CN115079692A - Drawing establishing method and system for mowing robot - Google Patents
Drawing establishing method and system for mowing robot Download PDFInfo
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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Abstract
The invention provides a drawing construction method and a drawing construction system for a mowing robot, wherein the method comprises the following steps: s1: starting the mowing robot, and entering an automatic map building mode; s2: the mowing robot starts from a drawing starting point and walks in a specified direction, a natural boundary or a visual marker near a working area is identified, and guide connection line characteristics formed by the visual marker are determined and recorded; s3: if the visual markers are identified in the walking process, walking along the guide connecting line to build a picture and recording a walking track; if no visual marker exists in the direction of the guide connecting line, walking along the natural boundary to build a map; s4: if a natural boundary is identified in the walking process, walking along the natural boundary to build a picture and recording a walking track; if the visual markers are identified in the walking process, walking along the guide connecting line to build a map; s5: and if the map building starting point is returned, completing the map building of the outer circle. The method and the device can realize full-automatic map establishment under complex scenes, reduce the use difficulty of users and improve the user experience.
Description
Technical Field
The invention relates to the technical field of mobile robots, in particular to a drawing construction method and system of a mowing robot.
Background
With the development of the robot technology, the application range of the robot is wider and wider. Nowadays, more and more large-area lawn owners adopt mowing robots to automatically trim lawns, and the workload of personnel is reduced.
The existing mowing robots in the market are basically used for burying boundary wires to determine the working area of the mowing robot, but the burying and the maintenance of the boundary wires are troublesome. In order to solve the technical problem, mowing robots which do not need to embed boundary wires are launched on the market, and the robots need to establish a working boundary map. The general method is that the robot is remotely controlled or pushed to walk around a boundary for a circle, and a coordinate in the walking process is recorded by a positioning sensor so as to establish a map; or the robot with the visual identification walks for a circle along the natural boundary, and the track of the walking process is recorded, so that the working area map is automatically established. When a remote control or pushing robot is adopted to walk around the boundary to build a map, the area of the lawn is large, the time and labor are wasted when the boundary of the lawn is long, and the lawn is inconvenient to use; through the way of visual identification natural boundary self-walking map building, when a lawn area is divided into a plurality of blocks by a road, after the robot completes map building of one sub-area, the robot needs to manually move to another sub-area or manually remotely control to another sub-area to build a map, and the operation is troublesome and inconvenient to use.
Disclosure of Invention
The invention aims to solve the technical problem of providing a method and a system for constructing a map of a mowing robot aiming at least one defect in the prior art.
The technical scheme adopted by the invention for solving the technical problems is as follows: a mapping method for constructing a mowing robot comprises the following steps:
s1: starting the mowing robot, and entering an automatic map building mode;
s2: the mowing robot walks in a specified direction from a starting point of drawing construction, identifies a natural boundary or a visual marker near a working area, and determines and records guide connection characteristics formed by the visual marker;
s3: if the visual markers are identified in the walking process, walking along a guide connecting line formed by the visual markers in a specified direction to build a map and recording the walking track of the mowing robot through a positioning device; if the visual markers do not exist in the direction of the guide connecting line formed by the visual markers in the walking process, walking along the natural boundary in the designated direction to build a map and recording the walking track of the mowing robot through a positioning device;
s4: if the natural boundary is identified in the walking process, walking along the natural boundary in an appointed direction to build a map and recording the walking track of the mowing robot through a positioning device; if the visual markers are identified in the walking process, walking along guide connecting lines formed by the visual markers in a specified direction to build a map, and recording the walking track of the mowing robot through a positioning device;
s5: and if the mowing robot walks back to the drawing starting point according to the designated direction, the drawing of the outer circle map of the working area is completed, the outer circle map of the working area is generated according to the walking track of the mowing robot and the guiding connection line characteristics formed by the visual markers, and the automatic drawing construction is finished.
Preferably, said determining and recording the guideline features formed by said visual markers comprises:
if a guide connecting line formed by the visual marker extends into a working area, determining the guide connecting line as a dividing line;
and if the guiding connecting line formed by the visual marker extends out of the working area, determining the guiding connecting line as a guiding line.
Preferably, the specified direction includes a clockwise direction or a counterclockwise direction.
Preferably, the working area comprises at least two unconnected sub-areas and/or areas where sub-areas are connected to non-working areas.
