CN114690783A

CN114690783A - Path planning method of mower and related device

Info

Publication number: CN114690783A
Application number: CN202210405406.2A
Authority: CN
Inventors: 袁理; 廖孟�
Original assignee: Agilex Robotics Shenzhen Lt
Current assignee: Agilex Robotics Shenzhen Lt
Priority date: 2022-04-18
Filing date: 2022-04-18
Publication date: 2022-07-01
Also published as: WO2023202423A1

Abstract

The embodiment of the application discloses a path planning method and a related device of a mower, wherein the method comprises the following steps: acquiring detection information of the sensor on the working environment and an original map of the working environment, wherein the sensor is arranged in the working environment of the mower, the working environment is the environment for mowing of the mower, the detection information is used for representing obstacles existing in the working environment, and the original map is used for representing the terrain of the working environment; determining first positioning information of the obstacle according to the detection information; determining a working map of the mower according to the first positioning information and the original map; and determining the driving route of the mower according to the work map. By adopting the embodiment of the application, the accuracy of the detection result is improved, and meanwhile, the fault rate of the sensor is reduced.

Description

Path planning method of mower and related device

Technical Field

The application relates to the technical field of car networking, in particular to a path planning method and a related device of a mower.

Background

With the improvement of living standard, people usually use a mower to replace manual work for heavy and trivial chores such as lawn repair. At present, a sensor is usually arranged on a body of the mower in order to achieve an obstacle avoidance effect of the mower, however, the body of the mower is in a bumpy state during working, and the sensor is arranged in the body, so that detection information acquired by the sensor is not accurate enough, the accuracy of detecting obstacles is affected, and the obstacle avoidance effect is affected. Therefore, how to improve the accuracy and flexibility of obstacle avoidance becomes a problem to be solved urgently.

Disclosure of Invention

The embodiment of the application provides a path planning method and a related device of a mower, which are beneficial to improving the accuracy of detection results and reducing the fault rate of a sensor.

In a first aspect, an embodiment of the present application provides a path planning method for a lawn mower, where the method includes:

acquiring detection information of the sensor on the working environment and an original map of the working environment, wherein the sensor is arranged in the working environment of the mower, the working environment is the environment for mowing of the mower, the detection information is used for representing obstacles existing in the working environment, and the original map is used for representing the terrain of the working environment;

determining first positioning information of the obstacle according to the detection information;

determining a working map of the mower according to the first positioning information and the original map;

and determining the driving route of the mower according to the work map.

In a second aspect, an embodiment of the present application provides a path planning system for a lawn mower, the system including:

the sensor is arranged in a working environment of the mower, the working environment is the environment for carrying out mowing operation on the mower, the sensor is used for detecting the working environment to obtain detection information, and the detection information is used for representing obstacles in the working environment;

the server is in communication connection with the sensor and is used for acquiring the detection information and an original map of the working environment, and the original map is used for representing the terrain of the working environment; and first positioning information for determining the obstacle according to the detection information; the map processing unit is used for determining a working map of the mower according to the first positioning information and the original map; and for determining a travel route for the lawnmower from the work map;

the mower is in communication connection with the server and is used for receiving the driving route sent by the server.

In a third aspect, an embodiment of the present application provides a lawn mower path planning apparatus, including: an acquisition unit and a determination unit, wherein,

the acquisition unit is used for acquiring detection information of the sensor on the working environment and an original map of the working environment, the sensor is arranged in the working environment of the mower, the working environment is an environment for mowing by the mower, the detection information is used for representing obstacles in the working environment, and the original map is used for representing the terrain of the working environment;

the determining unit is used for determining first positioning information of the obstacle according to the detection information;

the determining unit is further used for determining a working map of the mower according to the first positioning information and the original map;

the determining unit is further used for determining the traveling route of the mower according to the working map.

In a fourth aspect, an embodiment of the present application provides an electronic device, including a processor, a memory, a communication interface, and one or more programs, where the one or more programs are stored in the memory and configured to be executed by the processor, and the program includes instructions for executing the steps in the first aspect of the embodiment of the present application.

In a fifth aspect, the present application provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program for electronic data exchange, where the computer program causes a computer to execute some or all of the steps described in the first aspect of the present application.

In a sixth aspect, embodiments of the present application provide a computer program product, where the computer program product includes a computer program operable to cause a computer to perform some or all of the steps as described in the first aspect of the embodiments of the present application.

The embodiment of the application has the following beneficial effects:

according to the path planning method and the related device for the mower described in the embodiment of the application, the sensor is arranged in the working environment of the mower, the detection information of the sensor on the working environment is obtained, the detection information is used for representing obstacles existing in the working environment, the first positioning information of the obstacles is determined according to the detection information, the original map of the working environment is obtained, the original map is used for representing the terrain of the working environment, the working map of the mower is determined according to the first positioning information and the original map, and the driving route of the mower is determined according to the working map; so, set up the sensor in the operation environment, ensure that the sensor is in the relatively steady environmental state, help guaranteeing the accuracy of sensor testing result, and then help guaranteeing the pinpoint to the barrier, help lawn mower realizes accurate nimble obstacle avoidance, and simultaneously, steady environmental state also helps reducing the fault rate of sensor, helps reducing the use cost of lawn mower, optimizes user experience.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1A is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure;

fig. 1B is a schematic flowchart of a path planning method for a lawn mower according to an embodiment of the present disclosure;

fig. 2 is a schematic flow chart of a path planning method of a lawn mower according to an embodiment of the present disclosure;

fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present application;

fig. 4A is a block diagram of functional units of a lawn mower path planning device according to an embodiment of the present disclosure;

fig. 4B is a block diagram illustrating functional units of a lawn mower path planning apparatus according to an embodiment of the present disclosure;

fig. 5 is a schematic diagram of a path planning system of a lawn mower according to an embodiment of the present disclosure.

