CN115237112A - Intelligent mower and path planning method thereof - Google Patents
Intelligent mower and path planning method thereof Download PDFInfo
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- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
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Abstract
The application discloses an intelligent mower and a path planning method thereof. This intelligent lawn mower includes: the intelligent mower comprises a body, a moving part, a signal detection device and a real-time monitoring module, wherein the body is provided with the moving part, the moving part is connected with a driving motor, the moving part is driven by the driving motor to move so as to enable the intelligent mower to move, the signal detection device is arranged on the body and used for detecting boundary line signals, the real-time monitoring module is arranged on the body and connected with a data processing module, the control module is electrically connected with the data processing module, and the intelligent mower is arranged to execute the steps of firstly establishing a boundary line electronic map and then planning a path of a working area during operation so as to improve mowing efficiency. This ensures that the intelligent lawnmower remains operating within the work area defined by the physical boundary lines.
Description
Technical Field
The application relates to the technical field of automatic control, in particular to an intelligent mower and a path planning method thereof.
Background
The intelligent lawn mower is widely applied to maintenance of household courtyard lawns and trimming of large lawns. In order to realize the predetermined functions of the intelligent lawn mower, such as mowing a specified place, the path of the intelligent lawn mower needs to be planned in a full-area coverage manner so as to completely cover all unobstructed areas in the specified place. According to different coverage path plans of a designated place, the method can be divided into a random path plan and a non-random path plan.
In the random path method (as shown in fig. 1), the lawnmower 20 travels straight in the working area surrounded by the boundary line 30, and turns to travel straight L after detecting that the lawnmower 20 hits the boundary line 30 by the boundary sensors 21 and 22 provided in the lawnmower 20; the straight lines in various directions in the working area are continuously crossed and accumulated, and the almost whole working area is covered by means of probability finally. In the mode, the coverage rate of the operating working area of the intelligent mower is low, the time consumption is long, the efficiency is low, the missed cutting and the repeated cutting of partial areas and corners are easy to occur, and the time consumption for cutting is long.
The coverage rate of the working area can be greatly improved by non-random path planning (with a planned path), the efficiency is high, and the time consumption is low; however, the implementation of the mode is to make the intelligent mower know the real-time position coordinates of the intelligent mower and the shape and the size of a working area needing mowing; and carrying out navigation control on the basis of a control module of the intelligent mower based on the real-time positioning information. At present, the positioning is usually based on satellite positioning and navigation (DGPS differential GPS), inertial positioning and navigation, ultra-wideband positioning and navigation (UWB) and other modes, and the implementation mode is high in cost and not beneficial to popularization of the intelligent mower. If a path planning technology based on satellite positioning and navigation (DGPS differential GPS) is adopted, the system needs a differential base station in the implementation mode, the implementation cost is high, and the user is extremely inconvenient to install and use; meanwhile, the system operation depends on satellite signals and a real-time difference algorithm, and once the weather (cloud layer thickness) changes and the conditions of high buildings or tree sheltering and the like occur, a large positioning error can occur to cause instability of a virtual boundary, so that the mower can walk beyond the virtual boundary to cause safety problems.
Accordingly, there is a need to improve the path planning methods of existing intelligent mowers.
Disclosure of Invention
To overcome the above disadvantages, the present application aims at: an intelligent mower working based on a boundary line and a path planning method thereof are provided. According to the method, the intelligent mower greatly improves the mowing efficiency, and meanwhile, the basic safety performance can be still ensured.
In order to achieve the purpose, the following technical scheme is adopted in the application:
the embodiment of the application provides a path planning method of an intelligent mower, which is characterized by comprising the following steps:
s10, establishing a boundary line electronic map, wherein the boundary line electronic map comprises the following steps: based on the real-time monitoring module, the information of the intelligent mower around the intelligent mower is obtained when the intelligent mower is positioned on the boundary line, and the closed loop information of the characteristic point cloud is generated according to a preset algorithm model,
and S20, the control module plans a path of the working area based on the determined boundary line electronic map, and the intelligent mower moves based on the planned path. The work area is thus defined based on the determined boundary line electronic map and the dual role of boundary line activation. In this way, the boundary line electronic map is equivalent to a virtual boundary line (which includes the position of the physical boundary line and the marks corresponding to the objects which can be used as references on the two sides of the physical boundary line) so that when mowing, accurate navigation and accurate positioning are realized by using the boundary line electronic map/the virtual boundary line, and mowing efficiency is improved. The real-time monitoring module can be a laser radar and a camera module capable of measuring distance.
