CN115268439A

CN115268439A - Intelligent obstacle avoidance method and device, mowing robot and storage medium

Info

Publication number: CN115268439A
Application number: CN202210844478.7A
Authority: CN
Inventors: 张伟夫; 王宁
Original assignee: Agilex Robotics Shenzhen Lt
Current assignee: Agilex Robotics Shenzhen Lt
Priority date: 2022-07-18
Filing date: 2022-07-18
Publication date: 2022-11-01

Abstract

The embodiment of the application discloses an intelligent obstacle avoiding method and device, a mowing robot and a storage medium, and the method comprises the following steps: detecting whether obstacles exist in the current path of the mowing robot, if so, generating an obstacle avoidance path according to first detection results of the first ultrasonic sensor and the second ultrasonic sensor, controlling the mowing robot to work according to the obstacle avoidance path, detecting the obstacles again through the second ultrasonic sensor in the working process of the mowing robot, correcting the obstacle avoidance path according to a second detection result of the second ultrasonic sensor, and controlling the mowing robot to continue working according to the corrected obstacle avoidance path. The embodiment of the application can synthesize two ultrasonic sensors with different detection angles to generate the obstacle avoidance path and correct the obstacle avoidance path, so that the obstacle avoidance efficiency of the mowing robot is improved.

Description

Intelligent obstacle avoidance method and device, mowing robot and storage medium

Technical Field

The application relates to the technical field of computers, in particular to an intelligent obstacle avoidance method and device, a mowing robot and a storage medium.

Background

Along with the continuous improvement of living standard of people, people have higher and higher requirements on leisure environment, places such as private gardens, parks and playgrounds become the best places for people to enjoy leisure and entertainment, but lawns such as private gardens, parks and playgrounds need to be irregularly trimmed so as to ensure the attractiveness. At present, a mowing robot is generally adopted to replace manual trimming.

However, the mowing robot often encounters various obstacles in work, the existing mowing robot can detect the obstacles through the recognition device arranged on the robot and then adopts an intelligent algorithm to avoid the obstacles, and the ultrasonic sensor is often used for detecting the obstacles in the prior art.

Disclosure of Invention

The embodiment of the application provides an intelligent obstacle avoidance method and device, a mowing robot and a storage medium, and can synthesize two ultrasonic sensors with different detection ranges to generate an obstacle avoidance path and correct the obstacle avoidance path, so that the obstacle avoidance efficiency of the mowing robot is improved.

In a first aspect, an embodiment of the present application provides an intelligent obstacle avoidance method, which is applied to a mowing robot, where the mowing robot includes a first ultrasonic sensor and a second ultrasonic sensor that are disposed on the same side, and detection angles of the first ultrasonic sensor and the second ultrasonic sensor are different, and the method includes:

detecting whether an obstacle exists in a current path of the mowing robot;

if the obstacle avoidance path exists, generating an obstacle avoidance path according to first detection results of the first ultrasonic sensor and the second ultrasonic sensor, and controlling the mowing robot to operate according to the obstacle avoidance path;

detecting the obstacle again through the second ultrasonic sensor during the operation of the mowing robot;

and correcting the obstacle avoidance path according to a second detection result of the second ultrasonic sensor, and controlling the mowing robot to continue working according to the corrected obstacle avoidance path.

In one embodiment, before the detecting the obstacle again by the second ultrasonic sensor, the method further includes:

acquiring the relative position relation between the mowing robot and the obstacle in real time;

and when the relative positional relationship satisfies a preset positional relationship, performing a step of detecting the obstacle again by the second ultrasonic sensor.

obtaining the completion progress of the mowing robot for the obstacle avoidance path;

and when the completion progress meets a preset progress, executing the step of detecting the obstacle again through the second ultrasonic sensor.

In an embodiment, the generating an obstacle avoidance path according to the first detection result of the first ultrasonic sensor and the second ultrasonic sensor includes:

acquiring characteristic information of the obstacle according to a first detection result of the first ultrasonic sensor and a first detection result of the second ultrasonic sensor;

and determining path parameters according to the characteristic information, and generating an obstacle avoidance path according to the path parameters.

In an embodiment, the correcting the obstacle avoidance path according to the second detection result of the second ultrasonic sensor includes:

updating the feature information of the obstacle according to a second detection result of the second ultrasonic sensor;

and modifying the path parameters according to the updated characteristic information so as to finish the correction of the obstacle avoidance path.

