CN117730685A - Mowing method and device, mower and medium - Google Patents
Mowing method and device, mower and medium Download PDFInfo
- Publication number
- CN117730685A CN117730685A CN202311872011.4A CN202311872011A CN117730685A CN 117730685 A CN117730685 A CN 117730685A CN 202311872011 A CN202311872011 A CN 202311872011A CN 117730685 A CN117730685 A CN 117730685A
- Authority
- CN
- China
- Prior art keywords
- mowing
- satellite
- area
- navigation mode
- auxiliary
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 69
- 230000000007 visual effect Effects 0.000 claims abstract description 25
- 238000012545 processing Methods 0.000 claims description 15
- 238000004891 communication Methods 0.000 claims description 14
- 238000005516 engineering process Methods 0.000 claims description 13
- 238000004590 computer program Methods 0.000 claims description 10
- 244000025254 Cannabis sativa Species 0.000 claims 2
- 238000010586 diagram Methods 0.000 description 14
- 238000001514 detection method Methods 0.000 description 5
- 230000001788 irregular Effects 0.000 description 5
- 238000004458 analytical method Methods 0.000 description 3
- 238000013527 convolutional neural network Methods 0.000 description 3
- 238000013135 deep learning Methods 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 2
- 238000004422 calculation algorithm Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000010801 machine learning Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 230000005055 memory storage Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000012567 pattern recognition method Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 238000009877 rendering Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000011218 segmentation Effects 0.000 description 1
- 230000001052 transient effect Effects 0.000 description 1
Abstract
The invention relates to the technical field of positioning and visual identification, in particular to a mowing method, a mowing device, a mowing machine and a mowing medium. The mowing method comprises the following steps: receiving satellite signals through a satellite module; judging whether the satellite positioning state of the satellite signal reaches a preset requirement or not; if the satellite positioning state meets the preset requirement, mowing by using a satellite navigation mode; if the satellite positioning state does not reach the preset requirement, switching the satellite navigation mode to be an auxiliary navigation mode; mowing is carried out according to the auxiliary navigation mode. Therefore, mowing is performed by using the satellite navigation mode under the condition that the satellite positioning state reaches the preset requirement, and the satellite navigation mode is switched to the auxiliary navigation mode under the condition that the satellite positioning state does not reach the preset requirement, so that the situation that a mower runs out of a working area and a part of lawns are missed due to the fact that satellite signals are blocked can be avoided.
Description
Technical Field
The invention relates to the technical field of positioning and visual identification, in particular to a mowing method, a mowing device, a mowing machine and a mowing medium.
Background
With the rapid development of Real-time kinematic (RTK) and visual recognition technologies, the existing method for mowing a lawn with a mower generally uses the RTK technology to control the mower along the boundary of the working area of the mower through a certain mobile terminal so as to collect boundary data for mapping. However, because the use scene of the mower is complex, buildings and trees can easily shield RTK satellite signals, so that satellite positioning accuracy is reduced, and the mower can easily travel out of a working area or cannot be controlled to travel along a desired path when the mower completely relies on the RTK satellite signals to mow, so that the situation of missed mowing of part of lawns is caused.
In view of the above-mentioned problems, it is a matter of great effort for the person skilled in the art to find how to complete mowing of lawns.
Disclosure of Invention
The invention aims to provide a mowing method, a mowing device, a mowing machine and a medium, which are used for solving the problems that when satellite signals are blocked, the mowing machine runs out of a working area and a part of lawns are missed when mowing on the lawns due to the fact that satellite positioning accuracy is reduced.
In order to solve the technical problems, the invention provides a mowing method, which is applied to a mowing machine provided with a satellite module and a visual identification module, and comprises the following steps:
receiving satellite signals through a satellite module;
judging whether the satellite positioning state of the satellite signal reaches a preset requirement or not;
if the satellite positioning state meets the preset requirement, mowing by using a satellite navigation mode;
if the satellite positioning state does not reach the preset requirement, switching the satellite navigation mode to be an auxiliary navigation mode;
mowing is carried out according to the auxiliary navigation mode.
On the other hand, after switching the satellite navigation mode to the assisted navigation mode, before mowing according to the assisted navigation mode, the method further comprises:
collecting pictures collected by the camera module;
processing the picture by utilizing a visual recognition technology;
and determining an auxiliary area for mowing in an auxiliary navigation mode according to the processed picture and the satellite positioning state.
On the other hand, after determining the auxiliary area for mowing by the auxiliary navigation mode according to the processed picture and the satellite positioning state, the method further comprises the following steps:
determining a satellite navigation area representing that the positioning state reaches a preset requirement according to the auxiliary area and the lawn area;
acquiring an overlapping area where the auxiliary area and the satellite navigation area overlap;
setting a starting point in the overlapping area;
navigation of the mower to a starting point based on a satellite navigation mode;
correspondingly, the switching satellite navigation mode to the auxiliary navigation mode comprises the following steps:
at the starting point, the satellite navigation mode is switched to the auxiliary navigation mode.
