CN115336459A - Subtilism processing method, system, computer readable medium and mowing robot - Google Patents
Subtilism processing method, system, computer readable medium and mowing robot Download PDFInfo
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- A01D34/00—Mowers; Mowing apparatus of harvesters
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Abstract
The invention discloses a hay processing method, a hay processing system, a computer readable medium and a mowing robot, wherein the method comprises the following steps of S10: controlling the mowing robot to mow in the working map according to the planned route; s20: judging whether the hay is encountered or not during mowing, and if yes, executing S30; s30: acquiring a hay position, judging whether the hay position is in the working map boundary, and if not, executing S40; s40: setting the hay cutting position as a finished operation area, and controlling the mowing robot to cut along the hay cutting and normal grass boundary to an original planned route so as to continue mowing; s50: judging whether the mowing task is finished or not, if not, returning to S10; if yes, executing S60; s60: and controlling the mowing robot to return to the charging station for charging. According to the hay mower, different coping strategies are adopted when the hay is encountered at different positions in a working area, so that the mowing efficiency is improved, and the mowing experience of a user is improved.
Description
Technical Field
The invention relates to the technical field of visual obstacle identification, in particular to a hay processing method, a hay processing system, a computer readable medium and a mowing robot.
Background
When the visual mowing robot identifies obstacles on a working scene, objects in a visual field range are generally divided into two types, one type is a lawn, the other type is an obstacle, all objects which are not on the lawn are taken as the obstacles to avoid the obstacles, and sometimes special obstacles such as animals, people and the like in the obstacles are taken as independent articles to be identified so as to adopt different obstacle avoiding strategies.
The hay grass in the lawn can influence the moving condition of the visual mowing robot, the visual mowing robot is directly controlled to plan the hay grass as a common obstacle, and when mowing is carried out in a working area, if more hay grass exists in the area, the mowing robot can frequently avoid the obstacle, so that the mowing efficiency and the mowing effect are influenced; if the hay is regarded as normal grass, when meeting an outside area similar to the hay, the mowing robot can go outside due to false recognition during working, and danger is caused.
Disclosure of Invention
The technical problem to be solved by the present invention is to solve at least one defect existing in the prior art: the hay mowing effect is influenced, and the hay mowing method, the hay mowing system, the computer readable medium and the hay mowing robot are provided.
The technical scheme adopted by the invention for solving the technical problem is as follows: constructing a hay treatment method, comprising the following steps:
s10: controlling the mowing robot to mow in a work map according to a planned route;
s20: judging whether the hay is encountered or not during mowing, and if yes, executing S30;
s30: acquiring a hay position, judging whether the hay position is in the working map boundary, and if not, executing S40;
s40: setting the hay position as a finished operation area and cutting the hay along the hay and normal grass boundary to an original planned route to continue mowing;
s50: judging whether the mowing task is finished or not, if not, returning to S10; if yes, executing S60;
s60: and controlling the mowing robot to return to a charging station for charging.
Preferably, in the hay processing method of the present invention, step S10 is preceded by:
s01: judging whether the current working area has the working map, if so, executing S10; if not, executing S03;
s03: and controlling the mowing robot to walk along the boundary of the working area to establish a working map.
Preferably, in the method for processing hay according to the present invention, step S03 is followed by:
s04: judging whether the working map meets the sub-cropping condition or not when the working map is established, and executing S05 if the working map meets the sub-cropping condition; if not, executing S06;
s05: controlling the mowing robot to walk along the junction of the hay area and the non-hay area to establish the working map;
s06: judging whether the starting point is returned or not, if so, executing S07; if not, returning to S04;
s07: and finishing establishing the work map, saving the work map, and waiting for receiving a user instruction.
Preferably, in the subtitling method of the present invention, the planning route includes: mowing routes within the work map boundary and mowing routes along the edge of the work map.
Preferably, in the hay processing method of the present invention, step S10 is preceded by:
s00: judging whether automatic mowing is started or not, if so, executing S01, and if not, executing S02;
s02: judging whether a work map needs to be automatically built or not, if so, executing S03; if not, waiting to receive a user instruction.
