WO2021228040A1 - Path planning method and self-moving device - Google Patents

Path planning method and self-moving device Download PDF

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Publication number
WO2021228040A1
WO2021228040A1 PCT/CN2021/092793 CN2021092793W WO2021228040A1 WO 2021228040 A1 WO2021228040 A1 WO 2021228040A1 CN 2021092793 W CN2021092793 W CN 2021092793W WO 2021228040 A1 WO2021228040 A1 WO 2021228040A1
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WO
WIPO (PCT)
Prior art keywords
point
location point
preset
area
path
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PCT/CN2021/092793
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French (fr)
Chinese (zh)
Inventor
何明明
王宏明
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苏州宝时得电动工具有限公司
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Publication of WO2021228040A1 publication Critical patent/WO2021228040A1/en

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • 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

Definitions

  • This specification relates to the field of navigation technology, in particular, to a path planning method and self-moving equipment.
  • the automatic lawn mower robots on the market have a low degree of intelligence, and it is necessary to bury cables at the boundary as a boundary recognition that the lawn mower robot can recognize, which brings great inconvenience to users.
  • This type of lawn mower robot usually does not have a precise navigation function, but randomly searches for the boundary line, and then moves along the boundary line, resulting in low forward efficiency.
  • a path planning method which is applied to a self-moving device that walks and/or works in a preset work area
  • the preset work area includes at least a first work area and a second work area
  • the method includes:
  • the current location point of the self-mobile device is acquired.
  • the preset operation map further includes a passage area connecting the first operation area and the second operation area, wherein the travel path planned for multiple times and the boundary of the first operation area The intersection point of is located on the boundary of the passage area, and/or the intersection point of the travel path planned multiple times and the boundary of the second work area is located on the boundary of the passage area.
  • the channel area is determined according to the received user instruction.
  • the target location points planned multiple times are dynamically changing.
  • automatically determining the target location point based on the stored preset job map according to preset rules includes:
  • the target location point of the self-mobile device is determined according to the effective point in the second work area, and the effective point includes a pre-configured location point on the preset job map that the self-mobile device can effectively pass through.
  • the target location point includes the geometric center of gravity of the second work area or an effective point associated with the geometric center of gravity.
  • the preset operation map is configured with position information of a stop, and the stop is used for power supply or stop of the self-mobile device,
  • the target location point includes a docking station location, or a location point at a preset distance from the docking station location, and the preset distance is determined according to a charging mode and/or a docking mode of the docking station.
  • determining whether there is an invalid point on the straight path further includes:
  • the travel path is re-planned according to the invalid point area, so that the re-planned travel path deviates at least partially from the straight path to avoid the invalid point area.
  • a working device configured to be installed on the fuselage for performing predetermined work
  • a walking device configured to be installed on the body and used to drive the self-moving device to walk;
  • the self-moving device further includes:
  • a path planning device includes a processor and a memory for storing executable instructions of the processor, when the instructions are executed by the processor accomplish:
  • the current location point of the self-mobile device Acquiring the current location point of the self-mobile device, the current location point being located in the first work area; automatically determining the target location point based on the stored preset work map according to preset rules, the target location point being located in the second work area;
  • the travel path of the mobile device from the current location point to the target location point is planned based on the current location point and the preset job map, wherein the travel path planned multiple times is the same as the first
  • the intersection point of the boundary of the work area is different, and/or the intersection point of the travel path planned multiple times and the boundary of the second work area is different; control the self-mobile device to walk along the travel path from the current location point To the target location point.
  • the path planning method and self-mobile device provided by one or more embodiments of this specification first obtain the current position of the self-mobile device in the first work area when the self-mobile device is controlled to walk from the first work area to the second work area. , And then automatically determine the target location point in the second operation area, plan the travel path from the current location point to the target location point, and control the intersection of the travel path planned multiple times and the boundary of the first operation area to be different, and/or, multiple times
  • the planned travel path is different from the intersection of the boundary of the second working area, which realizes the rapid switching between different working areas by the mobile device, and avoids the use of the same starting position or the same target position or the same path when crossing areas. At times, the lawn is crushed or there is a phenomenon of pressing grass marks.
  • FIG. 1 is a schematic flowchart of an embodiment of a method for self-mobile device path planning provided in this specification
  • FIG. 5 is a schematic diagram of path planning of self-mobile devices in other embodiments provided in this specification.
  • FIG. 6 is a schematic flowchart of another embodiment of a method for self-mobile device path planning provided in this specification.
  • FIG. 7 is a schematic diagram of the self-mobile device charging return path planning in some other embodiments provided in this specification.
  • FIG. 9 is a schematic flowchart of another embodiment of a method for self-mobile device path planning provided in this specification.
  • Figure 10 is a schematic diagram of the module structure of a self-mobile device provided in this specification.
  • Fig. 11 is a schematic structural diagram of a server according to an exemplary embodiment of the present specification.
  • Fig. 12 is a schematic diagram of an automatic working system according to an exemplary embodiment of the present specification.
  • Figure 13 is a schematic structural diagram of an automatic lawn mower according to an exemplary embodiment of the present specification.
  • Fig. 14 is a schematic diagram of functional modules of an automatic lawn mower according to an exemplary embodiment of the present specification.
  • the path planning device corresponding to the lawnmower robot can perform point-to-point random path planning based on the pre-stored preset job map to generate the lawnmower robot from The travel path from the current work area to the next work area to be traveled.
  • the path planning device can be integrated in the lawn mower robot, or it can be an independent device, or integrated in other devices that interact with the lawn mower robot to store data.
  • the lawn mower robot can travel from the current work area to the next work area based on the travel path planned by the path planning device.
  • the method of randomly generating a path based on the stored preset operation map can make the travel path of the lawnmower robot more suitable for the actual operating environment, and further improve its cross-regional work efficiency on the basis of ensuring the safety and reliability of the lawnmower robot's travel.
  • the automatic working system of the specific embodiment may include: self-mobile device 1, boundary 2, docking station 3, and navigation mechanism 26 (hereinafter may also be referred to as a position acquisition module).
  • the self-mobile device 1 walks and works in the work area 4 defined by the boundary 2, and the docking station 3 can be used for the self-mobile device to return to docking to recharge when the energy is insufficient or for the self-mobile device to temporarily stop when it is not working.
  • the navigation mechanism 26 can be used to provide current location information from the mobile device and build a map of the work area 4.
  • the automatic lawn mower 20 may include a body 27, and may also include a walking device 21, a working device 22, a communication device 23, a control device 24, and an energy device 25.
  • the control device 24 is connected to and controls the walking device 21 and the working device 22 to realize the automatic walking and working of the automatic lawn mower 20.
  • the center of the working device 22 is located on the central axis of the lawn mower 20, is located below the casing, between the auxiliary wheel and the driving wheel, and can also be offset to the left or right side of the casing.
  • the energy device 25 is fixedly or detachably installed in the housing, and may be a battery pack or the like. During operation, the battery pack releases electric energy to keep the lawn mower 20 working and walking. When not working, the battery can be connected to an external power source to supplement the electric energy; the automatic lawn mower 20 can also automatically find the charging station 3 to supplement the electric energy when it detects that the electricity is insufficient.
  • the control device 24 can be a controller, which can control the automatic lawn mower 20 to walk, turn, and work automatically according to a preset program or received instructions.
  • the communication device 23 may include but is not limited to at least one of the following: wifi, Bluetooth, infrared, 4G or 5G and other cellular communication modules.
  • the automatic working system may include a navigation mechanism 26, which may include but is not limited to at least one of the following: UWB sensors, inertial navigation equipment, satellite navigation systems (GPS, Beidou, RTK-GPS, etc.), and vision sensors.
  • the navigation mechanism 26 can be used to establish a map of the work area 4, which is detachably or fixedly installed on the mower body 27, or a part of the mower 20 is integrated with the mower, and the user controls and records the position to Generate a map.
  • the user can remove the navigation mechanism 26 from the automatic lawn mower 1 and install it on an independent mobile trolley.
  • the navigation mechanism 26 records it.
  • the coordinates of the passing position are used to establish a map of the work area.
  • the navigation mechanism 26 may also include inertial navigation equipment and odometers.
  • the inertial navigation equipment may include gyroscopes and accelerometers.
  • the inertial navigation equipment and odometers can cooperate with the satellite navigation system. In case of assisted navigation.
  • the mobile device walks and/or works in the preset work area.
  • the preset work area includes at least the first work area and the second work area.
  • the following embodiments take the existence of two work areas as an example for description. It is worth noting that there may also be three or more work areas, which are not limited in this application.
  • the application scenarios of the work area A and the work area B are two work areas. For example, there may be two independent lawns in the user's home, and the two independent lawns are connected by walkable areas where no grass exists, such as roads, trails, etc.
  • FIG. 1 is an embodiment of the path planning method for a lawnmower robot provided in this specification. Schematic diagram of the process.
  • this specification provides method operation steps or device structures as shown in the following embodiments or drawings, the method or device may include more or fewer operation steps after partial combination based on conventional or no creative labor. Or modular unit.
  • steps or structures where there is no necessary causal relationship logically the execution order of these steps or the module structure of the device is not limited to the execution order or module structure shown in the embodiments of this specification or the drawings.
  • FIG. 1 A specific embodiment is shown in FIG. 1.
  • the method can be applied to a self-moving device.
  • the self-moving device 1 is used as an automatic mowing
  • the machine 20 is taken as an example for description, and the method may include the following steps:
  • S00 Obtain a current location point from the mobile device, where the current location point is located in the first work area.
  • the path planning device can obtain the current position of the lawn mower robot.
  • the current location point may be determined by the path planning device, or may be determined by other modules inside the lawn mower robot or other peripheral devices that have data interaction with the path planning device, which is not limited here. If the current location point is determined by a device or module other than the path planning device, the corresponding device or module may send the determined coordinate data of the current location point to the path planning device by means of data transmission or the like.
  • the position acquisition module may be used to collect current position information of the lawn mower robot.
  • a position acquisition module such as a GPS position acquisition device or a Beidou position acquisition device, an image acquisition device, etc., may be installed inside the lawn mower robot to achieve precise position positioning of the lawn mower robot.
  • the position acquisition device may also be independent of the lawn mower robot, for example, a position acquisition module in an artificial intelligence device held by the user.
  • the current position of the lawn mower robot is acquired.
  • the current position of the lawn mower robot before switching the working area can be unfixed and dynamically changing, of course, it can also be fixed and set in advance.
  • the current position point may include a position point determined by the lawn mower robot performing position information collection on the lawn mower robot when the lawn mower robot receives a replacement work area instruction or a charging return instruction. After the lawn mower robot completes the work in the current work area, it can automatically go to other adjacent work areas to continue to perform work tasks.
  • the walking mode of the robot can be bow-shaped, spiral, etc.
  • the starting angle and starting position of the robot may also be different when the robot starts, so the current position point obtained after completing the current work area can also be different. Or, based on the received instruction from the user to change the work area, automatically go to other work areas to perform work; or, when the battery is insufficient, it can go to the charging pile based on the charge return instruction for charging.
  • the current position information of the lawn mower robot can be collected by the position acquisition device.
  • the charging pile is located in other operation areas except the first operation area, so the current position point when returning to charging or switching areas according to user instructions may also be different. Then, the coordinate data of the current location point can be determined according to the solution of the foregoing embodiment.
  • the instruction to change the work area may be issued by the work planning module of the lawn mower robot after determining that the work in the current work area is completed, or it may be issued by an external device that controls the work of the lawn mower robot after determining that the lawn mower robot has completed the current work area. Issued after the work, there is no limit here.
  • a charging return instruction may be triggered to make the lawn mower robot return to the charging station for charging.
  • the preset threshold can be set in advance based on experience.
  • the method for determining the current location point is not limited to the methods listed in the foregoing embodiment.
  • the current location point may also be manually determined, and then input into the path planning device.
  • the target location point is automatically determined according to preset rules based on the stored preset job map, the target location point is located in the second job area, and the preset job is determined by collecting boundary information of the at least two job areas map.
  • the target location point may be any point in the second work area that the lawn mower robot is to go to in the current cross-area operation.
  • the path planning device can automatically determine the target location point of the lawn mower robot to go to according to the preset rule according to the stored preset operation map.
  • the preset operation map may be made according to information collected on the first operation area where the lawn mower robot is currently located and the second operation area to be traveled.
  • the preset job map may be stored in a storage module of the lawnmower robot or in a device that communicates with the lawnmower robot, such as stored in a server where the cloud that communicates with the lawnmower robot in real time is located.
  • the position acquisition module may be used to collect information on the first work area where the lawn mower robot is currently located and the second work area to be traveled.
  • the position acquisition module can be a separate collection device, can also be integrated in the user's mobile phone, computer, smart watch and other smart terminal devices, or can also be installed in the lawn mower robot.
  • the preset operation map also includes a passage area connecting the first operation area and the second operation area, as shown in FIG.
  • a passage area connecting the first operation area and the second operation area there may be two independent lawns in the user's home, and the two independent lawns are connected by a walkable area where no grass exists, such as roads, trails, etc.
  • the user wants the lawn mower to automatically mow the two work areas separately they can create a map for the entire or part of the passage where there is no grass during the map creation process, and use mobile devices such as mobile phones or mowing robots.
  • the local display marks the area attribute in the map as the channel area, and the control device marks the mapping area as the channel area according to the received user instruction, and saves the map.
  • the channel area can be mapped after being calibrated as the channel area, or the channel area can be calibrated after the map is created for the channel area, which is not limited in this application.
  • the lawn mower By restricting the lawn mower to walk in the passage area confirmed by the user, it is guaranteed that it will not walk to other areas to harm pedestrians or animals.
  • the lawn mower can walk in this passage area C, so as to realize the purpose of automatically walking from the work area A to the work area B; by controlling the lawn mower to not cut grass when walking in the passage area C, so as to avoid It hurts pedestrians when walking in the passage area C, ensuring its safety.
  • the channel area is only a schematic description. It only needs to satisfy that the area is confirmed by the user and calibrated in the map. It is not limited to the channel shape shown in Figure 2 and can be other shapes such as curved channels. .
  • the corresponding target location points during multiple planning can be dynamically changed. Specifically, the following methods can be used to determine the target location points in the second operation area, including:
  • the target location point may be pre-stored and calibrated in the preset job map.
  • the target location point may be the midpoint of the boundary of the adjacent part of the second working area in the passage area.
  • the target location point may also be determined according to the actual operation scene and/or information in the preset operation map.
  • the lawn mower robot finishes the work in the current work area and goes to the next work area to perform the mowing operation.
  • the point in the work area that meets certain requirements is taken as the target location point.
  • the location point where the charging pile is located, or a pre-configured point near the charging pile, or a point near the charging pile that meets certain requirements can be used as the target position point.
  • valid points and invalid points may be configured in a preset operation map in advance.
  • the valid points may include points in the preset operation map through which the lawn mower robot can effectively pass, and the invalid points may include the preset operation map.
  • the obstacles such as puddles, road surfaces under repair, and ground bumps with a height higher than the preset height, make it impossible for the lawn mower robot to pass through the obstacle or It is difficult to pass the obstacle; the points on the narrow passage that the lawnmower robot cannot pass normally are also invalid points; the points outside the preset job map may themselves belong to the area that the lawnmower robot cannot or are not allowed to pass, or are not currently being carried out Effective information collection cannot determine its impact on the lawn mower robot. To facilitate analysis, points other than the preset job map can also be listed as invalid points.
  • the area where the points outside the preset operation map are located can be defined as an ineffective operation area, so as to distinguish and express.
  • the grass or the point on the passage where the lawn mower robot can pass normally in the preset operation map can be determined as the effective point.
  • invalid point areas and valid point areas may be directly marked on the preset operation map.
  • the preset operation map may also only be marked with grass, obstacles, effective passages that the lawnmower robot can pass, narrow passages that the lawnmower robot cannot pass, areas outside the preset operation map, etc. , Predefine whether each area belongs to the invalid point area or the valid point area, so as to determine the invalid point area and the valid point area. For example, if a point falls in the area marked as grass, it can be determined that the point falls in the effective point area, and another point falls in the area marked as obstacles, it can be determined that the point falls in the invalid point area.
  • the above-mentioned information can be marked in the map in advance, for example, different colors or marking points can be used to mark separately.
  • any effective point in the second work area may be determined as the target location point, or a certain effective point in the second work area may be selected as the target location point based on a certain rule.
  • the target location point may include the geometric center of gravity of the second work area or an effective point associated with the geometric center of gravity.
  • the geometric center of gravity of the second work area or an effective point associated with the geometric center of gravity may be randomly selected as the target location point.
  • the geometric center of gravity of the second work area may also be acquired as the initial center point; it is determined whether the initial center point belongs to the effective point of the second work area. If it is determined that the initial center point is a valid point, the initial center point is determined as the target location point. If it is determined that the initial center point is an invalid point, the valid point associated with the geometric center of gravity is taken as the target position point.
  • the using the valid point associated with the geometric center of gravity as the target position point may include: obtaining the first invalid point area where the geometric center of gravity is located and the The first demarcation point of the effective point area adjacent to the first invalid point area determines the target location point according to the first demarcation point. For example, a point can be randomly selected from the first demarcation points as the target location point, or the first demarcation point closest to the current location point can be used as the target location point. Alternatively, based on information such as the width of the lawn mower robot, an effective point with a preset distance from the first dividing point may be selected as the target position point. By determining the target location point according to the invalid point area and the effective point area pre-configured in the preset job map, the determination of the target location point can be made simpler and more efficient.
  • the association may include the shortest distance from the geometric center of gravity in a preset direction. If you can search along the preset direction, the first valid point found will be the target position point.
  • the preset direction can be configured in advance or configured in real time based on a certain algorithm.
  • the minimum circumscribed moment of the second working area may be constructed, and the preset direction may include a direction along one side of the minimum circumscribed moment.
  • the minimum circumscribed moment may refer to the circumscribed rectangle with the smallest area of the second work area.
  • the search can be performed along the direction of a certain side of the minimum circumscribed moment, and the first effective point found is taken as the target position point.
  • the search can be started along the direction of any short side of the minimum circumscribed moment, so as to improve the efficiency of the search.
  • the geometric center of gravity of the second work area may be acquired as the initial center point, and the geometric center of gravity may be determined in the following manner:
  • search direction Based on the minimum circumscribed moment, set the search direction: if the width of the minimum circumscribed moment is equal to the height, then arbitrarily select the direction of the width or height to search; if the width of the smallest circumscribed moment is less than the height, select the direction of the width to search; If the width of the minimum external moment is greater than the height, select the direction of the height to search. Then according to the set search direction, search upwards or rightward point by point from the position of the geometric center of gravity. If the effective point is not found when the minimum circumscribed moment is exceeded, search downward or leftward point by point from the position of the geometric center of gravity until A point is found inside the second working area and is a valid point, and this point is set as the target location point.
  • search direction execution order is only the priority search direction in the embodiment of this specification, but the embodiment of this specification does not therefore exclude other search direction execution orders that can be implemented.
  • the preset operation map may be pre-configured with the position information of the charging pile, and the target charging pile may be determined according to the position information of the charging pile. For example, the closest charging pile can be used as the target charging pile. Of course, if there is only one charging pile in the preset operation map, the charging pile can be directly used as the target charging pile.
  • the lawnmower robot can locate the position data of the charging pile more quickly and accurately, so as to complete the return charging more quickly.
  • the charging return path can be divided into two parts for configuration, and the path from the current location point to the preset location point can be dynamically configured and generated in real time according to the preset job map to adapt to the lawn mower robot
  • the charging and docking path between the preset position and the target charging pile can be pre-configured according to the docking rules, so that the lawn mower robot can achieve fast and accurate charging and docking.
  • the lawn mower robot can realize the automatic return to the charging function more accurately and efficiently.
  • the preset location point may be determined according to one or more of the charging mode and the docking mode of the target charging pile.
  • the charging method of the charging pile may be wired charging, wireless charging, etc., and the wired charging method may be a wired connection between the charging pile and the lawn mower robot for charging.
  • the wireless charging method may be electromagnetic induction, magnetic resonance, radio wave transmission, etc., for example.
  • the docking mode may include railed docking, trackless docking, and the like.
  • the rail-mounted docking can be docked through a pre-laid docking track.
  • the trackless docking does not have a corresponding docking track, and a certain docking rule can be set, and the lawn mower robot can complete the charging docking based on the preset rule.
  • the starting point on the docking track can be used as the preset position point.
  • the preset location point and the docking path from the preset location point to the target charging pile can be determined according to the pre-configured docking rules, so as to effectively realize the accurate docking of the lawn mower robot and the charging pile.
  • the target charging pile may be pre-configured, or may be randomly searched by the lawn mower robot. In other implementations, the target charging pile may be determined according to one or more of the distance between the charging pile and the current location point, whether the charging pile can currently perform a charging function, the charging method of the charging pile, and the docking method.
  • each charging pile may be faulty and is being repaired or is performing charging functions for other lawn mower robots, which cannot meet the current charging requirements of lawn mower robots as soon as possible.
  • the charging pile can be selected first by considering one or more of the above factors, and then the preset location point can be determined according to the preferable charging pile. By optimizing the charging pile, the lawn mower robot can be charged more efficiently and put into work.
  • the matching charging piles within the preset distance range can be screened, and then it can be judged whether the matched charging piles are executable The charging function, and the charging pile that can perform the charging function as the charging pile to be selected, and then randomly selecting a charging pile from the charging piles to be selected as the target charging pile, or selecting the charging pile to be selected in the same working area as the current location The pile serves as the target charging pile. Then, the preset position can be determined according to the target charging pile.
  • the solutions of the foregoing scenario embodiments are only examples.
  • the type, quantity, execution order, etc. of the factors to be referred to can be determined according to the actual configuration of the lawn mower robot, the configuration of the surrounding charging piles, and the surrounding environment.
  • the preliminarily selected preset location point is a valid point, and if it is determined to be a valid point, the preliminarily determined preset location point is used as the target location point for subsequent path planning; if it is Invalid point, you can discard the point, re-screen other qualified points as the preset position point, and repeat the above judgment steps until it is determined to be a valid point; if after traversing all the points that meet the conditions, the valid point cannot be determined , You can throw an exception, re-screen the target charging pile, or manually intervene.
  • the target location point in the second operation area may be static, that is, the location of the target location point may be the same in the process of different sub-path planning.
  • the target location point can be dynamically changed, that is, the location of the target location point can also be different in the process of different sub-path planning.
  • different target location points can be determined as described above. After the target location point is determined, the lawnmower can be controlled to walk from the current location point to the target location point according to the map.
  • S04 Planning the travel path of the mobile device from the current location point to the target location point based on the current location point and the preset operation map, wherein the travel path planned multiple times is the same as the The intersections of the boundaries of the first work area are different, and/or the intersections of the travel paths planned multiple times and the boundaries of the second work area are different.
  • the same path planning method can also be used to plan the path of the lawn mower robot from the current location point to the target location point. It suffices that the intersection of the travel path that meets the multiple plans and the boundary of the first work area is different, and/or the intersection of the travel path that is planned multiple times and the boundary of the second work area is different.
  • the lawn mower when an initial location point exists on the boundary of the passage area, when the travel path from the current location point to the target location point of the mobile device is planned based on the current location point and the stored preset operation map,
  • the lawn mower can be controlled to walk from the current position to the initial position, and then from the initial position to the target position.
  • the initial position point may be the midpoint of the border of the adjacent part of the first working area in the channel area.
  • the channel area exists near the user's house, so there may be shadows in the channel area.
  • the path planning device can obtain the coordinate data of the current location point and the target location point in the preset operation map, and then, based on the boundary position information and obstacle distribution of each operation area in the preset operation map Wait for information, and carry out point-to-point random path planning.
  • the travel path formed by multiple planning may form different intersections with the boundary of the first work area, and/or may form different intersections with the boundary of the second work area.
  • the travel path from the current location point to the target location point generated based on the preset job map may be random, and the travel path generated each time may be the same or different. By randomly generating the path, the path generation can be more adapted to the actual operating environment, and on the basis of ensuring the safety and reliability of the lawn mower robot, the lawn mower robot can quickly travel to the target position.
  • the path planning device may perform path planning from the current location point to the target location point through a pre-designed path planning algorithm. It is also possible to use an optimal path planning algorithm to make the planned travel path shorter or less turning, which improves the efficiency of the lawn mower robot's cross-regional work.
  • the path planning algorithm can be BUG2, RRT, A*, etc.
  • the preset operation map may further include a passage area connecting the first operation area and the second operation area.
  • the passage area may include an area between the work areas for the lawn mower robot to pass through.
  • the boundary position of the passage area may be predetermined according to the actual operation scenario. Two adjacent work areas can be connected through a passage area. When the lawn mower robot enters another adjacent work area from the current work area, it can pass through the passage area between the two work areas and enter the adjacent other work area.
  • the information collection device can be used to collect information in the channel area.
  • the information collected by the information collection device may also include the boundary position information of the channel area, the boundary position information between the work area and the channel area, and the obstacle position information in the channel area. Pre-collecting the passage area between the work areas, and planning a random path based on the passage area can further improve the efficiency of path planning.
  • the lawn mower robot can also obtain the location information of the lawn mower robot's work area and channel area collected based on the location collection device; generate a preset work map according to the obtained location information; store the generated preset Set up a job map.
  • the location information may include location information such as the boundary location information of the work area and the passage area, the location information of the boundary between the work area and the passage area, the location information of obstacles in the work area and the passage area, and the location information of the charging pile.
  • the position collection device can send the collected position information to the lawn mower robot. If the location collection device is not installed in the lawn mower robot, the location collection device can send the collected location information to the map generation device of the lawn mower robot through wired data transmission or wireless data transmission. If the location collection device is installed in the lawn mower robot, the location collection device can send the collected location information to the map generation device of the lawn mower robot through an internal transmission protocol.
  • the position information of the work area and the channel area between the work areas may be collected in the following manner: instructing the cutting The grass robot moves along the boundary of the work area and the passage area, or moves along the boundary of the obstacle in the work area and the passage area, and collects position information of the work area and the passage area.
  • remote control or manual push may be used to instruct the lawn mower robot to move. Then, the collected position information can be sent to the processing module of the lawn mower robot to generate a preset job map.
  • the position acquisition device or the device integrated with the position acquisition device are instructed to move along the boundary between the work area and the channel area, or along the The boundary of the obstacle in the work area and the passage area moves, and the position information of the work area and the passage area is collected. Then, the location collection device can send the collected location information to the processing module of the lawn mower robot to generate a preset job map.
  • the common boundary of the work area or the obstacles in the passage area and whether the passage area allows the lawn mower robot to pass effectively can also be marked in the preset work map to facilitate more accurate path planning.
  • a straight line path between the current location point and the target location point may be acquired; it is determined whether there is an invalid point on the straight line path, and the invalid point includes the lawn mower robot in the preset operation map. Points that cannot be effectively passed and points outside the preset operation map; when there are no invalid points, the straight path is determined as the path of the lawn mower robot from the current position point to the target position point .
  • the invalid point area where the invalid point on the straight path is located can be obtained, and the travel path at least partially deviates from the straight path to avoid the invalid point.
