CN115039561A - Mowing method, mowing device, mowing robot and storage medium - Google Patents
Mowing method, mowing device, mowing robot and storage medium Download PDFInfo
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/006—Control or measuring arrangements
- A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D91/00—Methods for harvesting agricultural products
- A01D91/04—Products growing above the soil
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
Abstract
The embodiment of the application discloses a mowing method, comprising the following steps: responding to a mowing triggering request aiming at the mowing robot, and acquiring a preset operation area; dividing the preset operation area to obtain a plurality of operation sub-areas; generating a mowing route corresponding to each operation subarea according to the area information of the operation subareas; and connecting the generated mowing routes, and controlling the mowing robot to execute mowing operation based on the connected mowing routes. The scheme can change the air route of the mowing robot to increase the actual working area of the mowing robot, so that the mowing efficiency of the mowing robot is improved.
Description
Technical Field
The application relates to the technical field of computers, in particular to a mowing method, a mowing device, a mowing robot and a storage medium.
Background
The mowing robot is widely applied to maintenance of home courtyard lawns and trimming of large lawns. The mowing robot integrates technologies such as motion control, multi-sensor fusion and path planning. In order to control the mowing robot to perform mowing operation, a mowing path of the mowing robot needs to be planned so as to completely cover all working areas.
However, the existing mowing robot adopts a random path and moves randomly in a working environment, so that the working efficiency is very low; in addition, another mowing robot on the market moves according to a preset air route, but the preset air route is fixedly arranged, and the preset air route cannot be changed due to unreasonable arrangement, so that the actual working area of the mowing robot is small, and the mowing efficiency of the mowing robot is reduced.
Disclosure of Invention
The embodiment of the application provides a mowing method, a mowing device, a mowing robot and a storage medium, which can change a route of the mowing robot to increase the actual working area of the mowing robot, so that the mowing efficiency of the mowing robot is improved.
In a first aspect, an embodiment of the present application provides a mowing method, including:
responding to a mowing triggering request aiming at the mowing robot, and acquiring a preset operation area;
dividing the preset operation area to obtain a plurality of operation sub-areas;
generating a mowing route corresponding to each operation subarea according to the area information of the operation subareas;
and connecting the generated mowing routes, and controlling the mowing robot to execute mowing operation based on the connected mowing routes.
Optionally, the dividing the preset operation region to obtain a plurality of operation sub-regions includes:
detecting whether the preset operation area is a special-shaped area or not;
when the preset operation area is detected to be the special-shaped area, the preset operation area is divided based on a preset strategy to obtain a plurality of operation sub-areas.
Optionally, when it is detected that the preset operation region is an abnormal region, dividing the preset operation region based on a preset policy to obtain a plurality of operation sub-regions includes:
when the preset operation area is detected to be the special-shaped area, a preset area division graph is obtained;
dividing the preset operation area based on the area division graph;
detecting whether the divided graph area meets a preset area division rule or not;
and when the divided graphic area is detected to meet the preset area division rule, determining the divided graphic area as a work sub-area.
Optionally, before dividing the preset operation region to obtain a plurality of operation sub-regions, the method further includes:
detecting the number of boundaries of the preset operation area;
when the number of the boundaries is detected to be larger than a preset value, executing a step of generating a mowing route corresponding to each operation subarea;
and when the number of the boundaries is detected to be smaller than or equal to a preset value, generating a target mowing line corresponding to the preset operation area, and controlling the mowing robot to perform mowing operation based on the target mowing line.
Optionally, each target mowing line is parallel to the longest boundary of a triangular preset working area, and each target mowing line does not exceed the boundary of the triangular preset working area.
Optionally, the generating a mowing route corresponding to each work subarea according to the area information of the work subareas includes:
extracting a region area and a region shape from region information of the work subregion;
and generating a mowing route corresponding to each working subarea based on the area and the area shape.
Optionally, the connecting the generated mowing route comprises:
detecting the route direction of an adjacent mowing route;
and connecting the generated mowing routes based on the route direction.
In a second aspect, an embodiment of the present application provides a grass cutting device, including:
the acquisition module is used for responding to a mowing triggering request aiming at the mowing robot and acquiring a preset operation area;
the partitioning module is used for partitioning the preset operation area to obtain a plurality of operation sub-areas;
the generating module is used for generating a mowing route corresponding to each operation subarea according to the area information of the operation subareas;
and the control module is used for connecting the generated mowing route and controlling the mowing robot to execute mowing operation based on the connected mowing route.
