CN115211273B - Mower navigation method, device, equipment and unmanned mowing system - Google Patents
Mower navigation method, device, equipment and unmanned mowing system Download PDFInfo
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- CN115211273B CN115211273B CN202110406440.7A CN202110406440A CN115211273B CN 115211273 B CN115211273 B CN 115211273B CN 202110406440 A CN202110406440 A CN 202110406440A CN 115211273 B CN115211273 B CN 115211273B
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- 230000007547 defect Effects 0.000 abstract description 7
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/006—Control or measuring arrangements
- A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
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Abstract
The invention discloses a navigation method of a mower, which comprises the steps of receiving a positioning signal; judging whether the signal quality of the positioning signal exceeds a standard threshold value; when the standard threshold value is exceeded, navigating the mower according to the positioning signal and preset task information; and when the standard threshold is not exceeded, receiving an environment vision signal from a machine vision component, and navigating the mower according to the environment vision signal and the task information. According to the invention, a machine vision recognition technology is adopted under the condition of insufficient quality of the positioning signal, and whether the lawn to be mowed and the mower are positioned in front is judged through the environment vision signal, so that the defect of inaccurate positioning signal caused by complex mowing environment is overcome, and the working stability and safety of the mower are improved. The invention also provides a mower navigation device, a mower navigation device and an unmanned mowing system.
Description
Technical Field
The invention relates to the field of automation, in particular to a mower navigation method, a device, equipment, a computer readable storage medium and an unmanned mowing system.
Background
The practical application scene of the household intelligent mower is complex, the traditional method is to determine the boundary of the lawn through the enclosing wire, but the enclosing wire is troublesome to set, meanwhile, along with the expansion of the lawn area and the complex structure, the cost of the enclosing wire setting is multiplied, along with the maturation and miniaturization of the positioning technology, the boundary is determined through the high-precision positioning technology, the original enclosing wire boundary technology is gradually replaced, the trouble of arranging the enclosing wire is avoided, the efficient mowing strategy can be realized based on the high-precision positioning technology, the boundary is set in a mode of being more convenient and efficient than that of the conventional enclosing wire, and the intelligent mower for mowing in a random path is more convenient to use.
However, buildings, trees and the like often exist around the application scene of the intelligent mower, and high-precision positioning cannot be normally realized in partial areas due to the complexity of the application scene. If the machine is guided according to the positioning signal when the high-precision positioning is unreliable, the machine can possibly leave the lawn boundary or enter a non-lawn area to cause property loss or personal danger, or the charging pile cannot be aligned for charging, so that the intelligent mower depending on the positioning technology cannot meet the requirements of actual application scenes.
In summary, how to solve the problem that the mower may get out of the lawn boundary to cause property loss and personnel injury due to insufficient positioning accuracy in the prior art is a problem to be solved by those skilled in the art.
Disclosure of Invention
The invention aims to provide a navigation method, a navigation device, a computer readable storage medium and an unmanned mowing system for solving the problem that in the prior art, the positioning precision is poor, and a mower possibly exceeds the lawn range to cause property loss.
In order to solve the technical problems, the invention provides a navigation method of a mower, comprising the following steps:
Receiving a positioning signal;
judging whether the signal quality of the positioning signal exceeds a standard threshold value;
When the standard threshold value is exceeded, navigating the mower according to the positioning signal and preset task information;
And when the standard threshold is not exceeded, receiving an environment vision signal from a machine vision component, and navigating the mower according to the environment vision signal and the task information.
Optionally, in the mower navigation method, the method further includes:
when receiving a recharging instruction, controlling the mower to enter a visual guiding area;
receiving a pilot zone vision signal from a machine vision component;
Determining a visual guidance recharging signal according to the visual signal of the guidance area;
and controlling the mower to be in butt joint with the charging pile according to the visual guide recharging signal.
Optionally, in the method for navigating a mower, controlling the mower to dock with the charging pile according to the visual guiding recharging signal includes:
controlling the mower to enter a purse line guiding area according to the visual guiding recharging signal;
Receiving a guide area wire-surrounding signal in the wire-surrounding guide area;
Determining a wire-surrounding guide recharging signal according to the wire-surrounding signal of the guide area;
And controlling the mower to be in butt joint with the charging pile according to the recharging signal guided by the wire.
Optionally, in the mower navigation method, the controlling the mower to enter the visual guide area includes:
when the judgment result of the signal quality of the positioning signal is changed from exceeding the standard threshold value to not exceeding the standard threshold value, acquiring the positioning signal exceeding the standard threshold value last time as an estimation base point signal;
Determining estimated navigation information according to the estimated base point signal and preset lawn map information;
And controlling the mower to enter the visual guiding area according to the calculated navigation information.
Optionally, in the mower navigation method, when the determination result of the signal quality of the positioning signal changes from exceeding the standard threshold value to not exceeding the standard threshold value, the obtaining the positioning signal that most recently exceeds the standard threshold value as the estimation basis point signal includes:
Stopping the mower when the judgment result of the signal quality of the positioning signal changes from exceeding the standard threshold value to not exceeding the standard threshold value, and receiving the positioning signal in a first time period;
judging whether all positioning signals in the first time period do not exceed the standard threshold value;
and when all the positioning signals in the first time period do not exceed the standard threshold value, acquiring the positioning signal which exceeds the standard threshold value last time as an estimation base point signal.
