CN115039559A - Grass pressing prevention algorithm and system of intelligent mower - Google Patents
Grass pressing prevention algorithm and system of intelligent mower Download PDFInfo
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Abstract
The application discloses grass pressing prevention algorithm and system of an intelligent mower, and the method comprises the following steps: obtaining current position information of the intelligent mower; obtaining a first charging position; judging whether the intelligent mower is started for the first time; if the intelligent mower is not in primary starting work, judging whether the intelligent mower is in secondary starting work or not; if the intelligent mower is started for the second time, generating first mowing area map information; constructing a first route and a second route; and alternately selecting the first route and the second route, and performing line patrol regression charging. The technical problems that in the prior art, the intelligent mower returns to charge every time through line patrol from the boundary, and the indentation damages the neat and attractive appearance of the lawn are solved. The intelligent control lawn mower returns to the charging station according to different routes has been reached, prevents that the intelligent lawn mower wheel from leaving obvious indentation on the meadow, further improves the technological effect of the pleasing to the eye degree in meadow.
Description
Technical Field
The invention relates to the field of artificial intelligence, in particular to an anti-grass pressing algorithm and an anti-grass pressing system of an intelligent mower.
Background
Along with the continuous enhancement of people's environmental protection consciousness, the afforestation area also steadily increases along with it, and the increase of afforestation district pruning work load has consumed a large amount of manpower, material resources and financial resources, therefore intelligent lawn mower begins to replace artifical weeding operation gradually. The intelligent mower can liberate both hands of people, so that people can save some time to have a rest or engage in other labor, and the life becomes more convenient and faster. The intelligent mower is a comprehensive system integrating external environment sensing, path planning, obstacle detection and avoidance and various sensor technologies.
The existing intelligent lawn mowers mostly adopt boundary lines to realize the framing of a working area, and when the intelligent lawn mowers work in the working area, the intelligent lawn mowers firstly locate the position of the boundary line nearest to a machine body if needing to return to a charging station for charging, and then return to the charging station under the guidance of the boundary line by utilizing a boundary line induction device after walking to the position of the boundary line.
In the process of implementing the technical scheme of the invention in the embodiment of the present application, the inventor of the present application finds that the above-mentioned technology has at least the following technical problems:
in the prior art, the intelligent mower returns from the boundary line patrol every time of return charging, and long-term grinding of the lawn on the boundary causes slow growth of the grass in the boundary area, so that the boundary indentation is left, and the technical problem of neatness and attractiveness of the lawn is obviously damaged
Disclosure of Invention
In view of this, the present application provides an anti-weed-pressing algorithm and system for an intelligent lawn mower, where the method includes: obtaining current position information of the intelligent mower; obtaining a first charging position; judging whether the intelligent mower is started for the first time; if the intelligent mower is not in primary starting work, judging whether the intelligent mower is in secondary starting work or not; if the intelligent mower is started for the second time, generating first mowing area map information; constructing a first route and a second route according to the first mowing area map information, wherein the first route and the second route are different; and when the intelligent mower returns to the first charging position for charging each time, the first route and the second route are alternately selected for line-patrol returning charging. The problem of exist among the prior art intelligent mower all return from border patrol line from the charging of regression at every turn, roll the meadow on the border for a long time and lead to the grass in border region to grow slowly to leave the border indentation, obviously destroy the neat and artistic technical problem in lawn. It returns the charging station according to different routes to have reached intelligent control lawn mower, prevents that intelligent lawn mower wheel from leaving obvious indentation on the meadow, further improves the technological effect that the meadow beautifully spent.
In view of the above problems, the embodiment of the present application provides an anti-weed-pressing algorithm and system for an intelligent lawn mower.
