CN117859500A - Mower boundary-out prevention method, device, equipment and storage medium - Google Patents
Mower boundary-out prevention method, device, equipment and storage medium Download PDFInfo
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Abstract
The invention relates to the technical field of mowers, and discloses a method, a device, equipment and a storage medium for preventing a mower from leaving a boundary, wherein the method comprises the following steps: determining the boundary of the grassland and the signal intensity area; when the mower is in a weak signal area, performing visual detection according to the boundary, and determining a preset task threshold of the mower; if the mower reaches a preset task threshold when the mower performs a mowing task in a weak signal area, the mower is controlled to be transferred to a strong signal area, and the visual positioning accumulated error of the mower is determined; and controlling the mower to return to the weak signal area to mow again based on the visual positioning accumulated error. Because the grassland is divided into different signal intensity areas, normal planning is performed in the strong signal area, and the grassland can be accurately limited in the boundary; when the mower is in a weak signal area, the movement is combined with visual detection, and meanwhile, the mower is transferred to a strong signal area to avoid the increasing of visual positioning accumulated errors, so that the mower can be ensured not to go out of the boundary, and the working safety of the mower is improved.
Description
Technical Field
The present invention relates to the field of mower technologies, and in particular, to a method, an apparatus, a device, and a storage medium for preventing a mower from leaving a boundary.
Background
Along with the development of scientific technology, the mowing robot can autonomously mow according to a planned path under the condition of no personnel participation, is widely applied to the scenes of maintenance of family courtyard lawns, trimming of large grasslands and the like, and provides great convenience for the production and life of people.
While the work scenario of a lawnmower is typically outside, the user typically limits the lawnmower to work in a defined grass area. However, compared with indoor environment, the operation environment of the mowing robot has the advantages that the difficulty in positioning, navigating and obstacle avoidance of outdoor courtyard scenes is increased, and more moving objects or fruit trees are planted or auxiliary irrigation pipelines are arranged. Moreover, the mower has larger volume and mass, and also carries the blade, so that the danger is higher. While being remote from the working area of the operator, making it difficult for the naked eye to see and perceive the mowing robot itself. In case the mowing robot runs out of the lawn working area due to positioning deviation, the mowing robot carrying the cutterhead may cause some safety accidents.
The foregoing is provided merely for the purpose of facilitating understanding of the technical solutions of the present invention and is not intended to represent an admission that the foregoing is prior art.
Disclosure of Invention
The invention mainly aims to provide a boundary-departure prevention method, device and equipment for a mower and a storage medium, and aims to solve the technical problem that the existing mower robot runs out of a grassland working area due to positioning deviation, so that the mower robot carrying a cutter head causes safety accidents.
In order to achieve the above object, the present invention provides a method for preventing a mower from coming out of a boundary, the method comprising the steps of:
determining the boundary of a lawn where the mower is positioned and a signal strength area, wherein the signal strength area comprises a weak signal area and a strong signal area;
when the mower is in a weak signal area, performing visual detection on the weak signal area according to the boundary, and determining a preset task threshold of the mower;
if the mower reaches the preset task threshold when the mower performs a mowing task in the weak signal area, the mower is controlled to be transferred to the strong signal area, and the visual positioning accumulated error of the mower in the weak signal area is determined;
and controlling the mower to return to the weak signal area to mow again based on the visual positioning accumulated error.
Optionally, when the mower is in the weak signal area, the visual detection is performed on the weak signal area according to the boundary, and the determining the preset task threshold of the mower includes:
when the mower is positioned in a weak signal area, performing visual detection on the weak signal area according to the boundary to obtain the confidence corresponding to the weak signal area;
determining a preset task threshold value of the mowing task of the mower in the weak signal area based on the confidence, wherein the preset task threshold value comprises preset task time and preset moving distance;
correspondingly, if the mower reaches the preset task threshold when the mower performs the mowing task in the weak signal area, controlling the mower to transfer to the strong signal area comprises:
and if the mower reaches the preset task time and/or the preset moving distance when the mower performs the mowing task in the weak signal area, controlling the mower to transfer to the strong signal area.
Optionally, if the mower reaches the preset task time and/or the preset moving distance when the mower performs the mowing task in the weak signal area, the mower is controlled to be transferred to the strong signal area, including:
Acquiring real-time working time and total moving distance of the mower in the weak signal area for mowing task;
judging whether the real-time working time and the total moving distance reach one of the preset task time and the preset moving distance;
and if one of the preset task time and the preset moving distance is reached, controlling the mower to be transferred to the strong signal area.
Optionally, determining the boundary of the lawn where the mower is located and the signal strength area, where the signal strength area includes a weak signal area and a strong signal area, and then further includes:
judging whether the area range of the weak signal area is larger than a preset range threshold value or not;
if yes, controlling the mower to perform visual detection in the weak signal area according to the boundary, and obtaining an area characteristic map of the weak signal area;
after the regional characteristic map is determined, controlling the mower to be transferred to the strong signal region, and obtaining RTK absolute positioning data of the mower in the strong signal region;
and controlling the mower to return to the weak signal area to mow based on the area characteristic map and the RTK absolute positioning data.
Optionally, if so, controlling the mower to perform visual detection in the weak signal area according to the boundary to obtain an area feature map of the weak signal area, including:
when the regional range is larger than the preset range threshold, acquiring an RTK positioning error of the mower;
determining a movable distance of the mower in the weak signal area according to the RTK positioning error and the boundary;
controlling the mower to move in a large I-shaped path in the weak signal area based on the movable distance;
and when the mower moves, performing visual detection on the weak signal area to obtain an area characteristic map of the weak signal area.
Optionally, determining a boundary of a lawn where the mower is located and a signal strength area, where the signal strength area includes a weak signal area and a strong signal area, includes:
acquiring RTK signals of grasslands where the mowers are located;
dividing boundaries of the grasslands according to the RTK signals, and determining boundaries corresponding to the grasslands;
and detecting the grassland according to the RTK signal and the boundary to obtain a signal intensity region of the grassland, wherein the signal intensity region comprises a weak signal region and a strong signal region.