A mower navigation device comprising:
the receiving module is used for receiving the positioning signal;
The threshold judging module is used for judging whether the signal quality of the positioning signal exceeds a standard threshold;
the positioning navigation module is used for navigating the mower according to the positioning signal and preset task information when the standard threshold value is exceeded;
And the visual navigation module is used for receiving an environment visual signal from the machine visual component when the standard threshold is not exceeded and navigating the mower according to the environment visual signal and the task information.
A mower navigation device comprising:
a memory for storing a computer program;
And the processor is used for realizing the steps of any one of the mower navigation methods when executing the computer program.
A computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of any of the mower navigation methods described above.
An unmanned mowing system comprises a mower and a charging field;
The mower comprises a satellite positioning assembly, a machine vision assembly and a central processing unit;
the satellite positioning component is used for receiving positioning signals;
the machine vision component is used for collecting environment image information and determining an environment vision signal according to the environment image information;
The central processing unit is used for judging whether the signal quality of the positioning signal exceeds a standard threshold value; when the standard threshold value is exceeded, navigating the mower according to the positioning signal and preset task information; when the standard threshold is not exceeded, receiving an environment vision signal from a machine vision component, and navigating the mower according to the environment vision signal and the task information;
The charging field comprises a guide area and a charging pile;
The guiding area is used for guiding the mower to be in butt joint with the charging pile;
the charging pile is used for charging the mower.
Optionally, in the unmanned mowing system, the guiding area comprises a girth guiding area and a visual guiding area;
The visual guiding area is used for providing a guiding area visual signal, and the mower enters the girth guiding area according to the guiding area visual signal;
the wire-surrounding guide area is used for providing a wire-surrounding guide recharging signal, and the mower is in butt joint with the charging pile according to the wire-surrounding guide recharging signal.
The navigation method of the mower provided by the invention is characterized by receiving a positioning signal; judging whether the signal quality of the positioning signal exceeds a standard threshold value; when the standard threshold value is exceeded, navigating the mower according to the positioning signal and preset task information; and when the standard threshold is not exceeded, receiving an environment vision signal from a machine vision component, and navigating the mower according to the environment vision signal and the task information.
According to the mower navigation method provided by the application, the standard threshold value of the positioning signal is set, the quality of the positioning signal is enough when the standard threshold value is exceeded, the positioning information is accurate, in this case, the positioning signal is used for navigating the mower, and once the signal quality of the positioning signal does not exceed the standard threshold value, the positioning signal is inaccurate, and if the mower continues to travel along the route provided by the positioning signal, the mower can possibly be washed out to cause personnel injury or property loss, so that the machine vision recognition technology is adopted under the condition of insufficient quality of the positioning signal, whether the front is the lawn requiring mowing and the position of the mower is judged through the environmental vision signal, the defect of inaccurate positioning signal caused by complex mowing environment is overcome, and the working stability and safety of the mower are improved. The application also provides a mower navigation device, a mower navigation device and an unmanned mowing system.
Drawings
For a clearer description of embodiments of the invention or of the prior art, the drawings that are used in the description of the embodiments or of the prior art will be briefly described, it being apparent that the drawings in the description below are only some embodiments of the invention, and that other drawings can be obtained from them without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of a specific embodiment of a method for navigating a lawn mower according to the present invention;
FIG. 2 is a schematic flow chart of another embodiment of a method for navigating a lawn mower according to the present invention;
FIG. 3 is a schematic flow chart of another embodiment of a method for navigating a lawn mower according to the present invention;
fig. 4 is a schematic structural diagram of a specific embodiment of a navigation device for a mower according to the present invention;
FIG. 5 is a schematic diagram of an embodiment of an unmanned mowing system provided by the present invention;
Fig. 6 is a schematic diagram of a position relationship between a mower and a charging pile according to an embodiment of the navigation method of the mower.
Detailed Description
In order to better understand the aspects of the present invention, the present invention will be described in further detail with reference to the accompanying drawings and detailed description. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention provides a navigation method of a mower, wherein a flow chart of one specific embodiment is shown in fig. 1, and the method is called as a specific embodiment I and comprises the following steps:
S101: a positioning signal is received.
The positioning signal may be a satellite positioning signal, i.e. a positioning signal sent by a satellite directly to the mower, or may be a positioning signal sent to the mower through a transfer station or other types of positioning signals (such as UWB positioning signals).
S102: and judging whether the signal quality of the positioning signal exceeds a standard threshold value.
It should be noted that the signal quality includes signal strength, signal-to-noise ratio and other measurement criteria, and an appropriate measurement criterion may be selected as the signal quality according to actual needs.
S103: and when the standard threshold value is exceeded, navigating the mower according to the positioning signal and preset task information.
S104: and when the standard threshold is not exceeded, receiving an environment vision signal from a machine vision component, and navigating the mower according to the environment vision signal and the task information.