Preferably, before executing step S1, the method further includes: and setting a visual marker.
Preferably, the visual markers comprise a single or a plurality, and are arranged at a connecting line between two unconnected sub-areas and used for guiding the mowing robot to walk from one sub-area to the other sub-area for mapping; and/or the visual marker is arranged at a connecting line of the sub-area and the non-working area and is used for dividing the working area and the non-working area when the mowing robot constructs a map.
Preferably, the mowing robot walks along a natural boundary and at a priority when guiding leads walk, wherein the priority is guiding leads > natural boundary.
Preferably, the walking track of the mowing robot comprises: the mowing robot walks along the guide line and/or the mowing robot walks along the dividing line and/or the mowing robot walks along the natural boundary.
Preferably, after the mowing robot completes the map building of the outer circle, the mowing robot performs traversal map building in the outer circle map as required to obtain an internal map.
The invention also constructs a drawing establishing system of the mowing robot, which comprises the following components:
the starting map building module is used for starting the mowing robot and entering an automatic map building mode;
the image building starting point determining module is used for enabling the mowing robot to walk from the image building starting point according to the designated direction, identifying a natural boundary or a visual marker near a working area, and determining and recording guide connecting line characteristics formed by the visual marker;
the first walking and drawing building module is used for walking and drawing building along a guide connecting line formed by the visual markers in a specified direction and recording the walking track of the mowing robot through a positioning device if the visual markers are identified in the walking process; if the visual markers do not exist in the direction of the guide connecting line formed by the visual markers in the walking process, walking along the natural boundary in the designated direction to build a map and recording the walking track of the mowing robot through a positioning device;
the second walking map building module is used for walking along the natural boundary according to the designated direction to build a map and recording the walking track of the mowing robot through a positioning device if the natural boundary is identified in the walking process; if the visual markers are identified in the walking process, walking along guide connecting lines formed by the visual markers in a specified direction to build a map, and recording the walking track of the mowing robot through a positioning device;
and the outer circle map determining module is used for indicating that the outer circle map of the working area is completely built if the mowing robot walks back to the map building starting point according to the appointed direction, generating the outer circle map of the working area according to the walking track of the mowing robot and the guiding connection line characteristics formed by the visual markers, and finishing automatic map building.
By implementing the invention, the following beneficial effects are achieved:
the method and the device can realize full-automatic map establishment under a complex scene, the complex scene can be a working area comprising at least two unconnected sub-areas or/and an area in which the sub-areas are connected with the non-working area, the use difficulty of a user can be reduced, and the user experience is improved.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a flow chart of a lawn mowing robot map building method of the present invention;
FIG. 2 is a block diagram of a lawn mowing robot according to an embodiment of the present invention;
FIG. 3 is a model diagram of a lawn mowing robot mapping method according to a second embodiment of the invention;
FIG. 4 is a model diagram of a lawn mowing robot mapping method according to a third embodiment of the invention;
fig. 5 is a block diagram of a construction system of a mowing robot of the invention.
Detailed Description
For a more clear understanding of the technical features, objects and effects of the present invention, embodiments of the present invention will now be described in detail with reference to the accompanying drawings.
It should be noted that the flow charts shown in the drawings are only exemplary and do not necessarily include all the contents and operations/steps, nor do they necessarily have to be executed in the order described. For example, some operations/steps may be decomposed, and some operations/steps may be combined or partially combined, so that the actual execution sequence may be changed according to the actual situation.
The block diagrams shown in the figures are functional entities only and do not necessarily correspond to physically separate entities. I.e. these functional entities may be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor means and/or microcontroller means.
Referring to fig. 1, a flowchart of a method for creating a map for a robot mower provided in an embodiment of the present invention includes:
s1: starting the mowing robot, and entering an automatic map building mode;
s2: the mowing robot walks in a specified direction from a starting point of drawing construction, identifies a natural boundary or a visual marker near a working area, and determines and records guide connection characteristics formed by the visual marker;
s3: if the visual markers are identified in the walking process, walking along a guide connecting line formed by the visual markers in a specified direction to build a map and recording the walking track of the mowing robot through a positioning device; if no visual marker exists in the direction of a guide connecting line formed by the visual markers in the walking process, walking along a natural boundary in a specified direction to build a map and recording the walking track of the mowing robot through a positioning device;
s4: if a natural boundary is identified in the walking process, walking along the natural boundary in an appointed direction to build a map and recording the walking track of the mowing robot through a positioning device; if the visual markers are identified in the walking process, walking along a guide connecting line formed by the visual markers in a specified direction to build a map and recording the walking track of the mowing robot through a positioning device;
s5: and if the mowing robot walks back to the drawing starting point in the designated direction, the drawing of the outer circle map of the working area is completed, the outer circle map of the working area is generated according to the walking track of the mowing robot and the guiding connection line characteristics formed by the visual markers, and the automatic drawing construction is finished.
