CN115097819A - Lawn mower edge map building method, storage medium and computer equipment - Google Patents
Lawn mower edge map building method, storage medium and computer equipment Download PDFInfo
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- CN115097819A CN115097819A CN202210633863.7A CN202210633863A CN115097819A CN 115097819 A CN115097819 A CN 115097819A CN 202210633863 A CN202210633863 A CN 202210633863A CN 115097819 A CN115097819 A CN 115097819A
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- 238000013507 mapping Methods 0.000 claims description 13
- 238000004590 computer program Methods 0.000 claims description 10
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- 239000007787 solid Substances 0.000 description 4
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
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Abstract
The invention relates to a method for establishing a graph along the edge of a mower, a storage medium and computer equipment. The method comprises the following steps: acquiring a natural boundary line and a break point of an area to be mowed, wherein the break point is an end point of the natural boundary line; inserting a preset boundary line between two adjacent break points; and obtaining a boundary line map of the area to be mowed according to the natural boundary line and the preset boundary line. According to the invention, the break point is inserted into the preset boundary line in the natural boundary, so that the user does not need to arrange the shielding object, and the user experience is improved.
Description
Technical Field
The invention relates to the field of drawing of a mower, in particular to a method for drawing a mower along the edge, a storage medium and computer equipment.
Background
The automatic mower can automatically complete mowing operation, saves a large amount of manual labor and is widely applied. The lawn mower needs to acquire a map of an area to be mowed, such as a boundary map, before the mowing operation, so as to plan the mowing operation later. In the prior art, in the boundary mapping process of a mower, the mower can walk along the solid boundary of a to-be-cut grass area, but when the mower has no solid boundary or the user does not need to mow the grass area, the user needs to arrange a shelter so that the mower walks along the shelter arranged by the user, and mapping is completed. The drawing establishing mode needs a user to arrange the shielding object, so that the labor capacity of the user is increased, and the use experience of the user is reduced.
Disclosure of Invention
The invention aims to provide a method for establishing a map along an edge of a mower, a storage medium and computer equipment.
The technical scheme adopted by the invention for solving the technical problem is as follows: a method for constructing a lawn mower edgewise map comprises the following steps:
acquiring a natural boundary line and a break point of a zone to be mowed, wherein the break point is an end point of the natural boundary line;
inserting a preset boundary line between two adjacent break points;
and obtaining a boundary line map of the area to be mowed according to the natural boundary line and the preset boundary line.
Further, in the method for mapping an edge of a mower according to the present invention, the acquiring the natural boundary line and the break point of the area to be mowed includes:
the mower walks along the natural boundary of the grass cutting area to obtain a natural boundary line, and the end point of the natural boundary line is taken as an interruption point.
Further, in the method for drawing along the edge of the mower, a landmark point is arranged at the break of the natural boundary, and the moving of the mower along the natural boundary of the area to be mowed comprises the following steps:
and the mower walks along the natural boundary of the area to be mowed, and if the mower detects the road mark point, the mower moves to the adjacent road mark point according to a preset algorithm so as to enable the mower to cross the area without the natural boundary.
Further, in the method for drawing the lawn mower along the edge, the preset algorithm comprises one of a visual identification algorithm, a GPS positioning algorithm, a bluetooth positioning and tracking algorithm and a carrier phase differential algorithm.
Further, in the method for drawing the lawn mower along the edge, when the lawn mower meets the break of the natural boundary in the process of walking along the natural boundary of the area to be cut, the lawn mower receives the traveling guide instruction and travels to the adjacent break of the natural boundary under the guide of the traveling guide instruction, so that the lawn mower crosses the area without the natural boundary.
Further, in the method for creating a map along an edge of a lawn mower according to the present invention, the inserting a predetermined boundary line between two adjacent break points includes:
displaying at least two preset boundary lines;
receiving a first selection instruction;
and inserting a preset boundary line corresponding to the first selection instruction between two adjacent break points.