The machine vision component may be turned on all the time or after determining that the signal quality of the WeChat positioning signal does not exceed the standard threshold.
The environment visual signal is the image information of the surrounding environment acquired by the machine vision component.
It should be noted that the steps S103 and S104 do not have a precedence relationship, and the two steps represent different processing manners of the two different results after the determination in S102.
A specific method for detecting lawns and non-lawns by machine vision is illustrated below, comprising:
Step 1: and performing perspective transformation on the acquired image, and changing the image into a top view.
Step 2: and cutting the top view to obtain an image imgroi (image interest area) of the specific area on the way.
Step 3: imgroi is input to one or more deep neural networks to output whether it is boundary or obstacle information, distance information, steering information.
Specifically, the deep neural network may be a multi-task neural network or a single-task neural network. The single-task neural network is a special grass and non-grass classification network, a steering classification network and a distance calculation network. The multi-task neural network inputs a picture, and can output classification information 1 (such as grass, boundary or obstacle, etc.), classification information 2 (such as left turn, large-angle left turn, right turn, large-angle right turn, out-of-bounds, etc.), and distance information (dist) at the same time.
The determination of grass and non-grass, calculation of the distance and direction of turning of the boundary or obstacle may or may not be performed simultaneously, depending on whether a multi-or single-tasked neural network is used. I.e. when a multi-tasking neural network is used, a plurality of information is generated simultaneously. With a plurality of single-task neural networks, it is conventionally only determined whether grass is present, and the calculated distance and steering are recalculated only when non-grass is present.
The navigation method of the mower provided by the application is characterized by receiving a positioning signal; judging whether the signal quality of the positioning signal exceeds a standard threshold value; when the standard threshold value is exceeded, navigating the mower according to the positioning signal and preset task information; and when the standard threshold is not exceeded, receiving an environment vision signal from a machine vision component, and navigating the mower according to the environment vision signal and the task information. According to the mower navigation method provided by the application, the standard threshold value of the positioning signal is set, the quality of the positioning signal is enough when the standard threshold value is exceeded, the positioning information is accurate, in this case, the positioning signal is used for navigating the mower, and once the signal quality of the positioning signal does not exceed the standard threshold value, the positioning signal is inaccurate, and if the mower continues to travel along the route provided by the positioning signal, the mower can possibly be washed out to cause personnel injury or property loss, so that the machine vision recognition technology is adopted under the condition of insufficient quality of the positioning signal, whether the front is the lawn requiring mowing and the position of the mower is judged through the environmental vision signal, the defect of inaccurate positioning signal caused by complex mowing environment is overcome, and the working stability and safety of the mower are improved.
On the basis of the first embodiment, the recharging step of the mower is further limited, so as to obtain a second embodiment, and a flow diagram of the second embodiment is shown in fig. 2, and the recharging method comprises the following steps:
S201: a positioning signal is received.
S202: and judging whether the signal quality of the positioning signal exceeds a standard threshold value.
S203: and when the standard threshold value is exceeded, navigating the mower according to the positioning signal and preset task information.
S204: and when the standard threshold is not exceeded, receiving an environment vision signal from a machine vision component, and navigating the mower according to the environment vision signal and the task information.
S211: and after receiving the recharging instruction, controlling the mower to enter a visual guiding area.
S212: a pilot zone vision signal is received from a machine vision component.
The guiding area visual signal is the image information of the visual guiding area acquired by the machine vision component.
S213: and determining a visual guidance recharging signal according to the visual signal of the guidance area.
S214: and controlling the mower to be in butt joint with the charging pile according to the visual guide recharging signal.
In this embodiment, when solving the navigation problem of the mower, the recharging method of the mower is further improved, and the machine vision component is used to obtain the image signal of the vision guiding area (i.e. the vision signal of the guiding area), so as to guide the mower to be in butt joint with the charging pile, thereby realizing high-precision automatic recharging of the mower.
In the following, by detecting the charging pile through machine vision, the process of guiding the recharging of the mower is that by detecting the feature points on the charging pile, the position and orientation of the feature points on the charging pile coordinate system are determined according to the feature points, and the schematic diagram of the position relationship of the feature points on the charging pile detected by the mower is shown in fig. 6, which includes:
step A: the mower is stopped at a specific position and turned to a specific angle.
And (B) step (B): the machine vision component collects a frame of image from the sensor, preprocesses the image, inputs the image into a charging pile detection network, detects the direction (angle) and the distance (dist) of the charging pile, and if the charging pile exists in the image, sends the direction and the distance information to the executing mechanism
Step C: the executing mechanism receives the information, judges whether the charging pile is close to the charging pile (dist < dist_thresh), and if the charging pile is close to the charging pile, the executing mechanism informs the machine vision component to detect the relative pose of the charging pile and the mower
Step D: and after receiving the detection signal, the machine vision component detects the pose of the charging pile, and if the detected pose is effective, the result returns to the executing mechanism.
Step E: and the actuating mechanism controls the mower to enter the pile according to the obtained pose.