The present invention also constructs a hay treatment system comprising:
a first control module: the mowing robot is used for controlling the mowing robot to mow in a planned route in a working map;
a first judgment module: the second judgment module is used for judging whether the hay is encountered or not during mowing, and if yes, the second judgment module is operated;
a second judging module: the processing module is used for acquiring the hay positions, judging whether the hay positions are in the working map boundary, and if not, operating the processing module;
a processing module: the hay cutting robot is used for cutting the hay to an original planned route along the hay and normal grass boundary to continue mowing, and the hay cutting robot is controlled to cut the hay to a finished operation area;
a third judging module: the system is used for judging whether the mowing task is finished or not, and if not, returning to the first control module; if yes, operating a second control module;
a second control module: and the charging station is used for controlling the mowing robot to return to the charging station for charging.
Preferably, in the hay processing system of the present invention, the system further comprises:
a fourth judging module: the system comprises a first control module, a second control module and a display module, wherein the first control module is used for judging whether the current working area has the working map or not; if not, operating a third control module;
a third control module: the mowing machine is used for controlling the mowing robot to walk along the boundary of a working area to establish a working map.
Preferably, in the hay processing system of the present invention, the system further comprises:
a fifth judging module: the fourth control module is used for judging whether the hay is encountered or not when the working map is established, and if yes, the fourth control module is operated; if not, operating a sixth judgment module;
a fourth control module: the system is used for controlling the mowing robot to walk along the junction of the hay area and the non-hay area to establish the working map;
a sixth judging module: the image building and storing module is used for judging whether the image is returned to the starting point, if so, the image building and storing module is operated; if not, operating a fifth judgment module;
a map building and storing module: and the system is used for finishing establishing the work map, saving the work map and waiting for receiving a user instruction.
Preferably, in the subtitling system of the present invention, the planning route comprises: a mowing route within the work map boundary and a mowing route alongside the work map.
Preferably, in the hay processing system of the present invention, the system further comprises:
a seventh judging module: the automatic mowing control module is used for judging whether to start automatic mowing or not, and if yes, the fourth judging module is operated; if not, operating an eighth judging module;
an eighth judging module: the third control module is used for judging whether a work map needs to be automatically built or not, and if so, the third control module is operated; if not, waiting to receive a user instruction.
The present invention also constitutes a computer-readable medium on which a computer program is stored, which computer program, when being executed by a processor, carries out the subtitling method of any one of the above-mentioned.
The present invention also provides a mowing robot including:
one or more processors;
storage means for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to implement the subtitling method of any of the above.
By implementing the invention, the following beneficial effects are achieved:
the invention discloses a hay processing method, a hay processing system, a computer readable medium and a mowing robot, wherein the method comprises the following steps of S10: controlling the mowing robot to mow in a working map according to a planned route; s20: judging whether hay is encountered or not during mowing, and if yes, executing S30; s30: acquiring a hay position, judging whether the hay position is in the working map boundary, and if not, executing S40; s40: setting the hay cutting position as a finished operation area, and controlling the mowing robot to cut along the hay cutting and normal grass boundary to an original planned route so as to continue mowing; s50: judging whether the mowing task is finished or not, if not, returning to S10; if yes, executing S60; s60: and controlling the mowing robot to return to the charging station for charging. According to the hay mower, different coping strategies are adopted when the hay is encountered at different positions in a working area, so that the mowing efficiency is improved, and the mowing experience of a user is improved.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a schematic flow chart of a method for treating hay in accordance with the present invention;
FIG. 2 is a block diagram of the subtitling system of the present invention.
Detailed Description
For a more clear understanding of the technical features, objects and effects of the present invention, embodiments of the present invention will now be described in detail with reference to the accompanying drawings.
It should be noted that the flow charts shown in the drawings are only exemplary and do not necessarily include all the contents and operations/steps, nor do they necessarily have to be executed in the order described. For example, some operations/steps may be decomposed, and some operations/steps may be combined or partially combined, so that the actual execution sequence may be changed according to the actual situation.
The block diagrams shown in the figures are functional entities only and do not necessarily correspond to physically separate entities. I.e. these functional entities may be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor means and/or microcontroller means.
In this embodiment, as illustrated in fig. 1, the present invention constructs a hay processing method including the steps of:
s10: controlling the mowing robot to mow in a working map according to a planned route;
s20: judging whether the hay is encountered or not during mowing, and if yes, executing S30;
s30: acquiring a hay position, judging whether the hay position is in the working map boundary, and if not, executing S40;
s40: setting the hay cutting position as a finished operation area and controlling the mowing robot to cut along the hay cutting and normal grass boundary to an original planned route so as to continue mowing;
s50: judging whether the mowing task is finished or not, if not, returning to S10; if yes, executing S60;
s60: and controlling the mowing robot to return to a charging station for charging.