Detailed Description

The terms "first," "second," and the like in the description and claims of the present application and in the above-described drawings are used for distinguishing between different objects and not for describing a particular order. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus. The term "plurality" may refer to two or more, and will not be described further.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase 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. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.

In order to make the technical solutions of the present application better understood, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the 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 application.

The key concepts and terms referred to in this application include, but are not limited to, the following:

(1) the electronic device can be a mobile phone, a tablet computer, a wearable electronic device (such as a smart watch) with a wireless communication function, and the like. Exemplary embodiments of the portable electronic device include, but are not limited to, portable electronic devices that carry an IOS system, an Android system, a Microsoft system, or other operating system. The portable electronic device may also be other portable electronic devices such as a Laptop computer (Laptop) or the like. It should also be understood that in other embodiments, the electronic device may not be a portable electronic device, but may be a desktop computer. The electronic device may further include a server, a lawn mower, and the like, which are not limited herein.

With the improvement of living standard, people usually use a mower to replace manual work for heavy and trivial chores such as lawn repair. At present, a sensor is usually arranged on a mower body of the mower for achieving an obstacle avoidance effect, however, the mower body is in a bumpy state when the mower works, and the sensor is arranged in the mower body, so that detection information acquired by the sensor is not accurate enough, accuracy of detecting obstacles is affected, and the obstacle avoidance effect is affected. Therefore, how to improve the accuracy and flexibility of obstacle avoidance becomes an urgent problem to be solved.

Based on the above problems, the present application provides a path planning method for a lawn mower and a related device, which are described in detail below with reference to the accompanying drawings.

Referring to fig. 1A, fig. 1A is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure. The electronic device comprises a processor and a memory, etc. Wherein the memory is connected with the processor. The Processor is a control center of the electronic device, connects various parts of the whole electronic device by using various interfaces and lines, executes various functions and processes data of the electronic device by running or executing software programs and/or modules stored in the memory and calling the data stored in the memory, thereby performing overall monitoring on the electronic device, and the Processor may be a Central Processing Unit (CPU), a Graphics Processing Unit (GPU) or a Network Processing Unit (NPU).

Further, the processor may integrate an application processor, which mainly handles operating systems, user interfaces, application programs, etc., and a modem processor, which mainly handles wireless communications. It will be appreciated that the modem processor described above may not be integrated into the processor.

The memory is used for storing software programs and/or modules, and the processor executes various functional applications of the electronic device by running the software programs and/or modules stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, a software program required for at least one function, and the like; the storage data area may store data created according to use of the electronic device, and the like. Further, the memory may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device.

Referring to fig. 1B, fig. 1B is a schematic flow chart of a path planning method of a lawn mower according to an embodiment of the present disclosure, as shown in the figure, the method is applied to the electronic device shown in fig. 1A, and the electronic device may be a server or a lawn mower, which is not limited herein. The path planning method of the mower comprises the following steps:

step 101, obtaining detection information of the working environment by the sensor and an original map of the working environment.

And 102, determining first positioning information of the obstacle according to the detection information.

And 103, determining a working map of the mower according to the first positioning information and the original map.

And 104, determining the traveling route of the mower according to the work map.

The sensor may be multiple types or a single type, such as an acoustic wave sensor, an image sensor, a thermal sensor, a mechanical sensor, and the like, which is not limited herein. The acoustic wave type sensor can be used for remote measurement and positioning of obstacles or lawn mowers. Image-like sensors may be used for specific identification of obstacles, such as identifying birds, beasts, people, cars, stones, wood, etc. on a lawn. The thermal sensor can be used for identifying living animals such as human beings or animals, so that accidental injury in the operation process of the mower is avoided, and the operation safety is ensured. Mechanical sensors such as pressure sensors and contact sensors can be used as the final safety line, and the touch sensors can be arranged at the boundary of the lawn and control the mower to stop running or change the way when the touch sensors collide with the mower.

In one embodiment, because the sensors suitable for sensing the positions of the obstacles in different types or different environments are different, the sensors of different types can be arranged in the working environment at the same time, and the advantages and disadvantages of the sensors of different types are complemented, so that the accurate detection and the comprehensive detection of the working environment are facilitated.

The number of the sensors may be one or more, and is not limited herein. For example, the sensor may include an ultrasonic radar, a laser radar, a millimeter wave radar, a monocular camera, a binocular camera, a depth camera, an infrared sensor, a pyroelectric sensor, an inertial measurement unit, a sensor having a positioning function, a tactile sensor, and the like, which are not limited herein. The sensor with a positioning function may be equipped with a globally available navigation satellite system, such as a beidou third generation satellite navigation system (BDS), a Global Positioning System (GPS), a GLONASS satellite navigation system (GLONASS), and a GALILEO satellite navigation system (GALILEO), or may be equipped with a regional navigation system, such as a quasi zenith system (QZSS), a regional navigation satellite system (IRNSS), and the like, which is not limited herein.

The sensor is arranged in the working environment of the mower, and the working environment is the environment for the mower to perform mowing operation. The detection information may be used to characterize obstacles present in the work environment. For example, a work environment is detected by using a camera, the obtained detection information is an image, and the image is recognized to identify an obstacle existing in the image and a position corresponding to the obstacle. For another example, the working environment is detected by using a radar, the obtained detection information is an echo, and the echo is processed by an echo imaging technology, so that obstacles existing in the working environment and first positioning information corresponding to the obstacles can be determined. For another example, the working environment is detected by using a pyroelectric sensor and a mechanical sensor, and the obtained detection information can be corresponding voltage signals, current signals and the like, and can be used for determining whether living animals exist in the working environment and the position of the mower.

The first positioning information may be a position of the obstacle relative to the mower, a specific longitude and latitude of the obstacle, or a positioning in a coordinate system constructed by the server, which is not limited herein.

