CN114489083A

CN114489083A - Working area construction method and related device

Info

Publication number: CN114489083A
Application number: CN202210129106.6A
Authority: CN
Inventors: 王宁; 袁理
Original assignee: Agilex Robotics Shenzhen Lt
Current assignee: Agilex Robotics Shenzhen Lt
Priority date: 2022-02-11
Filing date: 2022-02-11
Publication date: 2022-05-13

Abstract

The application provides a working area construction method and a related device, wherein the method is applied to a mowing vehicle and comprises the following steps: the method comprises the steps of collecting ground images in the driving process, determining a first reference point according to the ground images, determining a plurality of boundary points by taking the first reference point as a starting point, and constructing an initial lawn area map according to the plurality of first boundary points and the first reference point. Therefore, the environment is detected by driving the mowing vehicle, the boundary of the lawn area is identified according to the image, a corresponding map is formed, manual operation is not needed, marks are not needed to be buried, the efficiency of working area planning in mowing operation is improved, and the cost is reduced.

Description

Working area construction method and related device

Technical Field

The application relates to the technical field of intelligent control of mowing vehicles, in particular to a working area construction method and a related device.

Background

With the development of urban construction, people's environmental awareness is improved, green lands of urban squares and living communities are increasing, and the workload of lawn maintenance is increasing.

In the related art, a working area generally needs to be planned, the prior art scheme is realized by manual marking or embedding marks, but the manual marking is low in efficiency, and the embedding marks need to embed corresponding marks in all the working areas, so that the cost is high.

Disclosure of Invention

In view of the above-mentioned shortcomings of the prior art, the present application aims to provide a working area construction method and related device to improve the efficiency of working area planning in mowing operation and reduce the cost.

In order to achieve the purpose, the following technical scheme is adopted in the application:

in a first aspect, an embodiment of the present application provides a work area construction method, which is applied to a mowing vehicle, and is characterized in that the method includes:

collecting ground images in the driving process;

receiving first correction information from an RTK base station;

determining the coordinates of a first reference point according to the first correction information;

determining a first reference point of the lawn area according to the ground image, wherein the first reference point is a boundary point of the lawn area relative to a non-lawn area;

sending the coordinates of the first reference point to a server;

determining a plurality of first boundary points of the lawn area by taking the first reference point as a starting point, wherein the first boundary points are boundary points of the lawn area except the first reference point relative to a non-lawn area;

sending the coordinates of the first boundary points to the server, wherein the first boundary points are used for constructing an initial lawn area map.

In a second aspect, an embodiment of the present application provides a work area construction method, which is applied to a server, and includes:

acquiring coordinates of a first reference point and coordinates of a plurality of first boundary points, which are sent by a mowing vehicle, wherein the first reference point is obtained according to a ground image, the ground image is acquired by the mowing vehicle, the coordinates of the first reference point are determined by the mowing vehicle receiving first correction information of an RTK base station, the first reference point is a boundary point of a lawn area relative to a non-lawn area, the first reference point is used for determining the coordinates of the plurality of first boundary points of the lawn area by taking the first reference point as a starting point, and the first boundary points are boundary points of the lawn area except the first reference point relative to the non-lawn area;

and constructing an initial lawn area map according to the first reference point and the plurality of first boundary points.

In a third aspect, an embodiment of the present application provides a work area constructing apparatus, which is applied to a mowing vehicle, and the apparatus includes:

the image acquisition unit is used for acquiring a ground image in the driving process;

the first identification unit is used for determining a first reference point of the lawn area according to the ground image, wherein the first reference point is a boundary point of the lawn area relative to the non-lawn area, and is used for determining a plurality of first boundary points of the lawn area by taking the first reference point as a starting point, and the first boundary points are boundary points of the lawn area except the first reference point relative to the non-lawn area;

a first receiving unit for receiving first correction information from an RTK base station;

a first determination unit configured to determine coordinates of a first reference point based on the first correction information;

and the first sending unit is used for sending the coordinates of the first reference point and the coordinates of the plurality of first boundary points to a server, wherein the first reference point and the plurality of first boundary points are used for constructing an initial lawn area map.

In a fourth aspect, an embodiment of the present application provides a work area constructing apparatus, which is applied to a server, and the apparatus includes:

the system comprises a first acquisition unit, a second acquisition unit and a control unit, wherein the first acquisition unit is used for acquiring coordinates of a first reference point and coordinates of a plurality of first boundary points sent by a mowing vehicle, the first reference point is obtained according to a ground image, the ground image is acquired by the mowing vehicle, the coordinates of the first reference point are determined by the mowing vehicle receiving first correction information of an RTK base station, the first reference point is a boundary point of a lawn area relative to a non-lawn area, the first reference point is used for determining the coordinates of the plurality of first boundary points of the lawn area by taking the first reference point as a starting point, and the first boundary points are boundary points of the lawn area except the first reference point relative to the non-lawn area;

and the first construction unit is used for constructing an initial lawn area map according to the first reference point and the plurality of first boundary points.

In a fifth aspect, embodiments provide a lawn mowing vehicle comprising a processor and a memory, the memory storing one or more programs and configured to be executed by the processor, the programs comprising instructions for performing the steps in the method of the first or second aspect.

