CN118051046A - Path planning method and mower - Google Patents

Abstract

The invention relates to the technical field of mowers, in particular to a path planning method and a mowing machine. The path planning method comprises the following steps: creating a working map; moving the mower to a first preset position; mowing in the working area according to the first path; and when cutting for the second time, the mower mows in the working area range according to the second path, the second path deviates from the first path by a preset distance, or the advancing direction of the second path and the advancing direction of the first path form a preset angle, so that the situation that the same position is repeatedly rolled by cutting for two times can be avoided, the lawn or vegetation is prevented from being damaged by cutting for multiple times, meanwhile, the cutting machine can be controlled to check for missing and leak at the position which is not covered by the last cutting, the cutting effect is perfected, the maximum coverage rate and the minimum repetition rate are facilitated to be achieved, the working efficiency of the mower is improved, and the condition of cutting and leaking grass is reduced. The mower can realize the path planning method, thereby being convenient for the user to operate.

Description

Path planning method and mower

Technical Field

The invention relates to the technical field of mowers, in particular to a path planning method and a mowing machine.

Background

The mower is used for pruning lawns, vegetation and other garden tools. Mowers include manual mowers and intelligent mowers. The mower comprises a driving mechanism and a mowing mechanism, wherein the driving mechanism can drive the mowing mechanism to autonomously complete mowing movement.

Further, the intelligent mower also comprises a control mechanism. Before the mower begins to work, the control mechanism first obtains a work area so that the mower can determine a mowing range. Existing lawnmowers are typically designed based on the principle of random cutting or optimized paths. The cutting mode is mainly that the mower walks along a random path to cut lawns or vegetation, and the cutting mode cannot judge the cutting coverage rate parameters of the mower due to the fact that the mower cannot position at any time, so that the working efficiency of the mower is low. In the cutting mode of the optimized path, a user needs to plan the cutting path of the mower according to the working area acquired by the control mechanism so as to plan the optimal movement path, but the method improves the operation difficulty of the user, and the mower cuts the lawn or vegetation in the same path each time, so that the lawn or vegetation is easily repeatedly rolled to cause damage.

In order to solve the above problems, it is needed to provide a path planning method and a mower for solving the above problems.

Disclosure of Invention

One objective of the present invention is to provide a path planning method, so as to achieve the maximum coverage rate and the minimum repetition rate, and avoid the damage of the lawn or vegetation caused by multiple cutting, and facilitate the user operation.

Another object of the present invention is to provide a mower, which can implement the path planning method, so as to achieve the maximum coverage rate and the minimum repetition rate, and avoid the damage of the lawn or vegetation caused by multiple cutting, and facilitate the user operation.

To achieve the purpose, the invention adopts the following technical scheme:

A path planning method for planning a traversal path of a mower cutting process, the path planning method comprising:

Creating a working area map;

the mower moves to a first preset position;

mowing in the working area according to a first path; and

And in the second cutting process, the mower mows the grass in the working area according to a second path, and the second path is offset by a preset distance relative to the first path, or the advancing direction of the second path forms a preset angle with the advancing direction of the first path.

As an alternative, the first path is an arcuate path or a spiral path.

As an alternative, the predetermined distance is less than the width of the body of the mower.

As an alternative, the preset angle is 0 ° to 180 °.

As an alternative, the method for offsetting the second path by a preset distance relative to the first path includes:

After the mower finishes the first cutting, the mower moves to the first preset position;

The mower moves by the preset distance in a direction away from or close to the edge of the working area relative to the first preset position; and

The mower walks along the second path, and the movement direction of the second path is the same as the movement direction of the first path.

As an alternative, the method for offsetting the second path by a preset distance relative to the first path includes:

After the mower completes the first cutting, the mower is positioned at a second preset position of the first path;

The mower moves by the preset distance in a direction away from or close to the edge of the working area relative to the second preset position; and

The mower walks along the second path, and the movement direction of the second path is opposite to the movement direction of the first path.

As an alternative, the step of creating the work area map includes:

The mower walks along the boundary of the working area, and collects and stores the position information of the boundary of the working area so as to create the map of the working area;

the mower moves along the periphery of an obstacle in the working area so as to determine the range of the obstacle in the working area map; and

Dividing the working area map into a plurality of sub-working areas according to the shape of the working area map.

As an alternative, a positioning sensor is used to determine the working area boundary of the mower.

As an alternative, the method for cutting in the working area according to the first path or the second path further comprises:

when the electric quantity of the mower is insufficient, the mower records the current pause position and returns to a charging station for charging; and

After the charging is completed, the mower returns to the pause position and continues to work according to the original path.

A mower, the mower comprising:

a main body;

a positioning sensor disposed on the main body;

A control mechanism disposed on the body, the control mechanism comprising a processor and a memory coupled to each other, the memory storing program instructions that when executed by the processor, the mower is capable of implementing the path planning method of any one of claims 1-9.

The beneficial effects of the invention are as follows:

The invention provides a path planning method which is used for planning a traversing path of a mower cutting process. The path planning method comprises the following steps: creating a working map; moving the mower to a first preset position; mowing in the working area according to the first path; and in the second cutting process, the mower mows the grass in the working area range according to a second path, wherein the second path is offset by a preset distance relative to the first path, or the advancing direction of the second path forms a preset angle with the advancing direction of the first path. According to the path planning method, the cutting paths of the second cutting and the first cutting are offset by a preset distance or rotated by a preset angle, repeated rolling of the same positions in the two cutting steps can be avoided, multiple cutting damages to lawns or vegetation can be avoided, meanwhile, the cutting machine can be controlled to check and repair the uncovered positions of the last cutting, the cutting effect is perfected, the maximum coverage rate and the minimum repetition rate can be achieved, the working efficiency of the mower can be improved, and the condition of cutting grass leakage can be reduced. Meanwhile, the path planning method does not need a user to divide the working area according to the area to be cut, and is convenient for the user to operate.

The invention also provides a mower, which comprises a main body, a positioning sensor and a control mechanism. The positioning sensor and the control mechanism are arranged on the main body, the control mechanism comprises a processor and a memory which are mutually coupled, the memory stores program commands, and when program instructions stored in the memory are executed by the processor, the mower can realize the path planning method, so that the maximum coverage rate and the minimum repetition rate are achieved, the lawn or vegetation is prevented from being damaged by cutting for many times, and the mower is convenient for a user to operate.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following description will briefly explain the drawings needed in the description of the embodiments of the present invention, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to the contents of the embodiments of the present invention and the drawings without inventive effort for those skilled in the art.

Fig. 1 is a flowchart of a path planning method according to a first embodiment and a second embodiment of the present invention;

Fig. 2 is a schematic diagram of a first path and a second path of a path planning method according to an embodiment of the present invention;

fig. 3 is a schematic diagram of a first path and a second path of a path planning method according to a second embodiment of the present invention;

fig. 4 is a schematic diagram of a first path and a second path of a path planning method according to a third embodiment of the present invention;

Fig. 5 is a schematic diagram of a first path and a second path of a path planning method according to a second embodiment of the present invention.

Detailed Description

The invention is described in further detail below with reference to the drawings and examples. 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 a part of structures related to the present invention, not the whole structures, are shown in the drawings.

In the description of the present invention, unless explicitly stated and limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be the communication of structures in two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

In the present invention, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.

In the description of the present embodiment, the terms "upper", "lower", "left", "right", and the like are orientation or positional relationships based on those shown in the drawings, merely for convenience of description and simplicity of operation, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the invention. Furthermore, the terms "first," "second," and the like, are used merely for distinguishing between descriptions and not for distinguishing between them.

Example 1

The mower is used for pruning lawns, vegetation and other garden tools. The mower comprises a driving mechanism and a mowing mechanism, wherein the driving mechanism can drive the mowing mechanism to autonomously complete mowing movement.

To facilitate user operation and save time for a user to maintain lawns or vegetation, lawnmowers include intelligent lawnmowers. The mower can automatically complete the cutting process. Existing lawnmowers are typically designed based on the principle of random cutting or optimized paths. The cutting mode is mainly that the mower walks along a random path to cut lawns or vegetation, and the cutting mode cannot judge the cutting coverage rate parameters of the mower due to the fact that the mower cannot position at any time, so that the working efficiency of the mower is low. In the cutting mode of the optimized path, a user needs to plan the cutting path of the mower according to the working area acquired by the control mechanism so as to plan the optimal movement path, but the method improves the operation difficulty of the user, and the mower cuts the lawn or vegetation in the same path each time, so that the lawn or vegetation is easily repeatedly rolled to cause damage.

In order to solve the above-mentioned problems, the present embodiment provides a path planning method for planning a traversal path of a mower cutting process. As shown in fig. 1, the path planning method includes:

step S10, creating a working area map;

step S20, the mower moves to a first preset position;

Step S30, mowing in the working area according to the first path; and

In step S40, during the second cutting, the mower mows the grass within the working area according to the second path, and the second path is offset by a preset distance relative to the first path.

According to the path planning method, the cutting paths of the second cutting and the first cutting are offset by the preset distance, repeated rolling of the same positions in the two cutting can be avoided, multiple cutting damage to lawns or vegetation is avoided, meanwhile, the cutting machine can be controlled to search for defects and mend leaks in the position uncovered by the last cutting, the cutting effect is perfected, the maximum coverage rate and the minimum repetition rate are achieved, the working efficiency of the mower is improved, and the condition of cutting grass leakage is reduced. Meanwhile, the path planning method does not need a user to divide the working area according to the area to be cut, and is convenient for the user to operate.

