CN115328108B - Intelligent mowing equipment and operation control method thereof - Google Patents
Intelligent mowing equipment and operation control method thereof Download PDFInfo
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- CN115328108B CN115328108B CN202110439805.6A CN202110439805A CN115328108B CN 115328108 B CN115328108 B CN 115328108B CN 202110439805 A CN202110439805 A CN 202110439805A CN 115328108 B CN115328108 B CN 115328108B
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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Abstract
The invention discloses intelligent mowing equipment and an operation control method thereof, wherein the intelligent mowing equipment comprises a control module, a control module and a control module, wherein the control module is used for controlling the intelligent mowing equipment to move in a working area limited by a boundary line; the map construction module is used for generating an area map of the working area limited by the boundary line when the intelligent mowing equipment walks along the boundary line; the control module comprises: a map acquisition unit configured to acquire an area map; the data processing unit is used for identifying the sub-working areas and the area connection channels in the area map and generating a topological structure of the area map; a control unit configured to: and controlling the intelligent mowing equipment to move mowing in different sub-working areas through the area connecting channels according to the topological structure of the area map. The intelligent mowing device can efficiently and accurately work in different working areas through narrow channels.
Description
Technical Field
The invention relates to the field of electric tools, in particular to intelligent mowing equipment and an operation control method thereof.
Background
With the development of mobile robot technology, more and more robots in recent years walk into daily life of people, and intelligent mowing equipment robots which can automatically mow, autonomously reverse charge and autonomously avoid obstacles in a user lawn are also gradually popularized, similar to the sweeping robots. The intelligent mowing equipment robot can relieve users from heavy and boring households such as cleaning and maintaining lawns, and is more and more favored by users.
In general, the area in which the intelligent mowing apparatus works may be constituted by a plurality of sub-areas, which are connected by narrow connecting channels, through which the mower needs to work in different sub-areas to accomplish the mowing task. In order to complete mowing tasks, in the prior art, the mowing machine is guided to move in different subareas through the characteristics of manual input or marking of subareas or channels and the like of a working area by a user, the workload of the user is increased by the method, the data input by the user are often inaccurate, negative influence on the mowing machine is possibly caused, meanwhile, the difficulty of using the mowing machine by the user is increased, and the user experience is reduced.
Disclosure of Invention
Aiming at solving the defects of the prior art, the invention aims to provide intelligent mowing equipment capable of efficiently and accurately working in different working areas through narrow channels.
In order to achieve the above object, the present invention adopts the following technical scheme:
An intelligent mowing apparatus comprising: the control module is used for controlling the intelligent mowing equipment to move in a working area limited by the boundary line; the map construction module is used for generating a region map of a working region defined by the boundary line when the intelligent mowing equipment walks along the boundary line; the control module includes: a map acquisition unit for acquiring the area map; the data processing unit is used for identifying the sub-working areas and the area connection channels in the area map and generating a topological structure of the area map; a control unit configured to: and controlling the intelligent mowing equipment to move mowing in different sub-working areas through the area connecting channels according to the topological structure of the area map.
Further, the data processing unit includes: the region dividing subunit is used for identifying a sub-working region and a region connecting channel in the map region; an entrance extraction subunit, configured to extract an entrance node at a junction between the area connection channel and the sub-working area; a relation extracting subunit, which records the connection relation of the different entrances and exits connected to the same sub-working area; the topology generation subunit is used for generating a topology structure of the area map based on the sub-working area, the area connection channel and the connection relation between the access and the sub-working area.
Further, the method further comprises the following steps: the operation detection module is used for acquiring pose information of the intelligent mowing equipment in the operation process; the control unit is configured to: acquiring the pose information; acquiring position information of the intelligent mowing equipment; when the intelligent mowing equipment is determined to be in a certain distance range of the entrance according to the topological structure and the position information, judging whether the running direction of the intelligent mowing equipment faces the entrance or not based on the pose information; and when the intelligent mowing equipment runs towards the entrance, controlling the intelligent mowing equipment to pass through the area connection channel along the boundary line so as to move in different sub-working areas.
Further, the control unit is configured to: detecting the signal intensity of a boundary line when the intelligent mowing equipment walks along the boundary line; when the signal intensity is larger than an intensity threshold value, the intelligent mowing equipment is controlled to continue to walk through the area connecting channel along the boundary line according to the current walking direction; and when the signal intensity is smaller than the intensity threshold value, controlling the intelligent mowing equipment to walk through the area connection channel along the boundary line along the direction opposite to the current running direction in the turning direction.