On the other hand, after switching the satellite navigation mode to the assisted navigation mode, before mowing according to the assisted navigation mode, the method further comprises:
acquiring a preset communication path between an auxiliary area and a satellite navigation area;
and controlling the mower to be in the auxiliary area according to the communication path.
In another aspect, the method further comprises:
judging whether an obstacle appears in the auxiliary area by utilizing a visual recognition technology;
if the auxiliary area is provided with an obstacle, controlling the mower to change the running direction;
and if the auxiliary area is clear, mowing is performed according to an auxiliary navigation mode.
In another aspect, the method further comprises:
obtaining mowing time;
judging whether the mowing time length reaches a preset mowing time length or not;
if the mowing duration reaches the preset mowing duration, determining that mowing is finished;
if the mowing duration does not reach the preset mowing duration, determining that mowing is not finished, and returning to the mowing step according to the auxiliary navigation mode.
In another aspect, the method further comprises:
acquiring a mowing area of mowing completed;
judging whether the mowing area reaches a preset mowing area or not;
if the mowing area reaches the preset mowing area, determining that mowing is finished;
if the mowing area does not reach the preset mowing area, determining that mowing is not finished, and returning to the mowing step according to the auxiliary navigation mode.
In order to solve the technical problem, the invention also provides a mowing device, which is applied to a mowing machine provided with a satellite module and a visual identification module, and comprises:
the receiving module is used for receiving satellite signals through the satellite module;
the first judging module is used for judging whether the satellite positioning state of the satellite signal reaches a preset requirement or not;
if the satellite positioning state meets the preset requirement, triggering a satellite navigation mowing module for mowing by using a satellite navigation mode;
if the satellite positioning state does not reach the preset requirement, triggering a switching module for switching the satellite navigation mode into an auxiliary navigation mode;
the first random mowing module is used for mowing according to the auxiliary navigation mode.
In addition, the device also comprises the following modules:
on the other hand, after switching the satellite navigation mode to the assisted navigation mode, before mowing according to the assisted navigation mode, the method further comprises:
the acquisition module is used for acquiring pictures acquired by the camera module;
the processing module is used for processing the picture by utilizing a visual identification technology;
the first determining module is used for determining an auxiliary area for mowing in an auxiliary navigation mode according to the processed picture and the satellite positioning state.
On the other hand, after determining the auxiliary area for mowing by the auxiliary navigation mode according to the processed picture and the satellite positioning state, the method further comprises the following steps:
the second determining module is used for determining a satellite navigation area with the characteristic positioning state reaching a preset requirement according to the auxiliary area and the lawn area;
the first acquisition module is used for acquiring an overlapping area where the auxiliary area and the satellite navigation area overlap;
the setting module is used for setting a starting point in the overlapping area;
the navigation module is used for navigating the mower to a starting point based on a satellite navigation mode;
correspondingly, the switching satellite navigation mode to the auxiliary navigation mode comprises the following steps:
the second random mowing module is used for switching the satellite navigation mode to the auxiliary navigation mode at the starting point.
On the other hand, after switching the satellite navigation mode to the assisted navigation mode, before mowing according to the assisted navigation mode, the method further comprises:
the second acquisition module is used for acquiring a preset communication path between the auxiliary area and the satellite navigation area;
the first control module is used for controlling the mower to be in the auxiliary area according to the communication path.
In another aspect, the method further comprises:
the second judging module is used for judging whether the auxiliary area is provided with an obstacle or not by utilizing a visual recognition technology;
if the auxiliary area is provided with an obstacle, triggering a second control module for controlling the mower to change the driving direction;
and if the auxiliary area is clear, triggering a third random mowing module for mowing according to an auxiliary navigation mode.
In another aspect, the method further comprises:
the third acquisition module is used for acquiring mowing duration;
the third judging module is used for judging whether the mowing time reaches the preset mowing time or not;
if the mowing duration reaches the preset mowing duration, triggering a third determining module for determining that mowing is finished;
if the mowing duration does not reach the preset mowing duration, triggering a fourth determining module, wherein the fourth determining module is used for determining that mowing is not finished and returning to the mowing step according to the auxiliary navigation mode.
In another aspect, the method further comprises:
a fourth acquisition module for acquiring a mowing area of mowing;
the fourth judging module is used for judging whether the mowing area reaches a preset mowing area or not;
if the mowing area reaches the preset mowing area, triggering a fifth determining module for determining that mowing is finished;
and if the mowing area does not reach the preset mowing area, triggering a sixth determining module for determining that mowing is not finished and returning to the mowing step according to the auxiliary navigation mode.
In order to solve the technical problem, the invention also provides a mower, which comprises:
a memory for storing a computer program;
and the processor is used for executing the computer program to realize the steps of the mowing method.
In order to solve the above technical problem, the present invention further provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor, implements the steps of the above all mowing method.
