WO2023202423A1

WO2023202423A1 - Path planning method of mower and related device

Info

Publication number: WO2023202423A1
Application number: PCT/CN2023/087548
Authority: WO
Inventors: 袁理; 廖孟�
Original assignee: 松灵机器人(深圳)有限公司
Priority date: 2022-04-18
Filing date: 2023-04-11
Publication date: 2023-10-26
Also published as: CN114690783A

Abstract

Embodiments of the present application disclose a path planning method of a mower and a related device. The method comprises: obtaining detection information of the sensor for the operation environment and an original map of the operation environment, wherein the sensor is provided in the operation environment of the mower, the operation environment is an environment for the mower to perform mowing operation, the detection information is used for representing an obstacle existing in the operation environment, and the original map is used for representing the terrain of the operation environment; determining first positioning information of the obstacle according to the detection information; determining a working map of the mower according to the first positioning information and the original map; and determining a traveling route of the mower according to the working map. The embodiments of the present application are used, thereby facilitating improving the accuracy of a detection result, and also facilitating reducing a fault rate of the sensor.

Description

Lawn mower path planning method and related devices

This application claims priority from an earlier application with application number 2022104054062, titled "Lawn Mower Path Planning Method and Related Devices" submitted on April 18, 2022. The content of the above-mentioned earlier application is incorporated by reference. in this text.

Technical field

This application relates to the technical field of Internet of Vehicles, and specifically to a path planning method for a lawn mower and related devices.

Background technique

With the improvement of living standards, people usually use lawn mowers to replace manual labor for tedious chores such as lawn repairs. At present, in order to achieve obstacle avoidance effect, lawn mowers usually install sensors on the body of the lawn mower. However, since the body of the lawn mower is in a bumpy state when working, placing the sensor in the body may easily cause the sensor to obtain detection information. It is not accurate enough, thus affecting the accuracy of detecting obstacles and affecting the obstacle avoidance effect. Therefore, how to improve the accuracy and flexibility of obstacle avoidance has become an urgent problem to be solved.

Contents of the invention

Embodiments of the present application provide a path planning method for a lawnmower and related devices, which help to improve the accuracy of detection results and also help to reduce the failure rate of sensors.

In a first aspect, embodiments of the present application provide a path planning method for a lawn mower, the method including:

Obtain the detection information of the working environment by the sensor and the original map of the working environment. The sensor is arranged in the working environment of the lawn mower, and the working environment is for the lawn mower to mow. The environment for grass work, the detection information is used to characterize the obstacles existing in the working environment, and the original map is used to characterize the terrain of the working environment;

Determine the first positioning information of the obstacle based on the detection information;

Determine a working map of the lawn mower based on the first positioning information and the original map;

The driving route of the lawn mower is determined based on the working map.

In a second aspect, embodiments of the present application provide a path planning system for a lawn mower. The system includes:

Sensor, the sensor is arranged in the working environment of the lawn mower, and the working environment is the environment in which the lawn mower performs lawn mowing operations. The sensor is used to detect the working environment and obtain detection information, so The detection information is used to characterize obstacles existing in the working environment;

A server, the server is communicatively connected to the sensor, the server is used to obtain the detection information and the original map of the working environment, the original map is used to characterize the terrain of the working environment; and the server is used to obtain the detection information and the original map of the working environment; The detection information determines the first positioning information of the obstacle; and is used to determine the working map of the lawn mower according to the first positioning information and the original map; and is used to determine the working map of the lawn mower according to the working map. Describe the driving route of the lawn mower;

A lawn mower, the lawn mower is communicatively connected to the server, and the lawn mower is used to receive the driving route sent by the server.

In a third aspect, embodiments of the present application provide a lawnmower path planning device, which includes: an acquisition unit and a determination unit, wherein,

The acquisition unit is used to acquire the detection information of the working environment by the sensor and the original map of the working environment. The sensor is arranged in the working environment of the lawn mower, and the working environment is The environment in which the lawn mower performs lawn mowing operations, the detection information is used to characterize obstacles existing in the operating environment, and the original map is used to represent the terrain of the operating environment;

The determining unit is configured to determine the first positioning information of the obstacle based on the detection information;

The determining unit is also configured to determine a working map of the lawn mower based on the first positioning information and the original map;

The determining unit is also used to determine the driving route of the lawn mower according to the working map.

In a fourth aspect, embodiments of the present application provide an electronic device, including a processor, a memory, a communication interface, and one or more programs, wherein the one or more programs are stored in the memory and are configured by the above The processor executes the above program including instructions for executing the steps in the first aspect of the embodiment of the present application.