In the step D, the pose calculation of the charging pile needs to detect the positions of the specific 12 points on the charging pile on the image by using a neural network. And calculating by using a pnp algorithm to obtain the relative pose of the charging pile and the camera.
Still further, the controlling the mower to dock with the charging pile according to the visual guiding recharging signal includes:
S2141: and controlling the mower to enter the purse line guiding area according to the visual guiding recharging signal.
S2142: and receiving a guide area wire-surrounding signal in the wire-surrounding guide area.
S2143: and determining a wire-surrounding guide recharging signal according to the wire-surrounding signal of the guide area.
S2144: and controlling the mower to be in butt joint with the charging pile according to the recharging signal guided by the wire.
In the above embodiment, on the basis of the visual guide recharging signal, the wire-wrapping guide recharging signal is further introduced, that is, the mower is guided to navigate in the visual guide area by using a machine visual technology, enter the wire-wrapping guide area, and then navigate and guide with higher precision by the wire-wrapping signal in the guide area in the wire-wrapping guide area, so that the success rate of the butt joint between the mower and the recharging pile is further improved.
The signal from the girth wire arranged under the charging pile bottom plate is detected by the left and right two (multiple) inductors mounted on the robot (i.e., mower). The wire is a circle of closed-loop wire, forms a rectangle or a U-shaped shape and the like, and is arranged below the charging pile bottom plate of the mower. The wire-surrounding signal is a magnetic field signal sent out after the wire-surrounding is electrified. The inductance can detect the magnitude of the ambient signal and whether it is inside or outside the ambient, known as an inductance measurement. Based on the two (multiple) inductance measurements, a wire wrap guided recharging is achieved.
A specific contour guide back to the implementation flow chart is as follows:
Step (1): and starting a wire-closing recharging program of the mower.
Step (2): the mower judges whether the mower is positioned inside and outside the surrounding line or not through the inductor.
Step (3): if both inductor(s) are outside the enclosure, the mower analyzes both inductor measurement(s) by rotating in place. And stopping rotating according to the condition that the difference between the two (multiple) inductance measurement values is minimum and the value is maximum, wherein the direction is the direction of the mower towards the charging pile.
Step (4): after the charging post direction is found, the mower is guided towards the direction until the inductance is detected to be in the surrounding line.
Step (5): if there is an inductance in the enclosure, recharging alignment on the charging floor is accomplished by detecting that the measured value of the inductance at this time is compared to the known value of the center inductance of the charging floor and the known mounting orientation information of the inductance on the mower.
Of course, a recharging scheme combining satellite positioning, machine vision and line-surrounding signals can also be adopted, and one specific embodiment is as follows, and the corresponding positional relationship between the mower and the charging pile can refer to fig. 5, including:
Step 1-1: by arranging the guide wire at the bottom of the charging pile, a wire-wrapping recharging guide area is formed, and a machine entering the wire-wrapping recharging guide area is guided to smoothly return to the charging pile for charging.
Step 1-2: the machine (i.e. the mower) is guided by the positioning data towards the above-mentioned wire-wrap recharging guiding area.
Step 1-3: if the charging pile successfully enters the wire-wrapping recharging guiding area, the machine is guided into the charging pile for charging by using a wire-wrapping recharging guiding wire signal.
Step 1-4: if the charging area cannot be accessed to the purse string recharging guiding area, whether the charging area is accessed to the visual recharging guiding area is judged through vision.
Step 1-5: if the visual recharging guide area is entered, recharging is conducted through the visual guide machine, a visual guide recharging path is set to pass through the purse string guiding recharging area, and therefore the situation that the visual guide is enabled to enter the purse string guiding recharging area is guaranteed, and the steps 1-3 are conducted after the visual guide enters the purse string guiding area.
Step 1-6: if the visual guide area is not entered, the charging pile is continuously searched, if the charging pile enters the girth line recharging guide area, the step 1-3 is turned, and if the charging pile enters the visual recharging guide area, the step 1-5 is turned.
Another embodiment is provided, the flow is as follows:
step 2-1: the machine is guided into the visual guiding area through the positioning data, and the direction of the charging pile is judged through vision in the visual range.
Step 2-2: and guiding the machine to drive into the charging path related area through vision in a visual range, and adjusting the posture of the machine to drive the machine into the recharging path.
Step 2-3: the recharging path is set to pass through the girth guiding area by the visual guiding machine running on the recharging path in the visual range.
Step 2-4: and forming a girth recharging guide area by arranging a guide line at the bottom of the charging pile.
Step 2-5: and in the range of the wire wrapping guide, the machine is guided to recharge through the wire wrapping signal.
On the basis of the second embodiment, the method for the mower to enter the visual guiding area is further limited, so as to obtain a third embodiment, and a flow chart of the third embodiment is shown in fig. 3, and the method comprises the following steps:
S301: a positioning signal is received.
S302: and judging whether the signal quality of the positioning signal exceeds a standard threshold value.
S303: and when the standard threshold value is exceeded, navigating the mower according to the positioning signal and preset task information.