In a third aspect, embodiments of the present application provide a robot lawnmower including a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor implements the steps of the mowing method according to any one of the above methods when executing the program.
In a fourth aspect, embodiments of the present application provide a storage medium having a computer program stored thereon, where the computer program is executed by a processor to implement the steps of the mowing method as described in any one of the above.
According to the method and the device for controlling the mowing robot, a mowing triggering request for the mowing robot is responded, a preset operation area is obtained, then the preset operation area is divided to obtain a plurality of operation sub-areas, a mowing route corresponding to each operation sub-area is generated according to area information of the operation sub-areas, finally the generated mowing routes are connected, and the mowing robot is controlled to execute mowing operation based on the connected mowing routes. According to the mowing scheme provided by the application, the preset operation area is divided to obtain a plurality of operation sub-areas, the mowing route corresponding to each operation sub-area is generated according to the area information of the operation sub-areas, the generation of a more reasonable mowing route for each operation sub-area is facilitated, the original fixed route is changed, the generated mowing routes are connected, the mowing robot is controlled to execute mowing operation based on the connected mowing routes, the mowing routes corresponding to the operation sub-areas are connected to obtain fewer corners and a longer mowing route, the actual working area of the mowing robot is enlarged, and the mowing efficiency of the mowing robot is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic view of a prior art mowing process;
FIG. 2 is a schematic flow chart of a mowing method provided by an embodiment of the present application;
fig. 3 is a schematic diagram of a work sub-area provided in an embodiment of the present application;
FIG. 4 is a schematic diagram of an embodiment of the present application providing a connection for a mowing route in a work area;
FIG. 5 is a schematic view of a first structure of a mowing device according to an embodiment of the present disclosure;
fig. 6 is a second structural schematic diagram of the grass cutting device according to the embodiment of the present application;
fig. 7 is a schematic configuration diagram of a mowing robot according to an embodiment of the present application.
Detailed Description
In the prior art solutions, the mowing route of the mowing robot is fixedly set and unchangeable. Referring to fig. 1, fig. 1 is a schematic view illustrating a mowing method according to a prior art. The fixed route is easy to cause that the direction of the route is not matched with the terrain of an operation area, so that the route cannot be as long as possible, the mowing robot frequently turns to generate a large amount of acceleration and deceleration operations, and the mowing efficiency is reduced. The technical scheme of the application is provided for solving the problems.
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.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element. In addition, the connection may be for either a fixing function or a circuit connection function.
It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for convenience in describing the embodiments of the present invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be in any way limiting of the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of the present application, "a plurality" means two or more unless specifically defined otherwise.
The embodiment of the application provides a mowing method, a mowing device, a mowing robot and a storage medium.
The mowing device can be specifically integrated in a Micro Control Unit (MCU) of the mowing robot, and can also be integrated in an intelligent terminal or a server, the MCU is also called a Single Chip Microcomputer (SCM) or a Single Chip Microcomputer, the frequency and the specification of a Central Processing Unit (CPU) are properly reduced, peripheral interfaces such as a memory (memory), a counter (Timer), a USB (universal serial bus), an analog-to-digital conversion/digital-to-analog conversion, a UART (universal asynchronous receiver/transmitter), a PLC (programmable logic controller), a DMA (direct memory access) and the like are formed, a Chip-level computer is formed, and different combination control is carried out on different application occasions. The robot of mowing can walk voluntarily, and the collision prevention returns automatically within the scope and charges, possesses safety inspection and battery power detection, possesses certain climbing ability, is particularly suitable for places such as family's courtyard, public greenery patches to carry out the lawn mowing maintenance, and its characteristics are: automatic mowing, grass scrap cleaning, automatic rain sheltering, automatic charging, automatic obstacle sheltering, small and exquisite appearance, electronic virtual fence, network control and the like.
The terminal may be, but is not limited to, a smart phone, a tablet computer, a laptop computer, a desktop computer, a smart speaker, a smart watch, and the like. The terminal and the server may be directly or indirectly connected through a wired or wireless communication manner, the server may be an independent physical server, may also be a server cluster or a distributed system formed by a plurality of physical servers, and may also be a cloud server that provides basic cloud computing services such as a cloud service, a cloud database, cloud computing, a cloud function, cloud storage, a network service, cloud communication, middleware service, a domain name service, a security service, a CDN, and a big data and artificial intelligence platform, which is not limited herein.
