The invention discloses a navigation switching method, device and equipment for a
pasture robot and a medium, and the method comprises the following steps: S1, when the initial position of the
pasture robot is in a charging
pile, setting a charging fixed road section as magnetic navigation; s2, when it is monitored that the
pasture robot leaves the charging road section, magnetic navigation is selected for navigation; s3, when entering the cowshed, writing set information into an RFID
beacon, reading the information in the
beacon by an RFID
card reader when entering the cowshed area, comparing the numerical value of the ultrasonic wave with the
signal intensity of the magnetic sensor, and switching magnetic navigation to an ultrasonic wave and inertial navigation combined positioning navigation mode to advance; s4, when the cattle walks to the broken fence position of the cowshed, the controller directly decides to inertial navigation, inertial navigation re-calibrates the direction, and follow the cattle walks according to the
positive direction calibrated by the inertial navigation until the occurrence of a cattle neck cangue is detected by ultrasonic
waves; and S5, continuing to advance, judging the strength of the ultrasonic
signal, and if the
signal is weak, switching the navigation mode into inertial navigation.