Step S1: starting the mowing robot, and entering an automatic map building mode;
wherein, automatic drawing is started through UI or APP.
Before step S1 is executed, the method further includes: the visual markers are arranged, the visual markers comprise single or multiple visual markers, the visual markers can be recognized by a visual recognition device of the mowing robot and provide mapping guide information, and the visual markers are arranged at connecting lines between two disconnected subregions and used for guiding the mowing robot to walk from one subregion to the other subregion to map; and/or the visual marker is arranged at the connecting line of the subarea and the non-working area and is used for dividing the working area and the non-working area when the mowing robot constructs the map.
Step S2: the mowing robot starts from the starting point of drawing construction and walks in the specified direction, natural boundaries or visual markers near a working area are identified, and guide connection line features formed by the visual markers are determined and recorded
The lawn mowing robot turns in place to find a natural boundary or a visual marker through a visual sensor, and specifically, the natural boundary comprises a natural boundary line of a lawn and a cement land, a fence, an enclosure wall and the like. A guide line means a line between two visual markers or a visual marker itself is a marker line or ribbon. The mapping starting point is arranged at a natural boundary in the working area or the position of the visual marker. In some embodiments, the specified direction includes a clockwise direction or a counterclockwise direction.
Determining and recording the guideline features formed by the visual markers includes:
if the guiding connecting line formed by the visual marker extends into the working area, determining the guiding connecting line as a dividing line; and if the guiding connecting line formed by the visual marker extends out of the working area, determining the guiding connecting line as a guiding line.
Step S3: if the visual markers are identified in the walking process, walking along a guide connecting line formed by the visual markers in a specified direction to build a map and recording the walking track of the mowing robot through a positioning device; if no visual marker exists in the direction of the guide connecting line formed by the visual markers in the walking process, walking along a natural boundary according to a specified direction to build a map and recording the walking track of the mowing robot through a positioning device;
the mowing robot walks along the natural boundary and according to the priority when guiding leads walk, and the priority is larger than the guiding leads over the natural boundary. It can be understood that walking along the natural boundary line or the visual marker can be switched for many times according to the actual scene at any time, and the walking is not always fixed in a certain scene.
Step S4: if a natural boundary is identified in the walking process, walking along the natural boundary in an appointed direction to build a map and recording the walking track of the mowing robot through a positioning device; if the visual markers are identified in the walking process, walking along a guide connecting line formed by the visual markers in a specified direction to build a map and recording the walking track of the mowing robot through a positioning device;
the mowing robot walks along the natural boundary and according to the priority when guiding leads walk, and the priority is larger than the guiding leads over the natural boundary. It can be understood that walking along the natural boundary line or the visual marker can be switched for many times according to the actual scene at any time, and the walking is not always fixed in a certain scene.
Step S5: and if the mowing robot walks back to the drawing starting point in the designated direction, the drawing of the outer circle map of the working area is completed, the outer circle map of the working area is generated according to the walking track of the mowing robot and the guiding connection line characteristics formed by the visual markers, and the automatic drawing construction is finished.
Wherein, in some embodiments, the walking track of the mowing robot comprises: the mowing robot walks along the guide line and/or the mowing robot walks along the parting line and/or the mowing robot walks along the natural boundary. After the step S5 is executed, the method further includes: and receiving the outer circle map information, and determining whether the outer circle map is correct or not according to the outer circle map information. The outer circle map information is displayed on a UI display screen of the mowing robot body or a remote terminal APP interface.
And after the mowing robot completes the map building of the outer circle, judging whether an internal map is built or not according to needs, and traversing the mowing robot inside the outer circle map to build the map if the internal map is needed.
