CN117369459A - Pile returning method of mowing robot, electronic equipment and storage medium - Google Patents

Abstract

The application provides a pile-back method of a mowing robot, electronic equipment and a storage medium. The method comprises the following steps: after receiving a pile returning instruction, controlling the mowing robot to travel to a charging area, wherein a preset distance is reserved between the charging area and a pile returning position, and the pile returning position is provided with a charging pile of the mowing robot; acquiring a first image; when a first label on the charging pile is included in the first image, controlling the mowing robot to travel to approach the charging pile according to the first label; acquiring a second image in the process of controlling the mowing robot to travel to approach the charging pile according to the first label; when a second label on the charging pile is included in the second image, the mowing robot is controlled to travel according to the second label so as to be connected with the charging pile, and the size of the second label is smaller than that of the first label, so that accuracy of pile returning of the mowing robot is improved.

Description

Pile returning method of mowing robot, electronic equipment and storage medium

Technical Field

The application relates to the technical field of mowing robots, in particular to a pile returning method of a mowing robot, electronic equipment and a storage medium.

Background

The mowing robot is intelligent equipment for automatically trimming lawns, can replace a user to execute mowing tasks, and liberates the labor force of the user. In order to ensure that the mowing robot can continuously work, the mowing robot needs to be controlled to return to the charging pile for charging after the mowing robot completes a mowing task or when the electric quantity is too low.

The current way of controlling the grass cutting robot to return to the charging stake mainly includes infrared stake-back, ultrasonic stake-back or global positioning system (Global Positioning System, GPS) stake-back. Wherein, infrared ray returns the stake and constantly sends the infrared signal through filling the electric pile, and mowing robot receives the infrared signal and returns the stake. The ultrasonic pile returning is carried out by the mowing robot through sensing the position of the charging pile by ultrasonic signals. The GPS pile returning obtains the specific positions of the charging pile and the mowing robot through GPS positioning to calculate a pile returning route for pile returning.

However, in the above-mentioned pile-back modes, the infrared signal, the ultrasonic signal and the GPS signal are greatly affected by the environmental noise, resulting in lower accuracy of pile-back of the robot mower.

Disclosure of Invention

The application provides a pile returning method of a mowing robot, electronic equipment and a storage medium, which are used for solving the problem that the accuracy of pile returning of the mowing robot is low because of the fact that infrared signals, ultrasonic signals and GPS signals are greatly influenced by environmental noise, and achieving the purpose of improving the accuracy of pile returning of the mowing robot.

In a first aspect, the present application provides a pile-back method of a mowing robot, including:

after receiving pile returning instructions, controlling the mowing robot to travel to a charging area, wherein a preset distance is reserved between the charging area and a pile returning position, and the pile returning position is provided with a charging pile of the mowing robot.

A first image is acquired.

And when the first image is identified to comprise a first label on the charging pile, controlling the mowing robot to travel to approach the charging pile according to the first label.

And acquiring a second image in the process of controlling the mowing robot to travel to approach the charging pile according to the first label.

And when a second label on the charging pile is included in the second image, controlling the mowing robot to travel according to the second label so as to connect the charging pile, wherein the size of the second label is smaller than that of the first label.

According to the pile returning method of the mowing robot, after the pile returning instruction is received, the mowing robot is controlled to travel to the charging area, a preset distance is reserved between the charging area and the pile returning position, and the charging pile of the mowing robot is arranged at the pile returning position, so that the mowing robot can be controlled to be positioned to be connected with the charging pile. The first image is acquired, when a first label on the charging pile is included in the first image, the mowing robot is controlled to advance according to the first label so as to be close to the charging pile, and therefore rough positioning can be performed according to the first label, the mowing robot is guaranteed to be controlled to be close to the charging pile in the correct direction, and accordingly accuracy of pile returning of the mowing robot is improved. In the process of controlling the mowing robot to advance to be close to the charging pile according to the first label, a second image is acquired, when the second label on the charging pile is included in the second image is identified, the mowing robot is controlled to advance to be connected with the charging pile according to the second label, so that fine positioning can be performed by identifying the second label smaller than the first label in size when the complete first label cannot be identified, the mowing robot is controlled to advance to be connected with the charging pile, positioning is performed without infrared signals, ultrasonic signals or GPS signals, positioning is performed only through a visual identification mode, and the influence of environmental noise is avoided, so that the accuracy of pile returning of the mowing robot can be improved.