In an embodiment, the feature information includes size information and type information of the obstacle, and the determining the path parameter according to the feature information includes:

determining a path type corresponding to the type information of the obstacle;

and determining a path parameter corresponding to the path type according to the size information.

In an embodiment, after obtaining the feature information of the obstacle, the method further includes:

judging whether the characteristic information is the same as historical characteristic information stored in a database or not;

and if the historical characteristic information is the same as the historical characteristic information, extracting a historical path corresponding to the historical characteristic information, and controlling the mowing robot to perform work according to the historical path.

In a second aspect, the embodiment of the application provides an obstacle device is kept away to intelligence, is applied to the robot that mows, the robot that mows is including setting up first ultrasonic sensor and the second ultrasonic sensor at same side, first ultrasonic sensor and second ultrasonic sensor's detection angle is different, include:

the first detection module is used for detecting whether an obstacle exists in the current path of the mowing robot;

the generating module is used for generating an obstacle avoidance path according to first detection results of the first ultrasonic sensor and the second ultrasonic sensor when the first detection module detects that the robot is the grass mower, and controlling the grass mower to work according to the obstacle avoidance path;

the second detection module is used for detecting the obstacles again through the second ultrasonic sensor in the operation process of the mowing robot;

and the correction module is used for correcting the obstacle avoidance path according to a second detection result of the second ultrasonic sensor and controlling the mowing robot to continue to work according to the corrected obstacle avoidance path.

In a third aspect, an embodiment of the present application provides a robot mower, including a first ultrasonic sensor and a second ultrasonic sensor disposed on the same side, where detection angles of the first ultrasonic sensor and the second ultrasonic sensor are different, and the robot mower including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of the intelligent obstacle avoidance method as described above when executing the program.

In a fourth aspect, the present application provides a storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the steps of the intelligent obstacle avoidance method described above.

The intelligent obstacle avoidance method provided by the embodiment of the application can detect whether obstacles exist in the current path of the mowing robot or not, if so, the obstacle avoidance path is generated according to the first detection results of the first ultrasonic sensor and the second ultrasonic sensor, the mowing robot is controlled to operate according to the obstacle avoidance path, in the operation process of the mowing robot, the obstacles are detected again through the second ultrasonic sensor, the obstacle avoidance path is corrected according to the second detection result of the second ultrasonic sensor, and the mowing robot is controlled to continue to operate according to the corrected obstacle avoidance path. The embodiment of the application can synthesize two ultrasonic sensors with different detection angles to generate the obstacle avoidance path and correct the obstacle avoidance path, so that the obstacle avoidance efficiency of the mowing robot 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. 1 is a schematic scene diagram of an intelligent obstacle avoidance method provided in an embodiment of the present application;

fig. 2 is a schematic flowchart of an intelligent obstacle avoidance method according to an embodiment of the present application;

FIG. 3 is a schematic diagram of a lawn mowing robot sensor arrangement provided by an embodiment of the application;

FIG. 4 is a schematic view of a lawn mowing robot sensor detecting angle provided by an embodiment of the application;

FIG. 5 is a schematic diagram of a path generation provided by an embodiment of the present application;

FIG. 6 is a schematic diagram of another path generation provided by an embodiment of the present application;

FIG. 7 is a schematic diagram of another path generation provided by an embodiment of the present application;

fig. 8 is another schematic flow chart of an intelligent obstacle avoidance method provided in the embodiment of the present application;

fig. 9 is a schematic structural diagram of an intelligent obstacle avoidance device according to an embodiment of the present application;

fig. 10 is another schematic structural diagram of an intelligent obstacle avoidance device provided in the embodiment of the present application;

fig. 11 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 described clearly and completely with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only some embodiments of the present application, and not all 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 or a circuit communication.

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 implicitly indicating 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 an intelligent obstacle avoidance method and device, a mowing robot and a storage medium.

The intelligent obstacle avoidance device can be 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 (Single Chip Microcomputer) or a Single Chip Microcomputer, the frequency and specification of a Central Processing Unit (CPU) are appropriately reduced, peripheral interfaces such as a memory (memory), a counter (Timer), a USB, an analog-to-digital conversion/digital-to-analog conversion, a UART, a PLC, a DMA and the like are used to form a Chip-level computer, and different combination control is performed for 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. 1, the present application provides a mowing system comprising a mowing robot 10, a server 20 and a user device 30, which are communicatively connected to each other. The user can control the robot lawnmower 10 to perform obstacle detection while traveling through the user device 30. Specifically, in the embodiment of the present application, the mowing robot 10 may integrate various sensors, for example, a rain sensor may be disposed on the top of the mowing robot 10 to detect whether it is raining currently, an ultrasonic sensor, an infrared sensor, a visual sensor, and the like may be disposed on the mowing robot 10, and a collision sensor may be disposed around the mowing robot 10, and the sensors may detect an obstacle. When the current path of the robot mower 10 is detected to have an obstacle, an obstacle avoidance path can be generated for operation.