When the mowing robot conducts traversal and map building on the inner portion of the outer circle map, the mowing robot does not start a mowing cutter head, an original inner map is obtained after traversal of the inner portion of the outer circle map is completed, and the original inner map is subjected to image processing to generate a final inner map. Image processing includes erosion, dilation, etc. The user can take away the visual marker arranged after confirming the internal map.
Fig. 2 is a model diagram of a lawn mowing robot image creating method according to a first embodiment of the invention. In this embodiment, the solid black line represents the natural boundary, the black triangle represents the visual marker, and the working area includes two unconnected sub-areas and an area where a sub-area is connected to a non-working area. In the embodiment, a plurality of visual markers are arranged at a connecting line between two unconnected sub-areas and used for guiding the mowing robot to walk from one sub-area to the other sub-area for drawing; and arranging visual markers at the connecting lines of the sub-areas and the non-working areas for dividing the working areas and the non-working areas during drawing. In the present embodiment, the guiding connecting line formed by a part of the visual markers extends into the working area, and the guiding connecting line formed by another part of the visual markers extends out of the working area, so that the guiding leads are guiding lines and dividing lines. In the present embodiment, the outer circle map includes a track on which the mowing robot travels along the guide line and a track on which the mowing robot travels along the dividing line. In particular, a guide link means a link between two visual markers or a visual marker itself is a marker line or ribbon. Understandably, the index line may be one, two, or more.
Fig. 3 is a model diagram of a mowing robot mapping method according to a second embodiment of the invention. In this embodiment, the thick black lines represent natural boundaries and the thin black lines represent visual markers, and in this embodiment, the working region includes a region in which sub-regions are connected to a non-working region. In this embodiment, the visual markers are disposed at the connecting lines of the sub-regions and the non-working regions, and are used for dividing the working regions and the non-working regions during mapping. The guiding lines formed by the visual markers extend into the working area, and therefore, the guiding lines are dividing lines in the embodiment. In the present embodiment, the outer-circle map includes a track on which the mowing robot travels along the natural boundary and a track on which the mowing robot travels along the dividing line. In particular, a guide link means a link between two visual markers or a visual marker itself is a marker line or ribbon. Understandably, the index line may be one, two, or more.
Fig. 4 is a model diagram of a lawn mowing robot image building method according to a third embodiment of the invention. In this embodiment the thick black line represents the natural border, the thin black line represents the visual marker and the working area comprises two unconnected sub-areas. In this embodiment, a visual marker is provided at the line between two unconnected sub-areas for guiding the mowing robot to walk from one sub-area to another for mapping. The guiding line formed by the visual marker extends out of the working area, and therefore, the guiding line is a guiding line in the embodiment. In the present embodiment, the outer circle map includes a track on which the mowing robot travels along the natural boundary and a track on which the mowing robot travels along the guide line. In particular, a guide link means a link between two visual markers or a visual marker itself is a marker line or ribbon. Understandably, the index line may be one, two, or more.
As shown in fig. 5, the present invention also discloses a diagram building system of a mowing robot, comprising:
the starting map building module is used for starting the mowing robot and entering an automatic map building mode;
the image building starting point determining module is used for enabling the mowing robot to walk from the image building starting point according to the specified direction, identifying a natural boundary or a visual marker near a working area, and determining and recording guide connecting line features formed by the visual marker;
the first walking and mapping module is used for walking and mapping along a guide connecting line formed by the visual markers in a specified direction and recording the walking track of the mowing robot through the positioning device if the visual markers are identified in the walking process; if no visual marker exists in the direction of a guide connecting line formed by the visual markers in the walking process, walking along a natural boundary in a specified direction to build a map and recording the walking track of the mowing robot through a positioning device;
the second walking map building module is used for walking along the natural boundary according to the designated direction to build a map and recording the walking track of the mowing robot through the positioning device if the natural boundary is identified in the walking process; if the visual markers are identified in the walking process, walking along a guide connecting line formed by the visual markers in a specified direction to build a map and recording the walking track of the mowing robot through a positioning device;
and the outer circle map determining module is used for finishing the outer circle map building of the working area if the mowing robot walks back to the map building starting point according to the appointed direction, generating an outer circle map of the working area according to the walking track of the mowing robot and the guiding connection characteristics formed by the visual markers, and finishing the automatic map building.
The starting map building module is used for starting the mowing robot and entering an automatic map building mode;
wherein, automatic drawing is started through UI or APP.
