CN109491397A - Grass-removing robot and its mowing regional assignment method - Google Patents
Grass-removing robot and its mowing regional assignment method Download PDFInfo
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- CN109491397A CN109491397A CN201910035240.8A CN201910035240A CN109491397A CN 109491397 A CN109491397 A CN 109491397A CN 201910035240 A CN201910035240 A CN 201910035240A CN 109491397 A CN109491397 A CN 109491397A
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- 238000005520 cutting process Methods 0.000 claims abstract description 27
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
Abstract
The invention discloses a kind of mowing regional assignment methods, this method comprises: obtaining the position feature parameter of grass-removing robot；The image on the spot on lawn in the grass-removing robot region is obtained according to the position feature parameter；The display image on the spot, and obtain the field feedback returned based on the image on the spot；The target area that the grass-removing robot is mowed is determined according to the field feedback.The invention also discloses a kind of grass-removing robots.The present invention is directed to improve the regional assignment efficiency of grass-removing robot, the different lawn patterns cut in demand customization region can be cut according to the difference of user, diversified cut the demand of cutting to meet.
Description
Technical field
The present invention relates to automation equipment field more particularly to mowing regional assignment method and grass-removing robots.
Background technique
With the development of science and technology, automation equipment gos deep into the life of the mankind, production.It is small in park, golf course, house
Equal regions, in order to improve the pruning efficiency on lawn, are not necessarily at present in area or villa in order to which beauty usually has large stretch of lawn
The grass-removing robot of Manpower operating.
The mowing region of grass-removing robot determines at present, general by manually burying boundary line, the area that boundary line is enclosed
The mowing region that domain is run as grass-removing robot.However, such mode inefficiency, limits grass-removing robot according to difference
The demand of cutting of cutting flexibly use.
Above content is only used to facilitate the understanding of the technical scheme, and is not represented and is recognized that above content is existing skill
Art.
Summary of the invention
The main purpose of the present invention is to provide a kind of mowing regional assignment methods, it is intended to improve the region of grass-removing robot
Efficiency delimited, demand of cutting can be cut according to the difference of user customizes and delimit mowing region, diversified cut the demand of cutting to meet.
To achieve the above object, the present invention provides a kind of mowing regional assignment method, the mowing regional assignment method packet
Include following steps:
Obtain the position feature parameter of grass-removing robot；
The image on the spot on lawn in the grass-removing robot region is obtained according to the position feature parameter；
The display image on the spot, and obtain the field feedback returned based on the image on the spot；
The target area that the grass-removing robot is mowed is determined according to the field feedback.
Optionally, the position feature parameter includes satellite positioning information, described to be obtained according to the position feature parameter
The step of image on the spot on lawn, includes: in the grass-removing robot region
The corresponding satellite map of the satellite positioning information is obtained, as lawn in the grass-removing robot region
Image on the spot.
Optionally, the described the step of target area that the grass-removing robot is mowed is determined according to the field feedback
Include:
The initial target region that the grass-removing robot is mowed is determined according to the field feedback, as the firstth area
Domain；
Obtain the first control instruction of user's input；
The grass-removing robot movement is controlled according to first control instruction, and obtains the first of the grass-removing robot
Motion profile；
Second area is generated according to first motion profile；
Compare the provincial characteristics parameter of the first area and the second area；
When the provincial characteristics parameter meets preset condition, using the first area as the target area.
Optionally, provincial characteristics parameter may particularly include regional location characteristic point, region area and region shape, the ratio
The step of provincial characteristics parameter of the first area and the second area includes:
The difference in areas for determining the region area of the first area and the region area of the second area determines described
The similarity of the region shape of the region shape in one region and the second area, determines the position feature point of the first area
First distance between the position feature point of the second area；
It is described when the provincial characteristics parameter meets preset condition, using the first area as the target area
Step includes:
When the difference in areas be less than or equal to preset area difference threshold value, and, the similarity be greater than or equal to preset it is similar
Threshold value is spent, and, when the first distance is less than or equal to the first pre-determined distance threshold value, it is pre- to determine that the provincial characteristics parameter meets
If condition, using the first area as the target area.
Optionally, described that initial target region that the grass-removing robot is mowed is determined according to the field feedback
Step includes:
Extract the zone boundary identification information in the field feedback；
The initial target region is generated according to the zone boundary identification information.
Optionally, the zone boundary identification information includes mowing zone boundary identification information and barrier zone boundary marking
Information, it is described according to the zone boundary identification information generate the initial target region the step of include:
User is generated according to mowing zone boundary identification information and selectes mowing region, according to the barrier zone boundary
Identification information dyspoiesis marked region；
Mowing region is selected according to the user and the obstacle marking region determines the initial target region.
Optionally, described according to the mowing regional edge boundary mark when mowing zone boundary identification information is figure line
Knowing the step of information generation user selectes mowing region includes:
Judge whether the figure line is enclosed closed area；
If the figure line is not enclosed closed area, when the figure line is a lines, the two of the figure line are determined
Second distance between a endpoint；
When the second distance is less than or equal to the second pre-determined distance threshold value, described two endpoints are connected using line segment,
Mowing region is selected as the user in the closed area that the line segment and the figure line are enclosed.