The following are detailed below. It should be noted that the description sequence of the following embodiments is not intended to limit the priority sequence of the embodiments. The working area or working sub-area described in the following embodiments refers to a closed area in which at least three line segments are sequentially connected in the same coordinate system; the boundary of the working area or the boundary of the working sub-area refers to a line segment for enclosing the working area or the working sub-area into a closed area; the mowing route refers to a line segment formed by connecting at least two coordinate points in the same coordinate system, the starting end of the line segment is the starting point of the mowing route, and the tail end of the line segment is the terminal point of the mowing route.
A method of mowing comprising: responding to a mowing triggering request aiming at the mowing robot, and acquiring a preset operation area; dividing a preset operation area to obtain a plurality of operation sub-areas; generating a mowing route corresponding to each operation subarea according to the area information of the operation subareas; and connecting the generated mowing routes, and controlling the mowing robot to perform mowing operation based on the connected mowing routes.
Referring to fig. 2, fig. 2 is a schematic flow chart of a mowing method according to an embodiment of the present application. The specific flow of the mowing method can be as follows:
and S1, responding to a mowing triggering request aiming at the mowing robot, and acquiring a preset working area.
The preset operation area can be an area which is defined in a mowing map by a user in advance, and can also be determined according to differential positioning data and satellite positioning data of the mowing robot, the preset operation area can be determined according to actual conditions, the number of the mowing areas can be one or multiple, and the shapes and the sizes of the mowing areas can be preset by the user.
For example, a mowing map corresponding to the mowing robot is determined according to the satellite positioning data, and then a mowing area is divided in the mowing map in response to an area dividing operation for the mowing map.
And S2, dividing the preset operation area to obtain a plurality of operation sub-areas.
It can be understood that dividing the preset operation area refers to dividing an area defined by a user in a mowing map in advance or an area determined according to differential positioning data and satellite positioning data of the mowing robot into a plurality of operation sub-areas, wherein the number of the operation sub-areas is determined according to actual conditions, the total area of the plurality of operation sub-areas is equal to the area of the original preset operation area, and when the preset operation area is divided, the original boundary of the preset operation area is not changed.
The preset operation area is a closed area formed by sequentially connecting a plurality of line segments, and each line segment is the boundary of the preset operation area.
Optionally, the step of "dividing the preset work area to obtain a plurality of work sub-areas" may specifically include:
(21) and detecting whether the preset operation area is an abnormal area.
(22) When the preset operation area is detected to be the special-shaped area, the preset operation area is divided based on a preset strategy, and a plurality of operation sub-areas are obtained.
It is understood that, in some embodiments, the irregular area is a polygon with all sides not parallel to each other, and may also be a preset operation area with a curved boundary.
Optionally, in some embodiments, the preset policy may be a dividing manner for dividing the preset work area, for example, the preset work area is divided according to a dividing manner with the smallest number of polygonal work sub-areas obtained by dividing.
Optionally, in some embodiments, the step "when it is detected that the preset operation region is an irregular region, divide the preset operation region based on a preset policy to obtain a plurality of operation sub-regions", may specifically include:
(221) and when the preset operation area is detected to be the special-shaped area, acquiring a preset area division graph.
(222) And dividing the preset operation area based on the area division graph.
(223) And detecting whether the divided graph area meets a preset area division rule or not.
(224) And when the divided graphic area is detected to meet the preset area division rule, determining the divided graphic area as a work sub-area.
It is understood that the preset region division pattern is obtained to include at least a set of polygons having parallel opposite sides and polygons having all sides not parallel to each other. The polygons having at least one set of parallel sides may be trapezoids, parallelograms or rectangles, and the polygons in which all sides are not parallel to each other may be triangles, pentagons or hexagons, even irregular pentagons and hexagons, etc. The preset operation region is divided based on the region division graph, that is, the shape of the preset operation sub-region is a rectangle, and then a rectangular region is determined to be the operation sub-region in the preset operation region, and the area of the rectangular sub-region and the relative position of the rectangular sub-region in the preset operation region can be determined according to specific situations. Referring to fig. 3, fig. 3 is a schematic view of an operation sub-region according to an embodiment of the present disclosure. The preset work area is divided according to the shape of the work sub-area, and a rectangular first work sub-area 101 and a trapezoidal second work sub-area 102 are divided.