In a sixth aspect, an embodiment of the present application provides an electronic device, including a processor, a memory for storing one or more programs and configured to be executed by the processor, the program including instructions for performing the steps in the method according to the first aspect or the second aspect.

In a seventh aspect, the present application provides a computer-readable storage medium storing a computer program for electronic data exchange, wherein the computer program causes a computer to execute instructions of the steps in the method according to the first aspect or the second aspect.

The embodiment of the application has the following beneficial effects:

it can be seen that the working area construction method and the related device described in the embodiments of the present application are applied to a mowing vehicle, and the method includes: the method comprises the steps of collecting ground images in the driving process, determining a first reference point according to the ground images, determining a plurality of boundary points by taking the first reference point as a starting point, and constructing an initial lawn area map according to the plurality of first boundary points and the first reference point. Therefore, the environment is detected by driving the mowing vehicle, the boundary of the lawn area is identified according to the image, a corresponding map is formed, manual operation is not needed, marks are not needed to be buried, the efficiency of working area planning in mowing operation is improved, and the cost is reduced.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic diagram of an alternative application scenario provided in an embodiment of the present application;

fig. 2 is a schematic flowchart of a method for constructing a work area according to an embodiment of the present application;

fig. 3a is a schematic diagram of a pixel point obtaining method according to an embodiment of the present disclosure;

fig. 3b is a schematic diagram of another pixel point obtaining method according to the embodiment of the present application;

fig. 3c is a schematic diagram of another pixel point obtaining method according to the embodiment of the present application;

fig. 4 is a schematic flowchart of a method for constructing a work area according to an embodiment of the present application;

fig. 5 is a block diagram illustrating functional units of a work area constructing apparatus according to an embodiment of the present disclosure;

fig. 6 is a block diagram of functional units of a work area constructing apparatus according to an embodiment of the present application;

fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Detailed Description

In order to make the technical solutions of the present application better understood, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The terms "first," "second," and the like in the description and claims of the present application and in the above-described drawings are used for distinguishing between different objects and not for describing a particular order. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.

In the present application, "at least one" means one or more, and a plurality means two or more. In this application and/or, an association relationship of an associated object is described, which means that there may be three relationships, for example, a and/or B, which may mean: a alone, both A and B, and B alone, where A, B may be singular or plural. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. "at least one of the following" or similar expressions refer to any combination of these items, including any combination of the singular or plural items. For example, at least one (one) of a, b, or c, may represent: a, b, c, a and b, a and c, b and c, or a, b and c, wherein each of a, b, c may itself be an element or a set comprising one or more elements.

It should be noted that, in the embodiments of the present application, the term "equal to" may be used in conjunction with more than, and is applicable to the technical solution adopted when more than, and may also be used in conjunction with less than, and is applicable to the technical solution adopted when less than, and it should be noted that when equal to or more than, it is not used in conjunction with less than; when the ratio is equal to or less than the combined ratio, the ratio is not greater than the combined ratio. In the embodiments of the present application, "of", "corresponding" and "corresponding" may be sometimes used in combination, and it should be noted that the intended meaning is consistent when the difference is not emphasized.

At present, in the prior art, when working area planning is performed, generally manual marking or mark burying is performed, but the manual marking is low in efficiency, and corresponding marks need to be buried in all working areas, so that the cost is high.

In order to solve the above problems, the present application provides a method for constructing a work area and a related apparatus.

As shown in fig. 1, fig. 1 is a schematic diagram of an optional application scenario provided by the present application, and the working area construction method is applied to the application scenario. The application scene comprises a server 11 and a mowing car 10, wherein the mowing car 10 establishes wireless communication with the server 11, ground images acquired by the mowing car 10 in the running process determine the boundary of a lawn area according to the ground images, boundary points are sent to the server 11 at the same time, and the server 11 constructs a corresponding lawn area map according to the boundary points.

The following describes a working area construction method provided by the present application with specific examples.

As shown in fig. 2, the present application provides a work area construction method applied to a lawn mower, the method comprising:

step 201, collecting ground images in the driving process.

For example, the lawn mower vehicle acquires corresponding ground images through a camera during driving, wherein the camera may be a binocular camera, a common camera, and the like, and is not limited herein.

Step 202, determining a first reference point of the lawn area according to the ground image.

Wherein the first reference point is a boundary point of the lawn area relative to the non-lawn area.

Step 203, receiving first correction information from an RTK base station.

Illustratively, the first correction information includes a plurality of error values between the coordinate values calculated by the RTK base station and the known coordinate values of the RTK base station, and the calculated coordinate values are self-coordinate values that the RTK base station can solve according to the captured base station.

Specifically, in this embodiment, the RTK base station serves as a reference station, calculates the error values, and then sends first correction information including the error values to the lawn mower serving as the rover station.

It is understood that the lawn mower may send a first request message for first correction information to the RTK base station after determining the first reference point, and the RTK base station sends the first correction information after receiving the first request message; the RTK base station may continuously transmit the first correction information to the lawn mower in real time or at preset time intervals, which is not limited herein.

