CN113924857B - Automatic mower, mowing system and processing method of mowing map - Google Patents
Automatic mower, mowing system and processing method of mowing map Download PDFInfo
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- CN113924857B CN113924857B CN202010660128.6A CN202010660128A CN113924857B CN 113924857 B CN113924857 B CN 113924857B CN 202010660128 A CN202010660128 A CN 202010660128A CN 113924857 B CN113924857 B CN 113924857B
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
- G06F3/0484—Interaction techniques based on graphical user interfaces [GUI] for the control of specific functions or operations, e.g. selecting or manipulating an object, an image or a displayed text element, setting a parameter value or selecting a range
- G06F3/04845—Interaction techniques based on graphical user interfaces [GUI] for the control of specific functions or operations, e.g. selecting or manipulating an object, an image or a displayed text element, setting a parameter value or selecting a range for image manipulation, e.g. dragging, rotation, expansion or change of colour
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
- G06F3/0484—Interaction techniques based on graphical user interfaces [GUI] for the control of specific functions or operations, e.g. selecting or manipulating an object, an image or a displayed text element, setting a parameter value or selecting a range
- G06F3/04842—Selection of displayed objects or displayed text elements
Abstract
The present disclosure relates to an automatic lawn mower, a mowing system and a processing method of a mowing map, comprising: the mower comprises a mower main body, wherein a working device with adjustable height and a driving motor for driving the working device to work are arranged on the mower main body; the communication device is used for receiving a mowing map provided with user-defined patterns, and the mowing map comprises a non-pattern area and a user-defined pattern area; a controller for performing the following method: the lawn mower is controlled to mow the non-pattern area and the self-defined pattern area in sequence according to the preset mowing height, the self-defined pattern of the user is received, the position of the self-defined pattern on the mowing map is determined, the self-defined pattern shape is displayed at the corresponding position of the area to be mowed, the diversity and the interestingness of lawn mowing are increased, and the artistic requirements of people on lawn mowing are met.
Description
Technical Field
The disclosure relates to the technical field of automation control, in particular to an automatic mower, a mowing system and a processing method of a mowing map.
Background
Along with the development of science and technology, the robot that mows can be the work of mowing voluntarily, has brought very big facility for people's production and life. However, in the related art, the mowing robot has a single function, only can trim the mowing height, and cannot trim any specified pattern, so that the artistic requirements of people on lawn trimming are difficult to meet.
Disclosure of Invention
To overcome the problems in the related art, the present disclosure provides an automatic lawn mower, a lawn mowing system and a processing method of a lawn mowing map.
According to a first aspect of embodiments of the present disclosure, there is provided an automatic lawn mower comprising:
the mower comprises a mower main body, wherein a working device with adjustable height and a driving motor for driving the working device to work are arranged on the mower main body;
the communication device is used for receiving a mowing map provided with user-defined patterns, and the mowing map comprises a non-pattern area and a user-defined pattern area;
a controller for performing the following method:
and controlling the mower to mow the non-pattern area and the user-defined pattern area in sequence by using the working device according to a preset mowing height.
In one possible implementation, the custom pattern includes hollow portions and non-hollow portions,
the controller is used for controlling the mower to mow the non-pattern area and the user-defined pattern area respectively according to the preset mowing height by utilizing the working device in the execution step, and the controller comprises the following steps:
and controlling the mower to mow the non-pattern area, the hollow part of the custom pattern and the non-hollow part in sequence by using the working device according to a preset mowing height.
In a possible implementation manner, the controller, when the implementing step controls the mower to mow the non-pattern area, the hollow part of the custom pattern, and the non-hollow part in sequence by using the working device according to a preset mowing height, includes:
and controlling the mower to sequentially mow the non-pattern area, the hollow part of the user-defined pattern and the non-hollow part by using the working device according to a preset mowing height.
In one possible implementation manner, when the implementing step controls the lawn mower to mow the non-pattern area and the custom-pattern area in sequence by using the working device according to the preset mowing height, the controller includes:
respectively planning paths of the non-pattern area and the custom pattern area;
and controlling the mower to mow the non-pattern area and the user-defined pattern area in sequence by using the working device according to the planned path and the preset mowing height.
In a possible implementation manner, the control device controls the mower to mow the non-pattern area and the custom-pattern area in sequence according to a preset mowing height by using the working device, and the control device comprises:
when the mower mows a non-pattern area, judging whether the position of the mower is located within the position range of the non-pattern area;
if the position is located in the position range of the non-pattern area, mowing by using the working device according to the mowing height corresponding to the non-pattern area;
under the condition that the mower mows a user-defined pattern area, judging whether the position of the mower is located in the position range of the user-defined pattern area;
and if the position is within the position range of the user-defined pattern, mowing by utilizing the working device according to the mowing height corresponding to the user-defined pattern.
According to a second aspect of the embodiments of the present disclosure, there is provided a processing method of a mowing map, including:
receiving a user-defined pattern input by a user;
setting the custom pattern on a mowing map;
and setting a mowing mark at the position of the custom pattern on the mowing map.
In one possible implementation, the setting the custom pattern on a mowing map includes:
displaying the custom pattern on the mowing map;
and receiving the adjustment of the user to the parameters of the custom pattern.
In one possible implementation, the parameters of the custom pattern include at least one of:
the size of the custom pattern, the relative position of the custom pattern and the mowing map, the direction of the custom pattern, the color of the custom pattern, the highlighting attribute or the recessing attribute of the custom pattern and the mowing height of the custom pattern.