Optionally, in some embodiments, detecting whether the divided graphics region meets a preset region division rule, and when it is detected that the divided graphics region meets the preset region division rule, determining the divided graphics region as the work sub-region may be: repeatedly dividing the preset operation area for multiple times to correspondingly obtain a plurality of operation subarea combinations, wherein each operation subarea combination comprises a plurality of polygonal operation subareas; and screening an optimal operation subregion combination from the plurality of operation subregion combinations according to at least one screening condition, and taking the polygonal operation subregion of the optimal operation subregion combination as the divided operation subregion, wherein the screening condition is the operation subregion combination with the minimum number of polygonal operation subregions, the operation subregion combination with the minimum number of polygonal operation subregions with all mutually unparalleled sides or the operation subregion combination with the minimum area of the polygonal operation subregion with all mutually unparalleled sides. Therefore, the preset region division rule can be used for judging whether the divided graphic region meets the criterion or not by taking the minimum number of the divided operation sub-regions as the criterion; or, the preset region division rule may be based on the criterion that the number of the divided triangular operation sub-regions is minimum, and whether the divided graphic region meets the criterion is judged; or, the preset region division rule may be based on the criterion that the area of the divided triangular operation sub-region is the minimum, and whether the divided graphic region meets the criterion is judged; even more, the preset region division rule may be any two or three of the above criteria.
Optionally, in some embodiments, when the work subarea is a polygonal work subarea with all sides not parallel to each other, the work subarea of the work subarea is obtained by dividing the work subarea.
And repeating the steps until each operation subarea is a polygonal operation subarea at least provided with a group of parallel opposite sides.
Optionally, in some embodiments, before the step "dividing the preset work area to obtain a plurality of work sub-areas", the method may specifically include: detecting the number of boundaries of a preset operation area; when the number of the boundaries is detected to be larger than a preset value, executing a step of generating a mowing route corresponding to each operation subarea; and when the number of the boundaries is detected to be less than or equal to the preset value, generating a target mowing line corresponding to the preset operation area, and controlling the mowing robot to perform mowing operation based on the target mowing line.
It is to be understood that, when it is detected that the preset operation region is the polygon preset operation region, each boundary of the polygon preset operation region may be further detected to detect the number of boundaries of the preset operation region.
In a specific embodiment, the preset value is 3, when it is detected that the number of the boundaries of the preset operation area is equal to 3, that is, the preset operation area is a triangular preset operation area, target mowing routes are generated in the triangular preset operation area, each target mowing route is parallel to the longest boundary of the triangular preset operation area, and each target mowing route does not exceed the boundary of the triangular preset operation area.
In another specific embodiment, the preset value is 4, and when it is detected that the number of the boundaries of the preset operation area is equal to 3, that is, the preset operation area is a triangular preset operation area, target mowing routes are generated in the triangular preset operation area, each target mowing route is parallel to the longest boundary of the triangular preset operation area, and each target mowing route does not exceed the boundary of the triangular preset operation area. When the number of the boundaries of the preset operation area is detected to be equal to 4, namely the preset operation area is a quadrilateral preset operation area, target mowing routes are generated in the quadrilateral preset operation area, each target mowing route is parallel to the longest boundary of the quadrilateral preset operation area, and each target mowing route does not exceed the boundary of the quadrilateral preset operation area.
And S3, generating a mowing route corresponding to each work subarea according to the area information of the work subareas.
The area information of the work subarea includes an area, an area shape, a partial area that needs to be mowed in the area, and the like. The mowing line generated in the operation sub-area is in a bow shape, namely the mowing robot moves straight along the mowing line, turns and moves straight, and a bow-shaped driving track is formed.
Optionally, the step "generating a mowing route corresponding to each work sub-area according to the area information of the work sub-area" may specifically include:
(31) the area and the area shape are extracted from the area information of the work subarea.
(32) And generating a mowing route corresponding to each working subarea based on the area and the shape of the area.
Optionally, in some embodiments, when the work sub-area is a polygonal work sub-area having at least one set of parallel sides, a longest boundary within the polygonal work sub-area that is parallel to the opposing boundary is determined, and a plurality of equally spaced mowing routes are generated in the polygonal work sub-area, each mowing route being parallel to the longest boundary and each mowing route not exceeding the boundary of the polygonal work sub-area.