Optionally, image, and the field feedback that acquisition is returned based on the image on the spot on the spot described in the display
The step of before, further includes:
Whether the picture quality of the judgement image on the spot meets preset requirement；
If satisfied, then executing described in the display image on the spot, and it is anti-to obtain the user returned based on the image on the spot
The step of feedforward information；
If not satisfied, then obtaining the second control instruction of user's input；
The grass-removing robot movement is controlled according to second control instruction, and obtains the second of the grass-removing robot
Motion profile；
The target area is determined according to second motion profile.
Optionally, image, and the field feedback that acquisition is returned based on the image on the spot on the spot described in the display
The step of after, further includes:
It obtains the current track of the grass-removing robot and generates mode；
When the current track of the grass-removing robot, which generates mode, is in first mode, the field feedback is extracted
In user's specified path；
The driving path of the grass-removing robot is determined according to user's specified path；
When the current track of the grass cutter, which generates mode, is in second mode, execute described anti-according to the user
Feedforward information determines the step of target area that the grass-removing robot is mowed；
The driving path of the grass-removing robot is generated in the target area according to preset rules.
In addition, to achieve the above object, the present invention also provides a kind of grass-removing robot, the grass-removing robot includes:
Control device, the control device include: memory, processor and are stored on the memory and can be described
The mowing regional assignment program run on processor is realized as above when the mowing regional assignment program is executed by the processor
The step of described in any item mowing regional assignment methods；
Mowing-apparatus, the mowing-apparatus are used to carry out cutting operation in the target area that the control device determines.
A kind of mowing regional assignment method that the embodiment of the present invention proposes, is obtained by the position feature parameter of grass-removing robot
The image on the spot on lawn in its region is taken, image will be shown on the spot, user, can be according to cutting after seeing image on the spot
It cuts demand input and instructs mowing region and/or the non-mowing region etc. specified in lawn, obtain user and inputted based on image on the spot
Instruction form field feedback, according to field feedback determine grass-removing robot mow target area, this process without
It need to be manually laid with boundary, the identified target area mowed can be made to meet the demand of cutting of cutting of user, improve grass-removing robot
Regional assignment efficiency, and user can cut demands of cutting according to difference and customize and delimit virtual mowing region, farthest
Play user Creative spaces so that grass-removing robot can flexibly adapt to it is diversified cut the demand of cutting, produce different pattern
Lawn picture.
Detailed description of the invention
Fig. 1 is the hardware structural diagram of grass-removing robot of the embodiment of the present invention；
Fig. 2 is the hardware structural diagram of control device in the embodiment of the present invention；
Fig. 3 is the first pass schematic diagram of mowing regional assignment embodiment of the method for the present invention；
Fig. 4 is the second procedure schematic diagram of mowing regional assignment embodiment of the method for the present invention；
Fig. 5 is the third flow diagram of mowing regional assignment embodiment of the method for the present invention；
Fig. 6 is the 4th flow diagram of mowing regional assignment embodiment of the method for the present invention；
Fig. 7 is the 5th flow diagram of mowing regional assignment embodiment of the method for the present invention；
Fig. 8 is the 6th flow diagram of mowing regional assignment embodiment of the method for the present invention.
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific embodiment
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
The primary solutions of the embodiment of the present invention are: obtaining the position feature parameter of grass-removing robot；According to institute's rheme
Set the image on the spot that characteristic parameter obtains lawn in the grass-removing robot region；The display image on the spot, and obtain
The field feedback returned based on the image on the spot；Determine that the grass-removing robot is mowed according to the field feedback
Target area.
Due to the prior art, the mowing boundary of grass-removing robot, such side delimited by way of manually burying boundary line
Formula inefficiency, high failure rate are easy to damage, it is difficult to repair and find out fault point, and limit grass-removing robot and cut according to different
Demand is cut flexibly to use.
The present invention provides a solution, this process is laid with boundary without artificial, by cell phone application or Computer table top,
The working line in the boundary figure and domain of needs is made, robot is sent to, the identified target area mowed can be made
Meet user cuts the demand of cutting, and improves the regional assignment efficiency of grass-removing robot, reduces many hardware facilities and (such as sunkens cord, position
Identification point etc.), many out of order probabilities are reduced, save the initial installation trouble of user and worries, and user can foundation
Difference cuts demand of cutting and customizes the virtual mowing region of delimitation, the Creative spaces of user is farthest played, so that grass trimmer
Device people can flexibly adapt to diversified cut the demand of cutting.
The present invention proposes a kind of grass-removing robot.Grass cutter is artificially not necessarily to manual control, automatically to target area in lawn
Grass in domain carries out cutting the automation equipment cut.
In embodiments of the present invention, referring to Fig.1, grass-removing robot may particularly include: mowing-apparatus 100, control device
200, positioning device 300, image collecting device 400, driving device 500 etc..
