CN114859887A - Path planning method and device for mower with side cutter head, storage medium and computer - Google Patents
Path planning method and device for mower with side cutter head, storage medium and computer Download PDFInfo
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- CN114859887A CN114859887A CN202210323308.4A CN202210323308A CN114859887A CN 114859887 A CN114859887 A CN 114859887A CN 202210323308 A CN202210323308 A CN 202210323308A CN 114859887 A CN114859887 A CN 114859887A
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- 238000000034 method Methods 0.000 title claims abstract description 45
- 238000004590 computer program Methods 0.000 claims description 10
- 238000005520 cutting process Methods 0.000 abstract description 8
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/006—Control or measuring arrangements
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Abstract
The invention relates to a path planning method and device for a mower with a side cutter head, a storage medium and a computer. The method comprises the following steps: acquiring an electronic map of a mowing area, and dividing the electronic map of the mowing area into a plurality of mowing subareas; if the mowing sub-area comprises a part of boundary lines of the mowing area electronic map, planning a bow-shaped path according to the direction of the boundary lines and the direction of the cutterhead, enabling the long side or the short side of the bow-shaped path to be consistent with the direction of the boundary lines, and enabling the cutterhead side to face the boundary lines when the mower travels on the bow-shaped path adjacent to the boundary lines; the boundary line is the boundary of the electronic map of the mowing area or the boundary of an internal obstacle; the mower carries out mowing operation according to the zigzag path. According to the invention, the cutter head is laterally arranged on the mower, and the advancing direction of the zigzag path is planned according to the direction of the boundary line and the direction of the cutter head, so that the phenomenon of missed cutting of the boundary line is reduced, and the mowing coverage rate of the boundary line is improved.
Description
Technical Field
The invention relates to the field of automatic mowers, in particular to a method and a device for planning a path of a mower with a side cutter head, a storage medium and a computer.
Background
The automatic mower does not need a user to manually push the mower, can automatically complete mowing operation, saves labor and improves mowing efficiency. The automatic lawn mower includes a planning lawn mower, which autonomously plans a traveling path and completes a mowing operation according to the traveling path, for example, a bow-shaped path. Because the cutter head of the existing automatic mower is positioned at or basically positioned at the center of the machine body, and the size of the cutter head is smaller than that of the machine body based on safety consideration, the coverage range of the cutter head cannot reach the edge of the machine body, so that the automatic mower cannot cover the boundary when mowing on the boundary line, and missed mowing is caused.
Disclosure of Invention
The invention aims to provide a path planning method and device of a mower with a side cutter head, a storage medium and a computer.
The technical scheme adopted by the invention for solving the technical problems is as follows: a path planning method of a mower with a side cutter head is constructed, and comprises the following steps:
the method comprises the steps of obtaining an electronic map of a mowing area, and dividing the electronic map of the mowing area into a plurality of mowing subareas;
if the mowing sub-area comprises a part of boundary lines of the mowing area electronic map, planning a bow-shaped path according to the azimuth of the boundary lines and the azimuth of a cutter head, enabling the long side or the short side of the bow-shaped path to be consistent with the direction of the boundary lines, and enabling the cutter head to face the boundary lines when the mower travels on the bow-shaped path adjacent to the boundary lines;
and the mower carries out mowing operation according to the zigzag path.
Further, in the path planning method for the mower with the side cutter head according to the present invention, if the mowing sub-area includes two opposite boundary lines, the mowing sub-area is divided into two mowing sub-areas, and each of the divided mowing sub-areas includes one boundary line.
Further, in the method for planning a path of a mower with a side cutter deck according to the present invention, if the mowing area includes two opposite boundary lines, the method includes: if the mowing area comprises two opposite boundary lines, and the distance between the two boundary lines is larger than a preset distance.
Further, in the method for planning a path of a mower with a side cutter deck according to the present invention, if the mowing area includes two opposite boundary lines, the method includes: if the mowing area comprises two opposite boundary lines, and the area of the mowing area is larger than the preset area.
Further, in the method for planning a path of a mower with a side cutter deck according to the present invention, after the mower performs mowing operation according to the zigzag path, the method further includes:
and performing one-time edgewise mowing on a boundary opposite to the boundary line in the mowing sub-area, wherein the edgewise mowing means that the mower travels along the boundary, and the mowing operation is performed by facing one side of a cutter head of the mower to the boundary.
