CHARGING STATION, CHARGING STATION SYSTEM, METHOD AND APPARATUS FOR RETURNING TO STATION AND LAWNMOWING ROBOT

A charging station, a charging station system, a method and apparatus for returning to a charging station and a lawnmowing robot are provided. Feature markers are provided on the charging station, and the lawn mower can acquire pose information of the feature markers through its own image identification, so that relative pose information between the charging station and the lawn mower may be determined for path planning, enabling the lawn mower to realize station-returning and charging. The cost is low, and the structure is simple and easy to install and dismantle, since only the feature markers need to be provided on the charging station. Acquiring available image frames collected by the image collection S102 apparatus of the lawnmowing robot in a station-front area of the charging station Determining a relative pose of the lawnmowing robot relative to the charging station, based on two-dimensional coordinates of the S104 identified feature markers in the image frames, three-dimensional coordinates of the feature markers in a world coordinate system, and imaging parameters of the image collection apparatus Driving the lawnmowing robot toreturn to the charging station based /S106 on the relative pose /z x