In a preferred embodiment, the step S10 includes:
s1, the intelligent mower circulates for at least 1 circle along the boundary line by taking a preset position of the boundary line as a starting point,
s2, the real-time monitoring module acquires characteristic information or distance information around the intelligent mower while the intelligent mower moves, and feeds the acquired characteristic information or distance information back to the data processing module,
and S3, the data processing module receives and responds to the characteristic information or the distance information and generates a closed loop of the characteristic point cloud according to a preset algorithm model.
In a preferred embodiment, in step S1, the predetermined location is a charging station, and the intelligent mower starts moving along the boundary line from the charging station to return to the charging station 1 turn under the guidance of the boundary line sensor and the boundary line during operation.
In a preferred embodiment, the intelligent lawnmower moves 1 or more turns along the boundary line.
In a preferred embodiment, the step S20 includes: obtaining operation information based on the boundary line electronic map, controlling the moving path of the intelligent mower according to a preset path based on the operation information,
the operation information includes: at least one of a manner of moving the path, a shape of the work area, a shape of an obstacle within the work area, and a position of the obstacle. According to the method, the shape of the working area, the terrain in the working area and the surrounding environment characteristics are obtained based on the boundary line electronic map, so that the efficient path planning can be realized based on the method (such as the moving path planning of the whole working area, the moving path planning of the working area which is divided into small blocks is realized, the mowing efficiency is improved), and the current position of the intelligent mower is accurately positioned based on the boundary line electronic map and the information of the image and the distance which are obtained in real time in the working area.
In a preferred embodiment, the predetermined path includes: at least one of reciprocating zigzag walking, spiral walking or zigzag walking.
In a preferred embodiment, in step S20, when moving within the working area, the real-time monitoring module obtains information around the intelligent lawn mower in real time and feeds the information back to the data processing module to accurately locate the current position of the intelligent lawn mower.
In a preferred embodiment, the step S10 includes:
the intelligent mower in the working area walks linearly from any position to any direction until the intelligent mower touches the boundary line, returns to the original position, walks in parallel at a preset distance from the original straight line, and continuously reciprocates in the way, meanwhile, the boundary point is calibrated when the intelligent mower touches the boundary line each time, the peripheral information of the intelligent mower at the boundary point is obtained, and a plurality of boundary points are connected into a closed loop.
In a preferred embodiment, the predetermined distance is 0.5 to 1 times the cutting diameter of the intelligent mower.
In a preferred embodiment, the step S20 includes:
the intelligent mower is moved in a first operating mode or a second operating mode,
the first operating mode is configured such that the intelligent lawnmower moves only within the area of the border line electronic map,
the second operating mode is configured to move the intelligent mower within a combined boundary line electronic map and boundary line area.
In a preferred embodiment, the step S20 includes: the intelligent mower moves in a third working mode, and the third working mode is configured that the intelligent mower moves under the mode of the combined action of the boundary line electronic map and the boundary line and switches to move only under the mode of the boundary line electronic map or only under the mode of the boundary line electronic map and switches to move under the mode of the combined action of the boundary line electronic map and the boundary line. Therefore, the intelligent mower can operate in the area defined by the boundary line electronic map and the boundary line together or only operate in the area defined by the boundary line electronic map, or only operate in the area defined by the boundary line electronic map after the boundary line is closed on the occasion of the area defined by the boundary line electronic map and the boundary line together. Of course, the intelligent lawn mower may operate within the area defined by the boundary line.
The embodiment of this application provides an intelligent lawn mower, its characterized in that includes:
the intelligent mower comprises a body, wherein a moving part is arranged on the body and connected with a driving motor, the driving motor is electrically connected with a control module, the moving part is driven to move based on the driving of the driving motor so as to move the intelligent mower,
a signal detection device disposed on the body for detecting the boundary signal,
a real-time monitoring module which is configured on the body and is connected with the data processing module, the data processed by the data processing module is transmitted to the control module,
the control module is electrically connected with the data processing module, and the intelligent mower is configured to execute the path planning method when running. According to the design, the real-time monitoring module is used for feeding back the real-time information around the intelligent mower during movement to the data processing module, the data processing module receives and responds the information, and when the boundary line electronic map is established, the real-time monitoring module (such as a laser radar) is used for quickly forming the characteristic point cloud closed-loop information around the boundary line; the intelligent mower can accurately determine the position coordinates of the intelligent mower in a working area based on the information collected by the real-time monitoring module during mowing, so that path planning is facilitated, and mowing efficiency is improved. The operation is stopped when the position coordinates cannot be determined or when there is no boundary signal.