In a first aspect, the present application provides a grass-pressing prevention algorithm for an intelligent lawn mower, wherein the algorithm is applied to a grass-pressing prevention system for an intelligent lawn mower, and the system is used for an intelligent lawn mower, wherein the method comprises: obtaining current position information of the intelligent mower; obtaining a first charging position; judging whether the intelligent mower is started for the first time; if the intelligent mower is not in primary starting work, judging whether the intelligent mower is in secondary starting work or not; if the intelligent mower is started for the second time, generating first mowing area map information; constructing a first route and a second route according to the first mowing area map information, wherein the first route and the second route are different; and when the intelligent mower returns to the first charging position for charging each time, the first route and the second route are alternately selected for line-patrol returning charging.
In another aspect, the present application further provides a grass-suppression prevention system of an intelligent lawn mower, configured to execute the grass-suppression prevention algorithm of the intelligent lawn mower according to the first aspect, wherein the system includes: a first obtaining unit: the first obtaining unit is used for obtaining current position information of the intelligent mower; a second obtaining unit: the second obtaining unit is used for obtaining a first charging position; a first judgment unit: the first judging unit is used for judging whether the intelligent mower is started for the first time; a second judgment unit: the second judging unit is used for judging whether the intelligent mower is started for the second time or not if the intelligent mower is not started for the first time; a first generation unit: the first generating unit is used for generating first mowing area map information if the intelligent mower is started for the second time; a first building unit: the first constructing unit is used for constructing a first route and a second route according to the first mowing area map information, wherein the first route and the second route are different; a first execution unit: the first execution unit is used for alternately selecting the first route and the second route to perform line patrol regression charging when the intelligent mower returns to the first charging position for charging each time.
In a third aspect, an embodiment of the present application further provides an anti-mowing system of an intelligent lawn mower, including a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor implements the steps of the method according to the first aspect when executing the program.
One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:
1. obtaining current position information of the intelligent mower; obtaining a first charging position; judging whether the intelligent mower is started for the first time; if the intelligent mower is not in primary starting work, judging whether the intelligent mower is in secondary starting work or not; if the intelligent mower is started for the second time, generating first mowing area map information; constructing a first route and a second route according to the first mowing area map information, wherein the first route and the second route are different; and when the intelligent mower returns to the first charging position for charging each time, the first route and the second route are alternately selected for line-patrol returning charging. The intelligent control lawn mower returns to the charging station according to different routes has been reached, prevents that the intelligent lawn mower wheel from leaving obvious indentation on the meadow, further improves the technological effect of the pleasing to the eye degree in meadow.
2. The method comprises the steps that after the intelligent mower carries out mowing operation for the first time, map information of an area to be mowed is obtained, a first position and a second position are further arranged on two sides of a charging station, when the intelligent mower returns to the charging station for charging, the intelligent mower reaches the first position or the second position first, and then returns to a destination charging station according to a line patrol of a boundary line of the area to be mowed. In addition, the intelligent mower alternately selects two positions every time the intelligent mower returns. Through the mode of arriving first position or second position earlier and patrolling the line and returning again, shortened the length of the meadow that intelligent lawn mower repeated rolled, reached the technical effect that reduces the pleasing to the eye degree influence in lawn.
The foregoing description is only an overview of the technical solutions of the present application, and the present application can be implemented according to the content of the description in order to make the technical means of the present application more clearly understood, and the following detailed description of the present application is given in order to make the above and other objects, features, and advantages of the present application more clearly understandable.
Drawings
In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present invention, the drawings used in the description of the embodiments or prior art will be briefly described below, it is obvious that the drawings in the following description are only exemplary, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic flow chart of an grass pressing prevention algorithm of an intelligent mower according to an embodiment of the present application;
FIG. 2 is a schematic diagram of the first route in an grass-pressing prevention algorithm of the intelligent mower according to the embodiment of the present application;
FIG. 3 is a schematic diagram of the second route in the grass-mulching prevention algorithm of the intelligent mower according to the embodiment of the present application;
FIG. 4 is a schematic flow chart of the grass-pressing prevention algorithm of the intelligent mower according to the embodiment of the present application after determining whether the intelligent mower is started for the first time;
FIG. 5 is a schematic flow chart of a first mowing area map information generated in a grass pressing prevention algorithm of the intelligent mower according to the embodiment of the present disclosure;
FIG. 6 is a schematic flow chart illustrating a method for returning to a charging station by using a first position and a second position in an grass-press prevention algorithm of an intelligent mower according to an embodiment of the present disclosure;
FIG. 7 is a schematic diagram illustrating a charging station returned by a first position and a second position in an grass-press prevention algorithm of an intelligent mower according to an embodiment of the present disclosure;
FIG. 8 is a schematic structural diagram of a grass pressing prevention system of an intelligent mower according to an embodiment of the present application;
fig. 9 is a schematic structural diagram of an exemplary electronic device according to an embodiment of the present application.