Meanwhile, the cutting path of the mower does not need to be stored in advance, the mower can directly deviate from a preset distance in the second cutting process, the memory requirement on the mower is greatly reduced, and then the cost of the mower is reduced.

It will be appreciated that the intelligent mower is also configured with a charging station that will automatically return to the charging station for charging when the mower is finished. Based on this, in general, the first predetermined position selects a position close to the charging station.

Wherein the first path is an arcuate path or a spiral path. The bow-shaped path or the spiral path has a regular motion rule, is beneficial to achieving the maximum coverage rate and the minimum repetition rate, is beneficial to improving the working efficiency of the mower, and reduces the occurrence of the condition of cutting grass leakage.

Further, the preset distance is smaller than the width of the mower body, so that the cutting range at each moment has a certain intersection in the first cutting and the second cutting processes of the mower, and the intersection can realize the defect and leakage detection of the second cutting to the first cutting, thereby being beneficial to improving the coverage rate of the two cuts and avoiding the occurrence of grass leakage.

When the mower performs step S40, the method for shifting the second path by a preset distance relative to the first path includes:

step S41, after the mower finishes the first cutting, the mower moves to a first preset position;

step S42, the mower moves a preset distance to a direction away from or close to the edge of the working area relative to the first preset position; and

In step S43, the mower walks along a second path, and the movement direction of the second path is the same as the movement direction of the first path.

After the mower completes the first cut, the mower will automatically return to the charging station for charging. When the second cutting is started, the mower directly moves to the first preset position to be close to the first preset position, so that the working efficiency of the mower is improved.

In step S10, the specific steps of creating a map of a work area include:

Step S11, the mower walks along the boundary of the working area, and collects and stores the position information of the boundary of the working area so as to create a map of the working area;

Step S12, the mower moves along the periphery of the obstacle in the working area map so as to determine the range of the obstacle in the working area map; and

Step S13, dividing the working area map into a plurality of sub-working areas according to the shape of the working area map.

The method for creating the working area map is beneficial to improving the working efficiency of the mower and avoiding repeated work of the mower.

Further, since the specific position in the map of the working area needs to be judged in the cutting process of the mower, the positioning sensor is used for defining the boundary of the working area of the mower so as to improve the positioning precision of the mower, so that the accuracy of path planning in each cutting process can be improved, the coverage rate is improved, and the repetition rate is reduced.

Meanwhile, because the map of the working area is generally larger, the mower cannot complete cutting of the whole working area after being charged once, and the problem that the mower returns to a charging station due to insufficient electric quantity exists in the cutting process of the mower. Thus, the method of cutting in a working area according to the first path or the second path further comprises:

when the electric quantity of the mower is insufficient, the mower records the current pause position and returns to the charging station for charging; and

After the charging is completed, the mower returns to the pause position and continues to work according to the original path.

The method is beneficial to avoiding overlapping of front and rear cutting areas of the mower at the round-trip charging station and improving the working efficiency of the mower. It will be appreciated that the mower records the current pause coordinate point via the position sensor.

The embodiment also provides a mower, which comprises a main body, a positioning sensor and a control mechanism. The positioning sensor and the control mechanism are arranged on the main body, the control mechanism comprises a processor and a memory which are mutually coupled, the memory stores program commands, and when program instructions stored in the memory are executed by the processor, the mower can realize the path planning method, so that the maximum coverage rate and the minimum repetition rate are achieved, the lawn or vegetation is prevented from being damaged by cutting for many times, and the mower is convenient for a user to operate. The detailed structure of the mower is the same as that of the prior art, and this embodiment will not be described in detail.

Example two

The present embodiment provides a path planning method, which is substantially the same as the path planning method in the first embodiment, and in order to avoid redundancy, only the distinguishing points are described in the present embodiment:

In this embodiment, when the mower performs step S40, the method for shifting the second path by a preset distance relative to the first path includes:

Step S41', after the mower finishes the first cutting, the mower is positioned at a second preset position of the first path;

Step S42', the mower moves a preset distance to a direction away from or close to the edge of the working area relative to the second preset position; and

In step S43', the mower walks along a second path, the movement direction of the second path being opposite to the movement direction of the first path.

Namely, after the second path of the mower deviates from the second preset position by a preset distance, the mower reversely advances from the second preset position to the first preset position, so that the mower is prevented from returning to the first preset position to cut for the second time, and the working efficiency of the mower is improved. Especially when the total height of the mower cut is divided into two cuts, the method is beneficial to further ensuring the working efficiency of the mower.

Example III

The present embodiment provides a path planning method, which is substantially the same as the path planning method in the first embodiment, and the difference between the first embodiment and the second embodiment is that step S40 is different. In order to avoid redundancy, this embodiment only describes the distinguishing points:

In this embodiment, step S40 is: and in the second cutting process, the mower mows the grass in the working area range according to a second path, and the advancing direction of the second path and the advancing direction of the first path form a preset angle.