And step 204, determining the coordinates of the first reference point according to the first correction information.

Specifically, the mowing vehicle determines that the first correction information is received to perform coordinate correction on a first reference point, and determines the coordinate of the first reference point.

Step 205, sending the coordinates of the first reference point to a server.

In one possible embodiment, the determining a first reference point of the lawn area from the ground image further comprises: dividing a plurality of image areas in the ground image; respectively acquiring a plurality of first pixel points in each of the plurality of image areas; determining RGB values of the first pixel points in each image region one by one, and respectively obtaining a plurality of RGB value sets, wherein the RGB value sets comprise a plurality of RGB values of the first pixel points of the corresponding pixel regions; calculating the average value of a plurality of RGB values in each RGB value set to obtain a plurality of first average values; comparing the plurality of first average values with preset RGB values respectively to obtain comparison results; and determining the first reference point according to the comparison result.

For example, the division of the image area may be in an equal division form, may be a random division, and may also be a preset fixed division manner, which is not limited herein.

For example, the manner of selecting the pixel point from the current image may be random, or may be selected according to a set manner. For example, the number of pixel points acquired by each image region is different, or all the pixel points acquired by each pixel region form a preset pattern, which is not limited herein.

As shown in fig. 3a, all the first pixels 32 obtained from the ground image 30 form a shape of "m", so that each image area 31 can obtain a corresponding number of first pixels 32.

As shown in fig. 3b, a corresponding acquisition area may also be set in the ground image 30, and pixels are acquired in the acquisition area, for example, all the acquired first pixels 32 form a circle.

As shown in fig. 3c, the first pixels 32 with the preset number and the preset shape are respectively obtained in each image area 31, and the sampling mode of each area is ensured to be the same, so as to improve the recognition accuracy of the lawn area and the non-grass area.

It is to be understood that there may be other manners for acquiring the pixel point besides the above manners, and the present invention is not limited thereto.

In the specific implementation, the mowing vehicle collects the ground image through a camera, then selects a plurality of pixel points from the ground image, respectively obtains RGB values of the pixel points, and divides the pixel points into a plurality of RGB value sets by taking an image area as a unit. Then, calculating the average value of all RGB values in each RGB value set to obtain a plurality of first average values corresponding to the RGB value sets one by one, comparing the plurality of first average values with the preset RGB values to obtain a comparison result, and finally determining a first reference point according to the comparison result.

It can be seen that, in this embodiment, the judgment of the lawn area and the non-lawn area is realized by recognizing the RGB values, and meanwhile, the judgment target is reduced by dividing the image area, so that the judgment result is more accurate.

In one possible embodiment, the preset RGB values include a first preset RGB value and a second preset RGB value; the determining the first reference point according to the comparison result includes: if the difference values of the first average values and the first preset RGB values are smaller than a first preset threshold value, judging that the area corresponding to the ground image belongs to a lawn area; if the difference values of the first average values and the second preset RGB values are smaller than a second preset threshold value, judging that the area corresponding to the ground image belongs to a non-lawn area; if the area corresponding to the ground image does not belong to the lawn area or the non-lawn area, judging that the area corresponding to the ground image belongs to a mixed area, wherein the mixed area comprises the lawn area and the non-lawn area.

For example, the preset RGB values include a first preset RGB value of the lawn area and a second preset RGB value of the non-lawn area, and the first preset RGB value and the second preset RGB value may be one or more, and may be set according to needs and grass planting types on the lawn, which is not limited herein.

In specific implementation, the corresponding preset RGB values may be set according to the grass planting type of the lawn and the type of the non-lawn area, and when an error between the detected preset RGB values and the preset RGB values is within a preset threshold range (i.e., a first preset threshold and a second preset threshold), the lawn area or the non-lawn area is determined. However, in the RGB recognition process, there is a possibility that the colors detected from the boundary point between the lawn area and the non-lawn area are fused so that the RGB values do not belong to the lawn area or the non-lawn area, and therefore, this case is recognized as a mixed area indicating that the boundary has been detected.

It can be seen that, in the embodiment, the determination of the lawn area and the non-lawn area is realized, and meanwhile, the boundary between the lawn area and the non-lawn area can be determined.

In one possible embodiment, the RGB values of the grass planting type in the lawn are pre-identified, one or more first pre-set RGB values are obtained, the RGB values of the non-lawn area are pre-identified, one or more second pre-set RGB values are obtained, and the one or more first pre-set RGB values and the one or more second pre-set RGB values are stored in the server. The identification process in this embodiment may be performed by a mowing vehicle, or may be performed by other devices, which is not limited herein.

In a possible embodiment, after determining that the area corresponding to the ground image belongs to the mixed area if the area corresponding to the ground image does not belong to the lawn area or the non-lawn area, the method further includes: if the area corresponding to the ground image belongs to a mixed area, determining a first image area in the image areas, wherein the first image area belongs to a lawn area; determining a second image area bordering the first image area, wherein the second image area belongs to a non-lawn area; and determining the first reference point at the boundary of the first image area and the second image area.

