CN115053690A - Mowing method, mowing device, mowing robot and storage medium - Google Patents
Mowing method, mowing device, mowing robot and storage medium Download PDFInfo
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- A—HUMAN NECESSITIES
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- A01D34/00—Mowers; Mowing apparatus of harvesters
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D91/00—Methods for harvesting agricultural products
- A01D91/04—Products growing above the soil
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Abstract
The embodiment of the application discloses a mowing method, a mowing device, a mowing robot and a storage medium, wherein the mowing method comprises the following steps: the method comprises the steps of obtaining mowing task data, wherein the mowing task data comprise a mowing area, an initial mowing route and positioning data corresponding to a mowing robot; determining a signal loss area and a signal coverage area in the mowing area according to the positioning data; outputting a target mowing route based on the initial mowing route and the position information of the signal loss area; the signal coverage area and the signal loss area are sequentially mowed according to the target mowing route, and the mowing coverage rate of the positioning loss area can be improved, so that the mowing efficiency is improved.
Description
Technical Field
The application relates to the technical field of computers, in particular to a mowing method, a mowing device, a mowing robot and a storage medium.
Background
The mowing robot is widely applied to maintenance of home courtyard lawns and trimming of large lawns. The mowing robot integrates technologies such as motion control, multi-sensor fusion and path planning. In order to control the mowing robot to perform mowing operation, a mowing path of the mowing robot needs to be planned so as to completely cover all working areas.
However, when the mowing robot performs mowing operation, positioning loss is easy to occur, and if a certain position of a mowing area is shielded by an obstacle, the mowing robot cannot acquire position information of the mowing robot, so that missed mowing occurs in the positioning loss area.
Disclosure of Invention
The embodiment of the application provides a mowing method, a mowing device, a mowing robot and a storage medium, when the mowing robot is lost in positioning, the mowing coverage rate of a positioning lost area can be improved, and therefore mowing efficiency is improved.
In a first aspect, an embodiment of the present application provides a mowing method, including:
responding to a mowing triggering request aiming at a mowing robot, determining that the mowing robot acquires mowing task data according to a historical mowing direction, wherein the mowing task data comprises a mowing area, an initial mowing route and positioning data corresponding to the mowing robot;
determining a signal loss area and a signal coverage area in the mowing area according to the positioning data;
outputting a target mowing route based on the initial mowing route and the position information of the signal loss area;
and carrying out mowing operation on the signal coverage area and the signal loss area in sequence according to the target mowing route.
Optionally, in some embodiments, the outputting a target mowing route based on the initial mowing route and the location information of the loss of signal area includes:
determining the area shape of the signal coverage area according to the position information of the signal loss area;
adjusting the initial mowing route based on the zone shape;
constructing a supplementary mowing route corresponding to the signal loss area according to the adjusted mowing route, and the signal loss point and the signal recovery point corresponding to the signal loss area;
the sequentially mowing the signal coverage area and the signal loss area according to the target mowing route comprises the following steps of: and carrying out mowing operation on the signal coverage area according to the adjusted mowing route, and carrying out mowing operation on the signal loss area according to the supplemented mowing route.
Optionally, in some embodiments, the constructing a supplementary mowing route corresponding to the loss of signal area according to the adjusted mowing route and the loss of signal point and the signal recovery point corresponding to the loss of signal area includes:
determining a route end point corresponding to the adjusted mowing route;
determining a route starting point corresponding to a supplementary mowing route corresponding to the signal loss area based on the route end point and a signal loss point corresponding to the signal loss area;
and constructing a supplementary mowing route corresponding to the signal loss area according to the route starting point and the signal recovery point.
Optionally, in some embodiments, the adjusting the initial mowing route based on the zone shape comprises:
acquiring a current mowing mode;
adjusting the initial mowing route based on the zone shape and the mowing mode.
Optionally, in some embodiments, the determining a signal loss area and a signal coverage area in the mowing area according to the positioning data comprises:
determining a signal loss point and a signal recovery point in the mowing area according to the positioning data;
determining a loss of signal zone and a signal coverage zone in the mowing zone based on the loss of signal point and the signal recovery point.
Optionally, in some embodiments, the determining a signal loss zone and a signal coverage zone in the mowing zone based on the signal loss point and the signal recovery point comprises:
calculating the point location distance between the signal loss point and the corresponding signal recovery point;
and determining a signal loss area and a signal coverage area in the mowing area according to the point location distance, the maximum distance between the signal loss points and the maximum distance between the signal recovery points.