Optionally, in some embodiments, when the work sub-area is a triangular work sub-area, a plurality of mowing routes at equal intervals are arranged and generated in the triangular work sub-area, each mowing route is parallel to the longest boundary of the triangular work sub-area, and each mowing route does not exceed the boundary of the triangular work sub-area.
In a specific embodiment, an area and an area shape are extracted from area information of any one operation subarea, when the area and the area shape determine that the operation subarea is a square operation subarea with the square size of 5X5 square meters, and if the mowing area is 1 square meter when the mowing robot travels 1 meter along a straight line, at least 5 parallel mowing paths are generated in the square operation subarea, each mowing path is parallel to one boundary of the square operation subarea, and each mowing path does not exceed the boundary of the square operation subarea.
And S4, connecting the generated mowing route, and controlling the mowing robot to perform mowing operation based on the connected mowing route.
Referring to fig. 4, fig. 4 is a schematic diagram illustrating the connection of the mowing route of the working sub-area according to the embodiment of the present application. After the plurality of working sub-areas are divided, the working sub-area where the starting point of the mowing robot is located is the first working sub-area 101, and if two working sub-areas are obtained through division, the working sub-area where the ending point of the mowing robot is located is the second working sub-area 102. At the junction of the first work subarea 101 and the second work subarea 102, the end point of the mowing line of the first work subarea 101 is connected with the start point of the mowing line of the second work subarea 102, so that the mowing line connection of the two work subareas is realized. After the mowing paths of the two working subareas are connected, the mowing robot continuously travels from the starting point of the mowing path of the first working subarea 101 to the ending point of the mowing path of the second working subarea 102.
Optionally, the step of "connecting the generated mowing route" may include:
(41) and detecting the route direction of the adjacent mowing routes.
(42) And connecting the generated mowing routes based on the route direction.
It can be understood that, when the number of the divided work subareas is two or more, taking three work subareas as an example, the route direction of the mowing line of the work subarea adjacent to the first work subarea 101 needs to be detected, if the route direction of the mowing line of one of the remaining two work subareas is consistent with the route direction of the mowing line of the first work subarea 101, the work subarea is determined as a second work subarea 102, the mowing line of the first work subarea 101 and the second work subarea 102 is connected, the other work subarea of the two work subareas is determined as a third work subarea, and the mowing robot termination point is determined as a third work subarea.
According to the mowing scheme provided by the application, the preset operation area is divided to obtain a plurality of operation sub-areas, the mowing route corresponding to each operation sub-area is generated according to the area information of the operation sub-areas, a more reasonable mowing route can be generated for each operation sub-area, the original fixed route can be changed, the generated mowing routes are connected, the mowing robot is controlled to execute mowing operation based on the connected mowing routes, the mowing routes corresponding to the operation sub-areas are connected to obtain fewer corners and longer mowing routes, the actual working area of the mowing robot is enlarged, and the mowing efficiency of the mowing robot is improved.
In order to better implement the mowing method according to the embodiment of the application, the embodiment of the application also provides the mowing device based on the mowing method. The terms are the same as those in the mowing method, and specific implementation details can be referred to the description in the method embodiment.
Referring to fig. 5, fig. 5 is a schematic view of a first structure of a grass cutting device according to an embodiment of the present disclosure, where the grass cutting device may include an obtaining module 201, a partitioning module 202, a generating module 203, and a control module 204, which may specifically be as follows:
the obtaining module 201 is configured to respond to a mowing trigger request for the mowing robot, and obtain a preset working area.
The partitioning module 202 is configured to partition a preset work area to obtain a plurality of work sub-areas.
Optionally, in some embodiments, the partition module 202 may specifically include:
the detection unit is used for detecting whether the preset operation area is an abnormal area or not;
and the partitioning unit is used for partitioning the preset operation area based on a preset strategy to obtain a plurality of operation sub-areas when the preset operation area is detected to be the special-shaped area.
Optionally, in some embodiments, the partition unit may specifically include:
the acquisition subunit is used for acquiring a preset area division graph when the preset operation area is detected to be the special-shaped area;
the dividing subunit is used for dividing the preset operation area based on the area dividing graph;
the judging subunit is used for detecting whether the divided graphic regions meet a preset region division rule or not;
and the confirming subunit is used for determining the divided graphic area as the operation sub-area when the divided graphic area is detected to meet the preset area division rule.