In a fifth aspect, embodiments of the present application provide a computer-readable storage medium, wherein the above The computer-readable storage medium stores a computer program for electronic data exchange, wherein the above-mentioned computer program causes the computer to execute instructions for part or all of the steps described in the first aspect of the embodiment of the present application.

In a sixth aspect, embodiments of the present application provide a computer program product, wherein the computer program product includes a computer program, and the computer program is operable to cause the computer to execute part or all of the steps described in the first aspect of the embodiment of the present application. step.

Implementing the embodiments of this application will have the following beneficial effects:

It can be seen that in the path planning method and related devices of the lawn mower described in the embodiments of this application, the sensor is installed in the working environment of the lawn mower to obtain the detection information of the working environment by the sensor, and the detection information is used to characterize the working environment. Obstacles existing in the environment are determined based on the detection information. The first positioning information of the obstacle is determined, and the original map of the working environment is obtained. The original map is used to characterize the terrain of the working environment. Based on the first positioning information and the original map, the work of the lawn mower is determined. Map, determine the driving route of the lawn mower based on the work map; in this way, setting the sensor in the working environment ensures that the sensor is in a relatively stable environmental state, which helps to ensure the accuracy of the sensor detection results, which in turn helps ensure the accuracy of the sensor detection results. The accurate positioning of obstacles helps the lawn mower achieve precise and flexible obstacle avoidance. At the same time, a stable environmental state also helps reduce the failure rate of the sensor, helps reduce the cost of using the lawn mower, and optimizes the user experience.

Description of the drawings

In order to explain the embodiments of the present application or the technical solutions in the prior art more clearly, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description are only These are some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without exerting creative efforts.

Figure 1A is a schematic structural diagram of an electronic device provided by an embodiment of the present application;

Figure 1B is a schematic flowchart of a path planning method for a lawnmower provided by an embodiment of the present application;

Figure 2 is a schematic flowchart of a path planning method for a lawn mower provided by an embodiment of the present application;

Figure 3 is a schematic structural diagram of an electronic device provided by an embodiment of the present application;

Figure 4A is a functional unit block of a lawn mower path planning device provided by an embodiment of the present application. picture;

Figure 4B is a functional unit block diagram of a lawnmower path planning device provided by an embodiment of the present application;

Figure 5 is a schematic diagram of a path planning system for a lawn mower provided by an embodiment of the present application.

Detailed ways

The terms "first", "second", etc. in the description and claims of this application and the above-mentioned drawings are used to distinguish different objects, rather than describing a specific sequence. Furthermore, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally also includes steps or units that are not listed, or optionally also includes Other steps or units inherent to such processes, methods, products or devices. The term "plurality" may refer to two or more, which will not be described further.

Reference herein to "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment can be included in at least one embodiment of the present application. The appearances of this phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those skilled in the art understand, both explicitly and implicitly, that the embodiments described herein may be combined with other embodiments.

In order to enable those in the technical field to better understand the solutions of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only These are part of the embodiments of this application, but not all of them. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of this application.

Key concepts and terms involved in this application include but are not limited to the following:

(1) Electronic devices can be mobile phones, tablets, wearable electronic devices with wireless communication functions (such as smart watches), etc. Exemplary embodiments of portable electronic devices include, but are not limited to, portable electronic devices equipped with IOS system, Android system, Microsoft system or other operating systems. The above-mentioned portable electronic device may also be other portable electronic devices, such as a laptop computer (Laptop) wait. It should also be understood that in some other embodiments, the above-mentioned electronic device may not be a portable electronic device, but a desktop computer. Electronic equipment may also include servers, lawn mowers, etc., which are not limited here.

Based on the above problems, this application provides a path planning method and related devices for a lawn mower, which will be described in detail below with reference to the accompanying drawings.

Please refer to FIG. 1A , which is a schematic structural diagram of an electronic device provided by an embodiment of the present application. The electronic device includes a processor, a memory, and the like. Among them, the memory is connected to the processor. The processor is the control center of the electronic device. It uses various interfaces and lines to connect various parts of the entire electronic device. It executes electronic tasks by running or executing software programs and/or modules stored in the memory, and calling data stored in the memory. The various functions and processing data of the device are used to monitor the overall electronic device. The processor can be a central processing unit (Central Processing Unit/Processor, CPU), a graphics processor (Graphics Processing Unit, GPU) or a network processor (Neural Processing Unit). -network Processing Unit, NPU).