Optionally, in some embodiments, the sequentially mowing the signal coverage area and the signal loss area according to the target mowing route includes:
carrying out mowing operation on the signal coverage area according to the target mowing route, and then obtaining inertia measurement data;
and carrying out mowing operation on the signal loss area based on the target mowing route and the inertia measurement data.
Optionally, in some embodiments, before the acquiring mowing task data, the method further includes:
controlling the mowing robot to perform mowing operation based on the initial mowing route;
and in the process of carrying out mowing operation by the mowing robot, if the mowing robot is in a positioning losing state, controlling the mowing robot to keep the movement trend before the positioning losing so as to drive away from the positioning losing area according to the initial mowing route.
In a second aspect, an embodiment of the present application provides a grass cutting device, including:
the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring mowing task data, and the mowing task data comprises a mowing area, an initial mowing route and positioning data corresponding to a mowing robot;
a determining module, configured to determine a signal loss area and a signal coverage area in the mowing area according to the positioning data;
an output module for outputting a target mowing route based on the initial mowing route and the position information of the signal loss area;
and the mowing module is used for sequentially carrying out mowing operation on the signal coverage area and the signal loss area according to the target mowing route.
In the mowing scheme provided by the application, after the signal loss area and the signal coverage area are determined in the mowing area according to the positioning data, a new mowing route (namely a target mowing route) is planned again by using the position information of the initial mowing route and the positioning loss area, and the mowing operation is carried out on the signal coverage area and the signal loss area according to the target mowing route, therefore, the mowing coverage rate of the signal coverage area can be ensured, the mowing coverage rate of the area lost in positioning can be improved, and the mowing efficiency is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1a is a schematic view of a scene of a mowing method provided by an embodiment of the present application;
FIG. 1b is a schematic flow chart of a mowing method provided by an embodiment of the present application;
FIGS. 1 c-1 d are schematic views of a mowing route provided herein;
FIG. 2 is another schematic view of a mowing path provided by an embodiment of the present application;
FIG. 3 is a schematic structural diagram of a mowing device provided by an embodiment of the application;
fig. 4 is a schematic structural diagram of an electronic device provided in an embodiment of the present application.
Detailed Description
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.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element. In addition, the connection may be for either a fixing function or a circuit connection function.
It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for convenience in describing the embodiments of the present invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be in any way limiting of the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of the present application, "a plurality" means two or more unless specifically defined otherwise.
The embodiment of the application provides a mowing method, a mowing device, a mowing robot and a storage medium.
The mowing device can be specifically integrated in a Micro Control Unit (MCU) of the mowing robot, and can also be integrated in an intelligent terminal or a server, the MCU is also called a Single Chip Microcomputer (SCM) or a Single Chip Microcomputer, the frequency and the specification of a Central Processing Unit (CPU) are properly reduced, peripheral interfaces such as a memory (memory), a counter (Timer), a USB (universal serial bus), an analog-to-digital conversion/digital-to-analog conversion, a UART (universal asynchronous receiver/transmitter), a PLC (programmable logic controller), a DMA (direct memory access) and the like are formed, a Chip-level computer is formed, and different combination control is carried out on different application occasions. The robot of mowing can walk voluntarily, and the collision prevention returns automatically within the scope and charges, possesses safety inspection and battery power detection, possesses certain climbing ability, is particularly suitable for places such as family's courtyard, public greenery patches to carry out the lawn mowing maintenance, and its characteristics are: automatic mowing, cleaning grass scraps, automatic rain sheltering, automatic charging, automatic obstacle sheltering, small and exquisite appearance, electronic virtual fence, network control and the like.
The terminal may be, but is not limited to, a smart phone, a tablet computer, a laptop computer, a desktop computer, a smart speaker, a smart watch, and the like. The terminal and the server may be directly or indirectly connected through a wired or wireless communication manner, the server may be an independent physical server, may also be a server cluster or a distributed system formed by a plurality of physical servers, and may also be a cloud server that provides basic cloud computing services such as a cloud service, a cloud database, cloud computing, a cloud function, cloud storage, a network service, cloud communication, middleware service, a domain name service, a security service, a CDN, and a big data and artificial intelligence platform, which is not limited herein.
For example, referring to fig. 1a, the present application provides a mowing system, which includes a mowing robot 10, a server 20 and a user device 30, which are communicatively connected to each other. The user may control the mowing robot 10 to move through the user device 30 in advance, set a mowing area based on the moving track, and synchronize data corresponding to the mowing area to the mowing robot 10 and the server 20.