Wherein, mowing-apparatus 100 is connect with control device 200, for the mesh determined by control device 200 when opening
Mark cut cutting in region to grass.
Positioning device 300, can respectively with control device 200, global positioning system (GPS) or Beidou satellite navigation system
(BDS) connection and charging pile in locating module connection.Control device 200 can get grass cutter from positioning device 300
The position feature parameter of people position, control device 200 can determine grass-removing robot according to acquired position feature parameter
The target area of mowing.Charging pile is generally set to region near lawn boundary or lawn, and locating module can also be with global location
System or Beidou satellite navigation system connection.The position feature parameter of locating module is established benchmark as zero point and is sat using in charging pile
Mark system can determine grass cutter by comparing the position feature parameter of positioning device 300 and the position feature parameter of locating module
The current location of people.The boundary of the target area determined in control device 200 can determine corresponding coordinate in the frame of reference,
According to the operation of identified coordinate limitation grass-removing robot, make current location of the grass-removing robot when mowing without departing from target
The boundary in region.
Driving device 500 is connect with control device 200, for realizing the movement and stopping of grass-removing robot.
Image collecting device 400 is connect with control device 200, for scene around capturing in grass-removing robot movement
Image.
Referring to Fig. 2, control device 200 can include: processor 2001 (such as CPU), memory 2002 etc..Processor 2001
It is connect with memory 2002, memory 2002 can be high speed RAM memory, be also possible to stable memory (non-
Volatile memory), such as magnetic disk storage.Memory 2002 optionally can also be independently of aforementioned processor 2001
Storage device.
Control device 200 can respectively with mowing-apparatus 100, positioning device 300, image collecting device 400, driving device
500 equal connections.Control device 200 can obtain required information from positioning device 300, image collecting device 400, and according to really
The operation of fixed target area control mowing-apparatus 100 and driving device 500.
In addition, control device 200 is also connect with human-computer interaction device's (such as computer, mobile phone), control device 200 can will be cut
The image transmitting on the spot on lawn is to human-computer interaction device in careless robot region, and obtains human-computer interaction device and be based on the spot
The field feedback that image returns.
It will be understood by those skilled in the art that the restriction of apparatus structure shown in Figure 2 not structure twin installation, can wrap
It includes than illustrating more or fewer components, perhaps combines certain components or different component layouts.
It should be noted that control device 200 can be the built-in functional module with grass-removing robot；Furthermore control device
200 are independently of the remote control equipment of grass-removing robot setting, are connect between grass-removing robot by wireless communication module.
As shown in Fig. 2, as may include mowing regional assignment journey in a kind of memory 2002 of computer storage medium
Sequence.In control device 200 shown in Fig. 2, processor 2001 can be used for calling the mowing region stored in memory 2002
Program delimited, and executes the correlation step operation of following mowing regional assignment method.
The embodiment of the present invention also provides a kind of mowing regional assignment method.
Referring to Fig. 3, in the embodiment for proposing mowing regional assignment method of the present invention, the mowing regional assignment method packet
It includes:
Step S10 obtains the position feature parameter of grass-removing robot；
Position feature parameter is the characterization parameter of the position where grass-removing robot, may particularly include satellite positioning information,
It may also comprise coordinate information etc. of the grass-removing robot in the frame of reference.Wherein, the frame of reference can be set to lawn or grass
The coordinate system that charging pile position near level ground is pre-established by origin.
Wherein, before step S10, user is cut in the lawn cut needed for being placed on grass-removing robot or required cut is cut
Near lawn.At the target area for needing to customize grass-removing robot, user can be logged in and be cut by terminals such as mobile phone or computers
The careless associated default application of robot, sending instruction by default application makes grass-removing robot enter mowing regional assignment mode.
Control device 200 executes step S10 when detecting the current mode of grass-removing robot is mowing regional assignment mode.
Step S20 obtains the figure on the spot on lawn in the grass-removing robot region according to the position feature parameter
Picture；
Specifically, when position feature parameter may include satellite positioning information, step S20 can include:
Step S21 obtains the corresponding satellite map of the satellite positioning information, as the grass-removing robot region
The image on the spot on interior lawn.
Satellite positioning information can be specially longitude information and latitude information of grass-removing robot position etc..It can will mow
The satellite positioning information of robot is sent to the supply terminal (such as Google Earth) of satellite map, to obtain satellite positioning information
Corresponding satellite map, acquired satellite map include the lawn image in grass-removing robot region, may also include this
Ambient image around lawn.Directly as the image on the spot on lawn in grass-removing robot region.
In addition, in the grass-removing robot region image on the spot on lawn can also by independently of grass-removing robot with
Other outer image collecting devices 400 (such as with the aircraft of image collecting function) are captured.Wherein, grass-removing robot
Position and the coverage of image collecting device 400 can be fitted in the frame of reference pre-established, mow obtaining
After coordinate of the robot in the frame of reference, it can adjust the coverage of image collecting device 400, make the seat of grass-removing robot
Mark in coverage in the corresponding region of the frame of reference, using 400 acquired image of image collecting device as mow
The image on the spot on lawn in robot region.
