WO2020147159A1 - Robot de tonte et son procédé de division de zone de tonte, dispositif de commande et support de données - Google Patents

Robot de tonte et son procédé de division de zone de tonte, dispositif de commande et support de données Download PDF

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Publication number
WO2020147159A1
WO2020147159A1 PCT/CN2019/075140 CN2019075140W WO2020147159A1 WO 2020147159 A1 WO2020147159 A1 WO 2020147159A1 CN 2019075140 W CN2019075140 W CN 2019075140W WO 2020147159 A1 WO2020147159 A1 WO 2020147159A1
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WIPO (PCT)
Prior art keywords
area
mowing
lawn mower
mower robot
delimiting
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Application number
PCT/CN2019/075140
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English (en)
Chinese (zh)
Inventor
杜莅兴
杜波
Original Assignee
傲基科技股份有限公司
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Publication of WO2020147159A1 publication Critical patent/WO2020147159A1/fr

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory

Definitions

  • This application relates to the field of automation equipment, in particular to a method for delimiting a mowing area, a mowing robot, a control device and a readable storage medium
  • the mowing area of the lawn mower robot is determined, generally by manually burying the boundary line, and the area surrounded by the boundary line is used as the mowing area where the lawn mower robot runs.
  • this method is inefficient and restricts the flexible use of the lawn mower robot according to different cutting and shearing needs.
  • the present application provides a method for delimiting a mowing area, which can improve the area delineation efficiency of a lawn mower robot, and customize the delineation of the mowing area according to the different cutting needs of users, so as to meet the diversified cutting needs.
  • the present application provides a method for delimiting a mowing area.
  • the method for delimiting a mowing area includes the following steps: acquiring position characteristic parameters of a lawn mower robot; acquiring the lawn mower robot according to the position characteristic parameters A field image of the lawn in the area; display the field image, and obtain user feedback information returned based on the field image; determine the target area of the lawn mower robot to mow according to the user feedback information.
  • the location feature parameter includes satellite positioning information
  • the step of obtaining a field image of the lawn in the area where the lawn mower robot is located according to the location feature parameter includes: obtaining a satellite map corresponding to the satellite positioning information; As a field image of the lawn in the area where the lawn mower robot is located.
  • the step of determining the target area for mowing by the lawn mower robot according to the user feedback information includes: determining the initial target area for mowing by the lawn mower robot according to the user feedback information, as the first area Acquire the first control instruction input by the user; control the motion of the lawn mower robot according to the first control instruction, and acquire the first motion trajectory of the lawn mower robot; generate a second area according to the first motion trajectory; Compare the area characteristic parameters of the first area and the second area; when the area characteristic parameters meet a preset condition, use the first area as the target area.
  • the regional feature parameters may specifically include regional location feature points, region area, and region shape
  • the step of comparing the regional feature parameters of the first region and the second region includes: determining the value of the first region The area difference between the area area and the area area of the second area, determine the similarity between the area shape of the first area and the area shape of the second area, and determine the location feature points of the first area and the The first distance between the location feature points of the second area; and, when the area feature parameters meet a preset condition, the step of using the first area as the target area includes: when the area is different Is less than or equal to the preset area difference threshold, and the similarity is greater than or equal to the preset similarity threshold, and the first distance is less than or equal to the first preset distance threshold, it is determined that the regional feature parameters meet the preset A condition is set, and the first area is used as the target area.
  • the step of determining the initial target area for mowing by the lawn mower robot according to the user feedback information includes: extracting area boundary identification information in the user feedback information; and generating the area boundary identification information according to the area boundary identification information.
  • the initial target area includes: extracting area boundary identification information in the user feedback information; and generating the area boundary identification information according to the area boundary identification information.
  • the area boundary identification information includes cutting area boundary identification information and obstacle area boundary identification information
  • the step of generating the initial target area according to the area boundary identification information includes: according to the cutting area boundary
  • the identification information generates a user-selected mowing area, and an obstacle marked area is generated based on the obstacle area boundary identification information; the initial target area is determined according to the user-selected mowing area and the obstacle marked area.