  • Point area The setting and marking of the effective point, the invalid point, the valid point area, and the invalid point area can be implemented with reference to the above-mentioned embodiment, which will not be repeated here.
  • S06 Control the self-moving device to walk from the current location point to the target location point along the travel path.
  • the lawnmower can be controlled to walk from the current location point to the target location point along the travel path. After walking to the target location point, mowing or docking or docking can be performed in the second work area.
  • the mobile device when controlling the mobile device to walk from the current work area to another work area, plan the travel path from the current position point of the current work area to the target position of another work area, and control
  • the multi-planned travel path is different from the intersection of the boundary of the first work area, and/or the travel path planned multiple times is different from the intersection of the second work area boundary, so that the mobile device can quickly switch between different work areas. And avoid the phenomenon that the lawn is crushed or the traces of pressing grass are generated when walking the same location point or the same path.
  • the preset operation map given in Fig. 2 includes operation areas A, B (grass), and a passage area C between A and B, and there is an obstacle T 1 in the operation area B.
  • Lawn mowing robot a and mowing robot b are currently located in work area A, the current position of mowing robot a is O, the current position of mowing robot b is P, and the target position of mowing robot a and b is to be headed. It is M, and M is located in the work area B.
  • the mowing robot 2 may be at least partially offset from a straight path to avoid the null point of the two regions D and T 1 travels from the current position to the target point O location point M, the corresponding path of travel As shown by the dotted line between the current position point O and the target position point M in FIG. 2.
  • the second boundary point between each work area passed by the straight path and the passage area between the work areas can also be obtained; according to the current The location point, the target location point, and the second demarcation point generate an initial travel path; it is determined whether there is an invalid point on the initial travel path, and if it does not exist, the initial travel path is determined as the lawn mower robot from the current The travel path from the location point to the target location point.
  • If there is an invalid point on the initial travel path acquiring the third boundary point of the second invalid point area where the invalid point on the initial travel path is located and the valid point area adjacent to the second invalid point area; according to The current location point, the target location point, the second demarcation point, and the third demarcation point determine a travel path from the current location point to the target location point.
  • the lawn mower robot a after the lawn mower robot a reaches position O, it receives a switching instruction from the user to change the working area, and the control device controls the position acquisition module to acquire the lawn mower
  • the current location point O based on the stored preset job map, automatically determines the geometric center of gravity in the job area B as the target location point M according to the preset rules.
  • the job area is planned according to the BUG2 algorithm A travel path to work area B.
  • the lawn mower robot b is the next time the lawn mower robot a plans the work scene in the lawn shown in Fig. 2.
  • the control device controls the position acquisition module to acquire the current position point P of the lawn mower, and automatically determines the geometric center of gravity point in the operation area B as the target position point M based on the stored preset operation map according to the preset rules, and according to the current position point P ,
  • the target location point M plans a straight path from the work area A to the work area B. It can be seen from the figure that the intersection of the path obtained by the two planning and the boundary of channel C is different.
  • the control device controls the position acquisition module to acquire the current position of the lawn mower Point P, based on the stored preset job map and automatically determine the middle point of the boundary of the channel area C as the initial position point N and the target position point M according to the preset rules, according to the current position point P, the initial position point N, and the target position point M plans the travel path from work area A to work area B, and then controls mower a to walk along the travel path from work area A to work area B. After reaching work area B, it will perform cutting in work area B with a spiral path. Grass work.
  • the preset operation map given in Fig. 3 includes operation areas A, B, and a passage area C between A and B, and there is an obstacle T 2 in the operation area A.
  • the lawn mower robot a and the lawn mower robot b are currently located in the work area A, the current position point of the lawn mower robot a is O, the current position point of the lawn mower robot b is P, and the target position points of the lawn mower robot a and b are to go. It is M, and M is located in the work area B.
  • the linear path between the two points can be directly used as the travel path of the lawn mower robot b.
  • the dotted line between the current position point P and the target position point M in Fig. 2 is the travel path of the lawn mower robot b.
  • point-to-point path planning can be further performed according to the current location point, the target location point, and the second boundary point to determine the initial travel path.
  • the boundary point between the invalid point area formed by the obstacle T 2 and the adjacent effective point area (the area corresponding to the grass) can be obtained as the third boundary point.
  • point-to-point path planning can be performed according to the current location point, the target location point, the second demarcation point, and the third demarcation point, and the travel path from the current location point to the target location point can be determined.
  • the dotted line between the current position point O and the target position point M in FIG. 2 is the travel path of the lawn mower robot a.
  • the extension step length can be preset, and the path is extended at the preset extension step length each time from the current position point to a sampling point position, and then from the sampling point according to the preset extension The step length continues to extend.
  • the extension direction is selected based on the extension of the current sampling point to determine the location of the next sampling point, there can be a certain probability that it will extend toward the target location point, and there is also a certain probability that it will randomly select a direction to extend a certain distance in the map.
  • the extension direction corresponding to the current sampling point stops extending.
  • the preset operation map given in Fig. 4 includes operation areas A and B, and a passage area C between A and B, and there is an obstacle T 3 in the operation area A.
  • the lawn mower robot b is currently located in the work area A, the current location point of the lawn mower robot b is P, the target location point to be reached by the lawn mower robot b is M, and M is located in the work area B.
  • the path is extended at the preset extension step length each time, extending to a sampling point position, and then starting from the sampling point.
  • the extension direction corresponding to the current sampling point stops extending. If it does not extend to the invalid point area, the preset extension step length is extended along the extension direction to determine The next sampling point. It can be deduced in turn until it extends to the target location point M or within the preset distance range from the target location point M.
  • Path of travel As shown in FIG. 4, the solid line from P to M shown in FIG. 4 is the preferably determined travel path of the shorter path.
  • the preset operation map may further include at least one traverse path between the first operation area and the second operation area.
  • the traversing path may include a preset travel path of the lawn mower robot from the current work area to an adjacent next work area.
  • the traversing path may be pre-configured in the operation map, so that the lawn mower robot can travel accurately and quickly along the traversing path to travel from one operation area to another adjacent operation area.
  • the dashed line between the work areas A and B can be the preset traverse path.
  • Fig. 5 shows only one traversing path. In a specific implementation, of course, there may be more than one traversing path between the two work areas.
  • R and W are the cut-in points for switching from the work area to the traverse path. The lawn mower robot can enter the traverse path from the work area A from the position point R, and then enter the work area B from the W point after passing the traverse path.
  • the travel path of the lawn mower robot may be determined based on the current position point, the target position point, and the cut-in position point of each work area to the traverse path.
  • the lawn mower robot starts from the cut-in position R and can directly drive based on the traverse path.
  • the lawn mower robot can also deviate at least partially from the traversing path to avoid the obstacle at any time during the driving process, and then return to the path based on the detected signal. Cross the path and continue driving until the cut-in position point W.
  • the linear path between the current position P and the cut-in position R can be obtained first. If there is no invalid point on the linear path PR, the linear path PR can be used as the lawn mower robot in the work area A The path of travel within. If there is an invalid point on the linear path PR, the travel path of the lawn mower robot in the work area A may at least partially deviate from the linear path PR to avoid the invalid point region corresponding to the invalid point.
  • the linear path between the target position point M and the cut-in position point W can be obtained first. If there is no invalid point on the linear path WM, the linear path WM can be used as the lawn mower robot in the work area B The path of travel within. If there is an invalid point on the linear path WM, the travel path of the lawn mower robot in the work area B may at least partially deviate from the linear path WM to avoid the invalid point area corresponding to the invalid point.
  • the dotted line between the current position point P and the target position point W shown in FIG. 5 is an example of a travel path of the lawn mower robot b from the current position point P to the target position point W.
  • the straight path PR can at least partially deviate from the straight path PR to avoid the obstacle T 4 , and then enter the cross path RW from the cut-in position R, and then follow the straight line from the cut-in position W Path WM to the target location point M.
  • the charging docking path between the preset position point and the target charging pile may be further obtained, and the mowing path may be determined according to the charging docking path and the travel path.
  • the charging return path of the grass robot may be determined according to the charging docking path and the travel path.
  • the charging docking path between the two can be obtained.
  • the docking track can be used as a charging docking path;
  • the charging docking path can be determined according to a preset docking rule.
  • the travel path from the current location point to the target location point can be connected with the charging docking path to generate a charging return path for the lawn mower robot.
  • the lawn mower robot can return to the target charging pile along the finally determined charging return path to achieve effective docking with the target charging pile.
  • the position acquisition device may be used to obtain the current position point where the lawn mower robot is located as the first current position point.
  • the lawn mower robot needs to return to the charging station for charging when the battery is low.
  • it can be determined whether the remaining power of the lawn mower robot is less than a preset threshold, and if the remaining power is less than the preset threshold, a charging return instruction can be triggered to make the lawn mower return to the charging station for charging.
  • the preset threshold can be set in advance based on experience. In some embodiments, the preset threshold may also be determined according to the distance between the lawnmower robot and the charging station, so that the lawnmower robot has enough power to return to the charging station while achieving maximum work efficiency.
  • the mowing robot can stop the mowing work according to the charging return instruction, locate the first current position point, and obtain the coordinate data of the first current position point.
  • a satellite position acquisition device such as a GPS position acquisition device or a Beidou position acquisition device, may be installed inside the lawn mower robot to realize precise position positioning of the lawn mower robot.
  • S22 Determine the target charging pile according to the preset operation map, and determine the preset position point of the target charging pile as the first target position point.
  • the map is made after information collection of the channel area and the location of the charging pile.
  • the preset operation map is pre-configured with the position information of the charging pile.
  • the lawn mower robot can determine the target charging pile according to the coordinate data of the first current position point and the coordinate data of each charging pile. As the target charging pile. Of course, if there is only one charging pile in the preset operation map, the charging pile can be directly used as the target charging pile. By pre-configuring the charging pile position information in the preset operation map, the lawn mower robot can locate the position data of the charging pile more quickly and accurately.
  • the preset location point may be one or more fixed points within a preset distance from the target charging pile, for example, it may be a point at a preset distance directly in front of the target charging pile.
  • the preset location point may also be directly configured in the preset operation map. After determining the target charging pile according to the first current location point and the position points of each charging pile, the lawn mower robot may further select from the preset operation map. Obtain the location information of the preset location point corresponding to the target charging pile.
  • the preset location point may be determined according to one or more of the charging mode and the docking mode of the target charging pile. According to the charging method and docking method of the target charging pile, the preset position point can be determined more accurately, so that the preset position point is more in line with the actual application scenario, and the accuracy and efficiency of the automatic recharging of the lawn mower robot are further improved.
  • the specific implementation manner can be carried out with reference to the above-mentioned embodiment, which will not be repeated here.
  • S24 Generate a first return path of the lawn mower robot from the first current position point to the target position point according to the preset operation map.
  • a first straight path between the first current location point and the first target location point may be acquired; it is determined whether there is an invalid point on the first straight path, and the invalid point includes In the preset operation map, points that the lawn mower robot cannot effectively pass through and points outside the preset operation map; when there are no invalid points, the first straight path is determined as the first straight path of the lawn mower robot One return path.
  • the invalid point area where the invalid point of the first straight path is located is acquired, and the first regression path is at least partially deviated from the first straight path. Line path to avoid the invalid point area.
  • the number of work areas passed by the first straight path in Figure 7 is a work area B.
  • the lawn mower b is located in the work area B, and its corresponding first
  • the current location point is Q
  • the preset location point corresponding to the charging pile is H.
  • the invalid point on the first straight path falls on the obstacle T5
  • the corresponding third invalid point area is the area where the obstacle T2 is located
  • the adjacent valid point area is The area where the grass is located.
  • the dotted line in FIG. 7 represents an example of the determined first regression path.
  • the lawn mower robot a is located in the work area A, the first current position of the lawn mower robot is W, the charging pile is located in the work area B, and the preset position point corresponding to the charging pile is H, correspondingly, There are invalid points on the first straight path, and the invalid points are located on the obstacle T 6 and the invalid working area between the working areas A and B, respectively. Acquire a third invalid point area where an invalid point of the first straight path is located, and the first regression path at least partially deviates from the first straight path to avoid the third invalid point area.
  • the dotted line in FIG. 8 represents an example of the determined first regression path.
  • S26 Acquire a charging docking path between the preset location point and the target charging pile, and determine the charging docking path as a second return path;
  • S28 Generate a charging return path of the lawn mower robot according to the first return path and the second return path.
  • the charging docking path between the two can be determined as the second return path.
  • the docking track may be used as the second return path;
  • the second return path may be determined according to a preset docking rule.
  • the H point in Figs. 7 and 8 represents the preset position point
  • the solid line between the H point and the charging post represents the determined second return path.
  • the first return path and the second return path can be connected to generate a charging return path for the lawn mower robot.
  • the lawn mower robot can return to the target charging pile along the finally determined charging return path to achieve effective docking with the target charging pile.
  • the lawn mower robot can be made faster when it needs to return to charging.
  • the realization of the return, and the accurate realization of the docking with the charging pile improve the automatic work of the lawn mower robot and return to the charging function.
  • the position acquisition device can be used to obtain the current position of the lawn mower robot.
  • the lawn mower robot After the lawn mower robot completes the work in the current work area, it can go to other adjacent work areas to continue to perform work tasks.
  • the lawn mower robot determines to go to the next work area to perform a work task, it can issue a switching work area instruction to make the lawn mower robot go to the target work area.
  • the lawn mower robot receives this instruction, it can pause its travel and obtain the second current position data of the lawn mower robot.
  • a satellite position acquisition device such as a GPS position acquisition device or a Beidou position acquisition device, may be installed inside the lawn mower robot to realize precise position positioning of the lawn mower robot.
  • S42 Determine the target work area of the lawn mower robot to be operated according to a preset work map, the preset work map including a map formulated after information collection of the work area of the lawn mower robot and the channel area between the work areas.
  • the operation area execution sequence is pre-configured in the preset operation map, and the operation area is marked in the preset operation map.
  • the lawn mower robot can determine the current operation from the preset operation map according to the pre-configured operation execution order. The next work area of the area is used as the target work area, and then a certain point in the target work area can be used as the target location point.
  • the preset operation map may also mark the area that has been operated and the area that has not been operated in real time.
  • the lawnmower robot can analyze the current operation area and the surrounding area according to the preset operation map.
  • the distance between the areas, or the distance between the current position of the lawn mower robot and the surrounding unworked area, the closest unworked area is preferably used as the target work area, and then a certain point in the target work area can be used as the target location point.
  • other methods can also be used to determine the target operation area, which is not limited here.
  • S44 Determine the second target position point of the lawn mower robot according to the effective points in the target work area, where the effective points include points that can be effectively passed by the lawn mower robot pre-configured in the preset work map.
  • Valid points and invalid points can be configured in the preset operation map in advance.
  • the valid points may include points that the lawn mower robot can effectively pass through, and the invalid points may include points in the preset operation map that the lawn mower robot cannot pass effectively and presets. Points outside the job map. Any effective point in the target work area may be determined as the second target location point, or a certain effective point may be selected from the target work area as the second target location point based on a certain rule.
  • the target position of the lawn mower robot may be determined in the following manner:
  • the initial center point is determined as the target location point.
  • the effective point located in the target work area is determined as the target location point.
  • the method for determining the second target location point can be determined with reference to the foregoing embodiment, which will not be repeated here.
  • a preset job map can be used to perform point-to-point path planning to generate the travel path of the lawn mower robot from the second current location point to the second target location point to obtain The path of the lawn mower robot to the target work area.
  • Using a point-to-point method for path planning can greatly improve the simplicity and efficiency of path planning.
  • a second straight line path between the second current location point and the second target location point may be acquired; it is determined whether there is an invalid point on the second straight line path, and the invalid point includes the The pre-configured points in the preset work map that the lawn mower robot cannot effectively pass and points outside the preset work map; when there are no invalid points on the second straight path, the second straight path is determined to be The travel path of the lawn mower robot from the second current position point to the second target position point.
  • the invalid point area where the invalid point of the second straight path is located is acquired, and the travel path is at least partially deviated from the second straight path To avoid the invalid point area.
  • point-to-point path planning can be performed more simply and efficiently to determine the cross-regional work travel of the lawn mower robot.
  • the path at the same time, can also make the travel of the lawn mower robot safer and more reliable.
  • the path planning method of the lawn mower robot can generate a work map based on the collected information by collecting information of the work area of the lawn mower robot in advance. Then, in actual operations, the target location of the lawnmower robot can be accurately determined based on the pre-generated job map, and point-to-point random path planning can be performed based on the job map to generate the cross-regional job travel path of the lawnmower robot.
  • the method of randomly generating paths based on the preset stored job map can make the path of the lawn mower robot more suitable for the actual operating environment. On the basis of ensuring the safety and reliability of the lawn mower robot, it further improves the cross-area of the lawn mower robot. Operational efficiency.
  • an embodiment of this specification also provides a lawn mower robot, which may include: a body 101; a cutting device 102 installed on the body for Perform cutting; drive device 103, installed in the fuselage, used to drive the fuselage to move; storage module 104, used to store a preset operation map, the preset operation map based on the first operation area and The information collected in the second work area is produced; the position obtaining module 105 is used to obtain the current position point of the lawn mower robot, the current position point is located in the first work area; the position determination module 106 determines according to the preset work map The target location point of the lawn mower robot, the target location point is located in the second work area; the path generation module 107 is configured to plan the travel path of the lawn mower robot according to the preset work map; wherein, more The travel path formed by the secondary plan forms a different intersection with the boundary of the first work area, and/or forms a different intersection at the boundary of the second work area.
  • the preset operation map may include a passage area connecting the first operation area and the second operation area.
  • the path generation module 107 may include: a straight path obtaining unit, which may be used to obtain a straight path between the current location point and the target location point; and a judging unit, which may be used to judge the straight path Whether there is an invalid point on the upper limit, the invalid point includes the point that the lawn mower robot pre-configured in the preset operation map cannot effectively pass and the point outside the preset operation map; the first path generation unit may be used as the When there is no invalid point on the straight path, the straight path is determined as the travel path of the lawn mower robot from the current position point to the target position point.
  • the first path generation unit may be further configured to obtain an invalid point area where the invalid point of the straight path is located when an invalid point exists on the straight path, and the travel path is at least partially Deviate from the straight path to avoid the invalid point area.
  • the position determining module 106 may be further configured to determine the target position of the lawn mower robot according to the effective points in the second work area, and the effective points include those in the preset work map. The point where the pre-configured lawn mower robot can effectively pass.
  • the target location point may include the geometric center of gravity of the target work area or an effective point associated with the geometric center of gravity.
  • the association may include the shortest distance from the geometric center of gravity in a preset direction.
  • the position determining module 106 may include: an external moment construction unit, which may be used to construct the minimum external moment of the target work area, and the preset direction may include the position along the side of the minimum external moment. direction.
  • the position determining module 106 may include: a charging pile determining unit, which may be used to determine a target charging pile according to a preset operation map, where the position information of the charging pile is configured; second The target position determining unit may be used to obtain a preset position point corresponding to the target charging pile, and determine the preset position as the target position point.
  • the preset location point may be determined according to the charging mode and/or the docking mode of the target charging pile.
  • the device may further include: a data acquisition module, which may be used to acquire the location information of the operation area of the lawn mower robot and the channel area between the operation areas collected by the location acquisition device; the map generation module may It is used to generate a preset operation map according to the acquired position information of the operation area and the passage area.
  • a data acquisition module which may be used to acquire the location information of the operation area of the lawn mower robot and the channel area between the operation areas collected by the location acquisition device
  • the map generation module may It is used to generate a preset operation map according to the acquired position information of the operation area and the passage area.
  • the position information of the work area and the passage area between the work area is acquired based on the position collection device moving along the boundary of the work area and the passage area between the work area, or obtained along the The boundary movement of obstacles in the passage area between the work area and the work area is collected for position information.
  • the device may further include: a docking path acquisition module, which may be used to acquire a charging docking path between the preset location point and the target charging pile; a charging return path generation module, which may be used for The charging return path of the lawn mower robot is determined according to the charging docking path and the travel path.
  • a docking path acquisition module which may be used to acquire a charging docking path between the preset location point and the target charging pile
  • a charging return path generation module which may be used for The charging return path of the lawn mower robot is determined according to the charging docking path and the travel path.
  • the device may further include: a charging regression instruction determining module, which may be used to determine whether the power of the lawn mower robot is lower than a preset threshold, and when the determination result is yes, issue a charging regression instruction; correspondingly, The first position obtaining module may be used to obtain the current position of the lawn mower robot according to the charging return instruction.
  • a charging regression instruction determining module which may be used to determine whether the power of the lawn mower robot is lower than a preset threshold, and when the determination result is yes, issue a charging regression instruction; correspondingly, The first position obtaining module may be used to obtain the current position of the lawn mower robot according to the charging return instruction.
  • the path planning device for a lawn mower robot provided in one or more embodiments of this specification can generate a work map based on the collected information by pre-collecting information about the work area of the lawn mower robot. Then, in actual operations, the target location of the lawnmower robot can be accurately determined based on the pre-generated job map, and point-to-point random path planning can be performed based on the job map to generate the cross-regional job travel path of the lawnmower robot.
  • the method of randomly generating paths based on the preset stored job map can make the path of the lawn mower robot more suitable for the actual operating environment. On the basis of ensuring the safety and reliability of the lawn mower robot, it further improves the cross-area of the lawn mower robot. Operational efficiency.
  • this specification also provides a path planning device for a lawnmower robot, which includes a processor and a memory storing executable instructions of the processor, which, when executed by the processor, implements the steps that include any one of the above-mentioned embodiments.
  • FIG. 11 is a block diagram of the hardware structure of the processing device of the lawn mower robot applying the embodiment of this specification.
  • the processing equipment of the lawn mower robot may include one or more (only one is shown in the figure) processor 200 (the processor 200 may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc. Processing device), a memory 300 for storing data, and a transmission module 400 for communication functions.
  • processor 200 may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc. Processing device
  • a memory 300 for storing data
  • a transmission module 400 for communication functions.
  • the structure shown in FIG. 11 is only for illustration, and does not limit the structure of the above electronic device.
  • the processing equipment of the lawn mower robot may also include more or fewer components than shown in FIG. Different configurations.
  • the memory 300 can be used to store software programs and modules of application software, such as program instructions/modules corresponding to the search method in the embodiment of the present invention.
  • the processor 200 executes various functions by running the software programs and modules stored in the memory 300 Application and data processing.
  • the memory 300 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memories.
  • the memory 300 may further include a memory remotely provided with respect to the processor 200, and these remote memories may be connected to the computer terminal through a network. Examples of the aforementioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.
  • the transmission module 400 is used to receive or send data via a network.
  • the above-mentioned specific examples of the network may include a wireless network provided by a communication provider of a computer terminal.
  • the transmission module 400 includes a network adapter (Network Interface Controller, NIC), which can be connected to other network devices through a base station so as to communicate with the Internet.
  • the transmission module 400 may be a radio frequency (RF) module, which is used to communicate with the Internet in a wireless manner.
  • RF radio frequency
  • the storage medium may include a physical device for storing information, and usually the information is digitized and then stored in a medium using electric, magnetic, or optical methods.
  • the storage medium may include: devices that use electrical energy to store information, such as various types of memory, such as RAM, ROM, etc.; devices that use magnetic energy to store information, such as hard disks, floppy disks, magnetic tapes, magnetic core memories, bubble memory, U disk; a device that uses optical means to store information, such as a CD or DVD.
  • devices that use electrical energy to store information such as various types of memory, such as RAM, ROM, etc.
  • devices that use magnetic energy to store information such as hard disks, floppy disks, magnetic tapes, magnetic core memories, bubble memory, U disk
  • a device that uses optical means to store information such as a CD or DVD.
  • quantum memory graphene memory, and so on.
  • the above-mentioned device may also include other implementation manners according to the description of the method embodiment.
  • specific implementation manners reference may be made to the description of the related method embodiments, which will not be repeated here.
  • the path planning device of the lawn mower robot described in the above embodiment can generate a work map based on the collected information by collecting information of the work area of the lawn mower robot in advance. Then, in actual operations, the target location of the lawnmower robot can be accurately determined based on the pre-generated job map, and point-to-point random path planning can be performed based on the job map to generate the cross-regional job travel path of the lawnmower robot.
  • the method of randomly generating paths based on the preset stored job map can make the path of the lawn mower robot more suitable for the actual operating environment. On the basis of ensuring the safety and reliability of the lawn mower robot, it further improves the cross-area of the lawn mower robot. Operational efficiency.
  • This specification also provides a path planning system for a lawnmower robot, which can be a separate path planning system for a lawnmower robot, or can be applied to a variety of computer data processing systems.
  • the system can be a single server, or it can include server clusters, systems (including distributed systems), software (applications), The actual operation device, logic gate circuit device, quantum computer, etc., combined with the necessary hardware terminal device.
  • the lawn mower path planning system may include at least one processor and a memory storing computer-executable instructions, and the processor implements the steps of the method in any one or more of the foregoing embodiments when the processor executes the instructions.
  • the device or system described above in this specification may also include other implementation manners based on the description of the related method embodiments. For specific implementation manners, refer to the description of the method embodiments, which is not repeated here.
  • the path planning system of the lawn mower robot described in the foregoing embodiment may generate a work map based on the collected information by collecting information of the work area of the lawn mower robot in advance. Then, in actual operations, the target location of the lawnmower robot can be accurately determined based on the pre-generated job map, and point-to-point random path planning can be performed based on the job map to generate the cross-regional job travel path of the lawnmower robot.
  • the method of randomly generating paths based on the preset stored job map can make the path of the lawn mower robot more suitable for the actual operating environment. On the basis of ensuring the safety and reliability of the lawn mower robot, it further improves the cross-area of the lawn mower robot. Operational efficiency.

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Abstract

A path planning method and a self-moving device (1). The method comprises: acquiring a current location point of a self-moving device (1), the current location point being located in a first operation region (S00); automatically determining, on the basis of a stored preset operation map, a target location point according to a preset rule, the target location point being located in a second operation region (S02); planning, on the basis of the current location point and the stored preset operation map, a travel path of the self-moving device (1) from the current location point to the target location point, wherein travel paths planned multiple times have different intersections with the boundary of the first operation region, and/or, the travel paths planned multiple times have different intersections with the boundary of the second operation region (S04); and controlling the self-moving device (1) to travel from the current location point to the target location point along the travel path (S06). Thus, the self-moving device (1) can realize faster cross-regional walking, so as to complete the work more safely and efficiently.

Description

一种路径规划方法、自移动设备A path planning method and self-moving equipment
本申请要求了申请日为2020年05月09日，申请号为202010386232.0的中国专利申请的优先权，其全部内容通过引用结合在本申请中。This application claims the priority of the Chinese patent application whose application date is May 09, 2020 and the application number is 202010386232.0, the entire content of which is incorporated into this application by reference.
技术领域Technical field
本说明书涉及导航技术领域，特别地，涉及一种路径规划方法、自移动设备。This specification relates to the field of navigation technology, in particular, to a path planning method and self-moving equipment.