Before executing the map building module, the method further comprises the following steps: arranging a visual marker which comprises a single visual marker or a plurality of visual markers, wherein the visual marker can be recognized by a visual recognition device of the mowing robot and provides mapping guide information, and the visual marker is arranged at a connecting line between two unconnected sub-areas and is used for guiding the mowing robot to walk from one sub-area to the other sub-area for mapping; and/or the visual markers are arranged at the connecting lines of the sub-areas and the non-working areas and used for dividing the working areas and the non-working areas when the mowing robot builds the map.
The image building starting point determining module is used for enabling the mowing robot to walk from the image building starting point according to the designated direction, identifying a natural boundary or a visual marker near a working area, and determining and recording guide connecting line characteristics formed by the visual marker;
the lawn mowing robot turns in place to find a natural boundary or a visual marker through a visual sensor, and specifically, the natural boundary comprises a natural boundary line of a lawn and a cement land, a fence, an enclosure wall and the like. A guide line means a line between two visual markers or a visual marker itself is a marker line or ribbon. The mapping starting point is arranged at a natural boundary in the working area or the position of the visual marker. In some embodiments, the specified direction includes a clockwise direction or a counterclockwise direction.
And determining and recording the guide line features formed by the visual markers comprises:
if the guiding connecting line formed by the visual marker extends into the working area, determining the guiding connecting line as a dividing line; and if the guide connecting line formed by the visual marker extends out of the working area, determining the guide connecting line as a guide line.
The first walking and mapping module is used for walking and mapping along a guide connecting line formed by the visual markers in a specified direction and recording the walking track of the mowing robot through the positioning device if the visual markers are identified in the walking process; if no visual marker exists in the direction of a guide connecting line formed by the visual markers in the walking process, walking along a natural boundary in a specified direction to build a map and recording the walking track of the mowing robot through a positioning device;
the mowing robot walks along the natural boundary and according to the priority when guiding leads to walk, and the priority is larger than the guiding leads over the natural boundary. It can be understood that walking along the natural boundary line or the visual marker can be switched for many times according to the actual scene at any time, and the walking is not always fixed in a certain scene.
The second walking map building module is used for walking along the natural boundary according to the designated direction to build a map and recording the walking track of the mowing robot through the positioning device if the natural boundary is identified in the walking process; if the visual markers are identified in the walking process, walking along a guide connecting line formed by the visual markers in a specified direction to build a map and recording the walking track of the mowing robot through a positioning device;
the mowing robot walks along the natural boundary and according to the priority when guiding leads walk, and the priority is larger than the guiding leads over the natural boundary. It can be understood that walking along the natural boundary line or the visual marker can be switched for many times according to the actual scene at any time, and the walking is not always fixed in a certain scene.
And the outer circle map determining module is used for finishing the outer circle map building of the working area if the mowing robot walks back to the map building starting point according to the appointed direction, generating an outer circle map of the working area according to the walking track of the mowing robot and the guiding connection characteristics formed by the visual markers, and finishing the automatic map building.
Wherein, in some embodiments, the walking track of the mowing robot comprises: the mowing robot walks along the guide line and/or the mowing robot walks along the parting line and/or the mowing robot walks along the natural boundary. After the outer circle map determining module is executed, the method further comprises the following steps: and receiving the outer map information, and confirming whether the outer map is correct according to the outer map information. The outer circle map information is displayed on a UI display screen of the mowing robot body or a remote terminal APP interface.
By implementing the invention, the following beneficial effects are achieved:
the method and the device can realize full-automatic map establishment under a complex scene, the complex scene can be a working area comprising at least two unconnected sub-areas or/and an area in which the sub-areas are connected with the non-working area, the use difficulty of a user can be reduced, and the user experience is improved.
It is to be understood that the foregoing examples, while indicating the preferred embodiments of the invention, are given by way of illustration and description, and are not to be construed as limiting the scope of the invention; it should be noted that, for those skilled in the art, the above technical features can be freely combined, and several changes and modifications can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention; therefore, all equivalent changes and modifications made within the scope of the claims of the present invention should be covered by the claims of the present invention.