Further, in the method for mapping an edge of a lawn mower according to the present invention, before displaying at least two preset boundary lines, the method further comprises:
and receiving a second selection instruction, and selecting two adjacent break points according to the second selection instruction.
Further, in the method for establishing the map along the edge of the mower, the preset boundary line is a straight line.
In addition, the present invention also provides a computer readable storage medium, which stores a computer program, the computer program being suitable for being loaded by a processor to execute the steps of the method for building the map along the edge of the lawn mower.
In addition, the invention also provides computer equipment, which comprises a memory and a processor;
the memory has stored therein a computer program;
the processor executes the steps of the lawn mower edgewise mapping method described above by calling the computer program stored in the memory.
The method for establishing the map along the edge of the mower, the storage medium and the computer equipment have the following beneficial effects: according to the invention, the preset boundary line is inserted into the break point of the natural boundary, so that a user does not need to arrange a shielding object, and the use experience of the user is improved.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a flow chart of a method for creating a map along an edge of a lawn mower provided by an embodiment of the present invention;
FIG. 2 is a schematic diagram of a boundary line map provided by an embodiment of the present invention;
FIG. 3 is a flow chart of a mower edgewise mapping method provided by an embodiment of the present invention;
FIG. 4 is a flow chart of a method for creating a map along an edge of a lawn mower according to an embodiment of the present invention.
Detailed Description
For a more clear understanding of the technical features, objects and effects of the present invention, embodiments of the present invention will now be described in detail with reference to the accompanying drawings.
In a preferred embodiment, referring to fig. 1 and fig. 2, the method for drawing a lawn mower along an edge of the lawn mower of this embodiment is applied to an automatic lawn mower, the lawn mower includes a mower body, a cutter driving device, a road wheel driving device, a power supply module, a control circuit board, and the like, the power supply module provides electric energy for the lawn mower, and the power supply module is generally a battery power supply module. The traveling wheel driving device drives the traveling wheels to realize the movement of the mower. The cutter head driving device drives the cutter head to rotate to perform mowing operation. Alternatively, the traveling wheel driving device is a driving motor, and the cutter head driving device is a driving motor. Before the mowing operation, the mower needs to acquire a boundary line map of an area to be mowed, wherein the boundary line map is a map corresponding to the boundary of the area to be mowed.
Specifically, the method for establishing the map along the edge of the mower comprises the following steps:
and S1, acquiring a natural boundary line and a break point of the area to be mowed, wherein the break point is an end point of the natural boundary line.
Specifically, after the mower starts to map the area to be mowed, the mower is driven to the natural boundary of the area to be mowed, or the user moves the mower to the natural boundary of the area to be mowed. The mower is located on the natural boundary of the area to be mowed, and walks along the natural boundary of the area to be mowed to obtain a natural boundary line corresponding to the natural boundary of the area to be mowed. It should be noted that the natural boundary of the area to be mowed is an entity boundary, and may be a wall, a fence, a flower bed, etc. As shown in FIG. 2, line b, line c, line e and line f are natural boundary lines obtained by the lawn mower.
Further, after the natural boundary line of the area to be mowed is obtained, if the natural boundary line is interrupted, it is indicated that the area to be mowed has no corresponding natural boundary in the interrupted area, that is, no solid boundary, and at this time, the end point of the natural boundary line is taken as an interruption point. As shown in fig. 2, when an interruption occurs between the line segment B and the line segment f, the end point of the line segment f at the interruption position is taken as an interruption point a, and the end point of the line segment B at the interruption position is taken as an interruption point B. Similarly, if an interruption occurs between the line segment C and the line segment e in the figure, the endpoint of the line segment C at the interruption position is taken as an interruption point C, and the endpoint of the line segment e at the interruption position is taken as an interruption point D.
And S2, inserting a preset boundary line between two adjacent break points.
