CN114342640A - Data processing method, automatic gardening equipment and computer program product - Google Patents
Data processing method, automatic gardening equipment and computer program product Download PDFInfo
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Abstract
The embodiment of the invention provides a data processing method, automatic gardening equipment and a computer program product. The data processing method obtains the historical position information of mowing of the automatic mower in a working area; determining the information of the missed cutting area according to the historical position information and preset working area information; determining a cutting-missing region from the cutting-missing region according to the information of the cutting-missing region; and generating a cutting supplementing path traversing the cutting supplementing region based on the relative position between the cutting supplementing region and the cutting supplementing region so as to control the automatic mower to move along the cutting supplementing path. The method can effectively perform cutting supplement.
Description
Technical Field
The present invention relates to the field of intelligent device technology, and in particular, to a data processing method, an automatic gardening device, and a computer program product.
Background
The existing automatic gardening equipment (also called self-help gardening equipment or intelligent gardening equipment or self-moving equipment) such as an automatic mower can automatically mow grass under the condition of unattended or controlled, so that the time occupation of a user is reduced, and the repeated labor of the user can also be reduced.
The existing automatic mower can mow in a working area according to a set task, but the environment in the working area is complex and changeable, and if a steep slope, an obstacle and the like exist, the condition of missed mowing may occur, so that the mowing effect is poor. For example, auto mowers slip during mowing, resulting in missed cuts in a portion of the area, or encounter obstacles during mowing, resulting in missed cuts in a portion of the area, and the like.
Disclosure of Invention
In view of the above, embodiments of the present invention provide a data processing method, an automatic gardening device and a computer program product, so as to at least solve the problem that the existing automatic lawn mower is easy to miss.
One or more embodiments of the present invention provide a data processing method, including: obtaining the historical position information of mowing of the automatic mower in a working area; determining the information of the missed cutting area according to the historical position information and preset working area information; determining a cutting-missing region from the cutting-missing region according to the information of the cutting-missing region; and generating a cutting supplementing path traversing the cutting supplementing region based on the relative position between the cutting supplementing region and the cutting supplementing region so as to control the automatic mower to move along the cutting supplementing path.
According to another aspect of the present invention, there is provided a data processing apparatus comprising: the acquisition module is used for acquiring the historical position information of mowing of the automatic mower in a working area; the first determining module is used for determining the information of the missed cutting area according to the historical position information and preset working area information; the second determining module is used for determining a cutting-repairing region from the cutting-missing region according to the information of the cutting-missing region; and the generating module is used for generating a cutting supplement path traversing the cutting supplement area based on the relative position between the cutting supplement area and the cutting supplement area so as to control the automatic mower to move along the cutting supplement path.
According to another aspect of the present invention, there is provided a robotic garden apparatus comprising a controller for performing the data processing method described above.
According to another aspect of the present invention, there is provided a computer program product comprising computer instructions for instructing a computing device to execute the data processing method as described above.
According to the embodiment, based on the obtained historical position information of the automatic mower for mowing in the working area, the information of the missed cutting area is determined by combining the preset working area information, the cutting area is determined from the missed cutting area, and then the cutting path traversing the cutting area is generated. The missed cutting detection is realized, the missed cutting area can be screened, the missed cutting effect and the missed cutting efficiency are ensured, and the overall mowing effect of the working area is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a flowchart illustrating steps of a data processing method according to a first embodiment of the present application;
FIG. 2A is a flowchart illustrating steps of a data processing method according to a second embodiment of the present application;
fig. 2B is a schematic diagram of a planned path according to a second embodiment of the present application;
FIG. 2C is a schematic view of a real mowing track according to a second embodiment of the present application;
fig. 2D is a schematic view of a skip region according to a second embodiment of the present application;
fig. 2E is a schematic diagram of a border of a cutting region according to the second embodiment of the present application;
fig. 2F is a schematic diagram of different inner coverage paths of the cutting repair area according to the second embodiment of the present application;
fig. 2G is a schematic diagram of a cutting repair path according to the second embodiment of the present application;
fig. 3 is a block diagram of a data processing apparatus according to a third embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
For convenience of explanation and understanding, before explaining the data processing method, the structure and working scenario of the robotic garden apparatus are briefly explained as follows:
in this embodiment, the robotic garden device may be a robotic lawnmower, but in other embodiments, the robotic lawnmower may be other self-moving devices, and the device is not limited thereto.