Further, the control unit is configured to: and controlling the intelligent mowing equipment to turn to the middle position of the area connecting channel to run in the process of passing through the area connecting channel along the boundary line.
Further, the control unit is configured to: acquiring signal intensity of the left side and the right side of the intelligent mowing equipment in the process that the intelligent mowing equipment walks along the area connecting channel; and controlling the intelligent mowing equipment to run at the middle position of the area connecting channel according to the signal intensities at the left side and the right side so that the ratio of the signal intensities at the left side and the right side is in a preset ratio range.
A control method of an intelligent mowing apparatus, the method comprising: generating an area map of a working area defined by the boundary line when the intelligent mowing equipment walks along the boundary line; identifying a sub-working area and an area connection channel in the area map, and generating a topological structure of the area map; and controlling the intelligent mowing equipment to move mowing in different sub-working areas through the area connecting channels according to the topological structure of the area map.
Further, the identifying the sub-working area and the area connection channel in the area map and generating the topology structure of the area map includes: identifying a sub-working area and an area connection channel in the map area; comparing the area connection channel with the sub-working area to determine an access of the area connection channel; and generating a topological structure of the area map based on the sub-working area, the area connection channel and the access.
Further, the method further comprises the following steps: acquiring pose information of the intelligent mowing equipment in the running process; acquiring position information of the intelligent mowing equipment; when the intelligent mowing equipment is determined to be in a certain distance range of the entrance according to the topological structure and the position information, judging whether the running direction of the intelligent mowing equipment faces the entrance or not based on the pose information; and when the intelligent mowing equipment runs towards the entrance, controlling the intelligent mowing equipment to pass through the area connection channel along the boundary line so as to move in different sub-working areas.
Further, the method further comprises the following steps: detecting the signal intensity of a boundary line when the intelligent mowing equipment walks along the boundary line; when the signal intensity is larger than an intensity threshold value, the intelligent mowing equipment is controlled to continue to walk through the area connecting channel along the boundary line according to the current walking direction; and when the signal intensity is smaller than the intensity threshold value, controlling the intelligent mowing equipment to walk through the area connection channel along the boundary line along the direction opposite to the current running direction in the turning direction.
The invention has the advantages that: and (3) automatically identifying all subareas and connecting channels in the working area by using map information, and navigating the operation of the mower according to the identified characteristics, so that the mower can efficiently and accurately move mowing in all subareas through the narrow channel.
Drawings
FIG. 1 is a schematic diagram of a smart grass cutting device operating system, as one embodiment;
FIG. 2 is a block diagram of a smart grass cutting device as one embodiment;
FIG. 3 is a circuit block diagram of a smart grass cutting device as one embodiment;
FIG. 4 is a grayscale image of a work area of a smart grass cutting device as one embodiment;
FIG. 5 is a sub-work area gray scale of the intelligent mowing apparatus as one embodiment;
FIG. 6 is a grayscale diagram of a smart grass cutting device area connection channel as one embodiment;
FIG. 7 is a topological structure diagram of the intelligent mowing apparatus work area as one embodiment;
FIG. 8 is a schematic diagram of the operation of the intelligent mowing apparatus as one embodiment;
fig. 9 is a flow chart of a motion control method of the intelligent mowing apparatus as one embodiment.
Detailed Description
The invention is described in detail below with reference to the drawings and the specific embodiments. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
The technical scheme of the application is suitable for intelligent mowing equipment, automatic cleaning equipment, automatic irrigation equipment, automatic snowplow and other equipment suitable for unattended operation, and other types of self-moving equipment which can adopt the essence of the technical scheme disclosed below can fall within the protection scope of the application. The application is mainly aimed at intelligent mowing equipment. It can be understood that, for different self-moving devices, different functional accessories can be adopted, and the different functional accessories correspond to different action modes.