Step S30, the display image on the spot, and obtain the field feedback returned based on the image on the spot；
Image on the spot is sent in the human-computer interaction device's (such as computer, mobile phone) for being equipped with default application, and controlled
Default application shows image on the spot.
After user views image on the spot in the default application of human-computer interaction device, can determine whether on the spot image whether include
Specified corresponding image-region of mowing range needed for it, if do not include or user needed for the image district of mowing range specified
Domain only has part to be located on the spot in image, in order to better meet user's customized demand, user can in default application input bit
Corrected parameter is set, target position parameter is determined according to position feature parameter and position correction parameter, according to target position parameter weight
It is new to obtain the image on the spot on lawn in grass-removing robot region and show.
If in shown image on the spot having included the corresponding image-region of mowing range specified needed for user, Yong Huke
By default application input instruction to select the partial region of lawn image in image on the spot and specify the spy in selected region
Property, default apply can instruct generation field feedback according to the input of user after the input instruction for receiving user and send
To control device 200.Specifically, the characteristic in selected region may include that user selectes mowing region or user selectes non-mowing
Region etc..
It, can be according to the mowing region cut in the demand of cutting when user needs cut to a certain partial region in lawn and cut
Input different instructions with the regional characteristics in non-mowing region, for example, ought cut needed for the lawn in image on the spot the region cut compared with
It is concentration or shape compared with it is not necessary that when cutting the region shape cut rule, it is selected real that user can input instruction by default application
Image-region corresponding to the partial region selectes mowing region as user in ground image；In addition, grass that ought on the spot in image
When level ground only has fraction not need to cut and cut, user can also pass through the portion in the default selected image on the spot of application input instruction
Other image-regions other than image-region corresponding to subregion select non-mowing region as user；In addition, image on the spot
In lawn partial region need to cut and cut and the partial region is there are when barrier, user can be defeated by default application
Enter in the selected image on the spot of instruction image-region corresponding to the partial region as the selected mowing region of user, while can pass through
Default application input instruction is selected in mowing region in user marks image-region corresponding to barrier to form obstacle marking area
Non- mowing region is selected as user in domain.
Step S40 determines the target area that the grass-removing robot is mowed according to the field feedback.
It extracts the user in field feedback and selectes mowing region and/or user and select non-mowing region, according to being mentioned
User selectes mowing region in the image on the spot taken and/or user selectes non-mowing region and determines the target that grass-removing robot is mowed
Region.Specifically, user can be selected to mowing region as target area, user can also be selected to the reality other than non-mowing region
Lawn region in ground image is as target area, and can also selecting mowing region in user, with user to select non-mowing region Chong Die
When, user is selected into the region in mowing region in addition to user selectes non-mowing region as target area.
After determining target area, can according to target area on the boundary in image on the spot each point relative to grass cutter
Coordinate of the distance and grass-removing robot of people in the frame of reference, determines the boundary of target area in the frame of reference
A series of boundary coordinate points.The operation rail of grass-removing robot can be generated according to preset rules in the region that boundary coordinate point encloses
Mark, and control grass-removing robot and mow according to running track generated.In addition, directly boundary coordinate point can also be limited
Range of operation during grass-removing robot is mowed guarantees the grass-removing robot current seat in the frame of reference in the process of running
Mark the region being enclosed without departing from boundary coordinate point.
Wherein, user can also specify the mowing height of the target area by default application.Different target region can correspond to
There is different mowing heights.Therefore, mowing height corresponding to target area in field feedback can be analyzed, is determining target
Behind region, control grass-removing robot according to the running track that is generated along target area of corresponding mowing height carry out mowing behaviour
Make.
A kind of mowing regional assignment method proposed in the present embodiment, is obtained by the position feature parameter of grass-removing robot
The image on the spot on lawn in its region is taken, image will be shown on the spot, user, can be according to cutting after seeing image on the spot
It cuts demand input and instructs mowing region and/or the non-mowing region etc. specified in lawn, obtain user and inputted based on image on the spot
Instruction form field feedback, according to field feedback determine grass-removing robot mow target area, this process without
It need to be manually laid with boundary, the identified target area mowed can be made to meet the demand of cutting of cutting of user, improve grass-removing robot
Regional assignment efficiency, and user can cut demands of cutting according to difference and customize and delimit virtual mowing region, farthest
The Creative spaces of user are played, so that grass-removing robot can flexibly adapt to diversified cut the demand of cutting.Wherein, position feature is joined
Number is preferably satellite positioning information, can realize grass-removing robot place without additionally configuring other image capture devices
The acquisition of the image on the spot on lawn in region.
Further, the step of the target area that the grass-removing robot mowing is determined according to the field feedback
Suddenly include:
Step S41 determines the initial target region that the grass-removing robot is mowed according to the field feedback, as
First area；
It extracts the user in field feedback and selectes mowing region and/or user and select non-mowing region, according to being mentioned
User selectes mowing region in the image on the spot taken and/or user selectes non-mowing region and determines grass-removing robot is mowed first
Region.Specifically, user can be selected to mowing region as first area, user can also be selected to the reality other than non-mowing region
Lawn region in ground image is as first area, and can also selecting mowing region in user, with user to select non-mowing region Chong Die
When, user is selected into the region in mowing region in addition to user selectes non-mowing region as first area.