In a specific implementation, the further identification is performed for the mixed region. And carrying out pixel point collection on the whole mixed region to obtain a plurality of sub pixel points. Specifically, a sub-pixel point may be collected at each preset pixel distance, the RGB value of each sub-pixel point is compared with the first preset RGB value and the second preset RGB value, so as to determine whether each sub-pixel point belongs to a lawn area or a non-lawn area, and determine two adjacent sub-pixel points in the lawn area and the non-lawn area, and the coordinates corresponding to the positions of the two adjacent sub-pixel points are set as the coordinates of the first reference point.

For example, the sub-pixel point and the pixel point may be the same size or different sizes, and are not limited herein.

It can be seen that, in this embodiment, the coordinate accuracy of the determined first reference position is made higher by determining the lawn area and the non-lawn area for the pixel points.

And step 206, determining a plurality of first boundary points of the lawn area by taking the first reference point as a starting point.

Wherein the first boundary point is a boundary point of the lawn area other than the first reference point relative to the non-lawn area.

For example, a plurality of boundary points may be detected in one ground image, and are specifically determined according to the acquisition intervals of the boundary points, which is not limited herein. Moreover, a plurality of boundary points can be obtained in one image, comparison in the subsequent lawn environment change is facilitated, and the misjudgment rate is reduced.

It can be understood that the determination manner of the coordinates of the plurality of first boundary points is the same as that of the first reference point, and details are not described herein.

Step 207, sending the coordinates of the plurality of first boundary points to the server.

Wherein the plurality of first boundary points are used to construct an initial lawn area map.

In a specific implementation, the mowing line sends the coordinates of the boundary points to the server, and the coordinates of the boundary points of the server are combined with the coordinates of the first reference point to obtain a closed area, wherein the closed area is an initial lawn area map.

In a possible embodiment, after the sending the coordinates of the plurality of first boundary points to the server, the method further includes: based on the initial lawn area map, traversing all internal areas of a lawn area by the mowing vehicle, and determining whether a second reference point exists, wherein the second reference point is a boundary point of a first non-lawn area and the lawn area in the lawn area; if the second reference point is determined in the traversal process, receiving second correction information from the RTK base station; determining coordinates of the second reference point according to the second correction information; sending the coordinates of the second reference point to a server; determining a plurality of second boundary points of a first non-lawn area by taking the second reference point as a starting point, wherein the second boundary points are boundary points of the first non-lawn area relative to the lawn area except the second reference point; sending coordinates of a plurality of second boundary points of the first non-lawn area to the server, the plurality of second boundary points being used for constructing a complete lawn area map on the basis of the initial lawn map.

In a specific implementation, after the server determines the initial lawn area map, the server sends a navigation instruction to the mowing car to navigate the mowing car, so that the mowing car runs in the initial lawn area map. Meanwhile, the ground image is sampled during the driving process of the mowing vehicle, whether a second reference point exists is judged according to the ground image, the specific judgment method is the same as that of the first reference point, and details are not repeated here.

In specific implementation, the boundary points identified in the acquired ground image are compared with a first reference point and a first boundary point, if the boundary points are not the first reference point and the first boundary point, the boundary points are determined as a second reference point, and the coordinates of the second reference point are sent to a server.

In the concrete implementation, the mowing vehicle runs along the boundary of the lawn area where the second determined reference point is located and the first non-lawn area, the ground image is collected in real time or once in every preset time, the corresponding first boundary point is determined, then the mowing vehicle runs along the boundary of the lawn area where the first determined boundary point is located and the non-lawn area until the mowing vehicle returns to the first reference point, the detection closed loop is determined, and the first boundary points are obtained.

In specific implementation, the mowing vehicle sends the collected coordinates of the plurality of second boundary points to the server, and the server constructs a complete lawn area map according to the plurality of second boundary points and the second reference points.

It can be understood that the determination manner of the coordinates of the plurality of second boundary points is the same as that of the first reference point, and details are not described herein.

In a possible embodiment, the determining a plurality of boundary points of the lawn area with the first reference point as a starting point includes: moving along the boundary of the lawn area by taking the first reference point as a starting point; and determining the first boundary points in the moving process until the first reference points are returned to obtain a plurality of first boundary points of the lawn area.

In the specific implementation, the mowing vehicle runs along the boundary of the lawn area and the non-lawn area where the determined first reference point is located, the ground image is collected in real time or once in every preset time, the corresponding first boundary point is determined, then the mowing vehicle runs along the boundary of the lawn area and the non-lawn area where the determined first boundary point is located, and when the mowing vehicle returns to the first reference point, the detection closed loop is determined, and the first boundary points are obtained.

It can be seen that in this embodiment, closed loop detection of the lawn area is achieved.

In one possible embodiment, the method further comprises: acquiring a first ground image in a mowing process; if a third reference point is determined according to the first ground image, receiving third correction information from the RTK base station; determining the coordinates of the third reference point according to the third correction information; sending the third reference point to the server, wherein the third reference point is a boundary point of a lawn area and a second non-lawn area except for the first reference point, the first boundary point, the second reference point and the second boundary point; determining whether the second non-lawn area is an obstacle; if the second non-lawn area is a barrier, determining a plurality of third boundary points of the barrier by using a third reference point starting point; sending the plurality of third boundary points to a server, wherein the plurality of third boundary points are used for constructing a temporary map together with the third reference point; executing the mowing work according to the temporary map; if the second non-lawn area is not the obstacle, determining a plurality of fourth boundary points of the second non-lawn area by using a third reference point starting point; and sending the fourth boundary points to a server, wherein the fourth boundary points are used for updating the complete lawn area map together with the third reference point.