The robotic garden equipment may be used to trim a lawn to ensure that the height of grass within the lawn meets the requirements. The automatic gardening equipment comprises a shell, a mowing cutter head, a driving assembly, a control assembly, a positioning module and the like.
The grass cutter disc is arranged on the shell and used for cutting grass. The driving component can drive the automatic gardening equipment to move so as to automatically trim the lawn.
The positioning module is used for positioning the automatic mower, and the positioning module can include but is not limited to: cameras, satellite positioning sensors (e.g., GPS), RTK sensors, etc. The camera may be used to capture images of the environment in which the robotic garden apparatus is located for subsequent positioning based on the images. The satellite positioning sensor can perform satellite positioning on the automatic mower. RTK (Real-time kinematic) sensors are used to position the robotic lawnmower.
The control assembly is connected with the positioning module, identifies the pose of the automatic mower based on the image, or determines the pose of the automatic mower according to the satellite positioning sensor and the RTK sensor, then performs path planning according to the pose of the automatic mower, and drives the automatic mower.
In addition to this, the robotic lawnmower may further include a collision sensor that can monitor a collision signal when the robotic garden device collides with an obstacle, thereby causing the control assembly to determine the position of the obstacle based on the collision signal, and so on.
When the automatic mower mows a working area (such as a lawn), missed mowing may occur due to factors such as obstacles (such as temporary obstacles or fixed obstacles) in the working area or slipping of the automatic mower, and in order to solve the problem, the method of the embodiment of the application can be used for realizing the purpose of performing the additional mowing on the area needing the additional mowing.
For example, in this embodiment, a data processing method is provided, and the following describes an implementation procedure of the method as follows:
as shown in fig. 1, the method comprises the steps of:
step S102: historical location information for mowing the work area by the robotic lawnmower is obtained.
The historical position information may be the poses (e.g., x, y, z, roll, pitch, yaw) of the robotic lawnmower detected at intervals (e.g., 100ms, 1s, 10s, etc.) while the robotic lawnmower is mowing the work area, and some or all of the poses may be used as the historical position information. Alternatively, the historical position information may be part of the poses (e.g., x, y, z) that are used to indicate position.
Step S104: and determining the information of the missed cutting area according to the historical position information and preset working area information.
The work area information is used to indicate the position and range of the work area. For example, if the work area is a polygon, the work area information may include coordinates of the end points of the respective edges. Or, the working area is circular, and the working area information includes the coordinates and the radius of the center of the circle. Or, the work area is an ellipse, and the work area information includes the coordinates of the center, the coordinates of the major axis end point, and the coordinates of the minor axis end point.
The coverage area of the automatic mower for actually mowing when mowing can be determined based on the historical position information of the automatic mower, a difference area between the coverage area and the working area indicated by the working area information can be obtained by comparing the coverage area with the working area, and the difference area can be used as a missed cutting area. The information of the missed cut region includes, but is not limited to: position information of at least a part of points of the skip-cut region.
Step S106: and determining a cutting-repairing region from the cutting-missing region according to the information of the cutting-missing region.
In order to promote the efficiency of cutting after not influencing under the condition of whole effect of mowing, can carry out some filtration to the area of cutting after leakage, will influence little area of cutting after leakage to the effect of mowing and filter, regard as the area of cutting after leakage with surplus, the area quantity of cutting after leakage that like this needs the cutting after leakage is less relatively, just can promote efficiency.
One way to filter the missed cut region may be to filter by the area of the missed cut region, removing the missed cut region with a smaller area. Of course, in other embodiments, the filtering may be performed in other suitable manners, and is not limited thereto.
Step S108: and generating a cutting supplementing path traversing the cutting supplementing region based on the relative position between the cutting supplementing region and the cutting supplementing region so as to control the automatic mower to move along the cutting supplementing path.