Specifically, the grass cutting area has no corresponding natural boundary in the break area, so that a corresponding natural boundary line cannot be generated by the mower, and therefore, the boundary line corresponding to the break area needs to be drawn in a supplementary manner. This embodiment inserts the preset boundary line between two adjacent break points after obtaining the natural boundary line and the break point of the zone to be mowed. As shown in fig. 2, the interruption point a and the interruption point B are adjacent interruption points, and a predetermined boundary line a is inserted between the interruption point a and the interruption point B. Similarly, the interruption point C and the interruption point D are adjacent interruption points, and a preset boundary line D is inserted between the interruption point C and the interruption point D. Alternatively, the preset boundary line may be a straight line, a curve, a broken line, or the like; preferably, the predetermined boundary line is a straight line.
And S3, obtaining a boundary line map of the area to be mowed according to the natural boundary line and the preset boundary line.
Specifically, after a natural boundary line of the area to be mowed is obtained and a preset boundary line is inserted between two adjacent break points, a boundary line map of the area to be mowed is obtained according to the natural boundary line and the preset boundary line. As shown in fig. 2, a line segment b, a line segment c, a line segment e and a line segment f are natural boundary lines; the line segment a and the line segment d are preset boundary lines, and a boundary line map of the area to be mowed is obtained through the line segment b, the line segment c, the line segment e, the line segment f, the line segment a and the line segment d.
In the embodiment, the break point is inserted into the preset boundary line in the natural boundary, so that the user is not required to arrange the shielding object at the position without the solid boundary, and the use experience of the user is improved.
In the method for establishing the map along the edge of the mower according to some embodiments, in order to solve the problem of movement of the mower between adjacent break points, a landmark point is set at the break point of the natural boundary, the landmark point is an object, and the mower can identify the landmark point. The mower walks along the natural boundary of the area to be mowed, and if the mower detects the road mark point, the mower moves to the adjacent road mark point according to a preset algorithm so as to enable the mower to cross the area without the natural boundary and continue to walk on the natural boundary of the area to be mowed. As shown in fig. 2, a waypoint is set at the interruption point a, the interruption point B, the interruption point C and the interruption point D, and the lawn mower can automatically travel from the interruption point a to the interruption point B under the guidance of the waypoint; similarly, the mower can automatically travel from the intermediate point C to the interruption point D under the guidance of the waypoint.
Alternatively, the predetermined algorithm includes, but is not limited to, a visual recognition algorithm, a GPS positioning algorithm, a bluetooth positioning and tracking algorithm, a carrier-phase differential algorithm, and the like. The visual identification algorithm means that the mower acquires images of the road marking points through the camera, identifies and drives to the adjacent road marking points. The GPS positioning algorithm is to respectively acquire GPS information of adjacent break points, and the mower runs to adjacent landmark points under the guidance of the GPS information. The bluetooth positioning and tracking algorithm and the carrier phase differential algorithm may refer to the prior art, and are not described in detail in this embodiment.
In the embodiment, the mark point is arranged at the break of the natural boundary, and the mower crosses over the region without the natural boundary under the guidance of the mark point, so that the automatic movement of the mower is realized, and the mower can automatically and continuously obtain the natural boundary line and the break point of the region to be mowed.
In some embodiments of the method for drawing a lawn mower along an edge, when the lawn mower encounters a break in a natural boundary while walking along the natural boundary of a region to be mowed, a traveling guide command is received, and the traveling guide command is generated for an external control terminal, such as a remote controller. The mower travels to an adjacent natural boundary break under the guidance of the travel guidance instructions to cause the mower to cross the no natural boundary zone. The present embodiment allows a user to control mower movement using a remote control to move the mower across an unnatural boundary area. It will be appreciated that the lawnmower of this embodiment is still autonomous on the natural boundaries of the area to be mowed, not requiring the user to use a remote control for control.
In the method for creating a map along an edge of a lawn mower according to some embodiments, referring to fig. 3, the inserting a predetermined boundary line between two adjacent break points according to the present embodiment includes:
and S21, displaying at least two preset boundary lines.