Further, the processor can integrate an application processor and a modem processor, where the application processor mainly processes the operating system, user interface, application programs, etc., and the modem processor mainly processes wireless communications. It can be understood that the above modem processor may not be integrated into the processor.

The memory is used to store software programs and/or modules, and the processor executes various functional applications of the electronic device by running the software programs and/or modules stored in the memory. The memory may mainly include a stored program area and a stored data area, wherein the stored program area may store an operating system, at least one software program required for a function, etc.; the stored data area may store data created according to the use of the electronic device, etc. In addition, the memory may include high-speed random access memory and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid-state memory pieces.

Please refer to Figure 1B. Figure 1B is a schematic flow chart of a path planning method for a lawnmower provided by an embodiment of the present application. As shown in the figure, it is applied to the electronic device shown in Figure 1A. The electronic device can be a server, or It can be a lawn mower, which is not limited here. The path planning method of this lawn mower includes the following steps:

Step 101: Obtain the detection information of the working environment by the sensor and the original map of the working environment.

Step 102: Determine the first positioning information of the obstacle based on the detection information.

Step 103: Determine a working map of the lawn mower based on the first positioning information and the original map.

Step 104: Determine the driving route of the lawn mower according to the working map.

The above-mentioned sensors may be multiple types or a single type of sensors, such as acoustic wave sensors, image sensors, thermal sensors, mechanical sensors, etc., which are not limited here. Acoustic sensors can be used for long-distance measurement and positioning of obstacles or lawn mowers. Image sensors can be used for specific identification of obstacles, such as identifying birds, animals, people, cars, stones, wood, etc. on the lawn. Thermal sensors can be used to identify living animals such as humans or animals to avoid accidental injuries during lawn mower operation and ensure operational safety. Mechanical sensors such as pressure sensors and tactile sensors can be used as the last line of safety. Tactile sensors can be set at the boundaries of the lawn. When the tactile sensor collides with the lawn mower, the lawn mower is controlled to stop or redirect.

In one embodiment, since sensors that are suitable for sensing the positions of obstacles of different types or environments are different, multiple types of sensors can be set up in the working environment at the same time, and different types of sensors can complement each other and have advantages. It helps to achieve accurate and comprehensive detection of the working environment.

The number of sensors may be one or multiple, and is not limited here. For example, sensors may include ultrasonic radar, lidar, millimeter wave radar, monocular camera, binocular camera, depth camera, infrared sensor, thermal sensor, inertial measurement unit, sensor with positioning function, tactile sensor, etc., which will not be discussed here. limited. Sensors with positioning functions can be loaded with globally available navigation satellite systems, such as the Beidou third-generation satellite navigation system (BDS), global satellite positioning system (GPS), GLONASS, Galileo satellite navigation system (GALILEO), and can also be loaded with regional navigation systems, such as quasi-zenith system (QZSS), regional navigation satellite system (IRNSS), etc., in This is not limited.

Wherein, the above-mentioned sensor is arranged in an operating environment of the lawn mower, and the operating environment is an environment in which the lawn mower performs lawn mowing operations. The above detection information can be used to characterize obstacles existing in the working environment. For example, a camera is used to detect the working environment, and the detection information obtained is an image. By identifying the image, the obstacles present in the image and the corresponding positions of the obstacles can be determined. For another example, radar is used to detect the working environment, and the detection information obtained is an echo. By processing the echo using echo imaging technology, obstacles existing in the working environment and the first positioning information corresponding to the obstacles can be determined. For another example, thermal sensors and mechanical sensors are used to detect the working environment. The detection information obtained can be corresponding voltage signals, current signals, etc., which can be used to determine whether there are live animals in the working environment and the location of the lawnmower.

The above-mentioned first positioning information may be the orientation of the obstacle relative to the lawn mower, the specific longitude and latitude of the obstacle, or the positioning in the coordinate system constructed by the server, which is not limited here.

Among them, the above-mentioned original map can be used to represent the terrain of the working environment, such as plains, plateaus, hills, basins, mountains, rivers, etc., which are not limited here.

In specific implementation, the electronic device can obtain the detection information of the working environment from the sensor, determine the first positioning information of the obstacle based on the detection information, and determine the working map of the lawn mower based on the first positioning information of the obstacle and the original map of the working environment. . For example, the first positioning information of the obstacle is marked in the original map, and the working map is an area in the original map that has no obstacles and needs to be weeded.

In addition, when the lawn mower is cutting grass, if there are multiple obstacles in the working environment, for example, there is a small dynamic obstacle (such as a running pet dog) behind a larger obstacle, the sensor will When installed on the lawn mower body, due to light obstruction, long distance, etc., the sensor on the body is difficult to detect obstacles behind the obstacles. The sensor has a detection blind zone and is difficult to effectively detect obstacles behind the obstacles. avoid.