Description of reference numerals:
a first obtaining unit 11, a second obtaining unit 12, a first judging unit 13, a second judging unit 14, a first generating unit 15, a first constructing unit 16, a first executing unit 17, a bus 300, a receiver 301, a processor 302, a transmitter 303, a memory 304, and a bus interface 305.
Detailed Description
The embodiment of the application provides an intelligence lawn mower prevent pressing grass algorithm and system, has solved and has had the intelligence lawn mower to go back to all patrolling the line from the boundary every time the charging of returning, rolls the meadow on the boundary for a long time and leads to the grass of boundary region to grow slowly among the prior art to leave the boundary indentation, obviously destroy the technical problem of the neat and artistic degree in lawn. The intelligent control lawn mower returns to the charging station according to different routes has been reached, prevents that the intelligent lawn mower wheel from leaving obvious indentation on the meadow, further improves the technological effect of the pleasing to the eye degree in meadow.
In the following, the technical solutions in the embodiments of the present application will be clearly and completely described with reference to the accompanying drawings, and it is to be understood that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments of the present application, and it should be understood that the present application is not limited by the example embodiments described herein. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application. It should be further noted that, for the convenience of description, only some but not all of the elements relevant to the present application are shown in the drawings.
Summary of the application
Along with the continuous enhancement of people's environmental protection consciousness, the afforestation area also steadily increases along with it, and the increase of afforestation district pruning work load has consumed a large amount of manpower, material resources and financial resources, therefore intelligent lawn mower begins to replace artifical weeding operation gradually. The intelligent mower can liberate both hands of people, and people can save a little time to have a rest or engage in other labor, so that the life becomes more convenient and faster. The intelligent mower is a comprehensive system integrating external environment perception, path planning, obstacle detection and avoidance and various sensor technologies.
The existing intelligent lawn mowers mostly adopt boundary lines to realize the framing of a working area, and when the intelligent lawn mowers work in the working area, the intelligent lawn mowers firstly locate the position of the boundary line nearest to a machine body if needing to return to a charging station for charging, and then return to the charging station under the guidance of the boundary line by utilizing a boundary line induction device after walking to the position of the boundary line.
The intelligent lawn mower returns from the boundary line patrol every time of return charging in the prior art, and long-term grinding of the lawn on the boundary causes slow growth of the grass in the boundary area, so that a boundary indentation is left, and the technical problem of neatness and attractiveness of the lawn is obviously damaged.
In view of the above technical problems, the technical solution provided by the present application has the following general idea:
the application provides an anti-grass-pressing algorithm of an intelligent mower, which is applied to an anti-grass-pressing system of the intelligent mower, and the system is used for controlling the intelligent mower, wherein the method comprises the following steps: obtaining current position information of the intelligent mower; obtaining a first charging position; judging whether the intelligent mower is started for the first time; if the intelligent mower is not in primary starting work, judging whether the intelligent mower is in secondary starting work or not; if the intelligent mower is started for the second time, generating map information of a first mowing area; constructing a first route and a second route according to the first mowing area map information, wherein the first route and the second route are different; and when the intelligent mower returns to the first charging position for charging each time, the first route and the second route are alternately selected for line-patrol returning charging.
Having thus described the general principles of the present application, various non-limiting embodiments thereof will now be described in detail with reference to the accompanying drawings.