Referring to fig. 1, the mowing system is shown to include a work area 100, a boundary line 200, a sub-work area 300, an area connection channel 400, and an intelligent mowing apparatus 500. Wherein the boundary line 200 is used to define the working area 100 of the mower, and the boundary line 200 is generally connected end to form the enclosed working area 100. In the present application, the working area 100 may include a plurality of sub-working areas 300 and an area connection path 400, and the area connection path 400 connects different sub-working areas 300 together to form the working area 100. It will be appreciated that the zone connection channel 400 is generally relatively narrow and may only be of a width to accommodate passage of a mower, for example, may be 0.5 meters, 1 meter, 2 meters, etc., and may be of a length related to the distance between the two sub-work zones 300 to which it is connected. In the present application, the boundary line 200 may be a facility capable of emitting an electric signal, and may be a facility capable of emitting an electromagnetic signal or an optical signal such as a wire, a signal emitting device, or the like.
As shown in fig. 2 and 3, the intelligent mowing apparatus 500 includes at least a housing 501, a cutting blade 502 provided under a mower body, a driving wheel 503, a driving motor (not shown) controlling the driving wheel 503 to travel, a control module 10, a power supply device 20, and a map construction module 30. The control module 10 may include a map acquisition unit 101, a data processing unit 102, and a control unit 103. It will be appreciated that mower 500 also includes a cutting motor (not shown) which drives cutting blade 502. The control module 10 controls the cutting blade 502 of the driving wheel 503 by controlling the driving motor and the cutting motor, respectively. The cutting blade is for cutting grass, the cutting blade having a grass cutting radius R. It is understood that the work area of the mower 500 may be an area formed by expanding the R distance outwardly on the basis of the work area 100 formed by the boundary line 200 at the maximum when the mower travels along the boundary line 200.
The power supply device 20 is used for supplying power to the driving motor and the cutting motor, and supplying power voltages to the control module 10, the map construction module 30, the operation detection module 40 and other unit modules. Alternatively, the power supply device may be a dc power supply battery pack, or may be ac mains, which is not limited herein.
The map construction module 30 is configured to construct a region map of the work area surrounded by the boundary line 200 during the travel of the mower 500 along the boundary line 200.
The control module 10 is used for controlling the intelligent mower 500 to move in a working area limited by a boundary line. As shown in fig. 1, the working area 100 includes a plurality of sub-working areas 300 and an area connection channel 400, and the control module 10 may control the mower 500 to work in different sub-working areas 300 through the area connection channel 400 to complete all mowing tasks of the working area. In general, the control module 10 may control the mower 500 to move mowing in different sub-areas through the zone connection channel according to characteristics of the different sub-work areas or zone connection channels (e.g., sub-zone numbers, channel numbers, or boundary characteristics of the work areas, etc.) entered by a user. However, this method of relying on user operation to identify the relevant characteristics of the working area and control the operation of the mower is unstable in accuracy and may negatively affect the mower, for example, the entrance of the area connection channel inputted by the user is deviated, the mower may be erroneously entered into the non-working area when entering the narrow channel through the entrance, and the mower may be damaged if there is an obstacle in the non-working area.
The application aims at a working area with a plurality of sub-working areas and narrow area connecting channels, and the moving mowing in the working area is finished by automatically identifying the characteristics of an area map through a mower.
In a specific implementation, the map acquiring unit 101 in the control module 10 may acquire the above-mentioned area map, and transmit the map data to the data processing unit 102; image processing is performed on the region map by the data processing unit 102 to identify sub-working regions and region connecting channels in the region map and generate a topological structure of the region map; the control unit 103 may further control the mower 500 to move mowing in different sub-working areas through the area connection channel 400 according to the topology structure of the area map.