In one possible implementation, the setting the custom design on the mowing map comprises:
smoothing the self-defined pattern;
and setting the smoothed pattern on a mowing map.
In one possible implementation, the setting of a mowing marker at the position of the custom design on the mowing map comprises:
displaying the custom pattern and the mowing map in a user interface;
and determining the actual position of the custom pattern according to the position relation between the custom pattern and the mowing map in a user interface, and setting a mowing mark at the position of the mowing map.
In one possible implementation, after the setting of the mowing mark at the position of the custom design on the mowing map, the method further comprises:
and setting a corresponding relation between the position and the mowing height, wherein the user-defined pattern area corresponds to the non-pattern area at different mowing heights.
In a possible implementation manner, the setting of the corresponding relationship between the position and the mowing height, and the setting of the custom pattern area and the non-pattern area correspond to different mowing heights, includes:
converting the custom pattern into a gray pattern;
and setting a preset corresponding relation between the gray value of the pixel position of the gray pattern and the mowing height, wherein the user-defined pattern corresponds to the non-pattern area at different mowing heights.
In a possible implementation manner, the setting of the corresponding relationship between the position and the mowing height, and the setting of the custom pattern area and the non-pattern area correspond to different mowing heights, includes:
if the custom pattern is in a highlighted attribute, setting the mowing height of the custom pattern to be larger than the mowing height of the non-pattern area;
and if the self-defined pattern is of a concave-convex display attribute, setting the mowing height of the self-defined pattern to be smaller than the mowing height of the non-pattern area.
According to a third aspect of the present disclosure, there is provided an automatic lawnmower comprising:
the mower comprises a mower main body, wherein a working device with adjustable height and a driving motor for driving the working device to work are arranged on the mower main body;
a mowing map processing module configured to perform the following method:
receiving a user-defined pattern input by a user;
setting the self-defined pattern on a mowing map, wherein the mowing map comprises a non-pattern area and a self-defined pattern area;
setting a mowing mark at the position of the custom pattern on the mowing map;
and the controller is electrically connected with the mowing map processing module and is used for controlling the mower to mow the non-pattern area and the user-defined pattern area in sequence by utilizing the working device according to the preset mowing height.
According to a fourth aspect of the present disclosure, there is provided an electronic device comprising:
a memory for storing processor-executable instructions;
a processor for executing the following setting method of the custom pattern:
receiving a user-defined pattern input by a user;
setting the custom pattern on a mowing map;
setting a mowing mark at the position of the custom pattern on the mowing map;
the display is used for displaying the custom pattern and the mowing map;
and the communication module is used for sending the mowing map.
According to a fifth aspect of the present disclosure, there is provided a mowing system comprising:
an electronic device, comprising:
a memory for storing processor-executable instructions;
the processor is used for setting a user-defined pattern on the mowing map;
the display is used for displaying the custom pattern and the mowing map;
the first communication module is used for sending the processed mowing map to the mower;
a lawnmower according to any embodiment of the present disclosure.
The technical scheme provided by the embodiment of the disclosure can have the following beneficial effects: according to the lawn mower, the shape of the self-defined pattern is displayed at the corresponding position of the area to be mowed by receiving the pattern defined by the user and determining the position of the self-defined pattern on the mowing map, so that the diversity and interestingness of lawn mowing are increased, the artistic requirements of people on lawn mowing are met, the working device can be used for mowing the non-pattern area and the self-defined pattern area in sequence according to the preset mowing height, the non-pattern area and the self-defined pattern area correspond to different mowing heights, and the adjusting times of the working device can be reduced at the junction of the non-pattern area and the self-defined pattern area by mowing the non-pattern area and the self-defined pattern area in sequence respectively, so that the cutting height of a lawn is smoother.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the disclosure.
Fig. 1 (a) is an application scenario diagram illustrating a processing method of a mowing map according to an exemplary embodiment.
Fig. 1 (b) is an application scenario diagram illustrating a processing method of a mowing map according to an exemplary embodiment.
Fig. 1 (c) is an application scenario diagram illustrating a processing method of a mowing map according to an exemplary embodiment.
Fig. 1 (d) is an application scenario diagram illustrating a processing method of a mowing map according to an exemplary embodiment.
Fig. 1 (e) is an application scenario diagram illustrating a processing method of a mowing map according to an exemplary embodiment.
Fig. 1 (f) is an application scenario diagram illustrating a processing method of a mowing map according to an exemplary embodiment.
Fig. 1 (g) is an application scenario diagram illustrating a processing method of a mowing map according to an exemplary embodiment.
FIG. 2 is a flow diagram illustrating a method of processing a mowing map, according to an exemplary embodiment.
FIG. 3 is a diagram illustrating an application scenario for an robotic lawnmower, according to an exemplary embodiment.
FIG. 4 is a schematic diagram of an automatic lawn mower, according to an exemplary embodiment.
FIG. 5 is a block diagram illustrating an electronic device in accordance with an example embodiment.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below do not represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
In order to facilitate those skilled in the art to understand the technical solutions provided by the embodiments of the present disclosure, a technical environment for implementing the technical solutions is described below.