When the sensor is installed in the working environment of the lawn mower, since the sensor is separated from the lawn mower and installed on objects such as lawn guardrails and telephone poles, the detection range of the sensor is larger, which helps reduce the The detection blind area of the small sensor helps solve the obstacle avoidance problem caused by multiple obstacles blocking each other, and helps the lawn mower achieve accurate and flexible obstacle avoidance.

When determining the driving route of the lawn mower in the work map, the driving route of the lawn mower can be determined in the work map based on user input, or a certain driving route can be preset by the R&D personnel, or the electronic device can determine the driving route according to the input of the user. Factors such as the terrain of the work map, the type of grass being cut, and the power of the lawn mower can be flexibly set and are not limited here.

It can be seen that in the embodiment of the present application, the sensor is installed in the working environment of the lawn mower, and the electronic device can obtain the detection information of the working environment by the sensor. The detection information is used to characterize the obstacles existing in the working environment, and the detection information is determined based on the detection information. The first positioning information of the obstacle is used to obtain the original map of the working environment. The original map is used to characterize the terrain of the working environment. Based on the first positioning information and the original map, the working map of the lawn mower is determined. The working map of the lawn mower is determined based on the working map. Driving route, send the driving route to the lawn mower; in this way, setting the sensor in the working environment ensures that the sensor is in a relatively stable environmental state, which helps to ensure the accuracy of the sensor detection results, which in turn helps to ensure that obstacles are detected The accurate positioning helps the lawn mower achieve precise and flexible obstacle avoidance. At the same time, the stable environmental state also helps reduce the failure rate of the sensor, helps reduce the cost of using the lawn mower, and optimizes the user experience.

In a possible example, the server obtains the sensor's detection information of the working environment and the original map of the working environment, the server determines the first positioning information of the obstacle based on the detection information, and the server determines the location of the lawn mower based on the first positioning information and the original map. Working map, the server determines the driving route of the lawnmower based on the working map. The server sends the driving route to the lawnmower, and the lawnmower receives the driving route and mows the grass according to the driving route. In this way, it helps to achieve unified management and control of the lawn mower by the server.

In a possible example, the server obtains the sensor's detection information of the working environment and the original map of the working environment, determines the first positioning information of the obstacle based on the detection information, and sends the first positioning information and the original map to the lawnmower. The lawn mower receives the first positioning information and the original map, and the lawn mower determines the working map based on the first positioning information and the original map. In this way, it helps to reduce the data processing pressure on the server side.

In a possible example, the server obtains the sensor's detection information of the operating environment and the job The original map of the environment and sends detection information and the original map to the lawnmower. The lawn mower determines the first positioning information of the obstacle based on the detection information, the lawn mower determines the working map based on the first positioning information and the original map, and the lawn mower determines the driving route based on the working map. In this way, it helps to further reduce the data processing pressure on the server side.

In a possible example, the lawn mower obtains the sensor's detection information of the working environment and the original map of the working environment. The lawn mower determines the first positioning information of the obstacle based on the detection information. The lawn mower determines the first positioning information of the obstacle based on the first positioning information and the original map. The map determines the working map, and the lawn mower determines the driving route based on the working map. In this way, it helps to reduce the number of interactions between the lawn mower and the server, and helps reduce the impact of network communication factors on the lawn mower.

In a possible example, the detection information includes first sub-detection information corresponding to the first time and second sub-detection information corresponding to the second time. In the above step 102, the third sub-detection information of the obstacle is determined based on the detection information. Certain positioning information can include the following steps:

Step 1021: Determine whether the obstacle is displaced based on the first sub-detection information and the second sub-detection information;

Step 1022: When the obstacle is displaced, determine the corresponding type of the obstacle as a dynamic obstacle;

Step 1023: Predict the position of the obstacle based on the first sub-detection information and the second sub-detection information to obtain the predicted position;

Step 1024: Determine the predicted position and the current position as the first positioning information of the dynamic obstacle.

In specific implementation, if the first time is before the second time, the historical location of the obstacle can be determined based on the first sub-detection information, and the current location of the obstacle can be determined based on the second sub-detection information. On the contrary, if the second time is before the first time, the historical position of the obstacle is determined based on the second sub-detection information, and the current position of the obstacle is determined based on the first sub-detection information.