The invention provides a mowing method, which is applied to a mowing machine provided with a satellite module and a visual identification module, and comprises the following steps: receiving satellite signals through a satellite module; judging whether the satellite positioning state of the satellite signal reaches a preset requirement or not; if the satellite positioning state meets the preset requirement, mowing by using a satellite navigation mode; if the satellite positioning state does not reach the preset requirement, switching the satellite navigation mode to be an auxiliary navigation mode; mowing is carried out according to the auxiliary navigation mode. Therefore, mowing is performed by using the satellite navigation mode under the condition that the satellite positioning state reaches the preset requirement, and the satellite navigation mode is switched to the auxiliary navigation mode under the condition that the satellite positioning state does not reach the preset requirement, so that the situation that a mower runs out of a working area and a part of lawns are missed due to the fact that satellite signals are blocked can be avoided.
The invention also provides a mowing device, a mowing machine and a medium, and the mowing device, the mowing machine and the medium have the same effects.
Drawings
For a clearer description of embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described, it being apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the drawings without inventive effort for those skilled in the art.
FIG. 1 is a flow chart of a mowing method according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a satellite signal intensity in a partial area inside a lawn, which is lower than a preset intensity;
FIG. 3 is a schematic diagram of satellite signal intensity in boundary part area inside a lawn according to an embodiment of the present invention below a preset intensity;
fig. 4 is a schematic diagram of satellite signal intensity in most areas of a first lawn according to an embodiment of the present invention below a preset intensity;
fig. 5 is a schematic diagram of satellite signal intensity in most areas of a second lawn according to an embodiment of the present invention below a preset intensity;
fig. 6 is a schematic diagram of satellite signal intensity in most areas of a third lawn according to an embodiment of the present invention below a preset intensity;
FIG. 7 is a block diagram of a mowing device according to an embodiment of the present invention;
fig. 8 is a block diagram of a mower according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without making any inventive effort are within the scope of the present invention.
The invention aims to provide a mowing method, a mowing device, a mowing machine and a medium, which can avoid the conditions that the mowing machine runs outside a working area and a part of lawns are missed when mowing is performed on the lawns due to the fact that satellite signals are shielded and satellite positioning accuracy is reduced.
In order to better understand the aspects of the present invention, the present invention will be described in further detail with reference to the accompanying drawings and detailed description.
Fig. 1 is a flowchart of a mowing method according to an embodiment of the present invention, as shown in fig. 1, the mowing method is applied to a mowing machine provided with a satellite module and a visual identification module, and the method includes:
s10: receiving satellite signals through a satellite module;
s11: judging whether the satellite positioning state of the satellite signal reaches a preset requirement or not;
if the satellite positioning state reaches the preset requirement, step S12 is entered: mowing by using a satellite navigation mode;
if the satellite positioning state does not reach the preset requirement, step S13 is entered: switching the satellite navigation mode to an auxiliary navigation mode;
s14: mowing is carried out according to the auxiliary navigation mode.
In this embodiment, it should be noted that, the mower at least includes a satellite module and a visual recognition module, and in addition, in some embodiments, a wireless communication module is further provided, where the satellite module is configured to output an RTK satellite signal and transmit the RTK satellite signal to application software capable of setting various parameters of mowing, so as to control the mower to move to mow according to the satellite signal, and when mowing according to the satellite signal, mowing is generally performed by using a mowing mode of parallel mowing with end-to-end cutting; the visual recognition module collects images through a camera arranged on the mower so as to process the images and determine the lawn boundary; the wireless communication module is used for transmitting signals of the mower to the application software so as to control mowing operation of the mower according to the transmitted various signals;
the satellite positioning state may be classified into a high-precision positioning state and a non-high-precision positioning state, and the preset requirement in this embodiment may be the number of satellites that can be searched by the reference station and the mobile station, and also includes the signal strength of the satellites and the signal-to-noise ratio of the signals of the satellites. The high-precision positioning state can achieve centimeter-level positioning, and the non-high-precision positioning state can achieve tens of centimeters or meter-level positioning.
In addition, it should be noted that, on the application software, the lawn may be mapped according to the visual recognition module so as to determine a lawn area needing mowing, where the lawn area may be divided into a satellite navigation area with good satellite signals and an auxiliary area with bad satellite signals.
As a specific embodiment, the mower normally works according to the satellite signal, so that the mower switches from a satellite navigation mode relying on the satellite signal to a random mowing mode independent of the satellite signal according to the intensity of the satellite signal;
the auxiliary navigation mode is specifically an estimated navigation mode or a random cutting mode; the calculation navigation mode can calculate one or more of satellite data, data acquired by an inertial sensor (a plurality of inertial measurement units (Inertial Measurement Unit, IMU) are arranged in the sensor), data acquired by an odometer and data acquired by a visual odometer; the navigation position is calculated by mainly using data acquired by an inertial sensor and data acquired by an odometer; the random cutting mode is as follows: as long as the direction is changed to a direction not exceeding the lawn boundary and the auxiliary area;
in this embodiment, mowing is performed by using a satellite navigation mode when the satellite positioning state reaches a preset requirement, and the satellite navigation mode is switched to an auxiliary navigation mode when the satellite positioning state does not reach the preset requirement, so that the situation that a mower runs out of a working area and a part of lawns are missed due to reduced satellite positioning accuracy when satellite signals are blocked can be avoided.