Optionally, the detecting the signal of the grassland according to the RTK signal and the boundary to obtain a signal intensity area of the grassland includes:
controlling the mower to move along a large I-shaped path in the grassland;
extracting signal strength parameters of RTK signals of the mower in the grassland when the mower moves;
and dividing the grassland into areas based on the signal strength parameters and the boundaries to obtain the signal strength areas corresponding to the grassland.
In addition, in order to achieve the above object, the present invention also provides a device for preventing a mower from coming out of a boundary, the device comprising:
the area dividing module is used for determining the boundary of the lawn where the mower is located and a signal intensity area, and the signal intensity area comprises a weak signal area and a strong signal area;
the visual detection module is used for visually detecting the weak signal area according to the boundary when the mower is positioned in the weak signal area, and determining a preset task threshold of the mower;
the accumulated error module is used for controlling the mower to be transferred to the strong signal area and determining the visual positioning accumulated error of the mower in the weak signal area if the mower reaches the preset task threshold when performing the mowing task in the weak signal area;
And the mowing control module is used for controlling the mower to return to the weak signal area to mow again based on the visual positioning accumulated error.
In addition, in order to achieve the above object, the present invention also proposes a mower boundary preventing device, the device comprising: a memory, a processor, and a mower out-of-boundary prevention program stored on the memory and executable on the processor, the mower out-of-boundary prevention program configured to implement the steps of a mower out-of-boundary prevention method as described above.
In addition, in order to achieve the above object, the present invention also proposes a storage medium having stored thereon a mower out-boundary prevention program which, when executed by a processor, implements the steps of the mower out-boundary prevention method as described above.
The method comprises the steps of firstly determining the boundary of a lawn where a mower is located and a signal intensity region, wherein the signal intensity region comprises a weak signal region and a strong signal region; then, when the mower is in a weak signal area, performing visual detection on the weak signal area according to the boundary, and determining a preset task threshold of the mower; if the mower reaches the preset task threshold when the mower performs a mowing task in the weak signal area, the mower is controlled to be transferred to the strong signal area, and the visual positioning accumulated error of the mower in the weak signal area is determined; and finally, based on the visual positioning accumulated error, controlling the mower to return to the weak signal area to perform the mowing task again. Because the grassland is divided into different signal intensity areas, normal planning is performed in the strong signal area, and the grassland can be accurately limited in the boundary; when the mower is in a weak signal area, the movement is combined with visual detection, and meanwhile, the mower is transferred to a strong signal area to avoid the increasing of visual positioning accumulated errors, so that the mower can be ensured not to go out of the boundary, and the working safety of the mower is improved.
Drawings
FIG. 1 is a schematic diagram of a mower exit border device of a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a flow chart of a first embodiment of a method for preventing a mower from coming out of a boundary according to the present invention;
FIG. 3 is a flow chart of a second embodiment of a method for preventing a mower from coming out of a boundary according to the present invention;
FIG. 4 is a flow chart of a third embodiment of a method for preventing a mower from coming out of a boundary according to the present invention;
fig. 5 is a block diagram of a first embodiment of the boundary preventing apparatus of the mower of the present invention.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a mower boundary protection device in a hardware running environment according to an embodiment of the present invention.
As shown in fig. 1, the mower out-of-boundary prevention device may include: a processor 1001, such as a central processing unit (Central Processing Unit, CPU), a communication bus 1002, a user interface 1003, a network interface 1004, a memory 1005. Wherein the communication bus 1002 is used to enable connected communication between these components. The user interface 1003 may include a Display, an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may further include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a Wireless interface (e.g., a Wireless-Fidelity (Wi-Fi) interface). The Memory 1005 may be a high-speed random access Memory (Random Access Memory, RAM) or a stable nonvolatile Memory (NVM), such as a disk Memory. The memory 1005 may also optionally be a storage device separate from the processor 1001 described above.
It will be appreciated by those skilled in the art that the structure shown in fig. 1 does not constitute a limitation of the mower anti-out boundary device, and may include more or fewer components than shown, or certain components may be combined, or a different arrangement of components.
As shown in fig. 1, an operating system, a network communication module, a user interface module, and a mower out-of-boundary program may be included in the memory 1005 as one type of storage medium.
In the mower out-of-boundary device shown in fig. 1, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 in the mower exit border prevention device of the present invention may be disposed in the mower exit border prevention device, where the mower exit border prevention device invokes a mower exit border prevention program stored in the memory 1005 through the processor 1001, and executes the mower exit border prevention method provided by the embodiment of the present invention.
The embodiment of the invention provides a method for preventing a mower from coming out of a boundary, referring to fig. 2, fig. 2 is a schematic flow chart of a first embodiment of the method for preventing the mower from coming out of the boundary.
In this embodiment, the mower boundary-out prevention method includes the following steps:
Step S10: and determining the boundary of the lawn where the mower is positioned and a signal strength area, wherein the signal strength area comprises a weak signal area and a strong signal area.
It should be noted that, the execution body of the method of the present embodiment may be an electronic device having functions of area division, visual detection and mowing control, such as a mowing robot control computer, or may be another electronic device capable of implementing the same or similar functions, such as the above-mentioned mower boundary preventing device, which is not limited in this embodiment. The mower boundary preventing device can be arranged in the mower and used for controlling the mower to perform visual detection and mowing control. Here, the present embodiment and the following embodiments will be specifically described with reference to the above-described mower exit boundary device (simply referred to as boundary device).
It can be understood that the mower is a robot device capable of automatically trimming a lawn, and the interior of the mower can be provided with built-in sensor devices such as a camera, an IMU module, a wheel speed meter, an RTK positioning system and the like, and the mower can perform external environment detection through the camera, the IMU module, the wheel speed meter and the RTK positioning system and automatically move in a preset area to cut the lawn by using a razor or a blade.