During the operation, the user may control and adjust the moving path, the moving speed, the mowing range, and the like of the mowing robot 10 in real time through the user device 30. After the operation is completed, the data corresponding to the mowing operation can be synchronized to the server 20, so that the user can conveniently check the data.

For example, the robot lawnmower 10 starts work in response to a user command, where the user command may be generated and transmitted by the user device 30, the robot lawnmower 10 detects whether an obstacle exists in a current path of the robot lawnmower during the work, generates an obstacle avoidance path based on first detection results of the first ultrasonic sensor and the second ultrasonic sensor when the obstacle is detected, controls the robot lawnmower to work according to the obstacle avoidance path, detects the obstacle again by the second ultrasonic sensor during the work of the robot lawnmower, corrects the obstacle avoidance path based on a second detection result of the second ultrasonic sensor, and controls the robot lawnmower to continue work according to the corrected obstacle avoidance path to avoid the obstacle.

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.

An intelligent obstacle avoidance method comprises the following steps: detecting whether obstacles exist in the current path of the mowing robot, if so, generating an obstacle avoidance path according to first detection results of the first ultrasonic sensor and the second ultrasonic sensor, controlling the mowing robot to work according to the obstacle avoidance path, detecting the obstacles again through the second ultrasonic sensor in the working process of the mowing robot, correcting the obstacle avoidance path according to a second detection result of the second ultrasonic sensor, and controlling the mowing robot to continue working according to the corrected obstacle avoidance path.

Referring to fig. 2, fig. 2 is a schematic flowchart of an intelligent obstacle avoidance method according to an embodiment of the present disclosure. The specific flow of the intelligent obstacle avoidance method can be as follows:

101. detecting whether an obstacle exists in the current path of the mowing robot, and if so, executing step 102.

In one embodiment, the mowing robot can mow a work area with a boundary defined in advance and plan a corresponding action path according to the work area. After the mowing robot starts to operate, a path is generated in all the current areas to determine that the path can cover all the current areas, for example, a turning point is set according to the boundary of the current area, an arc-shaped path is generated according to the turning point to serve as the path, and mowing operation is performed according to the path.

In the embodiment of the present application, please refer to fig. 3, the mowing robot may include a first ultrasonic sensor, a second ultrasonic sensor, and a third ultrasonic sensor, wherein the third ultrasonic sensor may be disposed at a middle position of the mowing robot and configured to detect an obstacle in a range directly in front of the mowing robot, for example, the third ultrasonic sensor may detect an object in a range 90 ° in front. The first ultrasonic sensor and the second ultrasonic sensor can form a sensor pair (can be integrated together or can be separately and independently arranged) and are arranged at the side position of the mowing robot, and further, the first ultrasonic sensor and the second ultrasonic sensor can be respectively arranged at the two sides of the mowing robot. The first ultrasonic sensor can be arranged at the position behind the side edge of the mowing robot, the second ultrasonic sensor can be arranged at the position in front of the side edge of the mowing robot, namely the first ultrasonic sensor is arranged behind the second ultrasonic sensor, and correspondingly, the detection angle of the first ultrasonic sensor is different from that of the second ultrasonic sensor. Referring to fig. 4, in this embodiment, the first ultrasonic sensor on the left detects an angle in a range B located at the left rear, the second ultrasonic sensor detects an angle in a range a located at the left front, the first ultrasonic sensor on the right detects an angle in a range D located at the right rear, the second ultrasonic sensor detects an angle in a range C located at the right front, and the third ultrasonic sensor detects an angle in a range E located at the right front of the mowing robot.

In one embodiment, the first ultrasonic sensor detection range and the second ultrasonic sensor detection range may partially overlap.