The original map may be used to represent a terrain of a working environment, such as a plain, a plateau, a hill, a basin, a mountain, a river, and the like, which is not limited herein.

In specific implementation, the electronic device can acquire detection information of the sensor on the working environment, determine first positioning information of the obstacle according to the detection information, and determine a working map of the mower according to the first positioning information of the obstacle and an original map of the working environment. For example, the first positioning information of the obstacle is marked in the original map, and the work map is the area which has no obstacle and needs weeding in the original map.

In addition, when the mower is used for mowing, if a plurality of obstacles exist in the working environment, for example, a small dynamic obstacle (such as a running pet dog) is arranged behind a large obstacle, when the sensor is installed on the mower body, the sensor on the mower body is difficult to detect the obstacle behind the obstacle due to light obstruction, long distance and the like, the sensor has a detection blind area, and the obstacle behind the obstacle is difficult to effectively avoid.

Under the condition that the sensor sets up in the operational environment of lawn mower, because the sensor breaks away from the lawn mower and sets up on objects such as lawn guardrail, wire pole, the detection range of sensor is great, so help reducing the detection blind area of sensor, help solving above-mentioned a plurality of barriers and shelter from the obstacle problem of keeping away that causes each other, help the lawn mower to realize accurate nimble obstacle keeping away.

When the driving route of the mower is determined in the work map, the driving route of the mower may be determined in the work map according to user input, a certain driving route may be preset by a research and development worker, or the driving route may be flexibly set by the electronic device according to factors such as the terrain of the work map, the type of grass cut, and the power of the mower, and is not limited herein.

It can be seen that in the embodiment of the application, the sensor is arranged in the working environment of the mower, the electronic device can obtain detection information of the sensor on the working environment, the detection information is used for representing obstacles existing in the working environment, first positioning information of the obstacles is determined according to the detection information, an original map of the working environment is obtained, the original map is used for representing the terrain of the working environment, a working map of the mower is determined according to the first positioning information and the original map, a driving route of the mower is determined according to the working map, and the driving route is sent to the mower; so, set up the sensor in the operation environment, ensure that the sensor is in the relatively steady environmental state, help guaranteeing the accuracy of sensor testing result, and then help guaranteeing the pinpoint to the barrier, help lawn mower realizes accurate nimble obstacle avoidance, and simultaneously, steady environmental state also helps reducing the fault rate of sensor, helps reducing the use cost of lawn mower, optimizes user experience.

In one possible example, the server acquires detection information of the working environment by the sensor and an original map of the working environment, the server determines first positioning information of the obstacle according to the detection information, the server determines a working map of the mower according to the first positioning information and the original map, and the server determines a driving route of the mower according to the working map. The server sends the driving route to the mower, and the mower receives the driving route and mows according to the driving route. Thus, unified management and control of the lawn mower by the server are facilitated.

In one possible example, the server obtains detection information of the working environment by the sensor and an original map of the working environment, determines first positioning information of the obstacle according to the detection information, and sends the first positioning information and the original map to the mower. The mower receives the first positioning information and the original map, and the mower determines a working map according to the first positioning information and the original map. Thus, the data processing pressure of the server side is reduced.

In one possible example, the server obtains detection information of the working environment by the sensor and an original map of the working environment, and sends the detection information and the original map to the mower. The mower determines first positioning information of the obstacle according to the detection information, determines a working map according to the first positioning information and the original map, and determines a driving route according to the working map. Thus, the data processing pressure of the server side is further relieved.

In one possible example, the mower acquires detection information of the working environment by the sensor and an original map of the working environment, the mower determines first positioning information of the obstacle according to the detection information, the mower determines a working map according to the first positioning information and the original map, and the mower determines a driving route according to the working map. Therefore, the interaction times between the mower and the server are reduced, and the influence of network communication factors on the mower is reduced.

In one possible example, the detecting information includes first sub-detecting information corresponding to a first time and second sub-detecting information corresponding to a second time, and the determining, in step 102, the first positioning information of the obstacle according to the detecting information may include:

step 1021, determining whether the obstacle displaces or not according to the first sub-detection information and the second sub-detection information;

step 1022, determining the type corresponding to the obstacle as a dynamic obstacle when the obstacle is displaced;

step 1023, predicting the position of the obstacle according to the first sub-detection information and the second sub-detection information to obtain a predicted position;

step 1024, determining the predicted position and the current position as the first positioning information of the dynamic obstacle.

In a specific implementation, if the first time is before the second time, the historical position of the obstacle may be determined according to the first sub-detection information, and the current position of the obstacle may be determined according to the second sub-detection information. Otherwise, if the second time is before the first time, determining the historical position of the obstacle according to the second sub-detection information, and determining the current position of the obstacle according to the first sub-detection information.

If the historical position is inconsistent with the current position, the obstacle can be determined to be displaced. And determining the type corresponding to the obstacle as the dynamic obstacle when the obstacle displaces. Since the dynamic obstacle may still be displaced at the next moment, the position of the dynamic obstacle at the next moment can be predicted, and the predicted position and the current position are used together as the first positioning information of the dynamic obstacle. Therefore, the current position of the dynamic obstacle is considered, the predicted position is also taken into consideration, and when the mower carries out mowing operation, if the dynamic obstacle displaces at the next moment, the mower can be helped to accurately avoid the dynamic obstacle.

Further, step 1021 may be executed at intervals of a predetermined time, which may be 5 seconds, 10 seconds, 30 seconds, 1 minute, 3 minutes, 5 minutes, 7 minutes, 10 minutes, and so on, and thus, it is helpful to achieve accurate positioning of the dynamic obstacle, and further, to facilitate accurate avoidance of the dynamic obstacle by the mower.

Optionally, after determining the predicted position and the current position as the first positioning information of the dynamic obstacle in step 1024, the method may further include the following steps:

step 01, obtaining second positioning information and motion information of the mower, wherein the motion information comprises at least one of the following items: a current movement speed, a movement acceleration, and a wheel deflection angle of the lawn mower.