Before the mowing robot is controlled to mow, one type of hay is added into an AI identification object type, a certain number of samples containing normal lawns, the hay and common obstacles are collected, the hay is manually marked in sample images, model training is carried out in an AI training server based on the manually marked samples, model parameters generated after training are deployed on the mowing robot, and the robot identifies the hay, the normal lawns and the common obstacles from images collected in real time based on the trained models.
In a working map, when the mowing robot encounters a hay, the hay position is defined as two states, namely, the hay position is in a map boundary and a map boundary, and the total range position of the hay is connected with the map boundary, so that the hay position is considered to be located on the map boundary; and if the total range position of the hay is not connected with the map boundary, the hay position is considered to be located in the map boundary.
In some embodiments, the mowing robot returns to the charging station for charging after completing work, and stands by after charging is completed; user instructions can be accepted and responded to during or after charging is completed.
In some implementations, the mowing robot can judge the electric quantity in a whole process during mowing work, and if the electric quantity is insufficient, the mowing robot can return to the charging station to charge and then return to a work area to work.
When the hay is encountered in the working area, the robot can keep the original cutting route and cutting mode as the normal mowing process.
When the hay is touched near the boundary of the working area, the mowing robot can be used as an obstacle to process, and the specific obstacle avoiding action can be turning around, turning back, changing the cutting direction or cutting along the edge of the hay and the normal grass.
The mowing robot has real-time positioning in the working process, and the hay meeting the mowing robot can be determined to be in a working area or near the boundary according to the positioning information and the map information of the robot.
In some embodiments, step S10 is preceded by:
s01: judging whether a work map exists in the current work area, if so, executing S10; if not, executing S03;
s03: and controlling the mowing robot to walk along the boundary of the working area to establish a working map.
Before the map is built, whether a working map exists in the current area of the robot is judged according to real-time positioning; in the image building process, the mowing robot identifies the image in front in real time, and when the hay is identified, the hay in the area is treated as normal grass to be walked edgewise to build the image.
In some embodiments, step S03 is followed by:
s04: judging whether the sub-cropping occurs or not when the working map is established, if so, executing S05; if not, executing S06;
s05: controlling the mowing robot to walk along the junction of the hay area and the non-hay area to establish a working map;
s06: judging whether the starting point is returned or not, if so, executing S07; if not, returning to S04;
s07: and finishing establishing a work map, storing the work map, and waiting for receiving a user instruction.
When the mowing robot works on the lawn, a map of a working area needs to be established first. The map can be established in a manual and manual remote control mode, namely, the manual and manual remote control robot walks for a circle along the boundary of a working area, the coordinate track of the walking process is recorded, and a map is generated; the map can also be automatically created, namely the mowing robot walks for a circle along the automatically identified lawn boundary and records the coordinate track of the walking process to generate the map. In the automatic mapping process, if the robot touches the hay during the walking process along the boundary, the robot walks along the junction of the hay and the non-grass area to build the mapping, namely the hay area is contained in the working area.
In some embodiments, planning the route comprises: mowing routes within the work map boundary and mowing routes along the edge of the work map.
After the work area map is created, the robot can perform mowing operation in the work area. When mowing along the side route, if the hay is recognized at the boundary, the hay is taken as an obstacle, the mowing robot does not enter a hay area, mowing is carried out along the boundary between the hay and a normal lawn, and boundary departure caused by error recognition near the boundary is avoided; when mowing within the boundary, if the hay is identified in the middle of the map, the hay is taken as a normal lawn, and mowing is still carried out on the original path; if the hay area is identified to be connected with the map boundary, the hay is used as an obstacle, the mowing robot does not enter the hay area, and the mowing robot turns back to mow on a normal lawn in the boundary.
And after the work area map is created, the work map can be automatically subjected to map adjustment, an optimal planned route is screened out, the turning back and turning actions of the mowing robot in the work map are reduced, the condition that the mowing robot enters corners of the work map is reduced, and therefore the work efficiency is improved.