Example one
Referring to fig. 1, an embodiment of the present application provides a grass-pressing prevention algorithm for an intelligent lawn mower, where the algorithm is applied to an intelligent lawn mower, the system is configured to control the intelligent lawn mower to have a plurality of boundary detection sensors, and the boundary detection sensors are arranged in rectangular dots, and the method specifically includes the following steps:
step S100: obtaining current position information of the intelligent mower;
step S200: obtaining a first charging position;
specifically, the grass press prevention algorithm of the intelligent mower is used for controlling a route of the intelligent mower from a work area to a charging station for charging. The boundary detection sensors are arranged on the machine body of the intelligent mower, are arranged in a rectangular dot shape and are used for monitoring the related information of the boundary position of the area to be mowed. The current position information of the intelligent mower refers to a real-time position when the electric quantity of the intelligent mower is too low and the intelligent mower needs to return to a charging station on the boundary of the area to be mowed for emergency charging when the intelligent mower works in the area to be mowed. The first charging position is the geographical position of the charging station on the boundary of the area to be mowed. By acquiring the position of the intelligent mower needing to return to the charging station for charging and the position of the charging station, the technical effect of determining the departure place and the destination of the intelligent mower is achieved.
Step S300: judging whether the intelligent mower is started for the first time;
step S400: if the intelligent mower is not in primary starting work, judging whether the intelligent mower is in secondary starting work or not;
specifically, the control system of the intelligent mower judges whether the current operation of the intelligent mower is the first mowing operation in the area to be mowed, if the judgment result shows that the operation is not the first operation of the intelligent mower in the working area, the control system automatically carries out the second round of judgment, and judges whether the mowing operation is the second operation of the intelligent mower in the working area. Through the work number of times of judging intelligent lawn mower, for the grass algorithm is right to prevent pressing of intelligent lawn mower the intelligent lawn mower provides the selection background when returning the route and appointing, if the operation of mowing is started for the second time to intelligent lawn mower, then the route that returns to charge will avoid returning the route that the charging station charges after first work, has avoided carrying out the secondary to the meadow on same route and has rolled.
Step S500: if the intelligent mower is started for the second time, generating first mowing area map information;
specifically, if it is determined that the current mowing work of the intelligent mower is the secondary starting work, the map of the area to be mowed can be generated through the walking path of the primary mowing work of the intelligent mower recorded in the background, namely the map information of the first mowing area. By analyzing the mowing operation condition before the intelligent mower, the technical effects of clearing basic information such as area and shape of the area and defining the boundary line of the area to be mowed are achieved.
Step S600: constructing a first route and a second route according to the first mowing area map information, wherein the first route and the second route are different;
specifically, information such as the area, the shape and the boundary line of the area to be mowed is obtained according to the record of the path of the previous mowing operation of the intelligent mower, and different return routes, namely the first route and the second route, are designed for the charging station, returning to the boundary position of the area to be mowed, of the intelligent mower based on the boundary line of the area to be mowed, wherein the first route and the second route are different routes. Different return routes are designed for the intelligent mower to return to the charging station by combining the details of the area to be mowed.
Step S700: and when the intelligent mower returns to the first charging position for charging each time, the first route and the second route are alternately selected for line-patrol returning charging.
Specifically, as shown in fig. 2 and 3, the first route is any route that is a certain distance away from the boundary line of the zone to be mowed. The second route is any route which is at a certain distance from the boundary line of the area to be mowed, and the distance is different from the distance from the first route to the boundary line of the area to be mowed. The intelligent mower returns at every turn when the first position of charging charges, all selects the distance wait to mow the different route of regional boundary line distance and patrol the line and return, guarantee to return the route at every turn and different with preceding route to avoid the meadow on same route to be rolled repeatedly, reached and alleviateed the indentation of intelligent mower wheel to the meadow, improved the whole technological effect who beautifies the degree in lawn.
Further, as shown in fig. 4, step S300 in this embodiment of the present application further includes:
step S310: if the intelligent mower is started for the first time, obtaining a third route according to the first charging position and the current position information of the intelligent mower, wherein the third route is a route with a first distance between a running track of the intelligent mower and a boundary line of a first lawn;
step S320: and operating from the current position information to the first charging position according to the third route.