Further, in the path planning method for the mower with the side-mounted cutterhead, the cutterhead is positioned on the left side of the mower, and one side of the short side of the zigzag path is consistent with the direction of the boundary line;
if the boundary line is an upper boundary line, the advancing direction of the bow-shaped path is from left to right;
if the boundary line is a lower boundary line, the advancing direction of the bow-shaped path is from right to left;
if the boundary line is a left boundary line, the advancing direction of the zigzag path is from bottom to top;
and if the boundary line is the right boundary line, the advancing direction of the zigzag path is from top to bottom.
Further, in the path planning method for the mower with the side-mounted cutterhead, the cutterhead is positioned on the right side of the mower, and one side of the short side of the arched path is consistent with the direction of the boundary line;
if the boundary line is an upper boundary line, the advancing direction of the bow-shaped path is from right to left;
if the boundary line is a lower boundary line, the advancing direction of the zigzag path is from left to right;
if the boundary line is a left boundary line, the advancing direction of the zigzag path is from top to bottom;
and if the boundary line is the right boundary line, the advancing direction of the zigzag path is from bottom to top.
In addition, the invention also provides a path planning device of the mower with the side cutter head, which comprises:
the map acquisition unit is used for acquiring an electronic map of a mowing area and dividing the electronic map of the mowing area into a plurality of mowing subareas;
a path planning unit configured to plan a zigzag path based on an azimuth of the boundary line and an azimuth of a cutter if the mowing area includes a partial boundary line of the mowing area electronic map, such that a long side or a short side of the zigzag path coincides with the boundary line direction, and the cutter faces the boundary line when the mower travels on the zigzag path adjacent to the boundary line;
and the execution unit is used for carrying out mowing operation on the mower according to the zigzag path.
In addition, the present invention also provides a computer readable storage medium, which stores a computer program, wherein the computer program is suitable for being loaded by a processor to execute the steps of the path planning method for the mower with the side-mounted cutterhead.
In addition, the invention also provides a computer, which comprises a memory and a processor;
the memory has stored therein a computer program;
the processor executes the steps of the cutterhead-side mower path planning method by calling the computer program stored in the memory.
The implementation of the path planning method, the device, the storage medium and the computer of the mower with the side cutter head has the following beneficial effects: according to the invention, the cutter head is laterally arranged on the mower, and the advancing direction of the zigzag path is planned according to the direction of the boundary line and the direction of the cutter head, so that the phenomenon of missed cutting of the boundary line is reduced, and the mowing coverage rate of the boundary line is improved.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a flow chart of a method for planning a path of a mower with a side-mounted cutterhead according to an embodiment of the present invention;
FIGS. 2a, 2b and 2c are schematic views of the side orientation of the cutterhead provided by the embodiment of the present invention;
FIG. 3 is a schematic boundary line diagram provided by an embodiment of the present invention;
FIGS. 4a and 4b are schematic views showing the positional relationship between the bow-shaped path and the boundary line according to the embodiment of the present invention;
FIGS. 5a and 5b are schematic diagrams of the position relationship of the cutterhead on one side of the short side of the mower provided by the embodiment of the invention;
FIG. 6 is a schematic view of a mowing area zone provided by an embodiment of the present invention;
fig. 7 is a schematic view of edge mowing provided by the embodiment of the invention.
Detailed Description
For a more clear understanding of the technical features, objects and effects of the present invention, embodiments of the present invention will now be described in detail with reference to the accompanying drawings.