Claims (10)
1. A mapping method of a mowing robot, which is characterized by comprising the following steps:
s1: starting the mowing robot, and entering an automatic map building mode;
s2: the mowing robot walks in a specified direction from a starting point of drawing construction, identifies a natural boundary or a visual marker near a working area, and determines and records guide connection characteristics formed by the visual marker;
s3: if the visual markers are identified in the walking process, walking along a guide connecting line formed by the visual markers in a specified direction to build a map and recording the walking track of the mowing robot through a positioning device; if the visual markers do not exist in the direction of the guide connecting line formed by the visual markers in the walking process, walking along the natural boundary in the designated direction to build a map and recording the walking track of the mowing robot through a positioning device;
s4: if the natural boundary is identified in the walking process, walking along the natural boundary in an appointed direction to build a map and recording the walking track of the mowing robot through a positioning device; if the visual markers are identified in the walking process, walking along guide connecting lines formed by the visual markers in a specified direction to build a map, and recording the walking track of the mowing robot through a positioning device;
s5: and if the mowing robot walks back to the drawing starting point according to the designated direction, the drawing of the outer circle map of the working area is completed, the outer circle map of the working area is generated according to the walking track of the mowing robot and the guiding connection line characteristics formed by the visual markers, and the automatic drawing construction is finished.
2. The mapping method of a robot lawnmower of claim 1, wherein the determining and recording the guidance route features formed by the visual markers comprises:
if a guide connecting line formed by the visual marker extends into a working area, determining the guide connecting line as a dividing line;
and if the guiding connecting line formed by the visual marker extends out of the working area, determining the guiding connecting line as a guiding line.
3. The robot lawnmower of claim 1, wherein the specified direction comprises a clockwise direction or a counterclockwise direction.
4. The mapping method of a robot lawnmower of claim 1, wherein the working area comprises at least two unconnected sub-areas and/or areas where sub-areas are connected to non-working areas.
5. The mapping method for a robot mower according to claim 1, further comprising, before performing step S1: and setting a visual marker.
6. The mapping method of the robot mower according to claim 5, wherein the visual markers comprise a single or a plurality of visual markers, and the visual markers are arranged at a connecting line between two unconnected sub-areas and used for guiding the robot mower to walk from one sub-area to another sub-area for mapping; and/or the visual marker is arranged at a connecting line of the sub-area and the non-working area and is used for dividing the working area and the non-working area when the mowing robot constructs a map.
7. The robot lawnmower of claim 1, wherein the robot lawnmower walks along natural boundaries and on a guide lead with priority, the priority being guide lead > natural boundary.
8. The mapping method of a robot lawnmower of claim 2, wherein the walking trajectory of the robot lawnmower comprises: the mowing robot walks along the guide line and/or the mowing robot walks along the dividing line and/or the mowing robot walks along the natural boundary.
9. The mapping method of the mowing robot of claim 1, wherein after the mowing robot completes mapping of an outer circle, the mowing robot performs traversal mapping inside the outer circle map as required to obtain an internal map.
10. A mapping system of a mowing robot, comprising:
the starting map building module is used for starting the mowing robot and entering an automatic map building mode;
the image building starting point determining module is used for enabling the mowing robot to walk from the image building starting point according to the designated direction, identifying a natural boundary or a visual marker near a working area, and determining and recording guide connecting line characteristics formed by the visual marker;
the first walking and drawing building module is used for walking and drawing building along a guide connecting line formed by the visual markers in a specified direction and recording the walking track of the mowing robot through a positioning device if the visual markers are identified in the walking process; if the visual markers do not exist in the direction of the guide connecting line formed by the visual markers in the walking process, walking along the natural boundary in the designated direction to build a map and recording the walking track of the mowing robot through a positioning device;
the second walking map building module is used for walking along the natural boundary according to the designated direction to build a map and recording the walking track of the mowing robot through a positioning device if the natural boundary is identified in the walking process; if the visual markers are identified in the walking process, walking along guide connecting lines formed by the visual markers in a specified direction to build a map, and recording the walking track of the mowing robot through a positioning device;
and the outer circle map determining module is used for indicating that the outer circle map of the working area is completely built if the mowing robot walks back to the map building starting point according to the appointed direction, generating the outer circle map of the working area according to the walking track of the mowing robot and the guiding connection line characteristics formed by the visual markers, and finishing automatic map building.
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| CN202210623271.7A CN115079692A (en) | 2022-06-02 | 2022-06-02 | Drawing establishing method and system for mowing robot |
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| CN202210623271.7A CN115079692A (en) | 2022-06-02 | 2022-06-02 | Drawing establishing method and system for mowing robot |
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