Optionally, in some embodiments, the dividing subunit is further configured to: when the operation subareas are polygonal operation subareas with all sides not parallel to each other, dividing the operation subareas to obtain the operation subareas of the operation subareas; and repeating the steps until each operation subarea is a polygonal operation subarea at least provided with a group of parallel opposite sides.
Optionally, in some embodiments, please refer to fig. 6, and fig. 6 is a second structural schematic diagram of the mowing device provided in the embodiments of the present application. The mowing device of the present application may further include a detection module 205, where the detection module 205 may be specifically configured to: detecting the number of boundaries of a preset operation area; when the number of the boundaries is detected to be larger than a preset value, executing a step of generating a mowing route corresponding to each operation subarea; and when the number of the boundaries is detected to be less than or equal to the preset value, generating a target mowing line corresponding to the preset operation area, and controlling the mowing robot to perform mowing operation based on the target mowing line.
Optionally, in some embodiments, the detection module 205 generates the target mowing routes in the preset working area, where each target mowing route is parallel to the longest boundary of the triangular preset working area and each target mowing route does not exceed the boundary of the triangular preset working area.
The generating module 203 is configured to generate a mowing route corresponding to each work subarea according to the area information of the work subareas.
Optionally, in some embodiments, the generating module 203 may specifically include:
an extraction unit configured to extract a region area and a region shape from region information of the work sub-region.
And the generating unit is used for generating a mowing route corresponding to each working subarea based on the area and the area shape.
And the control module 204 is used for connecting the generated mowing route and controlling the mowing robot to execute mowing operation based on the connected mowing route.
Optionally, in some embodiments, the control module 204 may specifically include:
and the direction detection unit is used for detecting the route direction of the adjacent mowing route.
And the connection operation unit is used for connecting the generated mowing route based on the route direction.
According to the embodiment of the application, an obtaining module 201 responds to a mowing triggering request for a mowing robot to obtain a preset operation area, then a partitioning module 202 partitions the preset operation area to obtain a plurality of operation sub-areas, then a generating module 203 generates mowing routes corresponding to each operation sub-area according to area information of the operation sub-areas, and finally a control module 204 connects the generated mowing routes and controls the mowing robot to execute mowing operation based on the connected mowing routes. According to the mowing scheme provided by the application, the preset operation area is divided to obtain a plurality of operation sub-areas, the mowing route corresponding to each operation sub-area is generated according to the area information of the operation sub-areas, a more reasonable mowing route can be generated for each operation sub-area, the original fixed route can be changed, the generated mowing routes are connected, the mowing robot is controlled to execute mowing operation based on the connected mowing routes, the mowing routes corresponding to the operation sub-areas are connected to obtain fewer corners and longer mowing routes, the actual working area of the mowing robot is enlarged, and the mowing efficiency of the mowing robot is improved.
In addition, an embodiment of the present application also provides a robot mower, as shown in fig. 7, which shows a schematic structural diagram of the robot mower according to the embodiment of the present application, and specifically:
the mowing robot can include components such as a control module 501, a travel mechanism 502, a cutting module 503, and a power supply 504. Those skilled in the art will appreciate that the mowing robot configuration shown in fig. 7 does not constitute a limitation of the mowing robot in the present embodiment, and may include more or fewer components than shown, or combine certain components, or a different arrangement of components. Wherein:
the control module 501 is a control center of the robot mower, and the control module 501 may specifically include a Central Processing Unit (CPU), a memory, an input/output port, a system bus, a timer/counter, a digital-to-analog converter, an analog-to-digital converter, and other components, where the CPU executes various functions and processes data of the robot mower by running or executing software programs and/or modules stored in the memory and calling data stored in the memory; preferably, the CPU may integrate an application processor, which mainly handles an operating system, application programs, and the like, and a modem processor, which mainly handles wireless communication. It will be appreciated that the modem processor described above may not be integrated into the CPU.
The memory may be used to store software programs and modules, and the CPU executes various functional applications and data processing by operating the software programs and modules stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data created according to use of the lawn mowing robot, and the like. Further, the memory may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device. Accordingly, the memory may also include a memory controller to provide the CPU access to the memory.
The moving mechanism 502 is electrically connected to the control module 501, and is configured to adjust a moving speed and a moving direction of the mowing robot in response to the control signal transmitted by the control module 501, so as to implement a self-moving function of the mowing robot.