Before the mowing robot works, a map of an area to be mowed needs to be built in advance, the boundary of the area to be mowed is determined, and a path planning can be carried out on the area to be mowed, wherein the path planning is composed of a series of ordered position points. And in the working process of the mowing robot, the positioning system is utilized to determine the position of the mowing robot, and the robot can autonomously move according to the planned path by acquiring the position information of the next position point. The mowing robot can autonomously drive according to a planned path, the labor of mowing workers is greatly reduced, however, in some occasions such as parks in holidays and gardens of residents, a lawn needs to be provided with a certain specific pattern to increase the ornamental value and the interestingness of the lawn, manual trimming is still adopted in the related technology, the efficiency is low, and the general requirements of users cannot be met.
Based on the practical technical needs similar to those described above, the present disclosure provides an automatic lawn mower, a mowing system and a processing method of a mowing map.
Fig. 1 (a) to 1 (f) are application scene diagrams illustrating a processing method of a mowing map according to an exemplary embodiment. Referring to fig. 1 (a), a mowing map 101 of an area to be mowed is displayed on the terminal device 100, and options of "pre-pattern", "drawing pattern", and "picture selection" are displayed, and a user determines an input pattern by clicking the above options. For example, a user clicks "prefabricated pattern", referring to fig. 1 (b), various patterns set in advance are displayed on the terminal device 100, and one or more patterns may be manually selected as input patterns; for example, when the user clicks "draw a pattern", referring to fig. 1 (c), the shape of the pattern may be drawn by the brush 103; for another example, when the user clicks "select a picture", as shown in fig. 1 (d), the terminal device 100 displays the electronic album 104, and determines the input pattern by selecting a picture in the electronic album 104, if the pattern in the picture is simple and has only one object, the user does not need to select the picture again, if the pattern in the picture is complex and has a plurality of objects, as shown in fig. 1 (e), the picture includes an object 105 and an object 106, and the two objects can be selected at the same time by "select more" or one of them can be selected. And clicking the 'confirmation' option or clicking the 'reselection' option after the pattern is determined, and reselecting the pattern. After the pattern selection is complete, the user jumps to a new interface, and as shown in FIG. 1 (f), selects the pattern to be presented on the grass, selects a "highlight" option if the desired pattern is to be highlighted on the grass, and selects a "highlight" option if the desired pattern is to be highlighted on the grass. After the pattern attribute setting is completed, the user jumps to a new interface, as shown in fig. 1 (g), the user can perform operations such as moving, zooming, rotating, etc. on the position of the input pattern, such as the object 105, the terminal device 100 also displays the scale, the position relationship, etc. of the pattern and the mowing map 101, the user can reconfirm the pattern through operations such as "delete" and "reselect", and the system automatically configures the position coordinates of the input pattern in the same coordinate system as the mowing map 101 by clicking "confirm", thereby generating a new mowing map. The mowing robot can automatically adjust the cutter disc or the pressing roller when meeting a mowing map, realize the different cutting heights of the lawn in the pattern area and the non-pattern area, and further show the input pattern.
Fig. 3 is a diagram illustrating an application scenario of an automatic lawn mower according to an exemplary embodiment, and referring to fig. 3, a mowing area corresponding to a mowing map 101 is arranged in front of a house 109, the mowing area includes a non-pattern area 110 and a custom-pattern area 105, the non-pattern area 110 and the custom-pattern area 105 are respectively subjected to path planning, and the planned paths are sequentially traveled. The mower 108 may first travel the non-patterned area 110 and adjust the working device to a mowing height corresponding to the non-patterned area 110, such as sequentially traveling the planned routes a-B and the planned routes C-D, and then the mower 108 may continue to travel the custom patterned area 105 and adjust the working device to a mowing height corresponding to the custom patterned area 105, traveling the planned routes E-F.
FIG. 4 is a schematic diagram of an automatic lawn mower, according to an exemplary embodiment. Referring to fig. 4, the method includes:
the mower comprises a mower main body 700, wherein a working device with adjustable height and a driving motor 702 for driving the working device to work are arranged on the mower main body;
the communication device 701 is used for receiving a mowing map provided with user-defined patterns, wherein the mowing map comprises a non-pattern area and a user-defined pattern area;
a controller for performing the following method:
and controlling the mower to mow the non-pattern area and the user-defined pattern area according to a preset mowing height and by utilizing the working device in sequence.
In the disclosed embodiment, the working device may include an impeller, which in one example may be referred to as impeller 502 in fig. 4; the working device may further include a pressure wheel. The cutter disc 502 changes the height of the lawn by cutting, and the pressing wheel presses the small grass by the weight or the driving force of the pressing wheel so as to change the height of the small grass. In one example, the working device may be driven up or down by a drive motor 702 to switch between different mowing heights. In another example, the non-pattern area may be mowed without mowing the custom pattern area to maintain the original height, such that the non-pattern area and the pattern area present different heights.
In an embodiment of the disclosure, the preset mowing height may include a mowing height corresponding to a non-pattern area and a mowing height corresponding to a user-defined pattern area, and the two mowing heights are set to different values in order to present the user-defined pattern on the lawn. In the embodiment of the present disclosure, the communication device 701 is configured to receive a mowing map with a user-defined pattern, and send the mowing map to the controller, and the controller controls the working device to ascend or descend according to a preset mowing height, so as to mow a non-pattern area and a user-defined pattern area in sequence. In one example, the sequence may include mowing the non-patterned area before mowing the custom patterned area, or mowing the custom patterned area before mowing the non-patterned area.