  • the step of generating a user-selected mowing area according to the border identification information of the mowing area includes: determining whether the graph is enclosed to form a closed area Area; if the graph is not enclosed to form a closed area, when the graph is a line, determine the second distance between the two end points of the graph; when the second distance is less than or equal to the first 2.
  • the distance threshold is preset, a line segment is used to connect the two end points, and a closed area enclosed by the line segment and the graph line is used as the user-selected mowing area.
  • the method further includes: judging whether the image quality of the field image meets a preset requirement; if so, executing The step of displaying the field image and obtaining user feedback information returned based on the field image; if not satisfied, obtaining a second control instruction input by the user; controlling the lawn mower robot according to the second control instruction Move, and obtain a second motion trajectory of the lawn mower robot; determine the target area according to the second motion trajectory.
  • the step of controlling the motion of the lawn mower robot according to the second control instruction and acquiring the second motion track of the lawn mower robot includes: controlling the lawn mower robot to move in the lawn according to the second control instruction , Simultaneously controlling the image acquisition device on the lawn mower robot to obtain environmental image information; and the step of determining the target area according to the second motion track includes: constructing the lawn mower robot according to the environmental image information Fitting the second movement trajectory to the movement map; Use the closed area enclosed by the second movement trajectory in the movement map as the target area.
  • the method further includes: obtaining the current trajectory generation mode of the lawn mower robot; when the lawn mower robot is currently When the trajectory generation mode is in the first mode, extract the user-specified path in the user feedback information; determine the driving path of the lawn mower robot according to the user-specified path; when the current trajectory generation mode of the lawn mower is In the second mode, the step of determining the target area of the lawn mower robot for mowing according to the user feedback information is executed; and the driving path of the lawn mower robot is generated in the target area according to a preset rule.
  • the present application also provides a lawn mower robot, the lawn mower robot includes: a control device, the control device includes: a memory, a processor, and stored in the memory and can be used in the processing A program for delimiting a mowing area running on the processor, which implements the steps of the method for delimiting a mowing area as described above when the program is executed by the processor; The mowing operation is performed in the target area determined by the control device.
  • control device includes a memory, a processor, and a mowing area delimiting program stored on the memory and running on the processor, and the mowing area
  • the delimiting program is executed by the processor, the steps of the method for delimiting the mowing area as described above are realized.
  • the present application also provides a readable storage medium, the readable storage medium stores a mowing area delimiting program, and when the mowing area delimiting program is executed by a processor, the mowing area as described above is realized Delimit the steps of the method.
  • the method for delimiting the mowing area proposed by the embodiment of the application obtains the field image of the lawn in the area through the position feature parameters of the mowing robot, and displays the field image. After the user sees the field image, the user can follow the cutting
  • the cutting demand input command specifies the mowing area and/or the non-mowing area in the lawn, and obtains the user's instructions based on the field image input to form user feedback information.
  • the target area of the lawn mower robot is determined. This process does not require Manually laying the boundary can make the determined target area of mowing meet the user's cutting and shearing needs, improve the area delineation efficiency of the lawn mower robot, and users can customize the virtual mowing area according to different cutting needs. Maximize the user's creative space, so that the lawn mower robot can flexibly adapt to diverse cutting needs and create lawn images with different patterns.
  • FIG. 1 is a schematic diagram of the hardware structure of the mowing robot according to an embodiment of the present application
  • FIG. 2 is a schematic diagram of the hardware structure of the control device in an embodiment of the application.
  • FIG. 3 is a schematic diagram of the first process of an embodiment of a method for delimiting a mowing area according to this application;
  • FIG. 4 is a schematic diagram of a second process of an embodiment of a method for delimiting a mowing area according to this application;
  • FIG. 5 is a schematic diagram of the third process of an embodiment of a method for delimiting a mowing area according to this application;
  • FIG. 6 is a schematic diagram of a fourth process of an embodiment of a method for delimiting a mowing area according to this application;
  • FIG. 7 is a schematic diagram of a fifth process of an embodiment of a method for delimiting a mowing area according to this application.