In addition to the above embodiments, as a more preferable embodiment, after switching the satellite navigation mode to the assisted navigation mode, before mowing according to the assisted navigation mode, the mowing device further includes:
collecting pictures collected by the camera module;
processing the picture by utilizing a visual recognition technology;
and determining an auxiliary area for mowing in an auxiliary navigation mode according to the processed picture and the satellite positioning state.
In this embodiment, the visual recognition technology can be classified into a Blob analysis method (Blob analysis), a template matching method, and a deep learning method, specifically as follows:
first, the Blob analysis refers to a connected region of images with features of similar color, texture, etc. The connected domain of the same pixel in the image is analyzed (this connected domain is called Blob). The process is that the image is binarized, the foreground and the background are obtained by segmentation, and then the connected region is detected, so that the Blob is obtained.
Secondly, the template matching method is the most primitive and basic pattern recognition method, and researches where a pattern of a specific object is located in an image so as to recognize the object. It can be understood that a small image which is known to be matched searches for a target in a large image, the target is known to be found in the image, the target and the template have the same size, direction and image element, and the target can be found in the image by calculating the characteristics of the mean value, gradient, distance, variance and the like of the image, and the coordinate position of the target can be determined.
Third, the deep learning method improves both the detection accuracy and the detection speed. Deep learning methods are generally divided into two categories: one is a region method (Region with CNN feature, R-CNN) series two-order target detection algorithm (twostage) based on the convolutional neural network characteristics in combination with a region candidate network (RegionProposal Network, RPN), and the other is a first-order target detection algorithm (single) which converts target detection into regression problems.
In this embodiment, the lawn boundary or obstacle may be identified by the camera module to facilitate movement of the mower beyond the lawn boundary or against other obstacles during mowing.
On the basis of the above-described embodiments, as a more preferable embodiment,
after determining the auxiliary area for mowing in the auxiliary navigation mode according to the processed picture and the satellite positioning state, the method further comprises the following steps:
determining a satellite navigation area representing that the positioning state reaches a preset requirement according to the auxiliary area and the lawn area;
acquiring an overlapping area where the auxiliary area and the satellite navigation area overlap;
setting a starting point in the overlapping area;
navigation of the mower to a starting point based on a satellite navigation mode;
correspondingly, the switching satellite navigation mode to the auxiliary navigation mode comprises the following steps:
at the starting point, the satellite navigation mode is switched to the auxiliary navigation mode.
Correspondingly, after switching the satellite navigation mode to the auxiliary navigation mode, before mowing according to the auxiliary navigation mode, the mowing device further comprises:
acquiring a preset communication path between an auxiliary area and a satellite navigation area;
and controlling the mower to be in the auxiliary area according to the communication path.
Fig. 2 is a schematic diagram of a satellite signal intensity in a partial area of a lawn being lower than a preset intensity, as shown in fig. 2, in which an area representing that the satellite signal intensity reaches the preset intensity is an auxiliary area, and at this time, a moving route of a mower shown in the auxiliary area is an irregular mowing mode; the area, which represents that the intensity of the satellite signal does not reach the preset intensity, is a satellite navigation area, and at the moment, the moving route of the mower shown in the satellite navigation area is a regular parallel cutting mowing mode with end-to-end connection;
in addition, it should be noted that, in order to ensure that the schematic lawn view shown in fig. 2 is more capable of performing a complete mowing operation on the lawn, an overlapping area may be disposed at one side of the auxiliary area or at a peripheral boundary of the auxiliary area;
at this time, the following is performed for the determination of complete mowing of the lawn:
one is:
obtaining mowing time;
judging whether the mowing time length reaches a preset mowing time length or not;
if the mowing duration reaches the preset mowing duration, determining that mowing is finished;
if the mowing duration does not reach the preset mowing duration, determining that mowing is not finished, and returning to the mowing step according to the auxiliary navigation mode;
the second step is:
acquiring a mowing area of mowing completed;
judging whether the mowing area reaches a preset mowing area or not;
if the mowing area reaches the preset mowing area, determining that mowing is finished;
if the mowing area does not reach the preset mowing area, determining that mowing is not finished, and returning to the mowing step according to the auxiliary navigation mode.