In one embodiment, the processing procedure of the data processing unit 102 on the area map is as follows:
Specifically, the data processing unit 102 may include a region division subunit 1021, an entrance extraction subunit 1022, a relationship extraction subunit 1023, and a topology generation subunit 1024. The data processing unit 102 may perform image graying processing on the area map to obtain a gray-scale image as shown in fig. 4. Alternatively, for the gray image of the working area, the area dividing subunit 1021 may extract the features of the sub-working area to obtain the gray image of the sub-working area shown in fig. 5, where the features of the sub-area may include the features of the area, the contour, or the center position of the area. Specifically, the method for extracting the characteristics of the sub-working area may be to perform a closing operation and then perform an opening operation, so as to extract and record the boundary of the sub-working area. The so-called closing operation may be to expand and then erode the progressive constriction to extract a larger sub-working area of the working area. Further, in addition, the area dividing subunit 1021 may also assign a unique area identifier, such as a sub-area ID, to the sub-work area. Likewise, the region dividing subunit 1021 may extract the characteristics of the region connecting channels after extracting the characteristics of the sub-working regions, and likewise, the characteristics of the region connecting channels may include the length, width, contour, and the like of the channels. Specifically, the area dividing subunit 1021 may obtain the gray level image of the area connection channel by comparing the gray level image of the original gray level image with the gray level image of the sub-working area, that is, extracting the difference between the two gray level images in fig. 4 and fig. 5, as shown in fig. 6, and it may be understood that the boundary line of the area connection channel may also be extracted and recorded, and a unique channel identifier, such as a channel ID, may be assigned to the area connection channel. Further, the relationship extracting subunit 1023 may record the connection relationship of different entrances and exits connected to the same sub-working area, for example, test the entrance and exit of each area connection channel and each sub-working area, determine the sub-working area corresponding to the entrance and exit, and then record the connection relationship of the entrances and exits of the same sub-working area. Further, the topology generating subunit 1024 may generate the topology structure of the working area based on the characteristics of the sub-working area, the area connection channel, and the connection relationship between the gateway and the sub-working area. Specifically, as shown in fig. 7, in the above topology structure, two end points of the dashed line 1 are located in two different sub-working areas, two end points of the dashed line 2 are located in the same sub-working area, and then the dashed line 1 is a topology line of the area connection channel, and the dashed line 2 is a topology line of the sub-working area.
It will be appreciated that the above-described manner of dividing the data processing unit into four sub-units is not exclusive, and that different sub-unit divisions may be made on the data processing unit when different data processing methods are employed to identify the relevant features in the work area.
In the embodiment of the invention, the characteristics of the sub-working area and the narrow area connecting channel in the working area are automatically extracted and identified by utilizing the area map, so that the accuracy of the movable mowing control of the mower in different sub-areas is ensured.
In the present application, the data processing unit 102 may also identify the sub-working areas and the area connection channels in the working area by using other image processing methods, so that the control unit 103 can control the mower to move mowing in different sub-working areas through the area connection channels according to the identification result.
In one embodiment, the intelligent mowing apparatus 500 can further include a running detection module 40, and the running detection module 40 can obtain pose information of the mower during the walking process of the mower 500, wherein the pose information can include information of a moving direction, a position pose and the like of the mower. During the movement of the mower, the control unit 10 can monitor the position information of the mower in real time based on the positioning module, and determine whether the mower moves to an area with a certain distance from the entrance and the exit by combining the topological structure and the position information of the mower, i.e. monitor whether the mower walks near the entrance and the exit of the narrow channel in real time. Further, when it is monitored that the mower walks near the entrance, the control unit 103 may determine whether the running direction of the intelligent mowing apparatus is toward the entrance according to the pose information. That is, when the mower walks near the entrance, it is necessary to determine whether the mower is to enter a narrow area connection passage to cut grass in another sub-work area connected to the passage. It will be appreciated that when it is determined that the direction of travel of the mower is toward the doorway, the mower may be considered to be about to enter the zone connection passage to which the doorway corresponds, and the control unit may control the mower to pass through the zone connection passage along the boundary line.
In an alternative implementation, as shown in fig. 8, assuming that two topological nodes of the doorway are a and B, the center of the two nodes is a point C, when the mower operates within a certain range (distance with radius r) from the center point C (not shown), an included angle α of the operation direction of the mower relative to a line AB is calculated, and when α meets a certain threshold range, the operation direction of the mower is confirmed to be toward the doorway.
In controlling the mower to pass through the area connection passage along the boundary line, as shown in fig. 8, it is first necessary to control the mower to move onto the boundary line 200, for example, in the direction indicated by the arrow 1, and then to control the mower to travel along the boundary line. In this process, the direction in which the mower walks along the boundary line may be the direction away from the passageway entrance as indicated by arrow 2 or the direction toward the passageway entrance as indicated by arrow 3. Therefore, in order to avoid the mower from being far away from the entrance, the control unit can detect the signal intensity of the boundary line and control the moving direction of the mower along the boundary line according to the relation between the signal intensity and the intensity threshold value. Specifically, when the detected signal intensity is greater than the intensity threshold, it may be determined that the mower is entering the area connection channel along the boundary line, and at this time, the control unit only needs to control the mower to continue to walk through the area connection channel along the boundary line according to the current walking direction; if the detected signal intensity is smaller than the intensity threshold value, determining that the mower is far away from the area connection channel along the boundary line, and controlling the intelligent mowing equipment to walk through the area connection channel along the boundary line along the direction opposite to the current running direction by the control unit.