  • FIG. 8 is a schematic diagram of the sixth process of an embodiment of a method for delimiting a mowing area according to this application.
  • the main solution of the embodiment of the present application is: obtain the position feature parameters of the lawn mower robot; obtain the field image of the lawn in the area where the lawn mower robot is located according to the position feature parameters; display the field image, and obtain user feedback information returned based on the field image; Determine the target area of the lawn mower robot according to the user feedback information.
  • the cutting boundary of the lawn mower robot is defined by manually burying the boundary line. This method is inefficient, has a high failure rate, is easy to damage, is difficult to repair and find the fault point, and restricts the lawn mower robot according to different The cutting shears require flexible use.
  • This application provides a solution. In this process, there is no need to manually lay the boundary.
  • the required boundary graphics and working lines in the domain are made through the mobile phone APP or computer table, and sent to the robot, so that the determined target area for mowing can satisfy the user
  • the cutting and shearing needs of the lawn mower improve the efficiency of the area delineation of the lawn mower robot, reduce many hardware facilities (such as embedding, location marking points, etc.), reduce the probability of failure, save the user’s initial installation trouble and worry, and the user can be based on different
  • the cutting and shearing requirements are customized to delineate the virtual cutting area to maximize the user's creative space, so that the lawn mower robot can flexibly adapt to the diverse cutting and cutting needs.
  • the mowing robot is an automated device that automatically cuts the grass in the target area in the lawn without manual control.
  • the mowing robot may specifically include: a mowing device 100, a control device 200, a positioning device 300, an image acquisition device 400, a driving device 500, and the like.
  • the mowing device 100 is connected to the control device 200, and is used for cutting grass in the target area determined by the control device 200 when it is turned on.
  • the positioning device 300 can be connected to the control device 200, the global positioning system (GPS) or the Beidou satellite navigation system (BDS), and the positioning module in the charging pile, respectively.
  • the control device 200 can obtain the position characteristic parameters of the position of the lawn mower robot from the positioning device 300, and the control device 200 can determine the target area of the lawn mower robot to cut the grass according to the obtained position characteristic parameters.
  • Charging piles are generally located on the border of the lawn or in the vicinity of the lawn, and the positioning module can also be connected to the global positioning system or Beidou satellite navigation system.
  • the position characteristic parameter of the positioning module in the charging pile is used as the zero point to establish a reference coordinate system, and the current position of the lawn mower robot can be determined by comparing the position characteristic parameter of the positioning device 300 with the position characteristic parameter of the positioning module.
  • the boundary of the target area determined in the control device 200 can determine the corresponding coordinates in the reference coordinate system, and limit the operation of the lawn mower robot according to the determined coordinates, so that the current position of the lawn mower robot when mowing does not exceed the boundary of the target area .
  • the driving device 500 is connected with the control device 200 and is used to realize the movement and stop of the lawn mower robot.
  • the image acquisition device 400 is connected to the control device 200 and is used to capture images of the surrounding scene when the lawnmower robot moves.
  • the control device 200 may include: a processor 2001 (such as a CPU), a memory 2002 and the like.
  • the processor 2001 is connected to the memory 2002.
  • the memory 2002 is either a high-speed RAM memory or a stable memory (non-volatile memory), such as disk storage.
  • the memory 2002 may also be a storage device independent of the aforementioned processor 2001.
  • the control device 200 can be connected to the mowing device 100, the positioning device 300, the image acquisition device 400, the driving device 500, etc., respectively.
  • the control device 200 can obtain required information from the positioning device 300 and the image acquisition device 400, and control the operation of the mowing device 100 and the driving device 500 according to the determined target area.
  • control device 200 is also connected to human-computer interaction equipment (such as computers, mobile phones, etc.).
  • the control device 200 can transmit the field image of the lawn in the area where the lawn mower robot is located to the human-computer interaction equipment, and obtain the human-computer interaction equipment based on the field User feedback information returned by the image.