Fig. 3 is a schematic diagram of satellite signal intensity in a boundary part area inside a lawn being lower than preset intensity, as shown in fig. 3, an area representing that the satellite signal intensity does not reach the preset intensity is a satellite navigation area, and at this time, a moving route of a mower shown in the satellite navigation area is a regular parallel cutting mowing mode with end-to-end connection; the area representing that the intensity of the satellite signal reaches the preset intensity is an auxiliary area, and at the moment, the moving route of the mower shown in the auxiliary area is an irregular mowing mode; in addition, in order to enable the mower to be capable of navigating to the starting point in the auxiliary area so as to facilitate starting mowing operation on the auxiliary area at the starting point, an overlapping area is further arranged, and at the moment, in the overlapping area, the strength of the satellite signal does not reach the preset strength, and the mower can be navigated to the starting point through the satellite signal;
at this time, the following is performed for the determination of complete mowing of the lawn:
one is:
obtaining mowing time;
judging whether the mowing time length reaches a preset mowing time length or not;
if the mowing duration reaches the preset mowing duration, determining that mowing is finished;
if the mowing duration does not reach the preset mowing duration, determining that mowing is not finished, and returning to the mowing step according to the auxiliary navigation mode;
the second step is:
acquiring a mowing area of mowing completed;
judging whether the mowing area reaches a preset mowing area or not;
if the mowing area reaches the preset mowing area, determining that mowing is finished;
if the mowing area does not reach the preset mowing area, determining that mowing is not finished, and returning to the mowing step according to the auxiliary navigation mode.
Fig. 4 is a schematic diagram of satellite signal intensity lower than preset intensity in most areas of a first lawn provided by the embodiment of the present invention, as shown in fig. 4, an area representing that the satellite signal intensity reaches the preset intensity is an auxiliary area, and at this time, a moving route of a mower shown in the auxiliary area is an irregular mowing mode; the area, which represents that the intensity of the satellite signal does not reach the preset intensity, is a satellite navigation area, and at the moment, the moving route of the mower shown in the satellite navigation area is a regular parallel cutting mowing mode with end-to-end connection;
in addition, it should be noted that, when there is a space between the satellite navigation area and the auxiliary area, the mower is controlled to move from the satellite navigation area to the auxiliary area by setting a guide line, a magnetic stripe or a preset connection path preset according to satellite signals between the satellite navigation area and the auxiliary area, and mowing operation is performed on the auxiliary area; for the embodiment of arranging the guide strip, a guide wire signal emitter is arranged at the auxiliary area so as to emit a guide wire arranging signal, and the guide wire is arranged according to the arranging signal so as to facilitate the mower to move from the satellite navigation area to the auxiliary area;
at this time, the following is performed for the determination of complete mowing of the lawn:
one is:
obtaining mowing time;
judging whether the mowing time length reaches a preset mowing time length or not;
if the mowing duration reaches the preset mowing duration, determining that mowing is finished;
if the mowing duration does not reach the preset mowing duration, determining that mowing is not finished, and returning to the mowing step according to the auxiliary navigation mode;
the second step is:
acquiring a mowing area of mowing completed;
judging whether the mowing area reaches a preset mowing area or not;
if the mowing area reaches the preset mowing area, determining that mowing is finished;
if the mowing area does not reach the preset mowing area, determining that mowing is not finished, and returning to the mowing step according to the auxiliary navigation mode.
Fig. 5 is a schematic diagram of a large area of satellite signal intensity lower than a preset intensity in a second lawn provided by the embodiment of the present invention, where, as shown in fig. 5, an area representing that the satellite signal intensity does not reach the preset intensity is a satellite navigation area, and at this time, a moving route of a mower shown in the satellite navigation area is a regular parallel mowing mode with end-to-end cutting; the area representing that the intensity of the satellite signal reaches the preset intensity is an auxiliary area, and at the moment, the moving route of the mower shown in the auxiliary area is an irregular mowing mode; in addition, in order to enable the mower to be capable of navigating to the starting point in the auxiliary area so as to facilitate starting mowing operation on the auxiliary area at the starting point, an overlapping area is further arranged, and at the moment, in the overlapping area, the strength of the satellite signal does not reach the preset strength, and the mower can be navigated to the starting point through the satellite signal;
when the satellite navigation area is cut by a parallel cutting mowing mode, mowing operation is carried out on the auxiliary area, wherein when mowing is carried out from a starting point, the satellite navigation area returns to the overlapped area again and belongs to the boundary of the auxiliary area, the steering of the mower is controlled so as to avoid the out-of-range of the mower;
at this time, the following is performed for the determination of complete mowing of the lawn:
one is:
obtaining mowing time;
judging whether the mowing time length reaches a preset mowing time length or not;
if the mowing duration reaches the preset mowing duration, determining that mowing is finished;
if the mowing duration does not reach the preset mowing duration, determining that mowing is not finished, and returning to the mowing step according to the auxiliary navigation mode;
the second step is:
acquiring a mowing area of mowing completed;
judging whether the mowing area reaches a preset mowing area or not;
if the mowing area reaches the preset mowing area, determining that mowing is finished;
if the mowing area does not reach the preset mowing area, determining that mowing is not finished, and returning to the mowing step according to the auxiliary navigation mode.