For example, the obstacle may be a stone, a wall, a tree, or other objects, and may also be other sundries, which are not limited herein.

In specific implementation, after the complete lawn area map is constructed, since the lawn environment changes with the passage of time, if other boundary points different from the first reference point, the second reference point, the first boundary point and the second boundary point are found in the subsequent mowing process of the mowing vehicle, the third reference point is determined, and a plurality of third boundary points of the obstacle are determined by using the starting point of the third reference point.

It can be understood that the determination manner of the coordinates of the plurality of third boundary points is the same as that of the first reference point, and details are not described herein.

Further, if the second non-lawn area in the first ground image corresponding to the third reference point is determined to be an obstacle, copying a copy on the basis of the complete lawn area map, constructing a temporary map according to the third reference point and the third boundary point, and bypassing the obstacle to continue mowing according to the temporary map by the mowing vehicle.

Specifically, prompt information is sent to user equipment to prompt a user to determine whether the obstacle in the temporary map is a fixed object, and if yes, the complete lawn area map is updated according to the temporary map; and if the obstacle is not a fixed object, deleting the temporary map after the user finishes processing the obstacle.

Further, if the second non-lawn area is not an obstacle, determining a plurality of fourth boundary points, and sending the third reference point and the fourth boundary points to a server to update the complete lawn area map.

It can be understood that the determination manner of the coordinates of the fourth boundary points is the same as that of the first reference point, and details are not described herein.

The present embodiment will be described below with specific application scenarios.

For example, in a scene of parked vehicles in the lawn area, the mowing vehicle determines that the vehicle is an obstacle when performing mowing work, marks boundary points of the vehicle and the lawn, and constructs a temporary map.

Further, in the process of determining the boundary point, the height of the chassis of the vehicle is detected through a sensor, whether the mowing vehicle can enter the vehicle bottom or not is judged, if yes, only the boundary point between the tire and the lawn is determined, and if not, the boundary point between the whole vehicle and the lawn area is determined.

Furthermore, the plane coordinates of the edge of the vehicle chassis and the lawn ground can be determined according to the sensor, and then the area occupied by the vehicle can be determined in the original complete lawn area map, so that the mowing vehicle can bypass the vehicle to mow.

Specifically, if the mowing vehicle can enter the vehicle bottom, the mowing vehicle enters the vehicle bottom to mow after the tire area is determined.

It is understood that the present embodiment may be applied to other situations where the obstacle occupies a portion of the floor, such as a chair, a table, a shelf, etc., and is not limited thereto.

It can be seen that in the embodiment, when the obstacle is found, the obstacle is bypassed, the temporary map is established to follow up the subsequent mowing work, the user can be informed of clearing the obstacle, and the intelligent degree of the mowing vehicle is improved.

In one possible embodiment, during mowing, if it is identified that the original boundary point in the complete lawn area map disappears, the mowing vehicle sends deletion information to a server, and the server deletes the disappeared boundary point and travels along a non-lawn area side of the original boundary point to determine a new boundary point, so as to update the complete lawn area map.

In specific implementation, the embodiment can be applied to the situation of replanting/growing the lawn in the non-lawn area, and when the lawn area expands, the map needs to be updated in real time.

It can be seen that, in this embodiment, the re-detection of the boundary point is realized, and when the boundary point does not exist, the boundary point is deleted, so that the purpose of updating the complete lawn area map in real time is achieved.

It can be understood that the mowing car can move along the boundary point of the obstacle and the lawn in a traversing, left-right and oblique movement even if meeting the obstacle, so that the mowing car can return to the reference point to complete closed-loop detection.

In summary, the present application provides a working area construction method and a related apparatus, where the method is applied to a mowing vehicle, and the method includes: the method comprises the steps of collecting ground images in the driving process, determining a first reference point according to the ground images, determining a plurality of boundary points by taking the first reference point as a starting point, and constructing an initial lawn area map according to the plurality of first boundary points and the first reference point. Therefore, the environment is detected by driving the mowing vehicle, the boundary of the lawn area is identified according to the image, a corresponding map is formed, manual operation is not needed, marks are not needed to be buried, the efficiency of working area planning in mowing operation is improved, and the cost is reduced.