  • the control device 200 may be a functional module built into the lawnmower robot; it may also be a remote control device set independently of the lawnmower robot, and is connected to the lawnmower robot through a wireless communication module.
  • the memory 2002 may include a mowing area delimiting program.
  • the processor 2001 can be used to call the mowing area delineation program stored in the memory 2002, and execute the following steps of the mowing area delineation method.
  • the embodiment of the present application also provides a method for delimiting the mowing area.
  • the method for delimiting the mowing area includes:
  • Step S10 Obtain the position characteristic parameters of the lawn mower robot.
  • the location feature parameter is a parameter that characterizes the location of the lawn mower robot, which may specifically include satellite positioning information, and may also include coordinate information of the lawn mower robot in a reference coordinate system.
  • the reference coordinate system can be set in a coordinate system pre-established by the origin of the charging pile located near the lawn or lawn. Wherein, before step S10, the user can place the lawn mower robot in or near the lawn to be cut.
  • step S10 is executed.
  • Step S20 Obtain a field image of the lawn in the area where the lawn mower robot is located according to the position feature parameters.
  • the location feature parameter may include satellite positioning information
  • step S20 may include: step S21, acquiring a satellite map corresponding to the satellite positioning information as a field image of the lawn in the area where the lawnmower robot is located.
  • the satellite positioning information may specifically be the longitude information and latitude information of the location of the lawn mower robot.
  • the satellite positioning information of the lawn mower robot can be sent to the satellite map supply terminal (such as Google Earth, etc.) to obtain the satellite map corresponding to the satellite positioning information.
  • the obtained satellite map includes the lawn image in the area where the lawn mower robot is located, and It can include an image of the environment around the lawn.
  • the field image of the lawn in the area where the lawn mower robot is located can also be captured by other image capture devices 400 (such as an aircraft with image capture function) independent of the lawn mower robot.
  • the position of the lawn mower robot and the shooting range of the image acquisition device 400 can be fitted to a pre-established reference coordinate system. After the coordinates of the lawn mower robot in the reference coordinate system are obtained, the shooting of the image acquisition device 400 can be adjusted. The range is such that the coordinates of the lawn mower robot are located in the area corresponding to the reference coordinate system, and the image collected by the image acquisition device 400 is used as the field image of the lawn in the area where the lawn mower robot is located.
  • Step S30 displaying a real image, and obtaining user feedback information based on the real image.
  • Send field images to human-computer interaction devices such as computers, mobile phones, etc.
  • the preset applications to display field images.
  • the user judges whether the field image includes the image area corresponding to the specified mowing range, if not, or the image area of the specified mowing range specified by the user Only part of it is located in the field image.
  • the user can input the position correction parameters in the preset application, determine the target position parameters according to the position feature parameters and the position correction parameters, and retrieve the location of the lawn mower according to the target position parameters
  • the field image of the lawn in the area is displayed. If the displayed field image includes the image area corresponding to the mowing range that the user needs to specify, the user can select a part of the lawn image in the field image and specify the characteristics of the selected area through the preset application input command. It is assumed that the application can generate user feedback information according to the user's input instruction and send it to the control device 200 after receiving the user's input instruction.
  • the characteristics of the selected area may include a user-selected mowing area or a user-selected non-mowing area.
  • the user can input different instructions according to the area characteristics of the mowing area and the non-mowing area in the cutting requirements, such as when the lawn in the field image needs to be cut
  • the user can select the image area corresponding to this part of the field image as the user selected mowing area through the preset application input instruction;
  • the user can also input instructions through the preset application to select other image areas other than the image area corresponding to this part of the field image as the user-selected non-mowing area ;
  • the user can select the image area corresponding to the part of the field in
  • Step S40 Determine the target area of the lawn mower robot for mowing according to the user feedback information. Extract the user-selected mowing area and/or the user-selected non-mowing area in the user feedback information, and determine the mowing robot based on the user-selected mowing area and/or the user-selected non-mowing area in the extracted field image
  • the target area for mowing Specifically, the mowing area selected by the user can be used as the target area, or the lawn area in the field image other than the non-mowing area selected by the user can be used as the target area. When the non-mowing areas overlap, the area other than the non-mowing area selected by the user is taken as the target area.