S304: and when the standard threshold is not exceeded, receiving an environment vision signal from a machine vision component, and navigating the mower according to the environment vision signal and the task information.
S311: when the judgment result of the signal quality of the positioning signal changes from exceeding the standard threshold value to not exceeding the standard threshold value, the positioning signal exceeding the standard threshold value last time is acquired as the estimation base point signal.
S312: and determining estimated navigation information according to the estimated base point signal and preset lawn map information.
S313: and controlling the mower to enter the visual guiding area according to the calculated navigation information.
S314: a pilot zone vision signal is received from a machine vision component.
S315: and determining a visual guidance recharging signal according to the visual signal of the guidance area.
S316: and controlling the mower to be in butt joint with the charging pile according to the visual guide recharging signal.
In this embodiment, further considering the situation that satellite accurate positioning is lost in the recharging process of the mower, that is, the situation that the signal quality of the positioning signal does not exceed the standard threshold value in the process of guiding the mower to return to the vision guiding area, if the mower is navigated according to the WeChat positioning signal, the mower is likely to not normally enter the vision guiding area and the subsequent recharging step cannot be performed, so when the positioning signal quality is insufficient, the embodiment uses the latest accurate positioning signal as an estimated base point signal, namely, the current position of the mower in the lawn is clarified, and then a running route is planned according to the pre-input position information of the vision guiding area, and the positioning signal with insufficient precision is not relied on.
Still further, when the determination result of the signal quality of the positioning signal changes from exceeding the standard threshold value to not exceeding the standard threshold value, the obtaining the positioning signal that most recently exceeded the standard threshold value as the estimation basis point signal includes:
s3111: and stopping the mower when the judgment result of the signal quality of the positioning signal changes from exceeding the standard threshold value to not exceeding the standard threshold value, and receiving the positioning signal in a first time period.
The first time may be a preset period of time, or may be a predetermined number of positioning signals at fixed signal intervals, for example, "receiving positioning signals in the first period of time" may be "receiving positioning signals in 5 seconds" or "receiving positioning signals in 5 consecutive times".
S3112: and judging whether all positioning signals in the first time period do not exceed the standard threshold value.
If none is exceeded, it may be stated that the positioning signal has no possibility of recovering signal quality for a short time, so that the dependence on satellite positioning navigation is abandoned at this time.
Of course, the judgment condition may also be that "the number of positioning signals which do not exceed the standard threshold value in the first period of time is smaller than the first threshold value", in other words, if there are several positioning signals which exceed the standard threshold value occasionally in the first period of time, the error can be regarded as neglected.
S3113: and when all the positioning signals in the first time period do not exceed the standard threshold value, acquiring the positioning signal which exceeds the standard threshold value last time as an estimation base point signal.
In the above specific embodiment, further, when the positioning signal does not exceed the standard threshold, the driving is not stopped immediately, so that the position where the mower is located is the position corresponding to the last high-precision positioning signal, and then the WeChat positioning signal is continuously received for a period of time, so as to determine whether the quality of the positioning signal just drops or the accident happens or the current position positioning signal cannot be reached, if the situation happens (i.e. the signal quality of the positioning signal in the first time period is restored to be above the standard threshold again), the navigation according to the positioning signal is continued, and if the situation does not happen (i.e. the signal strength of the positioning signal in the first time period is always lower than the standard threshold), the above method for navigating by using the estimated base point is adopted. The universality and the working stability of the navigation method of the mower provided by the invention can be further improved.
The following describes a mower navigation device provided by an embodiment of the present invention, and the mower navigation device described below and the mower navigation method described above may be referred to correspondingly.
Fig. 4 is a block diagram of a mower navigation device according to an embodiment of the present invention, and referring to fig. 4, the mower navigation device may include:
A receiving module 100 for receiving a positioning signal;
A threshold value judging module 200, configured to judge whether the signal quality of the positioning signal exceeds a standard threshold value;
the positioning navigation module 300 is configured to navigate the mower according to the positioning signal and preset task information when the standard threshold is exceeded;
the visual navigation module 400 receives an ambient visual signal from a machine vision component and navigates the mower according to the ambient visual signal and the task information when the standard threshold is not exceeded.
As a preferred embodiment, the navigation device for a mower further comprises:
the recharging instruction module is used for controlling the mower to enter the visual guiding area after receiving the recharging instruction;
A lead zone machine vision component for receiving a lead zone vision signal from the machine vision component;
the visual guiding module is used for determining a visual guiding recharging signal according to the visual signal of the guiding area;
And the docking module is used for controlling the mower to dock with the charging pile according to the visual guiding recharging signal.
As a preferred embodiment, the docking module includes:
the wire-wrapping navigation unit is used for controlling the mower to enter a wire-wrapping guiding area according to the visual guiding recharging signal;
A wire-wrapping receiving unit for receiving a wire-wrapping signal of a guiding area in the wire-wrapping guiding area;
The wire-wrapping guiding unit is used for determining a wire-wrapping guiding recharging signal according to the wire-wrapping signal of the guiding area;
and the wire wrapping butt joint unit is used for controlling the mower to butt joint with the charging pile according to the wire wrapping guide recharging signal.