It should be understood that the boundary is the boundary of the work area of the lawn where the mower is located. For example, the boundary may be drawn when the RTK signal of the RTK positioning system is reliable to ensure accurate RTK positioning of both the start and end positions of the mower while mowing.
It is understood that the signal strength region is a region where the strength of the received satellite signal varies in the grassland in the RTK positioning system. In RTK positioning, the received satellite signal quality has an important impact on positioning accuracy. The presence of a signal strength region means that in some places or under specific conditions on the grassland, the strength of the satellite signal may be degraded by factors (such as obstruction, multipath effects, etc.), which may result in degradation of the positioning accuracy of the RTK. The division of the signal strength area may be divided according to the actual signal quality, which is not limited in this embodiment.
By dividing the signal intensity region, when the RTK signal is in a strong signal region with good RTK signal, the RTK absolute positioning precision is realized, and the mower can be ensured not to go out of the boundary based on the navigation logic of the RTK positioning system. But when the RTK signal is easily occluded in weak signal areas that result in signal instability, further visual localization is needed to ensure that the machine does not go out of boundaries.
In a specific implementation, the boundary device can determine the boundary of the lawn where the mower is located, then divide the lawn into different signal strength areas according to the related information output by the RTK positioning system, and execute different navigation logic in the different areas. In a strong signal area, RTK absolute positioning accuracy (generally about +/-1 cm absolute positioning accuracy) exists, and the mower can be ensured not to go out of boundaries based on navigation logic of the RTK positioning system. But when the RTK signal is easily occluded in weak signal areas that result in signal instability, further visual localization is needed to ensure that the machine does not go out of boundaries.
Step S20: and when the mower is in a weak signal area, performing visual detection on the weak signal area according to the boundary, and determining a preset task threshold of the mower.
The preset task threshold is a threshold preset in the boundary device. Because RTK signals are easily blocked in weak signal areas, resulting in signal instability, mowing can be performed in conjunction with visual detection (e.g., pose and confidence). However, the visual detection generally has larger positioning error, so in order to avoid that the pure visual positioning error is accumulated more and more, a preset task threshold (such as the working time and the moving distance of the mower) can be set to eliminate the accumulated error, and the positioning accuracy of the mower is improved.
Step S30: and if the mower reaches the preset task threshold when the mower performs a mowing task in the weak signal area, controlling the mower to transfer to the strong signal area, and determining the visual positioning accumulated error of the mower in the weak signal area.
The visual positioning cumulative error is a cumulative error of position estimation due to various reasons over time in the course of determining the position and posture of the camera relative to the environment for visual positioning by analyzing the camera image by the mower.
Furthermore, if some extreme scenes such as a camera and a camera are shielded, the wheel speed meter and the pose confidence degree can be combined to prevent the mower from coming out of the boundary. The source of the pose confidence degree can be estimated according to the relative deviation between the pose obtained by the camera and the wheel speed meter pose in a time period besides the image characteristics obtained by the camera, IMU noise and wheel speed meter noise; for example, the larger the difference is, the lower the confidence is, compared to the deviation of the relative displacement amounts of the starting points of the two in the previous minute. At this time, on the premise that the RTK positioning signal is unreliable, the pose and confidence estimation are deviated due to the fact that a camera is shielded and other abnormal conditions exist, and the boundary of the mower can be prevented by combining a wheel speed meter. Because the pure wheel speed meter is stable and reliable over a short distance, even if slip occurs, the mower will not come out of the boundary, but will stay within the boundary.
In a specific implementation, when the mower is in a weak signal area, the boundary device can perform visual detection on the weak signal area according to the boundary, and in order to avoid that the accumulation of pure visual positioning errors is larger and larger, a preset task threshold (such as the working time and the moving distance of the mower) can be set to eliminate the accumulation errors, so that the positioning accuracy of the mower is improved. Because the visual positioning deviation is not too large in a certain time and a certain displacement, the navigation of the mower is combined with the positioning of various states, and the machine can be ensured not to go out of the boundary. If the mower reaches the preset task threshold (for example, limiting the unilateral travelling distance of the mower, avoiding the accumulation of the visual positioning error to be larger and larger, or if a boundary area exists in front of the mower, reserving a certain tolerance according to the confidence of the visual positioning, losing a certain coverage rate of the boundary mowing area so as to ensure that the mower does not go out of the boundary, or setting other task thresholds for preventing the mower from going out of the boundary, which is not limited in the embodiment), controlling the mower to be transferred to the strong signal area, and eliminating the visual positioning accumulated error of the mower in the weak signal area.
Step S40: and controlling the mower to return to the weak signal area to mow again based on the visual positioning accumulated error.
In a specific implementation, after the visual positioning accumulated error in the mower is eliminated, the mower can be controlled to return to the weak signal area again to perform the mowing task, and if the midway visual positioning accumulated error reaches the threshold, the mower returns to the strong signal area again to eliminate the accumulated error until the mowing task of the area is finished. Therefore, the multi-sensor fusion mode of RTK signals and visual detection (comprising a camera, an IMU module, a wheel speed meter and the like) can ensure that the mower does not go out of the boundary, and the working safety of the mower is improved.
Further, considering the boundary of the grassland and the division of the signal intensity area, in the embodiment, step S10 includes: acquiring RTK signals of grasslands where the mowers are located; dividing boundaries of the grasslands according to the RTK signals, and determining boundaries corresponding to the grasslands; and detecting the grassland according to the RTK signal and the boundary to obtain a signal intensity region of the grassland, wherein the signal intensity region comprises a weak signal region and a strong signal region.
It should be noted that the RTK signal is information that the RTK positioning system determines the precise position by receiving signals transmitted from two or more satellites of the global positioning system. The radio communication between the base station and the mobile station is then utilized to provide a more accurate position fix by performing real-time differential processing on the signals received by the mobile station to eliminate errors in the propagation of the GPS signals.