Specifically, if the judgment result proves that the mowing operation of the intelligent mower in the area to be mowed is the initial operation, a route for returning to a charging station, namely the third route, is automatically designed for the intelligent mower according to the first charging position and the current position information of the intelligent mower, wherein the third route is a route with a first distance between the route for returning to the charging station and the boundary line of the area to be mowed. The first distance is a vertical distance between a route of the intelligent mower returning to a charging station and a boundary line of the area to be mowed, and the first distance is larger than or equal to the width of the body of the intelligent mower and does not exceed the width of the area to be mowed. Further, the intelligent mower returns to a charging station for charging according to the third route, and at the moment, the direction of the axis of the body of the intelligent mower and the boundary line of the area to be mowed is always the same. The technical effect of designing the lawn path on the boundary line without pressing edges for the intelligent mower which needs to be charged after the first mowing operation is achieved.
Further, as shown in fig. 5, step S500 in the embodiment of the present application further includes:
step S510: obtaining electric quantity information of the intelligent mower;
step S520: obtaining a predetermined electric quantity threshold value;
step S530: judging whether the electric quantity information of the intelligent mower is within the preset electric quantity threshold value;
step S540: and if the electric quantity information of the intelligent mower is within the preset electric quantity threshold value and the intelligent mower is started for the second time, generating the first mowing area map information.
Specifically, the real-time electric quantity information of the intelligent mower, including information such as real-time residual electric quantity, real-time residual electric quantity operable time length and area, can be obtained through the background control system of the intelligent mower. The preset electric quantity threshold value refers to a residual electric quantity range which is obtained by comprehensive analysis of a grass pressing prevention algorithm of the intelligent mower and is temporarily not required to be returned to a charging station for charging. And comparing the electric quantity information of the intelligent mower with the preset electric quantity threshold value information, judging whether the electric quantity information of the intelligent mower is within the preset electric quantity threshold value, and if the electric quantity information of the intelligent mower is within the preset electric quantity threshold value and the intelligent mower is in secondary starting work, generating the first mowing area map information according to the path information of the first mowing work of the intelligent mower recorded in the system. The technical effect of defining the information of the area to be mowed is achieved.
Further, step S530 in this embodiment of the present application further includes:
step S531: if the electric quantity information of the intelligent mower is not within the preset electric quantity threshold value, obtaining a fourth route according to the first charging position and the current position information of the intelligent mower, wherein the fourth route is a route with a second distance between a running track of the intelligent mower and a boundary line of a first lawn, and the second distance is a minimum distance;
step S532: and operating from the current position information to the first charging position according to the fourth route.
Specifically, if the power information of the intelligent mower is not within the preset power threshold, it indicates that the current power of the intelligent mower is too low, and according to the obtained first charging position and the current position information of the intelligent mower, a return path, namely a fourth route, is designed for the intelligent mower to return to a charging station from the current position, wherein the fourth route is a route of which the return route of the intelligent mower has a second distance with a boundary line of an area to be mowed, and the second distance is a minimum distance. Further, the intelligent mower operates from the current position to the position of the charging station according to the fourth route. When the electric quantity of the intelligent mower is low, the grass pressing prevention algorithm of the intelligent mower automatically controls the intelligent mower to return to a charging station for charging in a way that the nearest route of the grassland on the boundary line of the area to be cut is not rolled, and on the basis of ensuring that the grassland is not repeatedly rolled, the technical effect of efficient and intelligent operation charging is achieved.
Further, as shown in fig. 6, step S800 in this embodiment of the present application further includes:
step S810: obtaining a first position and a second position according to the first mowing area map information, wherein the first position and the second position are respectively positioned at the opposite sides of the first charging position;
step S820: when the intelligent mower returns to the first charging position for charging each time, the first position and the second position are alternately selected to obtain a selection result;
step S830: and performing line-tracking regression charging on the first charging position according to the selection result.