Referring to fig. 4, the present application further provides a work area construction method applied to a server, including:

step 401, obtaining coordinates of a first reference point and coordinates of a plurality of first boundary points, where the first reference point is obtained according to the ground image, the ground image is collected by the mowing vehicle, the coordinates of the first reference point are determined by the mowing vehicle receiving first correction information of an RTK base station, the first reference point is a boundary point of a lawn area relative to a non-lawn area, the first reference point is used for determining coordinates of the plurality of first boundary points of the lawn area with the first reference point as a starting point, and the first boundary points are boundary points of the lawn area other than the first reference point relative to the non-lawn area;

step 402, constructing an initial lawn area map according to the first reference point and the plurality of first boundary points;

in one possible embodiment, the method further includes, in accordance with the aspect of constructing an initial lawn area map from the first reference point and the first boundary point: sending a navigation instruction to a mowing vehicle, wherein the navigation instruction is used for navigating the mowing vehicle to traverse all internal areas of a lawn area; acquiring coordinates of a second reference point and coordinates of a plurality of second boundary points, which are sent by the lawn mower when traversing a lawn area, wherein the second reference point is used for determining the plurality of second boundary points of a first non-lawn area by taking the second reference point as a starting point, the second reference point is a boundary point of the first non-lawn area and the lawn area in the lawn area, and the second boundary point is a boundary point of the first non-lawn area relative to the lawn area except the second reference point; and constructing a complete lawn area map on the basis of the initial lawn map according to the second reference point and the plurality of second boundary points.

It can be seen that in the embodiment, the environment is detected by driving the mowing vehicle, the boundary of the lawn area is identified according to the image, a corresponding map is formed, manual operation is not needed, marks are not needed to be buried, the efficiency of working area planning in mowing operation is improved, and the cost is reduced.

The above description has introduced the solution of the embodiment of the present application mainly from the perspective of the method-side implementation process. It will be appreciated that the lawn mower/server, in order to perform the above-described functions, includes corresponding hardware structures and/or software modules for performing the respective functions. Those of skill in the art will readily appreciate that the present application is capable of hardware or a combination of hardware and computer software implementing the various illustrative elements and algorithm steps described in connection with the embodiments provided herein. Whether a function is performed as hardware or computer software drives hardware depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

According to the embodiment of the application, the mowing vehicle/server can be divided into the functional units according to the method example, for example, each functional unit can be divided corresponding to each function, or two or more functions can be integrated into one processing unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit. It should be noted that the division of the unit in the embodiment of the present application is schematic, and is only a logic function division, and there may be another division manner in actual implementation.

Referring to fig. 5, the present application further provides a work area constructing device 50 applied to a mowing vehicle, where the device includes:

an image acquisition unit 51 for acquiring a ground image during driving;

a first identifying unit 52, configured to determine a first reference point of the lawn area according to the ground image, where the first reference point is a boundary point of the lawn area relative to the non-lawn area, and determine a plurality of first boundary points of the lawn area with the first reference point as a starting point, where the first boundary points are boundary points of the lawn area other than the first reference point relative to the non-lawn area;

a first receiving unit 53 for receiving first correction information from the RTK base station;

a first determining unit 54 for determining coordinates of a first reference point based on the first correction information;

and a first sending unit 55, configured to send the coordinates of the first reference point and the coordinates of the first boundary points to a server, where the first reference point and the first boundary points are used to construct an initial lawn area map.

In one possible embodiment, the apparatus further comprises: and the control unit 56 is used for receiving the navigation instruction sent by the server and driving the mowing vehicle according to the navigation instruction.

In one possible embodiment, the apparatus further comprises: a judging unit 57, configured to, based on the initial lawn area map, traverse all internal areas of a lawn area by the mowing vehicle, and determine whether a second reference point exists, where the second reference point is a boundary point between a first non-lawn area in the lawn area and the lawn area; the first receiving unit 53 is further configured to receive second correction information from the RTK base station when the second reference point is determined in the traversal process; a first determining unit 54, further configured to determine coordinates of the second reference point according to the second correction information; a first sending unit 55, further configured to send the coordinates of the second reference point to a server, and to send the coordinates of a plurality of second boundary points in the first non-lawn area to the server, where the plurality of second boundary points and the second reference point are used to construct a complete lawn area map on the basis of the initial lawn map; the first identifying unit 52 is configured to, when the second reference point is determined in the traversal process, determine, with the second reference point as a starting point, a plurality of second boundary points of the first non-lawn area, where the second boundary points are boundary points of the first non-lawn area, except for the second reference point, with respect to the lawn area.

In a possible embodiment, in terms of determining the first reference point of the lawn area from the ground image, the first identifying unit 52 is specifically configured to: dividing a plurality of image areas in the ground image; respectively acquiring a plurality of first pixel points in each of the plurality of image areas; determining RGB values of the first pixel points in each image region one by one, and respectively obtaining a plurality of RGB value sets, wherein the RGB value sets comprise a plurality of RGB values of the first pixel points of the corresponding pixel regions; calculating the average value of a plurality of RGB values in each RGB value set to obtain a plurality of first average values; comparing the plurality of first average values with preset RGB values respectively to obtain comparison results; and determining the first reference point according to the comparison result.

In one possible embodiment, the preset RGB values include a first preset RGB value and a second preset RGB value; in the aspect of determining the first reference point according to the comparison result, the first identifying unit 52 is specifically configured to: if the difference values of the first average values and the first preset RGB values are smaller than a first preset threshold value, judging that the area corresponding to the ground image belongs to a lawn area; if the difference values of the first average values and the second preset RGB values are smaller than a second preset threshold value, judging that the area corresponding to the ground image belongs to a non-lawn area; if the area corresponding to the ground image does not belong to the lawn area or the non-lawn area, judging that the area corresponding to the ground image belongs to a mixed area, wherein the mixed area comprises the lawn area and the non-lawn area.