If the historical position is inconsistent with the current position, it can be determined that the obstacle has been displaced. When the obstacle is displaced, the corresponding type of the obstacle is determined as a dynamic obstacle. Since the dynamic obstacle may still continue to move at the next moment, the position of the dynamic obstacle at the next moment can be predicted, and the predicted position and the current position together are used as the first positioning information of the dynamic obstacle. interest. In this way, not only the current position of the dynamic obstacle is taken into account, but also the predicted position is also taken into consideration. When the lawn mower is mowing, if the dynamic obstacle is displaced at the next moment, it can help the lawn mower to move to the dynamic obstacle. Perform precise avoidance.

Further, step 1021 can be executed at a predetermined time interval. The predetermined time can be 5 seconds, 10 seconds, 30 seconds, 1 minute, 3 minutes, 5 minutes, 7 minutes, 10 minutes, etc., which helps to realize the dynamic obstacle detection. Accurate positioning helps the lawnmower accurately avoid dynamic obstacles.

Optionally, after the above-mentioned step 1024 determines the predicted position and the current position as the first positioning information of the dynamic obstacle, the method may further include the following steps:

Step 01. Obtain the second positioning information and motion information of the lawn mower. The motion information includes at least one of the following: the current motion speed, motion acceleration and wheel deflection angle of the lawn mower.

Step 02: Determine the driving route of the lawn mower based on the second positioning information and the motion information.

Step 03: Determine whether the lawn mower meets the dynamic obstacle based on the first positioning information and the driving route.

Step 04: If the lawn mower meets the dynamic obstacle, determine the encounter time between the lawn mower and the dynamic obstacle.

Step 05: If the encounter time is less than or equal to the preset duration threshold, send avoidance information to the lawn mower.

The above-mentioned preset duration threshold can be comprehensively set based on factors such as the current movement speed of the lawn mower, movement acceleration, the distance between the lawn mower and the obstacle, and is not limited here.

In specific implementation, the corresponding driving route of the lawn mower can be determined based on the movement speed, movement acceleration and wheel deflection angle of the lawn mower. If the driving route of the lawn mower overlaps with the positioning information of the dynamic obstacle, that is to say, the lawn mower may encounter the dynamic obstacle, and the encounter time is less than or equal to the preset duration threshold, then the server can send instructions to the lawn mower. The machine sends avoidance information to control the lawnmower to avoid obstacles.

If the driving route of the lawn mower does not overlap with the positioning information of the dynamic obstacle, there is no need to send avoidance information to the lawn mower, and the lawn mower can continue driving along the driving route.

If the encounter time between the lawnmower and the dynamic obstacle is greater than the preset time threshold, the dynamic obstacle will be considered The positioning information of the obstruction may still change. At this time, alarm information can be sent to the client communicating with the server to prompt the user, and the user can control the lawn mower according to the actual situation. If the user does not adjust the driving route of the lawn mower, the server can wait until the encounter time between the lawn mower and the dynamic obstacle is less than or equal to the preset time threshold, and then the server will send avoidance information to the lawn mower to control the lawn mowing. machine to avoid obstacles.

Furthermore, when there are multiple lawn mowers working simultaneously in the same operating environment, the obstacle avoidance solution in this embodiment can also be applied in the same way. In this case, the path planning provided by the embodiment of this application can be executed on the server side. method. For a certain lawn mower, other lawn mowers in the same operating environment are equivalent to dynamic obstacles. When the driving routes of multiple lawn mowers overlap, the server can control one or more of the lawn mowers to avoid them. . In this way, while ensuring the cutting effect of the lawn mower, compared with executing the path planning method provided by the embodiment of the present application on the lawn mower side, executing the path planning method provided by the embodiment of the present application on the server side also helps to reduce the number of The amount of data calculation on the server.

It can be seen that in the embodiment of the present application, the electronic device can obtain the second positioning information and motion information of the lawn mower. The motion information includes at least one of the following: the current motion speed, motion acceleration and wheel deflection angle of the lawn mower. According to The second positioning information and motion information are used to determine the driving route of the lawn mower. Based on the first positioning information and the driving route, it is determined whether the lawn mower meets a dynamic obstacle. If the lawn mower meets a dynamic obstacle, it is determined whether the lawn mower is to be mowered. The encounter time between the machine and the dynamic obstacle is determined. If the encounter time is less than or equal to the preset duration threshold, avoidance information is sent to the lawn mower; in this way, while ensuring the accuracy of obstacle avoidance, it also helps ensure the mowing effect. Optimize user experience.

In a possible example, the above step 102, determining the first positioning information of the obstacle based on the detection information may include the following steps:

Step 1025: If the obstacle does not shift, determine the type corresponding to the obstacle as a static obstacle.

