CN117130368A

CN117130368A - Control method and mowing robot

Info

Publication number: CN117130368A
Application number: CN202311215770.3A
Authority: CN
Inventors: 颜旭; 李春红; 俞天宁; 陈子冲
Original assignee: Weilan Continental Beijing Technology Co ltd
Current assignee: Weilan Continental Beijing Technology Co ltd
Priority date: 2023-09-20
Filing date: 2023-09-20
Publication date: 2023-11-28

Abstract

The application provides a control method and a mowing robot, which are used for driving according to a first path after target equipment enters a target channel, detecting whether an obstacle exists on the first path, judging whether the target equipment can drive in an effective area corresponding to the first path under the condition of bypassing the obstacle when the obstacle exists on the first path, if so, controlling the target equipment to bypass the obstacle and drive in the effective area corresponding to the first path so as to reach the end point of the target channel, and if not, planning other paths in the target channel, and controlling the target equipment to drive according to other paths so as to reach the end point of the target channel, thereby smoothly passing through the target channel when the obstacle exists in the target channel.

Description

Control method and mowing robot

Technical Field

The application relates to the field of artificial intelligence, in particular to a control method and a mowing robot.

Background

Current lawn mowing robots can cruise according to a path planned in advance in a working area and a non-working area designated by a positioning system. In the cruising process, the mowing robot supports the mowing robot to mow in a working area in colleges and universities and safely according to the position information provided by the positioning system and the projection technology of the camera system.

However, the mowing robot is usually required to move from one working area to another working area during working, and if an obstacle exists during movement, the movement of the mowing robot is blocked, so that the mowing robot deviates from the original running direction.

For example, when a lawn mower works in a plurality of areas, the lawn mower needs to go to another area through the area of the area where the lawn mower is not in the area where the lawn mower works, and the area of the area where the lawn mower needs to go is often located beside objects with slightly higher wall surfaces, trees, fences and the like, which have serious blocking effect on the propagation of positioning signals, namely, the lawn mower loses accurate positioning in the area of the channel and deviates from the direction of the row.

Thus, how to pass smoothly through the passage area between the non-working areas is a relatively important issue when obstacles are present.

Disclosure of Invention

The application provides a control method and a mowing robot, which are used for smoothly passing through a channel area between non-working areas.

In a first aspect, the present application provides a control method, including:

after the target equipment enters a target channel, driving according to a first path and detecting whether an obstacle exists on the first path;

When an obstacle exists on the first path, judging whether the vehicle can run in an effective area corresponding to the first path under the condition of bypassing the obstacle, wherein the effective area corresponding to the first path is an area formed by expanding a preset length outside the left and right of the first path by taking the first path as the center;

if yes, the target device is controlled to bypass the obstacle and run in an effective area corresponding to the first path so as to reach the end point of the target channel;

if not, planning other paths in the target channel, and controlling the target equipment to travel according to the other paths so as to reach the end point of the target channel.

Optionally, the detecting whether an obstacle exists on the first path specifically includes:

detecting whether an obstacle exists on the first path or not in a visual detection mode and a collision detection mode when the target equipment is in a visual auxiliary mode;

when an obstacle exists on the first path, judging whether the vehicle can run in an effective area corresponding to the first path under the condition of bypassing the obstacle or not, and specifically comprising the following steps:

judging whether the vehicle can run in a first effective area corresponding to the first path under the condition of bypassing the obstacle when the obstacle exists on the first path;

The first effective area corresponding to the first path is an area formed by taking the first path as a center and expanding a first length outside the left and right of the first path.

detecting whether an obstacle exists on the first path in a collision detection mode when the target equipment is not in the vision auxiliary mode;

judging whether the vehicle can run in a second effective area corresponding to the first path under the condition of bypassing the obstacle when the obstacle exists on the first path;

the second effective area corresponding to the first path is an area formed by taking the first path as a center and expanding the left and right of the first path by a second length.

Optionally, the controlling the target device to travel according to the other paths so as to reach the end point of the target channel specifically includes:

when the intensity of the positioning signal of the target equipment is lower than a preset value, controlling the target equipment to run according to the other paths, and detecting whether obstacles exist on the other paths;

If not, controlling the target equipment to keep the other paths to run so as to reach the vicinity of the end point of the target channel;

if so, controlling the target equipment to bypass the obstacle, and returning to the original travelling direction after the preset time until reaching the vicinity of the end point of the target channel.

Optionally, the controlling the target device to bypass the obstacle specifically includes:

controlling the target device to run in a direction opposite to the direction of the obstacle relative to the target device;

when the obstacle is positioned at the left front of the target equipment, the direction opposite to the direction of the obstacle relative to the target equipment is the right front of the target equipment;

when the obstacle is located in the right front of the target device, the direction opposite to the direction of the obstacle relative to the target device is the right front of the target device.