Fig. 6 is a schematic diagram of satellite signal intensity lower than preset intensity in most areas of a third lawn provided by the embodiment of the present invention, where, as shown in fig. 6, an area representing that the satellite signal intensity reaches the preset intensity is an auxiliary area, and at this time, a moving route of a mower shown in the auxiliary area is an irregular mowing manner; the area, which represents that the intensity of the satellite signal does not reach the preset intensity, is a satellite navigation area, and at the moment, the moving route of the mower shown in the satellite navigation area is a regular parallel cutting mowing mode with end-to-end connection;
in addition, it should be noted that, when there is a space between the satellite navigation area and the auxiliary area, the mower is controlled to move from the satellite navigation area to the auxiliary area by setting a guide line, a magnetic stripe or a preset connection path preset according to satellite signals between the satellite navigation area and the auxiliary area, and mowing operation is performed on the auxiliary area; for the embodiment of arranging the guide strip, a guide wire signal emitter is arranged at the auxiliary area so as to emit a guide wire arranging signal, and the guide wire is arranged according to the arranging signal so as to facilitate the mower to move from the satellite navigation area to the auxiliary area;
at this time, the following is performed for the determination of complete mowing of the lawn:
one is:
obtaining mowing time;
judging whether the mowing time length reaches a preset mowing time length or not;
if the mowing duration reaches the preset mowing duration, determining that mowing is finished;
if the mowing duration does not reach the preset mowing duration, determining that mowing is not finished, and returning to the mowing step according to the auxiliary navigation mode;
the second step is:
acquiring a mowing area of mowing completed;
judging whether the mowing area reaches a preset mowing area or not;
if the mowing area reaches the preset mowing area, determining that mowing is finished;
if the mowing area does not reach the preset mowing area, determining that mowing is not finished, and returning to the mowing step according to the auxiliary navigation mode.
On the basis of the above embodiment, as a more preferable embodiment, further comprising:
judging whether an obstacle appears in the auxiliary area by utilizing a visual recognition technology;
if the auxiliary area is provided with an obstacle, controlling the mower to change the running direction;
and if the auxiliary area is clear, mowing is performed according to an auxiliary navigation mode.
In the above embodiments, the mowing method is described in detail, and the invention also provides a corresponding embodiment of the mowing device. It should be noted that the present invention describes an embodiment of the device portion from two angles, one based on the angle of the functional module and the other based on the angle of the hardware.
Fig. 7 is a block diagram of a mowing device according to an embodiment of the present invention, and as shown in fig. 7, the present invention further provides a mowing device applied to a mowing machine provided with a satellite module and a visual recognition module, the device comprising:
a receiving module 70 for receiving satellite signals through the satellite module;
a first judging module 71, configured to judge whether a satellite positioning state of the satellite signal meets a preset requirement;
if the satellite positioning state meets the preset requirement, triggering the satellite navigation mowing module 72 for mowing by using a satellite navigation mode;
if the satellite positioning state does not reach the preset requirement, triggering a switching module 73, for switching the satellite navigation mode to the auxiliary navigation mode;
a first random mowing module 74 for mowing according to the assisted navigation mode.
In addition, the device also comprises the following modules:
in some embodiments of the present invention, in some embodiments,
after switching the satellite navigation mode to the auxiliary navigation mode, before mowing according to the auxiliary navigation mode, the method further comprises:
the acquisition module is used for acquiring pictures acquired by the camera module;
the processing module is used for processing the picture by utilizing a visual identification technology;
the first determining module is used for determining an auxiliary area for mowing in an auxiliary navigation mode according to the processed picture and the satellite positioning state.
In some embodiments of the present invention, in some embodiments,
after determining the auxiliary area for mowing in the auxiliary navigation mode according to the processed picture and the satellite positioning state, the method further comprises the following steps:
the second determining module is used for determining a satellite navigation area with the characteristic positioning state reaching a preset requirement according to the auxiliary area and the lawn area;
the first acquisition module is used for acquiring an overlapping area where the auxiliary area and the satellite navigation area overlap;
the setting module is used for setting a starting point in the overlapping area;
the navigation module is used for navigating the mower to a starting point based on a satellite navigation mode;
correspondingly, the switching satellite navigation mode to the auxiliary navigation mode comprises the following steps:
the second random mowing module is used for switching the satellite navigation mode to the auxiliary navigation mode at the starting point.
In some embodiments of the present invention, in some embodiments,
after switching the satellite navigation mode to the auxiliary navigation mode, before mowing according to the auxiliary navigation mode, the method further comprises:
the second acquisition module is used for acquiring a preset communication path between the auxiliary area and the satellite navigation area;
the first control module is used for controlling the mower to be in the auxiliary area according to the communication path.
In some embodiments, further comprising:
the second judging module is used for judging whether the auxiliary area is provided with an obstacle or not by utilizing a visual recognition technology;
if the auxiliary area is provided with an obstacle, triggering a second control module for controlling the mower to change the driving direction;
and if the auxiliary area is clear, triggering a third random mowing module for mowing according to an auxiliary navigation mode.
In some embodiments, further comprising:
the third acquisition module is used for acquiring mowing duration;
the third judging module is used for judging whether the mowing time reaches the preset mowing time or not;
if the mowing duration reaches the preset mowing duration, triggering a third determining module for determining that mowing is finished;
if the mowing duration does not reach the preset mowing duration, triggering a fourth determining module, wherein the fourth determining module is used for determining that mowing is not finished and returning to the mowing step according to the auxiliary navigation mode.