In a preferred embodiment, referring to fig. 1, 2a, 2b and 2c, the method for planning the path of the mower-side cutter is applied to the mower-side cutter, where the cutter of the mower-side cutter is not located at (or near) the center of the mower body, but is biased to one side of the mower body. Referring to fig. 2a, 2b and 2c, which are top views of the mower 10, the dashed arrows indicate the midline of the mower 10 and the direction of travel, and the mower 10 includes the cutter deck 20. Referring to the forward travel of the mower 10, the cutter head 20 is located at (or near) the center of the mower 10 in fig. 2a, the cutter head 20 is located at the left side of the mower 10 in fig. 2b, the cutter head 20 is located at the right side of the mower 10 in fig. 2c, and the cutter head side position in this embodiment is the cutter head position shown in fig. 2b and 2 c. It will be understood that fig. 2b and 2c are only schematic views of the offset of the cutter head, with the cutter head 20 being located to the left of the mower being the center of the cutter head to the left of the mower body centerline and the cutter head 20 being located to the right of the mower being the center of the cutter head to the right of the mower body centerline. Specifically, the path planning method for the mower with the side cutter head comprises the following steps:
and S1, acquiring the mowing area electronic map, and dividing the mowing area electronic map into a plurality of mowing sub-areas.
Specifically, the mower can use a sensor carried by the mower to acquire data of an area to be mowed, and then establishes an electronic map of a mowed area of the area to be mowed. The lawn mower can also obtain the electronic map of the mowing area through the external equipment, and the lawn mower receives the electronic map of the mowing area sent by the external equipment through the communication module. After the electronic map of the mowing area is obtained, the electronic map of the mowing area is divided into a plurality of mowing sub-areas, and then the traveling route of the mower in each mowing sub-area is planned.
And S2, if the mowing area comprises a part of boundary lines of the mowing area electronic map, planning a zigzag path according to the direction of the boundary lines and the direction of the cutterhead, enabling the long side or the short side of the zigzag path to be consistent with the direction of the boundary lines, and enabling the cutterhead side to face the boundary lines when the mower travels on the zigzag path adjacent to the boundary lines.
Specifically, the lawn mower is a planning lawn mower, which is different from a free-form lawn mower, and the planning lawn mower needs to plan a traveling path, such as a bow-shaped path, and then perform mowing operation according to the planned traveling path. After the electronic map of the mowing area is divided into a plurality of mowing sub-areas, whether the mowing sub-areas comprise part of boundary lines of the electronic map of the mowing area or not is judged, one side of the boundary lines is a mowing area, and the other side of the boundary lines is a non-mowing area. Referring to fig. 3, the illustrated area is a mowing area electronic map, where boundaries a1, a2, a3, and a4 are boundary lines. After the electronic map of the mowing area is divided into a plurality of mowing areas, if the mowing area comprises at least one of the boundaries a1, a2, a3 and a4, the mowing area is considered to comprise the boundary line.
Further, the lawnmower of the present embodiment travels along the zigzag path, and if it is determined that the mowing area includes the boundary line, the traveling direction of the zigzag path is planned based on the orientation of the boundary line and the orientation of the cutter, and the cutter is directed toward the boundary line when the lawnmower travels along the path toward the short side of the zigzag path of the boundary line. It should be noted that the orientation of the borderline refers to the position of the borderline in the mowing area, including up, down, left, and right. The orientation of the cutter head refers to the position of the cutter head on the mower body, including the left side and the right side of the mower body. The long side of the zigzag path is the side where the travel distance is long, and the short side of the zigzag path is the side at the time of turning, and the description will be given with reference to fig. 4a and 4b, in which fig. 4a shows the short side of the zigzag path facing the boundary line a1, and fig. 4b shows the short and long sides of the zigzag path facing the boundary line a 1. In the present embodiment, the zigzag path shown in fig. 4a is used, and the short side of the zigzag path is directed to the boundary line.
Further, when planning the path, the mower is caused to travel on the path on the short side of the arcuate path toward the boundary line with the cutter head side facing the boundary line. Referring to fig. 5a, the short side of the arcuate path is shown as approaching boundary line a1, and the deck 20 side faces boundary line a1 as the mower travels along the short side. Referring to fig. 5b, the short side of the arcuate path is shown as approaching boundary line a1, and as the mower travels along this short side, the deck 20 is moving away from boundary line a1, i.e., the deck 20 is not facing boundary line a 1. The present embodiment employs the travel pattern shown in fig. 5 a.
And S3, the mower carries out mowing according to the zigzag path.
In the embodiment, the mower is laterally provided with the cutter head, and the advancing direction of the zigzag path is planned according to the direction of the boundary line and the direction of the cutter head, so that the phenomenon of missed cutting of the boundary line is reduced, and the mowing coverage rate of the boundary line is improved.
In the method for planning a path of a mower with a side-mounted cutterhead of some embodiments, after step S1 and before step S2, the method further comprises the steps of: if the mowing area comprises two opposite boundary lines, the mowing area is divided into two mowing areas, and each divided mowing area comprises one boundary line. Referring to fig. 6, the mowing area includes a boundary line a1 and a boundary line a3, and boundary line a1 is opposite to boundary line a 3. The mowing area is divided into two mowing areas p1 and p2 by a broken line in the figure, wherein the mowing area p1 comprises a boundary line a1, and the mowing area p2 comprises a boundary line a 2.
Alternatively, if the mowing area comprises two opposite boundary lines, the distance between the two boundary lines is acquired, and whether the distance between the two boundary lines is larger than a preset distance is judged. And if the distance between the two boundary lines is greater than the preset distance, dividing the mowing sub-area into two mowing sub-areas, wherein each mowing sub-area comprises one boundary line. And if the distance between the two boundary lines is not greater than the preset distance, not carrying out partition.
Alternatively, if the mowing area comprises two opposite boundary lines, the area of the mowing area is acquired, and whether the area of the mowing area is larger than a preset area or not is judged. If the area of the mowing area is larger than the preset area, the mowing area is divided into two mowing areas, and each mowing area comprises a boundary line. And if the area of the mowing area is not larger than the preset area, not partitioning.
Alternatively, if the mowing area comprises two opposite boundary lines, the distance between the two boundary lines and the area of the mowing area are acquired, whether the distance between the two boundary lines is greater than a preset distance or not is judged, and meanwhile whether the area of the mowing area is greater than a preset area or not is judged. If the distance between the two boundary lines is larger than the preset distance and the area of the mowing sub-area is larger than the preset area, the mowing sub-area is divided into two mowing sub-areas, and each mowing sub-area comprises one boundary line. And if the distance between the two boundary lines is not greater than the preset distance and/or the area of the mowing area is not greater than the preset area, not performing zoning.
The embodiment divides the mowing sub-area comprising two opposite boundary lines again, ensures that no two opposite boundary lines exist in each mowing sub-area, and enables each boundary line to achieve the best mowing effect when a zigzag path is planned for each mowing sub-area.
In some embodiments, the method for planning the path of the mower with the side cutterhead further comprises the following steps after the mower carries out mowing according to the zigzag path: the edgewise mowing is performed once on a boundary of the mowing area opposed to the boundary line, and the edgewise mowing means that the mower travels along the boundary and the mower deck side of the mower performs mowing work toward the boundary. Referring to fig. 7, a1 in the figure is a boundary line, and when the grass mower performs grass cutting operation along the zigzag path due to the side of the cutter, the opposite side of the boundary line a1 has irregular grass cutting, the grass mower moves along the opposite side of the boundary line a1 to cut grass, and the cutter 20 of the grass mower faces the opposite side of the boundary line a1, so that the opposite side of the boundary line a1 is covered well. The border opposite to the border line of the embodiment performs the grass cutting along the border once, so that the opposite side of the border line a1 achieves better coverage.
In the path planning method of the mower with the side-mounted cutterhead of some embodiments, the cutterhead is positioned on the left side of the mower, and one side of the short edge of the zigzag path is consistent with the direction of the boundary line;
if the boundary line is an upper boundary line, the moving direction of the bow-shaped path is from left to right;
if the boundary line is a lower boundary line, the advancing direction of the bow-shaped path is from right to left;
if the boundary line is the left boundary line, the moving direction of the bow-shaped path is from bottom to top;
if the boundary line is the right boundary line, the traveling direction of the zigzag path is from top to bottom.
In the path planning method of the mower with the side-mounted cutterhead of some embodiments, the cutterhead is positioned on the right side of the mower, and one side of the short edge of the zigzag path is consistent with the direction of the boundary line;
if the boundary line is an upper boundary line, the advancing direction of the bow-shaped path is from right to left;
if the boundary line is the lower boundary line, the moving direction of the bow-shaped path is from left to right;
if the boundary line is the left boundary line, the moving direction of the zigzag path is from top to bottom;
if the boundary line is the right boundary line, the traveling direction of the zigzag path is from bottom to top.