As a preferred embodiment, the recharging instruction module includes:
A base point unit, configured to acquire, when a determination result of signal quality of a positioning signal changes from exceeding the standard threshold value to not exceeding the standard threshold value, a positioning signal that exceeds the standard threshold value last time as an estimated base point signal;
the estimating unit is used for determining estimated navigation information according to the estimated base point signal and preset lawn map information;
and the estimation control unit is used for controlling the mower to enter the visual guiding area according to the estimation navigation information.
As a preferred embodiment, the base point unit includes:
A temporary stopping unit for stopping the mower when the judgment result of the signal quality of the positioning signal changes from exceeding the standard threshold value to not exceeding the standard threshold value, and receiving the positioning signal in a first time period;
A time period judging unit, configured to judge whether all positioning signals in the first time period do not exceed the standard threshold;
And the estimation determining unit is used for acquiring the positioning signal which exceeds the standard threshold value last time as an estimation base point signal when all the positioning signals in the first time period do not exceed the standard threshold value.
The mower navigation device of the present embodiment is used to implement the foregoing mower navigation method, so that the detailed description of the mower navigation device can be found in the foregoing embodiment parts of the mower navigation method, for example, the receiving module 100, the threshold value judging module 200, the positioning navigation module 300, and the visual navigation module 400, which are respectively used to implement steps S101, S102, S103, and S104 in the foregoing mower navigation method, so that the detailed description of the embodiments of the respective parts will be omitted herein.
The mower navigation device provided by the application is used for receiving a positioning signal through the receiving module 100; a threshold value judging module 200, configured to judge whether the signal quality of the positioning signal exceeds a standard threshold value; the positioning navigation module 300 is configured to navigate the mower according to the positioning signal and preset task information when the standard threshold is exceeded; the visual navigation module 400 receives an ambient visual signal from a machine vision component and navigates the mower according to the ambient visual signal and the task information when the standard threshold is not exceeded. According to the mower navigation method provided by the application, the standard threshold value of the positioning signal is set, the quality of the positioning signal is enough when the standard threshold value is exceeded, the positioning information is accurate, in this case, the positioning signal is used for navigating the mower, and once the signal quality of the positioning signal does not exceed the standard threshold value, the positioning signal is inaccurate, and if the mower continues to travel along the route provided by the positioning signal, the mower can possibly be washed out to cause personnel injury or property loss, so that the machine vision recognition technology is adopted under the condition of insufficient quality of the positioning signal, whether the front is the lawn requiring mowing and the position of the mower is judged through the environmental vision signal, the defect of inaccurate positioning signal caused by complex mowing environment is overcome, and the working stability and safety of the mower are improved.
A mower navigation device comprising: a memory for storing a computer program; and the processor is used for realizing the steps of any one of the mower navigation methods when executing the computer program. The navigation method of the mower provided by the application is characterized by receiving a positioning signal; judging whether the signal quality of the positioning signal exceeds a standard threshold value; when the standard threshold value is exceeded, navigating the mower according to the positioning signal and preset task information; and when the standard threshold is not exceeded, receiving an environment vision signal from a machine vision component, and navigating the mower according to the environment vision signal and the task information. According to the mower navigation method provided by the application, the standard threshold value of the positioning signal is set, the quality of the positioning signal is enough when the standard threshold value is exceeded, the positioning information is accurate, in this case, the positioning signal is used for navigating the mower, and once the signal quality of the positioning signal does not exceed the standard threshold value, the positioning signal is inaccurate, and if the mower continues to travel along the route provided by the positioning signal, the mower can possibly be washed out to cause personnel injury or property loss, so that the machine vision recognition technology is adopted under the condition of insufficient quality of the positioning signal, whether the front is the lawn requiring mowing and the position of the mower is judged through the environmental vision signal, the defect of inaccurate positioning signal caused by complex mowing environment is overcome, and the working stability and safety of the mower are improved.
A computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of any of the mower navigation methods described above. The navigation method of the mower provided by the application is characterized by receiving a positioning signal; judging whether the signal quality of the positioning signal exceeds a standard threshold value; when the standard threshold value is exceeded, navigating the mower according to the positioning signal and preset task information; and when the standard threshold is not exceeded, receiving an environment vision signal from a machine vision component, and navigating the mower according to the environment vision signal and the task information. According to the mower navigation method provided by the application, the standard threshold value of the positioning signal is set, the quality of the positioning signal is enough when the standard threshold value is exceeded, the positioning information is accurate, in this case, the positioning signal is used for navigating the mower, and once the signal quality of the positioning signal does not exceed the standard threshold value, the positioning signal is inaccurate, and if the mower continues to travel along the route provided by the positioning signal, the mower can possibly be washed out to cause personnel injury or property loss, so that the mower 01 is judged whether to be a lawn requiring mowing or not and the position of the mower 01 is located by adopting the machine vision recognition technology when the quality of the positioning signal is insufficient according to the environment vision signal, the defect that the positioning signal is inaccurate due to the complex mowing environment is overcome, and the working stability and safety of the mower 01 are improved.