After obtaining first area, controllable preset enters range check mode using grass-removing robot, in range check
In mode, only first area verification passes through the target area that just first area is mowed as grass-removing robot, if the firstth area
Domain verification is by that then can not issue the user with prompt information by default application, with the accurate of target area determined by guarantee
Property.
Step S42 obtains the first control instruction of user's input；
In range check mode, user can be by the first control instruction of default application input to control grass-removing robot edge
The Boundary motion in mowing region needed for user.First control instruction may particularly include advance, retreat, turns left, turning right, stop
Only equal instruction.It should be noted that the mowing-apparatus 100 of grass-removing robot is in close state in range check mode, it will not
It mows.
Step S43 controls the grass-removing robot according to first control instruction and moves, and obtains the grass cutter
The first motion profile of people；
Control device 200 controls grass-removing robot according to the first control instruction and moves in lawn.It is pressed in grass-removing robot
During according to the operation of the first control instruction, the position feature parameter of grass-removing robot is persistently obtained, grass-removing robot is obtained
First motion profile.
Step S44 generates second area according to first motion profile；
First motion profile of grass-removing robot based on the region being enclosed under the coordinate system of global positioning system or
The region that first move contrail fitting of grass-removing robot is enclosed into the frame of reference can be used as second area.
The provincial characteristics parameter of step S45, the first area and the second area；
It should be noted that the provincial characteristics parameter of first area and second area should be fitted in same referential and carry out
Compare, as compared in the frame of reference or comparing first area and second in the corresponding coordinate system of global positioning system
The provincial characteristics parameter in region.Provincial characteristics parameter may particularly include regional location characteristic point, region area and/or region shape
Deng.The step of comparing the provincial characteristics parameter of the first area and the second area may particularly include: determine described first
The difference in areas of the region area of the region area in region and the second area, and/or, determine the region shape of the first area
The similarity of the region shape of shape and the second area, and/or, determine the position feature point and described the of the first area
First distance etc. between the position feature point in two regions.
Wherein, position feature point can be chosen according to actual needs.For example, first area and the secondth area can be identified respectively
The midpoint in domain as position feature point, can also by the boundary on the boundary of first area and second area in same rectilinear direction
It is adjacent and apart from farthest two o'clock as position feature point.
Step S46, when the provincial characteristics parameter meets preset condition, using the first area as the target area
Domain.
When the difference in areas is less than or equal to preset area difference threshold value, and/or, when the similarity is greater than or equal in advance
If when similarity threshold, and/or, when the first distance is less than or equal to the first pre-determined distance threshold value, determine the region
Characteristic parameter meets preset condition, using the first area as the target area.
In the present embodiment, after determining that initial target region obtains first area according to field feedback, Yong Huke
It runs to form second area according to the target area boundaries cut are cut needed for it by issuing the first control instruction, by comparing first
Whether the provincial characteristics parameter in region and second area, verifying first area match with the practical mowing demand of user, work as area
When characteristic of field parameter meets preset condition, shows that first area is matched with the practical mowing demand of user, just make first area
For the target area that grass-removing robot is mowed, to guarantee the accuracy of delimited target area.
Wherein, provincial characteristics parameter preferably includes regional location characteristic point, region area and region shape, first
When region is all satisfied corresponding preset condition with regional location characteristic point, region area and the region shape of second area, just will
First area is as target area；Regional location characteristic point, region area and region shape in first area and second area
At least one of when being unsatisfactory for corresponding preset condition, prompt information can be issued the user with, user is prompted to be based on scheming on the spot again
It is selected as carrying out region, to further increase the accuracy of delimited target area.
Specifically, the initial target region that the grass-removing robot mowing is determined according to the field feedback
Step includes:
Step S411 extracts the zone boundary identification information in the field feedback；
When user is based on showing that image progress region is selected, forming region can be instructed especially by default application input control
Boundary marking information.The type of zone boundary identification information may particularly include user based on image on the spot along its selected region
Point, figure line or the frame etc. of boundary interval label.Therefore, it may particularly include zone boundary mark letter in field feedback
Breath.Wherein, the selection area of different zones characteristic corresponds to different zone boundary identification informations, such as user selectes mowing region
Corresponding first area boundary marking information, user select non-mowing region and correspond to second area boundary marking information.Therefore, user
Feedback information may also include the zone boundary identification information of different zones characteristic.
Step S412 generates the initial target region according to the zone boundary identification information.