Optionally, the first path is a path planned in advance in the obstacle avoidance map;

when there is an obstacle on the first path, the method further includes:

and acquiring the position of the obstacle, and adding an obstacle identifier at the corresponding position in the obstacle avoidance map.

Optionally, the method further comprises:

and when all paths cannot reach the end point of the target channel, reporting errors.

Optionally, when the all paths cannot reach the end point of the target channel, the method specifically includes:

when all paths cannot reach the end point of the target channel, re-detecting whether an obstacle exists in an effective area corresponding to the first path;

and reporting errors when the terminal point of the target channel cannot be reached after the preset times of retries.

Optionally, before the target device enters the target channel, the method further includes:

when a moving instruction is received, generating a second path according to the current area of the target equipment and the target area in the moving instruction, and controlling the target equipment to travel to a target point, close to the target channel, of the current area according to the second path;

and after the target equipment reaches the target point, controlling the target equipment to enter the target channel.

Optionally, after the target device reaches the end point of the target channel, the method further includes:

and controlling the target equipment to enter the target area.

In a second aspect, the present application provides a robot lawnmower comprising: comprising the following steps: the system comprises a controller, a detection module and a planning module;

the controller is used for controlling the mowing robot to run according to a first path after the mowing robot enters the target channel;

The detection module is used for detecting whether an obstacle exists on the first path when the mowing robot runs according to the first path, judging whether the mowing robot can run in an effective area corresponding to the first path under the condition of bypassing the obstacle when the obstacle exists on the first path, wherein the effective area corresponding to the first path is an area formed by taking the first path as a center and expanding a preset length outside left and right of the first path;

the controller is further configured to control the mowing robot to bypass the obstacle and travel in the effective area corresponding to the first path so as to reach an end point of the target channel when the mowing robot can travel in the effective area corresponding to the first path while bypassing the obstacle;

the planning module is used for planning other paths in the target channel when the mowing robot cannot travel in the effective area corresponding to the first path under the condition of bypassing the obstacle;

the controller is also used for controlling the mowing robot to travel according to the other paths so as to reach the end point of the target channel.

Optionally, the detection module includes: a visual detection module and a collision detection module;

the visual detection module is used for detecting whether an obstacle exists on the first path when the mowing robot is in a visual auxiliary mode;

the collision detection module is used for detecting whether an obstacle exists on the first path when the mowing robot is in the vision auxiliary mode or not, and is also used for detecting whether the obstacle exists on the first path when the mowing robot is not in the vision auxiliary mode or not.

Optionally, the visual detection module comprises a visual acquisition module and a visual perception module;

the vision acquisition module is used for acquiring pictures in the effective area corresponding to the first path;

and the visual perception module is used for analyzing the picture to determine whether an obstacle exists on the first path.

Optionally, the planning module comprises a positioning estimation module and a path planning module;

the positioning estimation module is used for positioning the position of the mowing robot;

the path planning module is used for generating other routes according to the position of the mowing robot and the target area.

In a third aspect, the present application provides an electronic device comprising: a memory and a processor;

the memory is used for storing instructions; the processor is configured to invoke instructions in the memory to perform the control method of the first aspect and any of the possible designs of the first aspect.

In a fourth aspect, the present application provides a computer readable storage medium having stored therein computer instructions which, when executed by at least one processor of an electronic device, perform the control method of the first aspect and any of the possible designs of the first aspect.

In a fifth aspect, the application provides a computer program product comprising computer instructions which, when executed by at least one processor of an electronic device, perform the control method of the first aspect and any of the possible designs of the first aspect.

According to the control method and the mowing robot, after target equipment enters a target channel, the target equipment runs according to a first path, whether an obstacle exists on the first path or not is detected, whether the target equipment can run in an effective area corresponding to the first path under the condition of bypassing the obstacle is judged, if so, the target equipment is controlled to bypass the obstacle and run in the effective area corresponding to the first path so as to reach the end point of the target channel, if not, other paths are planned in the target channel, and the target equipment is controlled to run according to other paths so as to reach the end point of the target channel, so that the target channel can be smoothly passed through when the obstacle exists in the target channel.

Drawings

In order to more clearly illustrate the application or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the application, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

FIG. 1 is a flow chart of a control method according to an embodiment of the present application;

FIG. 2 is a flow chart of a control method according to an embodiment of the present application;

fig. 3 is a schematic structural diagram of a mowing robot according to an embodiment of the present application;

fig. 4 is a schematic structural diagram of a mowing robot according to an embodiment of the present application;

fig. 5 is a schematic hardware structure of an electronic device according to an embodiment of the application.