Advantageous effects
Compared with the prior art, the intelligent mower provided by the embodiment of the application firstly establishes the boundary line electronic map of the characteristic point cloud closed loop information surrounding the boundary line (the entity boundary line) during operation, and the boundary line electronic map comprises the entity boundary line information, characteristic information which can be used for reference and is arranged on two sides of the boundary line information, and information such as obstacles in a working area. The path planning method based on the SLAM positioning and navigation algorithm of the real-time monitoring module (visual or laser sensor) during operation enables the intelligent mower to be more intelligent, greatly improves mowing efficiency, and can still ensure basic safety performance.
Drawings
The accompanying drawings are included to provide an understanding of the disclosed embodiments and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the examples serve to explain the principles of the disclosure and not to limit the disclosure. The shapes and sizes of the various elements in the drawings are not to be considered as true proportions, but rather are merely intended to illustrate the context of the application.
Figure 1 is a schematic diagram of a conventional random path planning method,
figure 2 is a schematic view of the intelligent mower of the embodiment of the present application circulating along a boundary line,
fig. 3 and 4 are schematic views showing an electronic map for determining a boundary line in a linear reciprocating motion of the intelligent lawn mower according to another embodiment of the present application,
fig. 5 shows the planned path: a schematic diagram of a straight reciprocating path of a Chinese character,
fig. 6 shows the planned path: a schematic of the spiral and zigzag paths,
fig. 7/8 are schematic structural diagrams of the intelligent mower according to the embodiment of the application.
Detailed Description
The above-described scheme is further illustrated below with reference to specific examples. It should be understood that these examples are for illustrative purposes and are not intended to limit the scope of the present application. The conditions employed in the examples may be further adjusted as determined by the particular manufacturer, and the conditions not specified are typically those used in routine experimentation.
Unless otherwise defined, technical or scientific terms used in the embodiments of the present disclosure should have the ordinary meaning as understood by one of ordinary skill in the art to which this application belongs. The word "comprising" or "comprises", and the like, means that the element or item preceding the word comprises the element or item listed after the word and its equivalent, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. In this context, "electrically connected" includes the case where constituent elements are connected together by an element having some sort of electrical action. The "element having some kind of electrical function" is not particularly limited as long as it can transmit and receive an electrical signal between connected components. The "element having some kind of electric function" may be, for example, an electrode, a wiring, a switching element such as a transistor, or another functional element such as a resistor, an inductor, or a capacitor. "upper", "lower", "left", "right", and the like are used only to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.
Examples
The application provides this intelligent lawn mower of intelligence lawn mower, includes: the intelligent mower comprises a body, a moving part is arranged on the body and connected with a driving motor, the intelligent mower is driven to move based on the movement of the moving part driven by the driving motor, a signal detection device is arranged on the body and used for detecting boundary line signals, a real-time monitoring module is arranged on the body and connected with a data processing module (data transmission can be realized through wireless connection or physical connection) control module and a data processing module, and the intelligent mower is configured to execute the steps of firstly establishing a boundary line electronic map and then planning a path for a working area during operation, so that the mowing efficiency is improved. The real-time monitoring module of the intelligent mower can acquire three-dimensional image information with a distance measurement function. Preferably, the real-time monitoring module is a laser radar and a distance-measuring camera module (e.g., a combination of a camera and a sensor for obtaining image information and distance information). The moving part is a wheel or a crawler. Preferably, the data processing module is integrated on the control module.
In one embodiment, the intelligent mower is provided with a charging terminal which is arranged at the side end of the body. With such a design, the intelligent mower can leave the charging station in the direction of entering the charging station. It is convenient to establish the boundary line electronic map by one or more turns around the boundary line at the charging station with the starting point.