背景技术Background technique
目前，市场上的自动割草机器人智能化程度较低，需要在边界埋设电缆作为割草机器人可识别的边界识别，这给使用者带来极大不便。这类割草机器人通常不具有精确导航功能，而是随机搜寻边界线，然后沿着边界线前行，导致前行效率较低。At present, the automatic lawn mower robots on the market have a low degree of intelligence, and it is necessary to bury cables at the boundary as a boundary recognition that the lawn mower robot can recognize, which brings great inconvenience to users. This type of lawn mower robot usually does not have a precise navigation function, but randomly searches for the boundary line, and then moves along the boundary line, resulting in low forward efficiency.
发明内容Summary of the invention
本说明书实施例的目的在于提供一种路径规划方法、自移动设备，可以使自移动设备实现更加快速的跨区域行走，以更加安全高效的完成工作。The purpose of the embodiments of this specification is to provide a path planning method and a self-moving device, which can enable the self-moving device to achieve faster cross-regional walking and complete work more safely and efficiently.
本发明解决现有技术问题所采用的技术方案是：一种路径规划方法，所述路径规划方法应用于自移动设备，所述自移动设备在预设作业区域中行走和/或工作，所述预设作业区域至少包括第一作业区域和第二作业区域，所述方法包括：The technical solution adopted by the present invention to solve the existing technical problems is: a path planning method, which is applied to a self-moving device that walks and/or works in a preset work area, and The preset work area includes at least a first work area and a second work area, and the method includes:
获取所述自移动设备的当前位置点，所述当前位置点位于第一作业区域；基于存储的预设作业地图按照预设规则自动确定目标位置点，所述目标位置点位于第二作业区域；Acquiring the current location point of the self-mobile device, the current location point being located in the first work area; automatically determining the target location point based on the stored preset work map according to preset rules, the target location point being located in the second work area;
基于所述当前位置点、所述存储的预设作业地图规划所述自移动设备从所述当前位置点至所述目标位置点的行进路径，其中，多次规划的所述行进路径与所述第一作业区域边界的交点不同，和/或，多次规划的所述行进路径与所述第二作业区域边界的交点不同；The travel path of the mobile device from the current location point to the target location point is planned based on the current location point and the stored preset job map, wherein the travel path planned multiple times is the same as the The intersections of the boundaries of the first work area are different, and/or the intersections of the travel paths planned multiple times and the boundaries of the second work area are different;
控制所述自移动设备沿着所述行进路径从所述当前位置点行走至所述目标位置点。Controlling the self-moving device to walk from the current location point to the target location point along the travel path.
在一个实施例中，当所述自移动设备在所述第一作业区域中的工作情况满足预设要求或接收到来自用户的切换作业区域信息时，获取所述自移动设备的当前位置点。In one embodiment, when the working condition of the self-mobile device in the first work area meets a preset requirement or the switching work area information from the user is received, the current location point of the self-mobile device is acquired.
在一个实施例中，基于所述当前位置点、所述预设作业地图规划所述自移动设备从所述当前位置点至目标位置点的行进路径，包括：基于所述当前位置点、所述预设作业地图动态规划所述自移动设备从所述当前位置点至所述目标位置点的行进路径。In one embodiment, planning the travel path of the mobile device from the current location point to the target location point based on the current location point and the preset job map includes: based on the current location point, the The preset job map dynamically plans the travel path of the mobile device from the current location point to the target location point.
在一个实施例中，所述预设作业地图还包括连接所述第一作业区域和所述第二作业区域的通道区域，其中，多次规划的所述行进路径与所述第一作业区域边界的交点位于所述通道区域的边界上，和/或，多次规划的所述行进路径与所述第二作业区域边界的交点位于所述通道区域的边界上。In one embodiment, the preset operation map further includes a passage area connecting the first operation area and the second operation area, wherein the travel path planned for multiple times and the boundary of the first operation area The intersection point of is located on the boundary of the passage area, and/or the intersection point of the travel path planned multiple times and the boundary of the second work area is located on the boundary of the passage area.
在一个实施例中，根据接收到的用户指令确定所述通道区域。In one embodiment, the channel area is determined according to the received user instruction.
在一个实施例中，多次规划的所述目标位置点为动态变化的。In an embodiment, the target location points planned multiple times are dynamically changing.
在一个实施例中，基于所述存储的预设作业地图按照预设规则自动确定目标位置点，包括：In one embodiment, automatically determining the target location point based on the stored preset job map according to preset rules includes:
根据所述第二作业区域内的有效点确定所述自移动设备的目标位置点，所述有效点包括所述预设作业地图中预先配置的自移动设备可有效通过的位置点。The target location point of the self-mobile device is determined according to the effective point in the second work area, and the effective point includes a pre-configured location point on the preset job map that the self-mobile device can effectively pass through.
在一个实施例中，所述目标位置点包括所述第二作业区域的几何重心或与所述几何重心关联的有效点。In an embodiment, the target location point includes the geometric center of gravity of the second work area or an effective point associated with the geometric center of gravity.
在一个实施例中，所述预设作业地图中配置有停靠站的位置信息，所述停靠站用于所述自移动设备的供电或停靠，In one embodiment, the preset operation map is configured with position information of a stop, and the stop is used for power supply or stop of the self-mobile device,
相应的，corresponding,
所述目标位置点包括停靠站位置，或，与所述停靠站位置相距预设距离的位置点，所述预设距离根据所述停靠站的充电方式和/或对接方式确定。The target location point includes a docking station location, or a location point at a preset distance from the docking station location, and the preset distance is determined according to a charging mode and/or a docking mode of the docking station.
在一个实施例中，规划所述自移动设备从所述当前位置点至所述目标位置点的行进路径，包括：获取所述当前位置点与目标位置点之间的直线路径；判断所述直线路径上是否存在无效点，所述无效点包括所述预设作业地图中预先配置的所述自移动设备无法有效通过的点以及所述预设作业地图以外的点；当所述直线路径上不存在无效点时，将所述直线路径确定为所述自移动设备从所述当前位置点至所述目标位置点的行进路径。In one embodiment, planning the travel path of the mobile device from the current location point to the target location point includes: acquiring a straight path between the current location point and the target location point; determining the straight line Whether there is an invalid point on the path, the invalid point includes the points pre-configured in the preset work map that the self-mobile device cannot pass effectively and the points outside the preset work map; when there is no point on the straight path When there is an invalid point, the straight path is determined as the travel path of the self-mobile device from the current location point to the target location point.
在一个实施例中，判断所述直线路径上是否存在无效点，还包括：In an embodiment, determining whether there is an invalid point on the straight path further includes:
当所述直线路径上存在无效点时，则根据所述预设作业地图获取所述无效点所在的无效点区域；When there is an invalid point on the straight path, acquiring the invalid point area where the invalid point is located according to the preset operation map;
根据所述无效点区域重新规划所述行进路径，使得重新规划后的行进路径至少部分地偏离所述直线路径以避开所述无效点区域。The travel path is re-planned according to the invalid point area, so that the re-planned travel path deviates at least partially from the straight path to avoid the invalid point area.
本发明解决现有技术问题所采用的技术方案是：一种自移动设备，所述自移动设备在预设作业区域中行走和/或工作，所述预设作业区域至少包括第一作业区域和第二作业区域，所述自移动设备包括：The technical solution adopted by the present invention to solve the existing technical problems is: a self-moving device that walks and/or works in a preset work area, and the preset work area includes at least a first work area and In the second operation area, the self-moving equipment includes:
机身；body;
工作装置，配置为安装于所述机身，用于执行预定工作；A working device configured to be installed on the fuselage for performing predetermined work;
行走装置，配置为安装于所述机身，用于带动所述自移动设备行走；A walking device configured to be installed on the body and used to drive the self-moving device to walk;
驱动装置，配置为安装于所述机身，用于为所述自移动设备执行预定工作以及行走提供驱动力；A driving device configured to be installed on the body and used to provide driving force for the self-moving device to perform predetermined tasks and walk;
控制装置，电性连接并且控制所述驱动装置，以实现所述自移动设备在预设作业区域中的自动行走和/或自动工作；A control device is electrically connected to and controls the driving device to realize automatic walking and/or automatic operation of the self-moving device in a preset work area;
存储模块，用于存储预设作业地图；Storage module for storing preset job maps;
所述自移动设备还包括：The self-moving device further includes:
位置获取模块，用于获取所述自移动设备的当前位置点，所述当前位置点位于所述第一作业区域；位置确定模块，用于根据所述预设作业地图按照预设规则自动确定所述自移动设备的目标位置点，所述目标位置点位于所述第二作业区域；路径生成模块，用于基于所述当前位置点、所述预设作业地图规划所述自移动设备从所述当前位置点至所述目标位置点的行进路径，其中，多次规划的所述行进路径与所述第一作业区域边界的交点不同，和/或，多次规划的所述行进路径与所述第二作业区域边界的交点不同；所述控制装置控制所述自移动设备沿着所述行进路径从所述当前位置点行走至所述目标位置点。The location acquisition module is used to acquire the current location point of the self-mobile device, the current location point is located in the first work area; the location determination module is used to automatically determine the location according to the preset work map according to preset rules Said from the target location point of the mobile device, the target location point is located in the second work area; the path generation module is used to plan the mobile device from the mobile device based on the current location point and the preset work map. The travel path from the current location point to the target location point, wherein the multiple-planned travel path and the boundary of the first work area are at different intersections, and/or the multiple-planned travel path is different from the The intersection points of the boundaries of the second work area are different; the control device controls the self-moving device to walk from the current location point to the target location point along the travel path.
本发明解决现有技术问题所采用的技术方案是：一种路径规划设备，所述路径规划设备包括处理器及用于存储处理器可执行指令的存储器，所述指令被所述处理器执行时实现：The technical solution adopted by the present invention to solve the existing technical problems is: a path planning device, the path planning device includes a processor and a memory for storing executable instructions of the processor, when the instructions are executed by the processor accomplish:
获取所述自移动设备的当前位置点，所述当前位置点位于第一作业区域；基于存储的预设作业地图按照预设规则自动确定目标位置点，所述目标位置点位于第二作业区域；基于所述当前位置点、所述预设作业地图规划所述自移动设备从所述当前位置点至所述目标位置点的行进路径，其中，多次规划的所述行进路径与所述第一作业区域边界的交点不同，和/或，多次规划的所述行进路径与所述第二作业区域边界的交点不同；控制所述自移动设备沿着所述行进路径从所述当前位置点行走至所述目标位置点。Acquiring the current location point of the self-mobile device, the current location point being located in the first work area; automatically determining the target location point based on the stored preset work map according to preset rules, the target location point being located in the second work area; The travel path of the mobile device from the current location point to the target location point is planned based on the current location point and the preset job map, wherein the travel path planned multiple times is the same as the first The intersection point of the boundary of the work area is different, and/or the intersection point of the travel path planned multiple times and the boundary of the second work area is different; control the self-mobile device to walk along the travel path from the current location point To the target location point.
本说明书一个或多个实施例提供的路径规划方法、自移动设备，在控制自移动设备从第一作业区域行走至第二作业区域时，首先获取自移动设备在第一作业区域的当前位置点，再自动确定位于第二作业区域的目标位置点，规划从当前位置点至目标位置点的行进路径，控制多次规划的行进路径与第一作业区域边界的交点不同，和/或，多次规划的行进路径与第二作业区域边界的交点不同，实现自移动设备在不同工作区域之间的快速跨越切换，且避免发生跨区域时若采用相同起始位置点或相同目标位置点或相同路径时，草坪被压坏或产生压草痕迹的现象。The path planning method and self-mobile device provided by one or more embodiments of this specification first obtain the current position of the self-mobile device in the first work area when the self-mobile device is controlled to walk from the first work area to the second work area. , And then automatically determine the target location point in the second operation area, plan the travel path from the current location point to the target location point, and control the intersection of the travel path planned multiple times and the boundary of the first operation area to be different, and/or, multiple times The planned travel path is different from the intersection of the boundary of the second working area, which realizes the rapid switching between different working areas by the mobile device, and avoids the use of the same starting position or the same target position or the same path when crossing areas. At times, the lawn is crushed or there is a phenomenon of pressing grass marks.
附图说明Description of the drawings
为了更清楚地说明本说明书实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本说明书中记载的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。在附图中：In order to more clearly explain the technical solutions in the embodiments of this specification or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only These are some embodiments described in this specification. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative labor. In the attached picture:
图1为本说明书提供的一种自移动设备路径规划方法实施例的流程示意图；FIG. 1 is a schematic flowchart of an embodiment of a method for self-mobile device path planning provided in this specification;
图2为本说明书提供的一些实施例中的自移动设备路径规划示意图；Fig. 2 is a schematic diagram of path planning of self-mobile devices in some embodiments provided in this specification;
图3为本说明书提供的另一些实施例中的自移动设备路径规划示意图；Fig. 3 is a schematic diagram of path planning of self-mobile devices in other embodiments provided in this specification;
图4为本说明书提供的另一些实施例中的自移动设备路径规划示意图；FIG. 4 is a schematic diagram of path planning of self-mobile devices in other embodiments provided in this specification;
图5为本说明书提供的另一些实施例中的自移动设备路径规划示意图；FIG. 5 is a schematic diagram of path planning of self-mobile devices in other embodiments provided in this specification;
图6为本说明书提供的另一种自移动设备路径规划方法实施例的流程示意图；6 is a schematic flowchart of another embodiment of a method for self-mobile device path planning provided in this specification;
图7为本说明书提供的另一些实施例中的自移动设备充电回归路径规划示意图；FIG. 7 is a schematic diagram of the self-mobile device charging return path planning in some other embodiments provided in this specification;
图8为本说明书提供的另一些实施例中的自移动设备充电回归路径规划示意图；FIG. 8 is a schematic diagram of the self-mobile device charging return path planning in some other embodiments provided in this specification;
图9为本说明书提供的另一种自移动设备路径规划方法实施例的流程示意图；FIG. 9 is a schematic flowchart of another embodiment of a method for self-mobile device path planning provided in this specification;
图10为本说明书提供的一种自移动设备的模块结构示意图；Figure 10 is a schematic diagram of the module structure of a self-mobile device provided in this specification;
图11为根据本说明书的一个示例性实施例的服务器的示意结构图；Fig. 11 is a schematic structural diagram of a server according to an exemplary embodiment of the present specification;
图12为根据本说明书的一个示例性实施例的自动工作***示意图；Fig. 12 is a schematic diagram of an automatic working system according to an exemplary embodiment of the present specification;
图13为根据本说明书的一个示例性实施例的自动割草机结构示意图；Figure 13 is a schematic structural diagram of an automatic lawn mower according to an exemplary embodiment of the present specification;
图14为根据本说明书的一个示例性实施例的自动割草机功能模块示意图；Fig. 14 is a schematic diagram of functional modules of an automatic lawn mower according to an exemplary embodiment of the present specification;
图15为本说明书提供的另一些实施例中的自移动设备路径规划示意图。FIG. 15 is a schematic diagram of path planning of self-mobile devices in other embodiments provided in this specification.
具体实施方式Detailed ways
为了使本技术领域的人员更好地理解本说明书中的技术方案，下面将结合本说明书一个或多个实施例中的附图，对本说明书一个或多个实施例中的技术方案进行清楚、完整地描述，显然， 所描述的实施例仅是说明书一部分实施例，而不是全部的实施例。基于说明书一个或多个实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都应当属于本说明书实施例方案保护的范围。In order to enable those skilled in the art to better understand the technical solutions in this specification, the following will make clear and complete the technical solutions in one or more embodiments of this specification in conjunction with the drawings in one or more embodiments of this specification. It is obvious that the described embodiments are only a part of the embodiments in the specification, rather than all the embodiments. Based on one or more embodiments of the specification, all other embodiments obtained by a person of ordinary skill in the art without creative work shall fall within the protection scope of the embodiment scheme of this specification.
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。并且，本文所使用的术语“和/或”包括一个或多个相关的所列项目的任意的和所有的组合。Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field of the present invention. The terms used in the description of the present invention herein are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. And, the term "and/or" as used herein includes any and all combinations of one or more related listed items.
本说明书提供的一个场景示例中，割草机器人在执行跨区域作业时，割草机器人对应的路径规划设备可以基于预先存储的预设作业地图进行点到点随机路径规划，以生成割草机器人从当前作业区域至待前往的下一作业区域的行进路径。路径规划设备可以集成在割草机器人中，也可以为独立的设备，或者，集成在与割草机器人存储数据交互的其他设备中。割草机器人可以基于路径规划设备规划的行进路径从当前作业区域行进至下一作业区域。基于存储的预设作业地图随机生成路径的方式，可以使得割草机器人的行进路径更适应于实际作业环境，在保证割草机器人行进的安全可靠性的基础上，进一步提高其跨区域作业效率。In a scenario example provided in this manual, when the lawnmower robot performs cross-regional operations, the path planning device corresponding to the lawnmower robot can perform point-to-point random path planning based on the pre-stored preset job map to generate the lawnmower robot from The travel path from the current work area to the next work area to be traveled. The path planning device can be integrated in the lawn mower robot, or it can be an independent device, or integrated in other devices that interact with the lawn mower robot to store data. The lawn mower robot can travel from the current work area to the next work area based on the travel path planned by the path planning device. The method of randomly generating a path based on the stored preset operation map can make the travel path of the lawnmower robot more suitable for the actual operating environment, and further improve its cross-regional work efficiency on the basis of ensuring the safety and reliability of the lawnmower robot's travel.
如图12所示为本具体实施方式的自动工作***，可以包括：自移动设备1、界限2、停靠站3以及导航机构26(下文中也可以称为位置获取模块)。自移动设备1在界限2所限定的作业区域4内行走并工作，停靠站3可以用于供自移动设备能源不足时返回对接充电以补充能量或者供自移动设备不工作时暂时停靠。当自移动设备回归充电时，可以沿着对接极片8的方向回归充电。导航机构26可以用于提供自移动设备的当前位置信息，并建立作业区域4的地图。自移动设备1可以是自动割草机、扫地机器人、自动扫雪机等适合无人值守的设备，它们自动行走于作业区域的表面，进行割草、吸尘或者扫雪工作，也可以为其它适合无人值守的设备，本申请对此不作限定。在本申请下面的实施例中，以自移动设备1为自动割草机20为例进行说明。As shown in Fig. 12, the automatic working system of the specific embodiment may include: self-mobile device 1, boundary 2, docking station 3, and navigation mechanism 26 (hereinafter may also be referred to as a position acquisition module). The self-mobile device 1 walks and works in the work area 4 defined by the boundary 2, and the docking station 3 can be used for the self-mobile device to return to docking to recharge when the energy is insufficient or for the self-mobile device to temporarily stop when it is not working. When returning to charging from the mobile device, it can return to charging along the direction of the docking pole piece 8. The navigation mechanism 26 can be used to provide current location information from the mobile device and build a map of the work area 4. The self-moving equipment 1 can be an automatic lawn mower, a sweeping robot, an automatic snowplow and other equipment suitable for unattended operation. They automatically walk on the surface of the work area for mowing, vacuuming or snow sweeping, or other It is suitable for unattended equipment, which is not limited in this application. In the following embodiments of the present application, the self-mobile device 1 is an automatic lawn mower 20 as an example for description.
如图13至图14所示，自动割草机20可以包括机身27，还可以包括行走装置21、工作装置22、通讯装置23、控制装置24、能量装置25。控制装置24连接并控制行走装置21、工作装置22，以实现自动割草机20的自动行走及工作。As shown in FIGS. 13 to 14, the automatic lawn mower 20 may include a body 27, and may also include a walking device 21, a working device 22, a communication device 23, a control device 24, and an energy device 25. The control device 24 is connected to and controls the walking device 21 and the working device 22 to realize the automatic walking and working of the automatic lawn mower 20.
具体的，行走装置21可以包括轮组和驱动轮组的行走马达，通常轮组包括由行走马达驱动的驱动轮211和辅助支撑壳体的辅助轮212，可以理解的是，行走装置21也可以为履带结构。在本实施例中，右驱动轮和左驱动轮各自配接一个驱动马达，以实现差速输出控制转向。行走马达可以直接连接驱动轮，也可以通过设置传动装置，即同一个马达通过不同的传动装置驱动右驱动轮和左驱动轮，以实现差速输出控制转向。工作装置22即为割草模块，如切割刀片221，可以由切割马达222驱动工作。工作装置22的中心位于割草机20的中轴线上，设置于壳体下方，位于辅助轮和驱动轮之间，也可以偏置于壳体的左侧或右侧。能量装置25固定或可拆卸的安装于壳体，可以为电池包等。在工作时，电池包释放电能以维持割草机20工作和行走。在非工作时，电池可以连接到外部电源以补充电能；自动割草机20也可以在探测到电量不足时，自动地寻找充电站3补充电能。控制装置24可以为控制器，可以根据预设程序或接受到的指令控制自动割草机20行走、转向以及自动工作。通讯装置23可以包括但不限于以下至少之一：wifi、蓝牙、红外、4G或5G等蜂窝通讯模块。Specifically, the walking device 21 may include a wheel set and a walking motor driving a wheel set. Generally, the wheel set includes a driving wheel 211 driven by the walking motor and an auxiliary wheel 212 that assists in the support housing. It is understood that the walking device 21 may also It is a crawler structure. In this embodiment, the right drive wheel and the left drive wheel are each equipped with a drive motor to achieve differential output to control the steering. The walking motor can be directly connected to the driving wheel, or it can be provided with a transmission device, that is, the same motor drives the right driving wheel and the left driving wheel through different transmission devices to achieve differential output to control the steering. The working device 22 is a mowing module, such as a cutting blade 221, which can be driven by a cutting motor 222 to work. The center of the working device 22 is located on the central axis of the lawn mower 20, is located below the casing, between the auxiliary wheel and the driving wheel, and can also be offset to the left or right side of the casing. The energy device 25 is fixedly or detachably installed in the housing, and may be a battery pack or the like. During operation, the battery pack releases electric energy to keep the lawn mower 20 working and walking. When not working, the battery can be connected to an external power source to supplement the electric energy; the automatic lawn mower 20 can also automatically find the charging station 3 to supplement the electric energy when it detects that the electricity is insufficient. The control device 24 can be a controller, which can control the automatic lawn mower 20 to walk, turn, and work automatically according to a preset program or received instructions. The communication device 23 may include but is not limited to at least one of the following: wifi, Bluetooth, infrared, 4G or 5G and other cellular communication modules.
如图14所示，自动工作***中可以包括导航机构26，可以包括但不限于以下至少之一：UWB 传感器、惯性导航设备、卫星导航***(GPS、北斗、RTK-GPS等)、视觉传感器。导航机构26可以用于建立作业区域4的地图，其可拆卸或固定的安装于割草机机身27上，或者属于割草机20的一部分与割草机一体成型，由用户操控记录位置以生成地图。建图过程中，用户可以将导航机构26从自动割草机1上拆下并安装至一个独立的移动小车上，在推行移动小车沿着图12中虚线行走的过程中，导航机构26记录其经过的位置坐标从而建立作业区域的地图。在本实施例中，导航机构26还可以包括惯性导航设备、里程计，惯性导航设备可以包括陀螺仪、加速度计等，惯性导航设备以及里程计能够与卫星导航***配合，在卫星信号较差的情况下进行辅助导航。As shown in FIG. 14, the automatic working system may include a navigation mechanism 26, which may include but is not limited to at least one of the following: UWB sensors, inertial navigation equipment, satellite navigation systems (GPS, Beidou, RTK-GPS, etc.), and vision sensors. The navigation mechanism 26 can be used to establish a map of the work area 4, which is detachably or fixedly installed on the mower body 27, or a part of the mower 20 is integrated with the mower, and the user controls and records the position to Generate a map. During the map creation process, the user can remove the navigation mechanism 26 from the automatic lawn mower 1 and install it on an independent mobile trolley. During the process of pushing the mobile trolley to walk along the dotted line in Figure 12, the navigation mechanism 26 records it. The coordinates of the passing position are used to establish a map of the work area. In this embodiment, the navigation mechanism 26 may also include inertial navigation equipment and odometers. The inertial navigation equipment may include gyroscopes and accelerometers. The inertial navigation equipment and odometers can cooperate with the satellite navigation system. In case of assisted navigation.
在本申请的实施方式中，如图11所示，界限2可以是整个作业区域的***，在本申请中也可以称为外边界，作业区域中也可以存在不适合自移动设备1工作的区域5，并以该区域5形成界限2，如：花园、水池、障碍等区域，在本申请中也可以称为内边界，该内边界以外的部分为作业区域。In the embodiment of the present application, as shown in FIG. 11, the boundary 2 may be the periphery of the entire work area, which may also be referred to as the outer boundary in the present application. There may also be areas in the work area that are not suitable for working from the mobile device 1. 5. The area 5 forms the boundary 2, such as gardens, pools, barriers, etc., which can also be referred to as inner boundaries in this application, and the part outside the inner boundaries is the work area.
自动工作***中可以存在两个或两个以上的作业区域，自移动设备在预设作业区域中行走和/或工作，预设作业区域至少包括第一作业区域和第二作业区域，在本申请下面的实施例中为方便描述，以存在两个作业区域为例进行说明，值得注意的是也可以是三个或三个以上数目的作业区域，本申请对此不作限定。如图2所示的作业区域A以及作业区域B这两个作业区域的应用场景。例如，用户家中可以存在两块独立的草坪，这两块独立的草坪通过不存在草的可以行走区域，例如：公路，小径等相连。若用户希望割草机可以自动对这两个作业区域分别割草，在本申请的实施例中，可以采用如下方法，图1是本说明书提供的所述一种割草机器人路径规划方法实施例流程示意图。虽然本说明书提供了如下述实施例或附图所示的方法操作步骤或装置结构，但基于常规或者无需创造性的劳动在所述方法或装置中可以包括更多或者部分合并后更少的操作步骤或模块单元。在逻辑性上不存在必要因果关系的步骤或结构中，这些步骤的执行顺序或装置的模块结构不限于本说明书实施例或附图所示的执行顺序或模块结构。所述的方法或模块结构的在实际中的装置、服务器或终端产品应用时，可以按照实施例或者附图所示的方法或模块结构进行顺序执行或者并行执行(例如并行处理器或者多线程处理的环境、甚至包括分布式处理、服务器集群的实施环境)。There may be two or more work areas in the automatic work system. The mobile device walks and/or works in the preset work area. The preset work area includes at least the first work area and the second work area. For the convenience of description, the following embodiments take the existence of two work areas as an example for description. It is worth noting that there may also be three or more work areas, which are not limited in this application. As shown in FIG. 2, the application scenarios of the work area A and the work area B are two work areas. For example, there may be two independent lawns in the user's home, and the two independent lawns are connected by walkable areas where no grass exists, such as roads, trails, etc. If the user wants the lawnmower to automatically mow the two work areas separately, in the embodiment of the present application, the following method can be used. FIG. 1 is an embodiment of the path planning method for a lawnmower robot provided in this specification. Schematic diagram of the process. Although this specification provides method operation steps or device structures as shown in the following embodiments or drawings, the method or device may include more or fewer operation steps after partial combination based on conventional or no creative labor. Or modular unit. In steps or structures where there is no necessary causal relationship logically, the execution order of these steps or the module structure of the device is not limited to the execution order or module structure shown in the embodiments of this specification or the drawings. When the described method or module structure is applied to an actual device, server or terminal product, it can be executed sequentially or in parallel according to the method or module structure shown in the embodiments or drawings (for example, parallel processor or multi-threaded processing). The environment, even including the implementation environment of distributed processing and server clusters).