When the robot lawnmower 10 is performing a mowing operation in a mowing area, a positioning signal is lost, which is a conventional practice, 1) mowing manually; 2) however, in the method 2), when the mowing robot 10 travels in the signal loss area, the generated errors are superposed, so that the mowing robot deviates from the predetermined mowing route after leaving the signal loss area, and therefore, after entering the signal coverage area, the pose of the mowing robot 10 needs to be adjusted again to ensure that the mowing robot can mow according to the mowing route; in addition, in the signal loss area, the robot lawnmower 10 cannot know the position information of itself, and therefore, the missed cutting may occur in the location loss area.
Based on the above, the present application provides a mowing method, which re-plans a new mowing route (i.e., a target mowing route) by using the position information of the initial mowing route and the positioning lost area, and sequentially mows the signal coverage area and the signal lost area according to the target mowing route, thereby ensuring mowing coverage of the signal coverage area, improving mowing coverage of the positioning lost area, and improving mowing efficiency.
The following are detailed below. It should be noted that the description sequence of the following embodiments is not intended to limit the priority sequence of the embodiments.
A method of mowing comprising: the method comprises the steps of obtaining mowing task data, determining a signal loss area and a signal coverage area in a mowing area according to positioning data, outputting a target mowing route based on position information of an initial mowing route and the signal loss area, and sequentially mowing the signal coverage area and the signal loss area according to the target mowing route.
Referring to fig. 1b, fig. 1b is a schematic flow chart of a mowing method according to an embodiment of the present application. The specific flow of the mowing method can be as follows:
101. mowing task data is acquired.
The mowing task data comprises a mowing area, an initial mowing route and positioning data corresponding to the mowing robot, the mowing area can be used for a user to control the mowing robot to move through user equipment in advance, the mowing area is determined based on a moving track of the mowing area, optionally, the initial mowing route can be a zigzag mowing route, a zigzag mowing route or a random collision type mowing route, and the initial mowing route can be specifically determined by a mowing mode of the mowing robot. The positioning data may include differential positioning data and satellite positioning data.
It should be noted that the positioning data corresponding to the mowing robot is the positioning data generated in a historical time period, specifically, before the mowing task data is obtained, the mowing robot may be further controlled to perform mowing operation based on an initial mowing route, and in the mowing operation process performed by the mowing robot, if the mowing robot is in a lost positioning state, the mowing robot is controlled to keep a movement trend before losing positioning so as to drive away from an area lost positioning according to the initial mowing route, specifically, the mowing robot is controlled to keep the movement trend before losing positioning by an inertia detection unit so as to drive away from the area lost positioning according to the initial mowing route; the movement trend of the mowing robot before losing the positioning can be controlled through the gyroscope and the accelerometer, so that the mowing robot can drive away from an area losing the positioning according to an initial mowing route, specifically, the selection can be carried out according to the actual situation, and the detailed description is omitted.
102. And determining a signal loss area and a signal coverage area in the mowing area according to the positioning data.
Wherein, the Positioning data can include Real Time Kinematic (RTK) Positioning data and Global Positioning System (GPS) data, the Positioning accuracy of ordinary GPS is greater than 1 meter, the signal error has 30% probability can reach more than 2 meters, RTK technique's key lies in the carrier phase observed quantity that has used GPS, and utilized the space correlation of observing the error between reference station and the mobile station, remove most error in the mobile station observation data through the mode of difference, thereby realize the location of high accuracy (decimeter or even centimetre level), so, in this application, utilize RTK Positioning data, confirm signal loss area and signal coverage area in mowing the area.
Further, a signal loss area and a signal coverage area may be defined in the mowing area by using the signal loss point and the signal recovery point, that is, optionally, in some embodiments, the step "determining the signal loss area and the signal coverage area in the mowing area according to the positioning data" may specifically include:
(11) determining a signal loss point and a signal recovery point in the mowing area according to the positioning data;
(12) a signal loss zone and a signal coverage zone are determined in the mowing zone based on the signal loss point and the signal recovery point.
It should be noted that, in the present application, the corresponding signal loss point and signal recovery point are determined according to the strength change of the signal, for example, please refer to fig. 1c, when the robot mower H travels from point a to point B, the signal gradually decreases, and when it loses the positioning signal at point B, it determines point B as the signal loss point; for another example, when the mowing robot H travels from the point C to the point D, the signal thereof gradually increases, and after the point D is passed, the value of the positioning signal thereof tends to be stable, and the point C can be determined as the signal recovery point.