In one embodiment, the mowing robot can detect whether an obstacle is encountered in the current path in real time through the third ultrasonic sensor during mowing according to the initial action path. Specifically, the third ultrasonic sensor arranged on the mowing robot can acquire detection data in real time or at fixed working frequency at preset intervals, and the detection data can be ultrasonic data. After the obstacle is detected, the following step 102 may be continuously executed, and if the obstacle is not detected, the mowing robot may continue to perform the operation according to the initial action path.

The ultrasonic sensor may include an ultrasonic transmitter and an ultrasonic receiver, wherein the ultrasonic transmitter transmits ultrasonic waves to an object in a detection range, and the ultrasonic waves are reflected back to the ultrasonic receiver when encountering an obstacle. Wherein the ultrasonic receiver receives the sound wave reflected by the obstacle and automatically records the time from the moment of transmission of the ultrasonic wave to the moment of reflection of the sound wave by the target object. Since the transmission speed of the sound wave in the transmission medium is known, the distance from the sound wave generator to the target object can be calculated, and when the distance is smaller than the preset distance, the obstacle in the current path of the mowing robot can be determined.

In practical use, since the ultrasonic wave is interfered by medium, temperature and other factors, and the propagation speed of the ultrasonic wave is changed, the measurement result needs to be compensated according to practical situations. For example, v =340m/s indicates the speed of the ultrasonic wave at 15 °, the temperature affects the density of air, the higher the density of the medium, the higher the transmission speed of sound, and if the temperature is not compensated, the accuracy of the measurement result is affected, so that after the ultrasonic receiver receives the reflected ultrasonic signal, the calculation result can be compensated according to the temperature of the current environment, and the position of the obstacle can be accurately located.

102. And generating an obstacle avoidance path according to the first detection results of the first ultrasonic sensor and the second ultrasonic sensor, and controlling the mowing robot to operate according to the obstacle avoidance path.

In an embodiment, after detecting that an obstacle exists in the current path, an obstacle avoidance path may be generated according to first detection results of the first ultrasonic sensor and the second ultrasonic sensor, and then the mowing robot is controlled to perform operation according to the obstacle avoidance path so as to detour the obstacle.

Specifically, whether the detection is performed using the first ultrasonic sensor and the second ultrasonic sensor on the left side of the mowing robot or the detection is performed using the first ultrasonic sensor and the second ultrasonic sensor on the right side of the mowing robot may be determined according to the position of the obstacle. For example, when the obstacle detected by the third ultrasonic sensor is located in front of the lawn mowing robot on the left, the obstacle avoidance path can be generated according to the first detection result by using the first ultrasonic sensor and the second ultrasonic sensor on the left to detect the obstacle. Optionally, when an obstacle avoidance path is generated, the first detection result may be combined with the detection result of the third ultrasonic sensor to perform path planning, for example, the third ultrasonic sensor on the mowing robot and the left first ultrasonic sensor and the left second ultrasonic sensor are simultaneously turned on to detect an obstacle, so that a sufficiently large detection range may be ensured, the detection result for the obstacle is more accurate, and the obstacle avoidance path is generated.

For example, the obstacle avoidance path may be a broken line with a preset length, in this embodiment, referring to fig. 5, after the mowing robot encounters an obstacle, a broken line with a preset length and consisting of three line segments may be generated, and the length of the line segments may be set according to data detected by the first ultrasonic sensor, so that the mowing robot is controlled to work according to the broken line to bypass the obstacle.

For example, the MCU in the mowing robot can control the mowing robot to perform mowing operation based on the obstacle avoidance path; for another example, the server or the user device may control the mowing robot to travel according to the obstacle avoidance path, so as to perform mowing operation. Namely, the mowing robot executes mowing operation according to the obstacle avoidance path, and after the obstacle avoidance path is finished, the mowing robot is controlled to continue to move the initial action path and continue to perform obstacle detection.

103. During the operation of the mowing robot, the obstacle is detected again by the second ultrasonic sensor.

In the practical application process, considering that due to the fact that the detection angles of the first ultrasonic sensor and the second ultrasonic sensor are large, an obstacle which the mowing robot has already passed around may be detected, so that the passing range is too large, and the obstacle avoidance efficiency is low, in the embodiment, in the process that the mowing robot works according to the obstacle avoidance path, the first ultrasonic sensor may be further turned off, only the second ultrasonic sensor is turned on to detect the obstacle again, and the obstacle avoidance path is further corrected according to the detected second ultrasonic data. Since the second ultrasonic sensor is used only for re-detection, it is possible to avoid detection of an obstacle that the mowing robot has bypassed, and thus, the bypassing distance can be shortened.