And step 02, determining a driving route of the mower according to the second positioning information and the movement information.

And step 03, determining whether the mower meets the dynamic obstacle or not according to the first positioning information and the driving route.

And step 04, if the mower meets the dynamic obstacle, determining meeting time of the mower and the dynamic obstacle.

And step 05, if the meeting time is less than or equal to a preset time threshold, sending avoidance information to the mower.

The preset time threshold may be set comprehensively according to factors such as the current movement speed of the mower, the movement acceleration, the distance between the mower and the obstacle, and the like, and is not limited herein.

In a specific implementation, the corresponding driving route of the mower can be determined through the movement speed, the movement acceleration and the wheel deflection angle of the mower. If the driving route of the mower is overlapped with the positioning information of the dynamic barrier, that is, the mower may meet the dynamic barrier, and the meeting time is less than or equal to the preset duration threshold, the server may send avoidance information to the mower at this time to control the mower to avoid the barrier.

If the driving route of the mower is not overlapped with the positioning information of the dynamic barrier, avoiding information does not need to be sent to the mower, and the mower can continue to drive according to the driving route.

If the meeting time of the mower and the dynamic barrier is greater than the preset duration threshold, the positioning information of the dynamic barrier is considered to be possibly changed, at the moment, the warning information can be sent to the client communicated with the server, the user is prompted, and the user can control the mower according to the actual situation. If the user does not adjust the driving route of the mower, the server sends avoidance information to the mower when the meeting time of the mower and the dynamic barrier is smaller than or equal to a preset time threshold value, and the mower is controlled to avoid the barrier.

Further, when a plurality of lawn mowers operate simultaneously in the same operating environment, the obstacle avoidance scheme in the embodiment may be similarly applied, and at this time, the path planning method provided in the embodiment of the present application may be executed at the server side. For a certain mower, the rest of the mowers in the same working environment are equivalent to dynamic obstacles, and when the driving routes of a plurality of mowers are overlapped, the server can control one or more of the mowers to avoid. In this way, while the grass cutting effect of the mower is ensured, compared with the path planning method provided by the embodiment of the application executed on the mower side, the execution of the path planning method provided by the embodiment of the application on the server side is also beneficial to reducing the data calculation amount of the server.

It can be seen that, in the embodiment of the present application, the electronic device may obtain second positioning information and movement information of the lawn mower, where the movement information includes at least one of: determining a running route of the mower according to the second positioning information and the motion information, determining whether the mower meets the dynamic barrier or not according to the first positioning information and the running route, determining meeting time of the mower and the dynamic barrier if the mower meets the dynamic barrier, and sending avoidance information to the mower if the meeting time is less than or equal to a preset time threshold; so, when guaranteeing to keep away the barrier accuracy, still help guaranteeing the effect of mowing, optimize user experience.

In one possible example, the step 102 of determining the first positioning information of the obstacle according to the detection information may include the steps of:

and 1025, determining the type corresponding to the obstacle as a static obstacle under the condition that the obstacle is not displaced.

Step 1026, determining the current position as the first positioning information of the static obstacle.

In a specific implementation, as can be seen from the foregoing, if the historical position of the obstacle is consistent with the current position, it is determined that the obstacle is not displaced. And determining the type corresponding to the obstacle as a static obstacle when the obstacle displaces. Since the static obstacle is less likely to be displaced at the next time, the current position of the static obstacle can be directly used as the first positioning information. This helps ensure a wide range of coverage of the work map of the lawnmower, and helps ensure a mowing effect by mowing as wide a range as possible.

In one possible example, the first sub-detection information and the second sub-detection information are both image information, and the step 1021 of determining whether the obstacle is displaced according to the first sub-detection information and the second sub-detection information may include the following steps:

step 10211, generating a detection image according to the image information.

Step 10212, dividing the detection image into at least one region.

Step 10213, for the current region, determine a first color phase value and a first brightness value of the detected image corresponding to the first sub-detection information.

And step 10214, determining a second color phase value and a second brightness value of the detected image corresponding to the second sub-detection information.

Step 10215, determining whether the obstacle is displaced according to the first hue value, the second hue value, the first lightness value and the second lightness value.

In the embodiment of the present application, the detected image is a color image because the detected image is processed by detecting the hue value and the lightness value of the image to determine whether the obstacle is displaced.

In specific implementation, after a detection image is generated according to image information, the detection image is divided into one or more areas. If the detection image is divided into a plurality of areas, the detection image may be divided equally, or the detection image may be divided according to the terrain of the work environment indicated in the original map, so that the detection images in one area are all the same terrain, and the dividing manner is not limited uniquely here. Further, if the detection image is divided according to the terrain, the size of the divided area should be set reasonably, which is helpful for ensuring accurate judgment of the type of the obstacle.

It can be understood that, for any area, if no object in the area is displaced, the detection information at the front and rear times, that is, the first sub detection information and the second sub detection information, does not change the hue value and the lightness value greatly, and for the occasion of using the lawn mower, the green background of the lawn makes the obstacle in the lawn easier to be identified, so that whether the obstacle is displaced or not is determined according to the first hue value, the second hue value, the first lightness value and the second lightness value, which is helpful to ensure the accuracy of the determination result, thereby being helpful to ensure the accurate positioning of the obstacle and helping the lawn mower to realize accurate and flexible obstacle avoidance.

In one possible example, the step 10215 of determining whether the obstacle is displaced according to the first hue value, the second hue value, the first lightness value and the second lightness value may include the steps of:

step 102151, determining a first variation ratio corresponding to the hue value according to the first hue value and the second hue value;

step 102152, determining a second change proportion corresponding to the brightness value according to the first brightness value and the second brightness value;

step 102153, determining a relative variation value corresponding to the current region according to the first variation proportion, the second variation proportion and a preset weight;

step 102154, determining that the obstacle displaces when the relative change value is larger than a preset threshold value;

and 102155, determining that the obstacle is not displaced when the relative change value is less than or equal to the preset threshold value.