具体的一个实施例如图1所示，本说明书提供路径规划方法的一个实施例中，所述方法可以应用于自移动设备，在本申请下面的实施例中，以自移动设备1为自动割草机20为例进行说明，所述方法可以包括如下步骤：A specific embodiment is shown in FIG. 1. In an embodiment of a path planning method provided in this specification, the method can be applied to a self-moving device. In the following embodiments of this application, the self-moving device 1 is used as an automatic mowing The machine 20 is taken as an example for description, and the method may include the following steps:
S00：获取自移动设备的当前位置点，所述当前位置点位于第一作业区域。S00: Obtain a current location point from the mobile device, where the current location point is located in the first work area.
路径规划设备可以获取割草机器人的当前位置点。所述当前位置点可以由路径规划设备确定，也可以由割草机器人内部的其他模块或者与路径规划设备存在数据交互的其他***设备确定，这里不做限定。若当前位置点由路径规划装置之外的设备或模块确定时，相应的设备或者模块可以将确定的当前位置点的坐标数据通过数据传输等方式发送给路径规划设备。The path planning device can obtain the current position of the lawn mower robot. The current location point may be determined by the path planning device, or may be determined by other modules inside the lawn mower robot or other peripheral devices that have data interaction with the path planning device, which is not limited here. If the current location point is determined by a device or module other than the path planning device, the corresponding device or module may send the determined coordinate data of the current location point to the path planning device by means of data transmission or the like.
一些实施例中，可以利用位置获取模块采集割草机器人的当前位置信息。所述割草机器人内部可以安装有位置获取模块，如GPS位置采集设备或者北斗位置采集设备、图像采集装置等，以实现对割草机器人的精准位置定位。或者，所述位置采集设备也可以独立于所述割草机器人，例如，用户手持的人工智能设备内的位置获取模块等。In some embodiments, the position acquisition module may be used to collect current position information of the lawn mower robot. A position acquisition module, such as a GPS position acquisition device or a Beidou position acquisition device, an image acquisition device, etc., may be installed inside the lawn mower robot to achieve precise position positioning of the lawn mower robot. Alternatively, the position acquisition device may also be independent of the lawn mower robot, for example, a position acquisition module in an artificial intelligence device held by the user.
然后，可以根据当前位置信息确定所述当前位置点。通常割草机器人的当前位置信息投影至作业地图中可能对应不止一个位置点。一些实施方式中，可以将当前位置信息投影至作业地图中后，将当前位置信息所对应的一个或者多个位置点所形成的当前位置区域内的任意点作为当前位置点。另一些实施方式中，也可以将当前位置信息投影至作业地图中后，将当前位置信息所对应的一个或者多个位置点所形成的当前位置区域的中心点作为当前位置点等。当然，也可以根据实际需要选择其他有特殊特征的点作为当前位置点，这里不做限定。Then, the current location point can be determined according to the current location information. Generally, the current location information of the lawn mower robot may correspond to more than one location point when projected onto the job map. In some embodiments, after the current location information is projected into the job map, any point in the current location area formed by one or more location points corresponding to the current location information may be used as the current location point. In other embodiments, after the current location information is projected into the job map, the center point of the current location area formed by one or more location points corresponding to the current location information may be used as the current location point. Of course, other points with special characteristics can also be selected as the current location points according to actual needs, which is not limited here.
若预设作业地图包括两个以上的作业区域。一些实施方式中，预设作业地图中可以预先配置有作业区域执行顺序，并在预设作业地图中进行标记，割草机器人可以按照预先配置的作业执行顺序，从预设作业地图中确定出当前作业区域的下一作业区域，作为第二作业区域。另一些实施例中，预设作业地图中也可以实时标记有已作业区域以及未作业区域，割草机器人可以在完成当前作业区域的作业后，根据预设作业地图分析当前作业区域与周围未作业区域之间的距离，或者割草机器人当前位置点与周围未作业区域的边界点之间的距离，优选出距离最近的未作业区域作为待作业的第二作业区域。If the default operation map includes more than two operation areas. In some implementations, the preset job map may be pre-configured with the execution sequence of the job area, and marked in the preset job map, and the lawn mower robot may determine the current job execution sequence from the preset job map according to the pre-configured job execution sequence. The next work area of the work area is used as the second work area. In other embodiments, the preset operation map may also mark the area that has been operated and the area that has not been operated in real time. After completing the operation in the current operation area, the lawnmower robot can analyze the current operation area and the surrounding area according to the preset operation map. The distance between the areas, or the distance between the current position of the lawn mower robot and the boundary point of the surrounding unworked area, preferably the unworked area with the closest distance as the second work area to be operated.
在本申请的一个实施例中，当割草机器人在第一作业区域中的工作情况满足预设要求或接收到来自用户的切换作业区域信息时，获取割草机器人的当前位置点。割草机器人在切换工作区域前的当前位置点可以为不固定的、动态变化的，当然也可以是固定不变预先设置的。In an embodiment of the present application, when the working condition of the lawn mower robot in the first work area meets a preset requirement or the switching work area information from the user is received, the current position of the lawn mower robot is acquired. The current position of the lawn mower robot before switching the working area can be unfixed and dynamically changing, of course, it can also be fixed and set in advance.
具体的，在一些实施例中，所述当前位置点可以包括所述割草机器人在接收到更换作业区域指令或者充电回归指令时对所述割草机器人进行位置信息采集所确定的位置点。割草机器人在完成当前作业区域的工作后，可以自动前往临近的其他作业区域继续执行工作任务。机器人的行走方式可以是弓字形、螺旋形等，机器人出发时的出发角度以及出发位置也可能不同，因此当完成当前作业区域工作后所获取的当前位置点也可以不同。或者，基于接收到的来自用户的更换作业区域指令自动前往其他作业区域执行工作；或者，在电量不足时，可以基于充电回归指令前往充电桩进行充电，当割草机器人接收到相应的指令时，可以通过位置采集设备采集割草机器人的当前位置信息，该充电桩位于除第一作业区域外的其他作业区域，因此回归充电或者根据用户指令切换区域时的当前位置点也可以不同。然后，可以根据上述实施例的方案确定所述当前位置点的坐标数据。Specifically, in some embodiments, the current position point may include a position point determined by the lawn mower robot performing position information collection on the lawn mower robot when the lawn mower robot receives a replacement work area instruction or a charging return instruction. After the lawn mower robot completes the work in the current work area, it can automatically go to other adjacent work areas to continue to perform work tasks. The walking mode of the robot can be bow-shaped, spiral, etc. The starting angle and starting position of the robot may also be different when the robot starts, so the current position point obtained after completing the current work area can also be different. Or, based on the received instruction from the user to change the work area, automatically go to other work areas to perform work; or, when the battery is insufficient, it can go to the charging pile based on the charge return instruction for charging. When the lawn mower robot receives the corresponding instruction, The current position information of the lawn mower robot can be collected by the position acquisition device. The charging pile is located in other operation areas except the first operation area, so the current position point when returning to charging or switching areas according to user instructions may also be different. Then, the coordinate data of the current location point can be determined according to the solution of the foregoing embodiment.
一些实施方式中，所述更换作业区域指令可以由割草机器人的作业规划模块判断完成当前作业区域的工作后发出，也可以由控制割草机器人工作的外部设备在判断割草机器人完成当前作业区域的工作后发出，这里不做限定。In some embodiments, the instruction to change the work area may be issued by the work planning module of the lawn mower robot after determining that the work in the current work area is completed, or it may be issued by an external device that controls the work of the lawn mower robot after determining that the lawn mower robot has completed the current work area. Issued after the work, there is no limit here.
另一些实施方式中，可以通过判断割草机器人的剩余电量是否小于预设阈值，如果剩余电量小于预设阈值，则可以触发充电回归指令，以使割草机器人回归充电站进行充电。所述预设阈值可以预先根据经验设定。In other embodiments, it may be determined whether the remaining power of the lawn mower robot is less than a preset threshold, and if the remaining power is less than the preset threshold, a charging return instruction may be triggered to make the lawn mower robot return to the charging station for charging. The preset threshold can be set in advance based on experience.
当然，当前位置点的确定方式并不限于上述实施例所列举的方式。例如，所述当前位置点也可以由人工确定，然后输入至路径规划装置中。Of course, the method for determining the current location point is not limited to the methods listed in the foregoing embodiment. For example, the current location point may also be manually determined, and then input into the path planning device.
所述作业区域可以包括割草机器人执行割草作业的区域或者充电桩所在的区域，各作业区域的范围可以根据实际作业场景预先确定。如前***院内均存在草地，则可以将一个庭院内的草地区域设定为一个作业区域，从而划分成两个作业区域。而对于城市公共绿化草坪，则可以根据原有的草坪规划边界划分作业区域。所述作业区域之间可以通过通道区域连接，也可以通过至少一 个预设设定的横穿路径进行连接。The operation area may include the area where the lawn mower robot performs the mowing operation or the area where the charging pile is located, and the range of each operation area may be predetermined according to the actual operation scenario. If there is grass in the front and back courtyards, the grass area in one courtyard can be set as one work area, thereby dividing it into two work areas. For urban public green lawns, the operation area can be divided according to the original lawn planning boundary. The working areas can be connected by a passage area, or can be connected by at least one preset crossing path.
为了便于区分表述，可以将当前位置点所在的作业区域作为第一作业区域。将割草机器人当前跨区域作业中待前往的作业区域作为第二作业区域。In order to distinguish the expressions easily, the work area where the current position point is located can be used as the first work area. The work area to be visited in the current cross-area operation of the lawn mower robot is taken as the second work area.
S02：基于存储的预设作业地图按照预设规则自动确定目标位置点，所述目标位置点位于第二作业区域，其中，通过采集所述至少两个作业区域的边界信息确定所述预设作业地图。S02: The target location point is automatically determined according to preset rules based on the stored preset job map, the target location point is located in the second job area, and the preset job is determined by collecting boundary information of the at least two job areas map.
所述目标位置点可以为割草机器人当前跨区域作业中所待前往的第二作业区域内的任一点。所述路径规划设备可以根据存储的预设作业地图按照预设规则自动确定割草机器人待前往的目标位置点。The target location point may be any point in the second work area that the lawn mower robot is to go to in the current cross-area operation. The path planning device can automatically determine the target location point of the lawn mower robot to go to according to the preset rule according to the stored preset operation map.
所述预设作业地图可以根据对割草机器人当前所在的第一作业区域以及待前往的第二作业区域的进行采集的信息制作得到。所述预设作业地图可以存储于割草机器人的存储模块或者存储于与割草机器人进行通信的设备中，如存储于与割草机器人进行实时通信的云端所在的服务器中。一些实施方式中，可以利用位置获取模块对割草机器人当前所在的第一作业区域以及待前往的第二作业区域的进行信息采集。所述位置获取模块可以单独的采集设备，也可以集成在用户的手机、电脑、智能手表等智能终端设备中，或者，也可以安装在割草机器人中。The preset operation map may be made according to information collected on the first operation area where the lawn mower robot is currently located and the second operation area to be traveled. The preset job map may be stored in a storage module of the lawnmower robot or in a device that communicates with the lawnmower robot, such as stored in a server where the cloud that communicates with the lawnmower robot in real time is located. In some embodiments, the position acquisition module may be used to collect information on the first work area where the lawn mower robot is currently located and the second work area to be traveled. The position acquisition module can be a separate collection device, can also be integrated in the user's mobile phone, computer, smart watch and other smart terminal devices, or can also be installed in the lawn mower robot.
采集的信息至少可以包括作业区域的位置信息、环境信息等。所述位置信息可以包括作业区域的边界位置信息的边界位置信息、作业区域的障碍物边界信息、充电桩位置信息等位置信息。所述环境信息如可以包括障碍物的高度、深度、宽度等信息，如树枝等影响割草机器人通行的遮挡类障碍物的高度、宽度等信息。所述障碍物可以是指妨碍割草机器人通行的静止状态和运动状态的物体。The collected information may include at least the location information and environmental information of the work area. The location information may include location information such as boundary location information of the boundary location information of the work area, boundary information of obstacles in the work area, location information of charging piles, and the like. The environmental information may include information such as the height, depth, and width of obstacles, such as the height and width of obstacles such as tree branches that affect the passage of the lawn mower robot. The obstacle may refer to objects in a stationary state and a moving state that hinder the passage of the lawn mower robot.
预设作业地图还包括连接第一作业区域和第二作业区域的通道区域，如图2所示的作业区域A以及作业区域B这两个作业区域，这两个作业区域由通道区域C相连。在本实施例的一个具体的应用场景中，用户家中可以存在两块独立的草坪，这两块独立的草坪通过不存在草的可以行走区域，例如：公路，小径等相连。若用户希望割草机可以自动对这两个作业区域分别割草，则可以在建图的过程中，针对不存在草的整个或部分通道建图，并通过手机等移动设备或通过割草机器人本地显示器将地图中的该区域属性标定为通道区域，控制装置根据接收到的用户指令将该建图区域标定为通道区域，并保存地图。具体的，可以在标定为通道区域之后对通道区域建图，也可以在针对通道区域建立完地图之后标定通道区域，本申请对此不作限定。通过将割草机限定在经用户确认的通道区域中行走，保证其不会行走至其他区域伤害行人或动物。割草机在工作过程中，可以在该通道区域C中行走，从而实现自动从作业区域A行走至作业区域B的目的；通过控制割草机在通道区域C中行走时不割草，从而避免其在通道区域C中行走时伤害到行人，保证其安全性。当然，也可以在建图过程中针对作业区域A以及作业区域B的连线建立地图，从而工作过程中控制割草机沿着该连线行走。当然通道区域只是一种示意性描述，只需要满足该区域为用户确认并在地图中标定过的区域即可，并不限于图2所示通道这一种区域形状，可以是弯曲等其他形状通道。The preset operation map also includes a passage area connecting the first operation area and the second operation area, as shown in FIG. In a specific application scenario of this embodiment, there may be two independent lawns in the user's home, and the two independent lawns are connected by a walkable area where no grass exists, such as roads, trails, etc. If the user wants the lawn mower to automatically mow the two work areas separately, they can create a map for the entire or part of the passage where there is no grass during the map creation process, and use mobile devices such as mobile phones or mowing robots. The local display marks the area attribute in the map as the channel area, and the control device marks the mapping area as the channel area according to the received user instruction, and saves the map. Specifically, the channel area can be mapped after being calibrated as the channel area, or the channel area can be calibrated after the map is created for the channel area, which is not limited in this application. By restricting the lawn mower to walk in the passage area confirmed by the user, it is guaranteed that it will not walk to other areas to harm pedestrians or animals. During the working process, the lawn mower can walk in this passage area C, so as to realize the purpose of automatically walking from the work area A to the work area B; by controlling the lawn mower to not cut grass when walking in the passage area C, so as to avoid It hurts pedestrians when walking in the passage area C, ensuring its safety. Of course, it is also possible to create a map for the connection between the work area A and the work area B during the mapping process, so as to control the lawn mower to walk along the connection during the work process. Of course, the channel area is only a schematic description. It only needs to satisfy that the area is confirmed by the user and calibrated in the map. It is not limited to the channel shape shown in Figure 2 and can be other shapes such as curved channels. .
所述位置获取模块可以将采集的信息发送给地图生成装置，由地图生成装置根据采集的信息生成作业地图。地图生成装置可以为单独的设备，也可以集成在服务器中或者用户的手机、电脑、智能手表等智能终端设备中，或者，也可以安装在割草机器人中。地图生成装置可以将生成的作业地图发送给存储模块进行存储。如可以发送至割草机器人的存储模块进行存储。当然，也可以 发送至与割草机器人进行交互通信的其他设备，如云端服务器。割草机器人在割草作业时，路径规划装置可以根据存储的预设作业地图生成割草机器人的行径路径。The location acquisition module may send the collected information to a map generating device, and the map generating device generates a job map according to the collected information. The map generating device can be a separate device, or it can be integrated in a server or a user's mobile phone, computer, smart watch, or other smart terminal devices, or it can be installed in a lawn mower robot. The map generating device can send the generated job map to the storage module for storage. For example, it can be sent to the storage module of the lawn mower robot for storage. Of course, it can also be sent to other devices that interact with the mowing robot, such as a cloud server. During the mowing operation of the lawn mower robot, the path planning device may generate the path of the lawn mower robot according to the stored preset operation map.
多次规划时对应的目标位置点可以是动态变化的，具体的可以采用如下方式确定第二作业区域中的目标位置点，包括：The corresponding target location points during multiple planning can be dynamically changed. Specifically, the following methods can be used to determine the target location points in the second operation area, including:
目标位置点可以在预设作业地图中预先存储标定的，例如：目标位置点可以是通道区域中与第二工作区域相邻部分边界的中点。目标位置点也可以根据实际作业场景和/或预设作业地图中的信息确定。如割草机器人结束当前作业区域内的作业，前往下一作业区域执行割草作业，可以将待作业的作业区域内预先配置的点、或者待作业的作业区域内的任意一点、或者待作业的作业区域内满足一定要求的点作为目标位置点。或者，如割草机器人电量不足，需要回归充电，则可以将充电桩所在的位置点、或者充电桩附近预先配置的点、或者充电桩附近满足一定要求的点作为目标位置点。The target location point may be pre-stored and calibrated in the preset job map. For example, the target location point may be the midpoint of the boundary of the adjacent part of the second working area in the passage area. The target location point may also be determined according to the actual operation scene and/or information in the preset operation map. For example, the lawn mower robot finishes the work in the current work area and goes to the next work area to perform the mowing operation. The point in the work area that meets certain requirements is taken as the target location point. Or, if the lawn mower robot has insufficient power and needs to return to charging, the location point where the charging pile is located, or a pre-configured point near the charging pile, or a point near the charging pile that meets certain requirements can be used as the target position point.
对于割草机器人在完成当前作业区域作业任务，切换作业区域的实施场景中，一些实施例中，可以根据所述第二作业区域内的有效点确定所述割草机器人的目标位置点，所述有效点包括所述预设作业地图中预先配置的割草机器人可有效通过的点。For the implementation scenario where the lawn mower robot completes the task of the current work area and switches the work area, in some embodiments, the target position of the lawn mower robot may be determined according to the effective points in the second work area, the The effective points include points that can be effectively passed by the lawn mower robot pre-configured in the preset operation map.
一些实施方式中，可以预先在预设作业地图中配置有效点以及无效点，所述有效点可以包括所述预设作业地图中割草机器人可有效通过的点，无效点可以包括预设作业地图中割草机器人不能有效通过的点以及预设作业地图之外的点。如，预设作业地图中障碍物上的点属于无效点，所述障碍物如水坑、正在维修的路面、高度高于预设高度的地面凸起等，使得割草机器人无法通过该障碍物或者通过该障碍物困难；割草机器人无法正常通过的狭窄通道上的点也属于无效点；预设作业地图以外的点可能其本身就属于割草机器人不能或者不允许通过的区域，或者当前未进行有效的信息采集，无法确定其对割草机器人的影响，为了便于分析，也可以将预设作业地图以外的点列为无效点。相应的，可以将预设作业地图以外的点所在的区域定义为非有效作业区域，以便于区分表述。而预设作业地图内的割草机器人可以正常通行的草地或者通道上的点则可以确定为有效点。In some embodiments, valid points and invalid points may be configured in a preset operation map in advance. The valid points may include points in the preset operation map through which the lawn mower robot can effectively pass, and the invalid points may include the preset operation map. The points that the middle lawn mower robot cannot effectively pass and the points outside the preset job map. For example, the points on the obstacles in the preset operation map are invalid points. The obstacles, such as puddles, road surfaces under repair, and ground bumps with a height higher than the preset height, make it impossible for the lawn mower robot to pass through the obstacle or It is difficult to pass the obstacle; the points on the narrow passage that the lawnmower robot cannot pass normally are also invalid points; the points outside the preset job map may themselves belong to the area that the lawnmower robot cannot or are not allowed to pass, or are not currently being carried out Effective information collection cannot determine its impact on the lawn mower robot. To facilitate analysis, points other than the preset job map can also be listed as invalid points. Correspondingly, the area where the points outside the preset operation map are located can be defined as an ineffective operation area, so as to distinguish and express. The grass or the point on the passage where the lawn mower robot can pass normally in the preset operation map can be determined as the effective point.
一些实施方式中，所述预设作业地图中可以直接标记有无效点区域、有效点区域。另一些实施方式中，所述预设作业地图中也可以仅标记有草地、障碍物、割草机器人可通过的有效通道、割草机器人无法通过的狭窄通道、预设作业地图外区域等，然后，预先定义各区域是属于无效点区域还是有效点区域，从而确定无效点区域、有效点区域。例如，某点落在标记为草地的区域中，则可以确定该点落在有效点区域，而另一点落在标记为障碍物的区域中，则可以确定该点落在无效点区域。可以预先在地图中对上述信息进行标记，如可以采用不同的颜色或者标记点等方式进行分别标记。In some implementation manners, invalid point areas and valid point areas may be directly marked on the preset operation map. In other embodiments, the preset operation map may also only be marked with grass, obstacles, effective passages that the lawnmower robot can pass, narrow passages that the lawnmower robot cannot pass, areas outside the preset operation map, etc. , Predefine whether each area belongs to the invalid point area or the valid point area, so as to determine the invalid point area and the valid point area. For example, if a point falls in the area marked as grass, it can be determined that the point falls in the effective point area, and another point falls in the area marked as obstacles, it can be determined that the point falls in the invalid point area. The above-mentioned information can be marked in the map in advance, for example, different colors or marking points can be used to mark separately.
可以将第二作业区域内的任意有效点确定为目标位置点，也可以基于一定的规则从第二作业区域内选择某有效点作为目标位置点。一些实施例中，所述目标位置点可以包括所述第二作业区域的几何重心或与所述几何重心关联的有效点。Any effective point in the second work area may be determined as the target location point, or a certain effective point in the second work area may be selected as the target location point based on a certain rule. In some embodiments, the target location point may include the geometric center of gravity of the second work area or an effective point associated with the geometric center of gravity.
一些实施方式中，可以随机将所述第二作业区域的几何重心或与所述几何重心关联的有效点作为目标位置点。另一些实施方式中，也可以获取所述第二作业区域的几何重心作为初始中心点；判断所述初始中心点是否属于所述第二作业区域的有效点。若判断所述初始中心点为有效点，则将所述初始中心点确定为目标位置点。若判断所述初始中心点为无效点，则将与所述几何重心关 联的有效点作为目标位置点。In some embodiments, the geometric center of gravity of the second work area or an effective point associated with the geometric center of gravity may be randomly selected as the target location point. In other embodiments, the geometric center of gravity of the second work area may also be acquired as the initial center point; it is determined whether the initial center point belongs to the effective point of the second work area. If it is determined that the initial center point is a valid point, the initial center point is determined as the target location point. If it is determined that the initial center point is an invalid point, the valid point associated with the geometric center of gravity is taken as the target position point.
一些实施例中，若判断所述初始中心点为无效点，所述将与所述几何重心关联的有效点作为目标位置点如可以包括：获取所述几何重心所在的第一无效点区域与所述第一无效点区域相邻的有效点区域的第一分界点，根据所述第一分界点确定目标位置点。如可以从第一分界点中随机选择一个点作为目标位置点，也可以将距离当前位置点最近的第一分界点作为目标位置点。或者，也可以基于割草机器人的宽度等信息，选择距离第一分界点预设距离的有效点作为目标位置点。通过根据预设作业地图中预先配置的无效点区域与有效点区域确定目标位置点，可以使得目标位置点的确定更加简单高效。In some embodiments, if it is determined that the initial center point is an invalid point, the using the valid point associated with the geometric center of gravity as the target position point may include: obtaining the first invalid point area where the geometric center of gravity is located and the The first demarcation point of the effective point area adjacent to the first invalid point area determines the target location point according to the first demarcation point. For example, a point can be randomly selected from the first demarcation points as the target location point, or the first demarcation point closest to the current location point can be used as the target location point. Alternatively, based on information such as the width of the lawn mower robot, an effective point with a preset distance from the first dividing point may be selected as the target position point. By determining the target location point according to the invalid point area and the effective point area pre-configured in the preset job map, the determination of the target location point can be made simpler and more efficient.
另一些实施例中，所述关联可以包括在预设方向上与所述几何重心距离最短。如可以沿预设方向进行搜索，将搜索到的第一个有效点作为目标位置点。所述预设方向可以预先配置或者基于一定的算法进行实时配置。一些实施例中，可以构建所述第二作业区域的最小外接矩，所述预设方向可以包括沿所述最小外接矩的一边所在方向。所述最小外接矩可以是指所述第二作业区域的面积最小的外接矩形。可以沿所述最小外接矩的某一边所在方向进行搜索，将搜索到的第一个有效点作为目标位置点。优选的，一些实施方式中，可以先沿所述最小外接矩的任一短边所在方向开始寻找，以提高提高寻找的效率。In other embodiments, the association may include the shortest distance from the geometric center of gravity in a preset direction. If you can search along the preset direction, the first valid point found will be the target position point. The preset direction can be configured in advance or configured in real time based on a certain algorithm. In some embodiments, the minimum circumscribed moment of the second working area may be constructed, and the preset direction may include a direction along one side of the minimum circumscribed moment. The minimum circumscribed moment may refer to the circumscribed rectangle with the smallest area of the second work area. The search can be performed along the direction of a certain side of the minimum circumscribed moment, and the first effective point found is taken as the target position point. Preferably, in some embodiments, the search can be started along the direction of any short side of the minimum circumscribed moment, so as to improve the efficiency of the search.
例如，可以获取所述第二作业区域的几何重心作为初始中心点，所述几何重心可以依据下述方式确定：For example, the geometric center of gravity of the second work area may be acquired as the initial center point, and the geometric center of gravity may be determined in the following manner:
计算该第二作业区域的边界轮廓，假设边界轮廓由N个离散数据点(x i，y i)(i＝1，2，...，N)构成，则其几何重心(x c，y c)的坐标计算公式如下： Calculate the boundary contour of the second work area. Assuming that the boundary contour is composed of N discrete data points (x i , y i ) (i=1, 2,..., N), its geometric center of gravity (x c , y c ) The coordinate calculation formula is as follows:
Figure PCTCN2021092793-appb-000001
Figure PCTCN2021092793-appb-000001
判断该初始中心点是否有效，即判断该几何重心是否在有效点区域内。若是，则记录该点为目标位置点。当初始中心点为无效点时，首先记录该几何重心的坐标位置，并计算该第二作业区域的最小外接矩。Determine whether the initial center point is valid, that is, whether the geometric center of gravity is within the valid point area. If yes, record the point as the target location point. When the initial center point is an invalid point, first record the coordinate position of the geometric center of gravity, and calculate the minimum circumscribed moment of the second work area.