Specifically, the mower may be remotely controlled to generate a boundary: firstly, the base station of the mower is not out of the boundary, RTK signals in the range (such as within 5 m) near the base station are reliable, the boundary is drawn from the base station, and accurate RTK positioning of the starting position and the ending position can be guaranteed. Even if some middle segment RTK signals are bad, the positioning accumulated errors can be eliminated after the reliable RTK signals are received again, the boundary precision is improved, and in addition, the visual detection positioning can also assist in eliminating the accumulated errors.
When the RTK signal is good, the boundary is very accurate; the poor boundary portion of the RTK signal can determine the confidence of the boundary based on the boundary length because although the cumulative error in visual detection positioning can be eliminated, the intermediate historical track still has some small amount of error. The larger the displacement and the farther from the region where the RTK signal is good, the relatively larger the error. And obtaining the relation between the error and the displacement according to a statistical rule, and knowing that the positioning error is inversely proportional to the confidence coefficient, so that the confidence coefficient of the boundary can be determined, and the part of the error of the boundary is considered after the follow-up mower performs the mowing task to reach the position.
In a specific implementation, the boundary device may acquire an RTK signal of a lawn where the mower is located; dividing the boundary of the grassland according to the intensity of the RTK signal, and determining the boundary corresponding to the grassland; and then, carrying out signal detection on the grassland according to the RTK signal and the boundary, for example, the grass land can be divided into a good area and a bad area of the RTK signal by an I-shaped mowing process so as to determine the signal intensity area of the grass land.
Further, in this embodiment, the detecting the signal of the lawn according to the RTK signal and the boundary to obtain the signal intensity area of the lawn includes: controlling the mower to move along a large I-shaped path in the grassland; extracting signal strength parameters of RTK signals of the mower in the grassland when the mower moves; and dividing the grassland into areas based on the signal strength parameters and the boundaries to obtain the signal strength areas corresponding to the grassland.
It should be noted that the signal strength parameter is data that reflects the quality (or accuracy) of the RTK signal, such as the number of satellites searched, the signal-to-noise ratio, the standard deviation, the accuracy factor, etc. Generally, the stronger the signal strength parameter, the better the signal received by the receiving device, which is advantageous for providing a more reliable and accurate positioning result. And judging whether the current signal is good or not according to the combination of the signal strength parameters and the statistical rule.
It will be appreciated that the h-path movement is the manner in which the mower moves in a particular path during operation. Conventional mowers typically move in a linear or curvilinear manner during operation, but large I-shaped path movement is an optimized path planning. Its working path is similar to the shape of an uppercase "worker" and therefore gets the name of a large i-path.
The entire mowing area can be covered more efficiently by the large i-path movement. Compared with a simple linear or curve moving mode, the large I-shaped path moving can pass through the whole area in one movement, so that the number of times of back and forth movement is reduced, the situation that the local area is excessively mowed or not mowed is avoided, and the mowing efficiency is improved.
In a specific implementation, the boundary device can control the mower to move along a large I-shaped path in the grassland; so as to reduce the number of times of back and forth movement and avoid the situation of excessive mowing or unharking in the local area. And then extracting signal strength parameters, such as star searching number, signal to noise ratio, standard deviation, precision factors and the like, of the RTK signals reflected by the mower in the grasslands. And judging whether the current signal is good or not according to the combination of the parameters and the statistical rule. And simultaneously, RTK signals of the current position of the I-shaped path of the mower are recorded in real time, the signals in the same area are generally consistent, and finally, the signal intensity areas corresponding to the grasslands can be divided according to the RTK signals in all the areas where the mower walks. Therefore, different navigation logics can be executed according to the signal strength areas, and the mower is prevented from running out of the boundary in the areas with poor signals, so that the working safety of the mower is improved.
The boundary device of the embodiment can determine the boundary of the lawn where the mower is located, then divide the lawn into different signal strength areas according to the related information output by the RTK positioning system, and execute different navigation logic in the different areas. In a strong signal area, RTK absolute positioning accuracy (generally about +/-1 cm absolute positioning accuracy) exists, and the mower can be ensured not to go out of boundaries based on navigation logic of the RTK positioning system. But when the RTK signal is easily occluded in weak signal areas that result in signal instability, further visual localization is needed to ensure that the machine does not go out of boundaries. When the mower is in a weak signal area, visual detection is performed on the weak signal area according to the boundary, and in order to avoid that the accumulation of pure visual positioning errors is larger and larger, a preset task threshold (such as the working time and the moving distance of the mower) can be set to eliminate the accumulation errors, so that the positioning accuracy of the mower is improved. Because the visual positioning deviation is not too large in a certain time and a certain displacement, the navigation of the mower is combined with the positioning of various states, and the machine can be ensured not to go out of the boundary. If the mower reaches the preset task threshold (for example, limiting the unilateral travelling distance of the mower, avoiding the accumulation of the visual positioning error to be larger and larger, or if a boundary area exists in front of the mower, reserving a certain tolerance according to the confidence of the visual positioning, losing a certain coverage rate of the boundary mowing area so as to ensure that the mower does not go out of the boundary, or setting other task thresholds for preventing the mower from going out of the boundary, which is not limited in the embodiment), controlling the mower to be transferred to the strong signal area, and eliminating the visual positioning accumulated error of the mower in the weak signal area. After the visual positioning accumulated error in the mower is eliminated, the mower can be controlled to return to the weak signal area again to perform the mowing task, and if the midway visual positioning accumulated error reaches the threshold value, the mower returns to the strong signal area again to eliminate the accumulated error until the mowing task of the area is finished. Therefore, the multi-sensor fusion mode of RTK signals and visual detection (comprising a camera, an IMU module, a wheel speed meter and the like) can ensure that the mower does not go out of the boundary, and the working safety of the mower is improved. Because the grassland is divided into different signal intensity areas, normal planning is performed in the strong signal areas, and the grassland can be accurately limited in the boundary; when the mower is in a weak signal area, the movement is combined with visual detection, and meanwhile, the mower is transferred to a strong signal area to avoid the increasing of visual positioning accumulated errors, so that the mower can be ensured not to go out of the boundary, and the working safety of the mower is improved.