Specifically, after a natural boundary line and a breakpoint of an area to be mowed are obtained, at least two preset boundary lines are displayed; alternatively, the preset boundary line may be a straight line, a curve, a broken line, etc., and various preset boundary lines may be provided for the user to select. Alternatively, the lawn mower includes a display screen on which at least two preset boundary lines are displayed. Or the mower is in communication connection with a user terminal, the user terminal comprises a display screen and sends the acquired natural boundary line and the acquired breakpoint of the grass cutting area to the user terminal, and the user terminal displays at least two preset boundary lines.
And S22, receiving a first selection instruction.
Specifically, the first selection instruction is used for selecting one boundary line from at least two preset boundary lines. The first selection instruction may be generated by a touch screen or a key, i.e. a user selects one boundary line from at least two preset boundary lines by operating the touch screen or the key.
And S23, inserting a preset boundary line corresponding to the first selection instruction between two adjacent break points.
Specifically, after receiving a first selection instruction, a preset boundary line corresponding to the first selection instruction is determined, and then the preset boundary line corresponding to the first selection instruction is inserted between two adjacent break points. If fig. 2 includes a plurality of groups of adjacent break points, a predetermined boundary line corresponding to the first selection instruction is inserted between each group of adjacent break points.
According to the embodiment, a certain selection authority is given to the user, and the user can specifically select the proper preset boundary line according to the terrain of the area to be mowed, so that the finally obtained boundary line map better conforms to the actual terrain of the area to be mowed, and the mowing quality is improved.
In the method for creating a map along an edge of a lawn mower according to some embodiments, referring to fig. 4, the inserting a predetermined boundary line between two adjacent break points according to the present embodiment includes:
and S20, receiving a second selection instruction, and selecting two adjacent interruption points according to the second selection instruction.
Specifically, if fig. 2 includes multiple groups of adjacent interrupt points, a preset boundary line corresponding to the first selection instruction is inserted between each group of adjacent interrupt points. The present embodiment may insert a corresponding predetermined boundary line for each group of adjacent break points. That is to say, the preset boundary lines corresponding to each group of adjacent interruption points may be different, and the user selects the preset boundary line corresponding to each group of adjacent interruption points according to the need.
And S21, displaying at least two preset boundary lines.
Specifically, after a certain group of adjacent break points are selected, at least two preset boundary lines are displayed; alternatively, the preset boundary line may be a straight line, a curve, a broken line, etc., and various preset boundary lines may be provided for the user to select. Alternatively, the lawn mower includes a display screen on which at least two preset boundary lines are displayed. Or the mower is in communication connection with a user terminal, the user terminal comprises a display screen and sends the acquired natural boundary line and the acquired break point of the area to be mowed to the user terminal, and the user terminal displays at least two preset boundary lines.
And S22, receiving a first selection instruction.
Specifically, the first selection instruction is used for selecting one boundary line from at least two preset boundary lines. The first selection instruction may be generated by a touch screen or a key, i.e. a user selects one boundary line from at least two preset boundary lines by operating the touch screen or the key.
And S23, inserting a preset boundary line corresponding to the first selection instruction between two adjacent break points.
Specifically, after receiving a first selection instruction, determining a preset boundary line corresponding to the first selection instruction, and then inserting the preset boundary line corresponding to the first selection instruction between adjacent interruption points selected by a second selection instruction to complete the preset boundary line corresponding to the group of adjacent interruption points.
And repeating the steps S20 to S23, and selecting a corresponding preset boundary line for each group of adjacent interrupt points until the preset boundary lines corresponding to all the adjacent interrupt points are filled.
In this embodiment, the user selects the corresponding preset boundary line for each group of adjacent break points, so that the selection of the preset boundary line is more personalized, and a more suitable preset boundary line can be selected according to the characteristics of the local map of the to-be-mowed area corresponding to each group of adjacent break points, so that the finally obtained boundary line map better conforms to the actual terrain of the to-be-mowed area, and the post-stage mowed quality is improved.