基于所述最小外接矩，设定搜索方向：若最小外接矩的宽等于高，则任意选择宽或者高所在的方向进行搜索；若最小外接矩的宽小于高，则选择宽所在的方向搜索；若最小外接矩的宽大于高，则选择高所在的方向搜索。然后根据设定的搜索方向，从几何重心位置开始逐点向上或者向右搜索，若超出最小外接矩时仍未搜索到有效点，则从几何重心位置开始逐点向下或者向左搜索，直到搜索到一点位于第二作业区域内部且为有效点，将该点设为目标位置点。Based on the minimum circumscribed moment, set the search direction: if the width of the minimum circumscribed moment is equal to the height, then arbitrarily select the direction of the width or height to search; if the width of the smallest circumscribed moment is less than the height, select the direction of the width to search; If the width of the minimum external moment is greater than the height, select the direction of the height to search. Then according to the set search direction, search upwards or rightward point by point from the position of the geometric center of gravity. If the effective point is not found when the minimum circumscribed moment is exceeded, search downward or leftward point by point from the position of the geometric center of gravity until A point is found inside the second working area and is a valid point, and this point is set as the target location point.
当然，上述搜索方向执行顺序仅为本说明书实施例中的优先搜索方向，但本说明书实施例并不因此排除其他可以实现的搜索方向执行顺序。Of course, the foregoing search direction execution order is only the priority search direction in the embodiment of this specification, but the embodiment of this specification does not therefore exclude other search direction execution orders that can be implemented.
另一些实施例中，对于割草机器人回归充电的实施场景下，可以根据预设作业地图确定目标充电桩，所述预设作业地图中配置有充电桩的位置信息；获取所述目标充电桩对应的预设位置点，将所述预设位置确定为目标位置点。In other embodiments, in the implementation scenario of the grass-mower robot returning to charging, the target charging pile may be determined according to a preset operation map, and the position information of the charging pile is configured in the preset operation map; and the corresponding charging pile is obtained. The preset location point is determined as the target location point.
预设作业地图中可以预先配置有充电桩的位置信息，可以根据充电桩的位置信息确定目标充电桩。如可以将距离最近的充电桩作为目标充电桩。当然，如果预设作业地图中的充电桩仅为一个，则直接将该充电桩作为目标充电桩即可。通过在预设作业地图中预先配置充电桩位置信息， 可以使得割草机器人更加快速准确的定位充电桩的位置数据，从而更加快速的完成回归充电。The preset operation map may be pre-configured with the position information of the charging pile, and the target charging pile may be determined according to the position information of the charging pile. For example, the closest charging pile can be used as the target charging pile. Of course, if there is only one charging pile in the preset operation map, the charging pile can be directly used as the target charging pile. By pre-configuring the position information of the charging pile in the preset operation map, the lawnmower robot can locate the position data of the charging pile more quickly and accurately, so as to complete the return charging more quickly.
所述预设位置点可以为距离目标充电桩预设距离内预先设置的一个或者多个固定点。所述预设位置点可以直接配置在所述预设作业地图中，割草机器人在根据当前位置点以及各充电桩的位置点确定目标充电桩后，可以进一步从预设作业地图中获取该目标充电桩所对应的预设位置点的位置信息。The preset location point may be one or more fixed points preset within a preset distance from the target charging pile. The preset location point may be directly configured in the preset operation map, and the lawn mower robot may further obtain the target from the preset operation map after determining the target charging pile according to the current position point and the position point of each charging pile The location information of the preset location point corresponding to the charging pile.
通过设置预设位置点，可以将充电回归路径划分为两部分进行配置，所述当前位置点至预设位置点之间的路径可以根据预设作业地图进行实时动态配置生成，以适应割草机器人的实时运行；所述预设位置点至目标充电桩之间的充电对接路径可以根据对接规则预先配置，使得割草机器人可以实现快速准确充电对接。By setting a preset location point, the charging return path can be divided into two parts for configuration, and the path from the current location point to the preset location point can be dynamically configured and generated in real time according to the preset job map to adapt to the lawn mower robot The charging and docking path between the preset position and the target charging pile can be pre-configured according to the docking rules, so that the lawn mower robot can achieve fast and accurate charging and docking.
目前充电桩与割草机器人对接充电时，通常需要满足较为严格的对接要求，才能实现有效的充电。通过设置预设位置点，将充电回归路径划分为两部分进行配置，可以使得割草机器人更加准确高效的实现自动回归充电机能。At present, when the charging pile and the lawn mower robot are docked for charging, it is usually necessary to meet relatively strict docking requirements to achieve effective charging. By setting the preset position point and dividing the charging return path into two parts for configuration, the lawn mower robot can realize the automatic return to the charging function more accurately and efficiently.
另一些实施例中，所述预设位置点可以根据目标充电桩的充电方式、对接方式等中的一种或者多种确定。所述充电桩的充电方式如可以为有线充电、无线充电等，所述有线充电方式可以为充电桩与割草机器人之间采用有线连接等方式进行充电。所述无线充电方式如可以为电磁感应式、磁共振式、无线电波传输等方式。所述对接方式可以包括有轨对接、无轨对接等方式。所述有轨对接如可以通过预先铺设的对接轨道进行对接。所述无轨对接无对应的对接轨道，可以通过设置一定的对接规则，割草机器人可以基于该预设规则完成充电对接。In other embodiments, the preset location point may be determined according to one or more of the charging mode and the docking mode of the target charging pile. The charging method of the charging pile may be wired charging, wireless charging, etc., and the wired charging method may be a wired connection between the charging pile and the lawn mower robot for charging. The wireless charging method may be electromagnetic induction, magnetic resonance, radio wave transmission, etc., for example. The docking mode may include railed docking, trackless docking, and the like. For example, the rail-mounted docking can be docked through a pre-laid docking track. The trackless docking does not have a corresponding docking track, and a certain docking rule can be set, and the lawn mower robot can complete the charging docking based on the preset rule.
一些实施方式中，所述对接规则可以包括对接参数以及对接要求。如，对于无线对接，可以设置以充电桩为中心的一定距离范围内均可以实现对接，割草机机器人只要进入该范围，然后，开启对接功能，即可完成对接。当然上述举例仅为简单说明，具体实现方式可以参考实际应用场景进行。根据充电桩的充电方式、对接方式等确定预设位置点，可以使得充电对接更加准确高效。In some embodiments, the docking rules may include docking parameters and docking requirements. For example, for wireless docking, docking can be achieved within a certain distance centered on the charging pile. The lawnmower robot only needs to enter the range and then turn on the docking function to complete the docking. Of course, the above examples are only for simple illustration, and the specific implementation can be done with reference to actual application scenarios. Determining the preset location points according to the charging mode and docking mode of the charging pile can make the charging docking more accurate and efficient.
例如，若充电桩前设置有充电对接轨道，则可以将对接轨道上的起始点作为预设位置点，割草机器人到达该点后，可以沿着对接轨道前行，从而有效实现割草机器人与充电桩的准确对接。若无对接轨道，则可以根据预先配置的对接规则确定预设位置点以及预设位置点至目标充电桩的对接路径，从而有效实现割草机器人与充电桩的准确对接。For example, if a charging docking track is set in front of the charging pile, the starting point on the docking track can be used as the preset position point. Accurate docking of charging piles. If there is no docking track, the preset location point and the docking path from the preset location point to the target charging pile can be determined according to the pre-configured docking rules, so as to effectively realize the accurate docking of the lawn mower robot and the charging pile.
所述目标充电桩可以是预先配置好的，或者，由割草机器人随机搜索到的。另一些实施中，所述目标充电桩可以根据充电桩与当前位置点之间的距离、充电桩当前是否可执行充电功能、充电桩的充电方式以及对接方式中的一种或者多种确定。The target charging pile may be pre-configured, or may be randomly searched by the lawn mower robot. In other implementations, the target charging pile may be determined according to one or more of the distance between the charging pile and the current location point, whether the charging pile can currently perform a charging function, the charging method of the charging pile, and the docking method.
通常，割草机器人当前位置点周围的充电站可能不止一个，充电站内的充电桩通常也可能不止一个。而各充电桩的充电方式、对接方式等也可能各有差异，充电桩可能出现故障正在维修或者正在给其他割草机器人执行充电功能，不能尽快实现割草机器人的当前充电需求。可以通过考虑上述一个或者多个因素，先优选出充电桩，然后，再根据优选的充电桩确定预设位置点。通过优选充电桩，可以使得割草机器人更加高效的完成充电，投入工作。Generally, there may be more than one charging station around the current location of the lawn mower robot, and there may usually be more than one charging post in the charging station. The charging method and docking method of each charging pile may also be different. The charging pile may be faulty and is being repaired or is performing charging functions for other lawn mower robots, which cannot meet the current charging requirements of lawn mower robots as soon as possible. The charging pile can be selected first by considering one or more of the above factors, and then the preset location point can be determined according to the preferable charging pile. By optimizing the charging pile, the lawn mower robot can be charged more efficiently and put into work.
本说明书提供的一个实施场景中，如可以先根据割草机器人自身配置的充电方式和/或对接方式，筛选预设距离范围内匹配的充电桩，然后，再判断匹配到的充电桩是否可执行充电功能，并将可执行充电功能的充电桩作为待选充电桩，再从待选充电桩中随机选择一个充电桩作为目标充电桩，或者，选择与当前位置点位于一个作业区域的待选充电桩作为目标充电桩。然后，可以再 根据目标充电桩确定预设位置点。当然，上述场景实施例的方案仅为举例说明，具体实施时，可以根据割草机器人的实际配置、周围充电桩的配置、周围环境等确定待参考的因素类型、数量、执行顺序等。In an implementation scenario provided in this manual, for example, according to the charging method and/or docking method configured by the lawn mower robot itself, the matching charging piles within the preset distance range can be screened, and then it can be judged whether the matched charging piles are executable The charging function, and the charging pile that can perform the charging function as the charging pile to be selected, and then randomly selecting a charging pile from the charging piles to be selected as the target charging pile, or selecting the charging pile to be selected in the same working area as the current location The pile serves as the target charging pile. Then, the preset position can be determined according to the target charging pile. Of course, the solutions of the foregoing scenario embodiments are only examples. In specific implementation, the type, quantity, execution order, etc. of the factors to be referred to can be determined according to the actual configuration of the lawn mower robot, the configuration of the surrounding charging piles, and the surrounding environment.
另一些实施例中，还可以判断初步选定的预设位置点是否为有效点，若确定其为有效点，则将初步确定的预设位置点作为后续路径规划的目标位置点；若其为无效点，则可以抛弃该点，重新筛选其他符合条件的点作为预设位置点，并重复上述判断步骤，直至确定其为有效点；若遍历所有满足条件的点后，均未能确定有效点，则可以抛出异常，重新筛选目标充电桩，或者由人工介入。In other embodiments, it can also be judged whether the preliminarily selected preset location point is a valid point, and if it is determined to be a valid point, the preliminarily determined preset location point is used as the target location point for subsequent path planning; if it is Invalid point, you can discard the point, re-screen other qualified points as the preset position point, and repeat the above judgment steps until it is determined to be a valid point; if after traversing all the points that meet the conditions, the valid point cannot be determined , You can throw an exception, re-screen the target charging pile, or manually intervene.
需要说明的是，各充电桩所对应的预设位置点可以由***服务器根据上述方案预先配置好后，导入割草机器人的路径规划装置中；也可以由割草机器人的路径规划装置在确定回归充电时根据上述方案确定，这里不做限定。It should be noted that the preset location points corresponding to each charging pile can be pre-configured by the peripheral server according to the above scheme, and then imported into the path planning device of the lawn mower robot; it can also be determined by the path planning device of the lawn mower robot to return The charging is determined according to the above scheme, and there is no limitation here.
第二作业区域中的目标位置点可以是静态的，即，在不同次路径规划的过程中目标位置点的位置可以是相同的。目标位置点可以为动态变化的，即，在不同次路径规划的过程中目标位置点的位置也可以不同。具体的，不同的目标位置点的确定方式可以如上文中所述。当确定出目标位置点之后，可以控制割草机从当前位置点根据地图行走至目标位置点。The target location point in the second operation area may be static, that is, the location of the target location point may be the same in the process of different sub-path planning. The target location point can be dynamically changed, that is, the location of the target location point can also be different in the process of different sub-path planning. Specifically, different target location points can be determined as described above. After the target location point is determined, the lawnmower can be controlled to walk from the current location point to the target location point according to the map.
S04：基于所述当前位置点、所述预设作业地图规划所述自移动设备从所述当前位置点至所述目标位置点的行进路径，其中，多次规划的所述行进路径与所述第一作业区域边界的交点不同，和/或，多次规划的所述行进路径与所述第二作业区域边界的交点不同。S04: Planning the travel path of the mobile device from the current location point to the target location point based on the current location point and the preset operation map, wherein the travel path planned multiple times is the same as the The intersections of the boundaries of the first work area are different, and/or the intersections of the travel paths planned multiple times and the boundaries of the second work area are different.
根据所述预设作业地图规划所述割草机器人从当前位置点至目标位置点的行进路径；其中，多次规划形成的所述行进路径与所述第一作业区域边界形成不同的交点，和/或，与所述第二作业区域边界形成不同的交点。Plan the travel path of the lawn mower robot from the current location point to the target location point according to the preset operation map; wherein the travel path formed by multiple planning forms a different intersection with the boundary of the first work area, and /Or, forming a different intersection with the boundary of the second work area.
在本申请的实施例中，可以基于当前位置点、预设作业地图动态规划割草机器人从当前位置点至目标位置点的行进路径。具体的，割草机器人中或者服务器中可以预先存储有多种点到点的路径规划算法，每次从当前位置点规划至目标位置点的行进路径时，可以选择任意一种路径规划算法进行路径规划。多次路径规划时，在当前位置点和/或目标位置点不固定的情况下，或，在当前位置点和/或目标位置点固定的情况下，均可以采用动态路径规划的方式。当然，多次路径规划时，在当前位置点和/或目标位置点不固定的情况下，也可以采用同一种路径规划方式规划割草机器人从当前位置点至目标位置点的行进路径，只需要满足多次规划的行进路径与第一作业区域边界的交点不同，和/或，多次规划的行进路径与第二作业区域边界的交点不同即可。In the embodiment of the present application, the travel path of the lawn mower robot from the current location point to the target location point can be dynamically planned based on the current location point and the preset operation map. Specifically, a variety of point-to-point path planning algorithms can be pre-stored in the lawnmower robot or the server. Every time the path from the current location point to the target location point is planned, any path planning algorithm can be selected to perform the path. planning. In multiple path planning, when the current position point and/or the target position point are not fixed, or when the current position point and/or the target position point is fixed, the dynamic path planning method can be adopted. Of course, in multiple path planning, when the current location point and/or the target location point are not fixed, the same path planning method can also be used to plan the path of the lawn mower robot from the current location point to the target location point. It suffices that the intersection of the travel path that meets the multiple plans and the boundary of the first work area is different, and/or the intersection of the travel path that is planned multiple times and the boundary of the second work area is different.
在本申请的一个具体的实施例中，在通道区域的边界上存在初始位置点，基于当前位置点、存储的预设作业地图规划自移动设备从当前位置点至目标位置点的行进路径时，可以先控制割草机从当前位置点行走至该初始位置点，再从初始位置点行走至目标位置点。其中，初始位置点可以是通道区域中与第一工作区域相邻部分边界的中点。一般情况下，通道区域存在于用户房屋附近，因此通道区域中可能会存在阴影，通过控制割草机行走至边界的中点位置保证其接收到比较良好的卫星信号。同样的，目标位置点也可以是通道区域中与第二工作区域相邻部分边界的中点，当规划从初始位置点至目标位置点的路径时，可以通过获取组成通道的各个位置点连线的中点，从而通过连接各个中点得到从初始位置点至目标位置点的行进路径。In a specific embodiment of the present application, when an initial location point exists on the boundary of the passage area, when the travel path from the current location point to the target location point of the mobile device is planned based on the current location point and the stored preset operation map, The lawn mower can be controlled to walk from the current position to the initial position, and then from the initial position to the target position. Wherein, the initial position point may be the midpoint of the border of the adjacent part of the first working area in the channel area. Generally, the channel area exists near the user's house, so there may be shadows in the channel area. By controlling the lawn mower to walk to the midpoint of the boundary, it can ensure that it receives a relatively good satellite signal. Similarly, the target location point can also be the midpoint of the boundary between the adjacent part of the second working area in the channel area. When planning the path from the initial location point to the target location point, you can obtain the connection of each location point that composes the channel. The midpoint of, so as to get the travel path from the initial position point to the target position point by connecting each midpoint.
在本申请的一个实施例中，路径规划设备可以获取当前位置点以及目标位置点在预设作业地 图中的坐标数据，然后，基于预设作业地图中各作业区域的边界位置信息、障碍物分布等信息，进行点到点随机路径规划。多次规划形成的所述行进路径与所述第一作业区域边界可以形成不同的交点，和/或，与所述第二作业区域边界可以形成不同的交点。基于预设作业地图生成的所述当前位置点至所述目标位置点的行进路径可以是随机的，每次生成的行进路径可能相同也可能不同。通过随机生成路径的方式，可以使得路径的生成更适应于实际作业环境，在保证割草机器人行进的安全可靠性的基础上，实现割草机器人快速行进至目标位置。In an embodiment of the present application, the path planning device can obtain the coordinate data of the current location point and the target location point in the preset operation map, and then, based on the boundary position information and obstacle distribution of each operation area in the preset operation map Wait for information, and carry out point-to-point random path planning. The travel path formed by multiple planning may form different intersections with the boundary of the first work area, and/or may form different intersections with the boundary of the second work area. The travel path from the current location point to the target location point generated based on the preset job map may be random, and the travel path generated each time may be the same or different. By randomly generating the path, the path generation can be more adapted to the actual operating environment, and on the basis of ensuring the safety and reliability of the lawn mower robot, the lawn mower robot can quickly travel to the target position.
在本申请的另一个实施例中，路径规划设备可以通过预先设计的路径规划算法进行当前位置点至目标位置点路径规划。还可以通过优选路径规划算法，以使得规划的行进路径的路程较短的或者转弯较少，提高割草机器人跨区域工作的效率。路径规划算法可以是BUG2、RRT、A*等。In another embodiment of the present application, the path planning device may perform path planning from the current location point to the target location point through a pre-designed path planning algorithm. It is also possible to use an optimal path planning algorithm to make the planned travel path shorter or less turning, which improves the efficiency of the lawn mower robot's cross-regional work. The path planning algorithm can be BUG2, RRT, A*, etc.
一些实施例中，所述预设作业地图还可以包括连接所述第一作业区域和所述第二作业区域的通道区域。所述通道区域可以包括作业区域之间用于割草机器人通过的区域。所述通道区域的边界位置可以根据实际作业场景预先确定。相邻的两个作业区域之间可以通过通道区域进行连接，割草机器人从当前作业区域进入相邻的另一个作业区域时，可以通过两个作业区域之间的通道区域，进入相邻的另一个作业区域。可以利用信息采集装置对通道区域的信息进行采集。相应的，信息采集装置采集的信息还可以包括通道区域的边界位置信息，作业区域与通道区域之间的分界位置信息、通道区域内的障碍物位置信息等信息。预先采集作业区域之间的通道区域，基于通道区域进行随机路径的规划，可以进一步提高路径规划的效率。In some embodiments, the preset operation map may further include a passage area connecting the first operation area and the second operation area. The passage area may include an area between the work areas for the lawn mower robot to pass through. The boundary position of the passage area may be predetermined according to the actual operation scenario. Two adjacent work areas can be connected through a passage area. When the lawn mower robot enters another adjacent work area from the current work area, it can pass through the passage area between the two work areas and enter the adjacent other work area. A work area. The information collection device can be used to collect information in the channel area. Correspondingly, the information collected by the information collection device may also include the boundary position information of the channel area, the boundary position information between the work area and the channel area, and the obstacle position information in the channel area. Pre-collecting the passage area between the work areas, and planning a random path based on the passage area can further improve the efficiency of path planning.
另一些实施例中，割草机器人还可以获取基于位置采集设备采集的割草机器人的作业区域以及通道区域的位置信息；根据获取的所述位置信息生成预设作业地图；存储生成的所述预设作业地图。In other embodiments, the lawn mower robot can also obtain the location information of the lawn mower robot's work area and channel area collected based on the location collection device; generate a preset work map according to the obtained location information; store the generated preset Set up a job map.
所述位置信息可以包括作业区域及通道区域的边界位置信息、作业区域与通道区域的分界线位置信息、作业区域及通道区域内的障碍物位置信息、充电桩位置信息等位置信息。位置采集设备可以将采集的位置信息发送给割草机器人。如位置采集设备未安装在割草机器人中，则位置采集设备可以通过有线数据传输或者无线数据传输等方式将采集的位置信息发送给割草机器人的地图生成装置。如位置采集设备安装在割草机器人中，则位置采集设备可以通过内部传输协议将采集的位置信息发送给割草机器人的地图生成装置。The location information may include location information such as the boundary location information of the work area and the passage area, the location information of the boundary between the work area and the passage area, the location information of obstacles in the work area and the passage area, and the location information of the charging pile. The position collection device can send the collected position information to the lawn mower robot. If the location collection device is not installed in the lawn mower robot, the location collection device can send the collected location information to the map generation device of the lawn mower robot through wired data transmission or wireless data transmission. If the location collection device is installed in the lawn mower robot, the location collection device can send the collected location information to the map generation device of the lawn mower robot through an internal transmission protocol.
割草机器人的地图生成装置可以获取位置采集设备发送的位置信息，以及，根据获取的位置信息生成预设作业地图。地图生成装置如可以利用地图生成方法对获取的位置信息进行处理，生成预设作业地图，所述地图生成方法如可以包括ArcMap、Map Info等。然后，可以将生成的预设作业地图存储至割草机器人的存储模块中。The map generating device of the lawn mower robot can obtain the position information sent by the position collection device, and generate a preset operation map according to the obtained position information. For example, the map generating device may use a map generating method to process the acquired location information to generate a preset job map, and the map generating method may include ArcMap, Map Info, etc., for example. Then, the generated preset job map can be stored in the storage module of the lawn mower robot.
一些实施例中，所述作业区域以及作业区域之间的通道区域的位置信息可以基于位置采集设备沿所述作业区域及作业区域之间的通道区域的边界移动进行位置信息采集获得，或者，沿所述作业区域及作业区域之间的通道区域内的障碍物的边界移动进行位置信息采集获得。In some embodiments, the position information of the work area and the passage area between the work areas may be acquired based on the position acquisition device moving along the boundary of the work area and the passage area between the work areas, or The boundary of the obstacle in the passage area between the work area and the work area is moved to obtain position information.
一些实施方式中，若将所述位置采集设备安装在所述割草机器人中；相应的，所述作业区域以及作业区域之间的通道区域的位置信息可以采用下述方式采集：指示所述割草机器人沿所述作业区域及通道区域的边界移动，或者，沿所述作业区域及通道区域内障碍物的边界移动，采集所述作业区域及通道区域的位置信息。一些实施方式中，可以利用遥控或者人工推动等方式指示所述割草机器人进行移动。然后，可以将采集的位置信息发送给割草机器人的处理模块，以生成预 设作业地图。In some implementations, if the position acquisition device is installed in the mowing robot; correspondingly, the position information of the work area and the channel area between the work areas may be collected in the following manner: instructing the cutting The grass robot moves along the boundary of the work area and the passage area, or moves along the boundary of the obstacle in the work area and the passage area, and collects position information of the work area and the passage area. In some implementations, remote control or manual push may be used to instruct the lawn mower robot to move. Then, the collected position information can be sent to the processing module of the lawn mower robot to generate a preset job map.
另一些实施方式中，若所述位置采集设备安装在所述割草机器人中，指示位置采集设备或者位置采集设备集成的设备沿沿所述作业区域及通道区域的边界移动，或者，沿所述作业区域及通道区域内障碍物的边界移动，采集所述作业区域及通道区域的位置信息。然后，位置采集设备可以将采集的位置信息发送给割草机器人的处理模块，以生成预设作业地图。In other embodiments, if the position acquisition device is installed in the lawn mower robot, the position acquisition device or the device integrated with the position acquisition device are instructed to move along the boundary between the work area and the channel area, or along the The boundary of the obstacle in the work area and the passage area moves, and the position information of the work area and the passage area is collected. Then, the location collection device can send the collected location information to the processing module of the lawn mower robot to generate a preset job map.
割草机器人从当前作业区域前往相邻的另一个作业区域时，也可能因为部分通道区域或者两个作业区域的公共边界过于狭窄、通道区域内或者两个作业区域的公共边界上存在障碍物等问题，使得割草机器人无法有效通过。一些实施例中，还可以在预设作业地图中对作业区域的公共边界或者通道区域内的障碍物以及通道区域是否允许割草机器人有效通过等进行标记，以便于更为准确的进行路径规划。When the lawn mower goes from the current work area to another adjacent work area, it may also be because part of the passage area or the common boundary of the two work areas is too narrow, there are obstacles in the passage area or the common boundary of the two work areas, etc. The problem prevents the lawn mower robot from effectively passing. In some embodiments, the common boundary of the work area or the obstacles in the passage area and whether the passage area allows the lawn mower robot to pass effectively can also be marked in the preset work map to facilitate more accurate path planning.
另一些实施方式中，也可以由人工或者地图生成软件预先根据实际作业场景初步制定作业地图，在作业地图中初步对作业区域的边界点、通道区域的边界点、作业区域与通道区域之间的分界点、作业区域及通道区域内的障碍物信息、通道区域是否允许割草机器人有效通过、充电桩位置信息等信息进行录入以及标记。然后，再由割草机器人对某一些障碍物或者狭窄通道区域等进行信息采集，以进一步准确确定该部分障碍物或者狭窄通道等是否对割草机器人有效通过产生影响，并基于割草机器人采集的信息对初步制定的作业地图进行修正，获得所述预设作业地图，从而更为准确高效的制定作业地图。In other embodiments, the operation map may be preliminarily prepared by manual or map generation software according to the actual operation scene. In the operation map, the boundary points of the operation area, the boundary points of the passage area, and the distance between the operation area and the passage area may be preliminarily prepared. Information such as the boundary point, the obstacle information in the work area and the passage area, whether the passage area allows the lawn mower robot to pass effectively, and the position information of the charging pile are entered and marked. Then, the lawn mower robot collects information on certain obstacles or narrow passage areas to further accurately determine whether the obstacles or narrow passages affect the effective passage of the lawn mower robot, based on the information collected by the lawn mower robot. The information corrects the preliminarily formulated operation map to obtain the preset operation map, so as to formulate the operation map more accurately and efficiently.
当然，还可以定期或者实时基于信息采集装置采集到的信息进行预设作业地图的动态更新。如割草机器人内安装有信息采集装置，可以根据割草机器人实时行进信息对预设作业地图中各信息进行动态更新。Of course, it is also possible to dynamically update the preset operation map based on the information collected by the information collection device on a regular or real-time basis. For example, an information collection device is installed in the lawn mower robot, and the information in the preset operation map can be dynamically updated according to the real-time travel information of the lawn mower robot.
一些实施例中，可以获取所述当前位置点与所述目标位置点之间的直线路径；判断所述直线路径上是否存在无效点，所述无效点包括所述预设作业地图中割草机器人不能有效通过的点以及所述预设作业地图以外的点；当不存在无效点时，将所述直线路径确定为所述割草机器人从所述当前位置点至所述目标位置点的行进路径。In some embodiments, a straight line path between the current location point and the target location point may be acquired; it is determined whether there is an invalid point on the straight line path, and the invalid point includes the lawn mower robot in the preset operation map. Points that cannot be effectively passed and points outside the preset operation map; when there are no invalid points, the straight path is determined as the path of the lawn mower robot from the current position point to the target position point .
另一些实施例中，当所述直线路径上存在无效点时，则可以获取直线路径上的无效点所在的无效点区域，所述行进路径至少部分地偏离所述直线路径以避开所述无效点区域。所述有效点、无效点以及有效点区域、无效点区域的设置以及标记可以参考上述实施例实施，这里不做赘述。In other embodiments, when there is an invalid point on the straight path, the invalid point area where the invalid point on the straight path is located can be obtained, and the travel path at least partially deviates from the straight path to avoid the invalid point. Point area. The setting and marking of the effective point, the invalid point, the valid point area, and the invalid point area can be implemented with reference to the above-mentioned embodiment, which will not be repeated here.
S06：控制所述自移动设备沿着所述行进路径从所述当前位置点行走至所述目标位置点。S06: Control the self-moving device to walk from the current location point to the target location point along the travel path.
在本申请的实施例中，当确定行进路径之后，可以控制割草机沿着行进路径从当前位置点行走至目标位置点。在行走至目标位置点之后，可以在第二作业区域中执行割草工作或者对接充电或者停靠。In the embodiment of the present application, after the travel path is determined, the lawnmower can be controlled to walk from the current location point to the target location point along the travel path. After walking to the target location point, mowing or docking or docking can be performed in the second work area.
在本申请的实施例中，在控制自移动设备从当前作业区域行走至另一个作业区域时，规划从当前作业区域的当前位置点至另一个作业区域的目标位置之间的行进路径，且控制多次规划的行进路径与第一作业区域边界的交点不同，和/或，多次规划的行进路径与第二作业区域边界的交点不同，实现自移动设备在不同工作区域之间的快速切换，且避免发生由于走相同位置点或相同路径时草坪被压坏或产生压草痕迹的现象。In the embodiment of the present application, when controlling the mobile device to walk from the current work area to another work area, plan the travel path from the current position point of the current work area to the target position of another work area, and control The multi-planned travel path is different from the intersection of the boundary of the first work area, and/or the travel path planned multiple times is different from the intersection of the second work area boundary, so that the mobile device can quickly switch between different work areas. And avoid the phenomenon that the lawn is crushed or the traces of pressing grass are generated when walking the same location point or the same path.
如图2所示，图2给出的预设作业地图中包含有作业区域A、B(草地)，以及A、B之间的通道区域C，作业区域B中有障碍物T 1。割草机器人a以及割草机器人b目前位于作业区域A 中，割草机器人a的当前位置点为O，割草机器人b的当前位置点为P，割草机器人a、b待前往的目标位置点为M，M位于作业区域B中。 As shown in Fig. 2, the preset operation map given in Fig. 2 includes operation areas A, B (grass), and a passage area C between A and B, and there is an obstacle T 1 in the operation area B. Lawn mowing robot a and mowing robot b are currently located in work area A, the current position of mowing robot a is O, the current position of mowing robot b is P, and the target position of mowing robot a and b is to be headed. It is M, and M is located in the work area B.
对于割草机器人b，割草机器人b从当前位置点P至目标位置点M的直线路径上不存在无效点，则可以直接将两点之间的直线路径作为割草机器人b的行进路径。图2中当前位置点P与目标位置点M之间虚线即为割草机器人b的行进路径。For the lawn mower robot b, if there is no invalid point on the linear path from the current position point P to the target position point M of the lawn mower robot b, the linear path between the two points can be directly used as the travel path of the lawn mower robot b. The dotted line between the current position point P and the target position point M in FIG. 2 is the travel path of the lawn mower robot b.
对于割草机器人a，割草机器人a的当前位置点O与目标位置点M之间的直线路径上存在无效点。可以先确定OM之间的连线上的无效点所在的无效点区域：作业区域A和B之间的非有效作业区域D以及障碍物T 1所在的区域。如图2所示，所述割草机器人a可以至少部分地偏离所述直线路径以避开上述两个无效点区域D和T 1从当前位置点O行进至目标位置点M，相应的行进路径如图2中当前位置点O与目标位置点M之间的虚线所示。 For the lawn mower robot a, there is an invalid point on the linear path between the current position point O and the target position point M of the lawn mower robot a. It is possible to first determine the invalid point area where the invalid point on the line between the OMs is located: the ineffective work area D between the work areas A and B and the area where the obstacle T 1 is located. As shown, the mowing robot 2 may be at least partially offset from a straight path to avoid the null point of the two regions D and T 1 travels from the current position to the target point O location point M, the corresponding path of travel As shown by the dotted line between the current position point O and the target position point M in FIG. 2.
一些实施方式中，当所述直线路径上存在无效点时，还可以获取所述直线路径经过的各作业区域与所述各作业区域间的通道区域之间的第二分界点；根据所述当前位置点、目标位置点、第二分界点生成初始行进路径；判断所述初始行进路径上是否存在无效点，如果不存在，则将所述初始行进路径确定为所述割草机器人从所述当前位置点至所述目标位置点的行进路径。如果所述初始行进路径上存在无效点，则获取所述初始行进路径上的无效点所在的第二无效点区域与所述第二无效点区域相邻的有效点区域的第三分界点；根据所述当前位置点、目标位置点、第二分界点以及第三分界点确定从所述当前位置点至所述目标位置点的行进路径。In some implementations, when there is an invalid point on the straight path, the second boundary point between each work area passed by the straight path and the passage area between the work areas can also be obtained; according to the current The location point, the target location point, and the second demarcation point generate an initial travel path; it is determined whether there is an invalid point on the initial travel path, and if it does not exist, the initial travel path is determined as the lawn mower robot from the current The travel path from the location point to the target location point. If there is an invalid point on the initial travel path, acquiring the third boundary point of the second invalid point area where the invalid point on the initial travel path is located and the valid point area adjacent to the second invalid point area; according to The current location point, the target location point, the second demarcation point, and the third demarcation point determine a travel path from the current location point to the target location point.
以图2所示的草坪应用场景为例，在图2中割草机机器人a在到达位置O后，接收到来自用户的更换工作区域的切换指令，控制装置控制位置获取模块获取割草机的当前位置点O，基于存储的预设作业地图按照预设规则自动将作业区域B中的几何重心点确定为目标位置点M，根据当前位置点O、目标位置点M按照BUG2算法规划从作业区域A至作业区域B的行进路径。假设割草机器人b为割草机器人a在图2所示草坪中下一次规划工作场景，在图2中割草机机器人b在到达位置P后，发现已经完成作业区域A中的割草任务，则控制装置控制位置获取模块获取割草机的当前位置点P，基于存储的预设作业地图按照预设规则自动将作业区域B中的几何重心点确定为目标位置点M，根据当前位置点P、目标位置点M规划从作业区域A至作业区域B的直线行进路径。从图中可知，两次规划所得到的路径与通道C边界的交点不同。Taking the lawn application scenario shown in Figure 2 as an example, in Figure 2, after the lawn mower robot a reaches position O, it receives a switching instruction from the user to change the working area, and the control device controls the position acquisition module to acquire the lawn mower The current location point O, based on the stored preset job map, automatically determines the geometric center of gravity in the job area B as the target location point M according to the preset rules. According to the current location point O and the target location point M, the job area is planned according to the BUG2 algorithm A travel path to work area B. Suppose that the lawn mower robot b is the next time the lawn mower robot a plans the work scene in the lawn shown in Fig. 2. In Fig. 2, after the lawn mower robot b reaches the position P, it is found that the mowing task in the work area A has been completed. Then the control device controls the position acquisition module to acquire the current position point P of the lawn mower, and automatically determines the geometric center of gravity point in the operation area B as the target position point M based on the stored preset operation map according to the preset rules, and according to the current position point P , The target location point M plans a straight path from the work area A to the work area B. It can be seen from the figure that the intersection of the path obtained by the two planning and the boundary of channel C is different.
以图15所示的草坪应用场景为例，在图15中割草机机器人a在以弓字形路径在作业区域A中完成割草工作时，控制装置控制位置获取模块获取割草机的当前位置点P，基于存储的预设作业地图按照预设规则自动将通道区域C边界的中点分别确定为初始位置点N、目标位置点M，根据当前位置点P、初始位置点N、目标位置点M规划从作业区域A至作业区域B的行进路径，然后控制割草机a从作业区域A沿着行进路径行走至作业区域B，到达作业区域B后以螺旋形路径在作业区域B中执行割草工作。Taking the lawn application scenario shown in Fig. 15 as an example, in Fig. 15, when the lawn mower robot a completes the mowing work in the work area A with a bow-shaped path, the control device controls the position acquisition module to acquire the current position of the lawn mower Point P, based on the stored preset job map and automatically determine the middle point of the boundary of the channel area C as the initial position point N and the target position point M according to the preset rules, according to the current position point P, the initial position point N, and the target position point M plans the travel path from work area A to work area B, and then controls mower a to walk along the travel path from work area A to work area B. After reaching work area B, it will perform cutting in work area B with a spiral path. Grass work.
如图3所示，图3给出的预设作业地图中包含有作业区域A、B，以及A、B之间的通道区域C，作业区域A中有障碍物T 2。割草机器人a以及割草机器人b目前位于作业区域A中，割草机器人a的当前位置点为O，割草机器人b的当前位置点为P，割草机器人a、b待前往的目标位置点为M，M位于作业区域B中。 As shown in Fig. 3, the preset operation map given in Fig. 3 includes operation areas A, B, and a passage area C between A and B, and there is an obstacle T 2 in the operation area A. The lawn mower robot a and the lawn mower robot b are currently located in the work area A, the current position point of the lawn mower robot a is O, the current position point of the lawn mower robot b is P, and the target position points of the lawn mower robot a and b are to go. It is M, and M is located in the work area B.
对于割草机器人b，割草机器人b从当前位置点P至目标位置点M的直线路径上不存在无效点，则可以直接将两点之间的直线路径作为割草机器人b的行进路径。图2中当前位置点P与目 标位置点M之间虚线即为割草机器人b的行进路径。For the lawn mower robot b, if there is no invalid point on the linear path from the current position point P to the target position point M of the lawn mower robot b, the linear path between the two points can be directly used as the travel path of the lawn mower robot b. The dotted line between the current position point P and the target position point M in Fig. 2 is the travel path of the lawn mower robot b.
对于割草机器人a，割草机器人a的当前位置点O与目标位置点M之间的直线路径上存在无效点。则可以先确定OM之间的连线所经过的作业区域，本实例中为了简便描述仅示处了A、B两个作业区域，所以OM之间的连线所经过的作业区域可以明显确定为A和B，当然，实际作业场景中，直线路径可能经过的作业区域存在多个。进一步的，可以获取作业区域A、B与二者之间的通道区域C的分界线，将分界线上点作为第二分界点。然后，可以进一步根据当前位置点、目标位置点以及第二分界点进行点到点路径规划，确定初始行进路径。确定出的初始行进路径可能存在多条，可以从中任意选择一条路径作为割草机器人的行进路径；也可以从中选择最短的路径作为割草机器人的行进路径，以使得割草机可以以最快的速度回归。For the lawn mower robot a, there is an invalid point on the linear path between the current position point O and the target position point M of the lawn mower robot a. Then you can first determine the work area that the connection between OM passes. In this example, for the sake of simple description, only two work areas A and B are shown, so the work area that the connection between OM passes can be clearly determined as A and B, of course, in the actual work scenario, there are multiple work areas that the straight path may pass through. Further, the dividing line between the work areas A and B and the passage area C between the two can be obtained, and the point on the dividing line is taken as the second dividing point. Then, point-to-point path planning can be further performed according to the current location point, the target location point, and the second boundary point to determine the initial travel path. There may be multiple initial travel paths determined, and one of them can be selected as the travel path of the lawn mower robot; the shortest path can also be selected as the travel path of the lawn mower robot, so that the lawn mower can be the fastest Speed returns.
假设确定出的初始行进路径经过障碍物T 2，则可以确定该初始行进路径上存在无效点，相应的无效点落在障碍物T 2所形成的无效点区域内。则可以获取障碍物T 2所形成的无效点区域与其相邻的有效点区域(草地对应的区域)的分界点，作为第三分界点。然后，可以根据所述当前位置点、所述目标位置点、第二分界点以及第三分界点进行点到点路径规划，确定从所述当前位置点至所述目标位置点的行进路径。图2中的当前位置点O与目标位置点M之间的虚线即为割草机器人a的行进路径。 Assuming that the determined initial travel path passes through the obstacle T 2 , it can be determined that there are invalid points on the initial travel path, and the corresponding invalid points fall within the invalid point area formed by the obstacle T 2. Then, the boundary point between the invalid point area formed by the obstacle T 2 and the adjacent effective point area (the area corresponding to the grass) can be obtained as the third boundary point. Then, point-to-point path planning can be performed according to the current location point, the target location point, the second demarcation point, and the third demarcation point, and the travel path from the current location point to the target location point can be determined. The dotted line between the current position point O and the target position point M in FIG. 2 is the travel path of the lawn mower robot a.
另一些实施例中，可以在预设作业地图中标注出无效点区域，所述无效点区域如可以包括障碍物所在的区域以及预设作业地图之外的非有效作业区域等。然后，可以基于预设随机采样概率以及延伸步长，从所述当前位置点开始向所述目标位置点进行逐步随机延伸，当某采样点沿某延伸方向延伸到无效点区域时，该采样点对应的当前延伸方向即停止延伸，否则，则继续延伸，直至延伸至所述目标位置点或者距离目标位置点预设距离范围内。将从当前位置点开始并首先延伸至目标位置点或者距离目标位置点预设距离范围内的随机路径作为割草机器人的行进路径。In other embodiments, the invalid point area may be marked in the preset operation map, and the invalid point area may include, for example, the area where the obstacle is located and the invalid operation area outside the preset operation map. Then, based on the preset random sampling probability and the extension step length, the sampling point can be gradually and randomly extended from the current location point to the target location point. When a sampling point extends to an invalid point area along a certain extension direction, the sampling point The corresponding current extension direction stops the extension, otherwise, the extension continues until it extends to the target location point or within a preset distance range from the target location point. A random path starting from the current location point and first extending to the target location point or within a preset distance from the target location point is used as the travel path of the lawn mower robot.
其中，所述随机采样概率可以包括选择当前采样点所延伸至的下一个采样点的随机方向概率值。所述延伸步长包括当前采样点至其所延伸至的下一个采样点之间的长度。所述延伸步长以及随机采样概率值可以通过综合分析预设作业地图内的无效点区域分布、行进路径的生成效率需要等进行确定，以在保证可以找到从当前位置点至目标位置点的基础上，提高行进路径的生成效率。Wherein, the random sampling probability may include the random direction probability value of the next sampling point to which the current sampling point is selected. The extension step includes the length from the current sampling point to the next sampling point to which it extends. The extended step length and the random sampling probability value can be determined by comprehensively analyzing the invalid point area distribution in the preset operation map, the generation efficiency requirement of the travel path, etc., so as to ensure that the basis for finding the point from the current location to the target location can be determined. To improve the generation efficiency of the travel path.
一些实施场景中，如可以预先设定延伸步长，从当前位置点开始每次按预设延伸步长进行路径延伸，延伸到一个采样点位置，然后，再从该采样点开始按预设延伸步长继续延伸。同时，在基于当前采样点延伸选择延伸方向以确定下一个采样点所在的位置时，可以设有一定的概率会向着目标位置点延伸，也有一定的概率随机在地图内选择一个方向延伸一段距离，当前采样点沿某延伸方向延伸到无效点区域时，则该当前采样点对应的该延伸方向即停止延伸，若未延伸到无效点区域，则沿该延伸方向延伸预设延伸步长，确定出下一个采样点。依次类推，直至延伸至目标位置点或者距离目标位置点预设距离范围内。可以将从当前位置点开始并首先延伸至目标位置点或者距离目标位置点预设距离范围内的随机路径作为割草机器人的行进路径，或者，也可以确定的随机路径上的各个采样点为基准，进一步优选更短的路程的行进路径。从而可以有效避开无效点区域，并快速高效的找到一个可以行进至目标位置点的路径。In some implementation scenarios, for example, the extension step length can be preset, and the path is extended at the preset extension step length each time from the current position point to a sampling point position, and then from the sampling point according to the preset extension The step length continues to extend. At the same time, when the extension direction is selected based on the extension of the current sampling point to determine the location of the next sampling point, there can be a certain probability that it will extend toward the target location point, and there is also a certain probability that it will randomly select a direction to extend a certain distance in the map. When the current sampling point extends to the invalid point area along a certain extension direction, the extension direction corresponding to the current sampling point stops extending. If it does not extend to the invalid point area, the preset extension step length is extended along the extension direction to determine The next sampling point. And so on, until it extends to the target location point or within the preset distance range from the target location point. A random path starting from the current location point and first extending to the target location point or within a preset distance from the target location point can be used as the travel path of the lawn mower robot, or each sampling point on the determined random path can be used as the reference , And a shorter travel path is more preferable. Thereby, the invalid point area can be effectively avoided, and a path that can travel to the target location point can be found quickly and efficiently.
如图4所示，图4给出的预设作业地图中包含有作业区域A、B，以及A、B之间的通道区域C，作业区域A中有障碍物T 3。割草机器人b目前位于作业区域A中，割草机器人b的当前位置点为P，割草机器人b待前往的目标位置点为M，M位于作业区域B中。 As shown in Fig. 4, the preset operation map given in Fig. 4 includes operation areas A and B, and a passage area C between A and B, and there is an obstacle T 3 in the operation area A. The lawn mower robot b is currently located in the work area A, the current location point of the lawn mower robot b is P, the target location point to be reached by the lawn mower robot b is M, and M is located in the work area B.
可以基于上述实施例提供的算法，基于预先设定的延伸步长，从当前位置点开始每次按预设延伸步长进行路径延伸，延伸到一个采样点位置，然后，再从该采样点开始按预设延伸步长继续延伸。当前采样点沿某延伸方向延伸到无效点区域时，则该当前采样点对应的该延伸方向即停止延伸，若未延伸到无效点区域，则沿该延伸方向延伸预设延伸步长，确定出下一个采样点。依次类推，直至延伸至目标位置点M或者距离目标位置点M预设距离范围内。然后，再获取从当前位置点开始并首先延伸至目标位置点或者距离目标位置点预设距离范围内的随机路径，以确定的随机路径上的各个采样点为基准，进一步优选更短的路程的行进路径。如图4所述，图4所示的从P至M之间的实线即为优选确定的较短路径的行进路径。It can be based on the algorithm provided in the above-mentioned embodiment and based on the preset extension step length, starting from the current position point, the path is extended at the preset extension step length each time, extending to a sampling point position, and then starting from the sampling point. Continue to extend according to the preset extension step. When the current sampling point extends to the invalid point area along a certain extension direction, the extension direction corresponding to the current sampling point stops extending. If it does not extend to the invalid point area, the preset extension step length is extended along the extension direction to determine The next sampling point. It can be deduced in turn until it extends to the target location point M or within the preset distance range from the target location point M. Then, obtain a random path starting from the current location point and first extending to the target location point or within a preset distance from the target location point, and each sampling point on the determined random path is used as a reference, and a shorter distance is further preferred. Path of travel. As shown in FIG. 4, the solid line from P to M shown in FIG. 4 is the preferably determined travel path of the shorter path.
另一些实施例中，所述预设作业地图还可以包括第一作业区域与第二作业区域之间的至少一个横穿路径。所述横穿路径可以包括割草机器人从当前作业区域行进至相邻的下一作业区域的预设行进路径。所述横穿路径可以预先配置于所述作业地图中，以使割草机器人可以沿所述横穿路径准确且快速的行进至从一个作业区域行进至其相邻的另一个作业区域。In other embodiments, the preset operation map may further include at least one traverse path between the first operation area and the second operation area. The traversing path may include a preset travel path of the lawn mower robot from the current work area to an adjacent next work area. The traversing path may be pre-configured in the operation map, so that the lawn mower robot can travel accurately and quickly along the traversing path to travel from one operation area to another adjacent operation area.
如图5所示，可以作业区域A和B之间的虚线为预设的横穿路径。图5中仅示出了一条横穿路径，具体实施时，两个作业区域之间的横穿路径当然也可以不止一条。R、W为由作业区域切换至横穿路径的切入点，割草机器人可以从作业区域A由位置点R进入横穿路径，然后，再经过横穿路径后，由W点进入作业区域B。As shown in Fig. 5, the dashed line between the work areas A and B can be the preset traverse path. Fig. 5 shows only one traversing path. In a specific implementation, of course, there may be more than one traversing path between the two work areas. R and W are the cut-in points for switching from the work area to the traverse path. The lawn mower robot can enter the traverse path from the work area A from the position point R, and then enter the work area B from the W point after passing the traverse path.
一些实施方式中，可以基于当前位置点、目标位置点以及各作业区域至横穿路径的切入位置点确定割草机器人的行进路径。对于切入位置点R、W之间，割草机器人从切入位置点R开始，可以直接基于该横穿路径进行行驶。当然，若实际行驶时，横穿路径上出现障碍物，割草机器人在行驶过程中，也可以随时基于探测到的信号，至少部分地偏离该横穿路径以避开该障碍物，然后回归该横穿路径继续行驶，直至切入位置点W。In some embodiments, the travel path of the lawn mower robot may be determined based on the current position point, the target position point, and the cut-in position point of each work area to the traverse path. For the cut-in position between R and W, the lawn mower robot starts from the cut-in position R and can directly drive based on the traverse path. Of course, if an obstacle appears on the traversing path during actual driving, the lawn mower robot can also deviate at least partially from the traversing path to avoid the obstacle at any time during the driving process, and then return to the path based on the detected signal. Cross the path and continue driving until the cut-in position point W.
对于作业区域A内，可以先获取当前位置点P与切入位置点R之间的直线路径，如果该直线路径PR上不存在无效点，则可以将该直线路径PR作为割草机器人在作业区域A内的行进路径。如果该直线路径PR上存在无效点，则割草机器人在作业区域A内的行进路径可以至少部分地偏离该直线路径PR以避开该无效点所对应的所述无效点区域。对于作业区域B内，可以先获取目标位置点M与切入位置点W之间的直线路径，如果该直线路径WM上不存在无效点，则可以将该直线路径WM作为割草机器人在作业区域B内的行进路径。如果该直线路径WM上存在无效点，则割草机器人在作业区域B内的行进路径可以至少部分地偏离该直线路径WM以避开该无效点所对应的所述无效点区域。For the work area A, the linear path between the current position P and the cut-in position R can be obtained first. If there is no invalid point on the linear path PR, the linear path PR can be used as the lawn mower robot in the work area A The path of travel within. If there is an invalid point on the linear path PR, the travel path of the lawn mower robot in the work area A may at least partially deviate from the linear path PR to avoid the invalid point region corresponding to the invalid point. For the work area B, the linear path between the target position point M and the cut-in position point W can be obtained first. If there is no invalid point on the linear path WM, the linear path WM can be used as the lawn mower robot in the work area B The path of travel within. If there is an invalid point on the linear path WM, the travel path of the lawn mower robot in the work area B may at least partially deviate from the linear path WM to avoid the invalid point area corresponding to the invalid point.
图5中所示出的当前位置点P至目标位置点W之间的虚线即为割草机器人b从当前位置点P至目标位置点W的一种行进路径示例。直线路径PR上存在障碍物T 4，直线路径PR可以至少部分地偏离直线路径PR以避开障碍物T 4，然后，由切入位置点R进入横穿路径RW，再由切入位置点W沿直线路径WM至目标位置点M。通过在作业区域之间预先配置横穿路径，以使割草机器人从一个作业区域基于预先配置的横穿路径行驶至另一个作业区域，可以进一步提高割草机器人行驶的可靠性。 The dotted line between the current position point P and the target position point W shown in FIG. 5 is an example of a travel path of the lawn mower robot b from the current position point P to the target position point W. There is an obstacle T 4 on the straight path PR, the straight path PR can at least partially deviate from the straight path PR to avoid the obstacle T 4 , and then enter the cross path RW from the cut-in position R, and then follow the straight line from the cut-in position W Path WM to the target location point M. By pre-arranging the traverse path between the work areas, so that the lawn mower robot can travel from one work area to another work area based on the pre-configured traverse path, which can further improve the reliability of the lawn mower robot.
另一些实施例中，当割草机器人回归充电时，还可以进一步获取所述预设位置点与所述目标充电桩之间的充电对接路径，根据所述充电对接路径以及行进路径确定所述割草机器人的充电回归路径。In other embodiments, when the lawn mower robot returns to charging, the charging docking path between the preset position point and the target charging pile may be further obtained, and the mowing path may be determined according to the charging docking path and the travel path. The charging return path of the grass robot.
基于步骤S02中的方式确定目标充电桩以及预设位置点后，可以获取二者之间的充电对接路径。例如，对于有对接轨道的目标充电桩，可以将对接轨道作为充电对接路径；对于无轨道的目标充电桩，可以根据预设对接规则确定充电对接路径。然后，可以将从当前位置点到目标位置点之间的行进路径与充电对接路径连接起来，生成获得割草机器人的充电回归路径。割草机器人可以沿着最终确定的充电回归路径回归至目标充电桩，实现与目标充电桩的有效对接。通过将充电回归划分为两段路径进行规划，可以使得割草机器人在回归充电时，更为快速准确的实现与充电桩的对接，提高割草机器人自动回归充电机能。After determining the target charging post and the preset location based on the method in step S02, the charging docking path between the two can be obtained. For example, for a target charging post with a docking track, the docking track can be used as a charging docking path; for a target charging post without a track, the charging docking path can be determined according to a preset docking rule. Then, the travel path from the current location point to the target location point can be connected with the charging docking path to generate a charging return path for the lawn mower robot. The lawn mower robot can return to the target charging pile along the finally determined charging return path to achieve effective docking with the target charging pile. By dividing the charging regression into two paths for planning, the lawn mower robot can realize the docking with the charging pile more quickly and accurately when returning to the charging, and improve the lawn mower robot's automatic returning to the charging function.
图6表示本说明书一个或者多个实施例中的割草机器人路径规划方法流程示意图。对于割草机器人回归充电的实施场景下，如图6所示，所述割草机器人路径规划方法可以包括：Fig. 6 shows a schematic flow chart of a path planning method for a lawn mower robot in one or more embodiments of this specification. For the implementation scenario of the lawn mower robot returning to charging, as shown in FIG. 6, the path planning method of the lawn mower robot may include:
S20：获取割草机器人的第一当前位置点。S20: Obtain the first current position of the lawn mower robot.
可以利用位置采集设备获取割草机器人所在的当前位置点，作为第一当前位置点。割草机器人在低电量情况下需要回归充电站进行充电。一些实施例中，可以判断割草机器人的剩余电量是否小于预设阈值，如果剩余电量小于预设阈值，则可以触发充电回归指令，以使割草机器人回归充电站进行充电。所述预设阈值可以预先根据经验设定。一些实施方式中，所述预设阈值也可以根据割草机器人距离充电站的距离确定，以使得割草机器人在实现最大工作效能的情况下，有足够的电量可以回归充电站。The position acquisition device may be used to obtain the current position point where the lawn mower robot is located as the first current position point. The lawn mower robot needs to return to the charging station for charging when the battery is low. In some embodiments, it can be determined whether the remaining power of the lawn mower robot is less than a preset threshold, and if the remaining power is less than the preset threshold, a charging return instruction can be triggered to make the lawn mower return to the charging station for charging. The preset threshold can be set in advance based on experience. In some embodiments, the preset threshold may also be determined according to the distance between the lawnmower robot and the charging station, so that the lawnmower robot has enough power to return to the charging station while achieving maximum work efficiency.
割草机器人可以根据该充电回归指令停止割草工作，定位第一当前位置点，获取第一当前位置点的坐标数据。所述割草机器人内部可以安装有卫星位置采集设备，如GPS位置采集设备或者北斗位置采集设备，以实现割草机器人的精准位置定位。The mowing robot can stop the mowing work according to the charging return instruction, locate the first current position point, and obtain the coordinate data of the first current position point. A satellite position acquisition device, such as a GPS position acquisition device or a Beidou position acquisition device, may be installed inside the lawn mower robot to realize precise position positioning of the lawn mower robot.
S22：根据预设作业地图确定目标充电桩，将所述目标充电桩的预设位置点确定为第一目标位置点，所述预设作业地图包括对割草机器人的作业区域、作业区域之间的通道区域以及充电桩的位置进行信息采集后制定的地图。S22: Determine the target charging pile according to the preset operation map, and determine the preset position point of the target charging pile as the first target position point. The map is made after information collection of the channel area and the location of the charging pile.
所述预设作业地图可以包括对割草机器人的作业区域、作业区域之间的通道区域以及充电桩的位置进行信息采集后制定的地图。所述预设作业地图的制定方式可以参考上述实施例确定，这里不做赘述。The preset operation map may include a map prepared after collecting information on the operation area of the lawn mower robot, the passage area between the operation areas, and the location of the charging pile. The formulating method of the preset job map can be determined with reference to the foregoing embodiment, and will not be repeated here.
所述预设作业地图中预先配置有充电桩的位置信息，割草机器人可以根据第一当前位置点的坐标数据以及各充电桩的坐标数据，确定目标充电桩，如可以将距离最近的充电桩作为目标充电桩。当然，如果预设作业地图中的充电桩仅为一个，则直接将该充电桩作为目标充电桩即可。通过在预设作业地图中预先配置充电桩位置信息，可以使得割草机器人更加快速准确的定位充电桩的位置数据。The preset operation map is pre-configured with the position information of the charging pile. The lawn mower robot can determine the target charging pile according to the coordinate data of the first current position point and the coordinate data of each charging pile. As the target charging pile. Of course, if there is only one charging pile in the preset operation map, the charging pile can be directly used as the target charging pile. By pre-configuring the charging pile position information in the preset operation map, the lawn mower robot can locate the position data of the charging pile more quickly and accurately.
所述预设位置点可以为距离目标充电桩预设距离内的一个或者多个固定点，如可以为目标充电桩正前方预设距离的点。所述预设位置点也可以直接配置在所述预设作业地图中，割草机器人在根据第一当前位置点以及各充电桩的位置点确定目标充电桩后，可以进一步从预设作业地图中获取该目标充电桩所对应的预设位置点的位置信息。The preset location point may be one or more fixed points within a preset distance from the target charging pile, for example, it may be a point at a preset distance directly in front of the target charging pile. The preset location point may also be directly configured in the preset operation map. After determining the target charging pile according to the first current location point and the position points of each charging pile, the lawn mower robot may further select from the preset operation map. Obtain the location information of the preset location point corresponding to the target charging pile.
一些实施例中，所述预设位置点可以根据目标充电桩的充电方式、对接方式等中的一种或者多种确定。根据目标充电桩的充电方式、对接方式等可以更加准确的确定预设位置点，使得预设位置点更符合实际应用场景，进一步提高割草机器人自动回归充电的准确性以及效率。具体实施方式可以参考上述实施例进行，这里不做赘述。In some embodiments, the preset location point may be determined according to one or more of the charging mode and the docking mode of the target charging pile. According to the charging method and docking method of the target charging pile, the preset position point can be determined more accurately, so that the preset position point is more in line with the actual application scenario, and the accuracy and efficiency of the automatic recharging of the lawn mower robot are further improved. The specific implementation manner can be carried out with reference to the above-mentioned embodiment, which will not be repeated here.
一些实施例中，所述目标充电桩可以根据充电桩与第一当前位置点之间的距离、充电桩当前是否可执行充电功能、充电桩的充电方式以及对接方式中的一种或者多种确定。通常，割草机器人的第一当前位置点周围的充电站可能不止一个，充电站内的充电桩通常也可能不止一个。而各充电桩的充电方式、对接方式等也可能各有差异，充电桩可能出现故障正在维修或者正在给其他割草机器人执行充电功能，不能尽快实现割草机器人的当前充电需求。可以通过考虑上述一个或者多个因素，先优选出充电桩，然后，再根据优选的充电桩确定预设位置点。通过优选充电桩，可以使得割草机器人更加高效的完成充电，投入工作。In some embodiments, the target charging pile may be determined according to one or more of the distance between the charging pile and the first current location point, whether the charging pile can currently perform a charging function, the charging method of the charging pile, and the docking method. . Generally, there may be more than one charging station around the first current position of the lawn mower robot, and there may usually be more than one charging post in the charging station. The charging method and docking method of each charging pile may also be different. The charging pile may be faulty and is being repaired or is performing charging functions for other lawn mower robots, which cannot meet the current charging requirements of lawn mower robots as soon as possible. The charging pile can be selected first by considering one or more of the above factors, and then the preset location point can be determined according to the preferable charging pile. By optimizing the charging pile, the lawn mower robot can be charged more efficiently and put into work.
S24：根据所述预设作业地图生成所述割草机器人从所述第一当前位置点至所述目标位置点的第一回归路径。S24: Generate a first return path of the lawn mower robot from the first current position point to the target position point according to the preset operation map.
可以根据第一当前位置点和第一目标位置点，基于预设作业地图，利用高精度的定位导航技术，进行点到点路径规划，生成第一回归路径。根据预设作业地图进行点到点路径规划，可以大幅度提高路径规划的简便性以及高效性。According to the first current location point and the first target location point, based on a preset job map, high-precision positioning and navigation technology can be used to perform point-to-point path planning to generate the first return path. Point-to-point path planning according to the preset job map can greatly improve the simplicity and efficiency of path planning.
一些实施例中，可以获取所述第一当前位置点与所述第一目标位置点之间的第一直线路径；判断所述第一直线路径上是否存在无效点，所述无效点包括所述预设作业地图中割草机器人不能有效通过的点以及所述预设作业地图以外的点；当不存在无效点时，将所述第一直线路径确定为所述割草机器人的第一回归路径。In some embodiments, a first straight path between the first current location point and the first target location point may be acquired; it is determined whether there is an invalid point on the first straight path, and the invalid point includes In the preset operation map, points that the lawn mower robot cannot effectively pass through and points outside the preset operation map; when there are no invalid points, the first straight path is determined as the first straight path of the lawn mower robot One return path.
另一些实施例中，当第一直线路径上存在无效点时，获取所述第一直线路径的无效点所在的无效点区域，所述第一回归路径至少部分地偏离所述第一直线路径以避开所述无效点区域。In other embodiments, when an invalid point exists on the first straight path, the invalid point area where the invalid point of the first straight path is located is acquired, and the first regression path is at least partially deviated from the first straight path. Line path to avoid the invalid point area.
如图7所示，图7中第一直线路径所经过的作业区域数量为一个作业区域B，作业区域B中存在障碍物T5，割草机器人b位于作业区域B中，其对应的第一当前位置点为Q，充电桩对应的预设位置点为H。如图7所示，所述第一直线路径上的无效点落在障碍物T5上，则相应的第三无效点区域即为障碍物T2所在的区域，其相邻的有效点区域即为草地所在的区域。获取所述第一直线路径的无效点所在的第三无效点区域，所述第一回归路径至少部分地偏离所述第一直线路径以避开所述第三无效点区域。图7中的虚线表示确定的第一回归路径的一种示例。As shown in Figure 7, the number of work areas passed by the first straight path in Figure 7 is a work area B. There is an obstacle T5 in the work area B. The lawn mower b is located in the work area B, and its corresponding first The current location point is Q, and the preset location point corresponding to the charging pile is H. As shown in FIG. 7, the invalid point on the first straight path falls on the obstacle T5, and the corresponding third invalid point area is the area where the obstacle T2 is located, and the adjacent valid point area is The area where the grass is located. Acquire a third invalid point area where an invalid point of the first straight path is located, and the first regression path at least partially deviates from the first straight path to avoid the third invalid point area. The dotted line in FIG. 7 represents an example of the determined first regression path.
如图8所示，割草机器人a位于作业区域A中，割草机器人的第一当前位置点为W，充电桩位于作业区域B中，充电桩对应的预设位置点为H，相应的，第一直线路径上存在无效点，无效点分别位于障碍物T 6上以及作业区域A和B之间的无效作业区域。获取所述第一直线路径的无效点所在的第三无效点区域，所述第一回归路径至少部分地偏离所述第一直线路径以避开所述第三无效点区域。图8中的虚线表示确定的第一回归路径的一种示例。 As shown in Figure 8, the lawn mower robot a is located in the work area A, the first current position of the lawn mower robot is W, the charging pile is located in the work area B, and the preset position point corresponding to the charging pile is H, correspondingly, There are invalid points on the first straight path, and the invalid points are located on the obstacle T 6 and the invalid working area between the working areas A and B, respectively. Acquire a third invalid point area where an invalid point of the first straight path is located, and the first regression path at least partially deviates from the first straight path to avoid the third invalid point area. The dotted line in FIG. 8 represents an example of the determined first regression path.
S26：获取所述预设位置点与所述目标充电桩之间的充电对接路径，将所述充电对接路径确定为第二回归路径；S26: Acquire a charging docking path between the preset location point and the target charging pile, and determine the charging docking path as a second return path;
S28：据所述第一回归路径以及第二回归路径生成所述割草机器人的充电回归路径。S28: Generate a charging return path of the lawn mower robot according to the first return path and the second return path.
确定目标充电桩以及预设位置点后，可以确定二者之间的充电对接路径，作为第二回归路径。例如，对于有对接轨道的目标充电桩，可以将对接轨道作为第二回归路径；对于无轨道的目标充电桩，可以根据预设对接规则确定第二回归路径。如图7及图8所示，图7及图8中的H点表示预设位置点，H点与充电桩之间的实线表示确定的第二回归路径。After determining the target charging post and the preset location point, the charging docking path between the two can be determined as the second return path. For example, for a target charging pile with a docking track, the docking track may be used as the second return path; for a target charging pile without a track, the second return path may be determined according to a preset docking rule. As shown in Figs. 7 and 8, the H point in Figs. 7 and 8 represents the preset position point, and the solid line between the H point and the charging post represents the determined second return path.
然后，可以将第一回归路径与第二回归路径连接起来，生成获得割草机器人的充电回归路径。割草机器人可以沿着最终确定的充电回归路径回归至目标充电桩，实现与目标充电桩的有效对 接。通过预先设置预设位置点，并配置当前位置点与预设位置点之间的回归路径以及预设位置点与充电桩之间的对接路径，可以使得割草机器人在需要回归充电时，更加快速的实现回归，并准确的实现与充电桩的对接，提高割草机器人自动工作以及回归充电机能。Then, the first return path and the second return path can be connected to generate a charging return path for the lawn mower robot. The lawn mower robot can return to the target charging pile along the finally determined charging return path to achieve effective docking with the target charging pile. By pre-setting the preset position points, and configuring the return path between the current position point and the preset position point and the docking path between the preset position point and the charging pile, the lawn mower robot can be made faster when it needs to return to charging. The realization of the return, and the accurate realization of the docking with the charging pile, improve the automatic work of the lawn mower robot and return to the charging function.
图9是本说明书提供的另一种割草机器人路径规划方法实施例流程示意图。对于割草机器人切换作业区域的实施场景下，如图9所示，所述方法可以包括：Fig. 9 is a schematic flowchart of an embodiment of another method for path planning of a lawn mower robot provided in this specification. For the implementation scenario where the lawn mower robot switches the work area, as shown in FIG. 9, the method may include:
S40：获取割草机器人的第二当前位置点。S40: Obtain the second current position of the lawn mower robot.
可以利用位置采集设备获取割草机器人所在的当前位置点。一些实施场景中，割草机器人在完成当前作业区域的工作后，可以前往临近的其他作业区域继续执行工作任务。当割草机器人确定要前往下一作业区域进行工作任务时，可以发出切换作业区域指令，以使割草机器人前往目标作业区域。当割草机器人接收到该指令后，可以暂停行进，获取割草机器人的第二当前位置点数据。所述割草机器人内部可以安装有卫星位置采集设备，如GPS位置采集设备或者北斗位置采集设备，以实现割草机器人的精准位置定位。The position acquisition device can be used to obtain the current position of the lawn mower robot. In some implementation scenarios, after the lawn mower robot completes the work in the current work area, it can go to other adjacent work areas to continue to perform work tasks. When the lawn mower robot determines to go to the next work area to perform a work task, it can issue a switching work area instruction to make the lawn mower robot go to the target work area. When the lawn mower robot receives this instruction, it can pause its travel and obtain the second current position data of the lawn mower robot. A satellite position acquisition device, such as a GPS position acquisition device or a Beidou position acquisition device, may be installed inside the lawn mower robot to realize precise position positioning of the lawn mower robot.
S42：根据预设作业地图确定所述割草机器人待作业的目标作业区域，所述预设作业地图包括对割草机器人的作业区域以及作业区域之间的通道区域进行信息采集后制定的地图。S42: Determine the target work area of the lawn mower robot to be operated according to a preset work map, the preset work map including a map formulated after information collection of the work area of the lawn mower robot and the channel area between the work areas.
所述预设作业地图的确定方式以及包含的信息可以参考上述实施例确定，这里不做赘述。一些实施例中，预设作业地图中预先配置有作业区域执行顺序，并在预设作业地图中进行标记，割草机器人可以按照预先配置的作业执行顺序，从预设作业地图中确定出当前作业区域的下一作业区域，作为目标作业区域，然后，可以将目标作业区域内的某点作为目标位置点。另一些实施例中，预设作业地图中也可以实时标记有已作业区域以及未作业区域，割草机器人可以在完成当前作业区域的作业后，根据预设作业地图分析当前作业区域与周围未作业区域之间的距离，或者割草机器人当前位置点与周围未作业区域之间的距离，优选出距离最近的未作业区域作为目标作业区域，然后，可以将目标作业区域内的某点作为目标位置点。当然，也可以采用其他方式确定目标作业区域，这里不做限定。The determination method and the information contained in the preset job map can be determined with reference to the foregoing embodiment, and will not be repeated here. In some embodiments, the operation area execution sequence is pre-configured in the preset operation map, and the operation area is marked in the preset operation map. The lawn mower robot can determine the current operation from the preset operation map according to the pre-configured operation execution order. The next work area of the area is used as the target work area, and then a certain point in the target work area can be used as the target location point. In other embodiments, the preset operation map may also mark the area that has been operated and the area that has not been operated in real time. After completing the operation in the current operation area, the lawnmower robot can analyze the current operation area and the surrounding area according to the preset operation map. The distance between the areas, or the distance between the current position of the lawn mower robot and the surrounding unworked area, the closest unworked area is preferably used as the target work area, and then a certain point in the target work area can be used as the target location point. Of course, other methods can also be used to determine the target operation area, which is not limited here.
S44：根据目标作业区域内的有效点确定所述割草机器人的第二目标位置点，所述有效点包括所述预设作业地图中预先配置的割草机器人可有效通过的点。S44: Determine the second target position point of the lawn mower robot according to the effective points in the target work area, where the effective points include points that can be effectively passed by the lawn mower robot pre-configured in the preset work map.
可以预先在预设作业地图中配置有效点以及无效点，所述有效点可以包括割草机器人可有效通过的点，无效点可以包括预设作业地图中割草机器人不能有效通过的点以及预设作业地图之外的点。可以将目标作业区域内的任意有效点确定为第二目标位置点，也可以基于一定的规则从目标作业区域内选择某有效点作为第二目标位置点。Valid points and invalid points can be configured in the preset operation map in advance. The valid points may include points that the lawn mower robot can effectively pass through, and the invalid points may include points in the preset operation map that the lawn mower robot cannot pass effectively and presets. Points outside the job map. Any effective point in the target work area may be determined as the second target location point, or a certain effective point may be selected from the target work area as the second target location point based on a certain rule.
一些实施例中，可以采用下述方式确定所述割草机器人的目标位置点：In some embodiments, the target position of the lawn mower robot may be determined in the following manner:
获取所述目标作业区域的几何重心作为初始中心点，判断所述初始中心点是否属于有效点；Acquiring the geometric center of gravity of the target work area as an initial center point, and judging whether the initial center point is a valid point;
若判断结果为是，则将所述初始中心点确定为目标位置点。If the judgment result is yes, the initial center point is determined as the target location point.
若判断结果为否，获取所述初始中心点所在的第一无效点区域与所述第一无效点区域相邻的有效点区域的第一分界点，根据所述第一分界点确定目标位置点。If the judgment result is no, obtain the first demarcation point of the first invalid point area where the initial center point is located and the valid point area adjacent to the first invalid point area, and determine the target location point according to the first demarcation point .
或者，若判断结果为否，生成所述目标作业区域的最小外接矩；Or, if the judgment result is no, generate the minimum circumscribed moment of the target work area;
当所述最小外接矩各边相等时，在所述最小外接矩所在的范围内，从所述初始中心点开始沿所述最小外接矩任一边所在方向搜索，将搜到的第一个位于所述目标作业区域的有效点确定为目标位置点；When the sides of the minimum circumscribed moment are equal, within the range of the minimum circumscribed moment, start from the initial center point and search along the direction of either side of the minimum circumscribed moment, and the first one found is located at the The effective point of the target operation area is determined as the target location point;
当所述最小外接矩各边不相等时，在所述最小外接矩所在的范围内，从所述初始中心点开始沿所述最小外接矩较小一边所在方向搜索，将搜到的第一个位于所述目标作业区域的有效点确定为目标位置点。When the sides of the minimum circumscribed moment are not equal, within the range of the minimum circumscribed moment, start from the initial center point and search along the direction of the smaller side of the minimum circumscribed moment, and search for the first one The effective point located in the target work area is determined as the target location point.
第二目标位置点的确定方式可以参考上述实施例确定，这里不做赘述。The method for determining the second target location point can be determined with reference to the foregoing embodiment, which will not be repeated here.
S46：根据所述预设作业地图生成所述割草机器人从所述第二当前位置点至所述第二目标位置点的行进路径，获得所述割草机器人前往所述目标作业区域的路径。S46: Generate a travel path of the lawn mower robot from the second current position point to the second target position point according to the preset work map, and obtain a path of the lawn mower robot to the target work area.
可以根据第二当前位置点和第二目标位置，利用预设作业地图进行点到点路径规划，生成割草机器人从所述第二当前位置点至所述第二目标位置点的行进路径，获得所述割草机器人前往所述目标作业区域的路径。利用点到点的方式进行路径规划，可以大幅度提高路径规划的简便性以及高效性。According to the second current location point and the second target location, a preset job map can be used to perform point-to-point path planning to generate the travel path of the lawn mower robot from the second current location point to the second target location point to obtain The path of the lawn mower robot to the target work area. Using a point-to-point method for path planning can greatly improve the simplicity and efficiency of path planning.
一些实施例中，可以获取所述第二当前位置点与所述第二目标位置点之间的第二直线路径；判断所述第二直线路径上是否存在无效点，所述无效点包括所述预设作业地图中预先配置的割草机器人不能有效通过的点以及所述预设作业地图以外的点；当所述第二直线路径上不存在无效点时，将所述第二直线路径确定为所述割草机器人从所述第二当前位置点至所述第二目标位置点的行进路径。另一些实施例中，当所述第二直线路径上存在无效点时，则获取所述第二直线路径的无效点所在的无效点区域，所述行进路径至少部分地偏离所述第二直线路径以避开所述无效点区域。In some embodiments, a second straight line path between the second current location point and the second target location point may be acquired; it is determined whether there is an invalid point on the second straight line path, and the invalid point includes the The pre-configured points in the preset work map that the lawn mower robot cannot effectively pass and points outside the preset work map; when there are no invalid points on the second straight path, the second straight path is determined to be The travel path of the lawn mower robot from the second current position point to the second target position point. In other embodiments, when there is an invalid point on the second straight path, the invalid point area where the invalid point of the second straight path is located is acquired, and the travel path is at least partially deviated from the second straight path To avoid the invalid point area.
通过先确定目标作业区域内的目标位置点，然后，以割草机器人的当前位置点与目标位置点作为基准，进行点到点路径规划，可以更加简单高效的确定割草机器人的跨区域工作行进路径，同时，还可以使得割草机器人的行进更安全可靠。By first determining the target location point in the target work area, and then using the current location point and the target location point of the lawn mower robot as a reference, point-to-point path planning can be performed more simply and efficiently to determine the cross-regional work travel of the lawn mower robot The path, at the same time, can also make the travel of the lawn mower robot safer and more reliable.
本说明书中的各个实施例均采用递进的方式描述，各个实施例之间相同相似的部分互相参见即可，每个实施例重点说明的都是与其他实施例的不同之处。具体的可以参照前述相关处理相关实施例的描述，在此不做一一赘述。The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. For details, reference may be made to the description of the foregoing related processing related embodiments, which will not be repeated here.
上述对本说明书特定实施例进行了描述。其它实施例在所附权利要求书的范围内。在一些情况下，在权利要求书中记载的动作或步骤可以按照不同于实施例中的顺序来执行并且仍然可以实现期望的结果。另外，在附图中描绘的过程不一定要求示出的特定顺序或者连续顺序才能实现期望的结果。在某些实施方式中，多任务处理和并行处理也是可以的或者可能是有利的。The foregoing describes specific embodiments of this specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps described in the claims may be performed in a different order than in the embodiments and still achieve desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or sequential order shown in order to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.
本说明书一个或多个实施例提供的割草机器人路径规划方法，可以通过预先采集割草机器人的作业区域的信息，根据采集的信息生成作业地图。然后，在实际作业中，可以基于预先生成的作业地图准确确定割草机器人的目标位置点，并可以基于作业地图进行点对点随机路径规划，生成割草机器人的跨区域作业行进路径。基于预设存储的作业地图随机生成路径的方式，可以使得割草机器人的行进路径更适应于实际作业环境，在保证割草机器人行进的安全可靠性的基础上，进一步提高割草机器人的跨区域作业效率。The path planning method of the lawn mower robot provided by one or more embodiments of the present specification can generate a work map based on the collected information by collecting information of the work area of the lawn mower robot in advance. Then, in actual operations, the target location of the lawnmower robot can be accurately determined based on the pre-generated job map, and point-to-point random path planning can be performed based on the job map to generate the cross-regional job travel path of the lawnmower robot. The method of randomly generating paths based on the preset stored job map can make the path of the lawn mower robot more suitable for the actual operating environment. On the basis of ensuring the safety and reliability of the lawn mower robot, it further improves the cross-area of the lawn mower robot. Operational efficiency.
基于上述所述的割草机器人路径规划方法，如图10所示，本说明书实施例还提供一种割草机器人，可以包括：机身101；切割装置102，安装于所述机身，用于执行切割；驱动装置103，安装于所述机身，用于带动所述机身移动；存储模块104，用于存储预设作业地图，所述预设作业地图根据对所述第一作业区域以及第二作业区域采集的信息制作得到；位置获取模块105，用于获取割草机器人的当前位置点，所述当前位置点位于第一作业区域；位置确定模块106，根据 所述预设作业地图确定所述割草机器人的目标位置点，所述目标位置点位于所述第二作业区域；路径生成模块107，用于根据所述预设作业地图规划所述割草机器人的行进路径；其中，多次规划形成的行进路径与所述第一作业区域边界形成不同的交点，和/或，在所述第二作业区域边界形成不同的交点。Based on the path planning method of the lawn mower robot described above, as shown in FIG. 10, an embodiment of this specification also provides a lawn mower robot, which may include: a body 101; a cutting device 102 installed on the body for Perform cutting; drive device 103, installed in the fuselage, used to drive the fuselage to move; storage module 104, used to store a preset operation map, the preset operation map based on the first operation area and The information collected in the second work area is produced; the position obtaining module 105 is used to obtain the current position point of the lawn mower robot, the current position point is located in the first work area; the position determination module 106 determines according to the preset work map The target location point of the lawn mower robot, the target location point is located in the second work area; the path generation module 107 is configured to plan the travel path of the lawn mower robot according to the preset work map; wherein, more The travel path formed by the secondary plan forms a different intersection with the boundary of the first work area, and/or forms a different intersection at the boundary of the second work area.
另一些实施例中，所述预设作业地图可以包括连接所述第一作业区域和所述第二作业区域的通道区域。In other embodiments, the preset operation map may include a passage area connecting the first operation area and the second operation area.
另一些实施例中，所述路径生成模块107可以包括：直线路径获取单元，可以用于获取所述当前位置点与目标位置点之间的直线路径；判断单元，可以用于判断所述直线路径上是否存在无效点，所述无效点包括所述预设作业地图中预先配置的割草机器人不能有效通过的点以及所述预设作业地图以外的点；第一路径生成单元，可以当所述直线路径上不存在无效点时，将所述直线路径确定为所述割草机器人从所述当前位置点至所述目标位置点的行进路径。In other embodiments, the path generation module 107 may include: a straight path obtaining unit, which may be used to obtain a straight path between the current location point and the target location point; and a judging unit, which may be used to judge the straight path Whether there is an invalid point on the upper limit, the invalid point includes the point that the lawn mower robot pre-configured in the preset operation map cannot effectively pass and the point outside the preset operation map; the first path generation unit may be used as the When there is no invalid point on the straight path, the straight path is determined as the travel path of the lawn mower robot from the current position point to the target position point.
另一些实施例中，所述第一路径生成单元还可以用于当所述直线路径上存在无效点时，则获取所述直线路径的无效点所在的无效点区域，所述行进路径至少部分地偏离所述直线路径以避开所述无效点区域。In other embodiments, the first path generation unit may be further configured to obtain an invalid point area where the invalid point of the straight path is located when an invalid point exists on the straight path, and the travel path is at least partially Deviate from the straight path to avoid the invalid point area.
另一些实施例中，所述位置确定模块106还可以用于根据所述第二作业区域内的有效点确定所述割草机器人的目标位置点，所述有效点包括所述预设作业地图中预先配置的割草机器人可有效通过的点。In other embodiments, the position determining module 106 may be further configured to determine the target position of the lawn mower robot according to the effective points in the second work area, and the effective points include those in the preset work map. The point where the pre-configured lawn mower robot can effectively pass.
另一些实施例中，所述目标位置点可以包括所述目标作业区域的几何重心或与所述几何重心关联的有效点。In other embodiments, the target location point may include the geometric center of gravity of the target work area or an effective point associated with the geometric center of gravity.
另一些实施例中，所述关联可以包括在预设方向上与所述几何重心距离最短。In other embodiments, the association may include the shortest distance from the geometric center of gravity in a preset direction.
另一些实施例中，所述位置确定模块106可以包括：外接矩构建单元，可以用于构建所述目标作业区域的最小外接矩，所述预设方向可以包括沿所述最小外接矩的一边所在方向。In other embodiments, the position determining module 106 may include: an external moment construction unit, which may be used to construct the minimum external moment of the target work area, and the preset direction may include the position along the side of the minimum external moment. direction.
另一些实施例中，所述位置确定模块106可以包括：充电桩确定单元，可以用于根据预设作业地图确定目标充电桩，所述预设作业地图中配置有充电桩的位置信息；第二目标位置确定单元，可以用于获取所述目标充电桩对应的预设位置点，将所述预设位置确定为目标位置点。In other embodiments, the position determining module 106 may include: a charging pile determining unit, which may be used to determine a target charging pile according to a preset operation map, where the position information of the charging pile is configured; second The target position determining unit may be used to obtain a preset position point corresponding to the target charging pile, and determine the preset position as the target position point.
另一些实施例中，所述预设位置点可以根据所述目标充电桩的充电方式和/或对接方式确定。In other embodiments, the preset location point may be determined according to the charging mode and/or the docking mode of the target charging pile.
另一些实施例中，所述装置还可以包括：数据获取模块，可以用于获取基于位置采集设备采集的割草机器人的作业区域以及作业区域之间的通道区域的位置信息；地图生成模块，可以用于根据获取的所述作业区域以及通道区域的位置信息生成预设作业地图。In other embodiments, the device may further include: a data acquisition module, which may be used to acquire the location information of the operation area of the lawn mower robot and the channel area between the operation areas collected by the location acquisition device; the map generation module may It is used to generate a preset operation map according to the acquired position information of the operation area and the passage area.
另一些实施例中，作业区域以及作业区域之间的通道区域的位置信息基于位置采集设备沿所述作业区域及作业区域之间的通道区域的边界移动进行位置信息采集获得，或者，沿所述作业区域及作业区域之间的通道区域内的障碍物的边界移动进行位置信息采集获得。In some other embodiments, the position information of the work area and the passage area between the work area is acquired based on the position collection device moving along the boundary of the work area and the passage area between the work area, or obtained along the The boundary movement of obstacles in the passage area between the work area and the work area is collected for position information.
另一些实施例中，所述当前位置点包括所述割草机器人在接收到更换作业区域指令或者充电回归指令时对所述割草机器人进行位置信息采集所确定的位置点。In some other embodiments, the current position point includes a position point determined by the lawn mower robot by collecting position information of the lawn mower robot when the lawn mower robot receives an instruction to replace a work area or a charge return instruction.
另一些实施例中，所述装置还可以包括：对接路径获取模块，可以用于获取所述预设位置点与所述目标充电桩之间的充电对接路径；充电回归路径生成模块，可以用于根据所述充电对接路径以及行进路径确定所述割草机器人的充电回归路径。In other embodiments, the device may further include: a docking path acquisition module, which may be used to acquire a charging docking path between the preset location point and the target charging pile; a charging return path generation module, which may be used for The charging return path of the lawn mower robot is determined according to the charging docking path and the travel path.
另一些实施例中，所述装置还可以包括：充电回归指令确定模块，可以用于判断割草机器人 的电量是否低于预设阈值，当判断结果为是时，发出充电回归指令；相应的，所述第一位置获取模块可以用于根据所述充电回归指令，获取割草机器人的当前位置点。In other embodiments, the device may further include: a charging regression instruction determining module, which may be used to determine whether the power of the lawn mower robot is lower than a preset threshold, and when the determination result is yes, issue a charging regression instruction; correspondingly, The first position obtaining module may be used to obtain the current position of the lawn mower robot according to the charging return instruction.
需要说明的，上述所述的***根据方法实施例的描述还可以包括其他的实施方式。具体的实现方式可以参照相关方法实施例的描述，在此不作一一赘述。It should be noted that the above-mentioned system may also include other implementation manners according to the description of the method embodiment. For specific implementation manners, reference may be made to the description of the related method embodiments, which will not be repeated here.
本说明书一个或多个实施例提供的割草机器人路径规划装置，可以通过预先采集割草机器人的作业区域的信息，根据采集的信息生成作业地图。然后，在实际作业中，可以基于预先生成的作业地图准确确定割草机器人的目标位置点，并可以基于作业地图进行点对点随机路径规划，生成割草机器人的跨区域作业行进路径。基于预设存储的作业地图随机生成路径的方式，可以使得割草机器人的行进路径更适应于实际作业环境，在保证割草机器人行进的安全可靠性的基础上，进一步提高割草机器人的跨区域作业效率。The path planning device for a lawn mower robot provided in one or more embodiments of this specification can generate a work map based on the collected information by pre-collecting information about the work area of the lawn mower robot. Then, in actual operations, the target location of the lawnmower robot can be accurately determined based on the pre-generated job map, and point-to-point random path planning can be performed based on the job map to generate the cross-regional job travel path of the lawnmower robot. The method of randomly generating paths based on the preset stored job map can make the path of the lawn mower robot more suitable for the actual operating environment. On the basis of ensuring the safety and reliability of the lawn mower robot, it further improves the cross-area of the lawn mower robot. Operational efficiency.
本说明书提供的上述实施例所述的方法或***可以通过计算机程序实现业务逻辑并记录在存储介质上，所述的存储介质可以计算机读取并执行，实现本说明书实施例所描述方案的效果。因此，本说明书还提供一种割草机器人路径规划设备，包括处理器及存储处理器可执行指令的存储器，所述指令被所述处理器执行时实现包括上述任意一个实施例方法的步骤。The method or system described in the foregoing embodiment provided in this specification can implement business logic through a computer program and be recorded on a storage medium, and the storage medium can be read and executed by a computer to achieve the effects of the solution described in the embodiment of this specification. Therefore, this specification also provides a path planning device for a lawnmower robot, which includes a processor and a memory storing executable instructions of the processor, which, when executed by the processor, implements the steps that include any one of the above-mentioned embodiments.
本说明书实施例所提供的方法实施例可以在计算机终端、服务器或者类似的运算装置中执行。以运行在割草机器人的处理设备上为例，图11是应用本说明书实施例的割草机器人的处理设备的硬件结构框图。如图11所示，割草机器人的处理设备可以包括一个或多个(图中仅示出一个)处理器200(处理器200可以包括但不限于微处理器MCU或可编程逻辑器件FPGA等的处理装置)、用于存储数据的存储器300、以及用于通信功能的传输模块400。本领域普通技术人员可以理解，图11所示的结构仅为示意，其并不对上述电子装置的结构造成限定。例如，割草机器人的处理设备还可包括比图11中所示更多或者更少的组件，例如还可以包括其他的处理硬件，如数据库或多级缓存、GPU，或者具有与图11所示不同的配置。The method embodiments provided in the embodiments of this specification can be executed in a computer terminal, a server, or a similar computing device. Taking the example of running on the processing device of a lawn mower robot, FIG. 11 is a block diagram of the hardware structure of the processing device of the lawn mower robot applying the embodiment of this specification. As shown in FIG. 11, the processing equipment of the lawn mower robot may include one or more (only one is shown in the figure) processor 200 (the processor 200 may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc. Processing device), a memory 300 for storing data, and a transmission module 400 for communication functions. Those of ordinary skill in the art can understand that the structure shown in FIG. 11 is only for illustration, and does not limit the structure of the above electronic device. For example, the processing equipment of the lawn mower robot may also include more or fewer components than shown in FIG. Different configurations.
存储器300可用于存储应用软件的软件程序以及模块，如本发明实施例中的搜索方法对应的程序指令/模块，处理器200通过运行存储在存储器300内的软件程序以及模块，从而执行各种功能应用以及数据处理。存储器300可包括高速随机存储器，还可包括非易失性存储器，如一个或者多个磁性存储装置、闪存、或者其他非易失性固态存储器。在一些实例中，存储器300可进一步包括相对于处理器200远程设置的存储器，这些远程存储器可以通过网络连接至计算机终端。上述网络的实例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。The memory 300 can be used to store software programs and modules of application software, such as program instructions/modules corresponding to the search method in the embodiment of the present invention. The processor 200 executes various functions by running the software programs and modules stored in the memory 300 Application and data processing. The memory 300 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memories. In some examples, the memory 300 may further include a memory remotely provided with respect to the processor 200, and these remote memories may be connected to the computer terminal through a network. Examples of the aforementioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.
传输模块400用于经由一个网络接收或者发送数据。上述的网络具体实例可包括计算机终端的通信供应商提供的无线网络。在一个实例中，传输模块400包括一个网络适配器(Network Interface Controller，NIC)，其可通过基站与其他网络设备相连从而可与互联网进行通讯。在一个实例中，传输模块400可以为射频(Radio Frequency，RF)模块，其用于通过无线方式与互联网进行通讯。The transmission module 400 is used to receive or send data via a network. The above-mentioned specific examples of the network may include a wireless network provided by a communication provider of a computer terminal. In an example, the transmission module 400 includes a network adapter (Network Interface Controller, NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In an example, the transmission module 400 may be a radio frequency (RF) module, which is used to communicate with the Internet in a wireless manner.
所述存储介质可以包括用于存储信息的物理装置，通常是将信息数字化后再以利用电、磁或者光学等方式的媒体加以存储。所述存储介质有可以包括：利用电能方式存储信息的装置如，各式存储器，如RAM、ROM等；利用磁能方式存储信息的装置如，硬盘、软盘、磁带、磁芯存储器、磁泡存储器、U盘；利用光学方式存储信息的装置如，CD或DVD。当然，还有其他方式的可读存储介质，例如量子存储器、石墨烯存储器等等。The storage medium may include a physical device for storing information, and usually the information is digitized and then stored in a medium using electric, magnetic, or optical methods. The storage medium may include: devices that use electrical energy to store information, such as various types of memory, such as RAM, ROM, etc.; devices that use magnetic energy to store information, such as hard disks, floppy disks, magnetic tapes, magnetic core memories, bubble memory, U disk; a device that uses optical means to store information, such as a CD or DVD. Of course, there are other ways of readable storage media, such as quantum memory, graphene memory, and so on.
需要说明的，上述所述的设备根据方法实施例的描述还可以包括其他的实施方式。具体的实现方式可以参照相关方法实施例的描述，在此不作一一赘述。It should be noted that the above-mentioned device may also include other implementation manners according to the description of the method embodiment. For specific implementation manners, reference may be made to the description of the related method embodiments, which will not be repeated here.
上述实施例所述的割草机器人路径规划设备，可以通过预先采集割草机器人的作业区域的信息，根据采集的信息生成作业地图。然后，在实际作业中，可以基于预先生成的作业地图准确确定割草机器人的目标位置点，并可以基于作业地图进行点对点随机路径规划，生成割草机器人的跨区域作业行进路径。基于预设存储的作业地图随机生成路径的方式，可以使得割草机器人的行进路径更适应于实际作业环境，在保证割草机器人行进的安全可靠性的基础上，进一步提高割草机器人的跨区域作业效率。The path planning device of the lawn mower robot described in the above embodiment can generate a work map based on the collected information by collecting information of the work area of the lawn mower robot in advance. Then, in actual operations, the target location of the lawnmower robot can be accurately determined based on the pre-generated job map, and point-to-point random path planning can be performed based on the job map to generate the cross-regional job travel path of the lawnmower robot. The method of randomly generating paths based on the preset stored job map can make the path of the lawn mower robot more suitable for the actual operating environment. On the basis of ensuring the safety and reliability of the lawn mower robot, it further improves the cross-area of the lawn mower robot. Operational efficiency.
本说明书还提供一种割草机器人路径规划***，所述***可以为单独的割草机器人路径规划***，也可以应用在多种计算机数据处理***中。所述的***可以为单独的服务器，也可以包括使用了本说明书的一个或多个所述方法或一个或多个实施例装置的服务器集群、***(包括分布式***)、软件(应用)、实际操作装置、逻辑门电路装置、量子计算机等并结合必要的实施硬件的终端装置。所述割草机器人路径规划***可以包括至少一个处理器以及存储计算机可执行指令的存储器，所述处理器执行所述指令时实现上述任意一个或者多个实施例中所述方法的步骤。This specification also provides a path planning system for a lawnmower robot, which can be a separate path planning system for a lawnmower robot, or can be applied to a variety of computer data processing systems. The system can be a single server, or it can include server clusters, systems (including distributed systems), software (applications), The actual operation device, logic gate circuit device, quantum computer, etc., combined with the necessary hardware terminal device. The lawn mower path planning system may include at least one processor and a memory storing computer-executable instructions, and the processor implements the steps of the method in any one or more of the foregoing embodiments when the processor executes the instructions.
需要说明的是，本说明书上述所述的装置或者***根据相关方法实施例的描述还可以包括其他的实施方式，具体的实现方式可以参照方法实施例的描述，在此不作一一赘述。It should be noted that the device or system described above in this specification may also include other implementation manners based on the description of the related method embodiments. For specific implementation manners, refer to the description of the method embodiments, which is not repeated here.
上述实施例所述的割草机器人路径规划***，可以通过预先采集割草机器人的作业区域的信息，根据采集的信息生成作业地图。然后，在实际作业中，可以基于预先生成的作业地图准确确定割草机器人的目标位置点，并可以基于作业地图进行点对点随机路径规划，生成割草机器人的跨区域作业行进路径。基于预设存储的作业地图随机生成路径的方式，可以使得割草机器人的行进路径更适应于实际作业环境，在保证割草机器人行进的安全可靠性的基础上，进一步提高割草机器人的跨区域作业效率。The path planning system of the lawn mower robot described in the foregoing embodiment may generate a work map based on the collected information by collecting information of the work area of the lawn mower robot in advance. Then, in actual operations, the target location of the lawnmower robot can be accurately determined based on the pre-generated job map, and point-to-point random path planning can be performed based on the job map to generate the cross-regional job travel path of the lawnmower robot. The method of randomly generating paths based on the preset stored job map can make the path of the lawn mower robot more suitable for the actual operating environment. On the basis of ensuring the safety and reliability of the lawn mower robot, it further improves the cross-area of the lawn mower robot. Operational efficiency.
本说明书实施例并不局限于必须是符合标准数据模型/模板或本说明书实施例所描述的情况。某些行业标准或者使用自定义方式或实施例描述的实施基础上略加修改后的实施方案也可以实现上述实施例相同、等同或相近、或变形后可预料的实施效果。应用这些修改或变形后的数据获取、存储、判断、处理方式等获取的实施例，仍然可以属于本说明书的可选实施方案范围之内。The embodiments of this specification are not limited to the conditions described in the embodiments of this specification that must conform to the standard data model/template. Certain industry standards or implementations described in custom methods or examples with slight modifications can also achieve the same, equivalent or similar implementation effects of the foregoing examples, or predictable implementation effects after modification. The examples obtained by applying these modified or deformed data acquisition, storage, judgment, processing methods, etc., may still fall within the scope of the optional implementation solutions of this specification.
还需要说明的是，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、商品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、商品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法或者设备中还存在另外的相同要素。It should also be noted that the terms "include", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or equipment including a series of elements not only includes those elements, but also includes Other elements that are not explicitly listed, or they also include elements inherent to such processes, methods, commodities, or equipment. If there are no more restrictions, the element defined by the sentence "including a..." does not exclude the existence of other same elements in the process, method, or device that includes the element.
本说明书中的各个实施例均采用递进的方式描述，各个实施例之间相同相似的部分互相参见即可，每个实施例重点说明的都是与其他实施例的不同之处。尤其，对于***实施例而言，由于其基本相似于方法实施例，所以描述的比较简单，相关之处参见方法实施例的部分说明即可。在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本说明书的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述并不必须针对的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任一个或多个实施例 或示例中以合适的方式结合。此外，在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, as for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and for related parts, please refer to the part of the description of the method embodiment. In the description of this specification, descriptions with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" etc. mean specific features described in conjunction with the embodiment or example , Structure, materials or features are included in at least one embodiment or example in this specification. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine the different embodiments or examples and the features of the different embodiments or examples described in this specification without contradicting each other.
以上所述仅为本说明书的实施例而已，并不用于限制本说明书。对于本领域技术人员来说，本说明书可以有各种更改和变化。凡在本说明书的精神和原理之内所作的任何修改、等同替换、改进等，均应包含在本说明书的权利要求范围之内。The above descriptions are only examples of this specification, and are not intended to limit this specification. For those skilled in the art, this specification can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this specification shall be included in the scope of the claims of this specification.

Claims (13)

  1. 一种路径规划方法，其特征在于，所述路径规划方法应用于自移动设备，所述自移动设备在预设作业区域中行走和/或工作，所述预设作业区域至少包括第一作业区域和第二作业区域，所述方法包括：A path planning method, characterized in that the path planning method is applied to a self-moving device that walks and/or works in a preset work area, and the preset work area includes at least a first work area And a second work area, the method includes:
    获取所述自移动设备的当前位置点，所述当前位置点位于第一作业区域；Acquiring the current location point of the self-mobile device, where the current location point is located in the first work area;
    基于存储的预设作业地图按照预设规则自动确定目标位置点，所述目标位置点位于第二作业区域；Automatically determining a target location point based on the stored preset operation map according to a preset rule, where the target location point is located in the second operation area;
    基于所述当前位置点、所述存储的预设作业地图规划所述自移动设备从所述当前位置点至所述目标位置点的行进路径，其中，多次规划的所述行进路径与所述第一作业区域边界的交点不同，和/或，多次规划的所述行进路径与所述第二作业区域边界的交点不同；The travel path of the mobile device from the current location point to the target location point is planned based on the current location point and the stored preset job map, wherein the travel path planned multiple times is the same as the The intersections of the boundaries of the first work area are different, and/or the intersections of the travel paths planned multiple times and the boundaries of the second work area are different;
    控制所述自移动设备沿着所述行进路径从所述当前位置点行走至所述目标位置点。Controlling the self-moving device to walk from the current location point to the target location point along the travel path.
  2. 根据权利要求1所述的方法，其特征在于，当所述自移动设备在所述第一作业区域中的工作情况满足预设要求或接收到来自用户的切换作业区域信息时，获取所述自移动设备的当前位置点。The method according to claim 1, characterized in that, when the working condition of the self-mobile device in the first work area meets a preset requirement or receives switching work area information from a user, acquiring the self-mobile device The current location point of the mobile device.
  3. 根据权利要求1所述的方法，其特征在于，基于所述当前位置点、所述预设作业地图规划所述自移动设备从所述当前位置点至目标位置点的行进路径，包括：The method according to claim 1, wherein planning the travel path of the self-mobile device from the current location point to the target location point based on the current location point and the preset job map comprises:
    基于所述当前位置点、所述预设作业地图动态规划所述自移动设备从所述当前位置点至所述目标位置点的行进路径。Based on the current location point and the preset job map, a travel path of the mobile device from the current location point to the target location point is dynamically planned.
  4. 根据权利要求1所述的方法，其特征在于，所述预设作业地图还包括连接所述第一作业区域和所述第二作业区域的通道区域，其中，多次规划的所述行进路径与所述第一作业区域边界的交点位于所述通道区域的边界上，和/或，多次规划的所述行进路径与所述第二作业区域边界的交点位于所述通道区域的边界上。The method according to claim 1, wherein the preset operation map further comprises a passage area connecting the first operation area and the second operation area, wherein the travel path planned multiple times and The intersection of the boundary of the first operation area is located on the boundary of the passage area, and/or the intersection of the travel path planned multiple times and the boundary of the second operation area is located on the boundary of the passage area.
  5. 根据权利要求4所述的方法，其特征在于，根据接收到的用户指令确定所述通道区域。The method according to claim 4, wherein the channel area is determined according to a received user instruction.
  6. 根据权利要求1所述的方法，其特征在于，多次规划的所述目标位置点为动态变化的。The method according to claim 1, wherein the target location point planned multiple times is dynamically changing.
  7. 根据权利要求1所述的方法，其特征在于，基于所述存储的预设作业地图按照预设规则自动确定目标位置点，包括：The method according to claim 1, wherein the automatically determining the target location point based on the stored preset job map according to preset rules comprises:
    根据所述第二作业区域内的有效点确定所述自移动设备的目标位置点，所述有效点包括所述预设作业地图中预先配置的自移动设备可有效通过的位置点。The target location point of the self-mobile device is determined according to the effective point in the second work area, and the effective point includes a pre-configured location point on the preset job map that the self-mobile device can effectively pass through.
  8. 根据权利要求7所述的方法，其特征在于，所述目标位置点包括所述第二作业区域的几何重心或与所述几何重心关联的有效点。8. The method according to claim 7, wherein the target location point comprises the geometric center of gravity of the second work area or an effective point associated with the geometric center of gravity.
  9. 根据权利要求7所述的方法，其特征在于，所述预设作业地图中配置有停靠站的位置信息，所述停靠站用于所述自移动设备的供电或停靠，The method according to claim 7, wherein the preset operation map is configured with position information of a stop, and the stop is used for power supply or stop of the self-mobile device,
    相应的，corresponding,
    所述目标位置点包括停靠站位置，或，与所述停靠站位置相距预设距离的位置点，所述预设距离根据所述停靠站的充电方式和/或对接方式确定。The target location point includes a docking station location, or a location point at a preset distance from the docking station location, and the preset distance is determined according to a charging mode and/or a docking mode of the docking station.
  10. 根据权利要求7所述的方法，其特征在于，规划所述自移动设备从所述当前位置点至所述目标位置点的行进路径，包括：The method according to claim 7, wherein planning the travel path of the mobile device from the current location point to the target location point comprises:
    获取所述当前位置点与目标位置点之间的直线路径；Acquiring a straight path between the current position point and the target position point;
    判断所述直线路径上是否存在无效点，所述无效点包括所述预设作业地图中预先配置的所述自移动设备无法有效通过的点以及所述预设作业地图以外的点；Judging whether there are invalid points on the straight path, the invalid points including pre-configured points in the preset operation map that the self-mobile device cannot effectively pass through and points outside the preset operation map;
    当所述直线路径上不存在无效点时，将所述直线路径确定为所述自移动设备从所述当前位置点至所述目标位置点的行进路径。When there is no invalid point on the straight path, the straight path is determined as the travel path of the self-mobile device from the current location point to the target location point.
  11. 根据权利要求10所述的方法，其特征在于，判断所述直线路径上是否存在无效点，还包括：The method according to claim 10, characterized in that judging whether there is an invalid point on the straight path, further comprising:
    当所述直线路径上存在无效点时，则根据所述预设作业地图获取所述无效点所在的无效点区域；When there is an invalid point on the straight path, acquiring the invalid point area where the invalid point is located according to the preset operation map;
    根据所述无效点区域重新规划所述行进路径，使得重新规划后的行进路径至少部分地偏离所述直线路径以避开所述无效点区域。The travel path is re-planned according to the invalid point area, so that the re-planned travel path deviates at least partially from the straight path to avoid the invalid point area.
  12. 一种自移动设备，其特征在于，所述自移动设备在预设作业区域中行走和/或工作，所述预设作业区域至少包括第一作业区域和第二作业区域，所述自移动设备包括：A self-moving equipment, characterized in that the self-moving equipment walks and/or works in a preset work area, the preset work area includes at least a first work area and a second work area, and the self-mobile equipment include:
    机身；body;
    工作装置，配置为安装于所述机身，用于执行预定工作；A working device configured to be installed on the fuselage for performing predetermined work;
    行走装置，配置为安装于所述机身，用于带动所述自移动设备行走；A walking device configured to be installed on the body and used to drive the self-moving device to walk;
    驱动装置，配置为安装于所述机身，用于为所述自移动设备执行预定工作以及行走提供驱动力；A driving device configured to be installed on the body and used to provide driving force for the self-moving device to perform predetermined tasks and walk;
    控制装置，电性连接并且控制所述驱动装置，以实现所述自移动设备在预设作业区域中的自动行走和/或自动工作；A control device is electrically connected to and controls the driving device to realize automatic walking and/or automatic operation of the self-moving device in a preset work area;
    存储模块，用于存储预设作业地图；Storage module for storing preset job maps;
    所述自移动设备还包括：The self-moving device further includes:
    位置获取模块，用于获取所述自移动设备的当前位置点，所述当前位置点位于所述第一作业区域；A location acquiring module, configured to acquire the current location point of the self-mobile device, the current location point being located in the first work area;
    位置确定模块，用于根据所述预设作业地图按照预设规则自动确定所述自移动设备的目标位置点，所述目标位置点位于所述第二作业区域；A location determining module, configured to automatically determine a target location point of the self-mobile device according to a preset rule according to the preset job map, where the target location point is located in the second job area;
    路径生成模块，用于基于所述当前位置点、所述预设作业地图规划所述自移动设备从所述当 前位置点至所述目标位置点的行进路径，其中，多次规划的所述行进路径与所述第一作业区域边界的交点不同，和/或，多次规划的所述行进路径与所述第二作业区域边界的交点不同；A path generation module, configured to plan a travel path from the mobile device from the current location point to the target location point based on the current location point and the preset operation map, wherein the travel planned multiple times The intersection of the path and the boundary of the first work area is different, and/or the intersection of the travel path planned multiple times and the boundary of the second work area is different;
    所述控制装置控制所述自移动设备沿着所述行进路径从所述当前位置点行走至所述目标位置点。The control device controls the self-moving device to walk from the current location point to the target location point along the travel path.
  13. 一种路径规划设备，其特征在于，所述路径规划设备包括处理器及用于存储处理器可执行指令的存储器，所述指令被所述处理器执行时实现：A path planning device, characterized in that the path planning device includes a processor and a memory for storing executable instructions of the processor, and the instructions are implemented when the instructions are executed by the processor:
    获取所述自移动设备的当前位置点，所述当前位置点位于第一作业区域；Acquiring the current location point of the self-mobile device, where the current location point is located in the first work area;
    基于存储的预设作业地图按照预设规则自动确定目标位置点，所述目标位置点位于第二作业区域；Automatically determining a target location point based on the stored preset operation map according to a preset rule, where the target location point is located in the second operation area;
    基于所述当前位置点、所述预设作业地图规划所述自移动设备从所述当前位置点至所述目标位置点的行进路径，其中，多次规划的所述行进路径与所述第一作业区域边界的交点不同，和/或，多次规划的所述行进路径与所述第二作业区域边界的交点不同；The travel path of the mobile device from the current location point to the target location point is planned based on the current location point and the preset job map, wherein the travel path planned multiple times is the same as the first The intersection points of the boundary of the work area are different, and/or the intersection points of the travel path planned multiple times and the boundary of the second work area are different;
    控制所述自移动设备沿着所述行进路径从所述当前位置点行走至所述目标位置点。Controlling the self-moving device to walk from the current location point to the target location point along the travel path.
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