Specifically, when zone identification information zone boundary identification information corresponding for the selected mowing region of user, according to
Identification information fitting in zone boundary generates a closed area as initial target region；When zone identification information be user select it is non-
When the corresponding zone boundary identification information in mowing region, it is fitted according to zone boundary identification information and generates a closed area, it will be real
Region in ground image other than the closed area is as initial target region.If in field feedback including different zones characteristic
Zone boundary identification information (as simultaneously included that user selectes mowing region and user and selectes the corresponding regional edge in non-mowing region
When boundary's identification information), corresponding closed area, root can be generated according to different zones characteristic corresponding region boundary marking information respectively
Initial target region is determined according to closed area generated.
By the above-mentioned means, user can directly delimit the corresponding region of mowing range generation needed for it on the spot in image
Boundary marking information extracts the zone boundary identification information in field feedback to determine initial target region, to realize
Target area can flexibly be delimited according to user demand.
Specifically, the zone boundary identification information includes mowing zone boundary identification information and barrier zone referring to Fig. 5
Boundary marking information, it is described according to the zone boundary identification information generate the initial target region the step of include:
Step S4121 generates user according to mowing zone boundary identification information and selectes mowing region, according to the barrier
Hinder zone boundary identification information dyspoiesis marked region；
Corresponding closed area is generated according to mowing zone boundary identification information, closed area generated is carried out smooth
The processing such as boundary form user and select mowing region；Corresponding closed area is generated according to barrier zone boundary marking information, it will
Closed area generated carries out the processing such as smooth boundary and forms obstacle marking region.
Mowing zone boundary identification information and barrier zone boundary marking information can be all along zone boundary spaced markings
Point, figure line or frame etc..In addition, mowing zone boundary identification information and barrier zone boundary marking information can also be according to reality
Demand is set as different types, and if mowing zone boundary identification information can be mark point, barrier zone boundary marking information can
For figure line etc..
Step S4122 selectes mowing region according to the user and the obstacle marking region determines the initial target
Region.
Wherein, it may be determined that user is selected mowing area by the overlapping region in obstacle marking region and the selected mowing region of user
Other regions of domain in addition to overlapping region are as initial target region.
By the above-mentioned means, user can intuitively be judged the barrier in lawn and is marked by image on the spot,
On the one hand the accuracy of initial target region determined by can guarantee, to improve the accurate of subsequent grass-removing robot path planning
Property；On the other hand the accuracy for improving grass-removing robot obstacle identification, guarantees the stable of grass-removing robot.
Specifically, referring to Fig. 6, it is described according to the mowing area when mowing zone boundary identification information is figure line
Domain boundary marking information generate user select mowing region the step of include:
Step S401, judges whether the figure line is enclosed closed area；
If not enclosing closed area, S402, step S403 are thened follow the steps；If enclosing closed area, step is executed
Rapid S404.
Step S402 determines the second distance between two endpoints of the figure line when the figure line is a lines；
When figure line is a lines, it can recognize two endpoints of the figure line and calculate the second distance between two-end-point.
Step S403, when the second distance is less than or equal to the second pre-determined distance threshold value, connected using line segment described in
Mowing region is selected as the user in two endpoints, the closed area that the line segment and the figure line are enclosed.
Mowing region is selected as the user in step S404, the closed area that figure line is enclosed.
Second preset threshold can be configured according to actual demand.When figure line is a lines but does not enclose enclosed area
Domain shows that user at defined area on image on the spot, may cause its defeated due to the influence of the deviation or other factors of operation
The mowing zone boundary identification information entered cannot form to cut to cut with it and require to be bonded closed area completely.Therefore, it need to judge second
Whether distance is less than or equal to the second pre-determined distance threshold value, if second distance is less than or equal to the second pre-determined distance threshold value, can recognize
The region shape of the closed area formed after joining two endpoints for use line segment can meet cutting for user and cut requirement, can incite somebody to action at this time
Mowing region is selected as the user in the closed area that the line segment and the figure line are enclosed；If second distance is greater than the
Two pre-determined distance threshold values, it is believed that even if using the two-end-point of line segment connection figure line, needed for obtained closed area and user
Mowing region shape differ greatly.Capable of emitting prompt information prompt user re-enters instruction and carries out regional assignment at this time.It is logical
Cross the accuracy that aforesaid way guarantees the target area finally delimited.
If figure line is a plurality of lines, capable of emitting prompt information prompt user re-enters instruction and carries out regional assignment,
It can determine the third distance between the endpoint of adjacent two lines, if all third distances are respectively less than or are equal to second in a plurality of lines
Pre-determined distance threshold value then can be used line segment and the endpoint of adjacent two lines join end to end, the closed area conduct being enclosed
User selectes mowing region.
In addition, when the type of barrier zone boundary marking information be figure line when, can analogy referring to S401 it is true to step S404
Determine obstacle marking region, therefore not to repeat here.
Referring to Fig. 7, image on the spot described in the display, and obtain the field feedback returned based on the image on the spot
The step of before, further includes:
Whether the picture quality of step S01, the judgement image on the spot meet preset requirement；
If satisfied, then executing the step S30, step S40；If not satisfied, thening follow the steps S02, step S03, step
S04。
Specifically, can determine whether the clarity of image on the spot meets default clarity requirement, if satisfied, described in then executing
Step S30, step S40；If not satisfied, thening follow the steps S02, step S03, step S04.