In a possible embodiment, after determining that the area corresponding to the ground image belongs to the mixed area if the area corresponding to the ground image does not belong to the lawn area or the non-lawn area, the first identifying unit 52 is further configured to: if the area corresponding to the ground image belongs to a mixed area, determining a first image area in the image areas, wherein the first image area belongs to a lawn area; determining a second image area bordering the first image area, wherein the second image area belongs to a non-lawn area; and determining the first reference point at the boundary of the first image area and the second image area.

In a possible embodiment, the image acquisition unit 51 is further configured to: a first ground image is acquired during mowing. The device further comprises: a third identification unit, configured to determine a third reference point according to the first ground image, determine, when the second non-lawn area is an obstacle, a plurality of third boundary points of the obstacle using a third reference point starting point, and determine, when the second non-lawn area is not an obstacle, a plurality of fourth boundary points of the second non-lawn area using the third reference point starting point; a third sending unit, configured to send the third reference point to the server, where the third reference point is a boundary point between a lawn area and a second non-lawn area except the first reference point, the first boundary point, the second reference point, and the second boundary point, and send the fourth boundary points to the server, and the fourth boundary points are used to update the complete lawn area map together with the third reference point; the determining unit 57 is further configured to determine whether the second non-lawn area is an obstacle, and send the third boundary points to a server, where the third boundary points are used to construct a temporary map together with the third reference point; and the control unit is used for executing the mowing work according to the temporary map.

In a possible embodiment, the first reference point is used as a starting point to determine a plurality of boundary points of the lawn area, and the first identifying unit 52 is specifically configured to: moving along the boundary of the lawn area by taking the first reference point as a starting point; and determining the first boundary points in the moving process until the first reference points are returned to obtain a plurality of first boundary points of the lawn area.

Referring to fig. 6, an embodiment of the present application further provides a work area constructing apparatus 60, which is applied to a server, and the apparatus includes:

a first obtaining unit 61, configured to obtain coordinates of a first reference point and coordinates of a plurality of first boundary points, where the first reference point is obtained according to the ground image, the ground image is collected by the lawn mower, the coordinates of the first reference point are determined by the lawn mower receiving first correction information of the RTK base station, the first reference point is a boundary point of a lawn area relative to a non-lawn area, the first reference point is used to determine coordinates of the plurality of first boundary points of the lawn area with the first reference point as a starting point, and the first boundary points are boundary points of the lawn area except the first reference point relative to the non-lawn area;

a first construction unit 62, configured to construct an initial lawn area map according to the first reference point and the plurality of first boundary points.

In one possible embodiment, the method further comprises: a first sending unit 63, configured to send a navigation instruction to a mowing vehicle, where the navigation instruction is used to navigate the mowing vehicle to traverse all internal areas of a lawn area; a second obtaining unit 65, configured to obtain coordinates of a second reference point and coordinates of a plurality of second boundary points, which are sent by the lawn mower when traversing a lawn area, where the second reference point is used to determine the plurality of second boundary points of a first non-lawn area with the second reference point as a starting point, the second reference point is a boundary point between the first non-lawn area and the lawn area in the lawn area, and the second boundary point is a boundary point between the first non-lawn area and the lawn area except the second reference point; a second constructing unit 64, configured to construct a complete lawn area map on the basis of the initial lawn map according to the second reference point and the plurality of second boundary points.

Embodiments of the present application also provide a lawn mowing vehicle comprising a processor and a memory, the memory for storing one or more programs and configured for execution by the processor, the programs comprising instructions for performing the steps in the method as described above.

The present invention also provides a computer-readable storage medium storing one or more programs, which are executable by one or more processors to implement the steps in the method described in the above embodiments.

The present invention also provides an electronic device 70, as shown in fig. 7, which includes at least one processor (processor) 71; a display screen 72; and a memory (memory)73, and may further include a communication Interface (Communications Interface)74 and a bus 75. The processor 71, the display 72, the memory 73 and the communication interface 74 can communicate with each other via the bus 75. The display screen 72 is configured to display a user guidance interface preset in the initial setting mode. The communication interface 74 may transmit information. Processor 71 may call logic instructions in memory 73 to perform the methods in the embodiments described above.

Optionally, the electronic device 70 may be a mobile phone, a computer, or other terminal devices, which is not limited herein.

In addition, the logic instructions in the memory 73 may be implemented in the form of software functional units and stored in a computer readable storage medium when the software functional units are sold or used as independent products.

The memory 73, which is a computer-readable storage medium, may be configured to store a software program, a computer-executable program, such as program instructions or modules corresponding to the methods in the embodiments of the present disclosure. The processor 71 executes functional applications and data processing by executing software programs, instructions or modules stored in the memory 73, that is, implements the methods in the above-described embodiments.

The memory 73 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the electronic device 70, and the like. Further, the memory 73 may include a high-speed random access memory, and may also include a nonvolatile memory. For example, a variety of media that can store program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk, may also be transient storage media.