Referring to fig. 3, fig. 3 is a flowchart illustrating a second embodiment of a method for preventing a mower from coming out of a boundary according to the present invention.
Based on the first embodiment, in this embodiment, the step S20 includes:
step S21: and when the mower is positioned in the weak signal area, performing visual detection on the weak signal area according to the boundary to obtain the confidence corresponding to the weak signal area.
The confidence is a measure of the error accumulated in the visual detection when the mower is operated in the weak signal region. Specifically, the confidence level can be comprehensively obtained by combining the image characteristics of the camera, the visual detection result and the displacement length of the mower. The more abundant the features, the higher the confidence; the greater the cumulative displacement, the lower the confidence. Reasonable change relations can be obtained according to statistical rules, and the confidence relation is basically dependent on fixed IMU noise, wheel speed meter noise and the like (the smaller the noise is, the more the positioning accuracy is improved, namely the higher the confidence is). According to the confidence, the mower can be ensured to leave a certain margin near the boundary, and a certain coverage rate of the boundary area is sacrificed, so that the mower is ensured not to go out of the boundary.
Step S22: and determining a preset task threshold value of the mowing task of the mower in the weak signal area based on the confidence, wherein the preset task threshold value comprises preset task time and preset moving distance.
Correspondingly, the step S30 includes: step S31: and if the mower reaches the preset task time and/or the preset moving distance when the mower performs the mowing task in the weak signal area, controlling the mower to transfer to the strong signal area, and determining the visual positioning accumulated error of the mower in the weak signal area.
The preset task time is preset in the boundary device, and the continuous working time of the mower in the weak signal area is set. The preset moving distance is preset in the boundary equipment, and the total moving distance of the mower in the weak signal area. The preset task time and the preset moving distance can be set manually, and the continuous working time and the total moving distance can be set on the premise of ensuring no boundary according to the confidence, which is not limited in the embodiment.
In a specific implementation, when the mower is in a weak signal area, the boundary device can comprehensively obtain the confidence corresponding to the weak signal area by combining the image characteristics of the camera, the visual detection result and the displacement length of the mower. And then, based on the confidence, determining the preset task time and the preset moving distance of the mower for performing the mowing task in the weak signal area. When the mower reaches the preset task time and/or the preset moving distance when the mower performs the mowing task in the weak signal area, the mower can be controlled to move to the strong signal area to eliminate accumulated errors, and the mower returns to the weak signal area again to perform the mowing task after the accumulated errors are eliminated. If the preset task time and the preset moving distance are reached again in the middle, the strong signal area is returned again to eliminate the accumulated error until the mowing task of the area is finished. Therefore, the mower can be ensured not to be out of boundary through the preset task time and/or the preset moving distance, and the working safety of the mower is improved.
Further, in the present embodiment, step S31 includes: acquiring real-time working time and total moving distance of the mower in the weak signal area for mowing task; judging whether the real-time working time and the total moving distance reach one of the preset task time and the preset moving distance; and if one of the preset task time and the preset moving distance is reached, controlling the mower to be transferred to the strong signal area.
In particular implementations, the boundary device may further limit the duration of operation of the mower in the weak signal region. For example, the real-time working time and the total moving distance under the premise of ensuring no boundary can be judged according to the confidence, before one of the preset task time and the preset moving distance threshold is exceeded, the strong signal region with good RTK signal is returned to eliminate the accumulated error of visual positioning, and then the region is returned to mowing task.
Further, mowing tasks are performed in areas where the RTK signal is poor, and besides the logic described above to ensure that the machine is not out of bounds, the wheel speed meter can also be used to prevent the mower from running out of bounds. Wheel speed meter errors are stable and reliable over short distances, and can be measured by means of wheel speed meters in certain situations, such as: after the mower exits the RTK weak signal area, the mower proceeds straight until the boundary turns around, which may be inaccurate and even misleading in some extreme cases. At the moment, the wheel speed meter is used for assisting in judgment, so that the machine can be further ensured not to go out of the boundary. Even with skidding, the mower is left in the boundary, and coverage of the boundary area is only lost. For example: if the mower is actually 1m away from the boundary at the moment, the 1m recorded by the wheel speed meter corresponds to 1+/-0.05 m. Since the wheel speed meter error from the actual rotation speed of the wheel is usually stable, whether the wheel needs to be turned or not can be judged according to whether the wheel speed meter advances to 0.9m or not. Even if the wheel speed slips at this time, the actual position of the mower from the boundary is farther than recorded by the wheel speed meter. If the wheel is slipping significantly, the positioning error of the following I-shaped can be affected, and the RTK strong signal area can be returned to eliminate the accumulated error. In extreme scenarios where the RTK signal and visual detection fail, the wheel speed meter is stable enough to ensure no boundary. Because the positioning error only affects the mowing coverage, the coverage can be further improved by mowing along the edge for the missed cutting portion of the boundary, which is not repeated in this example.
The boundary device of the embodiment can comprehensively obtain the confidence corresponding to the weak signal area by combining the image characteristics of the camera, the visual detection result and the displacement length of the mower when the mower is in the weak signal area. And then, based on the confidence, determining the preset task time and the preset moving distance of the mower for performing the mowing task in the weak signal area. When the mower reaches the preset task time and/or the preset moving distance when the mower performs the mowing task in the weak signal area, the mower can be controlled to move to the strong signal area to eliminate accumulated errors, and the mower returns to the weak signal area again to perform the mowing task after the accumulated errors are eliminated. If the preset task time and the preset moving distance are reached again in the middle, the strong signal area is returned again to eliminate the accumulated error until the mowing task of the area is finished. Further, the boundary device may further limit the duration of operation of the mower in the weak signal area. For example, the real-time working time and the total moving distance under the premise of ensuring no boundary can be judged according to the confidence, before one of the preset task time and the preset moving distance threshold is exceeded, the strong signal region with good RTK signal is returned to eliminate the accumulated error of visual positioning, and then the region is returned to mowing task. Therefore, the mower can be ensured not to be out of boundary through the preset task time and/or the preset moving distance, and the working safety of the mower is improved.
Referring to fig. 4, fig. 4 is a schematic flow chart of a third embodiment of a method for preventing a mower from coming out of a boundary according to the present invention.
Based on the above embodiments, in this embodiment, after step S10, the method further includes:
step S201: and judging whether the area range of the weak signal area is larger than a preset range threshold value.
It should be noted that the preset range threshold is set in the boundary device, and is used for determining whether the area range of the weak signal area is too large, for example, a range of 30×30mwhich can be set according to the actual parameters of the mower and the actual range of the lawn, and the present embodiment is called out without limitation. When the RKT weak signal area is too large, a characteristic map for positioning the grasslands can be added, so that the positioning accuracy is further improved.
Step S301: if so, controlling the mower to perform visual detection in the weak signal area according to the boundary, and obtaining an area characteristic map of the weak signal area.
The regional feature map is a map that records characteristics of a grass region, such as features of terrain, altitude, obstacles, and the like. The mower can be further prevented from running out of the boundary through the regional characteristic map.
Step S401: after the regional characteristic map is determined, controlling the mower to be transferred to the strong signal region, and obtaining RTK absolute positioning data of the mower in the strong signal region.
The RTK absolute positioning data is the absolute positioning data with high precision obtained by the RTK positioning system, and the real-time differential calculation is performed by receiving the reference signal of the base station, so that the high-precision absolute positioning is realized.
Step S501: and controlling the mower to return to the weak signal area to mow based on the area characteristic map and the RTK absolute positioning data.
In a specific implementation, the boundary device may first determine whether a region range of the weak signal region is greater than a preset range threshold; if yes, controlling the mower to perform visual detection in a weak signal area according to the boundary, for example, performing navigation control to travel a large I-shaped path, and obtaining an area characteristic map of the weak signal area; therefore, when the RKT weak signal area is too large, the characteristic map for positioning the grasslands can be added, so that the positioning accuracy is further improved. After determining the regional characteristic map, the mower can be controlled to be transferred to the strong signal region, RTK absolute positioning data of the mower can be obtained in the strong signal region, and therefore accumulated errors when the regional characteristic map is built are eliminated. In the following mowing task, the boundary can not be ensured due to the constraint of the regional characteristic map of the weak signal region. Meanwhile, the task of mowing can be carried out repeatedly in a weak signal area by combining the preset task threshold, and for the task of mowing I-shaped mowing by secondary execution, necessary relevant information of the previous task can be reserved, and mowing efficiency can be further improved on the premise of ensuring no boundary.
Further, in consideration of the accuracy of constructing the regional characteristic map, in the present embodiment, step S301 includes: when the regional range is larger than the preset range threshold, acquiring an RTK positioning error of the mower; determining a movable distance of the mower in the weak signal area according to the RTK positioning error and the boundary; controlling the mower to move in a large I-shaped path in the weak signal area based on the movable distance; and when the mower moves, performing visual detection on the weak signal area to obtain an area characteristic map of the weak signal area.
It should be noted that, the RTK positioning error refers to a difference between a positioning result and a real position caused by various factors and uncertainties (such as differential data transmission delay, multipath effect of a receiver antenna, etc.) in the positioning process of the RTK positioning system. Such errors are generally unavoidable, so that the RTK positioning error can be estimated first, and the movable distance of the mower in the weak signal area can be set under the condition that no boundary is ensured. By limiting the movable distance of the mower in the weak signal area to construct an area characteristic map, the error of the map is reduced.
In a specific implementation, if the RKT weak signal area is too large, firstly acquiring the RTK positioning error of the mower in the area; and calculating the movable distance of the mower in the weak signal area under the condition of ensuring no boundary according to the positioning error. And then navigating and controlling the mower to walk a large I-shaped path, and visually detecting the weak signal area when the mower moves to obtain an area characteristic map of the weak signal area. If the movable distance cannot finish the large I-shaped path once, the movable path can be split into a plurality of times. In addition, the boundary equipment can screen out grassland scenes with relatively rich features, so that the frequency of the mower camera looking at the scenes is increased, and the robustness and accuracy of constructing the regional feature map are further increased.
The boundary device of the embodiment may first determine whether the area range of the weak signal area is greater than a preset range threshold; if yes, controlling the mower to perform visual detection in a weak signal area according to the boundary, for example, performing navigation control to travel a large I-shaped path, and obtaining an area characteristic map of the weak signal area; therefore, when the RKT weak signal area is too large, the characteristic map for positioning the grasslands can be added, so that the positioning accuracy is further improved. After determining the regional characteristic map, the mower can be controlled to be transferred to the strong signal region, RTK absolute positioning data of the mower can be obtained in the strong signal region, and therefore accumulated errors when the regional characteristic map is built are eliminated. In the following mowing task, the boundary can not be ensured due to the constraint of the regional characteristic map of the weak signal region. Meanwhile, the task of mowing can be carried out repeatedly in a weak signal area by combining the preset task threshold, and for the task of mowing I-shaped mowing by secondary execution, necessary relevant information of the previous task can be reserved, and mowing efficiency can be further improved on the premise of ensuring no boundary. Further, if the RKT weak signal area is too large, the RTK positioning error of the mower can be obtained in the area; and calculating the movable distance of the mower in the weak signal area under the condition of ensuring no boundary according to the positioning error. And then navigating and controlling the mower to walk a large I-shaped path, and visually detecting the weak signal area when the mower moves to obtain an area characteristic map of the weak signal area. If the movable distance cannot finish the large I-shaped path once, the movable path can be split into a plurality of times. In addition, the boundary equipment can screen out grassland scenes with relatively rich features, so that the frequency of the mower camera looking at the scenes is increased, and the robustness and accuracy of constructing the regional feature map are further increased.
In addition, the embodiment of the invention also provides a storage medium, wherein the storage medium is stored with a mower boundary preventing program, and the mower boundary preventing program realizes the steps of the mower boundary preventing method when being executed by a processor.
Referring to fig. 5, fig. 5 is a block diagram showing a first embodiment of the boundary preventing apparatus for a mower according to the present invention.
As shown in fig. 5, the mower boundary preventing device provided by the embodiment of the invention comprises:
the area dividing module 501 is configured to determine a boundary of a lawn where the mower is located and a signal strength area, where the signal strength area includes a weak signal area and a strong signal area;
the visual detection module 502 is configured to, when the mower is in a weak signal area, perform visual detection on the weak signal area according to the boundary, and determine a preset task threshold of the mower;
the accumulated error module 503 is configured to control the mower to transfer to the strong signal area and determine an accumulated error of visual positioning of the mower in the weak signal area if the mower reaches the preset task threshold when performing the mowing task in the weak signal area;
and the mowing control module 504 is used for controlling the mower to return to the weak signal area to mow again based on the visual positioning accumulated error.
The boundary device of the embodiment can determine the boundary of the lawn where the mower is located, then divide the lawn into different signal strength areas according to the related information output by the RTK positioning system, and execute different navigation logic in the different areas. In a strong signal area, RTK absolute positioning accuracy (generally about +/-1 cm absolute positioning accuracy) exists, and the mower can be ensured not to go out of boundaries based on navigation logic of the RTK positioning system. But when the RTK signal is easily occluded in weak signal areas that result in signal instability, further visual localization is needed to ensure that the machine does not go out of boundaries. When the mower is in a weak signal area, visual detection is performed on the weak signal area according to the boundary, and in order to avoid that the accumulation of pure visual positioning errors is larger and larger, a preset task threshold (such as the working time and the moving distance of the mower) can be set to eliminate the accumulation errors, so that the positioning accuracy of the mower is improved. Because the visual positioning deviation is not too large in a certain time and a certain displacement, the navigation of the mower is combined with the positioning of various states, and the machine can be ensured not to go out of the boundary. If the mower reaches the preset task threshold (for example, limiting the unilateral travelling distance of the mower, avoiding the accumulation of the visual positioning error to be larger and larger, or if a boundary area exists in front of the mower, reserving a certain tolerance according to the confidence of the visual positioning, losing a certain coverage rate of the boundary mowing area so as to ensure that the mower does not go out of the boundary, or setting other task thresholds for preventing the mower from going out of the boundary, which is not limited in the embodiment), controlling the mower to be transferred to the strong signal area, and eliminating the visual positioning accumulated error of the mower in the weak signal area. After the visual positioning accumulated error in the mower is eliminated, the mower can be controlled to return to the weak signal area again to perform the mowing task, and if the midway visual positioning accumulated error reaches the threshold value, the mower returns to the strong signal area again to eliminate the accumulated error until the mowing task of the area is finished. Therefore, the multi-sensor fusion mode of RTK signals and visual detection (comprising a camera, an IMU module, a wheel speed meter and the like) can ensure that the mower does not go out of the boundary, and the working safety of the mower is improved. Because the grassland is divided into different signal intensity areas, normal planning is performed in the strong signal areas, and the grassland can be accurately limited in the boundary; when the mower is in a weak signal area, the movement is combined with visual detection, and meanwhile, the mower is transferred to a strong signal area to avoid the increasing of visual positioning accumulated errors, so that the mower can be ensured not to go out of the boundary, and the working safety of the mower is improved.
Based on the first embodiment of the mower boundary preventing device, a second embodiment of the mower boundary preventing device is provided.
In this embodiment, the visual detection module 502 is further configured to, when the mower is in a weak signal area, perform visual detection on the weak signal area according to the boundary, and obtain a confidence level corresponding to the weak signal area; determining a preset task threshold value of the mowing task of the mower in the weak signal area based on the confidence, wherein the preset task threshold value comprises preset task time and preset moving distance; correspondingly, the accumulated error module 503 is further configured to control the mower to transfer to the strong signal area if the mower reaches the preset task time and/or the preset moving distance when the mower performs the mowing task in the weak signal area.
Further, the accumulated error module 503 is further configured to obtain a real-time working time and a total moving distance of the mower for performing a mowing task in the weak signal area; judging whether the real-time working time and the total moving distance reach one of the preset task time and the preset moving distance; and if one of the preset task time and the preset moving distance is reached, controlling the mower to be transferred to the strong signal area.
Further, the mower boundary-preventing device further includes an RTK positioning module 505, configured to determine whether a region range of the weak signal region is greater than a preset range threshold; if yes, controlling the mower to perform visual detection in the weak signal area according to the boundary, and obtaining an area characteristic map of the weak signal area; after the regional characteristic map is determined, controlling the mower to be transferred to the strong signal region, and obtaining RTK absolute positioning data of the mower in the strong signal region; and controlling the mower to return to the weak signal area to mow based on the area characteristic map and the RTK absolute positioning data.
Further, the RTK positioning module 505 is further configured to obtain an RTK positioning error of the mower when the area range is greater than the preset range threshold; determining a movable distance of the mower in the weak signal area according to the RTK positioning error and the boundary; controlling the mower to move in a large I-shaped path in the weak signal area based on the movable distance; and when the mower moves, performing visual detection on the weak signal area to obtain an area characteristic map of the weak signal area.
Further, the area dividing module 501 is further configured to obtain an RTK signal of a lawn where the mower is located; dividing boundaries of the grasslands according to the RTK signals, and determining boundaries corresponding to the grasslands; and detecting the grassland according to the RTK signal and the boundary to obtain a signal intensity region of the grassland, wherein the signal intensity region comprises a weak signal region and a strong signal region.