In some embodiments, step S10 is preceded by:
s00: judging whether automatic mowing is started or not, if so, executing S01, otherwise, executing S02;
s02: judging whether a work map needs to be automatically built or not, if so, executing S03; if not, waiting to receive a user instruction.
And a user inputs an instruction to control whether the mowing robot carries out automatic mowing and automatic drawing building functions.
In some embodiments, step S20 further comprises: if not, executing S50;
step S30 further includes: if yes, executing S31;
s31: and controlling the mowing robot to continue mowing according to the original planned route, and executing S50.
In this embodiment, as shown in fig. 2, the present invention also constructs a hay processing system, including:
a first control module: the mowing robot is used for controlling the mowing robot to mow according to a planned route in a working map;
a first judging module: the second judgment module is used for judging whether hay is encountered or not during mowing, and if the hay is encountered, the second judgment module is operated;
a second judging module: the processing module is used for acquiring a hay position, judging whether the hay position is in the working map boundary, and if not, operating the processing module;
a processing module: the hay cutting robot is used for cutting the hay to an original planned route along the hay and normal grass boundary to continue mowing, and the hay cutting robot is controlled to cut the hay to a finished operation area;
a third judging module: the system is used for judging whether the mowing task is finished or not, and if not, returning to the first control module; if yes, operating a second control module;
a second control module: the charging station is used for controlling the mowing robot to return to the charging station for charging.
Before the control module controls the mowing robot to mow, a variety of hay is added in an AI recognized object variety, a certain number of samples containing normal lawns, the hay and common obstacles are collected, the hay is manually marked out in sample images, model training is carried out in an AI training server based on the manually marked samples, model parameters generated after training are deployed on the mowing robot, and the robot identifies the hay, the normal lawns and the common obstacles from the images collected in real time based on the trained models.
In a working map, when the mowing robot encounters a hay, the hay position is defined as two states, namely, the hay position is in a map boundary and a map boundary, and the total range position of the hay is connected with the map boundary, so that the hay position is considered to be located on the map boundary; and if the total range position of the subtitling is not connected with the map boundary, the subtitling position is considered to be positioned in the map boundary.
In some embodiments, the mowing robot returns to the charging station for charging after completing work, and stands by after charging is completed; user instructions can be accepted and responded to during or after charging is completed.
In some implementations, the mowing robot can judge the electric quantity in the whole process when working, and if the electric quantity is insufficient, the mowing robot can return to the charging station to charge and then return to a working area to work.
When the hay is encountered in the working area, the robot can keep the original cutting route and cutting mode as the normal mowing process.
When the hay is touched near the boundary of the working area, the mowing robot can be used as an obstacle to process, and the specific obstacle avoiding action can be turning around, turning back, changing the cutting direction or cutting along the edge of the hay and the normal grass.
The mowing robot obtains the positioning information of the robot according to the positioning module in the working process and combines the map information, and whether the hay encountered by the mowing robot is in the working area or near the boundary can be determined.
In some embodiments, the system further comprises:
a fourth judging module: the system comprises a first control module, a second control module and a display module, wherein the first control module is used for judging whether the current working area has the working map or not; if not, operating a third control module;
a third control module: the mowing machine is used for controlling the mowing robot to walk along the boundary of a working area to establish a working map.
Before the map is built, whether a working map exists in the current area of the system is judged according to the positioning module and the judging module; in the image construction process, the recognition module controls the mowing robot to recognize images in front in real time, and when the hay is recognized, the control module treats the hay in the area as normal grass to carry out edgewise walking image construction.
In some embodiments, the system further comprises:
a fifth judging module: the fourth control module is used for judging whether the hay is encountered or not when the working map is established, and if yes, the fourth control module is operated; if not, operating a sixth judgment module;
a fourth control module: the control system is used for controlling the mowing robot to walk along the junction of the hay area and the non-hay area to establish the working map;
a sixth judging module: the image building and storing module is used for judging whether the image is returned to the starting point, if so, the image building and storing module is operated; if not, operating a fifth judgment module;
a map building and storing module: and the system is used for finishing establishing the work map, saving the work map and waiting for receiving a user instruction.