Detailed Description

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

As described in the background, a robot mower is usually required to move from one working area to another working area during working, and if an obstacle exists during movement, the movement of the robot mower is blocked, so that the robot mower deviates from the original direction.

In view of the above problems, the present application provides a control method, after a target device enters a target channel, if an obstacle exists on a first path in the target channel, determining whether the target device can bypass the obstacle and keep running in an effective area corresponding to the first path, if so, controlling the target device to bypass the obstacle and run in the effective area corresponding to the first path, and if not, planning other paths in the target channel, thereby smoothly passing through the target channel when the obstacle exists in the target channel.

The technical scheme of the application is described in detail below by specific examples. The following embodiments may be combined with each other, and some embodiments may not be repeated for the same or similar concepts or processes.

Fig. 1 shows a flowchart of a control method according to an embodiment of the present application. As shown in fig. 1, with the electronic device as an execution body, the method of the present embodiment may include the following steps:

S101, after the target equipment enters the target channel, the target equipment runs according to a first path and detects whether an obstacle exists on the first path.

In practical applications, the target device may be a mowing robot, and the target channel is a channel area between two grasslands. The target device may also be a sweeping robot, and the target channel is a channel region between two regions to be cleaned. The access area is a user-defined or robot predefined non-working area and is the area through which the robot is required to travel, which may be, but is not limited to, a terrain area through or over which the robot may pass for ordinary brick paving, stone road, dirt road, grass, etc.

In this embodiment, after the target device enters the target channel, the target device preferentially travels along the first path and detects whether an obstacle exists in the first path in real time in the traveling process according to the first path. When there is no obstacle on the first path, the target device can travel strictly on the first path to reach the end point of the target channel, but when there is an obstacle on the first path, the target device cannot travel strictly on the first path, and may not reach the end point of the target channel. Therefore, whether the first path is provided with an obstacle is detected in real time, so that the target equipment can pass through the target channel smoothly.

In practical application, the mowing robot, namely the automatic mowing machine, is divided into two working stages, namely a drawing stage and a mowing stage. In the mapping stage, a user manually controls the mower to walk and establishes a boundary map of the mowing area through real-time differential positioning (RTK) and/or visual recording of position points or visual information. The passage between mowing areas can also be formed by a user manually controlling the mower to walk from one area to another, recording RTKs and/or visual recording location points or visual information. In the mowing stage, mowing can be performed according to boundaries or channels established in the mapping stage.

In this example, the first path is a path that is planned in advance in the obstacle avoidance map, that is, when the target channel is set for the user, the set optimal route through the target channel may be, for example, a central path of the target channel. Because there may be no some dynamic obstacles or static obstacles in the target channel when the obstacle avoidance map is designed, and some dynamic obstacles are placed in the target channel after the obstacle avoidance map is designed, or some dynamic obstacles enter the target channel after the target is arranged in the target channel, when the target device runs in the target channel according to the first path, the dynamic obstacles and the static obstacles influence the normal running of the target device, so that whether the effective area corresponding to the first path has obstacles is detected in real time, so as to reduce the collision of the target device, and the target device smoothly passes through the target channel, wherein the dynamic obstacles can be pedestrians, pets, and the like, and the static obstacles can be walls, stones, flowerpots, rod-shaped objects, and the like.

In some embodiments, the target device may be in a vision-aided mode after entering the target channel, for example, the target device may be set to be in a vision-aided mode after the target device enters the target channel, or the target device may be set to be in a vision-aided mode before the target device enters the target channel. When the target device is in the vision-aided mode, whether an obstacle exists on the first path or not can be detected through a vision detection mode and a collision detection mode. Detecting the presence of an obstacle on the first path by the visual detection means and/or the collision detection means indicates detecting the presence of an obstacle on the first path, and detecting the presence of an obstacle on the first path by neither the visual detection means nor the collision detection means indicates detecting the presence of an obstacle on the first path. In practical application, the visual detection mode can detect the non-passable area which cannot be identified by the collision detection mode, such as a swimming pool, and the like, and can also identify dynamic obstacles and static obstacles placed in a target channel after the obstacle avoidance map is designed.

In some examples, detecting whether an obstacle is present on the first path by visual detection means may include detecting the presence of an obstacle on the first path by a visual sensor, camera, or the like; detecting whether an obstacle exists on the first path through the collision detection mode may include detecting whether a slip, a locked rotor, etc. exists on the first path, and detecting whether a slip, a locked rotor, etc. exists through detecting current, speed, position, etc. because the target device may be jammed or slipped when colliding with the obstacle.