  • the boundary of the target area in the reference coordinate system After determining the target area, you can determine the boundary of the target area in the reference coordinate system according to the distance between the points on the boundary of the target area and the lawn mower robot and the coordinates of the lawn mower robot in the reference coordinate system.
  • Series boundary coordinate points In the area enclosed by the boundary coordinate points, the running trajectory of the lawnmower robot can be generated according to preset rules, and the lawnmower robot can be controlled to mow the grass according to the generated running trajectory.
  • the boundary coordinate points can also be directly restricted to the operating range of the lawn mower robot during the mowing process to ensure that the current coordinates in the reference coordinate system during the operation of the lawn mower robot do not exceed the area enclosed by the boundary coordinate points.
  • the user can also specify the mowing height of the target area through the preset application.
  • Different target areas can correspond to different mowing heights. Analyze the mowing height corresponding to the target area in the user feedback information, and after determining the target area, control the mowing robot to perform mowing operations along the running track generated in the target area according to the corresponding mowing height.
  • the field image of the lawn in the area where the mowing robot is located is obtained through the position feature parameters of the mowing robot, and the field image is displayed.
  • the cutting demand input command specifies the mowing area and/or the non-mowing area in the lawn, and obtains the user's instructions based on the field image input to form user feedback information. According to the user feedback information, determines the target area of the lawn mower robot to cut the grass.
  • the determined mowing target area can meet the user's cutting and shearing needs, improve the area delineation efficiency of the lawn mower robot, and users can customize the virtual mowing area according to different cutting needs , To maximize the user's creative space, so that the lawn mower robot can flexibly adapt to diverse cutting needs.
  • the location feature parameter may preferably be satellite positioning information, so that the field image of the lawn in the area where the lawn mower robot is located can be obtained without additional configuration of other image acquisition equipment.
  • step S40 may include:
  • Step S41 Determine the initial target area for mowing by the lawn mower robot according to the user feedback information, as the first area; extract the user-selected mowing area and/or the user-selected non-mowing area in the user feedback information, according to the extracted In the field image, the user-selected mowing area and/or the user-selected non-mowing area determines the first area where the lawnmower robot cuts the grass.
  • the mowing area selected by the user can be used as the first area, or the lawn area in the field image other than the non-mowing area selected by the user can be used as the first area.
  • the selected non-mowing areas overlap, the area of the user-selected cutting grass area excluding the user-selected non-mowing area is taken as the first area.
  • the preset application mowing robot can be controlled to enter the area verification mode.
  • the area verification mode the first area will be used as the mowing target area of the lawn mower robot only when the first area is verified. If the first region fails the verification, a prompt message can be sent to the user through a preset application to ensure the accuracy of the determined target region.
  • Step S42 Obtain the first control instruction input by the user; in the area verification mode, the user can input the first control instruction through the preset application to control the movement of the lawn mower robot along the boundary of the mowing area required by the user.
  • the first control instruction may specifically include instructions such as forward, backward, turn left, turn right, stop, etc. It should be noted that in the area verification mode, the mowing device 100 of the mowing robot is in a closed state and will not mowing.
  • Step S43 Control the motion of the lawn mower robot according to the first control instruction, and obtain the first motion track of the lawn mower robot; the control device 200 controls the lawn mower robot to move in the lawn according to the first control instruction.
  • the position characteristic parameters of the lawn mower robot are continuously acquired to obtain the first motion trajectory of the lawn mower robot.
  • Step S44 Generate a second area according to the first motion trajectory; the first motion trajectory of the lawn mower robot is based on the area enclosed by the coordinate system of the global positioning system or the first motion trajectory of the lawn mower robot is fitted to the reference coordinate system The area enclosed by the middle can be used as the second area.