In some embodiments, further comprising:
a fourth acquisition module for acquiring a mowing area of mowing;
the fourth judging module is used for judging whether the mowing area reaches a preset mowing area or not;
if the mowing area reaches the preset mowing area, triggering a fifth determining module for determining that mowing is finished;
and if the mowing area does not reach the preset mowing area, triggering a sixth determining module for determining that mowing is not finished and returning to the mowing step according to the auxiliary navigation mode.
Since the embodiments of the apparatus portion and the embodiments of the method portion correspond to each other, the embodiments of the apparatus portion are referred to the description of the embodiments of the method portion, and are not repeated herein.
Fig. 8 is a structural diagram of a mower according to an embodiment of the present invention, as shown in fig. 8, the mower includes:
a memory 80 for storing a computer program;
a processor 81 for carrying out the steps of the mowing method as mentioned in the above embodiments when executing a computer program.
Processor 81 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 81 may be implemented in at least one hardware form of digital signal processing (Digital Signal Processing, DSP), field programmable gate array (Field-Programmable Gate Array, FPGA), programmable logic array (Programmable Logic Array, PLA). The processor 81 may also include a main processor, which is a processor for processing data in an awake state, also referred to as a central processor (Central Processing Unit, CPU), and a coprocessor; a coprocessor is a low-power processor for processing data in a standby state. In some embodiments, the processor 81 may be integrated with an image processor (Graphics Processing Unit, GPU) for taking care of rendering and drawing of the content that the display screen is required to display. In some embodiments, the processor 81 may also include an artificial intelligence (Artificial Intelligence, AI) processor for processing computing operations related to machine learning.
Memory 80 may include one or more computer-readable storage media, which may be non-transitory. Memory 80 may also include high-speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In this embodiment, the memory 80 is at least used to store a computer program that, when loaded and executed by the processor 81, enables the implementation of the relevant steps of the mowing method disclosed in any one of the previous embodiments. In addition, the resources stored in the memory 80 may also include an operating system, data, etc., and the storage manner may be transient storage or permanent storage. The operating system may include Windows, unix, linux, among others. The data may include, but is not limited to, mowing methods, and the like.
In some embodiments, the mower may further comprise a display screen, an input-output interface, a communication interface, a power supply and a communication bus.
Those skilled in the art will appreciate that the configuration shown in fig. 8 is not limiting and may include more or fewer components than illustrated.
The mower provided by the embodiment of the invention comprises the memory 80 and the processor 81, wherein the processor 81 can realize a mowing method when executing a program stored in the memory 80.
Finally, the invention also provides a corresponding embodiment of the computer readable storage medium. The computer-readable storage medium has stored thereon a computer program which, when executed by a processor, performs the steps as described in the method embodiments above.
It will be appreciated that the methods of the above embodiments, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored on a computer readable storage medium. Based on this understanding, the technical solution of the present invention may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium for performing all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a Read-Only Memory (ROM), a random-access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The mowing method, the mowing device, the mowing machine and the medium provided by the invention are described in detail. In the description, each embodiment is described in a progressive manner, and each embodiment is mainly described by the differences from other embodiments, so that the same similar parts among the embodiments are mutually referred. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section. It should be noted that it will be apparent to those skilled in the art that various modifications and adaptations of the invention can be made without departing from the principles of the invention and these modifications and adaptations are intended to be within the scope of the invention as defined in the following claims.
It should also be noted that in this specification, 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.
Claims (10)
1. A method of mowing, characterized in that it is applied to a mower provided with a satellite module and a visual recognition module, said method comprising:
receiving satellite signals through a satellite module;
judging whether the satellite positioning state of the satellite signal reaches a preset requirement or not;
if the satellite positioning state meets the preset requirement, mowing by using a satellite navigation mode;
if the satellite positioning state does not meet the preset requirement, switching the satellite navigation mode to be an auxiliary navigation mode;
and mowing according to the auxiliary navigation mode.
2. The mowing method according to claim 1, wherein after the switching the satellite navigation mode to the assisted navigation mode, before the mowing according to the assisted navigation mode, further comprising:
collecting pictures collected by the camera module;
processing the picture by utilizing a visual recognition technology;
and determining an auxiliary area for mowing by the auxiliary navigation mode according to the processed picture and the satellite positioning state.
3. The mowing method according to claim 2, further comprising, after the determining the auxiliary area for mowing by the auxiliary navigation mode according to the processed picture and the satellite positioning state:
determining a satellite navigation area representing that the positioning state reaches the preset requirement according to the auxiliary area and the lawn area;
acquiring an overlapping region where the auxiliary region and the satellite navigation region overlap;
setting a starting point in the overlapping area;
navigating the mower to the starting point based on the satellite navigation mode;
correspondingly, the switching the satellite navigation mode to the auxiliary navigation mode comprises the following steps:
and switching the satellite navigation mode to the auxiliary navigation mode at the starting point.