In a preferred embodiment, the path planning device for the mower with the side-mounted cutterhead of the embodiment is applied to a mower which travels along a zigzag path. Specifically, this blade disc side lawn mower route planning device includes:
and the map acquisition unit is used for acquiring the electronic map of the mowing area and dividing the electronic map of the mowing area into a plurality of mowing subareas.
Specifically, the mower can use a sensor carried by the mower to acquire data of an area to be mowed, and then establishes an electronic map of a mowed area of the area to be mowed. The lawn mower can also obtain the electronic map of the mowing area through the external equipment, and the lawn mower receives the electronic map of the mowing area sent by the external equipment through the communication module. After the electronic map of the mowing area is obtained, the electronic map of the mowing area is divided into a plurality of mowing sub-areas, and then the traveling route of the mower in each mowing sub-area is planned.
And path planning means for planning a zigzag path based on the orientation of the boundary line and the orientation of the cutter when the mowing area includes a part of the boundary line of the mowing area electronic map, so that the long side or the short side of the zigzag path coincides with the boundary line direction, and the cutter faces the boundary line when the mower travels on the zigzag path adjacent to the boundary line.
Specifically, the lawn mower is a planning lawn mower, which is different from a free-type lawn mower, and the planning lawn mower needs to plan a traveling path, such as a zigzag path, and then perform a mowing operation according to the planned traveling path. After the electronic map of the mowing area is divided into a plurality of mowing sub-areas, whether the mowing sub-areas comprise part of boundary lines of the electronic map of the mowing area is judged, one side of the boundary lines is a mowing area, and the other side of the boundary lines is a non-mowing area. Referring to fig. 3, the illustrated area is a mowing area electronic map, where boundaries a1, a2, a3, and a4 are boundary lines. After the electronic map of the mowing area is divided into a plurality of mowing areas, if the mowing area comprises at least one of the boundaries a1, a2, a3 and a4, the mowing area is considered to comprise the boundary line.
Further, the lawnmower of the present embodiment travels along the zigzag path, and if it is determined that the mowing area includes the boundary line, the traveling direction of the zigzag path is planned based on the orientation of the boundary line and the orientation of the cutter, and the cutter is directed toward the boundary line when the lawnmower travels along the path toward the short side of the zigzag path of the boundary line. The orientation of the boundary line refers to a position where the boundary line is located in the mowing area, and includes up, down, left, and right. The orientation of the cutter head refers to the position of the cutter head on the mower body, including the left side and the right side of the mower body. The long side of the zigzag path is the side where the travel distance is long, and the short side of the zigzag path is the side at the time of turning, and the description will be given with reference to fig. 4a and 4b, in which fig. 4a shows the short side of the zigzag path facing the boundary line a1, and fig. 4b shows the short and long sides of the zigzag path facing the boundary line a 1. In the present embodiment, the zigzag path shown in fig. 4a is used, and the short side of the zigzag path is directed to the boundary line.
Further, when planning the path, the mower is caused to travel on the path on the short side of the arcuate path toward the boundary line with the cutter head side facing the boundary line. Referring to fig. 5a, the short side of the arcuate path is shown as approaching boundary line a1, and the deck 20 side faces boundary line a1 as the mower travels along the short side. Referring to fig. 5b, the short side of the arcuate path is shown as approaching boundary line a1, and as the mower travels along this short side, the deck 20 is moving away from boundary line a1, i.e., the deck 20 is not facing boundary line a 1. The present embodiment employs the travel pattern shown in fig. 5 a.
And the execution unit is used for carrying out mowing operation by the mower according to the zigzag path.
In the embodiment, the mower is laterally provided with the cutter head, and the advancing direction of the zigzag path is planned according to the direction of the boundary line and the direction of the cutter head, so that the phenomenon of missed cutting of the boundary line is reduced, and the mowing coverage rate of the boundary line is improved.
In a preferred embodiment, the computer-readable storage medium of this embodiment stores a computer program adapted to be loaded by a processor to perform the steps of the deck-side mower path planning method as described in the above embodiment.