In order to ensure that all the cutting supplement regions can be mowed, a cutting supplement path that can traverse each cutting supplement region may be determined based on the relative position, shape, and the like of the cutting supplement regions. Therefore, the automatic mower can cut all the re-cutting areas based on the movement of the re-cutting path, so that the re-cutting is completed.
According to the embodiment, based on the obtained historical position information of the automatic mower for mowing in the working area, the information of the missed cutting area is determined by combining the preset working area information, the cutting area is determined from the missed cutting area, and then the cutting path traversing the cutting area is generated. The missed cutting detection is realized, the missed cutting area can be screened, the missed cutting effect and the missed cutting efficiency are ensured, and the overall mowing effect of the working area is improved.
Example two
Referring to fig. 2A, a flowchart illustrating steps of a data processing method according to a second embodiment of the present application is shown.
In this embodiment, the robotic lawnmower includes a visual SLAM positioning module. The automatic mower can position the self based on the environment image by acquiring the environment image of the position of the self, so that the position of the self is obtained.
Before the implementation of the data processing method is described below, the process of mowing the working area by the automatic mower is briefly described as follows:
when the automatic mower is started, if the map of the working area (such as a lawn) is not stored, the working area can be mapped. After the map is built, the user can remotely acquire the work area map.
After the map is built or the map of the working area is stored, path planning and mowing can be directly carried out. The path planning process is, for example: the user may set the cutting direction of the robotic lawnmower relative to the lawn (i.e., the user sets the mowing direction), and then plan the path according to the mowing direction set by the user. Alternatively, if the user does not set the cutting direction of the lawn, the automatic lawn mower will automatically calculate the optimal mowing direction (also referred to as the default mowing direction) according to a preset manner, and then plan a path according to the default mowing direction, where the planned path may be as shown in fig. 2B, and the path may be a niu-plowing path.
Based on the planned path, when mowing, the automatic mower firstly executes the edge searching mode and moves for a circle along the boundary of the working area from the starting point, so that a better boundary mowing effect is achieved. Then, the head part continues to emit from the starting point and moves to the end point according to the planned path. And recording the current position information in real time in the moving process of the mower. The automatic mower can move according to the planned path under the guidance of the navigation module. For example, according to a planned cattle-farming route, the route starts to move from a starting point of the route and autonomously navigates to an end point. And recording the position information of the automatic mower in the working area in real time in the mowing process.
However, when mowing along a preset path, some unexpected situations are encountered, which result in missed mowing areas. Such as: when there is unevenness's region on the meadow, cause the wheel of automatic mower to skid to lead to the trajectory of motion of automatic mower to deviate from planning route, cause and leak and cut. Or when the temporary obstacle is encountered, obstacle avoidance operation is carried out, the area occupied by the temporary obstacle cannot be cut, and a cutting missing area is formed after the temporary obstacle moves.
The method comprises the following steps:
step S202: historical location information for mowing the work area by the robotic lawnmower is obtained.
After the automatic mower finishes cutting one working area or a plurality of working areas, the position of the automatic mower stored in the mowing process can be read out to serve as historical position information. The historical location is shown schematically in fig. 2C.
Optionally, the historic position information of the robotic lawnmower is determined based on at least one of a visual positioning, a satellite positioning, and an RTK positioning. Therefore, the historical position can be accurately determined, and the cutting supplement efficiency is improved.
Step S204: and determining the information of the missed cutting area according to the historical position information and preset working area information.
In one possible approach, step S204 may be implemented by the following process:
procedure a 1: and determining a coverage area of the automatic mower in the moving process according to the historical position information, the area of the mowing cutter of the automatic mower and the position of the mowing cutter relative to the moving center of the automatic mower.
Wherein, the center of motion of the robotic lawnmower can be the geometric center of the shape formed by the drive assembly of the robotic lawnmower. For example, the driving assembly is formed into a shape which is fitted into a rectangle, and the geometric center of the rectangle is used as the moving center of the automatic mower. When the robotic lawnmower is in a certain historical position, it can be considered that its center of movement is in that position.
The position of the mower deck with respect to the center of movement of the robotic lawnmower may be a position of the axis of rotation of the mower deck with respect to the center of movement (referred to as an offset position). The position of the mowing cutter disc at a certain moment can be determined based on the position of the moving center and the offset position, and the mowing range covered by the mowing cutter disc can be determined by combining the area of the mowing cutter disc. The coverage area can be determined by combining the mowing ranges covered by the mowing cutterheads in the historical positions.