In one embodiment, the real-time monitoring module is a distance measuring module (such as an ultrasonic sensor) which is used for measuring distance information in real time in the walking process of the intelligent mower, transmitting the distance information to the data processing module (such as an MCU in a control module for calculation and processing), gradually forming and recording the boundary of the working area, and generating an electronic map of the working area and the periphery of the working area by adopting an LDS SLAM algorithm; meanwhile, according to the LDS SLAM algorithm, when the intelligent mower is located at any position in a working area, the accurate position coordinate of the intelligent mower can be known through the distance measuring module and the electronic map.
In one embodiment, the intelligent lawn mower comprises: and the boundary line signal detection device (namely, the boundary line sensor) is used for firstly riding on the boundary to move one circle (or a plurality of circles) along the boundary line when the cutting starts under the guiding action of the boundary line sensor and the boundary line. So as to establish a boundary line electronic map, which is equivalent to a virtual boundary line (the virtual boundary line comprises the position of the solid boundary line and marks corresponding to the objects which can be used as references and are arranged on the virtual boundary line). Or when the intelligent mower moves forwards in a working area and touches a boundary line, when the boundary line sensor at the head of the intelligent mower probes out of the boundary line, a negative polarity, namely an out-of-range signal is detected, and at the moment, the intelligent mower judges that the boundary line is touched and combines positioning data of the distance-measurable camera module, so that the position coordinate of the boundary line in the electronic map can be accurately determined; and (3) calibrating and accumulating to obtain a virtual high-precision (centimeter-level) boundary line electronic map of the whole solid boundary line by touching the boundary at different places for multiple times. The high-precision boundary line electronic map can provide more accurate positioning and navigation basis for path planning. When the camera or the laser ranging module of can finding a distance receives weak light or highlight or receives other environmental factor influences, and takes place functional obstacle, when leading to control module can't obtain accurate positioning data, two kinds of control modes can be taken to intelligent lawn mower: first, the machine is shut down by error reporting; second, an error is reported and a random path mode of operation is entered. Due to the limiting effect of the physical boundary line and the electromagnetic signal thereof, the intelligent mower still can safely carry out mowing operation in a working area. It can be understood that the intelligent mower is also provided with a battery, 1 or more mowing motors, a matched cutting unit and the like, the cutting unit is installed on the body, the battery provides electric energy for driving, mowing and the like for the intelligent mower, and the control module controls the mowing motors to further control the cutting unit.
In the embodiment of the application, when the intelligent mower works, the boundary line is electrified to generate a pulse electromagnetic signal with a certain frequency, and the pulse electromagnetic signal has two opposite polarities by taking the boundary line as a boundary; generally, a positive signal is defined within the boundary line, and a negative signal is defined outside the boundary line (in one mode, after the boundary line electronic map is established, the boundary line can be closed, and the intelligent mower can work in the area surrounded by the boundary line electronic map). I.e. equivalently, an electrical fence is formed along the edge of the working area, and signals with opposite polarities are just on the inner/outer sides of the fence (i.e. the boundary line). Two boundary line signal detection devices are arranged on two sides of the front part of the intelligent mower body; the two boundary line signal detection devices respectively receive electromagnetic signals sent by the boundary lines. When the intelligent mower is in the working area and the boundary line signal detection device (boundary line sensor) receives a positive polarity signal (in the boundary line), the intelligent mower keeps walking forwards; when the intelligent mower walks to the boundary of the working area, one or two boundary line sensors at the head of the intelligent mower are out of bounds, and then a negative polarity signal (outside the boundary line) is received; at the moment, the control module of the intelligent mower controls the mower to turn (preferably, the mower turns after retreating for a certain distance), so that the head faces the inside of the working area (the two boundary line sensors receive positive polarity signals), and then the intelligent mower walks forwards in a straight line; therefore, the intelligent mower cannot cross the boundary and is always limited to walk in the specific working area. When the boundary line sensor receives the negative polarity signal, the machine turns to return to the working area or search the working area; when the boundary line sensor does not detect the boundary line signal, the machine stops working immediately; the mechanism ensures the absolute safety of the intelligent mower during use.