The preset threshold of the relative variation value may be set by a user, or may be set by the electronic device comprehensively according to factors such as a main color of the operating environment, weather at a location of the operating environment, and a terrain of the operating environment, which is not limited herein.

The preset weight may be set by a user or a research and development staff, or may be set by the electronic device comprehensively according to factors such as a main color of the operating environment, weather of a location of the operating environment, and a terrain of the operating environment, which are not limited herein.

In a specific implementation, considering that the color most appearing in the working environment of the lawn mower is green, and green is a color with few obstacles (such as living animals, stones, and the like), if the object a does not appear in the detection image of the current area at the previous moment, and the object a appears in the detection image of the current moment, the first change ratio of the hue value of the current area is large. Therefore, the type of the obstacle can be preliminarily judged according to the first change proportion of the hue value of the current region, and therefore, the weight corresponding to the first change proportion is larger than the weight corresponding to the second change proportion. Further, in consideration of the fact that when an obstacle appears in the detection image of the current region, the brightness value corresponding to the current region also changes, the type of the obstacle can be determined in an auxiliary manner according to the second change ratio corresponding to the brightness value.

Taking the example that the first time is before the second time, the first time (n-1) corresponds to the first sub-detection information, and the first sub-detection information corresponds to the first color phase value P of the current region x in the detected image_(n-1)(x) And a first lightness value Q_(n-1)(x) The second time (n) corresponds to a second sub-detection information corresponding to a second color phase value P of the current region x in the detected image_(n)(x) And a second lightness value Q_(n)(x) In that respect The first change ratio corresponding to the hue value is

The second change ratio corresponding to the brightness value is

The first variation ratio alpha corresponds to a weight of

The second variation ratio β corresponds to a weight of

The relative change value γ of the current region x may be determined as follows:

in

It can be understood that, when a dynamic obstacle exists in the current area, the first change proportion and/or the second change proportion corresponding to the current area are/is larger, and the relative change value is larger than the preset threshold value. Therefore, when the relative change value is greater than the preset threshold value, it can be considered that an obstacle exists in the current area and the obstacle is displaced. Otherwise, when no obstacle exists in the current area or the obstacle is a static obstacle, the first change proportion and/or the second change proportion corresponding to the current area are smaller, and the relative change value is smaller than or equal to the preset threshold value. Therefore, in the case where the relative change value is less than or equal to the preset threshold value, it may be considered that no obstacle exists in the current area or the obstacle is not displaced.

Furthermore, the saturation of the current region can also be taken into account in the relative change value. For example, for the current region, a first saturation value of a detection image corresponding to the first sub-detection information and a second saturation value of a detection image corresponding to the second sub-detection information are determined, a third change proportion δ corresponding to the saturation values is determined, and a relative change value corresponding to the current region is determined according to the first change proportion α, the second change proportion β, the third change proportion δ, and a preset weight:

it can be seen that, in the embodiment of the application, the electronic device may determine a first change proportion corresponding to a hue value according to a first hue value and a second hue value, determine a second change proportion corresponding to a lightness value according to the first lightness value and the second lightness value, determine a relative change value corresponding to a current region according to the first change proportion, the second change proportion and a preset weight, determine that an obstacle is displaced when the relative change value is greater than a preset threshold, and determine that the obstacle is not displaced when the relative change value is less than or equal to the preset threshold.

Optionally, before the step 101, acquiring the detection information of the working environment by the sensor and the original map of the working environment, the method further includes the following steps:

and A01, acquiring angle detection information of the sensor.

Step A02, determining whether the detection angle of the sensor is abnormal according to the angle detection information.

And A03, generating corresponding prompt information and sending the prompt information to the client device when the detection angle is abnormal.

Step a04, when the detection angle is not abnormal, acquiring the detection information of the sensor on the working environment.

The angle detection information may be used to represent a detection angle of the sensor. The detection angle of each sensor can be determined by mutually monitoring a plurality of sensors, or the detection angle of each sensor can be determined by detecting a mark object in the working environment.

It can be understood that the shooting angle of the camera mounted on the lawn guardrail may be deviated, and the radar signal emission angle mounted on the telegraph pole may be deviated, so that it is ensured that the detection angle of the sensor is not abnormal before the detection information of the sensor is acquired. Further, even when the detection angle of the sensor is slightly offset, it can be considered that the detection angle is not abnormal. When the angular offset amplitude of the sensor is larger than the amplitude threshold value, the detection angle of the sensor is considered to be abnormal.

In a specific implementation, the amplitude threshold may be determined by detecting a marker object in the working environment, for example, when the detection angle deviation of the sensor is too large, the object B in the initial detection range may not be detected, the object B may be used as the marker object of the detection angle of the sensor, and when the sensor cannot detect the marker object, the angle deviation amplitude of the sensor may be considered to be greater than the amplitude threshold.

The client device can be in communication connection with the electronic device, and when the detection angle of the sensor is abnormal, the electronic device generates corresponding prompt information and sends the prompt information to the client device so as to prompt a user to check the sensor and ensure that the detection angle of the sensor is correct.

It can be seen that, in the embodiment of the application, the electronic device may obtain angle detection information of the sensor, where the angle detection information is used to characterize a detection angle of the sensor, determine whether the detection angle of the sensor is abnormal according to the angle detection information, generate corresponding prompt information and send the prompt information to the client device when the detection angle is abnormal, where the client device is in communication connection with the electronic device, and obtain detection information of the sensor on the working environment and an original map of the working environment when the detection angle is not abnormal; so, just acquire the detection information of sensor when detecting the angle and not taking place unusually, help ensureing the accuracy of sensor testing result, and then help ensureing the pinpointing to the barrier, help the lawn mower to realize accurate nimble obstacle avoidance.