Step 1026: Determine the current position as the first positioning information of the static obstacle.

In specific implementation, as can be seen from the above, if the historical position of the obstacle is consistent with the current position, it can be determined that the obstacle has not been displaced. When the obstacle is displaced, the corresponding type of the obstacle is determined as a static obstacle. Since the static obstacle is less likely to be displaced at the next moment, the current position of the static obstacle can be directly used as the first positioning information. This helps ensure The working map of the lawn mower covers a large area, and mowing a large area as much as possible helps ensure the mowing effect.

In a possible example, both the first sub-detection information and the second sub-detection information are image information, and the above-mentioned step 1021 determines the first sub-detection information and the second sub-detection information. Determining whether the obstacle has shifted may include the following steps:

Step 10211: Generate a detection image according to the image information.

Step 10212: Divide the detection image into at least one area.

Step 10213: For the current area, determine the first hue value and the first brightness value of the detection image corresponding to the first sub-detection information.

Step 10214: Determine the second hue value and the second brightness value of the detection image corresponding to the second sub-detection information.

Step 10215: Determine whether the obstacle is displaced based on the first hue value, the second hue value, the first brightness value, and the second brightness value.

It should be noted that the embodiment of the present application processes the hue value and brightness value of the detected image to determine whether the obstacle has been displaced, so the above detected image should be a color image.

In specific implementation, after the detection image is generated according to the image information, the detection image is divided into one or more areas. If the detection image is divided into multiple areas, the detection image can be divided equally, or the detection image can be divided according to the terrain of the working environment indicated in the original map, so that the detection images in one area are all the same terrain. The division method is not uniquely limited here. Furthermore, if the detection image is divided according to the terrain, the size of the divided areas should be set reasonably, which will help ensure accurate determination of obstacle types.

It can be understood that for any area, if no object in the area is displaced, the detection information at the previous and next moments, that is, the first sub-detection information and the second sub-detection information, the corresponding hue value and brightness value will not be has changed too much, and for situations where a lawn mower is used, the green background of the lawn makes it easier to identify obstacles in the lawn. Therefore, according to the first hue value, the second hue value, the first brightness value and the second The brightness value determines whether the obstacle has displaced, which helps ensure the accuracy of the determination result, thereby helping to ensure the accurate positioning of the obstacle and helping the lawn mower achieve accurate and flexible obstacle avoidance.

In a possible example, in the above step 10215, according to the first hue value, the second The hue value, the first brightness value and the second brightness value are used to determine whether the obstacle is displaced, which may include the following steps:

Step 102151: Determine the first change ratio corresponding to the hue value according to the first hue value and the second hue value;

Step 102152: Determine the second change ratio corresponding to the brightness value based on the first brightness value and the second brightness value;

Step 102153: Determine the relative change value corresponding to the current area according to the first change ratio, the second change ratio and the preset weight;

Step 102154: If the relative change value is greater than the preset threshold, determine that the obstacle has been displaced;

Step 102155: If the relative change value is less than or equal to the preset threshold, determine that the obstacle has not been displaced.

Among them, the above-mentioned preset threshold of the relative change value can be set by the user, or can be comprehensively set by the electronic device based on the main color of the working environment, the weather of the working environment, the terrain of the working environment and other factors, which will not be discussed here. limited.

Among them, the above-mentioned preset weights can be set by users or R&D personnel, or can be comprehensively set by electronic equipment based on factors such as the main color of the working environment, the weather of the working environment, the terrain of the working environment, etc., which are not limited here. .

In the specific implementation, considering that the most common color in the working environment of the lawn mower is green, and green is a rare color of obstacles (such as living animals, stones, etc.), if the current area is in the detection image at the previous moment If object A does not appear, but object A appears in the detection image at the current moment, the first change ratio of the hue value of the current area is larger. Therefore, the obstacle type can be initially judged by the first change ratio of the hue value of the current area, and it can also be concluded that the weight corresponding to the first change ratio should be greater than the weight corresponding to the second change ratio. Furthermore, considering that when an obstacle appears in the detection image of the current area, the brightness value corresponding to the current area will also change, therefore the obstacle type can also be assisted to determine the obstacle type through the second change ratio corresponding to the brightness value.