Furthermore, when the positioning signal is collected, the mowing robot keeps a motion state, so that a certain error may exist between the point location where the positioning signal is collected and a real point location, and therefore, according to the motion trend and the signal loss point of the mowing robot, the positions corresponding to the first N time points where the mowing robot loses the positioning (namely, the signal loss points) can be determined as first boundary points of the signal loss area, according to the motion trend and the recovery points of the mowing robot, the positions corresponding to the last N time points where the mowing robot recovers the positioning (namely, the signal recovery points) are determined as second boundary points of the signal loss area, then, according to the first boundary points and the second boundary points, the signal loss area is determined, and finally, after the signal loss area is determined, the area except the signal loss area in the mowing area is determined as the signal coverage area.
Alternatively, in some embodiments, a point-to-point distance between the point of signal loss and the point of signal recovery may be calculated, and based on the point-to-point distance and the relative position between the point of signal loss and the point of signal recovery, a signal loss zone may be determined in the mowing zone, and finally, after the signal loss zone is determined, a zone of the mowing zone other than the signal loss zone may be determined as the signal coverage zone.
For example, referring to fig. 1d, a signal loss point a1, a signal loss point a2, a signal loss point a3, a signal recovery point b1, a signal recovery point b2 and a signal recovery point b3 are determined in the mowing area, and the corresponding relationship between the signal loss point and the signal recovery point is determined based on the mowing route, in this embodiment, the mowing route is a bow-shaped mowing route, that is, in the same mowing route in which the signal loss point and the corresponding signal recovery point are both mowing routes, it is known that the signal loss point a1 corresponds to the signal recovery point b1, the signal loss point a2 corresponds to the signal recovery point b2, the signal loss point a3 corresponds to the signal recovery point b3, then, the point distance d1 between the signal loss point and the corresponding signal recovery point is calculated, the maximum distance d2 between the signal loss points is calculated, the maximum distance d3 between the signal recovery points is calculated, and it is known from the figure that the maximum distance d2 is the distance between the signal loss point a1 and the signal loss point 3, the maximum distance d3 is the distance between the signal recovery point b1 and the signal recovery point b3, a signal loss region s1 is determined based on the point-to-point distance d1, the maximum distance d2 and the maximum distance d3, and finally, after the signal loss region is determined, the region of the mowing region other than the signal loss region s1 is determined as a signal coverage region s2.
Optionally, in some embodiments, the step "determining a signal loss area and a signal coverage area in a mowing area based on a signal loss point and a signal recovery point" may specifically include:
(21) calculating the point location distance between the signal loss point and the corresponding signal recovery point;
(22) and determining a signal loss area and a signal coverage area in the mowing area according to the point location distance, the maximum distance between the signal loss points and the maximum distance between the signal recovery points.
103. And outputting the target mowing route based on the initial mowing route and the position information of the signal loss area.
It can be understood that, because there is the signal loss region in the area of mowing, consequently, carry out the operation of mowing to the area of mowing according to the initial route of mowing, can appear the signal loss and lead to the condition of cutting neglected, so, this application adopts the regional planning route of branch to avoid appearing the condition of cutting neglected.
For signal coverage areas, there is a location signal, and therefore, the initial mowing path can be adapted. On this basis, the position of the loss-of-signal area needs to be considered, so as to subsequently plan a mowing route corresponding to the signal coverage area, that is, optionally, in some embodiments, the step "outputting a target mowing route based on the initial mowing route and the position information of the loss-of-signal area" may specifically include:
(31) determining the area shape of a signal coverage area according to the position information of the signal loss area;
(32) adjusting the initial mowing route based on the zone shape;
(33) and constructing a supplementary mowing route corresponding to the signal loss area according to the adjusted mowing route, and the signal loss point and the signal recovery point corresponding to the signal loss area.
For example, specifically, after determining the zone shape of the signal coverage zone, the initial mowing route is adaptively adjusted based on the zone shape so that the mowing pattern of the adjusted mowing route matches the mowing pattern of the initial mowing route, and then, based on the loss-of-signal point and the signal recovery point corresponding to the loss-of-signal zone with reference to the route end point of the adjusted mowing route, a complementary mowing route corresponding to the loss-of-signal zone is constructed.
Optionally, in some embodiments, the step of "adjusting the initial mowing route based on the area shape" may specifically include:
(41) acquiring a current mowing mode;
(42) adjusting an initial mowing route based on a zone shape and the mowing mode.
Optionally, in some embodiments, the step "constructing a supplementary mowing route corresponding to the signal loss area according to the adjusted mowing route and the signal loss point and the signal recovery point corresponding to the signal loss area" may specifically include:
(51) determining a route end point corresponding to the adjusted mowing route;
(52) determining a route starting point corresponding to a supplementary mowing route corresponding to the signal loss area based on the route end point and the signal loss point corresponding to the signal loss area;
(53) and constructing a supplementary mowing route corresponding to the signal loss area according to a route starting point and a signal recovery point.