Referring to fig. 2, in accordance with the embodiment shown in fig. 1B, fig. 2 is a schematic flowchart of a path planning method of a lawn mower according to an embodiment of the present disclosure, and is applied to the electronic device shown in fig. 1A, where the electronic device may be a server or a lawn mower; the path planning method of the mower comprises the following steps:

step 201, obtaining angle detection information of the sensor, wherein the angle detection information is used for representing a detection angle of the sensor.

Step 202, determining whether the detection angle of the sensor is abnormal or not according to the angle detection information.

Step 203, generating corresponding prompt information and sending the prompt information to a client device under the condition that the detection angle is abnormal, wherein the client device is in communication connection with the electronic device;

and 204, under the condition that the detection angle is not abnormal, acquiring detection information of the sensor on a working environment and an original map of the working environment, wherein the sensor is arranged in the working environment of the mower, the working environment is the environment for mowing by the mower, the detection information is used for representing obstacles in the working environment, and the original map is used for representing the terrain of the working environment.

And step 205, determining first positioning information of the obstacle according to the detection information.

And step 206, determining a working map of the mower according to the first positioning information and the original map.

And step 207, determining the traveling route of the mower according to the work map.

For the detailed description of the steps 201 to 207, reference may be made to the corresponding steps of the path planning method of the lawn mower described in fig. 1B, and details are not repeated here.

It can be seen that in the path planning method for a lawn mower described in the embodiment of the present application, a sensor is disposed in a working environment of the lawn mower, an electronic device may obtain angle detection information of the sensor, where the angle detection information is used to represent a detection angle of the sensor, determine whether the detection angle of the sensor is abnormal according to the angle detection information, generate corresponding prompt information and send the prompt information to a client device when the detection angle is abnormal, the client device is in communication connection with the electronic device, and obtain the detection information of the working environment from the sensor and an original map of the working environment when the detection angle is not abnormal, where the detection information is used to represent obstacles existing in the working environment and the original map is used to represent a terrain of the working environment, determining first positioning information of the obstacle according to the detection information, determining a working map of the mower according to the first positioning information and the original map, and determining a driving route of the mower according to the working map; so, set up the sensor in the operation environment, ensure that the sensor is in the relatively steady environmental state, help guaranteeing the accuracy of sensor testing result, and acquire the detection information of sensor when the detection angle of sensor is not unusual, help guaranteeing the accurate location to the barrier, help lawn mower to realize accurate nimble obstacle avoidance, simultaneously, steady environmental state also helps reducing the fault rate of sensor, helps reducing the use cost of lawn mower, optimizes user experience.

Referring to fig. 3, fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure, and as shown in the figure, the electronic device includes a processor, a memory, and a computer program or an instruction stored in the memory, where the computer program or the instruction is stored in the memory and configured to be executed by the processor. The electronic device may also include a communication interface. In an embodiment of the present application, the program includes instructions for performing the following steps:

acquiring detection information of the sensor on the working environment and an original map of the working environment, wherein the sensor is arranged in the working environment of the mower, the working environment is an environment for mowing by the mower, the detection information is used for representing obstacles in the working environment, and the original map is used for representing the terrain of the working environment;

and determining the driving route of the mower according to the work map.

It can be seen that, in the electronic device described in the embodiment of the present application, the sensor is disposed in the working environment of the lawn mower, the electronic device may obtain detection information of the sensor on the working environment, the detection information is used to represent an obstacle existing in the working environment, determine first positioning information of the obstacle according to the detection information, obtain an original map of the working environment, the original map is used to represent a terrain of the working environment, determine a working map of the lawn mower according to the first positioning information and the original map, and determine a driving route of the lawn mower according to the working map; so, set up the sensor in the operation environment, ensure that the sensor is in the relatively steady environmental state, help guaranteeing the accuracy of sensor testing result, and then help guaranteeing the pinpoint to the barrier, help lawn mower realizes accurate nimble obstacle avoidance, and simultaneously, steady environmental state also helps reducing the fault rate of sensor, helps reducing the use cost of lawn mower, optimizes user experience.

In one possible example, the detection information includes first sub-detection information corresponding to a first time and second sub-detection information corresponding to a second time, and in the aspect of determining the first positioning information of the obstacle according to the detection information, the program includes instructions for performing the following steps:

determining whether the obstacle displaces or not according to the first sub-detection information and the second sub-detection information;

determining the type corresponding to the obstacle as a dynamic obstacle under the condition that the obstacle displaces;

predicting the position of the obstacle according to the first sub-detection information and the second sub-detection information to obtain a predicted position;

determining the predicted and current positions as the first positioning information for the dynamic obstacle.

In one possible example, in the aspect of determining the first positioning information of the obstacle according to the detection information, the program includes instructions for performing the steps of:

determining the type corresponding to the obstacle as a static obstacle when the obstacle is not displaced;

determining the current location as the first positioning information for the static obstacle.

In one possible example, the first sub detection information and the second sub detection information are both image information, and in the determining whether the obstacle is displaced according to the first sub detection information and the second sub detection information, the program includes instructions for performing the following steps:

generating a detection image according to the image information;

dividing the detection image into at least one region;

for the current area, determining a first color phase value and a first brightness value of a detection image corresponding to the first sub-detection information;

determining a second hue value and a second brightness value of the detection image corresponding to the second sub-detection information;

and determining whether the obstacle displaces according to the first color phase value, the second color phase value, the first brightness value and the second brightness value.