When the mowing robot works on a lawn, a map of a working area needs to be established first. The map can be established by manual remote control, namely, the manual remote control robot walks for a circle along the boundary of a working area, records the coordinate track of the walking process and generates a map; the map can also be automatically built, namely the control module controls the mowing robot to walk for a circle along the automatically identified lawn boundary, and the coordinate track of the walking process is recorded to generate the map. In the automatic mapping process, if the robot touches the hay during the walking process along the boundary, the robot walks along the junction of the hay and the non-grass area to build the mapping, namely the hay area is contained in the working area.
In some embodiments, planning the route comprises: a mowing route within the work map boundary and a mowing route alongside the work map.
After the third control module completes the creation of the work area map, the mowing robot can perform mowing operation in the work area. When the third control module controls the mowing robot to mow along the edge route, if the boundary is identified to have the hay, the hay is taken as an obstacle, the mowing robot does not enter the hay area, and travels along the boundary between the hay and the normal lawn to mow, so that the boundary is prevented from being recognized by mistake near the boundary; when mowing within the boundary, if the hay is identified in the middle of the map, the hay is taken as a normal lawn, and mowing is still carried out on the original path; if the hay area is identified to be connected with the map boundary, the hay is used as an obstacle, the mowing robot does not enter the hay area, and the mowing robot turns back to mow on a normal lawn in the boundary.
In some embodiments, the system further comprises:
a seventh judging module: the automatic mowing control system is used for judging whether to start automatic mowing or not, and if yes, the third control module is operated; if not, operating an eighth judging module;
an eighth judging module: the third control module is used for judging whether a work map needs to be automatically built or not, and if so, the third control module is operated; if not, waiting to receive a user instruction.
In some embodiments, the first determining module further comprises: if not, operating a third judgment module;
the second judging module further includes: if yes, the first control module is operated to control the mowing robot to continue to finish mowing according to the original planned route, and the third judgment module is operated.
And a user inputs an instruction to control whether the mowing robot carries out automatic mowing and automatic drawing building functions.
In the present embodiment, the present invention also constructs a computer-readable medium on which a computer program is stored, the computer program implementing the subtitling method described above when executed by a processor.
In this embodiment, the present invention is configured as a mowing robot including: one or more processors; a storage device for storing one or more programs which, when executed by one or more processors, cause the one or more processors to implement the subtitling method as described above.
The mowing robot comprises a vision module, a control module and a display module, wherein the vision module is used for acquiring video images of the environment in the advancing direction of the robot; the recognition module is used for recognizing the video image collected by the vision module in real time through a preset recognition model and recognizing a normal lawn, a hay and obstacles; the positioning module is used for outputting the real-time coordinate position of the robot; the control module is used for controlling the robot to execute tasks of the user, such as drawing creation, mowing and the like, based on the command of the user; the movement module comprises a walking mechanism and a mowing operation mechanism and is used for executing tasks such as walking and mowing under the control of the control module; the interaction module, such as a UI (user interface), an APP (application) and the like, is used for receiving a user instruction, sending the instruction to the control module and displaying information of the mowing robot, such as a map, a working state and the like; and the energy module is used for providing energy for each module.
By implementing the invention, the following beneficial effects are achieved:
the invention discloses a hay processing method, a hay processing system, a computer readable medium and a mowing robot, wherein the method comprises the following steps of S10: controlling the mowing robot to mow in the working map according to the planned route; s20: judging whether the hay is encountered or not during mowing, and if yes, executing S30; s30: obtaining a hay position, judging whether the hay position is in the working map boundary, and if not, executing S40; s40: setting the hay cutting position as a finished operation area, and controlling the mowing robot to cut along the hay cutting and normal grass boundary to an original planned route so as to continue mowing; s50: judging whether the mowing task is finished or not, if not, returning to S10; if yes, executing S60; s60: and controlling the mowing robot to return to the charging station for charging. According to the hay mower, different coping strategies are adopted when the hay is encountered at different positions in a working area, so that the mowing efficiency is improved, and the mowing experience of a user is improved.
It should be understood that the above examples only represent the preferred embodiments of the present invention, and the description is specific and detailed, but not construed as limiting the scope of the present invention; it should be noted that, for those skilled in the art, the above technical features can be freely combined, and several changes and modifications can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention; therefore, all equivalent changes and modifications made within the scope of the claims of the present invention should be covered by the claims of the present invention.