The invention also provides an unmanned mowing system, a structural schematic diagram of one specific embodiment of the unmanned mowing system is shown in fig. 5, and the unmanned mowing system is called as a specific embodiment IV and comprises a mower 01 and a charging field;
the mower 01 comprises a satellite positioning component 011, a machine vision component 012 and a central processor 013;
the satellite positioning component 011 is configured to receive a positioning signal;
The machine vision component 012 is configured to collect environmental image information and determine an environmental vision signal according to the environmental image information;
The central processor 013 is used for judging whether the signal quality of the positioning signal exceeds a standard threshold value; when the standard threshold value is exceeded, navigating the mower 01 according to the positioning signal and preset task information; when the standard threshold is not exceeded, receiving an environment vision signal from a machine vision component 012 and navigating the mower 01 according to the environment vision signal and the task information;
the charging field comprises a guide area and a charging pile 021;
The guiding area is used for guiding the mower 01 to be in butt joint with the charging pile 021;
the charging pile 021 is used for charging the mower 01.
As a preferred embodiment, the guiding areas include a girth guiding area 022 and a visual guiding area 023;
The visual guiding area 023 is used for providing a guiding area visual signal, and the mower 01 enters the girth guiding area 022 according to the guiding area visual signal;
The shroud line guiding region 022 is used for providing a shroud line guiding recharging signal, and the mower 01 is in butt joint with the charging pile 021 according to the shroud line guiding recharging signal.
The operation mode of each component of the unmanned mowing system provided by the invention refers to the mower 01 navigation method described above, and is not repeated here.
The unmanned mower system provided by the application comprises a mower 01 and a charging field; the mower 01 comprises a satellite positioning component 011, a machine vision component 012 and a central processor 013; the satellite positioning component 011 is configured to receive a positioning signal; the machine vision component 012 is configured to collect environmental image information and determine an environmental vision signal according to the environmental image information; the central processor 013 is used for judging whether the signal quality of the positioning signal exceeds a standard threshold value; when the standard threshold value is exceeded, navigating the mower 01 according to the positioning signal and preset task information; when the standard threshold is not exceeded, receiving an environment vision signal from a machine vision component 012 and navigating the mower 01 according to the environment vision signal and the task information; the charging field comprises a guide area and a charging pile 021; the guiding area is used for guiding the mower 01 to be in butt joint with the charging pile 021; the charging pile 021 is used for charging the mower 01. According to the mower navigation method provided by the application, the standard threshold value of the positioning signal is set, the quality of the positioning signal is enough when the standard threshold value is exceeded, the positioning information is accurate, in this case, the positioning signal is used for navigating the mower, and once the signal quality of the positioning signal does not exceed the standard threshold value, the positioning signal is inaccurate, and if the mower continues to travel along the route provided by the positioning signal, the mower can possibly be washed out to cause personnel injury or property loss, so that the machine vision recognition technology is adopted under the condition of insufficient quality of the positioning signal, whether the front is the lawn requiring mowing and the position of the mower is judged through the environmental vision signal, the defect of inaccurate positioning signal caused by complex mowing environment is overcome, and the working stability and safety of the mower are improved.
In this specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, so that the same or similar parts between the embodiments are referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section.
It should be noted that in this specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative elements and steps are described above generally in terms of functionality in order to clearly illustrate the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. The software modules may be disposed in Random Access Memory (RAM), memory, read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The mower navigation method, the device, the equipment, the computer readable storage medium and the unmanned mowing system provided by the invention are described in detail. The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to facilitate an understanding of the method of the present invention and its core ideas. It should be noted that it will be apparent to those skilled in the art that various modifications and adaptations of the invention can be made without departing from the principles of the invention and these modifications and adaptations are intended to be within the scope of the invention as defined in the following claims.
Claims (7)
1. A method of navigating a lawn mower, comprising:
Receiving a positioning signal;
judging whether the signal quality of the positioning signal exceeds a standard threshold value;
When the standard threshold value is exceeded, navigating the mower according to the positioning signal and preset task information;
When the standard threshold is not exceeded, receiving an environment vision signal from a machine vision component, and navigating the mower according to the environment vision signal and the task information;
Further comprises:
when receiving a recharging instruction, controlling the mower to enter a visual guiding area;
receiving a pilot zone vision signal from a machine vision component;
Determining a visual guidance recharging signal according to the visual signal of the guidance area;
controlling the mower to be in butt joint with the charging pile according to the visual guiding recharging signal;
the controlling the mower to enter a visual guide area comprises:
when the judgment result of the signal quality of the positioning signal is changed from exceeding the standard threshold value to not exceeding the standard threshold value, acquiring the positioning signal exceeding the standard threshold value last time as an estimation base point signal;
Determining estimated navigation information according to the estimated base point signal and preset lawn map information;
Controlling the mower to enter the visual guiding area according to the calculated navigation information;
When the determination result of the signal quality of the positioning signal changes from exceeding the standard threshold value to not exceeding the standard threshold value, the step of obtaining the positioning signal exceeding the standard threshold value last time as the estimation base point signal includes:
Stopping the mower when the judgment result of the signal quality of the positioning signal changes from exceeding the standard threshold value to not exceeding the standard threshold value, and receiving the positioning signal in a first time period;
judging whether all positioning signals in the first time period do not exceed the standard threshold value;
and when all the positioning signals in the first time period do not exceed the standard threshold value, acquiring the positioning signal which exceeds the standard threshold value last time as an estimation base point signal.