In an embodiment, during the operation of the mowing robot according to the obstacle avoidance path, when the mowing robot is in a parallel position with the obstacle, the method may further include turning off the first ultrasonic sensor and turning on only the second ultrasonic sensor for detection, that is, before the obstacle is detected again by the second ultrasonic sensor, the method may further include: and acquiring the relative position relation between the mowing robot and the obstacle in real time, and executing the step of detecting the obstacle again through the second ultrasonic sensor when the relative position relation meets the preset position relation.

In another embodiment, the completion progress of the current obstacle avoidance path may be monitored in real time during the operation of the mowing robot according to the obstacle avoidance path, and when the mowing robot completes a preset progress, for example, 50%, the first ultrasonic sensor may be turned off and only the second ultrasonic sensor may be turned on for detection, that is, before the obstacle is detected again by the second ultrasonic sensor, the method may further include: and obtaining the completion progress of the mowing robot for the obstacle avoidance path, and executing the step of detecting the obstacle again through the second ultrasonic sensor when the completion progress meets the preset progress.

104. And correcting the obstacle avoidance path according to a second detection result of the second ultrasonic sensor, and controlling the mowing robot to continue working according to the corrected obstacle avoidance path.

Further referring to fig. 6, for example, when the mowing robot travels to be parallel to the obstacle avoidance path according to the obstacle avoidance path, only the second ultrasonic sensor is started to detect the obstacle again, the obstacle avoidance path is corrected according to the second detection result, and then the mowing machine is controlled to continue to operate according to the corrected obstacle avoidance path. Therefore, the mowing robot does not need to complete all original obstacle avoidance paths, the phenomenon that the bypassing range of the rear half section of the mowing robot is too large is avoided, the bypassing of the obstacle can be completed more quickly, and the obstacle avoidance efficiency is improved.

In other embodiments, the obstacle avoidance path may also be an arc path, as shown in fig. 7, and the type of the obstacle avoidance path may be specifically selected according to the type of the obstacle. For example, the type of the obstacle may be determined according to the detection result of the first ultrasonic sensor, an arc obstacle avoidance path may be used for a circular obstacle, and a broken line obstacle avoidance path may be used for a rectangular obstacle. For example, when the obstacle to be bypassed is a circular trash can, the radian and the arc length of the arc path may be set according to the first detection results of the first ultrasonic sensor and the second ultrasonic sensor, and then the mowing robot is controlled to travel along the arc path. Specifically, before the mowing robot is controlled to operate according to the obstacle avoidance path, the mowing robot can be controlled to retreat to the starting point of the obstacle avoidance path and then move according to the obstacle avoidance path. And in the process of advancing according to the obstacle avoidance path, closing the first ultrasonic sensor, only opening the second ultrasonic sensor to detect the obstacle again, correcting the obstacle avoidance path according to a second detection result, and finally controlling the mowing robot to continue to operate according to the corrected obstacle avoidance path.

In an embodiment, if the obstacle avoidance path fails to circumvent the obstacle, for example, if the obstacle is encountered again during traveling, the obstacle avoidance path may further return to the starting point of the obstacle avoidance path, and generate a new obstacle avoidance path again in a wider range until the obstacle is successfully circumvented.

As can be seen from the above, the intelligent obstacle avoidance method provided in the embodiment of the present application may detect whether an obstacle exists in a current path of the mowing robot, and if so, generate an obstacle avoidance path according to first detection results of the first ultrasonic sensor and the second ultrasonic sensor, and control the mowing robot to perform an operation according to the obstacle avoidance path, and during an operation process of the mowing robot, detect the obstacle again by the second ultrasonic sensor, correct the obstacle avoidance path according to a second detection result of the second ultrasonic sensor, and control the mowing robot to continue the operation according to the corrected obstacle avoidance path. The embodiment of the application can synthesize two ultrasonic sensors with different detection angles to generate the obstacle avoidance path and correct the obstacle avoidance path, so that the obstacle avoidance efficiency of the mowing robot is improved.

Referring to fig. 8, fig. 8 is another schematic flow chart of the intelligent obstacle avoidance method according to the embodiment of the present application. The specific flow of the intelligent obstacle avoidance method can be as follows:

201. whether an obstacle exists in the current path is detected by the third ultrasonic sensor, and if so, step 202 is executed.