Procedure B1: and comparing the coverage area with the working area information to determine the information of the missed cutting area.
The preset working area information may be the entire working area determined during mapping. And determining the region to be missed cut by solving the difference set of the information of the coverage region and the working region. The information of the skip region may be a position of a point included in the skip region. A schematic diagram of a comparative skip-cut region is shown in fig. 2D. Wherein the white part is a missing cut area and the gray part is a covered area.
The skip-cut region may be a region occupied by a temporary obstacle, or a region occupied by a fixed obstacle, or a region skip-cut due to slippage or the like.
Step S206: and determining a cutting-repairing region from the cutting-missing region according to the information of the cutting-missing region.
In one possible approach, step S206 may be implemented by the following process:
procedure a 2: and extracting the boundary shape of at least one skip cutting area according to the information of the skip cutting area.
The missed cut region may be fit to a polygon based on the position information of the points in the missed cut region, as shown in FIG. 2E. The black solid line indicates the boundary shape of the extracted skip region. The polygon encloses the skip cut region.
Procedure B2: and determining the area of the corresponding missed cutting region according to the boundary shape of each missed cutting region.
The polygon based on the skip region may calculate the area of the polygon as the area of the skip region in an appropriate manner.
Procedure C2: and screening the missed cutting region with the area meeting the set area threshold value as the repaired cutting region.
The area threshold may be determined as desired, such as, but not limited to, the area of a mower deck. For a certain missed cutting region, if the area of the missed cutting region is larger than or equal to the area threshold, the missed cutting region needing to be subjected to cutting can be determined. If the area is smaller than the area threshold value, the area is directly filtered, and is not determined as a cutting supplement area.
Step S208: and generating a cutting supplementing path traversing the cutting supplementing region based on the relative position between the cutting supplementing region and the cutting supplementing region so as to control the automatic mower to move along the cutting supplementing path.
In a possible manner, step S208 may include the following processes:
procedure a 3: determining at least one internal coverage path within the patch region based on a shape of the patch region.
The internal covering path in the supplementary cutting area can adopt a cattle ploughing path to ensure that the supplementary cutting area is covered. Of course, the internal coverage path may be determined in other suitable manners, and the determination manner of the internal coverage path may be the same as or different from the manner of planning the path in the working area, which is not limited herein.
It should be noted that the inner coverage path may have different starting and ending points. A schematic diagram of different inner coverage paths generated by different coverage directions of a patch area is shown in fig. 2F.
Procedure B3: and determining the moving sequence of the supplementary cutting areas according to the relative positions of the supplementary cutting areas.
In order to ensure that the planned supplementary cutting paths can traverse all the supplementary cutting areas and improve the mowing efficiency, the shorter the supplementary cutting paths formed by the movement sequence among the supplementary cutting areas, the better the mowing efficiency. For this purpose, the sequence of movements between the different cutting-back regions can be determined. If the number of the supplementary cutting regions is 3, which are respectively marked as 1, 2 and 3, the moving sequence can be 1-2-3, 1-3-2, 2-1-3, 2-3-1, 3-1-2, 3-2-1, etc.
Procedure C3: and determining the cutting supplement path according to the movement sequence between the internal coverage path of the cutting supplement region and the cutting supplement region.
Multiple patch paths traversing the patch region may be formed by combining different movement sequences and different internal coverage paths within the patch region. And selecting the shortest one of the cutting-in paths as the determined cutting-in path. A schematic diagram of one patch path is shown in fig. 2G.
The selected cutting-in path considers different covering directions of the internal covering path, the starting point and the end point corresponding to the covering direction, and the position and the moving sequence among different cutting-in areas, so that the efficiency of the selected shortest cutting-in path is highest.
Optionally, in this embodiment, the method may further include the following steps:
step S210: and determining a navigation route for guiding the automatic mower to the starting point of the cutting-supplementing path according to the current position of the automatic mower and the starting point of the cutting-supplementing path.
