CN116058155A

CN116058155A - Intelligent mower control method and device, intelligent mower and storage medium

Info

Publication number: CN116058155A
Application number: CN202111272272.3A
Authority: CN
Inventors: 宋庆祥; 蒋代红; 朱永康; 于坤; 张亮; 张海容
Original assignee: Ecovacs Robotics Suzhou Co Ltd
Current assignee: Ecovacs Robotics Suzhou Co Ltd
Priority date: 2021-10-29
Filing date: 2021-10-29
Publication date: 2023-05-05

Abstract

The embodiment of the invention provides an intelligent mower control method, an intelligent mower control device, an intelligent mower and a storage medium, wherein the method comprises the following steps: controlling the intelligent mower to patrol in a designated working area; determining the average growth height of the lawn in the working area; acquiring a preset maintenance height of the lawn in the working area, and comparing the preset maintenance height with the average growth height; and controlling the intelligent mower to traverse the work in the work area according to the comparison result. The intelligent mower working time is prevented from being set manually, the lawn can mow in time, the user experience is improved, invalid work of the intelligent mower is prevented, and the energy waste, the abrasion and aging speed of the intelligent mower are reduced.

Description

Intelligent mower control method and device, intelligent mower and storage medium

Technical Field

The embodiment of the invention relates to the technical field of intelligent control, in particular to an intelligent mower control method and device, an intelligent mower and a storage medium.

Background

At present, the working time of the intelligent mower needs to be manually set, and the working time is fixed, so that the working frequency of the intelligent mower for executing the mowing action is fixed, for example, the intelligent mower executes the mowing action every monday or every month, and the working frequency of the intelligent mower is once a week or a month, etc. However, because the growth rate of outdoor lawn can be different because of temperature, weather, water, fertilizer's difference, fixed operating frequency is either because operating frequency is too high, and the lawn is not long as fast, causes intelligent mower's invalid work, extravagant energy, accelerates intelligent mower's wearing and tearing and ageing speed, or because operating frequency is too low, and the lawn is long as fast, causes the lawn unable timely mowing, reduces user experience.

Disclosure of Invention

In order to solve the technical problems that the growth speed of the outdoor lawn is different due to different temperatures, climates, water and fertilizers, the fixed working frequency is too high, the lawn does not grow so fast, the intelligent mower is ineffective, energy is wasted, the abrasion and aging speed of the intelligent mower are accelerated, or the lawn grows relatively fast due to the too low working frequency, the lawn cannot be mowed in time, and the user experience is reduced, the embodiment of the invention provides the intelligent mower control method, the intelligent mower control device, the intelligent mower and the storage medium.

In a first aspect of the embodiment of the present invention, there is provided an intelligent mower control method, applied to an intelligent mower, the method including:

controlling the intelligent mower to patrol in a designated working area;

determining the average growth height of the lawn in the working area;

acquiring a preset maintenance height of the lawn in the working area, and comparing the preset maintenance height with the average growth height;

and controlling the intelligent mower to traverse the work in the work area according to the comparison result.

In an alternative embodiment, the controlling the intelligent mower to patrol within a designated work area includes:

Acquiring a grid map corresponding to a designated working area, and generating a patrol path of the intelligent mower on the grid map:

and controlling the intelligent mower to patrol in the working area according to the patrol path.

In an optional embodiment, the controlling the intelligent mower to traverse the work in the work area according to the comparison result includes:

if the preset maintenance height is smaller than the average growth height, controlling the intelligent mower to traverse the work in the work area;

and if the preset maintenance height is not smaller than the average growth height, waiting for triggering of a next intelligent mower patrol instruction.

In an alternative embodiment, the intelligent mower is provided with a depth sensor, and the determining the average growth height of the lawn in the working area includes:

according to a preset sampling frequency, collecting a plurality of point cloud data corresponding to a local working area in the visual field of the depth sensor through the depth sensor;

and determining the average growth height of the lawn in the working area based on a plurality of the point cloud data acquired each time.

In an optional embodiment, the determining the average growth height of the lawn in the working area based on the plurality of point cloud data acquired each time includes:

Determining attributes corresponding to the point cloud data aiming at any one of the point cloud data collected each time, and endowing the attributes to the point cloud data, wherein the attributes comprise grass or non-grass; the method comprises the steps of,

synthesizing a plurality of point cloud data acquired each time to obtain synthesized point cloud data, and converting the synthesized point cloud data into synthesized point cloud data under a machine coordinate system;

acquiring Z-axis coordinate values of synthetic point cloud data with the attribute of grass from the synthetic point cloud data under the machine coordinate system;

and determining an average value of the Z-axis coordinate values, and determining the average value as the average growth height of the lawn in the working area.

converting the plurality of point cloud data collected each time into point cloud data under a machine coordinate system, and acquiring Z-axis coordinate values of point cloud data with the attribute of grass from the point cloud data under the machine coordinate system;

And determining an average value of the Z-axis coordinate values, determining a target average value of the average value, and determining the target average value as the average growth height of the lawn in the working area.

acquiring a first Z-axis coordinate value of synthetic point cloud data with the attribute of grass from the synthetic point cloud data under the machine coordinate system;

acquiring basic point cloud data under a machine coordinate system, and acquiring a second Z-axis coordinate value of basic point cloud data with the attribute of grass from the basic point cloud data under the machine coordinate system;

and determining a difference value between the first Z-axis coordinate value and the second Z-axis coordinate value, determining an average value of the difference values, and determining the average value as the average growth height of the lawn in the working area.

In an optional embodiment, the intelligent mower is provided with an image sensor, and the determining the attribute corresponding to the point cloud data includes:

according to the sampling frequency, acquiring an image of a local working area in the view field of the image sensor through the image sensor, wherein the image acquisition time is consistent with the point cloud data acquisition time;

performing semantic segmentation on the image by using a deep learning algorithm, and identifying the attribute of each pixel in the image;

and determining the pixel corresponding to the point cloud data from the image according to the point cloud data, and determining the attribute of the pixel corresponding to the point cloud data.

In an optional embodiment, the determining the pixel corresponding to the point cloud data from the image includes:

and determining the pixels corresponding to the point cloud data from the image by using external parameters between the image sensor and the depth sensor.

In an alternative embodiment, the converting the synthetic point cloud data into synthetic point cloud data under a machine coordinate system includes:

and converting the synthetic point cloud data into synthetic point cloud data under a machine coordinate system by utilizing external parameters between the depth sensor and the intelligent mower.

In an alternative embodiment, the converting the synthetic point cloud data into synthetic point cloud data in a machine coordinate system using external parameters between the depth sensor and the intelligent mower includes:

converting external parameters between the depth sensor and the intelligent mower into a rotation matrix;

and multiplying the synthesized point cloud data by the rotation matrix, and converting the synthesized point cloud data into synthesized point cloud data under a machine coordinate system.

In an alternative embodiment, the basic point cloud data under the machine coordinate system is specifically obtained by the following way:

after controlling the intelligent mower to walk in the working area, controlling the intelligent mower to patrol in the working area;

in the process that the intelligent mower patrol in the working area, according to the sampling frequency, acquiring a plurality of basic point cloud data corresponding to a local working area in the field of view of the depth sensor through the depth sensor;

determining the attribute corresponding to the basic point cloud data aiming at any one of the basic point cloud data collected each time, and endowing the attribute to the basic point cloud data; the method comprises the steps of,

and synthesizing the plurality of basic point cloud data acquired each time to obtain synthesized basic point cloud data, and converting the synthesized basic point cloud data into basic point cloud data under a machine coordinate system.

In a second aspect of the embodiments of the present invention, there is provided an intelligent mower control device for use with an intelligent mower, the device comprising:

the mower patrol module is used for controlling the intelligent mower to patrol in a designated working area;

the height determining module is used for determining the average growth height of the lawn in the working area;

the height comparison module is used for acquiring the preset maintenance height of the lawn in the working area and comparing the preset maintenance height with the average growth height;

and the mower working module is used for controlling the intelligent mower to traverse the work in the working area according to the comparison result.

In a third aspect of the embodiments of the present invention, there is also provided an intelligent mower, including a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface, and the memory complete communication with each other through the communication bus;

a memory for storing a computer program;

and the processor is used for realizing the intelligent mower control method in the first aspect when executing the program stored in the memory.

In a fourth aspect of embodiments of the present invention, there is also provided a storage medium having stored therein instructions that, when executed on a computer, cause the computer to perform the intelligent mower control method described in the first aspect above.

In a fifth aspect of embodiments of the present invention, there is also provided a computer program product containing instructions which, when run on a computer, cause the computer to perform the intelligent mower control method described in the first aspect above.

According to the technical scheme provided by the embodiment of the invention, the intelligent mower is controlled to patrol in a designated working area, the average growth height of the lawn in the working area is determined, the preset maintenance height of the lawn in the working area is obtained, the preset maintenance height is compared with the average growth height, and the intelligent mower is controlled to traverse in the working area according to the comparison result. The intelligent mower is controlled to patrol in a specified working area, the average growth height of the lawn in the working area can be automatically determined and compared with the preset maintenance height of the lawn in the working area, so that the intelligent mower is controlled to traverse the work in the working area according to a comparison result, the working time of the intelligent mower is prevented from being set manually, the lawn can mow in time, the user experience is improved, the invalid work of the intelligent mower is avoided, and the energy waste, the abrasion and aging speed of the intelligent mower are reduced.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.

In order to more clearly illustrate the embodiments of the invention or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, and it will be obvious to a person skilled in the art that other drawings can be obtained from these drawings without inventive effort.

FIG. 1 is a schematic flow chart of an intelligent mower control method according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a patrol path of a smart mower according to an embodiment of the present invention;

FIG. 3 is a schematic flow chart of another intelligent mower control method according to an embodiment of the present invention;

FIG. 4 is a schematic flow chart of another intelligent mower control method according to an embodiment of the present invention;

FIG. 5 is a schematic flow chart of an embodiment of determining an average growth height of a lawn in a working area according to an embodiment of the present invention;

FIG. 6 is a schematic diagram of another embodiment of determining an average growth height of a lawn in a working area according to an embodiment of the present invention;

FIG. 7 is a schematic diagram of another embodiment of determining an average growth height of a lawn in a working area according to an embodiment of the present invention;

fig. 8 is a schematic diagram of an implementation flow for determining attributes corresponding to point cloud data according to an embodiment of the present invention;

FIG. 9 is a schematic diagram of an implementation flow for obtaining basic point cloud data under a machine coordinate system according to an embodiment of the present invention;

FIG. 10 is a schematic diagram of an intelligent mower control device according to an embodiment of the present invention;

fig. 11 is a schematic structural view of an intelligent mower according to an embodiment of the present invention.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Taking this scenario in summer as an example, the working time of the current intelligent mower needs to be manually set, and the working time is fixed, so that the working frequency of the intelligent mower for executing the mowing action is fixed, for example, the working frequency of the intelligent mower is once a week, once a month or the like when the intelligent mower executes the mowing action every monday or once a month. Because the temperature, climate, water and fertilizer in summer are mainly beneficial to the growth of the lawn, the growth speed of the lawn is higher, and the working time of the intelligent mower, such as every week, which is usually set by people, can possibly lead to higher working frequency of the intelligent mower for executing mowing action, however, the actual situation is that the lawn does not grow so fast, thus the ineffective work of the intelligent mower can be caused, energy is wasted, and the abrasion and aging speed of the intelligent mower are accelerated.

Based on this, in order to solve the above-mentioned problem, when currently in summer, the intelligent mower can patrol in a designated working area (i.e. lawn area), thereby determining the average growth height of the lawn in the working area, characterizing the growth condition of the lawn in the working area by the average growth height of the lawn in the working area, then obtaining the preset maintenance height of the lawn in the working area, comparing the preset maintenance height with the average growth height, and controlling the intelligent mower to traverse the work in the working area according to the comparison result, so that the working time does not need to be set manually, the working frequency of the intelligent mower is determined by the average growth height of the lawn in the working area, which is not fixed, the working efficiency can be effectively controlled, the lawn in the corresponding working area can be mowed in time, the user experience is improved, in addition, the invalid work of the intelligent mower can be avoided, the waste of energy source and the wear and aging speed of the intelligent mower are reduced.

Specifically, as shown in fig. 1, a schematic implementation flow chart of a control method of an intelligent mower according to an embodiment of the present invention is provided, and the method is applied to an intelligent mower, and may specifically include the following steps:

s101, controlling the intelligent mower to patrol in a designated working area.

In an embodiment of the present invention, for an intelligent mower, a patrol cycle may be preset, for example, patrol once a day in a specified work area. Thus, during a patrol cycle, a smart mower patrol command may be triggered, such as a once-a-day smart mower patrol command.

In the case of triggering the intelligent mower patrol instruction, it means that the intelligent mower is required to patrol within a specified working area, so that the intelligent mower can be controlled to patrol within the specified working area. The working area is here generally understood to be the lawn area.

In the embodiment of the invention, the grid map corresponding to the designated working area can be obtained in advance, and the patrol path of the intelligent mower is generated on the grid map, so that the intelligent mower is controlled to patrol in the working area according to the patrol path under the condition of triggering the patrol instruction of the intelligent mower.

For example, for an intelligent mower, a grid map corresponding to a designated working area is obtained in advance, and a patrol path of the intelligent mower is generated on the grid map, as shown in fig. 2, a patrol instruction of the intelligent mower is triggered once a day later, so that the intelligent mower is controlled to patrol in the working area according to the patrol path under the condition that the patrol instruction of the intelligent mower is triggered.

It should be noted that, for the generation of the patrol path of the intelligent mower and the control of the intelligent mower to patrol in the working area according to the patrol path, reference may be made to the related mature technology at present, and the embodiments of the present invention are not described in detail herein. In addition, as for the grid map, the grid map can be obtained after the whole map of the working area is obtained, or the grid map can be obtained by locating and building the map at the same time by the intelligent mower, and the embodiment of the invention is not limited to the above.

S102, determining the average growth height of the lawn in the working area.

For the intelligent mower, in the patrol process of the intelligent mower in the working area, the growth condition of the lawn in the working area can be determined, so that whether the whole area traversing work is needed or not can be judged conveniently, and the height of the lawn in the working area is kept.

Specifically, the growth condition of the lawn can be generally represented by an average growth height of the lawn, for example, a higher average growth height of the lawn indicates a better growth condition of the lawn, and a lower average growth height of the lawn indicates a worse growth condition of the lawn.

Based on the principle, in the embodiment of the invention, for the intelligent mower, in the process that the intelligent mower patrol in the working area, the average growth height of the lawn in the working area can be determined, so that the growth condition of the lawn in the working area can be represented.

For example, for an intelligent mower, in the process that the intelligent mower patrol in a working area, the average growth height of the lawn in the working area can be determined, and the growth condition of the lawn in the working area is represented by assuming that the average growth height is 15cm, which indicates that the growth condition of the lawn is better.

S103, acquiring a preset maintenance height of the lawn in the working area, and comparing the preset maintenance height with the average growth height.

In the embodiment of the invention, the user can set the maintenance height of the lawn in the working area according to the actual requirement, for example, the user can set the maintenance height of the lawn in the working area according to the actual requirement, and the assumption is that the height of the lawn in the working area cannot be higher than 10cm.

Based on this, for the intelligent mower, the preset maintenance height of the lawn in the working area, that is, the maintenance height set by the user for the lawn in the working area in advance, may be obtained, so that the preset maintenance height is compared with the average growth height.

For example, a preset maintenance height H of the lawn in the working area is obtained _Presetting Average growth height H of lawn in working area _{Average of} The intelligent mower will average growth height H _{Average of} And a preset maintenance height H _Presetting And comparing, and determining whether full-area traversing work is needed according to a comparison result, so as to maintain the height of the lawn in the working area. S104, controlling the intelligent mower to traverse the work in the work area according to the comparison result.

For the growth condition of the lawn in the working area, the intelligent mower can control the intelligent mower to walk to work in the working area (namely, walk to mow in the whole area) based on the growth condition of the lawn in the working area, so that the height of the lawn in the working area is kept.

Specifically, the intelligent mower compares the preset maintenance height with the average growth height, and controls the intelligent mower to traverse work (namely, traverse mowing in the whole area) in the working area according to the comparison result so as to maintain the height of the lawn in the working area.

So to intelligent mower, need not artificial settlement operating time, the lawn can in time mow in the corresponding work area, improves user experience, can also avoid intelligent mower's invalid work in addition, has reduced the waste of energy, intelligent mower's wearing and tearing and ageing speed.

Through the description of the technical scheme provided by the embodiment of the invention, the intelligent mower is controlled to patrol in a designated working area, the average growth height of the lawn in the working area is determined, the preset maintenance height of the lawn in the working area is obtained, the preset maintenance height is compared with the average growth height, and the intelligent mower is controlled to traverse in the working area according to the comparison result.

The intelligent mower is controlled to patrol in a specified working area, the average growth height of the lawn in the working area can be automatically determined and compared with the preset maintenance height of the lawn in the working area, so that the intelligent mower is controlled to traverse the work in the working area according to a comparison result, the working time of the intelligent mower is prevented from being set manually, the lawn can mow in time, the user experience is improved, the invalid work of the intelligent mower is avoided, and the energy waste, the abrasion and aging speed of the intelligent mower are reduced.

As shown in fig. 3, a schematic implementation flow chart of another control method of an intelligent mower according to an embodiment of the present invention is provided, and the method is applied to an intelligent mower, and may specifically include the following steps:

s301, controlling the intelligent mower to patrol in a designated working area.

In the embodiment of the present invention, the step is similar to the step S101, and the embodiment of the present invention is not described here again.

S302, determining the average growth height of the lawn in the working area.

In the embodiment of the present invention, the step is similar to the step S102, and the embodiment of the present invention is not described here again.

S303, acquiring a preset maintenance height of the lawn in the working area, and comparing the preset maintenance height with the average growth height.

In the embodiment of the present invention, the step is similar to the step S103, and the embodiment of the present invention is not described here again.

S304, if the preset maintenance height is smaller than the average growth height, controlling the intelligent mower to traverse the work in the work area.

And (3) regarding the preset maintenance height of the lawn in the working area and the average growth height of the lawn in the working area, under the condition that the preset maintenance height is smaller than the average growth height, the whole-area traversing work is required, and the height of the lawn in the working area is kept, so that the intelligent mower can be controlled to traverse the work (namely, traversing the whole area to mow the lawn) in the working area.

For example, a predetermined maintenance height H for lawns in the working area _Presetting And average growth height H of grass in working area _{Average of} Assume that a maintenance height H is preset _Presetting 10cm, average growth height H _{Average of} 15cm, thereby knowing that the maintenance height H is preset _Presetting Less than average growth height H _{Average of} The method has the advantages that the whole-area traversing work is required, the height of the lawn in the working area is kept, and therefore the intelligent mower can be controlled to traverse the work in the working area (namely, the whole-area traversing mowing).

S305, if the preset maintenance height is not smaller than the average growth height, waiting for triggering of the next intelligent mower patrol instruction.

And (3) for the preset maintenance height of the lawn in the working area and the average growth height of the lawn in the working area, under the condition that the preset maintenance height is not smaller than the average growth height, the condition that the whole area is not required to traverse temporarily is explained, and the height of the lawn in the working area is kept, so that the next intelligent mower patrol instruction can be waited for triggering, and the next patrol can be conveniently carried out.

For example, a predetermined maintenance height H for lawns in the working area _Presetting And average growth height H of grass in working area _{Average of} Assume that a maintenance height H is preset _Presetting 10cm, average growth height H _{Average of} 5cm, thus, a preset maintenance height H _Presetting Not less than average growth height H _{Average of} The method has the advantages that the whole-area traversing work is not needed temporarily, the height of the lawn in the working area is kept, and therefore the next intelligent mower patrol instruction trigger can be waited for, and the next patrol can be conveniently carried out.

So with the average growth height of lawn in the work area, the growth condition of the lawn in the characterization work area, to intelligent mower, need not to artificially set for operating time, operating frequency can effectual control, and the lawn can in time mow in the corresponding work area, improves user experience, in addition can also avoid intelligent mower's invalid work, reduced the waste of the energy, intelligent mower's wearing and tearing and ageing speed.

Through the description of the technical scheme provided by the embodiment of the invention, the intelligent mower is controlled to patrol in a designated working area, the average growth height of the lawn in the working area is determined, the preset maintenance height of the lawn in the working area is obtained, the preset maintenance height is compared with the average growth height, if the preset maintenance height is smaller than the average growth height, the intelligent mower is controlled to walk in the working area to perform work, and if the preset maintenance height is not smaller than the average growth height, the intelligent mower is waited for the next patrol instruction trigger.

The intelligent mower is controlled to patrol in a specified working area, the average growth height of the lawn in the working area can be automatically determined, so that the growth condition of the lawn in the working area is characterized, whether the whole area traversing work is needed or not is determined according to a comparison result between the average growth height of the lawn in the working area and the preset maintenance height of the lawn in the working area, the height of the lawn in the working area is maintained, the working time is not required to be set manually for the intelligent mower, the lawn in the corresponding working area can mow in time, the user experience is improved, invalid work of the intelligent mower can be avoided, and the waste of energy sources and the abrasion and aging speed of the intelligent mower are reduced.

As shown in fig. 4, a schematic implementation flow chart of another control method of an intelligent mower according to an embodiment of the present invention is provided, and the method is applied to an intelligent mower, and may specifically include the following steps:

s401, controlling the intelligent mower to patrol in a designated working area.

S402, collecting a plurality of point cloud data corresponding to a local working area in the field of view of the depth sensor through the depth sensor according to a preset sampling frequency.

In the embodiment of the invention, for the intelligent mower, a depth sensor is carried, and the depth sensor can be any device capable of acquiring depth information, such as a 3D area array sensor, a depth camera and the like, wherein the 3D area array sensor can be a binocular camera module, a TOF (Time of Flight) area array sensor, a structured light area array sensor, or other similar sensors capable of detecting obstacles, such as a binocular camera and the like.

Based on the above, for the intelligent mower, in the process that the intelligent mower patrol in the working area, a plurality of point cloud data corresponding to the local working area in the visual field of the depth sensor can be acquired through the depth sensor according to the preset sampling frequency.

For example, for an intelligent mower, during patrol of the intelligent mower in a working area, a plurality of point cloud data corresponding to a local working area in the field of view of a depth sensor can be acquired through the depth sensor every 1 second.

It should be noted that, for the plurality of point cloud data collected each time, the point cloud data is the point cloud data under the depth sensor coordinate system, which is not limited in the embodiment of the present invention.

S403, determining the average growth height of the lawn in the working area based on a plurality of point cloud data acquired each time.

For the process that the intelligent mower patrols in the working area, the intelligent mower can determine the average growth height of the lawn in the working area based on the plurality of point cloud data acquired each time.

For example, in the process that the intelligent mower patrol in the working area, N (N is more than or equal to 1) times, a plurality of point cloud data are collected each time, and the intelligent mower can determine the average growth height of the lawn in the working area based on the plurality of point cloud data collected each time.

In the embodiment of the present invention, based on a plurality of point cloud data collected each time, the average growth height of the lawn in the working area may be specifically determined by:

s501, determining attributes corresponding to the point cloud data according to any one of the point cloud data collected each time, and giving the attributes to the point cloud data, wherein the attributes comprise grass or non-grass.

In the embodiment of the invention, in the process of patrol of the intelligent mower in the working area, a plurality of point cloud data corresponding to the local working area in the visual field of the depth sensor are acquired through the depth sensor according to the preset sampling frequency, so that in the process of patrol of the intelligent mower in the working area, N times of point cloud data can be acquired, and the plurality of point cloud data are acquired each time.

For any point cloud data collected each time, the intelligent mower determines an attribute corresponding to the point cloud data, wherein the attribute refers to grass or non-grass, namely an object corresponding to the point cloud data is grass or non-grass, so that the attribute is given to the point cloud data, and therefore, the intelligent mower can carry the corresponding attribute for any point cloud data collected each time.

For example, taking any point cloud data collected for the 1 st time as an example, the intelligent mower determines an attribute corresponding to the point cloud data, as shown in the following table 1, and assigns the attribute to the point cloud data, so that the corresponding attribute can be carried for any point cloud data collected for the 1 st time. Any point cloud data processing for the 2 nd, 3 rd, … … th and nth acquisitions is similar, and the embodiments of the present invention are not described here in detail.

Point cloud data collected for 1 st time	Attributes of
		Point cloud data ₁₁	Grass of grass
Point cloud data ₁₂	Non-grass of Parthenocissus tricuspidata
		……	……

TABLE 1

S502, combining the plurality of point cloud data collected each time to obtain combined point cloud data, and converting the combined point cloud data into combined point cloud data under a machine coordinate system.

In the embodiment of the invention, for the intelligent mower, after the corresponding attribute is endowed to any point cloud data collected each time, a plurality of point cloud data collected each time can be synthesized to obtain synthesized point cloud data.

The plurality of point cloud data collected each time are point cloud data under the depth sensor coordinate system, and the corresponding synthesized point cloud data are also point cloud data under the depth sensor coordinate system, so that the synthesized point cloud data need to be converted into synthesized point cloud data under the machine coordinate system.

It should be noted that, because the machine coordinate system is closer to the ground, the synthetic point cloud data is converted into the synthetic point cloud data under the machine coordinate system, and the synthetic point cloud data participates in the determination of the average growth height of the lawn in the subsequent working area, so that the influence of the uneven ground topography on the accuracy of the average growth height can be reduced.

S503, acquiring Z-axis coordinate values of the synthetic point cloud data with the attribute of grass from the synthetic point cloud data under the machine coordinate system.

S504, determining an average value of the Z-axis coordinate values, and determining the average value as the average growth height of the lawn in the working area.

In the embodiment of the invention, for the synthetic point cloud data under the machine coordinate system, the intelligent mower acquires the Z-axis coordinate value of the synthetic point cloud data with the attribute of grass from the synthetic point cloud data under the machine coordinate system, which means that the synthetic point cloud data with the attribute of non-grass does not participate in calculation, wherein the Z-axis coordinate value refers to a height value.

And determining an average value of Z-axis coordinate values of the synthetic point cloud data with the attribute of grass, wherein the average value is the average growth height of the grass in the working area, so that the average value can be determined to be the average growth height of the grass in the working area.

In addition, the embodiment of the invention can determine the average growth height of the lawn in the working area based on the plurality of point cloud data acquired each time by the following method:

s601, determining attributes corresponding to the point cloud data according to any one of the point cloud data collected each time, and endowing the attributes to the point cloud data, wherein the attributes comprise grass or non-grass.

In the embodiment of the present invention, the step is similar to the step S501, and the embodiment of the present invention is not described here again.

S602, converting the plurality of point cloud data collected each time into point cloud data under a machine coordinate system, and acquiring Z-axis coordinate values of the point cloud data with the attribute of grass from the point cloud data under the machine coordinate system.

S603, determining an average value of the Z-axis coordinate values, determining a target average value of the average value, and determining the target average value as the average growth height of the lawn in the working area.

In the embodiment of the invention, for the intelligent mower, after the corresponding attribute is endowed to any point cloud data collected each time, the plurality of point cloud data collected each time can be converted into the point cloud data under the machine coordinate system.

The plurality of point cloud data collected each time are point cloud data under a depth sensor coordinate system, and the plurality of point cloud data collected each time are correspondingly required to be converted into point cloud data under a machine coordinate system.

For point cloud data under a machine coordinate system, the intelligent mower acquires Z-axis coordinate values of point cloud data with the attribute of grass from the point cloud data under the machine coordinate system, which means that the point cloud data with the attribute of non-grass does not participate in calculation.

Thus, the average value of the Z-axis coordinate value of the point cloud data with the attribute of grass is determined, and N (N is more than or equal to 1) average values can be obtained by performing the above processing on the plurality of point cloud data collected each time, wherein each average value corresponds to the plurality of point cloud data collected at one time, as shown in the following table 2.

TABLE 2

For N (N is more than or equal to 1) average values, the intelligent mower can determine a target average value of the N (N is more than or equal to 1) average values, wherein the target average value is the average growth height of the lawn in the working area, and accordingly the target average value can be determined to be the average growth height of the lawn in the working area.

It should be noted that, because the machine coordinate system is closer to the ground, the plurality of point cloud data collected each time are converted into the point cloud data under the machine coordinate system, and the point cloud data participate in determining the average growth height of the lawn in the working area, so that the influence of the uneven ground topography on the accuracy of the average growth height can be reduced.

s701, determining attributes corresponding to the point cloud data according to any one of the point cloud data collected each time, and giving the attributes to the point cloud data, wherein the attributes comprise grass or non-grass.

S702, combining the plurality of point cloud data collected each time to obtain combined point cloud data, and converting the combined point cloud data into combined point cloud data under a machine coordinate system.

In the embodiment of the present invention, the step is similar to the step S502 described above, and the embodiment of the present invention is not described here again.

S703, acquiring a first Z-axis coordinate value of the synthetic point cloud data with the attribute of grass from the synthetic point cloud data under the machine coordinate system.

In the embodiment of the invention, for the synthetic point cloud data under the machine coordinate system, the intelligent mower acquires the first Z-axis coordinate values of the synthetic point cloud data with the attribute of grass from the synthetic point cloud data under the machine coordinate system, which means that the synthetic point cloud data with the attribute of non-grass does not participate in calculation, and the number of the first Z-axis coordinate values is a plurality.

S704, acquiring basic point cloud data under a machine coordinate system, and acquiring a second Z-axis coordinate value of basic point cloud data with the attribute of grass from the basic point cloud data under the machine coordinate system.

In the embodiment of the invention, the basic point cloud data under the machine coordinate system is acquired, and the intelligent mower acquires the second Z-axis coordinate values of the basic point cloud data with the attribute of grass from the basic point cloud data under the machine coordinate system, which means that the basic point cloud data with the attribute of non-grass does not participate in calculation, wherein the number of the second Z-axis coordinate values is a plurality of.

S705, determining a difference value between the first Z-axis coordinate value and the second Z-axis coordinate value, determining an average value of the difference values, and determining the average value as the average growth height of the lawn in the working area.

In the embodiment of the invention, for the intelligent mower, the difference value between the first Z-axis coordinate value and the second Z-axis coordinate value can be determined, wherein the number of the difference values is a plurality, so that for the intelligent mower, the average value of the difference values, namely the average growth height of the lawn in the working area, can be further determined, and the average value can be determined to be the average growth height of the lawn in the working area.

The Z-axis coordinate values of the two point cloud data are differenced, an average value is calculated, the average value is determined to be the average growth height of the lawn in the working area, and the influence of the uneven ground topography on the accuracy of the average growth height can be reduced.

In addition, in the embodiment of the invention, whether the number of the first Z-axis coordinate values is consistent with the number of the second Z-axis coordinate values can be judged, if so, the condition that the environment in the working area is not changed (for example, a certain obstacle in the working area always exists) is indicated, and at the moment, the difference value between the first Z-axis coordinate values and the second Z-axis coordinate values can be determined.

If the number of the first Z-axis coordinate values is not consistent with the number of the second Z-axis coordinate values, the condition that the environment in the working area is changed (for example, a certain obstacle in the working area exists originally and is moved out of the working area later) is indicated, at the moment, the position of the synthetic point cloud data with the attribute of grass can be referred to, and the third Z-axis coordinate value of the basic point cloud data with the attribute of grass, which coincides with the position, is acquired from the basic point cloud data under the machine coordinate system.

The number of the first Z-axis coordinate values is consistent with the number of the third Z-axis coordinate values, so that the difference value between the first Z-axis coordinate values and the third Z-axis coordinate values can be determined, the number of the difference values is multiple, the average value of the difference values can be further determined for the intelligent mower, the average value is the average growth height of the lawn in the working area, and the average value can be determined to be the average growth height of the lawn in the working area.

In addition, in the embodiment of the invention, the intelligent mower carries the image sensor, can shoot images, can be integrated with the depth sensor in one module, can calibrate external parameters (namely XYZ axis coordinates, postures, pitch angles, yaw angles and the like) between the two, and can be nearly seen as consistent, namely, the two fields of view can be nearly overlapped. Based on this, for any point cloud data collected each time, the embodiment of the invention specifically determines the attribute corresponding to the point cloud data by the following manner:

s801, acquiring an image of a local working area in the view field of the image sensor through the image sensor according to the sampling frequency, wherein the image acquisition time is consistent with the point cloud data acquisition time.

For the intelligent mower, in the patrol process of the intelligent mower in the working area, a plurality of point cloud data corresponding to the local working area in the visual field of the depth sensor can be acquired through the depth sensor according to the preset sampling frequency.

Meanwhile, for the intelligent mower, according to the sampling frequency, the image of the local working area in the visual field of the image sensor is acquired through the image sensor, and the image acquisition time is consistent with the point cloud data acquisition time.

Thus, for each acquired plurality of point cloud data, there are corresponding images, that is, at the same time, the plurality of point cloud data are acquired, and corresponding images are also acquired, and the fields of view acquired by the two images are approximately overlapped, as shown in table 3 below.

Point cloud data collected for the nth time	Image processing apparatus
		Point cloud data collected for 1 st time	Image acquired 1 st time
Point cloud data collected for the 2 nd time	Image acquired 2 nd time
		……	……

TABLE 3 Table 3

S802, performing semantic segmentation on the image by using a deep learning algorithm, and identifying the attribute of each pixel in the image.

For each acquired image, in the embodiment of the invention, the intelligent mower performs semantic segmentation on the image by using a deep learning algorithm, and identifies the attribute of each pixel in the image, namely that each pixel in the image belongs to either grass or non-grass.

It should be noted that, the deep learning algorithm may be a relatively mature algorithm in the market, such as a semantic segmentation network model in deep learning, mainly including collecting and labeling training image samples, designing the semantic segmentation network model for training, and finally, when in use, performing semantic segmentation on images by using the trained network model, or performing design on images by using artificial features of grasses, such as image texture features, image color features and other artificial design features, then firstly partitioning collected images, calculating feature values for image blocks, and then judging whether the image blocks are grasses or non-grasses according to the obtained values.

S803, for the point cloud data, determining the pixel corresponding to the point cloud data from the image, and determining an attribute of the pixel corresponding to the point cloud data.

In the embodiment of the invention, the external parameters between the image sensor and the depth sensor can be used for mapping any point cloud data collected each time with pixels in the image one by one, namely, any point cloud data collected each time has a corresponding pixel.

Based on this principle, in the embodiment of the present invention, for the intelligent mower, for any point cloud data collected at each time, a pixel corresponding to the point cloud data is determined from an image corresponding to a plurality of point cloud data collected at each time, and specifically, a pixel corresponding to the point cloud data is determined from an image corresponding to a plurality of point cloud data collected at each time by using an external parameter between an image sensor and a depth sensor.

For example, taking the plurality of point cloud data acquired 1 st time as an example, for the intelligent mower, for any point cloud data acquired 1 st time, pixels corresponding to the point cloud data are determined from the image acquired 1 st time (the time of acquiring the image 1 st time and the time of acquiring the plurality of point cloud data 1 st time are identical) by using external parameters between the image sensor and the depth sensor.

In this way, for any point cloud data collected each time, there is a pixel in a corresponding image, and the attribute corresponding to the pixel is determined as the attribute of the point cloud data, so that the attribute is given to the point cloud data.

In addition, in the embodiment of the present invention, the synthetic point cloud data may be specifically converted into synthetic point cloud data in a machine coordinate system by: and converting the synthetic point cloud data into synthetic point cloud data under a machine coordinate system by utilizing external parameters (namely XYZ axis coordinates, postures, pitch angles, yaw angles and the like) between the depth sensor and the intelligent mower.

Specifically, external parameters between the depth sensor and the intelligent mower can be converted into a rotation matrix, and the synthetic point cloud data is multiplied by the rotation matrix and converted into synthetic point cloud data under a machine coordinate system. In addition, for specific matrix conversion, reference may be made to a relatively mature technology currently available in the market, and the embodiments of the present invention are not described herein in detail.

S404, acquiring a preset maintenance height of the lawn in the working area, and comparing the preset maintenance height with the average growth height.

And S405, if the preset maintenance height is smaller than the average growth height, controlling the intelligent mower to traverse the work in the work area.

In the embodiment of the present invention, the step is similar to the step S304, and the embodiment of the present invention is not described here again.

S406, if the preset maintenance height is not smaller than the average growth height, waiting for triggering of the next intelligent mower patrol instruction.

In the embodiment of the present invention, the step is similar to the step S305, and the embodiment of the present invention is not described here again.

In addition, in the embodiment of the invention, for the intelligent mower, the basic point cloud data under the machine coordinate system can be obtained specifically through the following modes:

s901, after the intelligent mower is controlled to walk in the working area, the intelligent mower is controlled to patrol in the working area.

In the embodiment of the invention, after the intelligent mower is controlled to walk in the working area to work, namely, after the intelligent mower is controlled to walk in the working area to mow, the intelligent mower is controlled to patrol in the working area. In this step, reference may be made to the above step S101, and the embodiments of the present invention are not described herein in detail.

S902, collecting a plurality of basic point cloud data corresponding to a local working area in a visual field of the depth sensor through the depth sensor according to the sampling frequency in the patrol process of the intelligent mower in the working area.

In the embodiment of the invention, for the intelligent mower, in the process that the intelligent mower patrol in the working area, a plurality of basic point cloud data corresponding to the local working area in the field of view of the depth sensor can be acquired through the depth sensor according to the preset sampling frequency. In this step, reference may be made to the above step S402, and the embodiments of the present invention are not described herein in detail.

S903, determining the attribute corresponding to the basic point cloud data according to any basic point cloud data acquired each time, and giving the attribute to the basic point cloud data.

In the embodiment of the invention, in the process of patrol of the intelligent mower in the working area, a plurality of basic point cloud data corresponding to the local working area in the visual field of the depth sensor are acquired through the depth sensor according to the preset sampling frequency, so that in the process of patrol of the intelligent mower in the working area, N times of basic point cloud data can be acquired, and each time a plurality of basic point cloud data are acquired.

For any basic point cloud data collected each time, the intelligent mower determines the attribute corresponding to the basic point cloud data, wherein the attribute refers to grass or non-grass, namely an object corresponding to the basic point cloud data is grass or non-grass, so that the attribute is given to the basic point cloud data, and therefore any basic point cloud data collected each time can carry the corresponding attribute. In this step, reference may be made to the above step S501, and the embodiments of the present invention are not described herein in detail.

S904, synthesizing the plurality of basic point cloud data collected each time to obtain synthesized basic point cloud data, and converting the synthesized basic point cloud data into basic point cloud data under a machine coordinate system.

In the embodiment of the invention, for the intelligent mower, after the corresponding attribute is given to any basic point cloud data collected each time, a plurality of basic point cloud data collected each time can be synthesized to obtain synthesized basic point cloud data.

The plurality of basic point cloud data collected each time are all basic point cloud data under the depth sensor coordinate system, and the corresponding synthesized basic point cloud data are also basic point cloud data under the depth sensor coordinate system, so that the synthesized basic point cloud data need to be converted into basic point cloud data under the machine coordinate system.

It should be noted that, because the machine coordinate system is closer to the ground, the synthesized basic point cloud data is converted into the basic point cloud data under the machine coordinate system, and the basic point cloud data participates in determining the average growth height of the lawn in the subsequent working area, so that the influence of the uneven ground topography on the accuracy of the average growth height can be reduced. In this step, reference may be made to the above step S502, and the embodiments of the present invention are not described herein in detail.

Corresponding to the above method embodiment, the embodiment of the present invention further provides an intelligent mower control device, as shown in fig. 10, where the device may include: mower patrol module 1010, height determination module 1020, height comparison module 1030, mower work module 1040.

A mower patrol module 1010 for controlling the intelligent mower to patrol within a designated work area;

a height determining module 1020 for determining an average growth height of the lawn in the working area;

the height comparison module 1030 is configured to obtain a preset maintenance height of the lawn in the working area, and compare the preset maintenance height with the average growth height;

and the mower working module 1040 is used for controlling the intelligent mower to traverse the work in the working area according to the comparison result.

The embodiment of the invention also provides an intelligent mower, as shown in fig. 11, comprising a processor 111, a communication interface 112, a memory 113 and a communication bus 114, wherein the processor 111, the communication interface 112 and the memory 113 complete the communication with each other through the communication bus 114,

a memory 113 for storing a computer program;

the processor 111 is configured to execute a program stored in the memory 113, and implement the following steps:

controlling the intelligent mower to patrol in a designated working area; determining the average growth height of the lawn in the working area; acquiring a preset maintenance height of the lawn in the working area, and comparing the preset maintenance height with the average growth height; and controlling the intelligent mower to traverse the work in the work area according to the comparison result.

The communication bus mentioned by the intelligent mower may be a peripheral component interconnect standard (Peripheral Component Interconnect, abbreviated as PCI) bus or an extended industry standard architecture (Extended Industry Standard Architecture, abbreviated as EISA) bus, etc. The communication bus may be classified as an address bus, a data bus, a control bus, or the like. For ease of illustration, the figures are shown with only one bold line, but not with only one bus or one type of bus.

The communication interface is used for communication between the intelligent mower and other equipment.

The memory may include random access memory (Random Access Memory, RAM) or non-volatile memory (non-volatile memory), such as at least one disk memory. Optionally, the memory may also be at least one memory device located remotely from the aforementioned processor.

The processor may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU for short), a network processor (Network Processor, NP for short), etc.; but also digital signal processors (Digital Signal Processing, DSP for short), application specific integrated circuits (Application Specific Integrated Circuit, ASIC for short), field-programmable gate arrays (Field-Programmable Gate Array, FPGA for short) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

In yet another embodiment of the present invention, a storage medium having instructions stored therein that, when executed on a computer, cause the computer to perform the intelligent mower control method described in any one of the above embodiments is also provided.

In yet another embodiment of the present invention, a computer program product containing instructions that, when run on a computer, cause the computer to perform the intelligent mower control method of any one of the above embodiments is also provided.

In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, produces a flow or function in accordance with embodiments of the present invention, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in a storage medium or transmitted from one storage medium to another, for example, from one website, computer, server, or data center by a wired (e.g., coaxial cable, fiber optic, digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The storage media may be any available media that can be accessed by a computer or a data storage device such as a server, data center, or the like that contains an integration of one or more available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid State Disk (SSD)), etc.

It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

In this specification, each embodiment is described in a related manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for system embodiments, since they are substantially similar to method embodiments, the description is relatively simple, as relevant to see a section of the description of method embodiments.

The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A method of controlling a smart mower, the method comprising:

controlling the intelligent mower to patrol in a designated working area;

determining the average growth height of the lawn in the working area;

2. The method of claim 1, wherein controlling the intelligent mower to patrol within a designated work area comprises:

3. The method of claim 1, wherein controlling the intelligent mower to traverse the work within the work area based on the comparison result comprises:

4. The method of claim 1, wherein the intelligent mower is provided with a depth sensor, and wherein the determining the average growth height of the lawn in the work area comprises:

5. The method of claim 4, wherein determining an average growth height of the lawn within the work area based on the plurality of point cloud data acquired each time comprises:

6. The method of claim 4, wherein determining an average growth height of the lawn within the work area based on the plurality of point cloud data acquired each time comprises:

7. The method of claim 4, wherein determining an average growth height of the lawn within the work area based on the plurality of point cloud data acquired each time comprises:

8. The method according to any one of claims 5 to 7, wherein the intelligent mower is provided with an image sensor, and the determining the attribute corresponding to the point cloud data comprises:

9. The method of claim 8, wherein the determining the pixel corresponding to the point cloud data from the image comprises:

10. The method of claim 5 or 7, wherein the converting the synthetic point cloud data into synthetic point cloud data in a machine coordinate system comprises:

11. The method of claim 10, wherein the converting the synthetic point cloud data to synthetic point cloud data in a machine coordinate system using external parameters between the depth sensor and the intelligent mower comprises:

12. The method according to claim 7, characterized in that the basic point cloud data in the machine coordinate system is obtained in particular by:

13. An intelligent mower control device, characterized in that it is applied to intelligent mower, said device includes:

14. The intelligent mower is characterized by comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory are communicated with each other through the communication bus;

a memory for storing a computer program;

a processor for implementing the method steps of any one of claims 1 to 12 when executing a program stored on a memory.

15. A storage medium having stored thereon a computer program, which when executed by a processor, implements the method of any of claims 1 to 12.