Specifically, as shown in fig. 7, the first position and the second position are set according to the obtained information of the area to be mowed. Wherein the first position and the second position are respectively located on opposite sides of the first charging position. And when the intelligent mower returns to the first charging position for charging, the first position and the second position are alternately selected. For example, after the machine is first operated, a map of the mowing area is generated, and two positions, namely a first position and a second position, are taken on the boundary lines on both sides of the charging station. When the intelligent mower returns to the charging station for the second time, the intelligent mower moves from the current position to the first position directly, and then starts to go round the boundary line to return to the charging station. And when the intelligent mower returns to the charging station for the third time, the intelligent mower moves from the current position to another position, namely the second position, and then starts to go round the boundary line to return to the charging station. And when the intelligent mower returns to the charging station for the fourth time, the intelligent mower directly moves to the first position from the current position again, and then starts to go round the boundary line to return to the charging station. By analogy, the machine regression route is different from the last regression route every time, the point position on the selected boundary is close to the charging station, the length of grass repeatedly pressed by the wheels is short, and the problem that the grass grows slowly due to repeated rolling and the attractiveness of the whole lawn is affected is avoided.
In summary, the embodiments of the present application provide the following technical effects:
1. obtaining current position information of the intelligent mower; obtaining a first charging position; judging whether the intelligent mower is started for the first time; if the intelligent mower is not in primary starting work, judging whether the intelligent mower is in secondary starting work or not; if the intelligent mower is started for the second time, generating first mowing area map information; constructing a first route and a second route according to the first mowing area map information, wherein the first route and the second route are different; and when the intelligent mower returns to the first charging position for charging each time, the first route and the second route are alternately selected for line-patrol returning charging. The intelligent control lawn mower returns to the charging station according to different routes has been reached, prevents that the intelligent lawn mower wheel from leaving obvious indentation on the meadow, further improves the technological effect of the pleasing to the eye degree in meadow.
2. The method comprises the steps that after the intelligent mower carries out mowing operation for the first time, map information of an area to be mowed is obtained, a first position and a second position are further arranged on two sides of a charging station, when the intelligent mower returns to the charging station for charging, the intelligent mower reaches the first position or the second position first, and then returns to a destination charging station according to a line patrol of a boundary line of the area to be mowed. In addition, the intelligent mower alternately selects two positions every time the intelligent mower returns. Through the mode of arriving first position or second position earlier and patrolling the line and returning again, shortened the length of the meadow that intelligent lawn mower repeated rolled, reached the technical effect that reduces the pleasing to the eye degree influence in lawn.
Example two
Based on the grass pressing prevention algorithm of the intelligent mower in the previous embodiment, the invention also provides a grass pressing prevention system of the intelligent mower, and please refer to fig. 8, wherein the system comprises:
the first obtaining unit 11: the first obtaining unit 11 is configured to obtain current position information of the intelligent mower;
the second obtaining unit 12: the second obtaining unit 12 is configured to obtain a first charging position;
the first judgment unit 13: the first judging unit 13 is configured to judge whether the intelligent mower is started for the first time;
second determination unit 14: the second judging unit 14 is configured to judge whether the intelligent mower is in secondary starting operation or not if the intelligent mower is not in primary starting operation;
the first generation unit 15: the first generating unit 15 is configured to generate first mowing area map information if the intelligent mower is started for the second time;
the first building unit 16: the first constructing unit 16 is configured to construct a first route and a second route according to the first mowing area map information, wherein the first route and the second route are different;
the first execution unit 17: the first executing unit 17 is configured to alternately select the first route and the second route each time the intelligent lawn mower returns to the first charging position for charging, and perform route-following return charging.
Further, the system further comprises:
a third obtaining unit, configured to obtain a third route according to the first charging position and current position information of the intelligent lawn mower if the intelligent lawn mower is in initial start-up work, where the third route is a route where a boundary line between a running track of the intelligent lawn mower and a first lawn has a first distance;
a second execution unit configured to run from the current location information to the first charging location according to the third route.
Further, the system further comprises:
a fourth obtaining unit, configured to obtain power information of the intelligent lawn mower;
a fifth obtaining unit configured to obtain a predetermined electric quantity threshold;
a third judging unit, configured to judge whether the power information of the intelligent lawn mower is within the predetermined power threshold;
a second generating unit, configured to generate the first mowing area map information if the power information of the intelligent mower is within the predetermined power threshold and the intelligent mower is in secondary start-up operation.
Further, the system further comprises:
a sixth obtaining unit, configured to obtain a fourth route according to the first charging position and the current position information of the intelligent lawn mower if the power information of the intelligent lawn mower is not within the predetermined power threshold, where the fourth route is a route where a running track of the intelligent lawn mower has a second distance from a boundary line of a first lawn, and the second distance is a minimum distance;
a third execution unit configured to run from the current location information to the first charging location according to the fourth route.
Further, the system further comprises:
a seventh obtaining unit configured to obtain a first position and a second position according to the first mowing area map information, wherein the first position and the second position are respectively located on opposite sides of the first charging position;
an eighth obtaining unit, configured to, each time the intelligent mower returns to the first charging position for charging, alternately select the first position and the second position, and obtain a selection result;
and the fourth execution unit is used for performing line patrol regression charging on the first charging position according to the selection result.
The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, the grass pressing prevention algorithm of the intelligent lawn mower in the first embodiment of fig. 1 and the specific example are also applicable to the grass pressing prevention system of the intelligent lawn mower in the present embodiment, and a person skilled in the art can clearly know the grass pressing prevention system of the intelligent lawn mower in the present embodiment through the foregoing detailed description of the grass pressing prevention algorithm of the intelligent lawn mower, so for the sake of brevity of the description, detailed descriptions are omitted here. 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.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Exemplary electronic device
The electronic apparatus of the embodiment of the present application is described below with reference to fig. 9.
Fig. 9 illustrates a schematic structural diagram of an electronic device according to an embodiment of the present application.
Based on the inventive concept of the grass pressing prevention algorithm of the intelligent mower in the previous embodiment, the invention also provides a grass pressing prevention system of the intelligent mower, wherein a computer program is stored on the grass pressing prevention system, and when the computer program is executed by a processor, any step of the grass pressing prevention algorithm of the intelligent mower is realized.
Where in fig. 9 a bus architecture (represented by bus 300), bus 300 may include any number of interconnected buses and bridges, bus 300 linking together various circuits including one or more processors, represented by processor 302, and memory, represented by memory 304. The bus 300 may also link together various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further herein. A bus interface 305 provides an interface between the bus 300 and the receiver 301 and transmitter 303. The receiver 301 and the transmitter 303 may be the same element, i.e., a transceiver, providing a means for communicating with various other apparatus over a transmission medium.
The processor 302 is responsible for managing the bus 300 and general processing, and the memory 304 may be used for storing data used by the processor 302 in performing operations.
The application provides a grass pressing prevention algorithm of an intelligent mower, wherein the algorithm is applied to a grass pressing prevention system of the intelligent mower, the system is used for the intelligent mower, and the method comprises the following steps: obtaining current position information of the intelligent mower; obtaining a first charging position; judging whether the intelligent mower is started for the first time; if the intelligent mower is not in primary starting work, judging whether the intelligent mower is in secondary starting work or not; if the intelligent mower is started for the second time, generating first mowing area map information; constructing a first route and a second route according to the first mowing area map information, wherein the first route and the second route are different; and when the intelligent mower returns to the first charging position for charging each time, the first route and the second route are alternately selected for line-patrol returning charging. The problem of exist among the prior art intelligent mower all return from border patrol line from the charging of regression at every turn, roll the meadow on the border for a long time and lead to the grass in border region to grow slowly to leave the border indentation, obviously destroy the neat and artistic technical problem in lawn. The intelligent control lawn mower returns to the charging station according to different routes has been reached, prevents that the intelligent lawn mower wheel from leaving obvious indentation on the meadow, further improves the technological effect of the pleasing to the eye degree in meadow.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, apparatus, or computer program product. Accordingly, the present application may take the form of an entirely software embodiment, an entirely hardware embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application is in the form of a computer program product that may be embodied on one or more computer-usable storage media having computer-usable program code embodied therewith. And such computer-usable storage media include, but are not limited to: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk Memory, a Compact Disc Read-Only Memory (CD-ROM), and an optical Memory.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create a system for implementing the functions specified in the flowchart 1 flow or flows and/or block 1 block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including an instruction system which implement the function specified in the flowchart flow or flows of FIG. 1 and/or block diagram block or blocks of FIG. 1.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart 1 flow or flows and/or block 1 block or blocks. While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (7)
1. An anti-weed-pressing algorithm for an intelligent lawn mower, wherein the algorithm is applied to an anti-weed-pressing system for an intelligent lawn mower, the intelligent lawn mower is provided with a plurality of boundary detection sensors, and the boundary detection sensors are arranged in a rectangular dot shape, and the method comprises the following steps:
obtaining current position information of the intelligent mower;
obtaining a first charging position;
judging whether the intelligent mower is started for the first time;
if the intelligent mower is not in primary starting work, judging whether the intelligent mower is in secondary starting work or not;
if the intelligent mower is started for the second time, generating first mowing area map information;
constructing a first route and a second route according to the first mowing area map information, wherein the first route and the second route are different;
and when the intelligent mower returns to the first charging position for charging each time, the first route and the second route are alternately selected for line-patrol returning charging.
2. The method of claim 1, wherein the determining whether the smart lawn mower is operating for an initial start-up comprises:
if the intelligent mower is started for the first time, obtaining a third route according to the first charging position and the current position information of the intelligent mower, wherein the third route is a route with a first distance between a running track of the intelligent mower and a boundary line of a first lawn;
and operating from the current position information to the first charging position according to the third route.
3. The method of claim 1, wherein prior to generating the first mowing area map information if the intelligent lawnmower is operating for a secondary start, further comprising:
obtaining electric quantity information of the intelligent mower;
obtaining a predetermined electric quantity threshold value;
judging whether the electric quantity information of the intelligent mower is within the preset electric quantity threshold value;
and if the electric quantity information of the intelligent mower is within the preset electric quantity threshold value and the intelligent mower is started for the second time, generating the first mowing area map information.
4. The method of claim 3, wherein the method further comprises:
if the electric quantity information of the intelligent mower is not within the preset electric quantity threshold value, obtaining a fourth route according to the first charging position and the current position information of the intelligent mower, wherein the fourth route is a route with a second distance between a running track of the intelligent mower and a boundary line of a first lawn, and the second distance is a minimum distance;
and operating from the current position information to the first charging position according to the fourth route.
5. The method of claim 1, wherein the method further comprises:
obtaining a first position and a second position according to the first mowing area map information, wherein the first position and the second position are respectively positioned at the opposite sides of the first charging position;
when the intelligent mower returns to the first charging position for charging each time, the first position and the second position are alternately selected to obtain a selection result;
and performing line-tracking regression charging on the first charging position according to the selection result.
6. An anti-weed-pressing system of an intelligent lawn mower, wherein the system comprises:
a first obtaining unit: the first obtaining unit is used for obtaining current position information of the intelligent mower;
a second obtaining unit: the second obtaining unit is used for obtaining a first charging position;
a first judgment unit: the first judging unit is used for judging whether the intelligent mower is started for the first time;
a second judgment unit: the second judging unit is used for judging whether the intelligent mower is started for the second time or not if the intelligent mower is not started for the first time;
a first generation unit: the first generating unit is used for generating first mowing area map information if the intelligent mower is started for the second time;
a first building unit: the first constructing unit is used for constructing a first route and a second route according to the first mowing area map information, wherein the first route and the second route are different;
a first execution unit: the first execution unit is used for alternately selecting the first route and the second route to perform line patrol regression charging when the intelligent mower returns to the first charging position for charging each time.
7. An anti-mowing system of an intelligent lawn mower, comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the steps of the method of any one of claims 1 to 5 when executing the program.
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