In one possible example, in said determining whether the obstacle is displaced based on the first hue value, the second hue value, the first lightness value, and the second lightness value, the above program includes instructions for:

determining a first change proportion corresponding to the hue value according to the first hue value and the second hue value;

determining a second change proportion corresponding to the brightness value according to the first brightness value and the second brightness value;

determining a relative change value corresponding to the current region according to the first change proportion, the second change proportion and a preset weight;

determining that the obstacle displaces when the relative change value is larger than a preset threshold value;

determining that the obstacle is not displaced if the relative change value is less than or equal to the preset threshold value.

In one possible example, before the acquiring the detection information of the working environment by the sensor and the original map of the working environment, the program further includes instructions for:

acquiring angle detection information of the sensor, wherein the angle detection information is used for representing a detection angle of the sensor;

determining whether the detection angle of the sensor is abnormal or not according to the angle detection information;

generating corresponding prompt information and sending the prompt information to client equipment under the condition that the detection angle is abnormal, wherein the client equipment is in communication connection with the electronic equipment;

and acquiring the detection information of the working environment by the sensor under the condition that the detection angle is not abnormal.

The above description has introduced the solution of the embodiment of the present application mainly from the perspective of the method-side implementation process. It is understood that in order to implement the above functions, it includes corresponding hardware structures and/or software modules for performing the respective functions. Those of skill in the art will readily appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments provided herein may be implemented as hardware or combinations of hardware and computer software. Whether a function is performed in hardware or computer software drives hardware depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

In the embodiment of the present application, the functional units may be divided according to the above method examples, for example, each functional unit may be divided corresponding to each function, or two or more functions may be integrated into one processing unit. The integrated unit may be implemented in the form of hardware, or may also be implemented in the form of a software functional unit. It should be noted that the division of the unit in the embodiment of the present application is schematic, and is only a logic function division, and there may be another division manner in actual implementation.

Referring to fig. 4A, fig. 4A is a block diagram of functional units of a lawn mower path planning apparatus according to an embodiment of the present disclosure, where the apparatus 400 is applied to an electronic device, and the electronic device may be a server or a lawn mower; the apparatus 400 comprises: an acquisition unit 401 and a determination unit 402, wherein,

the obtaining unit 401 is configured to obtain detection information of the working environment by the sensor, the detection information being used to represent obstacles existing in the working environment, and an original map of the working environment, the original map being used to represent a terrain of the working environment;

the determining unit 402 is configured to determine first positioning information of the obstacle according to the detection information;

the determining unit 402 is further configured to determine a working map of the lawn mower according to the first positioning information and the original map;

the determining unit 402 is further configured to determine a driving route of the lawn mower according to the work map.

According to the mower path planning device described in the embodiment of the application, the sensor is arranged in the working environment of the mower, the detection information of the sensor on the working environment is obtained, the detection information is used for representing obstacles existing in the working environment, the first positioning information of the obstacles is determined according to the detection information, the original map of the working environment is obtained, the original map is used for representing the terrain of the working environment, the working map of the mower is determined according to the first positioning information and the original map, and the traveling route of the mower is determined according to the working map; so, set up the sensor in the operation environment, ensure that the sensor is in the relatively steady environmental state, help guaranteeing the accuracy of sensor testing result, and then help guaranteeing the pinpoint to the barrier, help lawn mower realizes accurate nimble obstacle avoidance, and simultaneously, steady environmental state also helps reducing the fault rate of sensor, helps reducing the use cost of lawn mower, optimizes user experience.

In one possible example, the detection information includes first sub-detection information corresponding to a first time and second sub-detection information corresponding to a second time, and in the aspect of determining the first positioning information of the obstacle according to the detection information, the determining unit 402 is specifically configured to:

In one possible example, in the aspect of determining the first positioning information of the obstacle according to the detection information, the determining unit 402 is specifically configured to:

In a possible example, the first sub-detection information and the second sub-detection information are both image information, and in the aspect of determining whether the obstacle is displaced according to the first sub-detection information and the second sub-detection information, the determining unit 402 is specifically configured to:

generating a detection image according to the image information;

dividing the detection image into at least one region;

In one possible example, in the aspect of determining whether the obstacle is displaced according to the first hue value, the second hue value, the first lightness value and the second lightness value, the determining unit 402 is specifically configured to:

In one possible example, as shown in fig. 4B, the apparatus 400 may further include, as compared to fig. 4A described above: a generating unit 404 for generating, among other things,

the obtaining unit 401 is further configured to obtain angle detection information of the sensor, where the angle detection information is used to represent a detection angle of the sensor;

the determining unit 402 is further configured to determine whether a detection angle of the sensor is abnormal according to the angle detection information;

the generating unit 404 is further configured to generate corresponding prompt information and send the prompt information to a client device when the detection angle is abnormal, where the client device is in communication connection with the electronic device;

the obtaining unit 401 is further configured to obtain the detection information of the working environment by the sensor when no abnormality occurs in the detection angle.

According to the mower path planning device provided by the embodiment of the application, the sensor is arranged in the operation environment of the mower, the mower path planning device can acquire the detection information of the sensor on the operation environment, the detection information is used for representing the obstacles existing in the operation environment, the first positioning information of the obstacles is determined according to the detection information, the original map of the operation environment is acquired, the original map is used for representing the terrain of the operation environment, the working map of the mower is determined according to the first positioning information and the original map, the driving route of the mower is determined according to the working map, and the driving route is sent to the mower; so, set up the sensor in the operation environment, ensure that the sensor is in the environmental state steady relatively, help guaranteeing the accuracy of sensor testing result, and then help guaranteeing the accurate positioning to the barrier, help lawn mower realizes accurate nimble obstacle avoidance, and simultaneously, steady environmental state also helps reducing the fault rate of sensor, helps reducing the use cost of lawn mower, optimizes user experience.

It can be understood that the functions of the program modules of the lawn mower path planning apparatus of this embodiment can be specifically implemented according to the method in the above method embodiment, and the specific implementation process thereof can refer to the related description of the above method embodiment, and will not be described herein again.