Claims (12)
1. A hay processing method is applied to a mowing robot and is characterized by comprising the following steps:
s10: controlling the mowing robot to mow in a working map according to a planned route;
s20: judging whether hay is encountered or not during mowing, and if yes, executing S30;
s30: obtaining a hay position, judging whether the hay position is in the working map boundary, and if not, executing S40;
s40: setting the hay cutting position as a finished operation area and controlling the mowing robot to cut along the hay cutting and normal grass boundary to an original planned route so as to continue mowing;
s50: judging whether the mowing task is finished or not, if not, returning to S10; if yes, executing S60;
s60: and controlling the mowing robot to return to a charging station for charging.
2. A hay processing method according to claim 1, characterized in that, before step S10, further comprising:
s01: judging whether the current working area has the working map, if so, executing S10; if not, executing S03;
s03: and controlling the mowing robot to walk along the boundary of the working area to establish a working map.
3. A hay processing method according to claim 2, characterized in that, after step S03, it comprises:
s04: judging whether the working map meets the sub-cropping condition or not when the working map is established, and executing S05 if the working map meets the sub-cropping condition; if not, executing S06;
s05: controlling the mowing robot to walk along the junction of the hay area and the non-hay area to establish the working map;
s06: judging whether the starting point is returned or not, if so, executing S07; if not, returning to S04;
s07: and finishing establishing the work map, saving the work map, and waiting for receiving a user instruction.
4. A hay processing method according to claim 1, wherein said planning a route comprises: a mowing route within the work map boundary and a mowing route alongside the work map.
5. The hay treatment method according to claim 2,
step S10 is preceded by:
s00: judging whether automatic mowing is started or not, if so, executing S01, and if not, executing S02;
s02: judging whether a work map needs to be automatically built or not, if so, executing S03; if not, waiting to receive a user instruction.
6. A hay processing system is applied to a mowing robot and is characterized by comprising:
a first control module: the mowing robot is used for controlling the mowing robot to mow according to a planned route in a working map;
a first judgment module: the second judgment module is used for judging whether the hay is encountered or not during mowing, and if yes, the second judgment module is operated;
a second judging module: the processing module is used for acquiring the hay positions, judging whether the hay positions are in the working map boundary, and if not, operating the processing module;
a processing module: the hay cutting robot is used for cutting the hay to an original planned route along the hay and normal grass boundary to continue mowing, and the hay cutting robot is controlled to cut the hay to a finished operation area;
a third judging module: the system is used for judging whether the mowing task is finished or not, and if not, returning to the first control module; if yes, operating a second control module;
a second control module: the charging station is used for controlling the mowing robot to return to the charging station for charging.
7. A hay processing system according to claim 6, further comprising:
a fourth judging module: the system comprises a first control module, a second control module and a display module, wherein the first control module is used for judging whether the current working area has the working map or not; if not, operating a third control module;
a third control module: the mowing machine is used for controlling the mowing robot to walk along the boundary of a working area to establish a working map.
8. A hay handling system according to claim 6, further comprising:
a fifth judging module: the fourth control module is used for judging whether the work map meets the hay or not when the work map is established, and if the work map meets the hay, the fourth control module is operated; if not, operating a sixth judgment module;
a fourth control module: the system is used for controlling the mowing robot to walk along the junction of the hay area and the non-hay area to establish the working map;
a sixth judging module: the image building and storing module is used for judging whether the image is returned to the starting point, if so, the image building and storing module is operated; if not, operating a fifth judgment module;
a map building and storing module: and the system is used for finishing establishing the work map, saving the work map and waiting for receiving a user instruction.
9. The hay processing system of claim 6, wherein said planning a route comprises: mowing routes within the work map boundary and mowing routes along the edge of the work map.
10. The hay processing system of claim 6,
the system also comprises:
a seventh judging module: the automatic mowing control module is used for judging whether to start automatic mowing or not, and if so, the fourth judging module is operated; if not, operating an eighth judging module;
an eighth judging module: the system is used for judging whether a work map needs to be automatically built or not, and if so, a third control module is operated; if not, waiting to receive a user instruction.
11. A computer-readable medium, on which a computer program is stored, which computer program, when being executed by a processor, is adapted to carry out the method of subtitling processing of any one of claims 1-5.
12. A mowing robot, comprising:
one or more processors;
storage means for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to carry out a method of subtitling processing of any of claims 1-5.
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