2. The method of claim 1, wherein controlling the mower to interface with the charging post based on the visual guide recharging signal comprises:
controlling the mower to enter a purse line guiding area according to the visual guiding recharging signal;
Receiving a guide area wire-surrounding signal in the wire-surrounding guide area;
Determining a wire-surrounding guide recharging signal according to the wire-surrounding signal of the guide area;
And controlling the mower to be in butt joint with the charging pile according to the recharging signal guided by the wire.
3. A mower navigation device for implementing the steps of the mower navigation method according to any one of claims 1 to 2, comprising:
the receiving module is used for receiving the positioning signal;
The threshold judging module is used for judging whether the signal quality of the positioning signal exceeds a standard threshold;
the positioning navigation module is used for navigating the mower according to the positioning signal and preset task information when the standard threshold value is exceeded;
The visual navigation module is used for receiving an environment visual signal from the machine visual component when the standard threshold is not exceeded and navigating the mower according to the environment visual signal and the task information;
Further comprises:
the recharging instruction module is used for controlling the mower to enter the visual guiding area after receiving the recharging instruction;
a lead zone machine vision module for receiving a lead zone vision signal from the machine vision component;
the visual guiding module is used for determining a visual guiding recharging signal according to the visual signal of the guiding area;
the docking module is used for controlling the mower to dock with the charging pile according to the visual guiding recharging signal
The recharging instruction module comprises:
A base point unit, configured to acquire, when a determination result of signal quality of a positioning signal changes from exceeding the standard threshold value to not exceeding the standard threshold value, a positioning signal that exceeds the standard threshold value last time as an estimated base point signal;
the estimating unit is used for determining estimated navigation information according to the estimated base point signal and preset lawn map information;
and the estimation control unit is used for controlling the mower to enter the visual guiding area according to the estimation navigation information.
4. A mower navigation device, comprising:
a memory for storing a computer program;
Processor for implementing the steps of the mower navigation method according to any one of claims 1 to 2 when executing said computer program.
5. A computer readable storage medium, characterized in that the computer readable storage medium has stored thereon a computer program which, when executed by a processor, implements the steps of the mower navigation method according to any one of claims 1 to 2.
6. An unmanned mowing system is characterized by comprising a mowing machine and a charging field;
The mower comprises a satellite positioning assembly, a machine vision assembly and a central processing unit;
the satellite positioning component is used for receiving positioning signals;
the machine vision component is used for collecting environment image information and determining an environment vision signal according to the environment image information;
The central processing unit is used for judging whether the signal quality of the positioning signal exceeds a standard threshold value; when the standard threshold value is exceeded, navigating the mower according to the positioning signal and preset task information; when the standard threshold is not exceeded, receiving an environment vision signal from a machine vision component, and navigating the mower according to the environment vision signal and the task information;
The charging field comprises a guide area and a charging pile;
The guiding area is used for guiding the mower to be in butt joint with the charging pile;
The charging pile is used for charging the mower;
Further comprises:
when receiving a recharging instruction, controlling the mower to enter a visual guiding area;
receiving a pilot zone vision signal from a machine vision component;
Determining a visual guidance recharging signal according to the visual signal of the guidance area;
controlling the mower to be in butt joint with the charging pile according to the visual guiding recharging signal;
the controlling the mower to enter a visual guide area comprises:
when the judgment result of the signal quality of the positioning signal is changed from exceeding the standard threshold value to not exceeding the standard threshold value, acquiring the positioning signal exceeding the standard threshold value last time as an estimation base point signal;
Determining estimated navigation information according to the estimated base point signal and preset lawn map information;
Controlling the mower to enter the visual guiding area according to the calculated navigation information;
When the determination result of the signal quality of the positioning signal changes from exceeding the standard threshold value to not exceeding the standard threshold value, the step of obtaining the positioning signal exceeding the standard threshold value last time as the estimation base point signal includes:
Stopping the mower when the judgment result of the signal quality of the positioning signal changes from exceeding the standard threshold value to not exceeding the standard threshold value, and receiving the positioning signal in a first time period;
judging whether all positioning signals in the first time period do not exceed the standard threshold value;
and when all the positioning signals in the first time period do not exceed the standard threshold value, acquiring the positioning signal which exceeds the standard threshold value last time as an estimation base point signal.
7. The unmanned mowing system of claim 6, wherein the guide area comprises a girth guide area and a visual guide area;
The visual guiding area is used for providing a guiding area visual signal, and the mower enters the girth guiding area according to the guiding area visual signal;
the wire-surrounding guide area is used for providing a wire-surrounding guide recharging signal, and the mower is in butt joint with the charging pile according to the wire-surrounding guide recharging signal.
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