According to the lawn mower, the shape of the self-defined pattern is displayed at the corresponding position of the area to be mowed by receiving the pattern defined by the user and determining the position of the self-defined pattern on the mowing map, so that the diversity and interestingness of lawn mowing are increased, the artistic requirements of people on lawn mowing are met, the working device can be used for mowing the non-pattern area and the self-defined pattern area in sequence according to the preset mowing height, the non-pattern area and the self-defined pattern area correspond to different mowing heights, and the adjusting times of the working device can be reduced at the junction of the non-pattern area and the self-defined pattern area by mowing the non-pattern area and the self-defined pattern area in sequence respectively, so that the cutting height of a lawn is smoother.
In one possible implementation, the custom pattern includes hollow portions and non-hollow portions,
the controller is used for controlling the mower to mow the non-pattern area and the user-defined pattern area respectively according to the preset mowing height by utilizing the working device in the execution step, and the controller comprises the following steps:
and controlling the mower to mow the non-pattern area, the hollow part of the user-defined pattern and the non-hollow part in sequence by using the working device according to a preset mowing height.
In the embodiment of the present disclosure, the self-defined pattern region may include a hollow portion and a non-hollow portion, and referring to the wheel pattern in fig. 1 (b), in order to present the self-defined pattern, the hollow portion and the non-hollow portion need to have different mowing heights. In one example, the mowing height of the hollowed-out portion of the custom pattern is set to H 1 The non-hollow part is set as H 2 The non-pattern region is set to H 3 Said H is 1 May be greater than H 2 May also be smaller than H 2 Said H is 1 Can also be equal to H 3 Said H is 1 Or may not be equal to H 3 . In the embodiment of the disclosure, the sequentially mowing the non-pattern region, the hollow part of the user-defined pattern, and the non-hollow part may include mowing according to the sequence of the non-pattern region, the hollow part of the user-defined pattern, and the non-hollow part, or mowing according to the sequence of the non-pattern region, the non-hollow part of the user-defined pattern, and the hollow part, or may include other permutation and combination sequences of the above three regions, which is not limited in the disclosure.
The utility model discloses mow in proper order the non-pattern region that the height is different, the fretwork part and the non-fretwork part of custom pattern, can reduce the adjustment number of times of equipment at the juncture in two adjacent regions for the cutting height on lawn is more level and more smooth.
In a possible implementation manner, the controller, when the implementing step controls the mower to mow the non-pattern area, the hollow part of the custom pattern, and the non-hollow part in sequence by using the working device according to a preset mowing height, includes:
and controlling the mower to sequentially mow the non-pattern area, the hollow part of the user-defined pattern and the non-hollow part by using the working device according to a preset mowing height.
In the embodiment of the disclosure, when the non-pattern area and the hollow part of the custom pattern have the same mowing height, the mowing pattern is more attractive in effect. Therefore, the non-pattern area, the hollow part of the user-defined pattern and the non-hollow part are sequentially mowed, and in the mowing sequence, the non-pattern area with the same mowing height and the hollow part of the user-defined pattern are placed in an adjacent sequence, so that the adjusting times of the working device can be reduced, and the smoothness of the mowing height is facilitated.
In one possible implementation manner, when the implementing step controls the lawn mower to mow the non-pattern area and the custom-pattern area in sequence by using the working device according to the preset mowing height, the controller includes:
respectively planning paths of the non-pattern area and the user-defined pattern area;
and controlling the mower to mow the non-pattern area and the user-defined pattern area in sequence by using the working device according to the planned path and the preset mowing height.
In the embodiment of the present disclosure, the path planning method may adopt an arcuate path formed by a cattle-ploughing (Boustrophedon) Coverage method, may also adopt a circular path formed by an Internal Spiral Coverage (ISC) method, and may also adopt a Tree-shaped path formed by an STC (spacing Tree Coverage) method, where it should be noted that the generation manner of the planned path is not limited to the above example, and a person skilled in the art may make other changes according to the teaching of the technical spirit of the present application, but as long as the realized functions and effects are the same as or similar to those of the present application, the planned path should be covered within the protection scope of the present application.
The embodiment of the disclosure respectively plans the paths of the non-pattern area and the user-defined pattern area, and sequentially drives the planned path of the non-pattern area and the planned path of the user-defined pattern area, so as to distinguish and plan the path of the whole mowing area, reduce the adjustment times of the working device at the junction of the two areas and enable the cutting height of the lawn to be smoother.
In a possible implementation manner, the controlling the mower to mow the non-pattern area and the custom-pattern area in sequence by using the working device according to the preset mowing height includes:
when the mower mows a non-pattern area, judging whether the position of the mower is located within the position range of the non-pattern area;
if the position is located in the position range of the non-pattern area, mowing by using the working device according to the mowing height corresponding to the non-pattern area;
under the condition that the mower mows a user-defined pattern area, judging whether the position of the mower is located within the position range of the user-defined pattern area;
and if the position is located in the position range of the user-defined pattern, mowing by using the working device according to the mowing height corresponding to the user-defined pattern.
In the embodiment of the disclosure, the mower may be positioned by a satellite positioning manner, such as a signal sent by a GNSS from a combined global navigation satellite system, or may include a signal sent by an independent navigation satellite system, such as a GPS in the united states, a Glonass in russia, a Galileo in europe, and a beidou satellite navigation system in china, and may further include a related augmentation system, such as a WAAS (wide area augmentation system) in the united states, an EGNOS (european geostationary navigation overlay system) in europe, and an MSAS (multi-functional transportation satellite augmentation system) in japan. In one example, if the position of the lawnmower determined by the satellite positioning is not accurate enough, the position may be corrected by other positioning means, such as an inertial navigation system. In one example, the position range of the corrected position of the mower may be determined, and the determining method may include: when the mower mows a non-pattern area, judging whether the position of the mower is located within the position range of the non-pattern area; if the position is located in the position range of the non-pattern area, mowing by using the working device according to the mowing height corresponding to the non-pattern area; under the condition that the mower mows a user-defined pattern area, judging whether the position of the mower is located in the position range of the user-defined pattern area; and if the position is located in the position range of the user-defined pattern, mowing by using the working device according to the mowing height corresponding to the user-defined pattern.
According to the embodiment of the disclosure, whether the current position of the mower is consistent with the range of the mowing area is judged, if so, mowing is performed according to the mowing height corresponding to the mowing area, so that the situation of mistaken mowing caused by positioning error is prevented, in one example, if the position is not in the range of the mowing area, mowing is stopped, the mower is controlled to return to the range of the mowing area, and the mowing area comprises a custom pattern area or a non-pattern area.
FIG. 2 is a flow diagram illustrating a method of processing a mowing map, according to an exemplary embodiment. Referring to fig. 2, the method includes:
step S201, receiving a custom pattern input by a user.
In the embodiment of the disclosure, the custom pattern is used for describing a shape of a pattern to be realized in the lawn area, and the custom pattern can be obtained through various ways such as network downloading, receiving from other devices, drawing by a drawing tool, taking a photo, or selecting from an existing image album or a preset pattern. Furthermore, the user can use a retouching tool to retouch the pattern obtained in any one of the above manners, such as screening objects, deleting background, sharpening image, and the like, so as to realize personalized setting.
And S202, setting the custom pattern on a mowing map.
In the embodiment of the disclosure, the mowing map comprises a mowing map pre-established for a to-be-mowed area, and the mowing map may include a boundary with the grass area, an obstacle of the to-be-mowed area, and a non-mowing area, such as a channel, a tree, and the like, existing in the to-be-mowed area. The step of arranging the custom pattern on the mowing map comprises the step of combining the custom pattern with the mowing map, wherein the custom pattern is used as a component of the mowing map like the obstacle, the boundary or the channel. In one example, the custom design may be displayed on a mowing map.
Step S203, a mowing mark is arranged at the position of the custom pattern on the mowing map.
In the embodiment of the disclosure, the mowing mark is used for representing a position mark of the custom pattern so as to distinguish a custom pattern area from a non-pattern area. In one example, in one possible implementation, the mowing flag can be set at the location of each pixel point of the custom pattern. In an embodiment of the present disclosure, the position of the customized pattern on the mowing map may include: in one example, the relative position of the custom pattern and the mowing map, for example, the relative position of the custom pattern and the mowing map boundary, is utilized to convert the relative position of the custom pattern and the mowing map boundary into an actual area to be mowed when mowing is performed, and the area where the custom pattern is located is determined; in another example, the actual position of the custom pattern may be determined by using the relative position of the custom pattern and the mowing map and the drawing ratio of the mowing map and the actual area to be mowed, and the area where the custom pattern is located may be determined by using a positioning system, such as satellite positioning, inertial navigation positioning, and the like, when mowing. In one example, mowing differently than non-patterned areas at the custom pattern location, e.g., adjusting a cutter height such that a mowing height is different than a non-patterned area; pressing down the lawn in the pattern area by using a pressing wheel; or the cutter is retracted, and the mowing height in the pattern area is reserved.
According to the method and the device, the user-defined pattern is received, and the position of the user-defined pattern on the mowing map is determined, so that the shape of the user-defined pattern is presented at the corresponding position of the area to be mowed, the diversity and the interestingness of lawn mowing are increased, and the artistic requirement of people on lawn mowing is met.
In a possible implementation manner, the step S202 of setting the custom pattern on a mowing map includes:
step S2021, displaying the custom pattern on the mowing map;
step S2022, receiving the adjustment of the user to the parameter of the custom pattern.
In the embodiment of the present disclosure, the customized design may be displayed on the mowing map, for example, the customized design floats on the mowing map. The receiving the user adjustment to the parameters of the custom pattern comprises: the position of the self-defined pattern can be changed by selecting the self-defined pattern and dragging and dropping the self-defined pattern; the rotation direction of the self-defined pattern can be adjusted to determine the orientation of the pattern; the colors of the custom patterns can be changed by corresponding tools, and parameters such as brightness, saturation and the like can be included; the size of the self-defined pattern can be matched with a corresponding gesture, for example, the finger tip is far away from the expansion of the corresponding pattern, the finger tip is close to the corresponding pattern, the opposite bank is correspondingly reduced, and the scaling of the size of the pattern is further realized; even some drawing works can be used to modify the shape of the pattern, add or delete some shape parts.
According to the embodiment of the disclosure, by adding the adjusting function of the pattern, the modification of the position, the size and other parameters of the pattern can be realized, so that the individual aesthetic requirements of the user are met, and the feasibility of the scheme is increased.
In one possible implementation, the parameters of the custom pattern include at least one of:
the size of the custom pattern, the relative position of the custom pattern and the mowing map, the direction of the custom pattern, the color of the custom pattern, the highlighting attribute or the recessing attribute of the custom pattern, and the mowing height of the custom pattern.
In the disclosed embodiment, the size of the custom design includes a scale of the custom design relative to a mowing map; the relative position of the custom pattern and the mowing map comprises the relative position of the whole custom pattern (outline and filling in the outline) and the mowing map; the direction of the self-defined pattern comprises a rotation angle of the pattern, and the pattern can be rotated at will by 360 degrees, including a clockwise direction and a counterclockwise direction; the colors of the self-defined patterns comprise the saturation of the colors and the matching of the colors, and considering that the color of the lawn is mostly green, but the different heights can show the change of the shade of the green, therefore, different trimming effects are realized by adjusting the saturation of the colors; the highlight attribute of the custom pattern represents that the mowing height of the custom pattern is larger than that of a non-pattern area, and the highlight attribute of the custom pattern represents that the mowing height of the custom pattern is smaller than that of the non-pattern area; the mowing height of the custom pattern can also be directly set by the user, for example, a mowing height setting option is displayed for the user to input the mowing height.
According to the embodiment of the disclosure, different adjustable parameters are set for the user-defined pattern, so that the operability of the user-defined pattern is improved, and the personalized requirement of a user is met.
In a possible implementation manner, the step S202 of setting the custom pattern on the mowing map includes:
step S2023, smoothing the self-defined pattern;
in step S2024, the smoothed pattern is set on the mowing map.
In the embodiment of the disclosure, the custom pattern is smoothed to remove noise in the pattern and lines protruding or recessed at the edges of the pattern, or to connect the discontinuities in the pattern to improve the image quality and reduce the interference, because the noise or lines may cause a greater difficulty in mowing the mowing device. The smoothing method may include, but is not limited to, a neighborhood averaging method, a neighborhood weighted averaging method, a selective masking method, and a median filtering method. The smoothed pattern may be provided on the mowing map by any of the methods described in the above embodiments.
In a possible implementation manner, the step S201 of receiving a custom pattern input by a user includes:
step S2011, displaying a plurality of preset patterns on a user interface;
in step S2012, one or more patterns selected by the user from the plurality of patterns are received.
In the embodiment of the disclosure, a plurality of patterns can be preset, a pattern database is established for a user to select, and the patterns are displayed on a user interface in various ways, such as small window display or floating display. The user can select one pattern from the patterns as a self-defined pattern, and can also select a plurality of patterns from the patterns to be combined. The selection mode of the plurality of patterns comprises pressing a shortcut key, such as a ctrl key, or selecting through a multi-selection option in the display interface, and the plurality of patterns can be simultaneously displayed on the mowing map. In an example, the preset pattern database may be expanded by a collection method, for example, a user browses an image, feels better and collects the image in the preset image database, or the user receives an image, or collects the image in the preset image database in the same way as the collection method, for example, the user feels the position and the proportion of the pattern to the modified pattern, so that the user is worthy of reusing the modified pattern, or integrally collects the modified pattern and the mowing map.
The embodiment of the disclosure provides a plurality of preset patterns for a user, and the user can conveniently and quickly select the required custom patterns.
In a possible implementation manner, the step S201 of receiving a user-defined pattern input by a user includes:
step S2013, displaying a drawing tool on a user interface;
in step S2014, a pattern drawn by the user using the drawing tool is received.
In the embodiment of the disclosure, a drawing tool is displayed on the user interface, the drawing tool may include a pencil, an eraser, a basic graphic, a brush, a color extractor, a fill, an outline, an edit color, a fill, and the like, and the user may draw a desired pattern shape by using the drawing tool and use the drawn pattern as a customized pattern. In one example, other associated applications, such as PS software, CAD drawings, etc., may be opened in the drawing tool, patterns drawn through the associated applications, and the drawn patterns may be treated as custom patterns.
According to the scheme, by adding the drawing tool, a pattern creation space is provided for a user, the operability of the scheme is improved, and the personalized requirement of the user is met.
In a possible implementation manner, the step S201 of receiving a user-defined pattern input by a user includes:
step S2015, displaying the image album on the user interface;
in step S2016, a pattern selected by the user from the image album is received.
In the embodiment of the disclosure, an interface of an image album can be entered through setting options, and a desired pattern can be selected from the image album, in one example, if a plurality of patterns are desired to be selected, the desired pattern can be selected by setting a corresponding multi-selection option or shortcut key, in another example, the desired pattern can be selected by default, and a user only needs to click the desired patterns one by one.
The embodiment of the disclosure widens the selection range of the user-defined pattern by adding the image album option, and increases the implementability of the scheme.
In a possible implementation manner, the step S2016 of receiving a pattern selected by a user from the image album includes:
step S2018, receiving an image selected by a user from the image album;
step S2019, edge extraction is carried out on the image, and at least one pattern in the image is obtained.
In the embodiment of the present disclosure, one or more images may be selected from the image album and subjected to edge extraction in any one of the above-mentioned embodiments, because the images often contain a plurality of objects and their backgrounds, and at least one pattern is selected by edge extraction, in one example, the images may be subjected to a sharpening process, and the edges of the images are made clear by the sharpening process, the sharpening process may be performed by differentiating the pixel values of the images and making the images clear by a high-pass filter, and in another example, the sharpened images are subjected to edge detection, and the method includes setting a threshold, setting points smaller than the threshold to black, and setting points larger than the threshold to white, and thus the edges of the patterns may be obtained.