Next, a path planning method of the intelligent mower proposed in the present application is described, the intelligent mower configured to operate in a working area surrounded by a boundary line, wherein the path planning method includes:
s10, establishing a boundary line electronic map, wherein the boundary line electronic map comprises the following steps: based on a real-time monitoring module (such as a laser radar), the information of the periphery of the intelligent mower is obtained when the intelligent mower is positioned on the boundary line, and the closed-loop information of the characteristic point cloud is generated according to a preset algorithm model,
and S20, the control module plans a path of the working area based on the determined boundary line electronic map, and the intelligent mower moves based on the planned path. The intelligent mower walks and works in a working area surrounded by the boundary line, and mowing efficiency is improved. A boundary line electronic map is created, e.g. when cutting first one round (starting from the charging station and returning to the charging station) along the boundary line (the intelligent lawn mower rides the boundary line). And determining a boundary line electronic map based on a preset algorithm model according to the information of the objects in the working area and around the intelligent mower sampled by the laser radar while the intelligent mower moves. In this way, the electronic border line map is equivalent to a virtual border line and marks corresponding objects which can be used as references on two sides of the solid border line on the virtual border line, so that accurate navigation and accurate positioning can be realized by using the virtual border line during mowing. In this way, the real-time position coordinates of the intelligent mower can also be determined, and path planning is performed based on the electronic map so as to facilitate efficient cutting (mowing) work.
A method for establishing an electronic boundary line map of an intelligent mower according to an embodiment of the present application is described below with reference to fig. 2, where the method includes:
s1, the intelligent mower 200 circles along the boundary line by at least 1 circle by taking the preset position of the boundary line 300 as a starting point,
s2, a real-time monitoring module (such as a laser radar) acquires information (characteristic information or distance information) around the intelligent mower while the intelligent mower moves, and feeds the acquired information back to a data processing module,
and S3, receiving and responding to the information by the data processing module, and generating a closed loop of the feature point cloud according to a preset algorithm model. Preferably, the predetermined position is the charging station 100 (the intelligent lawn mower 200 is normally on the charging station 100 in the non-operating state). In this method, the intelligent mower 200 firstly rides the boundary line (also called along the boundary line) 300 to circle for one circle (or multiple circles) when the cutting starts, captures information around the intelligent mower 200 (e.g., environmental information/reference object information, obstacle information, and reference object/obstacle information in a working area (the detection range of the laser radar is wider and can cover the working area surrounded by the boundary line) during the movement process by using the laser radar), and forms a characteristic point cloud closed loop surrounding the boundary line according to the SLAM algorithm to establish a high-precision (centimeter-level) boundary line electronic map. The boundary line electronic map determines a working area, so that a control module of the intelligent mower can plan a working path according to the boundary line electronic map (the working area is obtained based on the boundary line electronic map), and the boundary line electronic map is matched with a corresponding entity boundary line. During operation, the intelligent mower moves in a working area, and accurate positioning can be realized based on current information sampled by a laser radar or a ranging camera module and information of a boundary line electronic map. Thereby improving the working efficiency. In this manner, it is preferable that the charging terminal is disposed on a side portion of the intelligent mower body so that the intelligent mower can leave the charging station in a direction of entering the charging station.
As a modification of the embodiment of fig. 2, as shown in fig. 3, when the boundary line electronic map is created, the intelligent lawn mower 200 is caused to travel from any position in the working area to a straight line L1 in any direction until it hits the boundary line 300 (or an obstacle), and then is caused to stop traveling by a distance of one (mowing) blade width, and then travels in a direction opposite to and parallel to the coming straight line until it next hits the boundary line 300; and in the same way pushes flat to more distant areas. In the parallel reciprocating motion, when the intelligent mower touches the boundary line each time, when the boundary line sensor at the head of the intelligent mower probes out of the boundary line, a negative polarity, namely an out-of-range signal is detected, at the moment, the intelligent mower judges that the boundary line is touched, and the position coordinate of the boundary line can be accurately determined by combining a distance-measuring camera module or a laser ranging module and collecting information of the position; the position coordinates of the point are calibrated by touching the boundary at different places for many times, and a high-precision (centimeter-level) boundary line electronic map of the whole entity boundary line is obtained by continuous accumulation.
As a modification of the embodiment of fig. 2, as shown in fig. 4, the intelligent lawnmower 200 is caused to travel from any point in the working area to an oblique straight line L2 in any direction, and then stopped after hitting a boundary line 300 (or an obstacle), and after moving by a distance of one blade width (mower blade width), travels in the opposite direction and in parallel with the coming straight line until the next hitting of the boundary; and in the same way pushes flat to more distant areas. In the parallel reciprocating motion, every time the intelligent mower touches the boundary line 300, when the boundary line sensor at the head of the intelligent mower stretches out of the boundary line, the intelligent mower detects a negative polarity, namely an out-of-range signal, and judges that the intelligent mower touches the boundary line; the distance-measurable camera module or the laser distance-measuring module collects the information of the position, so that the position coordinate of the boundary line can be accurately determined; the position coordinates of the point are calibrated by touching the boundary at different places for many times, and a high-precision (centimeter-level) electronic map of the whole entity boundary line is obtained by continuous accumulation.