Taking the first time before the second time as an example, the first time (n-1) corresponds to the first sub-detection information, and the first sub-detection information corresponds to the first hue value P _(n-1) of the current area x in the detection image. (x) and the first lightness value Q _(n-1) (x), the second time (n) corresponds to the second sub-detection information, and the second sub-detection information corresponds to the second hue value P _(n) (x) of the current area x in the detection image and the second Lightness value Q _(n) (x). The first change ratio corresponding to the hue value is The second change ratio corresponding to the brightness value is The weight corresponding to the first change ratio α is The weight corresponding to the second change ratio β is The relative change value γ of the current area x can be determined as follows: in

It can be understood that when there is a dynamic obstacle in the current area, the first change ratio and/or the second change ratio corresponding to the current area is larger, and the relative change value is greater than the preset threshold. Therefore, when the relative change value is greater than the preset threshold, it can be considered that there is an obstacle in the current area and the obstacle is displaced. On the contrary, when there is no obstacle in the current area or the obstacle is a static obstacle, the first change ratio and/or the second change ratio corresponding to the current area is small, and the relative change value is less than or equal to the preset threshold. Therefore, when the relative change value is less than or equal to the preset threshold, it can be considered that there is no obstacle in the current area or that the obstacle has not been displaced.

In addition, the saturation of the current area can be taken into account in the relative change value. For example, for the current area, determine the first saturation value of the detection image corresponding to the first sub-detection information and the second saturation value of the detection image corresponding to the second sub-detection information, and determine the third change ratio δ corresponding to the saturation value. , determine the relative change value corresponding to the current area based on the first change ratio α, the second change ratio β, the third change ratio δ and the preset weight:

It can be seen that in the embodiment of the present application, the electronic device can determine the first change ratio corresponding to the hue value based on the first hue value and the second hue value, and determine the first change ratio corresponding to the brightness value based on the first brightness value and the second brightness value. The second change ratio determines the relative change value corresponding to the current area based on the first change ratio, the second change ratio and the preset weight. When the relative change value is greater than the preset threshold, it is determined that the obstacle has been displaced. After the relative change When the value is less than or equal to the preset threshold, it is determined that the obstacle has not displaced. In this way, determining whether the obstacle has displaced through the relative change value of the current area helps to ensure the accuracy of the determination result, thereby helping to ensure that the The accurate positioning of obstacles helps the lawn mower achieve precise and flexible obstacle avoidance.

Optionally, before obtaining the detection information of the working environment by the sensor and the original map of the working environment in the above step 101, the method further includes the following steps:

Step A01: Obtain the angle detection information of the sensor.

Step A02: Determine whether the detection angle of the sensor is abnormal based on the angle detection information.

Step A03: When the detection angle is abnormal, generate corresponding prompt information and send the prompt information to the client device.

Step A04: If no abnormality occurs in the detection angle, obtain the detection information of the working environment by the sensor.

The above angle detection information can be used to characterize the detection angle of the sensor. The detection angle of each sensor can be determined by multiple sensors monitoring each other, or the sensor can determine its detection angle by detecting landmark objects in the working environment.

Understandably, the shooting angle of the camera installed on the lawn guardrail may deviate, and the radar signal emission angle installed on the utility pole may deviate. Therefore, before obtaining the detection information of the sensor, you can first ensure the detection angle of the sensor. No exception occurred. Furthermore, when the detection angle of the sensor is only slightly shifted, it can still be considered that the detection angle is not abnormal. When the angular deviation amplitude of the sensor is greater than the amplitude threshold, the detection angle of the sensor is considered abnormal.

In specific implementation, the above amplitude threshold can be determined by detecting landmark objects in the working environment. For example, when the detection angle of the sensor deviates too much, object B cannot be detected within its initial detection range. Object B can be used as The sensor detects an angular landmark object. When the sensor cannot detect the landmark object, it can be considered that the angular offset amplitude of the sensor is greater than the amplitude threshold.

The above-mentioned client device can communicate with the electronic device. When the detection angle of the sensor is abnormal, the electronic device generates corresponding prompt information and sends it to the client device to prompt the user to check the sensor to ensure the detection of the sensor. The angle is correct.

It can be seen that in the embodiment of the present application, the electronic device can obtain the angle detection information of the sensor. The angle detection information is used to characterize the detection angle of the sensor. Based on the angle detection information, it is determined whether the detection angle of the sensor is abnormal. When the detection angle is abnormal, In this case, corresponding prompt information is generated and sent to the client device. The client device communicates with the electronic device and detects When there is no abnormality in the angle, the sensor's detection information of the working environment and the original map of the working environment are obtained. In this way, the sensor's detection information is only obtained when there is no abnormality in the detection angle, which helps to ensure the accuracy of the sensor detection results. This in turn helps ensure accurate positioning of obstacles and helps the lawn mower achieve accurate and flexible obstacle avoidance.