In the method for creating a map along an edge of a lawn mower according to some embodiments, inserting the predetermined boundary line between two adjacent break points includes: and receiving a third selection instruction, and selecting a certain group of adjacent break points according to the third selection instruction. And receiving a drawing instruction, drawing a preset boundary line according to the drawing instruction, and inserting the drawn preset boundary line into the adjacent break point selected by the third selection instruction. And repeatedly executing the process, and drawing a preset boundary line for each group of adjacent break points. In the embodiment, the user manually draws the preset boundary line, so that the preset boundary line can better conform to the actual shape of the preset mowing area, and the drawing establishing accuracy is improved.
In a preferred embodiment, the computer readable storage medium of this embodiment stores a computer program adapted to be loaded by a processor to perform the steps of the method for edgewise mapping a lawnmower according to the above embodiment.
In a preferred embodiment, the computer device of this embodiment includes a memory in which the computer program is stored and a processor. The processor performs the steps of the lawn mower edgewise mapping method described above by calling a computer program stored in the memory.
The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and are intended to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the scope of the present invention. All equivalent changes and modifications made within the scope of the claims of the present invention should be covered by the claims of the present invention.
Claims (10)
1. An edgewise mapping method for a mower is characterized by comprising the following steps:
acquiring a natural boundary line and a break point of a zone to be mowed, wherein the break point is an end point of the natural boundary line;
inserting a preset boundary line between two adjacent break points;
and obtaining a boundary line map of the area to be mowed according to the natural boundary line and the preset boundary line.
2. The method of claim 1, wherein the obtaining the natural boundary line and the break point of the area to be mowed comprises:
the mower walks along the natural boundary of the area to be mowed to obtain a natural boundary line, and the end point of the natural boundary line is taken as an interruption point.
3. The method of claim 2, wherein a waypoint is provided at the natural boundary break, and wherein walking the lawnmower along the natural boundary of the area to be mowed comprises:
and the mower walks along the natural boundary of the area to be mowed, and if the mower detects the road marking point, the mower moves to the adjacent road marking point according to a preset algorithm so as to enable the mower to cross the area without the natural boundary.
4. The lawn mower edge mapping method of claim 3, wherein the predetermined algorithm comprises one of a visual recognition algorithm, a GPS positioning algorithm, a Bluetooth positioning and tracking algorithm, and a carrier phase differential algorithm.
5. The method for drawing along the edge of the mower according to claim 2, wherein when the mower meets the natural boundary discontinuity in the process of walking along the natural boundary of the area to be mowed, the mower receives a traveling guide instruction and travels to the adjacent natural boundary discontinuity under the guidance of the traveling guide instruction so as to enable the mower to cross the area without the natural boundary.
6. The method for drawing an edge of a lawn mower according to claim 1, wherein said inserting a predetermined boundary line between two adjacent break points comprises:
displaying at least two preset boundary lines;
receiving a first selection instruction;
and inserting a preset boundary line corresponding to the first selection instruction between two adjacent break points.
7. The method for mapping a lawn mower edge according to claim 6, further comprising the step of, before said displaying at least two predetermined boundary lines:
and receiving a second selection instruction, and selecting two adjacent break points according to the second selection instruction.
8. An edge mapping method for a lawn mower according to claim 1, 6 or 7, wherein the predetermined boundary line is a straight line.
9. A computer-readable storage medium, characterized in that it stores a computer program adapted to be loaded by a processor for performing the steps of the method of edgemapping a lawnmower according to any one of claims 1 to 8.
10. A computer device comprising a memory and a processor;
the memory has stored therein a computer program;
the processor performs the steps of the lawn mower mapping method of any of claims 1-8 by invoking the computer program stored in the memory.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210633863.7A CN115097819A (en) | 2022-06-07 | 2022-06-07 | Lawn mower edge map building method, storage medium and computer equipment |
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| CN202210633863.7A CN115097819A (en) | 2022-06-07 | 2022-06-07 | Lawn mower edge map building method, storage medium and computer equipment |
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