According to the embodiment of the disclosure, under the condition that the image possibly comprises a plurality of objects and backgrounds, the purpose of selecting the pattern is achieved by carrying out edge extraction processing on the image.
In one possible implementation manner, the step S203 of setting a mowing mark at a position of the custom pattern on the mowing map includes:
step S2031, displaying the custom pattern and the mowing map in a user interface;
step S2032, determining the actual position of the custom pattern according to the position relation between the custom pattern and the mowing map in a user interface, and setting a mark at the position of the mowing map.
In the embodiment of the present disclosure, the custom pattern and the mowing map may be displayed by any one of the methods in the above embodiments. The position relation between the custom pattern and the mowing map in the user interface can comprise the relative position of pixel points on the outline of the custom pattern and the mowing map, and can further comprise: the relative position of each pixel point (including the pixel points on the outline of the custom pattern and the pixel points filled in the custom pattern) on the custom pattern and the mowing map. The determining the actual position of the custom pattern may include determining a coordinate position of the custom pattern in the user interface according to a coordinate position of the mowing map in the user interface, and converting a coordinate system in the user interface into an actual geographic position coordinate system according to an actual geographic position of the mowing map, such as longitude and latitude.
The embodiment of the disclosure converts the position relation between the user-defined pattern and the mowing map in the user interface into an actual geographic coordinate system, so as to determine the actual position of the user-defined pattern, and has the beneficial effects that the method is simple and easy to implement.
In one possible implementation manner, in step S203, after determining a position of the custom pattern on the mowing map and setting a mark at the position of the mowing map, the method further includes:
and S204, setting the corresponding relation between the position and the mowing height, wherein the user-defined pattern area corresponds to the non-pattern area with different mowing heights.
In the embodiment of the disclosure, a first mowing height can be set at the custom pattern, and a second mowing height can be set at the non-pattern area, wherein the first mowing height is different from the second mowing height. The different mowing heights are arranged in the pattern area and the non-pattern area, so that the patterns can be distinguished. The correspondence between the positions and the mowing heights can include, in an example, mowing height information of the positions can be preset at each pixel position of the custom pattern, for example, the mowing height of the pixel position at the outline is higher, and the mowing height at the filling position is lower, so as to show that the outline is clearer; in another example, the corresponding mowing height can be set according to information such as saturation, temperature difference and the like of the custom pattern. It should be noted that the correspondence between the position and the mowing height is not limited to the above examples, and those skilled in the art may make other modifications within the spirit of the present application, and all such modifications are intended to be included within the scope of the present application as long as they achieve the same or similar functions and effects as the present application. The mowing height information may be written at the corresponding pattern position along with the position information.
The embodiment of the disclosure enables different positions of the pattern to have different mowing heights by setting the corresponding relation between the positions and the mowing heights, and is beneficial to better expressing the pattern.
In a possible implementation manner, the step S204 of setting a corresponding relationship between the position and a mowing height, where the custom pattern area corresponds to a non-pattern area at a different mowing height, includes:
step S2041, converting the custom pattern into a gray pattern;
step S2042, setting the preset corresponding relation between the gray value of the gray pattern pixel position and the mowing height, wherein the custom pattern corresponds to the non-pattern area with different mowing heights.
In this embodiment of the disclosure, the conversion from the custom pattern to the gray pattern may be implemented by converting RGB values of 3 channels of the custom image into luminance values of 1 channel, the conversion method may include an averaging method, a maximum and minimum averaging method, a weighted averaging method, or a binary image method, and the like, and the setting of the preset corresponding relationship between the gray value of the pixel position of the gray image and the mowing height may include dividing the gray value into a plurality of gray range intervals, for example, the gray value is 0 to 255, where the gray value is 0 to 15 corresponding to the same mowing height, the gray value is 15 to 30 corresponding to another same mowing height, and so on; or truncating a portion of the grey value such as 130-255 corresponds to not mowing. It should be noted that the preset corresponding relationship between the gray-scale value of the pixel position of the gray-scale pattern and the mowing height is not limited to the above-mentioned example, and other modifications are possible for those skilled in the art in light of the technical spirit of the present application, but they should be covered by the protection scope of the present application as long as the achieved function and effect are the same or similar to the present application.
According to the embodiment of the disclosure, considering that most lawns are single-color green lawns, the gray-scale image is similar to, different gray-scale values correspond to different mowing heights, and the user-defined pattern can be well expressed.
In a possible implementation manner, the setting of the corresponding relationship between the position and the mowing height, and the setting of the custom pattern area and the non-pattern area correspond to different mowing heights, includes:
if the custom pattern is in a highlighted attribute, setting the mowing height of the custom pattern to be larger than the mowing height of the non-pattern area;
and if the self-defined pattern is of a concave-convex display attribute, setting the mowing height of the self-defined pattern to be smaller than the mowing height of the non-pattern area.
In one possible implementation, the present disclosure provides an robotic lawnmower comprising:
the mower comprises a mower main body, wherein a working device with adjustable height and a driving motor for driving the working device to work are arranged on the mower main body;
a mowing map processing module configured to perform the mowing map processing method according to any one of the embodiments of the present disclosure:
and the controller is electrically connected with the mowing map processing module and is used for controlling the mower to mow the non-pattern area and the user-defined pattern area in sequence by utilizing the working device according to the preset mowing height.
FIG. 5 is a block diagram illustrating an electronic device in accordance with an example embodiment. For example, the apparatus 500 may be a mobile phone, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a medical device, an exercise device, a personal digital assistant, and the like.