It will be appreciated that when the mower passes through the zone connection passage along the boundary line, it may not function properly due to the presence of an unknown obstacle or other cause in the non-working zone outside the boundary line. In an exemplary manner, the control unit may control the mower to travel toward a middle position of the passage, i.e., a middle position of both side boundaries forming the area connection passage, in controlling the passage of the mower along the boundary lines through the area connection passage.
It should be noted that, the widths of the area connection channels are different, and the signal intensities in the channels are also different, when the channel widths are narrower, the signal intensities in the channels can be considered to be the same within a certain error range; when the channel width is larger than a certain value, the signal intensity of the middle signal intensity of the channel is stronger on the two sides of the channel, and a signal space with the middle weak side and the two sides strong is formed. In the process that the mower runs in the channel, the control unit can respectively acquire the signal intensities at the left side and the right side of the mower, then the mower is controlled to run in the middle position of the channel according to the signal intensities at the left side and the right side, the ratio of the signal intensities at the left side and the right side of the mower is in a preset ratio range, and the preset ratio range can be any number between 0.5 and 1.5, such as 0.6, 0.8, 1, 1.2, 1.3 and the like. In the case, when the mower travels in the first direction in the channel, the control unit detects that the signal intensity on the left side of the mower is weaker, the signal intensity on the right side of the mower is stronger, and the ratio of the signal intensity to the signal intensity on the right side of the mower is 0.2, so that the mower can be determined to be far away from the boundary line on the left side, at the moment, the control unit controls the mower to turn left and move a certain distance towards the boundary line on the left side until the ratio of the signal intensities on the left side and the right side is in a preset ratio range, and then controls the mower to turn back to the first direction to continue traveling. The first direction, i.e. the direction in which the mower travels away from the area to connect the passage, can be considered to coincide with the direction from the entrance of the passage to the exit of the passage.
Further, when the control unit detects that the signal intensity is lower than the intensity threshold value during the process of the mower traveling in the channel, the mower can be determined to be driven out of the channel and driven into a sub-working area connected with the mower. After the mower enters the sub-work area, mowing is performed by traveling in the area, and the specific traveling control method is not limited herein.
A flow diagram for a smart mower motion control method comprising the steps of:
S101, acquiring an area map of a working area defined by the boundary line.
S102, identifying a sub-working area and an area connection channel in the area map, and generating a corresponding topological structure.
S103, pose information of the mower in the running process is obtained.
S104, acquiring the position information of the mower.
S105, judging whether the mower is in a certain distance range of the entrance or not according to the topological structure and the position information, if so, turning to the step S106, otherwise, returning to the step S104.
S106, judging whether the running direction of the mower faces the entrance or not based on the pose information, if so, turning to step S107, otherwise, returning to step S103 to continuously acquire the pose information of the mower.
S107, controlling the mower to pass through the regional connection channel along the boundary line.
It should be noted that, in the process that the mower passes through the area connection channel along the boundary line, the mower may be controlled to travel at the middle position of the channel according to the detected signal intensity of the boundary line, and the description in the above embodiment may be referred to, which is not repeated here.
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.
Claims (8)
1. An intelligent mowing apparatus comprising:
the control module is used for controlling the intelligent mowing equipment to move in a working area limited by the boundary line;
The map construction module is used for generating a region map of a working region defined by the boundary line when the intelligent mowing equipment walks along the boundary line;
The control module includes:
A map acquisition unit for acquiring the area map;
The data processing unit is used for identifying the sub-working areas and the area connection channels in the area map and generating a topological structure of the area map; the topological structure comprises a topological line of the sub-working area and a topological line of the area connection channel;
A control unit configured to:
controlling the intelligent mowing equipment to move mowing in different sub-working areas through the area connecting channels according to the topological structure of the area map;
Acquiring pose information and position information of the intelligent mowing equipment in the running process;
when the intelligent mowing equipment is determined to be in a certain distance range of an entrance according to the topological structure and the position information, judging whether the running direction of the intelligent mowing equipment faces the entrance or not based on the pose information; and when the intelligent mowing equipment runs towards the entrance, controlling the intelligent mowing equipment to move in different sub-working areas along the area connecting channel.