In one possible design, the second tag is located in the center of the first tag.

Therefore, the second label can be directly identified under the condition that the visual angle of the acquired image is not required to be adjusted, the efficiency of identifying the second label is improved, and the efficiency of returning the mowing robot to the pile is improved.

In one possible design, the first tag and the second tag are two-dimensional code tags. Or the first label is a graphic label, and the second label is a two-dimensional code label.

In one possible design, the method further comprises: and when the label on the charging pile is not identified in the image, adjusting the pose of the mowing robot until the label on the charging pile is identified in the image.

In one possible design, the adjusting the pose of the mowing robot includes:

and controlling the mowing robot to perform at least one of rotation, forward movement and backward movement in the charging area.

In one possible design, the controlling the mowing robot to travel to the charging area after receiving the pile-back instruction includes:

and acquiring the current position of the mowing robot and the position of the charging area.

And determining a charging route of the mowing robot according to the current position of the mowing robot and the position of the charging area.

And controlling the mowing robot to travel to the charging area along the charging route.

In one possible design, the receiving the pile-back instruction includes: and receiving a pile-back instruction indicated by a user or a pile-back instruction of the mowing robot.

In a second aspect, the present application provides a pile returning device comprising: and the first control module is used for controlling the mowing robot to travel to a charging area after receiving the pile returning instruction, wherein a preset distance is reserved between the charging area and the pile returning position, and the pile returning position is provided with a charging pile of the mowing robot. And the acquisition module is used for acquiring the first image. And the second control module is used for controlling the mowing robot to travel to approach the charging pile according to the first label when the first label on the charging pile is identified to be included in the first image. And the acquisition module is also used for acquiring a second image in the process of controlling the mowing robot to advance to approach the charging pile according to the first label. And the second control module is further used for controlling the mowing robot to travel according to the second label to connect the charging pile when the second label on the charging pile is included in the second image, and the size of the second label is smaller than that of the first label.

In a third aspect, the present application provides an electronic device comprising a processor, which when executing a computer executable program or instructions in a memory, implements the backswing method of the robot lawnmower of the first aspect.

In a fourth aspect, the present application provides an electronic device, including a memory and a processor, where the memory stores a computer program, and the processor implements the pile-back method of the mowing robot according to the first aspect when executing the computer program.

In a fifth aspect, the present application provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor, implements a pile-back method of a mowing robot as provided in the first aspect of the embodiments of the present application.

The foregoing description is only an overview of the technical solutions of the embodiments of the present application, and may be implemented according to the content of the specification, so that the technical means of the embodiments of the present application can be more clearly understood, and the following detailed description of the present application will be presented in order to make the foregoing and other objects, features and advantages of the embodiments of the present application more understandable.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a flow chart of a pile-returning method of a mowing robot according to an embodiment of the present application.

Fig. 2 is a schematic diagram of a charging area and a charging pile according to an embodiment of the present application.

Fig. 3 is a schematic diagram of a first label and a second label provided in an embodiment of the present application.

Fig. 4 is a flowchart of a method for controlling a mowing robot to travel to a charging area according to an embodiment of the present disclosure.

Fig. 5 is a schematic structural diagram of a pile returning device according to an embodiment of the present application.

Fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Detailed Description

In the present application, "at least one" means one or more, and "a plurality" means two or more. "and/or", describes an association relationship of an association object, and indicates that there may be three relationships, for example, a and/or B, and may indicate: a alone, a and B together, and B alone, wherein a, B may be singular or plural. The character "/" generally indicates that the context-dependent object is an "or" relationship. "at least one of" or the like means any combination of these items, including any combination of single item(s) or plural items(s). For example, at least one (one) of a, b, or c alone may represent: a alone, b alone, c alone, a combination of a and b, a combination of a and c, b and c, or a combination of a, b and c, wherein a, b, c may be single or plural. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

The terms "center," "longitudinal," "transverse," "upper," "lower," "left," "right," "front," "rear," and the like refer to an orientation or positional relationship based on that shown in the drawings, merely for convenience of description and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present application.