Step S02 obtains the second control instruction of user's input；
When on the spot, the picture quality of image is unsatisfactory for preset requirement, controllable grass-removing robot enters manual debugging region
Mode generates target area according to the second control instruction of user's input and grass-removing robot information collected in this mode
Domain.Specifically, user can be by the second control instruction of default application input to control grass-removing robot along mowing needed for user
The Boundary motion in region.Second control instruction such as may particularly include advance, retreat, turn left, turning right, stopping at the instruction.It needs
Illustrate, the mowing-apparatus 100 of grass-removing robot is in close state in manual debugging region mode, not will do it mowing.
Step S03 controls the grass-removing robot according to second control instruction and moves, and obtains the grass cutter
The second motion profile of people；
Control device 200 controls grass-removing robot according to the second control instruction and moves in lawn, while control device 200
Controllable image collecting device 400 obtains ambient image information.Ambient image information may particularly include ring locating for grass-removing robot
The image of object in border and the depth information of each object etc..In the process that grass-removing robot is run according to the second control instruction
In, the position feature parameter of grass-removing robot is persistently obtained, the second motion profile of grass-removing robot is obtained.
Step S04 determines the target area according to second motion profile.
Second motion profile of grass-removing robot based on the region being enclosed under the coordinate system of global positioning system or
The region that second move contrail fitting of grass-removing robot is enclosed into the frame of reference can be used as target area.
The operation map that grass-removing robot is constructed according to ambient image information, the second motion profile of grass-removing robot is intended
It closes in constructed operation map, the closed area that the second motion profile is enclosed in operation map is as target area.
Target area can show the second motion profile run in map and map after determining, confirm for user.
By the above-mentioned means, can also delimit when the picture quality for being conducive to image on the spot is bad and meet user's mowing demand
Target area, guarantee target area delimit accuracy.
Referring to Fig. 8, image on the spot described in the display, and obtain the field feedback returned based on the image on the spot
The step of after, further includes:
Step S60 obtains the current track of the grass-removing robot and generates mode；
Track, which generates mode, may particularly include first mode and second mode etc..When grass-removing robot is in first mode
When, user can customize the driving path of grass-removing robot；When grass-removing robot is in second mode, control device 200 is pressed
The driving path of grass-removing robot is planned in target area according to preset rules.User can be by default application input instruction to cut
It changes the current track of grass-removing robot and generates mode, and inputted under the track generation mode according to its demand and require phase with cutting to cut
The instruction of symbol generates field feedback.
When the current track of the grass-removing robot, which generates mode, is in first mode, step S70, step S80 are executed.
Step S70 extracts user's specified path in the field feedback；
User can generate user's specified path by modes such as slides in human-computer interaction device in real scene image,
User's specified path generated forms field feedback.Therefore, control device 200 can be anti-from user in the first mode
User's specified path is extracted in feedforward information.
Step S80 determines the driving path of the grass-removing robot according to user's specified path；
Using user's specified path as the driving path of grass-removing robot.It is used specifically, can be determined based on the frame of reference
The coordinate parameters of each point in the specified path of family make grass trimmer according to the traveling of identified coordinate parameters control grass-removing robot
Device people can run according to the path that user specifies.
When the current track of the grass-removing robot, which generates mode, is in second mode, step S40, step S50 are executed.
Step S50 generates the driving path of the grass-removing robot according to preset rules in the target area.
Preset rules can be configured according to actual demand, such as can be generated interval along preset direction in target area and be set
It sets and end to end a plurality of parallel path etc..
Lawn is patterned according to its demand by the above-mentioned means, being conducive to user, further increases grass cutter
The flexibility that people uses meets the diversified demand of user.
In addition, the embodiment of the present invention also proposes a kind of computer readable storage medium, the computer readable storage medium
On be stored with mowing regional assignment program, the mowing regional assignment program is realized when being executed by processor and is cut in embodiment as above
The correlation step of careless regional assignment method operates.
It should be noted that, in this document, the terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that the process, method, article or the system that include a series of elements not only include those elements, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or system institute it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including being somebody's turn to do
There is also other identical elements in the process, method of element, article or system.
The serial number of the above embodiments of the invention is only for description, does not represent the advantages or disadvantages of the embodiments.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side
Method can be realized by means of software and necessary general hardware platform, naturally it is also possible to by hardware, but in many cases
The former is more preferably embodiment.Based on this understanding, technical solution of the present invention substantially in other words does the prior art
The part contributed out can be embodied in the form of software products, which is stored in one as described above
In storage medium (such as ROM/RAM, magnetic disk, CD), including some instructions are used so that terminal device (it can be mobile phone,
Computer, server, air conditioner or network equipment etc.) execute method described in each embodiment of the present invention.
The above is only a preferred embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair
Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills
Art field, is included within the scope of the present invention.