The cutting module 503 is electrically connected to the control module 501, and is configured to adjust the height and the rotation speed of the cutter disc in response to a control signal transmitted by the control module, so as to achieve mowing operation.
The power supply 504 may be logically connected to the control module 501 through a power management system, so as to implement functions of managing charging, discharging, and power consumption through the power management system. The power supply 504 may also include any component of one or more dc or ac power sources, recharging systems, power failure detection circuitry, power converters or inverters, power status indicators, and the like.
Although not shown, the mowing robot may further include a communication module, a sensor module, a prompt module, and the like, which are not described in detail herein.
The communication module is used for receiving and sending signals in the process of receiving and sending information, and realizes the signal receiving and sending with the user equipment, the base station or the server by establishing communication connection with the user equipment, the base station or the server.
The sensor module is used for collecting internal environment information or external environment information, and feeding collected environment data back to the control module for decision making, so that the accurate positioning and intelligent obstacle avoidance functions of the mowing robot are realized. Optionally, the sensor may comprise: without limitation, an ultrasonic sensor, an infrared sensor, a collision sensor, a rain sensor, a lidar sensor, an inertial measurement unit, a wheel speed meter, an image sensor, a position sensor, and other sensors.
The prompting module is used for prompting the working state of the current mowing robot of a user. In this scheme, the prompt module includes but is not limited to pilot lamp, bee calling organ etc.. For example, the mowing robot can prompt a user of the current power state, the working state of the motor, the working state of the sensor and the like through the indicator lamp. For another example, when it is detected that the robot lawnmower has a malfunction or is stolen, an alarm prompt may be implemented by a buzzer.
Specifically, in this embodiment, the processor in the control module 501 loads the executable file corresponding to the process of one or more application programs into the memory according to the following instructions, and the processor runs the application programs stored in the memory, so as to implement various functions as follows:
responding to a mowing triggering request aiming at the mowing robot, and acquiring a preset operation area; dividing a preset operation area to obtain a plurality of operation sub-areas; generating a mowing route corresponding to each operation subarea according to the area information of the operation subareas; and connecting the generated mowing routes, and controlling the mowing robot to perform mowing operation based on the connected mowing routes.
The above operations can be implemented in the foregoing embodiments, and are not described in detail herein.
According to the method and the device for controlling the mowing robot, a mowing triggering request for the mowing robot is responded, a preset operation area is obtained, the preset operation area is divided to obtain a plurality of operation sub-areas, a mowing route corresponding to each operation sub-area is generated according to area information of the operation sub-areas, finally the generated mowing routes are connected, and the mowing robot is controlled to execute mowing operation based on the connected mowing routes. According to the mowing scheme provided by the application, the preset operation area is divided to obtain a plurality of operation sub-areas, the mowing route corresponding to each operation sub-area is generated according to the area information of the operation sub-areas, a more reasonable mowing route can be generated for each operation sub-area, the original fixed route can be changed, the generated mowing routes are connected, the mowing robot is controlled to execute mowing operation based on the connected mowing routes, the mowing routes corresponding to the operation sub-areas are connected to obtain fewer corners and longer mowing routes, the actual working area of the mowing robot is enlarged, and the mowing efficiency of the mowing robot is improved.
It will be understood by those skilled in the art that all or part of the steps of the methods of the above embodiments may be performed by instructions or by associated hardware controlled by the instructions, which may be stored in a computer readable storage medium and loaded and executed by a processor.
To this end, the present application provides a storage medium, in which a plurality of instructions are stored, and the instructions can be loaded by a processor to execute the steps in any one of the mowing methods provided by the present application. For example, the instructions may perform the steps of:
responding to a mowing triggering request aiming at the mowing robot, and acquiring a preset operation area; dividing a preset operation area to obtain a plurality of operation sub-areas; generating a mowing route corresponding to each operation subarea according to the area information of the operation subareas; and connecting the generated mowing routes, and controlling the mowing robot to perform mowing operation based on the connected mowing routes.
The above operations can be implemented in the foregoing embodiments, and are not described in detail herein.
Wherein the storage medium may include: read Only Memory (ROM), Random Access Memory (RAM), magnetic or optical disks, and the like.
Since the instructions stored in the storage medium can execute the steps in any mowing method provided by the embodiment of the application, the beneficial effects that any mowing method provided by the embodiment of the application can achieve can be achieved, and the detailed description is given in the foregoing embodiment and is not repeated herein.