In an embodiment, during the process of moving the mowing robot according to the initial movement path to mow, whether the mowing robot encounters an obstacle in the current path may be detected in real time, specifically, the detection may be performed by a third ultrasonic sensor integrated on the mowing robot, and the detection process may refer to the above description, which is not limited in this embodiment. When no obstacle is detected, the mowing robot can continue mowing according to the initial action path, and when an obstacle is detected, the subsequent step 202 is continuously executed.

202. And acquiring characteristic information of the obstacle according to the first detection results of the first ultrasonic sensor and the second ultrasonic sensor, determining a path parameter according to the characteristic information, and generating an obstacle avoidance path according to the path parameter.

In an embodiment, if the mowing robot encounters an obstacle during operation, the first ultrasonic sensor and the second ultrasonic sensor can be further started to detect the obstacle, and feature information of the obstacle can be acquired according to the detected data, for example, information such as the shape, the contour and the position of the obstacle in the current environment can be restored by performing data processing and analysis on the detected data currently acquired by the first ultrasonic sensor and the second ultrasonic sensor.

In an embodiment, after the obstacle is preliminarily detected, the mowing robot may further shoot a current picture, and further detect or scan the obstacle again through a shot image, so as to obtain feature information of the obstacle. The method is used for performing auxiliary judgment on the basis of the ultrasonic sensor, and further confirming the characteristic information of the obstacle, so that the accuracy of obstacle judgment is improved.

After the characteristic information of the obstacle is acquired, the path parameters can be determined by combining the information such as the size, the volume, the area, the height and the like in the characteristic information of the obstacle, and the obstacle avoidance path with the head and the tail positioned on the initial action path is generated according to the path parameters, so that the mowing robot avoids the obstacle and continues to operate along the initial action path after avoiding.

In an embodiment, when the obstacle avoidance path is generated, the type of the path may be determined according to the type of the obstacle, and then the obstacle avoidance path is generated according to the size of the obstacle, for example, when the obstacle to be detoured is a circular trash can, the radian and the arc length of the circular arc path may be set according to the first detection results of the first ultrasonic sensor and the second ultrasonic sensor, and when the obstacle to be detoured is a rectangular tea table, the length of the line segment of the broken line path may be set according to the first detection results of the first ultrasonic sensor and the second ultrasonic sensor. That is, the step of determining the path parameter according to the feature information may include: and determining a path type corresponding to the type information of the obstacle, and determining a path parameter corresponding to the path type according to the size information.

In an embodiment, after the mowing robot detects a first detection result through the first ultrasonic sensor and the second ultrasonic sensor and obtains characteristic information of an obstacle, the mowing robot can also search in a historical record to determine whether historical data identical to a current obstacle detection result exists in the historical record, if yes, the mowing robot can be directly controlled to detour according to a historical obstacle avoiding path of the obstacle, and a new obstacle avoiding route does not need to be generated again. That is, after acquiring the characteristic information of the obstacle, the method may further include: and judging whether the characteristic information is the same as the historical characteristic information stored in the database, if so, extracting a historical path corresponding to the historical characteristic information, and controlling the mowing robot to perform work according to the historical path.

203. And controlling the mowing robot to operate according to the obstacle avoidance path.

204. During the operation of the mowing robot, the obstacle is detected again by the second ultrasonic sensor.

After the obstacle avoidance path is generated, the mowing robot can be controlled to work according to the path. In the process, the first ultrasonic sensor can be further turned off, and only the second ultrasonic sensor on the mowing robot is turned on to further detect the obstacle. For example, when the mowing robot is in a parallel position with an obstacle, the first ultrasonic sensor is turned off, and only the second ultrasonic sensor is turned on for detection, so that a second detection result for the obstacle is obtained.

205. And updating the characteristic information of the obstacle according to a second detection result of the second ultrasonic sensor, and modifying the path parameters according to the updated characteristic information so as to finish the correction of the obstacle avoidance path.

206. And controlling the mowing machine to continue working according to the corrected obstacle avoidance path.

Compared with the method for starting the first ultrasonic sensor and the second ultrasonic sensor simultaneously, the method for starting the second ultrasonic sensor has the advantages that the detection angle is smaller when the second ultrasonic sensor is started, and the obstacle or the part of the obstacle which is bypassed can be prevented from being detected, so that the original obstacle avoidance path in a larger range can be corrected into the path in a smaller range after the characteristic information of the obstacle is updated again according to the second detection result corresponding to the second ultrasonic sensor. The bypassing range of the rear half section of the mowing robot is prevented from being too large, and the bypassing of the obstacle can be completed more quickly.

Furthermore, after the obstacle avoidance path is corrected, the corrected obstacle avoidance path can be spliced with the initial action path of the mowing robot, so that a complete path is formed for the mowing robot to work. For example, the corrected obstacle avoidance path is crossed with the initial action path, so as to generate a final action path for driving along the current mowing direction according to the crossed point.

As can be seen from the above, the intelligent obstacle avoidance method provided in the embodiment of the present application may detect whether an obstacle exists in the current path through the third ultrasonic sensor, and if so, obtain feature information of the obstacle through the first detection results of the first ultrasonic sensor and the second ultrasonic sensor, determine a path parameter according to the feature information, generate an obstacle avoidance path according to the path parameter, control the mowing robot to perform an operation according to the obstacle avoidance path, detect the obstacle again through the second ultrasonic sensor during the operation of the mowing robot, update the feature information of the obstacle according to the second detection result of the second ultrasonic sensor, modify the path parameter according to the updated feature information, so as to complete the modification of the obstacle avoidance path, and control the mowing robot to continue the operation according to the modified obstacle avoidance path. The obstacle avoidance path can be generated by combining two ultrasonic sensors with different detection angles, and the obstacle avoidance path is corrected, so that the obstacle avoidance efficiency of the mowing robot is improved.

In order to better implement the intelligent obstacle avoidance method of the embodiment of the application, the embodiment of the application also provides an intelligent obstacle avoidance device based on the intelligent obstacle avoidance method. The meaning of the noun is the same as that in the above intelligent obstacle avoidance method, and specific implementation details may refer to the description in the method embodiment.

Referring to fig. 9, fig. 9 is a schematic structural diagram of an intelligent obstacle avoidance device according to an embodiment of the present application, where the intelligent obstacle avoidance device may include:

a first detection module 301, configured to detect whether an obstacle exists in a current path of the robot lawnmower;

a generating module 302, configured to generate an obstacle avoidance path according to first detection results of the first ultrasonic sensor and the second ultrasonic sensor when the first detecting module 301 detects that the robot is a lawn mower, and control the lawn mower to perform work according to the obstacle avoidance path;

the second detection module 303 is configured to detect the obstacle again through the second ultrasonic sensor during the operation of the mowing robot;

and the correcting module 304 is configured to correct the obstacle avoidance path according to a second detection result of the second ultrasonic sensor, and control the mowing robot to continue to operate according to the corrected obstacle avoidance path.

In an embodiment, referring to fig. 10, the generating module 302 may include:

an obtaining submodule 3021 configured to obtain feature information of the obstacle;

the generating submodule 3022 is configured to determine a path parameter according to the feature information, and generate an obstacle avoidance path according to the path parameter.

In an embodiment, the feature information may include size information and type information of the obstacle, and the generating sub-module 3022 may be specifically configured to determine a path type corresponding to the type information of the obstacle, and determine a path parameter corresponding to the path type according to the size information.

In one embodiment, the modification module 304 may include:

an update submodule 3041 configured to update feature information of the obstacle according to a second detection result of the second ultrasonic sensor;

the modifying submodule 3042 is configured to modify the path parameter according to the updated feature information, so as to complete modification of the obstacle avoidance path.

As can be seen from the above, in the embodiment of the application, whether an obstacle exists in the current path of the mowing robot is detected, if so, the obstacle avoidance path is generated according to the first detection results of the first ultrasonic sensor and the second ultrasonic sensor, the mowing robot is controlled to perform work according to the obstacle avoidance path, during the work process of the mowing robot, the obstacle is detected again by the second ultrasonic sensor, the obstacle avoidance path is corrected according to the second detection result of the second ultrasonic sensor, and the mowing robot is controlled to continue to work according to the corrected obstacle avoidance path. The embodiment of the application can synthesize two ultrasonic sensors with different detection angles to generate the obstacle avoidance path and correct the obstacle avoidance path, so that the obstacle avoidance efficiency of the mowing robot is improved.

Further, an embodiment of the present application also provides a robot lawnmower, as shown in fig. 11, which shows a schematic structural diagram of the robot lawnmower according to the embodiment of the present application, and specifically:

the mowing robot can include components such as a control module 501, a travel mechanism 502, a cutting module 503, and a power supply 504. Those skilled in the art will appreciate that the electronic device configuration shown in fig. 11 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 501 is a control center of the robot mower, and the control module 501 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 moving mechanism 502 is electrically connected to the control module 501, and is configured to adjust a moving speed and a moving direction of the mowing robot in response to the control signal transmitted by the control module 501, so as to implement a self-moving function of the mowing robot.