The starting point of the cutting-in path may be an end point closest to the current position among the two end points of the cutting-in path, and the other end point may be an end point of the cutting-in path.
And a proper navigation route can be planned according to the current position and the starting point of the cutting-in path, and the planning mode is not repeated.
Step S212: controlling the robotic lawnmower to move based on the navigation route and the mowing supplement path.
In one possible approach, the controlling the robotic lawnmower while moving based on the navigation route may be implemented as: and controlling the mowing cutter head of the automatic mower to lift up in the moving process of the automatic mower along the navigation path.
Because the lawn corresponding to the navigation path is already trimmed, the mowing cutter head can be lifted up and is not rotated, so that the mowing cutter head can be protected on one hand, the power consumption can be reduced on the other hand, and the noise is reduced.
When the controlling the robotic lawnmower to move based on the mowing path, the following may be implemented: in the process that the automatic mower moves along the cutting supplement path, acquiring ground environment information of the position of the automatic mower; and controlling the state change of a mowing cutter head of the automatic mower according to the ground environment information.
For example, the robotic lawnmower may be equipped with a visible light camera, a multispectral camera, or a depth information camera (e.g., a binocular camera or a TOF sensor). Images near and around the automatic mower are shot through the camera, and ground environment information (such as ground type and concave-convex information) in the detected images is identified through a deep learning algorithm.
The ground type may be: grass, land or hardened ground, etc. The concave-convex information is used for indicating whether the ground has concave-convex or obstacles.
In the working process, the operation of the mowing cutter head can be suspended or the height of the mowing cutter head can be increased at any time according to the ground environment information. At the moment, the automatic mower can be kept to move along the cutting supplementing path, so that damage to the machine in the area with the risk of cutting can be avoided. After the grass mower passes through the risk ground, the ground type is detected to recover the barrier-free grassland, the height of the grass mower disc is automatically recovered, the running state of the grass mower disc is recovered, and the grass mowing task is continued.
Alternatively, when the controlling the automatic mower to move based on the mowing complement path, the controlling may be implemented as: and in the process that the automatic mower moves along the cutting supplement path, if the distance between the automatic mower and the cutting supplement area is smaller than or equal to a set distance threshold and an obstacle is detected, controlling a mower disc of the automatic mower to lift, and determining a detour path according to the position of the obstacle.
In the process of the additional cutting, when the automatic mower reaches a position near a certain additional cutting area, if an obstacle covers at least part of the additional cutting area, the obstacle sensor of the automatic mower can sense the existence of the obstacle, so that the mowing cutter head is lifted to not mow, and a detour path is determined based on a preset obstacle avoidance algorithm to avoid obstacles.
The set distance threshold may be a distance that can be detected by the obstacle avoidance sensor, and is not limited to this.
Of course, it should be understood that the two aforementioned implementations of controlling the robotic lawnmower to move based on the mowing path can be implemented in combination, and are not limited thereto.
Optionally, the method further comprises:
step S214: and if the mowing stopping instruction is received, determining a stopping pose and mowing progress information when the mowing stopping instruction is received, wherein the mowing progress information comprises at least one of a finished mowing area and an unfinished mowing area. So that the complete operation can subsequently be continued on the basis of these recorded information.
Step S216: and controlling the automatic mower to stop mowing, and storing the stopping pose and the mowing progress information.
When the task of mowing is interrupted, the robotic lawnmower may record the area where mowing has been completed and the area where mowing has not begun, and may record where the interruption or suspension of the task occurs as a certain path or a certain point of location.
And when the last unfinished task needs to be continuously executed after the task is interrupted, driving the automatic mower to move to the interruption position according to the interruption position and the navigation data, and not starting the mower disc in the process of going to the interruption position. And after the task is interrupted, recovering the pose and the working mode before the task is interrupted, and continuing the uncompleted task.
According to the embodiment, based on the obtained historical position information of the automatic mower for mowing in the working area, the information of the missed cutting area is determined by combining the preset working area information, the cutting area is determined from the missed cutting area, and then the cutting path traversing the cutting area is generated. The missed cutting detection is realized, the missed cutting area can be screened, the missed cutting effect and the missed cutting efficiency are ensured, and the overall mowing effect of the working area is improved.