In addition, the specific processes loaded and executed by the storage medium and the instruction processors in the mobile terminal are described in detail in the method, and are not stated herein.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present application.

Claims

1. A working area construction method is applied to a mowing vehicle, and is characterized by comprising the following steps:

collecting ground images in the driving process;

receiving first correction information from an RTK base station;

sending the coordinates of the first reference point to a server;

2. The work area construction method of claim 1, after the sending the coordinates of the plurality of first boundary points to the server, the method further comprising:

based on the initial lawn area map, traversing all internal areas of a lawn area by the mowing vehicle, and determining whether a second reference point exists, wherein the second reference point is a boundary point of a first non-lawn area and the lawn area in the lawn area;

if the second reference point is determined in the traversal process, receiving second correction information from the RTK base station;

determining coordinates of the second reference point according to the second correction information;

sending the coordinates of the second reference point to a server;

determining a plurality of second boundary points of a first non-lawn area by taking the second reference point as a starting point, wherein the second boundary points are boundary points of the first non-lawn area relative to the lawn area except the second reference point;

sending coordinates of a plurality of second boundary points in the first non-lawn area to the server, the plurality of second boundary points being used for constructing a complete lawn area map on the basis of the initial lawn map.

3. The method of claim 1, wherein the determining a first reference point for a lawn area from the ground image further comprises:

dividing a plurality of image areas in the ground image;

respectively acquiring a plurality of first pixel points in each of the plurality of image areas;

determining RGB values of the first pixel points in each image region one by one, and respectively obtaining a plurality of RGB value sets, wherein the RGB value sets comprise a plurality of RGB values of the first pixel points of the corresponding pixel regions;

calculating an average value of a plurality of RGB values in each RGB value set to obtain a plurality of first average values;

comparing the plurality of first average values with preset RGB values respectively to obtain comparison results;

and determining the first reference point according to the comparison result.

4. The method of claim 2, wherein the preset RGB values comprise a first preset RGB value and a second preset RGB value;

the determining the first reference point according to the comparison result includes:

if the difference values of the first average values and the first preset RGB values are smaller than a first preset threshold value, judging that the area corresponding to the ground image belongs to a lawn area;

if the difference values of the first average values and the second preset RGB values are smaller than a second preset threshold value, judging that the area corresponding to the ground image belongs to a non-lawn area;

if the area corresponding to the ground image does not belong to the lawn area or the non-lawn area, judging that the area corresponding to the ground image belongs to a mixed area, wherein the mixed area comprises the lawn area and the non-lawn area.

5. The method of claim 3, wherein after determining that the area corresponding to the ground image belongs to the blending area if the area corresponding to the ground image does not belong to either the lawn area or the non-lawn area, the method further comprises:

if the area corresponding to the ground image belongs to a mixed area, determining a first image area in the image areas, wherein the first image area belongs to a lawn area;

determining a second image area bordering on the first image area, wherein the second image area belongs to a non-lawn area;

and determining the first reference point at the boundary of the first image area and the second image area.

6. The method of claim 2, further comprising:

acquiring a first ground image in a mowing process;

if a third reference point is determined according to the first ground image, receiving third correction information from the RTK base station;

determining the coordinates of the third reference point according to the third correction information;

sending the coordinates of the third reference point to the server, wherein the third reference point is a boundary point of a lawn area and a second non-lawn area except the first reference point, the first boundary point, the second reference point and the second boundary point;

determining whether the second non-lawn area is an obstacle;

if the second non-lawn area is a barrier, determining a plurality of third boundary points of the barrier by using a third reference point starting point;

sending the plurality of third boundary points to a server, wherein the plurality of third boundary points are used for constructing a temporary map together with the third reference point;

executing the mowing work according to the temporary map;

if the second non-lawn area is not the obstacle, determining a plurality of fourth boundary points of the second non-lawn area by using a third reference point starting point;

and sending the fourth boundary points to a server, wherein the fourth boundary points are used for updating the complete lawn area map together with the third reference point.

7. The method according to any one of claims 1-6, wherein determining a plurality of boundary points of the lawn area starting from the first reference point comprises:

moving along the boundary of the lawn area by taking the first reference point as a starting point;

and determining the first boundary points in the moving process until the first reference points are returned to obtain a plurality of first boundary points of the lawn area.

8. The method of claim 6, wherein the first, second, third, and fourth boundary points are determined in the same manner as the first reference point.

9. A working area construction method is applied to a server and is characterized by comprising the following steps:

10. A work area constructing device applied to a mowing vehicle, the device is characterized by comprising:

11. A work area construction device applied to a server is characterized by comprising:

12. A lawn mowing vehicle comprising a processor and a memory, the memory for storing one or more programs and configured for execution by the processor, the programs comprising instructions for performing the steps in the method of any of claims 1-9.

13. An electronic device comprising a processor, a memory for storing one or more programs and configured for execution by the processor, the programs comprising instructions for performing the steps of the method of any of claims 1-9.

14. A computer-readable storage medium, characterized by storing a computer program for electronic data exchange, wherein the computer program causes a computer to execute instructions of the steps in the method according to any one of claims 1-9.