Claims (10)
1. a kind of mowing regional assignment method, which is characterized in that the mowing regional assignment method the following steps are included:
Obtain the position feature parameter of grass-removing robot；
The image on the spot on lawn in the grass-removing robot region is obtained according to the position feature parameter；
The display image on the spot, and obtain the field feedback returned based on the image on the spot；
The target area that the grass-removing robot is mowed is determined according to the field feedback.
2. mowing regional assignment method as described in claim 1, which is characterized in that the position feature parameter includes satellite
Position information, the step that the image on the spot on lawn in the grass-removing robot region is obtained according to the position feature parameter
Suddenly include:
The corresponding satellite map of the satellite positioning information is obtained, on the spot as lawn in the grass-removing robot region
Image.
3. mowing regional assignment method as described in claim 1, which is characterized in that described true according to the field feedback
The step of target area of the grass-removing robot mowing includes: calmly
The initial target region that the grass-removing robot is mowed is determined according to the field feedback, as first area；
Obtain the first control instruction of user's input；
The grass-removing robot movement is controlled according to first control instruction, and obtains the first movement of the grass-removing robot
Track；
Second area is generated according to first motion profile；
Compare the provincial characteristics parameter of the first area and the second area；
When the provincial characteristics parameter meets preset condition, using the first area as the target area.
4. mowing regional assignment method as claimed in claim 3, which is characterized in that provincial characteristics parameter includes regional location spy
The step of the provincial characteristics parameter of sign point, region area and region shape, the first area and the second area
Suddenly include:
The difference in areas for determining the region area of the first area and the region area of the second area determines firstth area
The similarity of the region shape of the region shape in domain and the second area, determines position feature point and the institute of the first area
State the first distance between the position feature point of second area；
It is described when the provincial characteristics parameter meets preset condition, using the first area as the step of the target area
Include:
When the difference in areas is less than or equal to preset area difference threshold value, and, the similarity is greater than or equal to default similarity threshold
Value, and, when the first distance is less than or equal to the first pre-determined distance threshold value, determine that the provincial characteristics parameter meets default item
Part, using the first area as the target area.
5. mowing regional assignment method as claimed in claim 3, which is characterized in that described true according to the field feedback
The step of initial target region of the grass-removing robot mowing includes: calmly
Extract the zone boundary identification information in the field feedback；
The initial target region is generated according to the zone boundary identification information.
6. mowing regional assignment method as claimed in claim 5, which is characterized in that the zone boundary identification information includes cutting
Careless zone boundary identification information and barrier zone boundary marking information, it is described according to zone boundary identification information generation
The step of initial target region includes:
User is generated according to mowing zone boundary identification information and selectes mowing region, according to the barrier zone boundary marking
Information dyspoiesis marked region；
Mowing region is selected according to the user and the obstacle marking region determines the initial target region.
7. mowing regional assignment method as claimed in claim 6, which is characterized in that when mowing zone boundary identification information
It is described the step of user selectes mowing region is generated according to mowing zone boundary identification information to include: when for figure line
Judge whether the figure line is enclosed closed area；
If the figure line is not enclosed closed area, when the figure line is a lines, two ends of the figure line are determined
Second distance between point；
When the second distance is less than or equal to the second pre-determined distance threshold value, described two endpoints are connected using line segment, by institute
It states the closed area that line segment and the figure line are enclosed and selectes mowing region as the user.
8. the mowing regional assignment method as described in any one of claims 1 to 7, which is characterized in that the display reality
Ground image, and before the step of obtaining the field feedback returned based on the image on the spot, further includes:
Whether the picture quality of the judgement image on the spot meets preset requirement；
If satisfied, then executing image, and the user feedback letter that acquisition is returned based on the image on the spot on the spot described in the display
The step of breath；
If not satisfied, then obtaining the second control instruction of user's input；
The grass-removing robot movement is controlled according to second control instruction, and obtains the second movement of the grass-removing robot
Track；
The target area is determined according to second motion profile.
9. the mowing regional assignment method as described in any one of claims 1 to 7, which is characterized in that the display reality
Ground image, and after the step of obtaining the field feedback returned based on the image on the spot, further includes:
It obtains the current track of the grass-removing robot and generates mode；
When the current track of the grass-removing robot, which generates mode, is in first mode, extract in the field feedback
User's specified path；
The driving path of the grass-removing robot is determined according to user's specified path；
When the current track of the grass-removing robot, which generates mode, is in second mode, execute described according to the user feedback
Information determines the step of target area that the grass-removing robot is mowed；
The driving path of the grass-removing robot is generated in the target area according to preset rules.
10. a kind of grass-removing robot, which is characterized in that the grass-removing robot includes:
Control device, the control device include: memory, processor and are stored on the memory and can be in the processing
The mowing regional assignment program run on device is realized when the mowing regional assignment program is executed by the processor as right is wanted
Described in asking any one of 1 to 9 the step of mowing regional assignment method；
Mowing-apparatus, the mowing-apparatus are used to carry out cutting operation in the target area that the control device determines.
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| PCT/CN2019/075140 WO2020147159A1 (en) | 2019-01-14 | 2019-02-15 | Mowing robot and mowing region division method thereof, control device, and storage medium |
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