Further, the area dividing module 501 is further configured to control the mower to perform a large i-shaped path movement in the lawn; extracting signal strength parameters of RTK signals of the mower in the grassland when the mower moves; and dividing the grassland into areas based on the signal strength parameters and the boundaries to obtain the signal strength areas corresponding to the grassland.
Other embodiments or specific implementation manners of the boundary preventing device for a mower of the present invention may refer to the above method embodiments, and will not be described herein.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system 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 system. 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 system that comprises the element.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. read-only memory/random-access memory, magnetic disk, optical disk), comprising instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method according to the embodiments of the present invention.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (10)
1. A mower boundary-out prevention method, characterized in that the mower boundary-out prevention method comprises the following steps:
determining the boundary of a lawn where the mower is positioned and a signal strength area, wherein the signal strength area comprises a weak signal area and a strong signal area;
when the mower is in a weak signal area, performing visual detection on the weak signal area according to the boundary, and determining a preset task threshold of the mower;
if the mower reaches the preset task threshold when the mower performs a mowing task in the weak signal area, the mower is controlled to be transferred to the strong signal area, and the visual positioning accumulated error of the mower in the weak signal area is determined;
and controlling the mower to return to the weak signal area to mow again based on the visual positioning accumulated error.
2. The mower boundary prevention method of claim 1, wherein said determining a preset task threshold of said mower based on visual detection of a weak signal area of said mower based on said boundary when said mower is in said weak signal area comprises:
when the mower is positioned in a weak signal area, performing visual detection on the weak signal area according to the boundary to obtain the confidence corresponding to the weak signal area;
Determining a preset task threshold value of the mowing task of the mower in the weak signal area based on the confidence, wherein the preset task threshold value comprises preset task time and preset moving distance;
correspondingly, if the mower reaches the preset task threshold when the mower performs the mowing task in the weak signal area, controlling the mower to transfer to the strong signal area comprises:
and if the mower reaches the preset task time and/or the preset moving distance when the mower performs the mowing task in the weak signal area, controlling the mower to transfer to the strong signal area.
3. The mower boundary prevention method according to claim 2, wherein the controlling the mower to shift to the strong signal area if the mower reaches the preset task time and/or the preset moving distance when the mower performs the mowing task in the weak signal area comprises:
acquiring real-time working time and total moving distance of the mower in the weak signal area for mowing task;
judging whether the real-time working time and the total moving distance reach one of the preset task time and the preset moving distance;
And if one of the preset task time and the preset moving distance is reached, controlling the mower to be transferred to the strong signal area.
4. The method for preventing a lawn mower from coming out of a boundary as set forth in claim 1, wherein said determining the boundary of the lawn where the lawn mower is located and the signal strength area, said signal strength area including a weak signal area and a strong signal area, further includes, after:
judging whether the area range of the weak signal area is larger than a preset range threshold value or not;
if yes, controlling the mower to perform visual detection in the weak signal area according to the boundary, and obtaining an area characteristic map of the weak signal area;
after the regional characteristic map is determined, controlling the mower to be transferred to the strong signal region, and obtaining RTK absolute positioning data of the mower in the strong signal region;
and controlling the mower to return to the weak signal area to mow based on the area characteristic map and the RTK absolute positioning data.
5. The method for preventing a mower from coming out of a boundary as set forth in claim 4, wherein if so, controlling the mower to perform visual detection in the weak signal area according to the boundary to obtain an area feature map of the weak signal area includes:
When the regional range is larger than the preset range threshold, acquiring an RTK positioning error of the mower;
determining a movable distance of the mower in the weak signal area according to the RTK positioning error and the boundary;
controlling the mower to move in a large I-shaped path in the weak signal area based on the movable distance;
and when the mower moves, performing visual detection on the weak signal area to obtain an area characteristic map of the weak signal area.
6. The method for preventing a lawn mower from coming out of a boundary as set forth in claim 1, wherein said determining a boundary of a lawn where the lawn mower is located and a signal strength area, said signal strength area including a weak signal area and a strong signal area, includes:
acquiring RTK signals of grasslands where the mowers are located;
dividing boundaries of the grasslands according to the RTK signals, and determining boundaries corresponding to the grasslands;
and detecting the grassland according to the RTK signal and the boundary to obtain a signal intensity region of the grassland, wherein the signal intensity region comprises a weak signal region and a strong signal region.
7. The method for preventing a lawn mower from coming out of a boundary as set forth in claim 6, wherein said detecting the lawn signal based on the RTK signal and the boundary to obtain a signal intensity area of the lawn comprises:
Controlling the mower to move along a large I-shaped path in the grassland;
extracting signal strength parameters of RTK signals of the mower in the grassland when the mower moves;
and dividing the grassland into areas based on the signal strength parameters and the boundaries to obtain the signal strength areas corresponding to the grassland.
8. A mower boundary guard, the apparatus comprising:
the area dividing module is used for determining the boundary of the lawn where the mower is located and a signal intensity area, and the signal intensity area comprises a weak signal area and a strong signal area;
the visual detection module is used for visually detecting the weak signal area according to the boundary when the mower is positioned in the weak signal area, and determining a preset task threshold of the mower;
the accumulated error module is used for controlling the mower to be transferred to the strong signal area and determining the visual positioning accumulated error of the mower in the weak signal area if the mower reaches the preset task threshold when performing the mowing task in the weak signal area;
and the mowing control module is used for controlling the mower to return to the weak signal area to mow again based on the visual positioning accumulated error.
9. A mower boundary protection device, the device comprising: a memory, a processor, and a mower out-boundary prevention program stored on the memory and operable on the processor, the mower out-boundary prevention program configured to implement the steps of the mower out-boundary prevention method of any one of claims 1 to 7.
10. A storage medium having stored thereon a mower out-boundary prevention program which when executed by a processor performs the steps of the mower out-boundary prevention method of any one of claims 1 to 7.
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