The cutting module 503 is electrically connected to the control module 501, and is configured to adjust the height and the rotation speed of the cutter disc in response to a control signal transmitted by the control module, so as to achieve mowing operation.

The power supply 504 may be logically connected to the control module 501 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 504 may also include any component of 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 can further comprise 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 501 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, thereby implementing various functions as follows:

detecting whether an obstacle exists in a current path of the mowing robot;

The above operations can be implemented in the foregoing embodiments, and are not described in detail herein.

The method and the device for detecting the obstacle avoidance path of the mowing robot can detect whether the obstacle exists in the current path of the mowing robot or not, if so, the obstacle avoidance path is generated according to first detection results of the first ultrasonic sensor and the second ultrasonic sensor, the mowing robot is controlled to operate according to the obstacle avoidance path, in the operation process of the mowing robot, the obstacle is detected again through the second ultrasonic sensor, the obstacle avoidance path is corrected according to a second detection result of the second ultrasonic sensor, and the mowing robot is controlled to continue to operate according to the corrected obstacle avoidance path. The embodiment of the application can synthesize two ultrasonic sensors with different detection angles to generate the obstacle avoidance path and correct the obstacle avoidance path, so that the obstacle avoidance efficiency of the mowing robot is improved.

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 associated hardware controlled by the instructions, 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, where the instructions can be loaded by a processor to execute the steps in any one of the intelligent obstacle avoidance methods provided in the present application. For example, the instructions may perform the steps of:

detecting whether an obstacle exists in a current path of the mowing robot;

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 may execute the steps of any one of the intelligent obstacle avoidance methods provided in the embodiments of the present application, beneficial effects that can be achieved by any one of the intelligent obstacle avoidance methods provided in the embodiments of the present application may be achieved, for details, see the foregoing embodiments, and are not described herein again.

The above detailed description is given to an intelligent obstacle avoidance method, an intelligent obstacle avoidance device, a mowing robot and a storage medium provided by the embodiments of the present application, and a specific example is applied in the present application to explain the principle and the implementation of the present application, and the description of the above embodiments is only used to help understand the method and the core idea of the present application; meanwhile, for those skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.

Claims

1. An intelligent obstacle avoidance method is applied to a mowing robot, the mowing robot comprises a first ultrasonic sensor and a second ultrasonic sensor which are arranged on the same side, and the detection angles of the first ultrasonic sensor and the second ultrasonic sensor are different, and the intelligent obstacle avoidance method is characterized by comprising the following steps:

detecting whether an obstacle exists in a current path of the mowing robot;

2. The method of claim 1, wherein prior to said detecting again said obstacle by said second ultrasonic sensor, said method further comprises:

and when the relative positional relationship satisfies a preset positional relationship, executing the step of detecting the obstacle again by the second ultrasonic sensor.

3. The method of claim 1, wherein prior to said detecting again said obstacle by said second ultrasonic sensor, said method further comprises:

4. The method of claim 1, wherein generating an obstacle avoidance path from the first detection results of the first and second ultrasonic sensors comprises:

5. The method according to claim 4, wherein the correcting the obstacle avoidance path according to the second detection result of the second ultrasonic sensor comprises:

6. The method of claim 4, wherein the characterization information includes size information and type information of the obstacle, and wherein determining path parameters from the characterization information includes:

determining a path type corresponding to the type information of the obstacle;

7. The method of claim 4, wherein after obtaining the characteristic information of the obstacle, the method further comprises:

8. The utility model provides an obstacle device is kept away to intelligence, is applied to robot mower, robot mower is including setting up first ultrasonic sensor and the second ultrasonic sensor at same side, first ultrasonic sensor and second ultrasonic sensor's detection angle is different, its characterized in that includes:

9. A robot lawnmower comprising a first ultrasonic sensor and a second ultrasonic sensor arranged on the same side, the first ultrasonic sensor and the second ultrasonic sensor having different detection angles, the robot lawnmower comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the intelligent obstacle avoidance method according to any one of claims 1 to 7 when executing the program.

10. A storage medium having stored thereon a computer program which, when executed by a processor, carries out the steps of the intelligent obstacle avoidance method according to any one of claims 1 to 7.