  • Step S45 Compare the area feature parameters of the first area and the second area; it should be noted that the area feature parameters of the first area and the second area should be fitted in the same reference system for comparison, just like comparing in a reference coordinate system Or compare the area characteristic parameters of the first area and the second area in the coordinate system corresponding to the global positioning system.
  • the regional feature parameters may specifically include regional location feature points, regional area, and/or regional shape.
  • the step of comparing the area characteristic parameters of the first area and the second area may specifically include: determining the area difference between the area of the first area and the area of the second area, and/or determining the area shape of the first area and the second area. The similarity of the area shape of the area, and/or the first distance between the location feature point of the first area and the location feature point of the second area, etc. are determined.
  • the location feature points can be selected according to actual needs.
  • the midpoints of the first area and the second area can be identified respectively as the location feature points, and the two points that are adjacent and farthest from each other on the same straight line as the boundary of the first area and the second area Location feature points.
  • Step S46 When the area characteristic parameters meet the preset condition, the first area is taken as the target area. Specifically, when the area difference is less than or equal to the preset area difference threshold, and/or, when the similarity is greater than or equal to the preset similarity threshold, and/or, when the first distance is less than or equal to the first preset distance threshold When it is determined that the area characteristic parameters meet the preset conditions, the first area is taken as the target area.
  • the user after determining the initial target area to obtain the first area according to the user feedback information, the user can issue the first control instruction to form the second area according to the boundary of the target area that he needs to cut and cut, and compare the first area Verifies whether the first area matches the user’s actual mowing needs with the area feature parameters of the second area.
  • the area feature parameters meet the preset conditions, it indicates that the first area matches the user’s actual mowing needs.
  • An area is used as the target area of the lawn mower robot to cut grass, so as to ensure the accuracy of the delineated target area.
  • the regional feature parameters may preferably include regional location feature points, regional area, and regional shape.
  • the The first area serves as the target area; when at least one of the location feature points, area area, and area shape of the first area and the second area does not meet the corresponding preset conditions, a prompt message is issued to the user to remind the user to re-based The image area is selected, thereby further improving the accuracy of the delineated target area.
  • step S41 includes: step S411, extracting the area boundary identification information in the user feedback information.
  • the area boundary identification information may specifically include the types of points, lines or borders marked by the user based on the real image along the selected area boundary interval. Therefore, user feedback information may include area boundary identification information. Selected areas with different area characteristics correspond to different area boundary identification information. For example, the user-selected mowing area corresponds to the first area boundary identification information, and the user-selected non-mowing area corresponds to the second area boundary identification information. Therefore, the user feedback information may also include area boundary identification information of different area characteristics.
  • Step S412 generating an initial target area according to the area boundary identification information.
  • the area identification information is the area boundary identification information corresponding to the mowing area selected by the user
  • a closed area is generated according to the area boundary identification information as the initial target area;
  • the area identification information is the area boundary corresponding to the non-mowing area selected by the user
  • identifying information a closed area is generated by fitting the area boundary identification information, and the area outside the closed area in the real image is taken as the initial target area.
  • the user feedback information includes the area boundary identification information of different area characteristics (for example, it includes the area boundary identification information corresponding to the user-selected mowing area and the user-selected non-mowing area at the same time)
  • the area boundary identification can be corresponding to the different area characteristics.
  • the enclosed area corresponding to the information generation, and the initial target area is determined according to the generated enclosed area.
  • the user can directly define the required mowing range in the field image to generate the corresponding area boundary identification information, and extract the area boundary identification information in the user feedback information to determine the initial target area.
  • the realization of the target area can be based on user needs Flexible delineation.
  • the area boundary identification information includes mowing area boundary identification information and obstacle area boundary identification information
  • the step of generating an initial target area according to the area boundary identification information includes:
  • step S4121 the user-selected mowing area is generated according to the edge identification information of the mowing area, and the obstacle marking area is generated according to the edge identification information of the obstacle area.