EXAMPLE III
Referring to fig. 3, a block diagram of a data processing apparatus according to a third embodiment of the present application is shown.
The device includes:
an obtaining module 302, configured to obtain historical position information of an automatic mower for mowing in a working area;
a first determining module 304, configured to determine information of the missed cutting area according to the historical position information and preset working area information;
a second determining module 306, configured to determine a segmentation-compensated region from the segmentation-compensated region according to the information of the segmentation-compensated region;
a generating module 308, configured to generate a cutting supplement path traversing the cutting supplement region based on the relative position between the cutting supplement region and the cutting supplement region, so as to control the automatic mower to move along the cutting supplement path.
Optionally, the first determining module 304 is configured to determine a coverage area of the mower during movement according to the historical position information, an area of a mower disc of the mower, and a position of the mower disc relative to a moving center of the mower; and comparing the coverage area with the working area information to determine the information of the missed cutting area.
Optionally, the second determining module 306 is configured to extract a boundary shape of at least one missing cut region according to the information of the missing cut region; determining the area of the corresponding missed cutting region according to the boundary shape of each missed cutting region; and screening the missed cutting region with the area meeting the set area threshold value as the repaired cutting region.
Optionally, the generating module 308 is configured to determine at least one inner coverage path within the supplementary cutting region based on the shape of the supplementary cutting region; determining the moving sequence between the supplementary cutting areas according to the relative position between the supplementary cutting areas; and determining the cutting supplement path according to the movement sequence between the internal coverage path of the cutting supplement region and the cutting supplement region.
Optionally, the historic location information of the robotic lawnmower is determined based on at least one of a visual positioning, a satellite positioning, and an RTK positioning.
Optionally, the apparatus further comprises:
a third determining module 310, configured to determine, according to the current position of the robotic lawnmower and the starting point of the cutting-over path, a navigation route for guiding the robotic lawnmower to the starting point of the cutting-over path;
a first control module 312 for controlling the robotic lawnmower to move based on the navigation route and the mowing path.
Optionally, the first control module 312 is configured to control a mower deck of the robotic mower to be lifted during movement of the robotic mower along the navigation path when the robotic mower is controlled to move based on the navigation route.
Optionally, the first control module 312 is configured to, when controlling the automatic mower to move based on the cutting supplement path, in a process that the automatic mower moves along the cutting supplement path, if a distance between the automatic mower and the cutting supplement area is smaller than or equal to a set distance threshold and an obstacle is detected, control a mower disc of the automatic mower to lift up, and determine a detour path according to a position of the obstacle.
Optionally, the first control module 312 is configured to, when controlling the automatic mower to move based on the cutting-supplementing path, obtain ground environment information of a position of the automatic mower in a process that the automatic mower moves along the cutting-supplementing path; and controlling the state change of a mowing cutter head of the automatic mower according to the ground environment information.
Optionally, the apparatus further comprises:
a fourth determining module 314, configured to determine, if a mowing stopping instruction is received, a stopping pose and mowing progress information when the mowing stopping instruction is received, where the mowing progress information includes at least one of a completed mowing area and an unfinished mowing area;
and the second control module 316 is used for controlling the automatic mower to stop mowing and storing the stopping pose and the mowing progress information.
The device can realize the corresponding effect of the method, and therefore the description is omitted.
Example four
In this embodiment, an automatic gardening device is provided, which includes a controller, and the controller is configured to execute the data processing method and achieve corresponding effects, which are not described herein again.
EXAMPLE five
In this embodiment, a computer program product is provided, which includes computer instructions for instructing a computing device to execute the data processing method as described above.
It should be noted that the terms "first" and "second" in the description of the present invention are used merely for convenience in describing different components or names, and are not to be construed as indicating or implying a sequential relationship, relative importance, or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
It should be noted that, although the specific embodiments of the present invention have been described in detail with reference to the accompanying drawings, the present invention should not be construed as limited to the scope of the present invention. Various modifications and changes may be made by those skilled in the art without inventive step within the scope of the present invention as described in the appended claims.