In one embodiment, after the boundary line electronic map is established/determined (at the moment, the running information in the working area is obtained and comprises at least one of the shape of the working area, the shape of an obstacle in the working area and the position of the obstacle, the control module plans a path according to the shape of the working area, the layout of the obstacle and the like, and controls the intelligent mower to move to carry out operation in a navigation mode, in one embodiment, after the boundary line electronic map is established/determined, according to the boundary line electronic map shown in figure 5, the walking route comprises a bow-shaped L3 reciprocating walking mode, a 45-degree oblique line L4 reciprocating mode, a spiral or return-shaped (see figure 6) walking mode and other routes, in the mode, according to the established boundary line electronic map, the intelligent mower adopts a SLAM positioning and navigation algorithm based on a visual or laser sensor, so that more time is covered on the working area to mow, the efficiency is greatly improved, the intelligent mower can always work in the limited working area, the working area cannot walk out, the high-efficiency of the intelligent mower can be guaranteed, the safety of the intelligent mower can be covered according to the highest walking efficiency, and the client walking mode can be traversed according to the full-designated working area.
As shown in fig. 7, which is a schematic view of an intelligent lawn mower according to an embodiment of the present invention, the intelligent lawn mower 200 includes a main body 203, a boundary line sensor 201/202 is disposed on a front side (in a traveling direction of the lawn mower) of the main body 203, and at least one set of distance-measuring cameras 205 (each including a camera and a distance-measuring sensor) is disposed on the main body 203. The body 203 is provided with a moving member 204 electrically connected to a driving motor (not shown), and the moving member 204 is actuated based on the driving of the driving motor to move the smart mower 200. A distance-measurable camera is utilized to obtain two-dimensional picture information in a visual field and distance information between the intelligent mower and a corresponding object, so that a data processing module (such as an MCU) extracts sampled feature points based on a VSLAM algorithm, the feature points are stored in feature point cloud data and distance information is collected, an actual scale is obtained, the feature point cloud is converted into three-dimensional map data with accurate size, and the position of the current intelligent mower can be determined.
As a modification of the above embodiment of fig. 7, as shown in fig. 8, the smart lawnmower 2000 includes a main body 2003, a boundary line sensor 2001/2002 is disposed on the front side (in the traveling direction of the lawnmower) of the main body 2003, and a laser distance measuring module 2005 is disposed on the main body 2003; the body 2003 is provided with a moving part 2004, which is electrically connected to a driving motor (not shown), and moves the moving part 204 based on the driving of the driving motor, so as to move the smart lawn mower 2000. When the laser distance measuring module 2005 is operated, the distance information from the intelligent mower to the boundary line or the boundary line and the peripheral objects thereof is measured in real time in the 360-degree direction, so that the data processing module (such as the MCU) calculates and generates map data with accurate size based on a preset algorithm model (such as the TDS SLAM algorithm), and the current position of the intelligent mower is determined.
According to the intelligent mower, when the intelligent mower runs, an electronic map for determining the boundary line is established, the electronic map for determining the boundary line comprises boundary line position information and information of reference objects/obstacles on two sides of the boundary line, conditions such as the shape of a working area and the layout of the obstacles in the working area are obtained according to the electronic map for the boundary line, and then the path of the working area is planned based on the established electronic map for the boundary line. The intelligent mower adopts a SLAM positioning and navigation algorithm based on a vision or laser sensor, so that the intelligent mower is invisible and more intelligent, covers a working area for more time, and improves the mowing efficiency; and the intelligent mower is always ensured to work in a working area. The intelligent mower can work in a common area defined by a working area surrounded by the boundary lines and the electronic map of the boundary lines, so that the safety performance of the intelligent mower is ensured like double boundary lines. In this case, the intelligent mower is preferably operated in the second operation mode, and the boundary line may be closed during operation. In one embodiment, the intelligent mower (in which case the intelligent mower operates in the first operating mode) can only operate in the operating area of the electronic map of the boundary line, and the information of the electronic map of the boundary line is used for realizing accurate positioning. The working mechanism ensures the safety performance of the intelligent mower.