  • the boundary identification information of the mowing area and the boundary identification information of the obstacle area may be points, lines or borders marked at intervals along the boundary of the area.
  • the border identification information of the mowing area and the border identification information of the obstacle area can be set to different types according to actual conditions.
  • the border identification information of the mowing area can be a marking point
  • the border identification information of the obstacle area can be a graph.
  • Step S4122 Determine the initial target area according to the mowing area selected by the user and the obstacle marking area. Among them, the overlap area between the obstacle mark area and the mowing area selected by the user may be determined, and the area other than the overlap area selected by the user may be used as the initial target area.
  • the user can intuitively judge and mark the obstacles in the lawn through the field images.
  • it can ensure the accuracy of the determined initial target area, thereby improving the accuracy of the subsequent path planning of the lawn mower robot;
  • it ensures the stable operation of the lawnmower robot.
  • step S4121 when the border identification information of the mowing area is a graph line, step S4121 includes: step S401, judging whether the graph line is enclosed to form a closed area; if the closed area is not enclosed, step S402 and step S403 are executed ; If the enclosed area is enclosed, step S404 is executed.
  • Step S402 when the graph is a line, determine the second distance between the two end points of the graph; when the graph is a line, the two end points of the graph can be identified and the first distance between the two end points can be calculated. Two distance.
  • Step S403 When the second distance is less than or equal to the second preset distance threshold, a line segment is used to connect the two endpoints, and the closed area enclosed by the line segment and the graph line is used as the user-selected mowing area. In step S404, the closed area enclosed by the graph line is used as the mowing area selected by the user.
  • the second preset threshold can be set according to actual needs.
  • the graph line is a line but does not enclose a closed area, it indicates that when the user delineates the area on the field image, it may be due to operational deviation or other influences that the input information of the boundary identification of the mowing area cannot be formed to completely conform to the cutting requirements Enclosed area. Therefore, it is necessary to determine whether the second distance is less than or equal to the second preset distance threshold.
  • the second distance is less than or equal to the second preset distance threshold, it can be considered that the area shape of the closed area formed by connecting the two end points by a line segment can satisfy According to the user’s cutting requirements, the enclosed area enclosed by the line segment and the graph line can be used as the user’s selected mowing area; if the second distance is greater than the second preset distance threshold, it can be considered that even if a line segment is used to connect the two lines of the graph line At the end point, the shape of the obtained closed area is quite different from the shape of the mowing area required by the user. At this time, a prompt message can be issued to prompt the user to re-enter the instruction to define the area. Through the above method, the accuracy of the final target area is guaranteed.
  • a prompt message can be issued to prompt the user to re-enter the instruction to delimit the area, and the third distance between the end points of two adjacent lines can also be determined. If all the third distances in the multiple lines are less than Or equal to the second preset distance threshold, a line segment can be used to connect the end points of two adjacent lines end to end, and the enclosed area formed by the enclosed area is used as the user-selected mowing area.
  • the obstacle marking area can be determined by analogy with reference to S401 to step S404, which is not repeated here.
  • step S30 it also includes: step S01, judging whether the image quality of the field image meets the preset requirements; if it meets, then execute step S30, step S40; if not, execute step S02, step S03, step S04 . Specifically, it can be judged whether the sharpness of the field image meets the preset sharpness requirement, if it is satisfied, then step S30 and step S40 are executed; if not, step S02, step S03, and step S04 are executed.
  • Step S02 Obtain the second control instruction input by the user; when the image quality of the field image does not meet the preset requirements, the lawnmower robot can be controlled to enter the manual debugging area mode, in which the second control instruction and cutting input by the user The information collected by the grass robot generates the target area.
  • the user can input the second control instruction through the preset application to control the movement of the lawn mower robot along the boundary of the mowing area required by the user.
  • the second control instruction may specifically include instructions such as forward, backward, turn left, turn right, stop, etc. It should be noted that in the manual debugging area mode, the mowing device 100 of the mowing robot is in the closed state and will not mowing.