The examples of the embodiments of the present invention are intended to briefly describe the technical features of the embodiments of the present invention, so that those skilled in the art can intuitively understand the technical features of the embodiments of the present invention, and the embodiments of the present invention are not unduly limited.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (13)
1. A data processing method, comprising:
obtaining the historical position information of mowing of the automatic mower in a working area;
determining the information of the missed cutting area according to the historical position information and preset working area information;
determining a cutting-missing region from the cutting-missing region according to the information of the cutting-missing region;
and generating a cutting supplementing path traversing the cutting supplementing region based on the relative position between the cutting supplementing region and the cutting supplementing region so as to control the automatic mower to move along the cutting supplementing path.
2. The method according to claim 1, wherein the determining the information of the missed cutting area according to the historical position information and preset working area information comprises:
determining a coverage area of the automatic mower in the moving process according to the historical position information, the area of a mowing cutter of the automatic mower and the position of the mowing cutter relative to the moving center of the automatic mower;
and comparing the coverage area with the working area information to determine the information of the missed cutting area.
3. The method of claim 1, wherein determining the segmentation-prone region from the segmentation-prone region according to the information of the segmentation-prone region comprises:
extracting the boundary shape of at least one skip cutting area according to the information of the skip cutting area;
determining the area of the corresponding missed cutting region according to the boundary shape of each missed cutting region;
and screening the missed cutting region with the area meeting the set area threshold value as the repaired cutting region.
4. The method according to any one of claims 1-3, wherein the generating a segmentation-complementing path through the segmentation-complementing region based on the relative position between the segmentation-complementing region and the segmentation-complementing region comprises:
determining at least one internal coverage path within the supplementary cutting region based on the supplementary cutting region;
determining the moving sequence between the supplementary cutting areas according to the relative position between the supplementary cutting areas;
and determining the cutting supplement path according to the movement sequence between the internal coverage path of the cutting supplement region and the cutting supplement region.
5. The method of claim 1, wherein the historic location information of the robotic lawnmower is determined based on at least one of a visual positioning, a satellite positioning, and an RTK positioning.
6. The method of claim 1, further comprising:
determining a navigation route for guiding the automatic mower to the starting point of the cutting-supplementing path according to the current position of the automatic mower and the starting point of the cutting-supplementing path;
controlling the robotic lawnmower to move based on the navigation route and the mowing supplement path.
7. The method of claim 6, wherein the controlling the robotic lawnmower to move based on the navigation route comprises:
and controlling the mowing cutter head of the automatic mower to lift up in the moving process of the automatic mower along the navigation path.
8. The method of claim 6, wherein the controlling the robotic lawnmower to move based on the mowing path comprises:
and in the process that the automatic mower moves along the cutting supplement path, if the distance between the automatic mower and the cutting supplement area is smaller than or equal to a set distance threshold and an obstacle is detected, controlling a mower disc of the automatic mower to lift, and determining a detour path according to the position of the obstacle.
9. The method of claim 6, wherein the controlling the robotic lawnmower to move based on the mowing path comprises:
in the process that the automatic mower moves along the cutting supplement path, acquiring ground environment information of the position of the automatic mower;
and controlling the state change of a mowing cutter head of the automatic mower according to the ground environment information.
10. The method of claim 1, further comprising:
if a mowing stopping instruction is received, determining a stopping pose and mowing progress information when the mowing stopping instruction is received, wherein the mowing progress information comprises at least one of a finished mowing area and an unfinished mowing area;
and controlling the automatic mower to stop mowing, and storing the stopping pose and the mowing progress information.
11. A data processing apparatus, comprising:
the acquisition module is used for acquiring the historical position information of mowing of the automatic mower in a working area;
the first determining module is used for determining the information of the missed cutting area according to the historical position information and preset working area information;
the second determining module is used for determining a cutting-repairing region from the cutting-missing region according to the information of the cutting-missing region;
and the generating module is used for generating a cutting supplement path traversing the cutting supplement area based on the relative position between the cutting supplement area and the cutting supplement area so as to control the automatic mower to move along the cutting supplement path.
12. A robotic garden device, comprising a controller for performing the data processing method of any one of claims 1-10.
13. A computer program product comprising computer instructions for instructing a computing device to perform the data processing method of any one of claims 1-10.
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