According to the path planning method, the preset angle is rotated through the cutting paths of the second cutting and the first cutting, repeated rolling of the same positions during the two cutting can be avoided, multiple cutting damage to lawns or vegetation is avoided, meanwhile, the cutting machine can be controlled to search for defects and mend leaks at the uncovered positions of the last cutting, the cutting effect is perfected, the maximum coverage rate and the minimum repetition rate are achieved, the working efficiency of the mower is improved, and the condition of cutting grass leakage is reduced. Meanwhile, the path planning method does not need a user to divide the working area according to the area to be cut, and is convenient for the user to operate.

Meanwhile, the cutting path of the mower does not need to be stored in advance, the mower can directly rotate by a preset angle during the second cutting, the memory requirement on the mower is greatly reduced, and then the cost of the mower is reduced.

Optionally, the preset angle is 0 ° to 180 °, i.e. the travelling direction of the mower may be rotated by any angle of 0 ° to 30 °, 30 ° to 60 °, 60 ° to 90 °, 90 ° to 120 °,120 ° to 150 ° and 150 ° to 180 ° with respect to the first path during the second cutting, and these angles include 30 °, 60 °, 90 °,120 ° and 150 °. The multi-angle selection of the mower during the second cutting is beneficial to improving the adaptability and the flexibility of the mower to different working areas.

As shown in the figure, when the second cutting of the mower rotates 90 degrees, the traveling angle of the second path of the mower and the first path form an included angle of 90 degrees, so that the mower is effectively prevented from repeatedly rolling the same position in two operations, and the position where the first cutting is not completely performed can be cut.

As shown in the figure, the second cutting of the mower is arranged at an included angle with the first path, the mower only needs to travel a certain distance along the edge when moving to the edge position of the working area, and then the mower walks the machine shell according to the arched path. The path can be suitable for working areas with any shape, and is beneficial to ensuring the application range of the cutting machine.

Note that the basic principles and main features of the present invention and advantages of the present invention are shown and described above. It will be understood by those skilled in the art that the present invention is not limited to the foregoing embodiments, but rather, the foregoing embodiments and description illustrate the principles of the invention, and that various changes and modifications may be effected therein without departing from the spirit and scope of the invention as defined by the appended claims and their equivalents.

Claims (10)

1. A path planning method for planning a traversal path of a mower cutting process, the path planning method comprising:

Creating a working area map;

the mower moves to a first preset position;

mowing in the working area according to a first path; and

And in the second cutting process, the mower mows the grass in the working area according to a second path, and the second path is offset by a preset distance relative to the first path, or the advancing direction of the second path forms a preset angle with the advancing direction of the first path.

2. The path planning method of claim 1, wherein the first path is an arcuate path or a spiral path.

3. The path planning method of claim 1, wherein the predetermined distance is less than a body width of the mower.

4. The path planning method according to claim 1, wherein the preset angle is 0 ° to 180 °.

5. The path planning method of claim 1, wherein the method of offsetting the second path by a preset distance from the first path comprises:

after the mower finishes the first cutting, the mower moves to the first preset position;

The mower moves by the preset distance in a direction away from or close to the edge of the working area relative to the first preset position; and

The mower walks along the second path, and the movement direction of the second path is the same as the movement direction of the first path.

6. The path planning method of claim 1, wherein the method of offsetting the second path by a preset distance from the first path comprises:

After the mower completes the first cutting, the mower is positioned at a second preset position of the first path;

The mower moves by the preset distance in a direction away from or close to the edge of the working area relative to the second preset position; and

The mower walks along the second path, and the movement direction of the second path is opposite to the movement direction of the first path.

7. The path planning method of claim 1, wherein the step of creating a work area map comprises:

The mower walks along the boundary of the working area, and collects and stores the position information of the boundary of the working area so as to create the map of the working area;

the mower moves along the periphery of an obstacle in the working area so as to determine the range of the obstacle in the working area map; and

Dividing the working area map into a plurality of sub-working areas according to the shape of the working area map.

8. The path planning method of any one of claims 1 to 7, wherein a positioning sensor is used to determine a working area boundary of the mower.

9. The path planning method of claim 8, wherein the method of cutting in the working area according to the first path or the second path further comprises:

when the electric quantity of the mower is insufficient, the mower records the current pause position and returns to a charging station for charging; and

After the charging is completed, the mower returns to the pause position and continues to work according to the original path.

10. A mower, the mower comprising:

a main body;

a positioning sensor disposed on the main body;

A control mechanism disposed on the body, the control mechanism comprising a processor and a memory coupled to each other, the memory storing program instructions that when executed by the processor, the mower is capable of implementing the path planning method of any one of claims 1-9.