In other embodiments, the target device may not be in the vision assistance mode after entering the target pathway, and if the vision assistance is not selected, the vision information is not referenced throughout the course of traveling within the target pathway. At this time, whether an obstacle exists on the first path may be detected by a collision detection method. Detecting that an obstacle exists on the first path by the collision detection mode means that the obstacle exists on the first path; the collision detection mode not detecting the presence of an obstacle on the first path means detecting the absence of an obstacle on the first path.

When it is detected that no obstacle exists in the effective area corresponding to the first path, step S102 is executed, and when it is detected that an obstacle exists in the effective area corresponding to the first path, step S103 is executed.

S102, driving to the end point of the target channel according to the first path.

When no obstacle exists on the first path, the first path is kept running, and the first path is a path leading to the end point of the target channel, so that the first path is kept running when no obstacle exists in the effective area corresponding to the first path, and the end point of the target channel can be reached.

In this embodiment, the end point of the target channel may be a point of the target channel, which is close to the boundary line of the target region, with a preset distance, which may be determined according to the actual situation, and is not limited herein. The end point of the target channel may also be a point on the boundary line of the target channel and the target region. Wherein the target channel is a channel from a certain position of the target device into the target area.

S103, judging whether the vehicle can run in the effective area corresponding to the first path under the condition of bypassing the obstacle.

The effective area corresponding to the first path is an area formed by taking the first path as a center and expanding the left and right sides of the first path by a preset length.

When the obstacle exists on the first path, judging whether the target equipment can drive in the effective area corresponding to the first path under the condition of bypassing the obstacle, namely judging whether the target equipment can bypass the obstacle in the effective area corresponding to the first path.

In some embodiments, when the target device is in the vision-assisted mode after entering the target channel, it may be determined whether the target device can travel in a first effective area corresponding to the first path while bypassing the obstacle, where the first effective area corresponding to the first path is an area formed by expanding a first length outside both left and right sides of the first path with the first path as a center. Since the target device is in the vision-assisted mode, whether an obstacle exists on the first path is detected by the vision detection mode and the collision detection mode, the vision detection mode is more sensitive, and the target device can be controlled to turn left or right to avoid collision with the obstacle when the obstacle is detected, and larger left and right buffer spaces are required, so that the first length is larger, the area of the first effective area is larger, and the first length can be 1.5 m-2.5 m, for example 2m.

In other embodiments, when the target device is not in the vision-assisted mode after entering the target channel, it may be determined whether the target device can travel in a second effective area corresponding to the first path while bypassing the obstacle, where the second effective area corresponding to the first path is an area formed by expanding a second length outside both the left and right sides of the first path with the first path as a center. When the target device is not in the vision auxiliary mode, whether an obstacle exists in a second effective area corresponding to the first path is detected through a collision detection mode, the target device possibly backs up when colliding with the obstacle, and the left buffer space and the right buffer space required by the target device are small, so that the second length is smaller than the first length, the area of the second effective area is smaller than the area of the first effective area, and the second length can be 0.5 m-1 m, for example, 0.8m.

In some examples, when an obstacle exists on the first path, the position of the obstacle may be obtained, and an obstacle identifier may be added to the corresponding position in the obstacle avoidance map, so as to reset the driving route of the target device according to the obstacle avoidance map, and improve the reliability of the target device passing through the target channel smoothly.

Step S104 is executed when the target equipment is judged to be capable of running in the effective area corresponding to the first path under the condition of bypassing the obstacle; when it is determined that the target device cannot travel in the effective area corresponding to the first path while avoiding the obstacle, that is, when the obstacle is so large that the target device cannot travel in the effective area corresponding to the first path, step S105 is executed.

And S104, controlling the target equipment to bypass the obstacle and drive in the effective area corresponding to the first path so as to reach the end point of the target channel.

When the target device can drive in the effective area corresponding to the first path under the condition of bypassing the obstacle, the target device is controlled to drive in the effective area corresponding to the first path by bypassing the obstacle, and after bypassing the obstacle, the target device can quickly recover the original form path, namely, drive along the first path continuously, so that the terminal point of the target channel can be quickly reached.

S105, other routes are planned in the target channel, and the target device is controlled to travel according to the other routes so as to reach the end point of the target channel.

When the target device cannot travel in the effective area corresponding to the first path under the condition of bypassing the obstacle, other paths are planned in the target channel, and the target device is controlled to travel according to the other paths so as to reach the end point of the target channel. The number of other paths may be one or more.

In this embodiment, if the number of other paths is one, the other paths are optimal paths except the first path and capable of reaching the end point of the target channel under the condition that no obstacle exists, the control target device runs according to the other paths and detects whether the obstacle exists on the other paths, if the obstacle does not exist, the control target device runs to the end point of the target channel according to the other paths, if the obstacle exists, the control target device judges whether the control target device can run in an effective area corresponding to the other paths under the condition of bypassing the obstacle, if the control target device bypasses the obstacle and runs in the effective area corresponding to the other paths until reaching the end point of the target channel, if the control target device does not, the control target device plans the other paths in the target channel again until finding a path which can pass through the end point of the target channel to reach the end point of the target channel, and if all paths in the target channel can not reach the end point of the target channel, the control target device can be reported in error to inform a user to move the target device.

In this embodiment, the number of other paths is multiple, the priority of each other path may be determined according to the distance, the shorter the distance is, the higher the priority is, and then the vehicle may travel according to the path with the highest priority, and in the process of traveling on the path with the highest priority, whether an obstacle exists on the path with the highest priority is detected in real time. When no obstacle exists, the vehicle runs on the path with the highest priority to the end point of the target channel; when an obstacle exists, judging whether the target equipment can run in an effective area corresponding to a path with the highest priority under the condition of bypassing the obstacle. If so, the control target device bypasses the obstacle and runs in the effective area corresponding to the path with the highest priority to reach the end point of the target channel, and if not, the control target device moves to the path with the second highest priority and runs according to the path with the second highest priority. Detecting whether an obstacle exists on a path with the second highest priority in real time in the process of traveling on the path with the second highest priority, when the obstacle does not exist on the path with the second highest priority, traveling on the path with the second highest priority until the end point of the target channel, and judging whether the target device can travel in an effective area corresponding to the path with the second highest priority under the condition of bypassing the obstacle when the obstacle exists on the path with the second highest priority. If so, the control target device bypasses the obstacle and runs in the effective area corresponding to the path with the second highest priority, if not, the control target device moves to the path with the third highest priority and runs according to the path with the third highest priority, and so on until the path with the lowest priority, and if the path with the lowest priority still cannot reach the end point of the target channel, the error reporting is carried out.

In some embodiments, when the positioning signal of the target device is weak, for example, the strength of the positioning signal is lower than a preset value, the target device is controlled to drive along other paths and detect whether an obstacle exists on the other paths in real time. If not, the control target device keeps running along other paths so as to reach the vicinity of the end point of the target channel, if so, the control target device bypasses the obstacle and returns to the original running direction at the preset time, namely continues running along other paths until reaching the vicinity of the end point of the target channel, wherein the vicinity of the end point can be a position which is a preset distance from the end point, and the preset distance can be determined according to the actual situation and is not limited. For example, the control target device travels in a direction opposite to the direction of the obstacle relative to the target device to bypass the obstacle, wherein when the obstacle is located in the left front of the target device, the direction opposite to the direction of the obstacle relative to the target device is the right front of the target device; when the obstacle is located in the right front of the target device, the direction opposite to the direction of the obstacle with respect to the target device is the left front of the target device.

Because the positioning signal is weaker, the target equipment is controlled to run according to other planned paths possibly inaccurately according to the positioning signal, if no obstacle is detected in the running process, the fact that although the positioning is inaccurate, the inaccurate positioning guides the path of the target equipment to pass through is indicated, and the inaccurate positioning can be carried out until the path of the target equipment is a very wide road path, for example. If an obstacle is detected in the running process, the inaccurate positioning is indicated to guide the target equipment to enter an inappropriate path, the target equipment can be controlled to run in the direction opposite to the direction of the obstacle relative to the target equipment so as to bypass the obstacle, then the original running direction is returned to reach the vicinity of the end point of the target channel, and the running direction of the target equipment can be adjusted in real time due to the fact that the detected obstacle is detected in real time and the original running direction is returned after the preset time until the obstacle reaches the vicinity of the end point of the target channel.

For example, because the inaccurate positioning guides the target device to enter a narrow channel with two walls at two ends, for example, a channel of 2m, when detecting that an obstacle (wall) exists in the left front of the target device at the time T1, the target device is controlled to travel to the right front, the target device returns to the original travel direction at the time T2, namely, attempts to move to the path of the inaccurate positioning guide, if the obstacle does not exist on the path any more, the target device can continue to travel along the path and reach the vicinity of the end point of the target channel, and if the obstacle exists on the path, the behavior of avoiding the wall is repeated until the target device reaches the vicinity of the end point of the target channel. It will be appreciated that the target device may form a path similar to a lightning front when repeating the above actions repeatedly.

In other embodiments, the target device may travel along other paths to reach the end point of the target channel when the location signal strength of the target device is greater than or equal to a preset value.

In some embodiments, if all paths cannot reach the end point of the target channel, an error is reported, and the user is informed of moving the target device in time. For example, when all paths cannot reach the end point of the target channel, whether the effective area corresponding to the first path has an obstacle or not may be detected again, and after the preset number of retries, the end point of the target channel cannot be reached, and error reporting is performed, that is, steps S101-S105 are executed again, and after the preset number of times of executing steps S101-S105 again, the end point of the target channel cannot be reached, and error reporting is performed. Specifically, the identifier in the obstacle avoidance map may be cleared, and then steps S101-S105 may be re-performed.

According to the control method provided by the application, after the target equipment enters the target channel, the target equipment runs according to the first path and detects whether an obstacle exists on the first path, when the obstacle exists on the first path, whether the target equipment can run in an effective area corresponding to the first path under the condition of bypassing the obstacle is judged, if so, the target equipment is controlled to bypass the obstacle and run in the effective area corresponding to the first path, and if not, other paths are planned in the target channel, and the target equipment is controlled to run according to other paths so as to reach the end point of the target channel, so that the target channel can be smoothly passed through when the obstacle exists in the target channel.

Fig. 2 shows a flowchart of a control method according to an embodiment of the present application. As shown in fig. 2, with the electronic device as an execution body, the method of the present embodiment may include the following steps:

and S201, when a moving instruction is received, generating a second path according to the current area of the target equipment and the target area in the moving instruction, and controlling the target equipment to travel to a target point, close to a target channel, of the current area according to the second path.

In practical application, the target device is a mowing robot, the current area of the mowing robot can be a lawn, channels between the lawn, and the mowing robot can be in a mowing mode or other modes when in the current area, and the other modes can be a standby mode, a shutdown mode and the like.

In this embodiment, when the target device receives the movement instruction, the second path may be generated according to the current area and the target area of the target device, and specifically, the second path may be generated according to the current position and the target area.

Optionally, the movement instruction may be an instruction for controlling the target device by a planning method, which may originate from a control of the target device by a user, or may originate from a space task set in preset logic of the target device; the target area refers to a work area to be subjected to target behaviors defined by a user or target equipment preset logic, and the target behaviors are mowing behaviors, so that the target area can be a lawn or any terrain area defined by any user or target equipment preset logic and capable of mowing or working in other modes.

In this example, the target point of the current region near the target channel may be a point of the current region near the boundary line of the target channel by a preset distance, and the preset distance may be determined according to the actual situation, which is not limited herein. The target point of the current region near the target channel may also be a point on the intersection of the current region and the target channel. After the second path is generated, the control target device runs to a target point of the current area, which is close to the target channel, according to the second path, and the second path is a path leading from the current position to the target point by the target device.

S202, after the target equipment reaches the target point, controlling the target equipment to enter the target channel.

In this embodiment, after the target device reaches the target point, the target device is controlled to travel from the target point to the direction of the target channel so as to enter the target channel.

And S203, after the target equipment enters the target channel, driving according to the first driving path and detecting whether an obstacle exists on the first path.

When it is detected that there is no obstacle on the first path, step S204 is executed, and when it is detected that there is an obstacle on the first path, step S205 is executed.

S204, driving to the end point of the target channel according to the first path.

S205, judging whether the vehicle can run in the effective area corresponding to the first path under the condition of bypassing the obstacle.

When it is determined that the target device can travel in the effective area corresponding to the first path while bypassing the obstacle, step S206 is performed; when it is determined that the target apparatus cannot travel in the effective area corresponding to the first path while avoiding the obstacle, step S207 is executed.

S206, controlling the target equipment to bypass the obstacle and drive in the effective area corresponding to the first path so as to reach the end point of the target channel.

S207, other routes are planned in the target channel, and the target device is controlled to travel according to the other routes so as to reach the end point of the target channel.

Step S206 is similar to the implementation of step S104 in the embodiment of fig. 1, step S207 is similar to the implementation of step S105 in the embodiment of fig. 1, and the description of this embodiment is omitted here.

And S208, after the target equipment reaches the end point of the target channel, controlling the target equipment to enter the target area.

After the target device reaches the end point of the target channel, the target device is indicated to smoothly pass through the target channel, and the target device can be controlled to enter the target area.

For example, the target device may be controlled to drive to a point at the junction between the target channel and the target area, and when it is determined that the target device reaches the point, if the target device is in the vision auxiliary mode, the vision auxiliary mode may be turned off, the channel sensing operation is ended, and the channel passing is completed. Then, the target device is controlled to enter the target area.

The control method provided by the application comprises the steps of generating a second path according to the current area of target equipment and a target area to be reached, controlling the target equipment to travel to a target point, which is close to a target channel, of the current area according to the second path, controlling the target equipment to enter the target channel after the target equipment reaches the target point, then traveling according to the first path, detecting whether an obstacle exists on the first path, judging whether the target equipment can travel in an effective area corresponding to the first path under the condition of bypassing the obstacle when the obstacle exists on the first path, if so, controlling the target equipment to bypass the obstacle and travel in an effective area corresponding to the first path, if not, planning other paths in the target channel, and controlling the target equipment to travel according to other paths so as to reach the end point of the target channel, thereby smoothly passing through the target channel when the obstacle exists in the target channel.

Fig. 3 is a schematic structural diagram of a mowing robot according to an embodiment of the present application, as shown in fig. 3, the mowing robot 10 of the present embodiment is configured to implement operations corresponding to a target device in any of the method embodiments, and the mowing robot 10 of the present embodiment includes:

a controller 11, a detection module 12 and a planning module 13;

a controller 11 for controlling the mowing robot to travel according to a first path after the mowing robot enters the target path;

the detection module 12 is configured to detect whether an obstacle exists on the first path when the mowing robot travels along the first path, and determine whether the mowing robot can travel in an effective area corresponding to the first path while bypassing the obstacle when the obstacle exists on the first path, where the effective area corresponding to the first path is an area formed by expanding a preset length outside the first path;

the controller 11 is further configured to control the mowing robot to bypass the obstacle and travel in the effective area corresponding to the first path so as to reach the end point of the target path when the mowing robot can travel in the effective area corresponding to the first path while bypassing the obstacle;

A planning module 13, configured to plan other paths in the target channel when the mowing robot cannot travel in the effective area corresponding to the first path while bypassing the obstacle;

the controller 11 is further configured to control the mowing robot to travel along other paths so as to reach an end point of the target pathway.

Optionally, as shown in fig. 4, the detection module 12 includes a vision detection module 121 and a collision detection module 122, where the vision detection module 121 is configured to detect whether an obstacle exists on the first path when the mowing robot is in the vision-assisted mode, and the collision detection module 122 is configured to detect whether an obstacle exists on the first path when the mowing robot is in the vision-assisted mode and detect whether an obstacle exists on the first path when the mowing robot is not in the vision-assisted mode.

By way of example, the vision detection module 121 includes a vision acquisition module and a vision perception module, the vision acquisition module being configured to, when the vision detection module is turned on. For example, the visual acquisition module and the visual perception module both acquire pictures in the effective area corresponding to the first path at the beginning, and the visual perception module is used for analyzing the pictures to determine whether an obstacle exists on the first path.

Optionally, as shown in fig. 4, the planning module 13 includes a positioning estimation module 131 and a path planning module 132, after the mowing robot receives the movement instruction, the positioning estimation module 131 positions the current position of the mowing robot, the path planning module 132 generates a second path according to the current position of the mowing robot and a target area in the movement instruction, and controls the target device to travel to a target point, close to a target channel, of the current area according to the second path, so that the target device is controlled to travel to a certain starting point in the edge of the current area under the combined action of the positioning estimation module 131 and the path planning module 132, when the positioning estimation module 131 and the path planning module 132 determine that the target device reaches the starting point, i.e. the target point, the controller 11 controls the target device to start a non-working channel mode, and the target device can be in a working mowing mode or other modes before reaching the target point. The controller 11 then enters the non-working area (target pathway) according to the second path generated by the path planning module.

Optionally, when the mowing robot cannot travel in the effective area corresponding to the first path while bypassing the obstacle, the positioning estimation module 131 positions the mowing robot, and the path planning module 132 plans other paths in the target channel.

When the positioning estimation module operates normally (outputs a reliable fixed solution), the positioning estimation module 131 and the path planning module 132 can jointly calculate an optimal path, at this time, the visual detection module 121 can be responsible for identifying static and dynamic obstacles on other paths on which the mowing robot travels, guiding the mowing robot to bypass the obstacles, the obstacles are mainly divided into two types, one type is a static obstacle mainly comprising a wall body, stones, a flowerpot and a rod-shaped object, and the other type is an object which is not expected to be impacted or jumped by the mowing robot by a user; the other is a dynamic obstacle mainly comprising pedestrians and pets.

When the positioning estimation module 131 cannot normally operate due to weak RTK signals, the path planning module 132 still considers that the positioning of the mowing robot is accurate, and meanwhile, the obstacle avoidance can be performed according to the logic. If there is no obstacle, it means that although the positioning is inaccurate, the inaccurate positioning guides the walkway to be accessible (such as a very open road channel); if the positioning is inaccurate, and the mowing robot moves towards the obstacle (for example, the narrow two ends are the channels of the wall body and the width is 2M), the visual detection module 121 transmits the specific position of the wall body (the obstacle) to the path planning module 132, the path planning module 132 guides the mowing robot to move around in the opposite direction, but tries to move towards the original path (other paths) after M seconds, and if the visual detection module 121 considers that the obstacle is no longer present on the other paths, the mowing robot continues to move on the other paths; otherwise, the above-mentioned wall (obstacle) avoiding actions are repeated.

Optionally, after the mowing robot reaches the end point of the target channel, the controller 11 may further control the mowing robot to enter the target area, where in practical application, the target area and the current area may be two grasslands.

In practical application, when the positioning estimation module 131 operates normally, and the robot reaches the target point, the channel perception finishes working, and the channel passing is finished; when the positioning estimation module 131 is weak and cannot work normally, the visual detection module 121 searches for the nearest grassland area when the robot runs near the end of the channel, wherein the visual detection module 121 can identify not only which areas can be walked, but also the general categories of the areas, such as asphalt roads, stone roads, soil roads, grasslands and the like, and the robot can realize the running closed loop from the working area to the working area by combining the path planning module 132 to run to the nearest grassland area to finish the channel running forcibly.

The mowing robot 10 provided in the embodiment of the present application can execute the above method embodiment, and the specific implementation principle and technical effects of the method embodiment can be referred to the above method embodiment, and the present embodiment is not repeated here.

Fig. 5 shows a schematic hardware structure of an electronic device according to an embodiment of the present application. As shown in fig. 5, the electronic device 20, configured to implement the operations corresponding to the target device in any of the above method embodiments, the electronic device 20 of this embodiment may include: a memory 21, a processor 22 and a communication interface 23.

A memory 21 for storing computer instructions. The Memory 21 may include a high-speed random access Memory (Random Access Memory, RAM), and may further include a Non-Volatile Memory (NVM), such as at least one magnetic disk Memory, and may also be a U-disk, a removable hard disk, a read-only Memory, a magnetic disk, or an optical disk.

A processor 22 for executing computer instructions stored in the memory to implement the control method in the above embodiment. Reference may be made in particular to the relevant description of the embodiments of the method described above. The processor 22 may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the present invention may be embodied directly in a hardware processor for execution, or in a combination of hardware and software modules in a processor for execution.

Alternatively, the memory 21 may be separate or integrated with the processor 22.

The communication interface 23 may be connected to the processor 22. The processor 22 may control the communication interface 23 to perform the functions of receiving and transmitting signals.

The electronic device provided in this embodiment may be used to execute the above-mentioned control method, and its implementation manner and technical effects are similar, and this embodiment is not repeated here.

The present application also provides a computer readable storage medium having stored therein computer instructions which, when executed by a processor, are adapted to carry out the methods provided by the various embodiments described above.

The present application also provides a computer program product comprising computer instructions stored in a computer readable storage medium. The computer instructions may be read from a computer-readable storage medium by at least one processor of the device, and executed by the at least one processor, cause the device to implement the methods provided by the various embodiments described above.

The embodiment of the application also provides a chip, which comprises a memory and a processor, wherein the memory is used for storing computer instructions, and the processor is used for calling and running the computer instructions from the memory, so that a device provided with the chip executes the method in various possible implementation manners.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same. Although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments may be modified or some or all of the technical features may be replaced with equivalents. Such modifications and substitutions do not depart from the spirit of the application.

Claims

1. A control method, characterized in that the method comprises:

2. The method according to claim 1, wherein the detecting whether an obstacle exists on the first path comprises:

3. The method according to claim 1, wherein the detecting whether an obstacle exists on the first path comprises:

4. The method according to claim 1, wherein said controlling the target device to travel along the other path to reach the end point of the target channel comprises:

5. The method according to claim 4, wherein said controlling the target device to bypass the obstacle comprises:

6. The method of claim 1, wherein the first path is a pre-planned path in an obstacle avoidance map;

when there is an obstacle on the first path, the method further includes:

7. The method according to any one of claims 1-6, further comprising:

8. The method according to claim 7, wherein when all paths cannot reach the end point of the target channel, specifically comprising:

9. The method of any of claims 1-6, wherein prior to the target device entering the target channel, the method further comprises:

10. The method of claim 9, wherein after the target device reaches an end point of the target channel, the method further comprises:

And controlling the target equipment to enter the target area.

11. A robot lawnmower, comprising: the system comprises a controller, a detection module and a planning module;

12. The robot lawnmower of claim 11, wherein the detection module comprises: a visual detection module and a collision detection module;

13. The robot lawnmower of claim 12, wherein the vision detection module comprises a vision acquisition module and a vision perception module;

the visual acquisition module is used for acquiring pictures in the effective area corresponding to the first path when the visual detection module is started;

14. The robot lawnmower of claim 11, wherein the planning module comprises a positioning estimation module and a path planning module;