2. The intelligent mowing apparatus according to claim 1, wherein,
The data processing unit includes:
The region dividing subunit is used for identifying a sub-working region and a region connecting channel in the map region;
An entrance extraction subunit, configured to extract an entrance node at a junction between the area connection channel and the sub-working area;
A relation extracting subunit, which records the connection relation of the different entrances and exits connected to the same sub-working area;
the topology generation subunit is used for generating a topology structure of the area map based on the sub-working area, the area connection channel and the connection relation between the access and the sub-working area.
3. The intelligent mowing apparatus according to claim 1, wherein,
The control unit is configured to:
detecting the signal intensity of a boundary line when the intelligent mowing equipment walks along the boundary line;
when the signal intensity is larger than an intensity threshold value, the intelligent mowing equipment is controlled to continue to walk through the area connecting channel along the boundary line according to the current walking direction;
And when the signal intensity is smaller than the intensity threshold value, controlling the intelligent mowing equipment to walk through the area connection channel along the boundary line along the direction opposite to the current running direction in the turning direction.
4. The intelligent mowing apparatus according to claim 3, wherein,
The control unit is configured to:
And controlling the intelligent mowing equipment to turn to the middle position of the area connecting channel to run in the process of passing through the area connecting channel along the boundary line.
5. The intelligent mowing apparatus according to claim 4, wherein,
The control unit is configured to:
Acquiring signal intensity of the left side and the right side of the intelligent mowing equipment in the process that the intelligent mowing equipment walks along the area connecting channel;
And controlling the intelligent mowing equipment to run at the middle position of the area connecting channel according to the signal intensities at the left side and the right side so that the ratio of the signal intensities at the left side and the right side is in a preset ratio range.
6. A control method of an intelligent mowing apparatus, the method comprising:
generating a region map of a work region defined by a boundary line when intelligent mowing equipment walks along the boundary line;
Identifying a sub-working area and an area connection channel in the area map, and generating a topological structure of the area map; the topological structure comprises a topological line of the sub-working area and a topological line of the area connection channel;
controlling the intelligent mowing equipment to move mowing in different sub-working areas through the area connecting channels according to the topological structure of the area map;
The identifying the sub-working areas and the area connection channels in the area map and generating the topological structure of the area map comprises the following steps:
identifying a sub-working area and an area connection channel in the map area;
Comparing the area connection channel with the sub-working area to determine an access of the area connection channel;
And generating a topological structure of the area map based on the sub-working area, the area connection channel and the access.
7. The method of claim 6, wherein the step of providing the first layer comprises,
Further comprises:
acquiring pose information of the intelligent mowing equipment in the running process;
Acquiring position information of the intelligent mowing equipment;
When the intelligent mowing equipment is determined to be in a certain distance range of an entrance according to the topological structure and the position information, judging whether the running direction of the intelligent mowing equipment faces the entrance or not based on the pose information;
And when the intelligent mowing equipment runs towards the entrance, controlling the intelligent mowing equipment to pass through the area connection channel along the boundary line so as to move in different sub-working areas.
8. The method of claim 7, wherein the step of determining the position of the probe is performed,
Further comprises:
detecting the signal intensity of a boundary line when the intelligent mowing equipment walks along the boundary line;
when the signal intensity is larger than an intensity threshold value, the intelligent mowing equipment is controlled to continue to walk through the area connecting channel along the boundary line according to the current walking direction;
And when the signal intensity is smaller than the intensity threshold value, controlling the intelligent mowing equipment to walk through the area connection channel along the boundary line along the direction opposite to the current running direction in the turning direction.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110439805.6A CN115328108B (en) | 2021-04-23 | 2021-04-23 | Intelligent mowing equipment and operation control method thereof |
| PCT/CN2022/082681 WO2022222678A1 (en) | 2021-04-23 | 2022-03-24 | Intelligent mowing system and intelligent mowing device |
| EP22790787.0A EP4293459A1 (en) | 2021-04-23 | 2022-03-24 | Intelligent mowing system and intelligent mowing device |
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