In accordance with the foregoing embodiment, please refer to fig. 5, fig. 5 is a schematic diagram of a path planning system 500 of a lawn mower according to an embodiment of the present application, where the system 500 includes a sensor 501, a server 502 and a lawn mower 503, where the sensor 501 is disposed in a working environment of the lawn mower 503, the working environment is an environment in which the lawn mower 503 performs mowing, the sensor 501 is configured to detect the working environment to obtain detection information, and the detection information is used to represent obstacles existing in the working environment; the server 502 is in communication connection with the sensor 501, the server 502 is used for acquiring detection information and an original map of the working environment, and the original map is used for representing the terrain of the working environment; and first positioning information for determining the obstacle according to the detection information; and is used for determining the working map of the mower 503 according to the first positioning information and the original map; and for determining a driving route of the lawn mower 503 from the work map; the mower 503 is connected to the server 502 in a communication manner, and the mower 503 is used for receiving the driving route sent by the server 502.

It can be seen that, in the path planning system according to the embodiment of the present application, the sensor is disposed in the operation environment of the lawn mower, the detection information of the operation environment by the sensor is obtained through the server, the detection information is used for representing an obstacle existing in the operation environment, the first positioning information of the obstacle is determined according to the detection information, and an original map of the operation environment is obtained, the original map is used for representing a terrain of the operation environment, the server determines a work map of the lawn mower according to the first positioning information and the original map, and determines a driving route of the lawn mower according to the work map, and the lawn mower receives the driving route sent by the server; so, set up the sensor in the operation environment, ensure that the sensor is in the relatively steady environmental state, help guaranteeing the accuracy of sensor testing result, and then help guaranteeing the pinpoint to the barrier, help lawn mower realizes accurate nimble obstacle avoidance, and simultaneously, steady environmental state also helps reducing the fault rate of sensor, helps reducing the use cost of lawn mower, optimizes user experience.

Embodiments of the present application also provide a computer storage medium, wherein the computer storage medium stores a computer program for electronic data exchange, and the computer program enables a computer to execute part or all of the steps of any one of the methods as described in the above method embodiments.

Embodiments of the present application also provide a computer program product, which includes a computer program operable to cause a computer to perform some or all of the steps of any of the methods described in the above method embodiments.

It should be noted that, for simplicity of description, the above-mentioned method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present application is not limited by the order of acts described, as some steps may occur in other orders or concurrently depending on the application. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required in this application.

In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus may be implemented in other manners. For example, the above-described embodiments of the apparatus are merely illustrative, and for example, the above-described division of the units is only one type of division of logical functions, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of some interfaces, devices or units, and may be an electric or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated unit may be stored in a computer readable memory if it is implemented in the form of a software functional unit and sold or used as a stand-alone product. Based on such understanding, the technical solution of the present application may be substantially implemented or a part of or all or part of the technical solution contributing to the prior art may be embodied in the form of a software product stored in a memory, and including several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the above-mentioned method of the embodiments of the present application. And the aforementioned memory comprises: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.

Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by associated hardware instructed by a program, which may be stored in a computer-readable memory, which may include: flash Memory disks, Read-Only memories (ROMs), Random Access Memories (RAMs), magnetic or optical disks, and the like.

The foregoing detailed description of the embodiments of the present application has been presented to illustrate the principles and implementations of the present application, and the above description of the embodiments is only provided to help understand the method and the core concept of the present application; meanwhile, for a person skilled in the art, according to the idea of the present application, the specific implementation manner and the application scope may be changed, and in summary, the content of the present specification should not be construed as a limitation to the present application.

Claims

1. A method of path planning for a lawnmower, the method comprising:

acquiring detection information of a sensor on a working environment and an original map of the working environment, wherein the sensor is arranged in the working environment of the mower, the working environment is the environment of the mower for mowing, the detection information is used for representing obstacles existing in the working environment, and the original map is used for representing the terrain of the working environment;

and determining the driving route of the mower according to the work map.

2. The method according to claim 1, wherein the detection information includes first sub-detection information corresponding to a first time and second sub-detection information corresponding to a second time, and the determining the first positioning information of the obstacle according to the detection information includes:

3. The method of claim 2, wherein the determining first positioning information of the obstacle from the detection information comprises:

4. The method according to claim 2, wherein the first sub-detection information and the second sub-detection information are both image information, and the determining whether the obstacle is displaced according to the first sub-detection information and the second sub-detection information comprises:

generating a detection image according to the image information;

dividing the detection image into at least one region;

and determining whether the obstacle is displaced or not according to the first color phase value, the second color phase value, the first brightness value and the second brightness value.

5. The method of claim 4, wherein said determining whether the obstacle is displaced based on the first hue value, the second hue value, the first lightness value, and the second lightness value comprises:

6. The method according to claim 1, applied to an electronic device, further comprising, before the acquiring detection information of the sensor on the working environment and an original map of the working environment:

under the condition that the detection angle is abnormal, generating corresponding prompt information and sending the prompt information to client equipment, wherein the client equipment is in communication connection with the electronic equipment;

and acquiring the detection information of the working environment by the sensor when the detection angle is not abnormal.

7. A path planning system for a lawn mower, the system comprising:

8. A lawn mower path planning apparatus, said apparatus comprising: an acquisition unit and a determination unit, wherein,

the acquisition unit is used for acquiring detection information of the sensor on the working environment and an original map of the working environment, the sensor is arranged in the working environment of the mower, the working environment is the environment of the mower for mowing, the detection information is used for representing obstacles existing in the working environment, and the original map is used for representing the terrain of the working environment;

9. An electronic device comprising a processor, a memory for storing one or more programs and configured for execution by the processor, the programs comprising instructions for performing the steps in the method of any of claims 1-6.

10. A computer-readable storage medium, characterized by storing a computer program for electronic data exchange, wherein the computer program causes a computer to execute instructions of the steps in the method according to any one of claims 1-6.