The above embodiments are merely illustrative of the technical concepts and features of the present application, and the purpose of the embodiments is to enable those skilled in the art to understand the content of the present application and implement the present application, and not to limit the protection scope of the present application. The self-walking device described above may be a service robot. All equivalent changes and modifications made within the spirit of the present application are intended to be covered by the scope of the present application.
Claims (12)
1. A path planning method of an intelligent mower is characterized in that,
the path planning method comprises the following steps:
s10, establishing a boundary line electronic map, wherein the boundary line electronic map comprises the following steps: based on a real-time monitoring module, the information around the intelligent mower is obtained when the intelligent mower is positioned on the boundary line, and the closed-loop information of the characteristic point cloud is generated according to a preset algorithm model,
and S20, the control module plans a path of the working area based on the determined boundary line electronic map, and the intelligent mower moves based on the planned path.
2. The path planning method of the intelligent lawn mower according to claim 1, wherein the step S10 comprises:
s1, the intelligent mower circulates at least 1 circle along the boundary line by taking the preset position of the boundary line as a starting point,
s2, the real-time monitoring module acquires characteristic information and/or distance information around the intelligent mower while the intelligent mower moves, and feeds the acquired characteristic information and/or distance information back to the data processing module,
and S3, the data processing module receives and responds to the characteristic information and/or the distance information, and a closed loop of the characteristic point cloud is generated according to a preset algorithm model.
3. The path planning method according to claim 2,
in the step S1, a preset position is a charging station, and the intelligent lawn mower starts to move 1 turn along the boundary line from the charging station under the guidance of the boundary line sensor and the boundary line to return to the charging station during operation.
4. A path planning method according to claim 2,
in the step S1, the preset position is any position on the boundary line, and the intelligent mower is controlled to move for 1 circle or more along the boundary line based on a remote control mode.
5. The path planning method according to claim 1,
the step S20 includes: obtaining operation information based on the boundary line electronic map, controlling the moving path of the intelligent mower according to a preset path based on the operation information,
the operation information includes: at least one of a shape of the work area, a shape of an obstacle within the work area, and a position of the obstacle.
6. The path planning method according to claim 5, wherein the preset path includes: at least one of a zigzag reciprocating travel, a spiral travel or a zigzag travel.
7. The path planning method according to claim 1,
in the step S20, when the mobile lawn mower moves in the working area, the real-time monitoring module obtains information around the intelligent lawn mower in real time and feeds the information back to the data processing module, so as to accurately position the current position of the intelligent lawn mower.
8. The path planning method according to claim 1,
the step S10 includes:
the intelligent mower in the working area walks linearly from any position to any direction until the intelligent mower touches the boundary line, returns to the original position, walks in parallel at a preset distance from the original straight line, and continuously reciprocates in the way, meanwhile, the boundary point is calibrated when the intelligent mower touches the boundary line each time, the peripheral information of the intelligent mower at the boundary point is obtained, and a plurality of boundary points are connected into a closed loop.
9. The path planning method according to claim 8, wherein the preset distance is 0.5 to 1 times the cutting diameter of the intelligent mower.
10. The path planning method according to claim 1,
the step S20 includes:
the intelligent mower is moved in a first operating mode or a second operating mode,
the first operating mode is configured such that the intelligent lawn mower moves only within the area of the borderline electronic map,
the second operating mode is configured to move the intelligent mower within a combined boundary line electronic map and boundary line area.
11. The path planning method according to claim 1,
the step S20 includes: the intelligent mower moves in a third working mode, and the third working mode is configured that the intelligent mower moves under the mode of the combined action of the boundary line electronic map and the boundary line and is switched to move only under the mode of the boundary line electronic map or only under the mode of the boundary line electronic map and is switched to move under the mode of the combined action of the boundary line electronic map and the boundary line.
12. An intelligent lawn mower, comprising:
the intelligent mower comprises a body, wherein a moving part is arranged on the body, the moving part is connected with a driving motor, the moving part is driven to move based on the driving of the driving motor, so that the intelligent mower moves,
a signal detection device disposed on the body for detecting the boundary line signal,
a real-time monitoring module which is configured on the body and is connected with the data processing module, the data processed by the data processing module is transmitted to the control module,
the intelligent lawn mower configured to perform, when run, the path planning method of any one of claims 1-11.
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