In a preferred embodiment, the computer of the present embodiment includes a memory and a processor; the memory stores a computer program; the processor executes the steps of the cutterhead-side mower path planning method described above by calling a computer program stored in the memory. In the embodiment, the mower is laterally provided with the cutter head, and the advancing direction of the zigzag path is planned according to the direction of the boundary line and the direction of the cutter head, so that the phenomenon of missed cutting of the boundary line is reduced, and the mowing coverage rate of the boundary line is improved.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. 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 invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and are intended to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the scope of the present invention. All equivalent changes and modifications made within the scope of the claims of the present invention should be covered by the claims of the present invention.
Claims (10)
1. A path planning method for a mower with a side cutter head is characterized by comprising the following steps:
the method comprises the steps of obtaining an electronic map of a mowing area, and dividing the electronic map of the mowing area into a plurality of mowing subareas;
if the mowing sub-area comprises a part of boundary lines of the mowing area electronic map, planning a bow-shaped path according to the azimuth of the boundary lines and the azimuth of a cutter head, enabling the long side or the short side of the bow-shaped path to be consistent with the direction of the boundary lines, and enabling the cutter head to face the boundary lines when the mower travels on the bow-shaped path adjacent to the boundary lines;
and the mower carries out mowing operation according to the zigzag path.
2. The deck-side mower path planning method of claim 1 wherein said mowing area is divided into two mowing areas if said mowing area includes two opposing border lines, each of said mowing areas after said dividing includes one border line.
3. The method of claim 2, wherein if the mowing area comprises two opposing boundary lines, the method comprises: if the mowing area comprises two opposite boundary lines, and the distance between the two boundary lines is larger than a preset distance.
4. The method of claim 2, wherein if the mowing area comprises two opposing boundary lines, the method comprises: if the mowing area comprises two opposite boundary lines, and the area of the mowing area is larger than the preset area.
5. The method of claim 1, further comprising the step of, after said mower following said zig-zag path, performing mowing operations on said mower:
and performing one-time edgewise mowing on a boundary opposite to the boundary line in the mowing sub-area, wherein the edgewise mowing means that the mower travels along the boundary, and the mowing operation is performed by facing one side of a cutter head of the mower to the boundary.
6. The method of claim 1, wherein the deck is positioned to the left of the mower and the side of the short side of the arcuate path is aligned with the boundary line;
if the boundary line is an upper boundary line, the advancing direction of the bow-shaped path is from left to right;
if the boundary line is a lower boundary line, the advancing direction of the bow-shaped path is from right to left;
if the boundary line is a left boundary line, the advancing direction of the zigzag path is from bottom to top;
and if the boundary line is the right boundary line, the advancing direction of the zigzag path is from top to bottom.
7. The method of claim 1, wherein the deck is positioned on the right side of the mower and the side of the short side of the arcuate path is aligned with the boundary line;
if the boundary line is an upper boundary line, the advancing direction of the bow-shaped path is from right to left;
if the boundary line is a lower boundary line, the advancing direction of the zigzag path is from left to right;
if the boundary line is a left boundary line, the advancing direction of the zigzag path is from top to bottom;
and if the boundary line is the right boundary line, the advancing direction of the zigzag path is from bottom to top.
8. The utility model provides a blade disc side lawn mower route planning device which characterized in that includes:
the map acquisition unit is used for acquiring an electronic map of a mowing area and dividing the electronic map of the mowing area into a plurality of mowing subareas;
a path planning unit configured to plan a zigzag path based on an azimuth of the boundary line and an azimuth of a cutter if the mowing area includes a partial boundary line of the mowing area electronic map, such that a long side or a short side of the zigzag path coincides with the boundary line direction, and the cutter faces the boundary line when the mower travels on the zigzag path adjacent to the boundary line;
and the execution unit is used for carrying out mowing operation on the mower according to the zigzag path.
9. A computer-readable storage medium, having stored thereon a computer program adapted to be loaded by a processor to perform the steps of the cutterhead-side mower path planning method as claimed in any one of claims 1 to 7.
10. A computer comprising a memory and a processor;
the memory has stored therein a computer program;
the processor performs the steps of the cutterhead-side mower path planning method of any one of claims 1 to 7 by invoking the computer program stored in the memory.
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| CN115443793B (en) * | 2022-08-18 | 2024-04-30 | 深圳拓邦股份有限公司 | Mower and mower path planning method |
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