  • Step S03 Control the movement of the lawn mower robot according to the second control instruction, and obtain the second movement track of the lawn mower robot; the control device 200 controls the movement of the lawn mower robot in the lawn according to the second control instruction, and the control device 200 can control image acquisition
  • the device 400 acquires environmental image information.
  • the environmental image information may specifically include the image of the object in the environment where the lawn mower robot is located and the depth information of each object.
  • the position characteristic parameters of the lawn mower robot are continuously acquired to obtain the second motion trajectory of the lawn mower robot.
  • Step S04 Determine the target area according to the second motion track.
  • the second motion trajectory of the lawn mower robot is based on the area enclosed by the coordinate system of the global positioning system or the second motion trajectory of the lawn mower robot fits to the enclosed area in the reference coordinate system, which can be used as the target area.
  • Construct a running map of the lawn mower robot according to the environmental image information fit the second motion trajectory of the lawn mower robot to the constructed running map, and the closed area enclosed by the second motion trajectory in the running map is used as the target area.
  • the running map and the second motion track in the running map will be displayed for the user to confirm.
  • the target area that meets the user's mowing demand can also be delineated, and the accuracy of the delineation of the target area can be ensured.
  • step S30 the method further includes:
  • Step S60 Obtain the current trajectory generation mode of the lawn mower robot.
  • the trajectory generation mode may specifically include a first mode and a second mode.
  • the user can customize the travel path of the lawn mower robot; when the lawn mower robot is in the second mode, the control device 200 plans the travel path of the lawn mower robot in the target area according to preset rules.
  • the user can switch the current trajectory generation mode of the lawn mower robot by inputting instructions through the preset application, and in the trajectory generation mode, input instructions that match the cutting and shearing requirements to generate user feedback information.
  • steps S70 and S80 are executed: step S70, extract the user-specified path in the user feedback information; step S80, determine the travel path of the lawn mower robot according to the user-specified path.
  • the user can generate a user-specified path in the real scene image by means of sliding operations in the human-computer interaction device, and the generated user-specified path forms user feedback information. Therefore, the control device 200 can extract the user-specified path from the user feedback information in the first mode.
  • the path specified by the user is used as the driving path of the lawn mower robot.
  • step S40 and step S50 are executed.
  • Step S50 Generate a driving path of the lawn mower robot in the target area according to preset rules.
  • the preset rules can be set according to actual needs, such as generating multiple parallel paths that are set at intervals and connected end to end in the target area along the preset direction.
  • an embodiment of the present application also proposes a readable storage medium.
  • the readable storage medium stores a mowing area delimitation program.
  • the mowing area delimitation program is executed by a processor, the mowing area delimitation in the above embodiment is realized. The relevant steps of the method.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Harvester Elements (AREA)
  • Guiding Agricultural Machines (AREA)

Abstract

L'invention concerne un procédé de division de zone de tonte, comprenant : l'acquisition d'un paramètre de caractéristique d'emplacement d'un robot de tonte ; l'acquisition, en fonction du paramètre de caractéristique d'emplacement, d'une image réelle d'une pelouse à l'intérieur d'une zone dans laquelle se trouve le robot de tonte ; l'affichage de l'image réelle, et l'acquisition des informations de rétroaction d'utilisateur renvoyées sur la base de l'image réelle ; et la détermination, selon les informations de rétroaction d'utilisateur, d'une zone cible devant être tondue par le robot de tonte. L'invention concerne également un robot de tonte, un dispositif de commande et un support d'informations lisible par ordinateur. La présente invention vise à améliorer l'efficacité de division de zone d'un robot de tonte, de telle sorte que divers motifs de pelouse peuvent être fournis dans une certaine zone en fonction de différentes exigences de coupe d'un utilisateur, satisfaisant diverses exigences de tonte de gazon.
PCT/CN2019/075140 2019-01-14 2019-02-15 Robot de tonte et son procédé de division de zone de tonte, dispositif de commande et support de données WO2020147159A1 (fr)

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