4. A mowing method according to claim 3, wherein after the switching the satellite navigation mode to the assisted navigation mode, before mowing according to the assisted navigation mode, further comprising:
acquiring a preset communication path between the auxiliary area and the satellite navigation area;
and controlling the mower to be positioned in the auxiliary area according to the communication path.
5. A method of mowing according to claim 3, further comprising:
judging whether the auxiliary area is provided with an obstacle or not by utilizing the visual recognition technology;
if the obstacle appears in the auxiliary area, controlling the mower to change the running direction;
and if the auxiliary area is not provided with the obstacle, mowing is carried out according to the auxiliary navigation mode.
6. A method of mowing according to claim 3, further comprising:
obtaining mowing time;
judging whether the mowing duration reaches a preset mowing duration or not;
if the mowing duration reaches the preset mowing duration, determining that mowing is finished;
if the mowing duration does not reach the preset mowing duration, determining that mowing is not finished, and returning to the mowing step according to the auxiliary navigation mode.
7. A method of mowing according to claim 3, further comprising:
acquiring a mowing area of mowing completed;
judging whether the finished mowing area reaches a preset mowing area or not;
if the mowing completion area reaches the preset mowing area, determining that mowing is finished;
and if the mowing area does not reach the preset mowing area, determining that mowing is not finished, and returning to the mowing step according to the auxiliary navigation mode.
8. A grass cutting device, characterized in that it is applied to a grass cutting machine provided with a satellite module and a visual recognition module, said device comprising:
the receiving module is used for receiving satellite signals through the satellite module;
the first judging module is used for judging whether the satellite positioning state of the satellite signal reaches a preset requirement or not;
if the satellite positioning state meets the preset requirement, triggering a satellite navigation mowing module for mowing by using a satellite navigation mode;
if the satellite positioning state does not meet the preset requirement, triggering a switching module for switching the satellite navigation mode into an auxiliary navigation mode;
and the first random mowing module is used for mowing according to the auxiliary navigation mode.
9. A mower, comprising:
a memory for storing a computer program;
processor for implementing the steps of the mowing method according to any one of claims 1 to 7 when executing said computer program.
10. A computer-readable storage medium, characterized in that it has stored thereon a computer program which, when executed by a processor, implements the steps of the mowing method as claimed in any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311872011.4A CN117730685A (en) | 2023-12-29 | 2023-12-29 | Mowing method and device, mower and medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311872011.4A CN117730685A (en) | 2023-12-29 | 2023-12-29 | Mowing method and device, mower and medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117730685A true CN117730685A (en) | 2024-03-22 |
Family
ID=90256439
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311872011.4A Pending CN117730685A (en) | 2023-12-29 | 2023-12-29 | Mowing method and device, mower and medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117730685A (en) |
-
2023
- 2023-12-29 CN CN202311872011.4A patent/CN117730685A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10806075B2 (en) | Multi-sensor, autonomous robotic vehicle with lawn care function | |
| EP3805981A1 (en) | Method and apparatus for planning operation in target region, storage medium, and processor | |
| EP3234721B1 (en) | Multi-sensor, autonomous robotic vehicle with mapping capability | |
| Shalal et al. | Orchard mapping and mobile robot localisation using on-board camera and laser scanner data fusion–Part B: Mapping and localisation | |
| EP3974778B1 (en) | Method and apparatus for updating working map of mobile robot, and storage medium | |
| US20220342426A1 (en) | Map building method, self-moving device, and automatic working system | |
| CN110262487B (en) | Obstacle detection method, terminal and computer readable storage medium | |
| CN113296495A (en) | Path forming method and device for self-moving equipment and automatic working system | |
| CN111830988A (en) | Automatic walking equipment, control method and system thereof and readable storage medium | |
| CN113128747A (en) | Intelligent mowing system and autonomous mapping method thereof | |
| CN113115621A (en) | Intelligent mowing system and autonomous mapping method thereof | |
| CN115454077A (en) | Automatic lawn mower, control method thereof, and computer-readable storage medium | |
| CN113805571A (en) | Robot walking control method and system, robot and readable storage medium | |
| CN112748721A (en) | Visual robot and cleaning control method, system and chip thereof | |
| CN112526989B (en) | Agricultural unmanned vehicle navigation method and device, agricultural unmanned vehicle and storage medium | |
| CN113158779A (en) | Walking method and device and computer storage medium | |
| CN117730685A (en) | Mowing method and device, mower and medium | |
| CN117274519A (en) | Map construction method and device and mowing robot | |
| CN116576859A (en) | Path navigation method, operation control method and related device | |
| CN114937258B (en) | Control method for mowing robot, and computer storage medium | |
| CN114610035A (en) | Pile returning method and device and mowing robot | |
| CN113075692A (en) | Target detection and control method, system, device and storage medium | |
| US20230320263A1 (en) | Method for determining information, remote terminal, and mower | |
| CN116088533B (en) | Information determination method, remote terminal, device, mower and storage medium | |
| US20220284707A1 (en) | Target detection and control method, system, apparatus and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |