower robot and calculate the feature point information of the second retrieval image.

[0086] Step S403: Based on the feature point information of the second retrieved image and the feature point information of the multiple third reference images, the second retrieved image is matched with the multiple third reference images respectively. When the second retrieved image matches one of the third reference images, it is determined that the lawn mowing robot returns to the transfer position.

[0087] In the above embodiment, when the lawnmower needs to return to its starting position, it first walks along any boundary of the target area. Using the boundary as a natural navigation reference reduces the risk of the lawnmower getting lost in complex environments. While moving along the boundary, the lawnmower continuously acquires a second retrieval image and calculates its feature point information in real time. Then, it matches the feature point information of the second retrieval image with the feature point information of multiple stored third reference images to obtain the matching degree between the second retrieval image and each third reference image. When the matching degree of the feature point information of the second retrieval image and one of the third reference images reaches a corresponding set threshold, the second retrieval image and the third reference image are considered to be matched, and the lawnmower is considered to have returned to the transit position.

[0088] The above embodiments reduce the complexity of the lawnmower robot returning to its transfer position from its current location and improve the efficiency of the return process by using boundary-following navigation and dynamic real-time image matching. Furthermore, the real-time image matching mechanism ensures that the lawnmower robot can correct its direction at any time during movement, accurately finding the transfer position even when the environment changes.

[0089] Referring to Figure 5, Figure 5 is a schematic flowchart of a process for returning from an intermediate position to a starting position according to an embodiment of this application.

[0090] In some embodiments, controlling the lawnmower robot to return from the transfer position to the starting position may include steps S501 to S504.

[0091] Step S501: Control the lawnmower robot to rotate in place to obtain a third search image around the lawnmower robot.

[0092] Step S502: Based on the feature point information of the third retrieved image and the feature point information of the second reference image, the third retrieved image is matched with the second reference image respectively. When the third retrieved image matches the second reference image, the lawn mowing robot is determined to face the starting position.

[0093] Step S503: Control the lawn mowing robot to move toward the starting position, and during the movement, acquire a fourth search image around the lawn mowing robot.

[0094] Step S504: Based on the feature point information of the fourth retrieved image and the feature point information of the multiple first reference images, the fourth retrieved image is matched with the multiple first reference images respectively. When the fourth retrieved image matches one of the first reference images, it is determined that the lawn mowing robot returns to the starting position.

[0095] In the above embodiments, at the transfer position, the lawnmower robot rotates in place and acquires a third retrieved image, performs feature matching with stored second reference images, and obtains the matching degree between the third retrieved image and each second reference image. When the matching degree of feature point information between the third retrieved image and one of the second reference images reaches a corresponding set threshold, the third retrieved image and the second reference image are considered to be matched, and the lawnmower robot is considered to have correctly faced the starting position. After confirming the orientation, the lawnmower robot begins to move towards the starting position, while continuously capturing a fourth retrieved image and performing feature matching with multiple first reference images to obtain the matching degree between the fourth retrieved image and each first reference image. When the matching degree of feature point information between the fourth retrieved image and one of the first reference images reaches a corresponding set threshold, the fourth retrieved image and the first reference image are considered to be matched, and the lawnmower robot is considered to have returned to the starting position. It should be noted that the set thresholds for the matching degree between the different retrieved images and reference images can be the same or different, and this application does not impose any limitations on this. Through continuous image feature matching and orientation adjustment, the lawnmower robot can return from the intermediate position to the starting position along the most direct and safe path, effectively avoiding entering complex areas or deviating from the path, and ensuring the efficiency and safety of the return process.

[0096] In some embodiments, obtaining the position of the lawnmower robot placed in the target area may include: obtaining the starting position of the lawnmower robot, wherein the starting position is represented by location information. The method may further include: creating an electronic map of the target area during movement. Controlling the lawnmower robot to return from its current position to the starting position may include: planning a return path between the current position and the starting position based on the electronic map, so as to control the lawnmower robot to move along the return path from the current position to the starting position.

[0097] Location information representation refers to explicitly indicating the starting position of the lawnmower robot using geographic coordinates (such as GPS coordinates) or relative location information (such as relative distance and direction to a specific reference point). An electronic map is a digital map dynamically generated or pre-built during the lawnmower robot's operation, containing important geographic information, boundaries, and obstacle locations within the target area to assist navigation and path planning. Path planning is the calculation of the optimal or safest path from the current position to the starting position on the electronic map based on the lawnmower robot's current position and target position (i.e., starting position).

[0098] In the above embodiment, when the lawnmower robot begins its operation, its starting position is first recorded and determined via a GPS module. Simultaneously, during its movement, the lawnmower robot uses a vision module to identify information about its surrounding environment in real time, constructing an electronic map of the target area. This map includes, for example, information such as the lawnmower robot's walking path, lawn boundaries, and obstacles. When the target return condition is met, a return path can be calculated using the created electronic map and the relative relationship between the current and starting positions. The lawnmower robot then follows this return path to autonomously return to its starting position. The return path is, for example, the shortest path between the current and starting positions. However, if the shortest path passes through obstacles, a transfer station between the current and starting positions can be identified. The shortest path between these transfer stations that does not pass through obstacles is then determined as the target transfer path. Finally, based on the path between the current and transfer stations, the target transfer path, and the path between the transfer stations and the starting position, the return path between the current and starting positions is redefined.

[0099] The above embodiments significantly enhance the autonomous navigation capabilities of the lawnmower robot through real-time updated electronic maps and intelligent path planning, increasing the success rate of the lawnmower robot returning to its starting position under various environmental conditions. Furthermore, even in complex lawn environments and with changeable weather, the lawnmower robot can flexibly return from its current position to its starting position using electronic maps and location information, thereby improving its adaptability and reliability in outdoor operations.

[0100] In some embodiments, the target return condition includes at least one of lawn mowing completion, rain, and insufficient battery power in the lawnmower robot's battery pack. When any of these conditions are triggered, such as lawn mowing completion, rain, or insufficient battery power in the lawnmower robot's battery pack, the lawnmower robot returns from its current position to its starting position.

[0101] This application also provides a lawnmower robot, including a control module, which is used to execute any of the above methods.

[0102] In some embodiments, the lawnmower may further include a GPS module and a vision module, wherein the GPS module is used to acquire the real-time location information of the lawnmower, and the vision module is used to capture images of the surrounding area where the lawnmower is located.

[0103] It should be noted that although some embodiments of this application use a lawnmower robot as an example, this application can be applied to other self-moving devices, and this application does not set any limitations on them.

[0104] 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, data stored, etc.) involved in various embodiments of this specification are all information and data authorized by the user or fully authorized by all parties. Furthermore, the collection, use and processing of the relevant data shall comply with the relevant laws, regulations and standards of the relevant countries and regions, and corresponding instruction entry points shall be provided for the user to choose to authorize or refuse.

[0105] It is understood that the specific examples in this specification are only intended to help those skilled in the art better understand the implementation of this application, and are not intended to limit the scope of protection of this application.

[0106] It is understood that in the various embodiments of this specification, the sequence number of each process does not imply 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.

[0107] It is understood that the various implementation methods described in this specification can be implemented individually or in combination, and this application does not limit them.

[0108] Unless otherwise stated, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of this specification. The term "and / or" as used in this specification includes any and all combinations of one or more of the associated listed items. The singular forms "a," "the," and "the" as used in this specification and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise.

[0109] Those skilled in the art will recognize that the units and algorithm steps of the various examples 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 implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art 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.

[0110] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the embodiments described above can be referred to the corresponding processes in other embodiments, and will not be repeated here.

[0111] In the several embodiments provided in this specification, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0112] The units described as separate components may or may not be physically separate. The 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 the units can be selected to achieve the purpose of the technical solution in this application, depending on actual needs.

[0113] In addition, the functional units in the various embodiments of this specification can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0114] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this specification, or the part that contributes to the prior art, or part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this specification. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0115] The above are merely specific embodiments described in this specification, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this specification should be included within the scope of protection of this specification. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A control method for a lawnmower robot, wherein the lawnmower robot can be placed in a target area to perform lawnmowing work, characterized in that, The method includes: The location where the lawnmower robot is placed in the target area is obtained; Starting from the position where the mowing robot is placed in the target area, the robot is controlled to move within the target area to perform mowing work. During operation, when the target return condition is met, the lawnmower robot is controlled to return from its current position to the starting position.

2. The control method for the lawnmower robot according to claim 1, characterized in that, The step of obtaining the location where the lawnmower robot is placed in the target area includes: Control the lawnmower to rotate in place, and select multiple first rotation postures of the lawnmower during the rotation process, and obtain a first reference image corresponding to each first rotation posture; Feature point information in each of the first reference images is calculated to characterize the position where the lawnmower robot is placed in the target area.

3. The control method for the lawnmower robot according to claim 2, characterized in that, The control of the lawnmower robot to return from its current position to the starting position includes: When the distance between the starting position and the boundary of the target area is less than the target distance, the lawnmower robot is controlled to move from the current position to the boundary of the target area and walk along the boundary. During the walking process, a first retrieval image of the area around the lawnmower robot is acquired, and feature point information of the first retrieval image is calculated; Based on the feature point information of the first retrieved image and the feature point information of multiple first reference images, the first retrieved image is matched with each of the first reference images respectively. When the first retrieved image matches one of the first reference images, the lawnmower robot is determined to return to the starting position.

4. The control method for the lawnmower robot according to claim 1, characterized in that, The step of obtaining the location where the lawnmower robot is placed in the target area includes: When the distance between the starting position and the boundary of the target area is not less than the target distance, the starting position and the intermediate position of the mowing robot are obtained. The intermediate position is the position on the boundary of the target area that is closest to the starting position, determined based on multiple first reference images. The control of the lawnmower robot to return from its current position to the starting position includes: Control the lawnmower robot to move from its current position to the transfer position; Control the lawnmower robot to return from the intermediate position to the starting position.

5. The control method for the lawnmower robot according to claim 4, characterized in that, The process of obtaining the starting position and intermediate position of the lawnmower robot includes: The lawnmower robot is controlled to rotate in place at the starting position, and multiple second rotation postures of the lawnmower robot are selected during the rotation process to obtain the first reference image corresponding to each second rotation posture. Calculate feature point information in each of the first reference images to characterize the starting position; Based on multiple first reference images, the location on the boundary of the target area that is closest to the starting position is determined as the transit position; The lawnmower is controlled to move to the intermediate position; when the lawnmower moves to the intermediate position, the lawnmower is controlled to face the starting position to obtain the corresponding second reference image, and the feature point information in the second reference image is calculated; The lawnmower is controlled to rotate in place at the transfer position, and multiple third rotation postures of the lawnmower are selected during the rotation. A third reference image corresponding to each third rotation posture is obtained, and feature point information in each third reference image is calculated to characterize the transfer position.

6. The control method for the lawnmower robot according to claim 5, characterized in that, The control of the lawnmower robot to move from its current position to the transfer position includes: Control the lawnmower robot to move from its current position to the boundary of the target area and walk along the boundary; During the walking process, a second retrieval image of the area around the lawnmower robot is acquired, and feature point information of the second retrieval image is calculated; Based on the feature point information of the second retrieved image and the feature point information of the multiple third reference images, the second retrieved image is matched with the multiple third reference images respectively. When the second retrieved image matches one of the third reference images, it is determined that the lawnmower robot returns to the transfer position.

7. The control method for the lawnmower robot according to claim 5, characterized in that, The control of the lawnmower robot to return from the transfer position to the starting position includes: Control the lawnmower to rotate in place to obtain a third search image of the area around the lawnmower; Based on the feature point information of the third retrieved image and the feature point information of the second reference image, the third retrieved image is matched with the second reference image respectively. When the third retrieved image matches the second reference image, it is determined that the lawn mowing robot is facing the starting position. Control the lawnmower robot to move toward the starting position, and during the movement, acquire a fourth search image of the area around the lawnmower robot; Based on the feature point information of the fourth retrieved image and the feature point information of multiple first reference images, the fourth retrieved image is matched with multiple first reference images respectively. When the fourth retrieved image matches one of the first reference images, it is determined that the lawnmower robot returns to the starting position.

8. The control method for the lawnmower robot according to claim 1, characterized in that, The step of obtaining the position of the lawn mowing robot placed in the target area includes: obtaining the starting position of the lawn mowing robot, wherein the starting position is represented by position information; The method further includes: creating an electronic map of the target area during the movement; The control of the lawnmower robot to return from its current position to the starting position includes: Based on the electronic map, a return path between the current position and the starting position is planned to control the lawnmower robot to move from the current position to the starting position along the return path.

9. The control method for the lawnmower robot according to claim 1, characterized in that, The target return conditions include at least one of the following: the lawn mowing work is completed, it is raining, and the lawn mowing robot's battery pack is low on power.

10. A lawnmower robot, the lawnmower robot comprising a control module, characterized in that, The control module is used to execute the method according to any one of claims 1-9.

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