The foregoing detailed description is directed to a mowing method, an apparatus, a mowing robot, and a storage medium provided in embodiments of the present application, and specific examples are applied herein to explain the principles and implementations of the present application, and the descriptions of the foregoing embodiments are only used to help understand the method and core ideas of the present application; meanwhile, for those skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.
Claims (10)
1. A method of mowing, comprising:
responding to a mowing triggering request aiming at the mowing robot, and acquiring a preset operation area;
dividing the preset operation area to obtain a plurality of operation sub-areas;
generating a mowing route corresponding to each operation subarea according to the area information of the operation subareas;
and connecting the generated mowing routes, and controlling the mowing robot to execute mowing operation based on the connected mowing routes.
2. The method according to claim 1, wherein the dividing the preset work area into a plurality of work sub-areas comprises:
detecting whether the preset operation area is a special-shaped area or not;
when the preset operation area is detected to be the special-shaped area, the preset operation area is divided based on a preset strategy to obtain a plurality of operation sub-areas.
3. The method according to claim 2, wherein when it is detected that the preset operation region is an irregular region, dividing the preset operation region based on a preset strategy to obtain a plurality of operation sub-regions comprises:
when the preset operation area is detected to be the special-shaped area, a preset area division graph is obtained;
dividing the preset operation area based on the area division graph;
detecting whether the divided graph area meets a preset area division rule or not;
and when the divided graphic area is detected to meet the preset area division rule, determining the divided graphic area as a work sub-area.
4. The method according to any one of claims 1 to 3, wherein the preset operation area is a closed area formed by connecting a plurality of line segments in sequence, and each line segment is a boundary of the preset operation area; before dividing the preset operation area to obtain a plurality of operation sub-areas, the method further includes:
detecting the number of boundaries of the preset operation area;
when the boundary number is detected to be larger than a preset value, executing a step of generating a mowing route corresponding to each operation subarea;
and when the number of the boundaries is detected to be smaller than or equal to a preset value, generating a target mowing line corresponding to the preset operation area, and controlling the mowing robot to perform mowing operation based on the target mowing line.
5. The method of claim 4, wherein each of the target mowing routes is parallel to a longest boundary of a triangular preset working area and each of the target mowing routes does not exceed the boundary of the triangular preset working area.
6. The method of claim 5, wherein the generating a mowing route corresponding to each work subarea according to the area information of the work subareas comprises:
extracting a region area and a region shape from region information of the work subregion;
and generating a mowing route corresponding to each working subarea based on the area and the area shape.
7. The method of claim 5, wherein said connecting the generated mowing route comprises:
detecting the route direction of an adjacent mowing route;
and connecting the generated mowing routes based on the route direction.
8. A mowing device, comprising:
the acquisition module is used for responding to a mowing triggering request aiming at the mowing robot and acquiring a preset operation area;
the partitioning module is used for partitioning the preset operation area to obtain a plurality of operation sub-areas;
the generating module is used for generating a mowing route corresponding to each operation subarea according to the area information of the operation subareas;
and the control module is used for connecting the generated mowing route and controlling the mowing robot to execute mowing operation based on the connected mowing route.
9. A mowing robot comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program implements the steps of the mowing method according to any one of claims 1 to 7.
10. A storage medium having a computer program stored thereon, wherein the computer program when executed by a processor implements the steps of the mowing method according to any of claims 1 to 7.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210770697.5A CN115039561A (en) | 2022-06-30 | 2022-06-30 | Mowing method, mowing device, mowing robot and storage medium |
| PCT/CN2023/102718 WO2024002061A1 (en) | 2022-06-30 | 2023-06-27 | Mowing method and apparatus, mowing robot, and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210770697.5A CN115039561A (en) | 2022-06-30 | 2022-06-30 | Mowing method, mowing device, mowing robot and storage medium |
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| CN115039561A true CN115039561A (en) | 2022-09-13 |
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| CN202210770697.5A Pending CN115039561A (en) | 2022-06-30 | 2022-06-30 | Mowing method, mowing device, mowing robot and storage medium |
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| CN (1) | CN115039561A (en) |
| WO (1) | WO2024002061A1 (en) |
Cited By (1)
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| WO2024002061A1 (en) * | 2022-06-30 | 2024-01-04 | 松灵机器人(深圳)有限公司 | Mowing method and apparatus, mowing robot, and storage medium |
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