For example, specifically, it is detected whether a loss of signal point closest to the route end point is located on the mowing path of the adjusted mowing route, and when it is detected that the loss of signal point closest to the route end point is located on the mowing path of the adjusted mowing route, it is determined that the route end point corresponding to the mowing route is a route start point corresponding to the supplementary mowing route corresponding to the loss of signal area; when the signal loss point closest to the route end point is detected not to be on the mowing path of the adjusted mowing route, at this time, the signal loss point and the midpoint of the route end point can be taken as a route starting point corresponding to the supplementary mowing route corresponding to the signal loss area; and then constructing a supplementary mowing route corresponding to the signal loss area according to the route starting point and the signal recovery point.
104. And carrying out mowing operation on the signal coverage area and the signal loss area in sequence according to the target mowing route.
Optionally, in some embodiments, the step of "performing mowing operations on the signal coverage area and the signal loss area in sequence according to the target mowing route" may specifically include: and carrying out mowing operation on the signal coverage area according to the adjusted mowing line, and carrying out mowing operation on the signal loss area according to the supplemented mowing line.
In order to improve the mowing coverage, in the present application, after mowing the signal coverage area, mowing the signal loss area, it should be noted that, since the mowing robot is located in the signal loss area in absence of the locating signal, the mowing operation needs to be performed on the signal loss area by using the inertial measurement data generated by the inertial detection unit, that is, optionally, in some embodiments, the step "mowing the signal coverage area and the signal loss area sequentially according to the target mowing route" may specifically include:
(61) carrying out mowing operation on a signal coverage area according to a target mowing route, and then obtaining inertia measurement data;
(62) and performing mowing operation on the area with the signal loss based on the target mowing route and the inertia measurement data.
The mowing operation for the signal coverage area and the signal loss area is completed.
After the mowing scheme provided by the embodiment of the application is adopted, after the signal loss area and the signal coverage area are determined in the mowing area according to the positioning data, a new mowing route (namely a target mowing route) is planned again by utilizing the position information of the initial mowing route and the positioning loss area, and the mowing operation is carried out on the signal coverage area and the signal loss area according to the target mowing route, therefore, the mowing coverage rate of the signal coverage area can be ensured, the mowing coverage rate of the area lost in positioning can be improved, and the mowing efficiency is improved.
In order to further understand the mowing method of the present application, a scene of intelligent mowing is taken as an example for further explanation, please refer to fig. 2, a mowing map includes a signal coverage area a and a signal loss area B, a marking point of a mowing robot H is two recording positions, namely a point position a before losing positioning and a point position B after recovering positioning, a connecting line of the two recording positions is scanned up and down for a certain distance to form a rectangular area as a possible missed cutting area after positioning failure, and the area is subjected to coverage planning and then is subjected to additional mowing to solve the missed cutting problem caused by positioning.
It should be noted that the locus of the mowing robot H between these two positions is derived from the wheel odometer and the inertial measurement. The line connecting the two positions is a rectangular area formed by scanning the upper side and the lower side with a certain width, or a circular area with a diameter in a wall city, or an area formed by a circumscribed rectangle or a circumscribed circle containing the two points and a track between the two points is a supplementary mowing area, and a mowing route such as a Chinese character 'gong' type or Chinese character 'hui' type is output, or a random mowing route.
For the zigzag mowing route, the signal loss point and the signal recovery point can be used as the folding point of the zigzag mowing route, and the zigzag mowing route corresponding to the signal loss area is output based on the distance between the signal loss point and the corresponding signal recovery point. When in actual mowing, the mowing robot can be controlled by the inertia detection unit and the wheel type odometer to perform mowing operation according to the Chinese character 'Hui' shaped mowing route.
For the square-circle type mowing route, the inflection point of each square-circle can be determined according to the area and the shape of the signal loss area, and when the mowing robot actually mows, the mowing robot can be controlled by the inertia detection unit and the wheel type odometer to mow according to the square-circle type mowing route.
For the random mowing route, when in actual mowing, the mowing robot is controlled to randomly mow in the signal loss area, and when the duration of continuous mowing of the mowing robot in the signal loss area is longer than the set duration, the mowing robot is controlled to keep the current movement trend, and the mowing robot is driven away from the signal loss area according to the linear mowing route.
In order to better implement the mowing method of the embodiment of the application, the embodiment of the application also provides a mowing device based on the mowing method. The terms are the same as those in the mowing method, and specific implementation details can be referred to the description in the method embodiment.
Referring to fig. 3, fig. 3 is a schematic structural diagram of a mowing device according to an embodiment of the present disclosure, where the mowing device may include an obtaining module 201, a determining module 202, an output module 203, and a mowing module 204, which may specifically be as follows:
the obtaining module 201 is used for obtaining mowing task data.
The mowing task data comprises a mowing area, an initial mowing route and positioning data corresponding to the mowing robot, the mowing area can be used for a user to control the mowing robot to move through user equipment in advance, the mowing area is determined based on a moving track of the mowing area, optionally, the initial mowing route can be a zigzag mowing route, a zigzag mowing route or a random collision type mowing route, and the initial mowing route can be specifically determined by a mowing mode of the mowing robot. The positioning data may include differential positioning data and satellite positioning data.
A determining module 202, configured to determine a signal loss area and a signal coverage area in the mowing area according to the positioning data.
The Positioning data may include Real Time Kinematic (RTK) Positioning data and Global Positioning System (GPS) data, and the determining module 202 may define a signal loss area and a signal coverage area in the mowing area by using a signal loss point and a signal recovery point.
Optionally, in some embodiments, the determining module 202 may specifically include:
the first determining unit is used for determining a signal loss point and a signal recovery point in the mowing area according to the positioning data;
a second determination unit for determining a signal loss zone and a signal coverage zone in the mowing zone based on the signal loss point and the signal recovery point.
Optionally, in some embodiments, the second determining unit is specifically configured to: calculating the point location distance between the signal loss point and the corresponding signal recovery point; and determining a signal loss area and a signal coverage area in the mowing area according to the point location distance, the maximum distance between the signal loss points and the maximum distance between the signal recovery points.
And the output module 203 is used for outputting the target mowing route based on the initial mowing route and the position information of the signal loss area.
Because there is the signal loss region in the area of mowing, consequently, according to the operation of mowing to the area of mowing of initial route of mowing, can appear the signal loss and lead to the condition of cutting neglected, so, this application adopts the regional planning route of branch to avoid appearing the condition of cutting neglected.
Optionally, in some embodiments, the output module 203 may specifically include:
a third determining unit, configured to determine an area shape of the signal coverage area according to the location information of the signal loss area;
an adjusting unit for adjusting the initial mowing route based on the zone shape;
and the construction unit is used for constructing a supplementary mowing route corresponding to the signal loss area according to the adjusted mowing route, and the signal loss point and the signal recovery point corresponding to the signal loss area.
Optionally, in some embodiments, the adjusting unit may be specifically configured to: and acquiring a current mowing mode, and adjusting an initial mowing route based on the area shape and the mowing mode.
Optionally, in some embodiments, the construction unit may specifically be configured to: determining a route end point corresponding to the adjusted mowing route, determining a route starting point corresponding to a supplementary mowing route corresponding to the signal loss area based on the route end point and the signal loss point corresponding to the signal loss area, and constructing the supplementary mowing route corresponding to the signal loss area according to the route starting point and the signal recovery point.
And the mowing module 204 is used for sequentially mowing the signal coverage area and the signal loss area according to the target mowing route.
Optionally, in some embodiments, the mowing module 204 may be specifically configured to: carrying out mowing operation on the signal coverage area according to the adjusted mowing route, and carrying out mowing operation on the signal loss area according to the supplemented mowing route.
Optionally, in some embodiments, the mowing module 204 may be specifically configured to: carrying out mowing operation on a signal coverage area according to a target mowing route, and then obtaining inertia measurement data; and performing mowing operation on the area with the signal loss based on the target mowing route and the inertia measurement data.
After the obtaining module 201 of the embodiment of the application obtains the mowing task data, the mowing task data includes a mowing area, an initial mowing route and positioning data corresponding to the mowing robot, the determining module 202 determines a signal loss area and a signal coverage area in the mowing area according to the positioning data, then the output module 203 outputs a target mowing route based on the position information of the initial mowing route and the signal loss area, and finally, the mowing module 204 sequentially mows the signal coverage area and the signal loss area according to the target mowing route, in the mowing scheme provided by the application, after the signal loss area and the signal coverage area are determined in the mowing area according to the positioning data, a new mowing route (namely, the target mowing route) is re-planned by using the position information of the initial mowing route and the positioning loss area, and carrying out mowing operation on the signal coverage area and the signal loss area in sequence according to the target mowing route, so that the mowing coverage rate of the signal coverage area can be ensured, the mowing coverage rate of the positioning loss area can be improved, and the mowing efficiency is improved.
In addition, the embodiment of the present application also provides a robot mower, as shown in fig. 4, which shows a schematic structural diagram of the robot mower according to the embodiment of the present application, specifically:
the lawn mowing robot can include components such as a control module 301, a travel mechanism 302, a cutting module 303, and a power supply 304. Those skilled in the art will appreciate that the electronic device configuration shown in fig. 4 does not constitute a limitation of the electronic device and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components. Wherein:
the control module 301 is a control center of the robot mower, and the control module 301 may specifically include a Central Processing Unit (CPU), a memory, an input/output port, a system bus, a timer/counter, a digital-to-analog converter, an analog-to-digital converter, and other components, where the CPU executes various functions and processes data of the robot mower by running or executing software programs and/or modules stored in the memory and calling data stored in the memory; preferably, the CPU may integrate an application processor, which mainly handles an operating system, application programs, and the like, and a modem processor, which mainly handles wireless communication. It will be appreciated that the modem processor described above may not be integrated into the CPU.
The memory may be used to store software programs and modules, and the CPU executes various functional applications and data processing by operating the software programs and 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, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), 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. Accordingly, the memory may also include a memory controller to provide the CPU access to the memory.
The traveling mechanism 302 is electrically connected to the control module 301, and is configured to adjust a traveling speed and a traveling direction of the mowing robot in response to a control signal transmitted by the control module 301, so as to implement a self-moving function of the mowing robot.
The cutting module 303 is electrically connected with the control module 301, and is used for adjusting the height and the rotating speed of the cutter disc in response to a control signal transmitted by the control module, so as to realize mowing operation.
The power supply 304 may be logically connected to the control module 301 through a power management system, so as to implement functions of managing charging, discharging, and power consumption through the power management system. The power supply 304 may also include any component including one or more dc or ac power sources, recharging systems, power failure detection circuitry, power converters or inverters, power status indicators, and the like.
Although not shown, the mowing robot may further include a communication module, a sensor module, a prompt module, and the like, which are not described in detail herein.
The communication module is used for receiving and sending signals in the process of receiving and sending information, and realizes the signal receiving and sending with the user equipment, the base station or the server by establishing communication connection with the user equipment, the base station or the server.
The sensor module is used for collecting internal environment information or external environment information, and feeding collected environment data back to the control module for decision making, so that the accurate positioning and intelligent obstacle avoidance functions of the mowing robot are realized. Optionally, the sensor may comprise: without limitation, an ultrasonic sensor, an infrared sensor, a collision sensor, a rain sensor, a lidar sensor, an inertial measurement unit, a wheel speed meter, an image sensor, a position sensor, and other sensors.
The prompting module is used for prompting the working state of the current mowing robot of a user. In this scheme, the prompt module includes but is not limited to pilot lamp, bee calling organ etc.. For example, the mowing robot can prompt a user of the current power state, the working state of the motor, the working state of the sensor and the like through the indicator lamp. For another example, when the mowing robot is detected to be out of order or stolen, the warning prompt can be realized through the buzzer.
Specifically, in this embodiment, the processor in the control module 301 loads the executable file corresponding to the process of one or more application programs into the memory according to the following instructions, and the processor runs the application programs stored in the memory, so as to implement various functions, as follows:
the method comprises the steps of responding to a mowing triggering request aiming at the mowing robot, determining the current mowing direction of the mowing robot according to the historical mowing direction, obtaining a preset mowing area, generating a bow-shaped mowing route running along the current mowing direction based on the mowing area, the mowing mode of the mowing robot and the current mowing direction, and controlling the mowing robot to perform mowing operation based on the bow-shaped mowing route.
The above operations can be implemented in the foregoing embodiments, and are not described in detail herein.
The embodiment of the application responds to a mowing triggering request aiming at a mowing robot, determines a current mowing direction of the mowing robot according to a historical mowing direction, the current mowing direction is different from the historical mowing direction, then obtains a preset mowing area, then generates a zigzag mowing route running along the current mowing direction based on the mowing area, a mowing mode of the mowing robot and the current mowing direction, and finally controls the mowing robot to perform mowing operation based on the zigzag mowing route. The problem of missed cutting easily appears when can reducing and mowing, therefore can see that this application embodiment can improve work area's coverage to improve the efficiency of mowing.
It will be understood by those skilled in the art that all or part of the steps of the methods of the above embodiments may be performed by instructions, or by instructions controlling associated hardware, which may be stored in a computer-readable storage medium and loaded and executed by a processor.
To this end, the present application provides a storage medium, in which a plurality of instructions are stored, and the instructions can be loaded by a processor to execute the steps in any one of the mowing methods provided by the present application. For example, the instructions may perform the steps of:
the method comprises the steps of responding to a mowing triggering request aiming at a mowing robot, determining the current mowing direction of the mowing robot according to a historical mowing direction, obtaining a preset mowing area, generating a zigzag mowing route along the current mowing direction based on the mowing area, a mowing mode of the mowing robot and the current mowing direction, and controlling the mowing robot to perform mowing operation based on the zigzag mowing route.
The above operations can be implemented in the foregoing embodiments, and are not described in detail herein.
Wherein the storage medium may include: read Only Memory (ROM), Random Access Memory (RAM), magnetic or optical disks, and the like.
Since the instructions stored in the storage medium can execute the steps in any mowing method provided by the embodiment of the application, the beneficial effects that any mowing method provided by the embodiment of the application can achieve can be achieved, and the detailed description is given in the foregoing embodiment and is not repeated herein.
The foregoing detailed description is directed to a mowing method, an apparatus, a mowing robot, and a storage medium provided in embodiments of the present application, and specific examples are applied herein to explain the principles and implementations of the present application, and the descriptions of the foregoing embodiments are only used to help understand the method and core ideas of the present application; meanwhile, for those 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 (10)
1. A method of mowing, comprising:
the method comprises the steps of obtaining mowing task data, wherein the mowing task data comprise a mowing area, an initial mowing route and positioning data corresponding to a mowing robot;
determining a signal loss area and a signal coverage area in the mowing area according to the positioning data;
outputting a target mowing route based on the initial mowing route and the position information of the signal loss area;
and carrying out mowing operation on the signal coverage area and the signal loss area in sequence according to the target mowing route.
2. The method of claim 1, wherein outputting a target mowing route based on the initial mowing route and the location information of the loss of signal area comprises:
determining the area shape of the signal coverage area according to the position information of the signal loss area;
adjusting the initial mowing route based on the zone shape;
constructing a supplementary mowing route corresponding to the signal loss area according to the adjusted mowing route, and the signal loss point and the signal recovery point corresponding to the signal loss area;
the mowing operation is sequentially performed on the signal coverage area and the signal loss area according to the target mowing route, and the mowing method comprises the following steps: and carrying out mowing operation on the signal coverage area according to the adjusted mowing route, and carrying out mowing operation on the signal loss area according to the supplemented mowing route.
3. The method of claim 2, wherein constructing a supplemental mowing route corresponding to the loss of signal area according to the adjusted mowing route and the loss of signal point and the signal recovery point corresponding to the loss of signal area comprises:
determining a route end point corresponding to the adjusted mowing route;
determining a route starting point corresponding to a supplementary mowing route corresponding to the signal loss area based on the route end point and a signal loss point corresponding to the signal loss area;
and constructing a supplementary mowing route corresponding to the signal loss area according to the route starting point and the signal recovery point.
4. The method of claim 2, wherein the adjusting the initial mowing route based on the zone shape comprises:
acquiring a current mowing mode;
adjusting the initial mowing route based on the zone shape and the mowing mode.
5. The method of any of claims 1 to 4, wherein determining a signal loss zone and a signal coverage zone in the mowing zone according to the positioning data comprises:
determining a signal loss point and a signal recovery point in the mowing area according to the positioning data;
determining a signal loss zone and a signal coverage zone in the mowing zone based on the signal loss point and the signal recovery point.
6. The method of claim 5, wherein determining a signal loss zone and a signal coverage zone in the mowing zone based on the signal loss point and the signal recovery point comprises:
calculating the point location distance between the signal loss point and the corresponding signal recovery point;
and determining a signal loss area and a signal coverage area in the mowing area according to the point location distance, the maximum distance between the signal loss points and the maximum distance between the signal recovery points.
7. The method of any one of claims 1 to 4, wherein said sequentially mowing the signal coverage area and the signal loss area according to the target mowing route comprises:
carrying out mowing operation on the signal coverage area according to the target mowing route, and then obtaining inertia measurement data;
and carrying out mowing operation on the signal loss area based on the target mowing route and the inertia measurement data.
8. The method of any of claims 1 to 4, wherein prior to obtaining mowing task data, further comprising:
controlling the mowing robot to perform mowing operation based on the initial mowing route;
and in the process of carrying out mowing operation by the mowing robot, if the mowing robot is in a positioning losing state, controlling the mowing robot to keep the movement trend before the positioning losing so as to drive away from the positioning losing area according to the initial mowing route.
9. A robot lawnmower comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program implements the steps of the method of mowing according to any of the claims 1-8.
10. A storage medium having a computer program stored thereon, wherein the computer program when executed by a processor implements the steps of the mowing method according to any of claims 1 to 8.
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