Referring to fig. 5, electronic device 500 may include one or more of the following components: a processor 52, a memory 51, a display 55, and a communication module 56.
The electronic device 500 may include at least one of a smart phone, a tablet personal computer, a mobile phone, a video phone, an electronic book reader, a desktop PC, a laptop PC, a netbook computer, a workstation, a server, a Personal Digital Assistant (PDA), a Portable Multimedia Player (PMP), an audio layer 3 (MP 3) player, a mobile medical device, a camera, or a wearable device. Among them, the wearable device may include at least one of a jewelry type (e.g., a watch, a ring, a bracelet, an anklet, a necklace, glasses, a contact lens, or a head mounted device (HDM)), a fabric or clothing type (e.g., an electronic garment), a physical attachment type (e.g., a skin pad or a tattoo), or a body implant type (e.g., an implantable circuit), the electronic device 500 may be one of the above devices or a combination thereof, the electronic device 500 according to an embodiment may not be limited to the above devices, and may include other electronic devices and new electronic devices according to the development of technology.
In the embodiment of the present disclosure, the memory 51, the processor 52, the display 55, and the communication module 56 may be connected through a bus 57. The bus 57 includes circuitry for communicating communications (e.g., control messages and/or data) between the above-described components. The processor 52 may include one or more of a Central Processing Unit (CPU), an Application Processor (AP), or a Communication Processor (CP), and the processor 52 may execute the instructions to implement the route generation method according to any embodiment of the present disclosure, and the route is displayed by the display 55.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice in the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (5)
1. An automatic lawnmower, comprising:
the mower comprises a mower main body, wherein a working device with adjustable height and a driving motor for driving the working device to work are arranged on the mower main body;
the communication device is used for receiving a mowing map provided with user-defined patterns, and the mowing map comprises a non-pattern area and a user-defined pattern area;
a controller for performing the following method:
controlling the mower to mow the non-pattern area and the user-defined pattern area in sequence according to the preset mowing height by utilizing the working device, wherein the mowing method comprises the following steps:
respectively planning paths of the non-pattern area and the user-defined pattern area;
and controlling the mower to mow the non-pattern area and the user-defined pattern area in sequence by using the working device according to the planned path and the preset mowing height.
2. The mower of claim 1 wherein the custom pattern comprises hollowed-out portions and unpopulated portions,
the controller is used for controlling the mower to mow the non-pattern area and the user-defined pattern area respectively according to the preset mowing height by utilizing the working device in the execution step, and the controller comprises the following steps:
and controlling the mower to mow the non-pattern area, the hollow part of the user-defined pattern and the non-hollow part in sequence by using the working device according to a preset mowing height.
3. The mower of claim 2, wherein the controller, when the implementing step controls the mower to mow the non-pattern area, the hollow portion of the custom pattern, and the non-hollow portion in sequence by using the working device according to the preset mowing height, comprises:
and controlling the mower to sequentially mow the non-pattern area, the hollow part of the user-defined pattern and the non-hollow part by using the working device according to a preset mowing height.
4. The mower of claim 1, wherein said controlling said mower to mow said non-patterned area and said custom-patterned area in sequence using said working device at a predetermined mow height comprises:
when the mower mows a non-pattern area, judging whether the position of the mower is located within the position range of the non-pattern area;
if the position is within the position range of the non-pattern area, mowing by utilizing the working device according to the mowing height corresponding to the non-pattern area;
under the condition that the mower mows a user-defined pattern area, judging whether the position of the mower is located within the position range of the user-defined pattern area;
and if the position is located in the position range of the user-defined pattern, mowing by using the working device according to the mowing height corresponding to the user-defined pattern.
5. A mowing system, comprising:
an electronic device, comprising:
a memory for storing processor-executable instructions;
the processor is used for setting a user-defined pattern on the mowing map;
the display is used for displaying the custom pattern and the mowing map;
the first communication module is used for sending the processed mowing map to the mower;
a lawnmower as claimed in any one of claims 1 to 4.
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| CN202211695106.9A CN116166168A (en) | 2020-07-10 | 2020-07-10 | Automatic mower, mowing map processing method and electronic equipment |
| CN202010660128.6A CN113924857B (en) | 2020-07-10 | 2020-07-10 | Automatic mower, mowing system and processing method of mowing map |
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| KR101188891B1 (en) * | 2010-12-16 | 2012-10-09 | (주)마이크로인피니티 | Lawn mower for drawing images |
| CN105684630B (en) * | 2016-01-26 | 2018-01-30 | 北京林业大学 | A kind of remote control intelligence lawn art finishing machine |
| CN105723916B (en) * | 2016-01-26 | 2017-09-19 | 北京林业大学 | A kind of artistic finishing machine in intelligent lawn |
| CN107976998A (en) * | 2017-11-13 | 2018-05-01 | 河海大学常州校区 | A kind of grass-removing robot map building and path planning system and method |
| CN109189062A (en) * | 2018-08-18 | 2019-01-11 | 上海七桥机器人有限公司 | Form the method for lawn pattern and the mowing system using it |
| CN109673242A (en) * | 2019-03-01 | 2019-04-26 | 重庆润通智能装备有限公司 | Intelligent grass-removing mowing control method and mowing control system |
| CN110754204B (en) * | 2019-09-27 | 2020-10-27 | 西安交通大学 | Lawn three-dimensional pattern trimming robot system and method |
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