The terms "connected," "connected," and "connected" are to be construed broadly, and may refer to, for example, electrical or signal connections in addition to physical connections, e.g., direct connections, i.e., physical connections, or indirect connections via at least one element therebetween, such as long as electrical circuit communication is achieved, and communications within two elements; signal connection may refer to signal connection through a medium such as radio waves, in addition to signal connection through a circuit. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art in a specific context.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the present application. The appearances of the phrase "an embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.

In order to better understand the technical solutions of the present application, the following description will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings.

By way of example, the embodiment of the application provides a pile returning method, electronic equipment and storage medium of a mowing robot, rough positioning is performed by controlling the mowing robot to recognize a large-size tag arranged on a charging pile, fine positioning is performed by controlling the mowing robot to recognize a small-size tag arranged on the charging pile, and therefore pile returning of the mowing robot is achieved, and pile returning accuracy of the mowing robot is improved.

The pile-back method of the mowing robot can be executed by the electronic equipment or can be executed by a pile-back device in the electronic equipment. The pile-back means may be implemented by a combination of software and/or hardware. For example, the stub-returning device may be an Application (APP), a web page, a public number, or the like. For simplicity of explanation, embodiments of the present application will be described with examples performed by a pile-back device.

The electronic device may be a server, a desktop computer, a mobile phone, a tablet computer, a notebook computer, a wearable device, a vehicle-mounted device, an augmented reality (augmented reality, AR)/Virtual Reality (VR) device, a mowing robot, or the like.

The electronic equipment can be connected with the mowing robot in a wired connection mode, and can also be connected with the mowing robot in a wireless connection mode.

It should be noted that, the mowing robot in the embodiment of the present application may be other devices capable of automatically moving along a predetermined path, such as a sweeping robot, an automatic dust collector, or an automatic sweeper.

Next, a pile-returning method of the mowing robot provided in the embodiment of the present application will be described with reference to fig. 1.

Fig. 1 is a flow chart of a pile-back method of a mowing robot provided in an embodiment of the application. As shown in fig. 1, the method includes:

step 101, after receiving a pile returning instruction, controlling the mowing robot to travel to a charging area, wherein a preset distance is reserved between the charging area and a pile returning position, and a charging pile of the mowing robot is arranged at the pile returning position.

The pile-back instruction is used for indicating that the mowing robot needs to perform charging operation.

The charging pile is equipment capable of providing electric energy for the mowing robot. When the mowing robot is connected with the charging pile, the charging pile can provide electric energy for the mowing robot.

The charging stake may be an automatic charging stake or a manual charging stake, as this application is not limited.

The charging area is an area where the mowing robot can start to identify the charging pile. And a charging pile of the mowing robot is arranged at a position which is away from the charging area by a preset distance.

The number of charging areas may be one or more.

When the number of charging piles is one, the number of charging areas is one.

When the number of charging piles is plural, the number of charging areas is plural. The charging piles are in one-to-one correspondence with the charging areas. The pile returning device can select a charging pile closest to the current position of the mowing robot to be connected.

Taking the number of charging piles as 3 as an example, the positional relationship between the charging area and the charging piles may be as shown in fig. 2. The charging area corresponding to the charging pile A is a, the charging area corresponding to the charging pile B is B, and the charging area corresponding to the charging pile C is C. The current position of the charging pile A and the current position of the mowing robot are closest, and when the mowing robot moves to the charging area a, the pile returning device can control the mowing robot to start positioning so as to be connected with the charging pile A.

The pile returning position is a position where the mowing robot can charge, and is provided with a charging pile. When the mowing robot is located at the pile returning position, the mowing robot can be connected with the charging pile and perform charging operation.

Based on the above, after the pile returning device receives the pile returning instruction, the pile returning device knows that the mowing robot needs to perform charging operation, and controls the mowing robot to travel to a charging area so as to start to identify the charging pile.

Step 102, acquiring a first image.

The first image is an image acquired by the mowing robot in the charging area.

As shown in fig. 2, the pile back device may control the mowing robot to acquire the first image when the mowing robot is located in the charging area a.

In some examples, the pile back device may acquire the first image through an image acquisition device mounted on the mowing robot. The image acquisition device may be, for example, a USB camera, a depth camera, an industrial camera, or the like. When the mowing robot advances to the charging area, the pile returning device controls the image acquisition device of the mowing robot to acquire a first image, and the pile returning device receives the first image sent by the image acquisition device.

Step 103, identifying the first image, and judging whether the first image comprises a first label on the charging pile.

If yes, go to step 104; if not, step 105 is performed.

The first label is a label arranged on the charging pile. The first tag may be, for example, a two-dimensional code tag, an arco tag, a graphic tag, or the like.

In some examples, the first tag may be disposed at a position at the same height from the ground as the image acquisition device of the mowing robot, which is conducive to the pile returning device identifying the first tag more accurately according to the first image, thereby improving accuracy and efficiency of identifying the first tag by the pile returning device.

The pile-back device can identify the first image through deep learning, convolutional neural network, image segmentation or target identification.

Therefore, after the first image is acquired, the pile returning device can identify the first image, analyze information contained in the first image and judge whether the mowing robot is controlled to travel so as to be close to the charging pile.

In some examples, since a part of the first tag cannot reflect complete tag information, the pile returning device also determines that the first tag is not recognized when recognizing a part of the first tag including the charging pile in the first image, and executes step 105 to re-acquire the first image, so that accuracy of the acquired first image can be improved, and the problem that the pile returning device cannot control the mowing robot to travel to approach the charging pile when the first tag is incomplete is avoided.

Step 104, controlling the mowing robot to travel to approach the charging pile according to the first label.

When the first image is identified to comprise the first label on the charging pile, the pile returning device can identify information contained in the first label, so that relative position information between the mowing robot and the charging pile is obtained. According to the relative position information between the mowing robot and the charging pile, the pile returning device can control the mowing robot to travel so as to be close to the charging pile.

Therefore, the pile returning device can control the mowing robot to perform rough positioning once according to the first label, so that the mowing robot is close to the charging pile, and fine positioning is facilitated.

Step 105, adjusting the pose of the mowing robot until the first image including the first label on the charging pile is identified, and continuing to execute step 104.

When the first label on the charging pile is not recognized in the first image, the position of the mowing robot is excessively different from the position of the charging pile, the first label cannot be included in the first image acquired by the image processing device of the mowing robot, and the position of the mowing robot needs to be adjusted at the moment so as to acquire the first image including the first label.

In some examples, the pile-back device may repeatedly acquire a plurality of first images in the process of adjusting the pose of the mowing robot, and perform recognition once each time a first image is acquired. And when the first image is identified to comprise the first label on the charging pile, the pose of the mowing robot can be stopped being adjusted. In this way, the efficiency of adjusting the pose and identifying the first tag can be improved.

The pile returning device can adjust the pose of the mowing robot in various modes.

As a possible implementation manner, the pile returning device can control the mowing robot to move in different directions, and repeatedly acquire the first image and identify the first image according to a first preset time interval in the moving process until the first image including the first label on the charging pile can be identified. The preset time interval may be, for example, 1 second, 2 seconds, 5 seconds, or the like. Therefore, the first image can be timely acquired when the mowing robot reaches the position capable of identifying the first label, and the identification efficiency is improved.

Optionally, the speed of the mowing robot may be set slower to reduce the impact of moving too fast on the quality of the first image, thereby improving the accuracy of controlling the travel of the mowing robot in accordance with the first label.

As another possible implementation manner, the pile returning device may control the mowing robot to rotate in the charging area, and repeatedly acquire the first image and identify the first image according to a preset rotation angle in the rotating process until the first image including the first tag on the charging pile can be identified. The preset rotation angle may be, for example, 10 degrees, 20 degrees, 30 degrees, or the like. The mowing robot can drive the image acquisition device to rotate in the rotating process, so that the image acquisition device acquires a plurality of first images with different angles, the mowing robot does not need to be controlled to move, the time for identifying the first label is saved, and the identifying efficiency is improved.

Of course, the pile returning device can also control the mowing robot to rotate and move in different directions at the same time in the charging area, so that the efficiency of identifying the first label is further improved.

And 106, acquiring a second image in the process of controlling the mowing robot to travel to approach the charging pile according to the first label.

The second image is an image acquired in the process that the mowing robot approaches the charging pile.

In some examples, the pile returning device may acquire a plurality of second images according to a second preset time interval in a process of controlling the mowing robot to travel to approach the charging pile according to the first label, so as to ensure that the second label can be identified in time, and improve efficiency of identifying the second label.

Step 107, identify the second image, and determine whether the second image includes a second tag on the charging post.

If yes, go to step 108; if not, step 109 is performed.

The second label is a label arranged on the charging pile. The second label has a size smaller than the first label. The second tag and the first tag need to be in the same plane of the charging stake. The second label may be, for example, a two-dimensional code label, an arco label, a graphic label, or the like.

In some examples, the first tag and the second tag may be the same kind of tag. For example, when the first tag is a two-dimensional code tag, the second tag is also a two-dimensional code tag. Therefore, the pile returning device can identify the first label and the second label by adopting the same algorithm, so that the computing resource can be saved, and the identification efficiency can be improved.

Considering that the view angle range of the image of the charging pile acquired by the image acquisition device can be gradually reduced when the mowing robot is gradually close to the charging pile, the acquired image possibly cannot comprise a complete first label due to the fact that the size of the first label is larger when the mowing robot is at a position close to the charging pile, and therefore the pile returning device cannot accurately position according to the first label.

Therefore, the second label with the size smaller than that of the first label can be arranged on the charging pile, so that fine positioning can be performed by identifying the second label when the mowing robot moves to a position close to the charging pile and cannot identify the complete first label.

In some examples, the second tag may be disposed at the same height from the ground as the image acquisition device of the mowing robot, which facilitates the pile-back device to more accurately identify the second tag according to the second image, thereby improving accuracy and efficiency of identifying the second tag by the pile-back device.

The pile-back device can identify the second image through deep learning, convolutional neural network, image segmentation or target identification.

Therefore, after the second image is acquired, the pile returning device can identify the second image and analyze the content included in the second image so as to control the mowing robot to travel and connect the charging pile.

And 108, controlling the mowing robot to travel according to the second label so as to connect the charging pile.

When the second label on the charging pile is included in the first image, the pile returning device can identify information included in the second label, and therefore relative position information between the mowing robot and the charging pile is obtained. According to the relative position information between the mowing robot and the charging pile, the pile returning device can control the mowing robot to travel so as to be connected with the charging pile.

Therefore, the pile returning device can control the mowing robot to perform fine positioning once according to the second label, so that the mowing robot is connected with the charging pile.

In some examples, when the charging stake is an automatic charging stake. The pile returning device can control the mowing robot to be automatically connected with the charging pile and conduct charging operation.

In other examples, when the charging stake is a manual charging stake. The pile returning device can control the mowing robot to advance to a position capable of being connected to the charging pile to wait for connection, and then wait for the standby to connect the mowing robot with the charging pile so as to perform charging operation.

And step 109, adjusting the pose of the mowing robot until the second image including the second label on the charging pile is identified, and continuing to execute step 108.

As a possible case, when the second tag on the charging post is not recognized in the second image, the position of the mowing robot is excessively different from the position of the charging post, and the second tag cannot be included in the second image acquired by the image processing device of the mowing robot, so that the pile returning device needs to adjust the pose of the mowing robot so as to acquire the second image including the second tag.

As another possible case, when the second tag on the charging pile is not identified in the second image, the distance between the position of the mowing robot and the charging pile is far, and the first tag can be identified at this time, so that the pile returning device needs to adjust the pose of the mowing robot, and the mowing robot continues to travel to approach the charging pile.

In some examples, the pile-back device may repeatedly acquire a plurality of second images in the process of adjusting the pose of the mowing robot, and perform recognition once each time a second image is acquired. And when the second image is identified to comprise the second label on the charging pile, the pose of the mowing robot can be stopped being adjusted. In this way, the efficiency of adjusting the pose and identifying the second tag can be improved.

In the above embodiment, after receiving the pile returning instruction, the pile returning device controls the mowing robot to travel to the charging area, a preset distance is provided between the charging area and the pile returning position, and the pile returning position is provided with the charging pile of the mowing robot, so that the pile returning device can start to control the mowing robot to position so as to connect the charging pile. The pile returning device acquires a first image, when a first label on the charging pile is included in the first image, the mowing robot is controlled to advance according to the first label so as to be close to the charging pile, and accordingly, the pile returning device can roughly position according to the first label, the pile returning device is guaranteed to be capable of controlling the mowing robot to be close to the charging pile in the correct direction, and therefore pile returning accuracy of the mowing robot is improved. In the process of controlling the mowing robot to advance to approach the charging pile according to the first label, the pile returning device acquires a second image, when the second label on the charging pile is included in the second image is identified, the mowing robot is controlled to advance to be connected with the charging pile according to the second label, so that fine positioning can be performed by the pile returning device through identifying the second label smaller than the first label in size when the complete first label cannot be identified, the mowing robot is controlled to advance to be connected with the charging pile, positioning is performed only in a visual identification mode without infrared signals, ultrasonic signals or GPS signals, and the influence of environmental noise is avoided, so that the accuracy of pile returning of the mowing robot can be improved.

Based on the above description, the second tag is located at the center of the first tag.

Because the size of first label is greater than the second label, the back stake device is at first according to first image recognition first label to control grass cutting robot is close to the electric pile that fills gradually, in the in-process that is close to the electric pile that fills, grass cutting robot's image acquisition device compares in the visual angle of charging the stake and reduces gradually, unable complete first label of discernment, begin to discern the second label this moment, set up the second label in the center of first label, can guarantee under the condition that need not to adjust image acquisition device's angle, the direct discernment second label, the efficiency that the second label was discerned to the back stake device has been improved, thereby grass cutting robot returns the efficiency of stake has been improved.

The positional relationship of the second tag J and the first tag K may be as shown in fig. 3.

Based on the description, the first tag and the second tag are two-dimensional code tags; or the first label is a graphic label, and the second label is a two-dimensional code label.

Because the first label is used for rough positioning, the pile returning device does not need to obtain more detailed positioning information when recognizing the first label, the first label can be a graphic label, the shape of the second label can also be a part of the first label, the design of the first label can be simplified, the pile returning device can be conveniently recognized, the speed of recognizing the first label by the pile returning device is improved, and the pile returning efficiency of the mowing robot is improved.

Wherein, the second label can be set up to the two-dimensional code label, and the two-dimensional code label can include detailed location information, and like this, the back stake device can be according to the second label and carry out the detail location to control mowing robot marcing with connecting charging stake, thereby improves the accuracy that mowing robot returned the stake.

Based on the above exemplary description, the pile back device may adjust the pose of the mowing robot in step 105 and step 109.

In some examples, the pile-back device may control at least one of rotation, advancement, or retraction of the mowing robot within the charging area.

Next, a method of controlling the mowing robot to travel to the charging area in the above example will be described in detail with reference to fig. 4.

Fig. 4 is a flowchart of a method for controlling a mowing robot to travel to a charging area according to an embodiment of the present disclosure. As shown in fig. 4, the method includes:

step 401, acquiring the current position of the mowing robot and the position of the charging area.

The pile-back device can acquire the current position of the mowing robot and the position of the charging area in various modes.

In mode 11, the pile-back device may obtain the current position of the mowing robot through a multi-satellite multi-frequency global navigation satellite system (Global Navigation Satellite System, GNSS) antenna mounted on the mowing robot. The position of the charging area can be stored in a memory of the mowing robot or the pile returning device in advance, and the pile returning device can acquire the position of the charging area from the memory of the mowing robot or the pile returning device.

By means of the mode 11, the pile returning device can obtain the current position of the mowing robot and the position of the charging area, and therefore accuracy of controlling the mowing robot to travel to the charging area by the pile returning device can be improved.

In mode 12, the pile returning device can acquire image information around the mowing robot through the image acquisition device, and identify the charging area through the mode of target detection and target positioning, so that the relative position of the mowing robot and the charging area is acquired.

By means of the method 12, positioning by the GNSS signals is not needed, the relative positions of the mowing robot and the charging area can be obtained only by visual information, and the problem that the GNSS positioning cannot be achieved when the GNSS signals are weak can be avoided.

Step 402, determining a charging route of the mowing robot according to the current position of the mowing robot and the position of the charging area.

When the number of the charging areas is one, the pile returning device can determine a straight line path between the current position of the mowing robot and the position of the charging area as a charging route of the mowing robot, so that the efficiency of controlling the mowing robot to travel to the charging area is improved.

When the number of the charging areas is multiple, the pile returning device selects a charging area closest to the current position of the mowing robot according to the current position of the mowing robot and the position of the charging area, and determines a linear path between the mowing robot and the closest charging area as a charging route of the mowing robot, so that the efficiency of controlling the mowing robot to travel to the charging area is improved.

Step 403, controlling the mowing robot to travel to the charging area along the charging route.

When the robot travels to the charging area, the pile returning device can also identify whether the charging area is occupied through the image acquisition device of the mowing robot. Upon recognizing that the charging area has been occupied, the stake-returning device may control the lawn mower robot to travel to an unoccupied charging area closest to the occupied charging area to ensure that the lawn mower robot can be controlled to connect with the charging stake of the charging area.

Based on the above description, the pile returning device receives a pile returning instruction, including: receiving a pile-back instruction indicated by a user or a pile-back instruction of the mowing robot.

The user can send a pile returning instruction to the pile returning device through the terminal equipment, so that the pile returning device can receive the pile returning instruction and execute corresponding operation.

When the mowing robot detects that the self electric quantity is smaller than or equal to the preset electric quantity, or when the weather sensor detects that the weather is rainy or snowy, and other bad weather, the mowing robot can send a pile returning instruction to the pile returning device, so that the pile returning device can receive the pile returning instruction and execute corresponding operation.

Illustratively, the present application provides a pile-back device.

Fig. 5 is a schematic structural diagram of a pile returning device according to an embodiment of the present application. As shown in fig. 5, the apparatus includes: a first control module 501, an acquisition module 502 and a second control module 503.

The first control module 501 is configured to control the mowing robot to travel to a charging area after receiving a pile returning instruction, wherein a preset distance is provided between the charging area and a pile returning position, and a charging pile of the mowing robot is arranged at the pile returning position.

An acquisition module 502 is configured to acquire a first image.

The second control module 503 is configured to, when a first tag on the charging post is identified to be included in the first image, control the mowing robot to travel to approach the charging post according to the first tag.

The obtaining module 502 is further configured to obtain a second image during the process of controlling the mowing robot to travel to approach the charging stake according to the first tag.

The second control module 503 is further configured to, when a second tag on the charging post is identified to be included in the second image, control the mowing robot to travel to connect the charging post according to the second tag, where a size of the second tag is smaller than a size of the first tag.

It should be noted that, the pile returning device of the embodiment of the present application may be used to execute the technical solution of the foregoing method embodiment, and its implementation principle and technical effect are similar, and are not repeated herein.

In some examples, the second tag is located in the center of the first tag.

In some examples, the first tag and the second tag are two-dimensional code tags; or the first label is a graphic label, and the second label is a two-dimensional code label.

In some examples, the second control module 503 is further configured to adjust the pose of the mowing robot until the label on the charging post is identified as being included in the image when the label on the charging post is not identified as being included in the image.

In some examples, the second control module 503 is specifically configured to control at least one operation of rotating, advancing, or retracting the mowing robot within the charging area.

In some examples, the first control module 501 is specifically configured to obtain a current position of the mowing robot and a position of the charging area; determining a charging route of the mowing robot according to the current position of the mowing robot and the position of the charging area; and controlling the mowing robot to travel to the charging area along the charging route.

In some examples, the first control module 501 is specifically configured to receive a back stake instruction indicated by a user or a back stake instruction of the mowing robot.

Fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application. As shown in fig. 6, the electronic device may include: the processor 601, when the processor 601 executes a computer executable program or instructions in a memory, implements a pile-back method of the mowing robot shown in fig. 1 or fig. 4 according to an embodiment of the present application.

Fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present application. As shown in fig. 7, the electronic device may include: the system comprises a processor 701 and a memory 702, wherein the memory 702 stores a computer program, and when the processor 701 executes the computer program, the pile-back method of the mowing robot shown in fig. 1 or fig. 4 in the embodiment of the application is realized.

Another embodiment of the present application further provides a computer readable storage medium, where a computer program is stored, where the computer program, when executed by a processor, may implement the pile-back method of the mowing robot shown in fig. 1 or fig. 4 in the embodiment of the present application.

In the several embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of modules or units is merely a logical functional division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed.

Those skilled in the art will appreciate that while some embodiments herein include certain features that are included in other embodiments, combinations of features of different embodiments are meant to be within the scope of the present application and form different embodiments. For example, in the claims, any of the claimed embodiments may be used in any combination.

The above embodiments are merely for illustrating the technical solution of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the corresponding technical solutions.

Claims (10)

1. A method of pile-back for a mowing robot, the method comprising:

after receiving a pile returning instruction, controlling the mowing robot to travel to a charging area, wherein a preset distance is reserved between the charging area and a pile returning position, and the pile returning position is provided with a charging pile of the mowing robot;

acquiring a first image;

when a first label on the charging pile is included in the first image, controlling the mowing robot to travel to approach the charging pile according to the first label;

acquiring a second image in the process of controlling the mowing robot to travel to approach the charging pile according to the first label;

and when a second label on the charging pile is included in the second image, controlling the mowing robot to travel according to the second label so as to connect the charging pile, wherein the size of the second label is smaller than that of the first label.

2. The method of claim 1, wherein the second tag is located in the center of the first tag.

3. The method of claim 1, wherein the first tag and the second tag are two-dimensional code tags; or the first label is a graphic label, and the second label is a two-dimensional code label.

4. The method according to claim 1, wherein the method further comprises:

and when the label on the charging pile is not identified in the image, adjusting the pose of the mowing robot until the label on the charging pile is identified in the image.

5. The method of claim 4, wherein the adjusting the pose of the mowing robot comprises:

and controlling the mowing robot to perform at least one of rotation, forward movement and backward movement in the charging area.

6. The method of any one of claims 1 to 5, wherein after receiving the back stake instruction, controlling the mowing robot to travel to the charging area comprises:

acquiring the current position of the mowing robot and the position of the charging area;

determining a charging route of the mowing robot according to the current position of the mowing robot and the position of the charging area;

and controlling the mowing robot to travel to the charging area along the charging route.

7. The method of any one of claims 1 to 5, wherein the receiving a back-stake instruction includes:

and receiving a pile-back instruction indicated by a user or a pile-back instruction of the mowing robot.

8. An electronic device, comprising: a processor; the processor is configured to execute a computer-executable program or instructions in a memory, causing the electronic device to perform the method of back piling the robot lawnmower of any one of claims 1 to 7.

9. An electronic device comprising a memory and a processor, the memory having stored therein a computer program, the processor implementing a backswing method of the robot of any one of claims 1 to 7 when the computer program is executed.

10. 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 a backshell method of the robot lawnmower of any one of claims 1 to 7.