Consistent with the above embodiment shown in Figure 1B, please refer to Figure 2. Figure 2 is a schematic flowchart of a path planning method for a lawnmower provided by an embodiment of the present application, applied to the electronic device shown in Figure 1A, The electronic device can be a server or a lawn mower; the path planning method of this lawn mower includes:

Step 201: Obtain angle detection information of the sensor, where the angle detection information is used to characterize the detection angle of the sensor.

Step 202: Determine whether the detection angle of the sensor is abnormal based on the angle detection information.

Step 203: When the detection angle is abnormal, generate corresponding prompt information and send the prompt information to the client device, and the client device is communicatively connected to the electronic device;

Step 204: Under the condition that no abnormality occurs in the detection angle, obtain the detection information of the working environment by the sensor and the original map of the working environment. The sensor is arranged on the working area of the lawn mower. In the environment, the working environment is an environment where the lawn mower performs lawn mowing operations, the detection information is used to characterize obstacles existing in the working environment, and the original map is used to characterize the terrain of the working environment. .

Step 205: Determine the first positioning information of the obstacle based on the detection information.

Step 206: Determine a working map of the lawn mower based on the first positioning information and the original map.

Step 207: Determine the driving route of the lawn mower according to the working map.

The specific description of the above-mentioned steps 201 to 207 may refer to the corresponding steps of the path planning method of the lawn mower described in FIG. 1B , and will not be described again here.

It can be seen that in the path planning method of the lawn mower described in the embodiment of the present application, the sensor is arranged in the working environment of the lawn mower, and the electronic device can obtain the angle detection information of the sensor, and the angle detection information is used for Characterizing the detection angle of the sensor, determining whether the detection angle of the sensor is abnormal based on the angle detection information, and generating corresponding prompt information and sending the prompt information to the client if the detection angle is abnormal. device sends, the client device Communicatively connected with the electronic device, and when no abnormality occurs in the detection angle, the detection information of the working environment by the sensor and the original map of the working environment are obtained, and the detection information is used to characterize Obstacles existing in the working environment, the original map is used to characterize the terrain of the working environment, the first positioning information of the obstacle is determined based on the detection information, and the first positioning information and the The original map determines the working map of the lawn mower, and determines the driving route of the lawn mower based on the working map; in this way, setting the sensor in the operating environment ensures that the sensor is in a relatively stable environmental state, which helps It ensures the accuracy of the sensor detection results and obtains the sensor detection information when there is no abnormality in the sensor detection angle, which helps to ensure the accurate positioning of obstacles and helps the lawn mower achieve accurate and flexible obstacle avoidance. At the same time, it can smoothly Environmental status also helps reduce sensor failure rates, helps reduce the cost of lawn mower use, and optimizes user experience.

Consistent with the above embodiments, please refer to Figure 3. Figure 3 is a schematic structural diagram of an electronic device provided by an embodiment of the present application. As shown in the figure, the electronic device includes a processor, a memory and data stored on the memory. Computer programs or instructions, wherein the above computer programs or instructions are stored in the above memory and configured to be executed by the above processor. The electronic device may also include a communication interface. In the embodiment of this application, the above program includes instructions for performing the following steps:

The driving route of the lawn mower is determined based on the working map.

It can be seen that in the electronic device described in the embodiment of the present application, the sensor is installed in the working environment of the lawn mower. The electronic device can obtain the detection information of the working environment by the sensor, and the detection information is used to characterize obstacles existing in the working environment. , determine the first positioning information of the obstacle based on the detection information, and obtain the original map of the working environment. The original map is used to characterize the terrain of the working environment. According to the first positioning information and the original map, determine the working map of the lawn mower. According to the working map Determine the row of lawn mowers driving route; in this way, setting the sensor in the operating environment ensures that the sensor is in a relatively stable environmental state, which helps to ensure the accuracy of the sensor detection results, which in turn helps ensure the accurate positioning of obstacles and helps the lawn mower It achieves accurate and flexible obstacle avoidance. At the same time, the stable environmental state also helps reduce the failure rate of sensors, helps reduce the cost of using the lawn mower, and optimizes the user experience.

In a possible example, the detection information includes first sub-detection information corresponding to the first time and second sub-detection information corresponding to the second time. When the first sub-detection information of the obstacle is determined based on the detection information, In terms of positioning information, the above procedure includes instructions for performing the following steps:

Determine whether the obstacle is displaced according to the first sub-detection information and the second sub-detection information;

When the obstacle is displaced, determine the corresponding type of the obstacle as a dynamic obstacle;

Predict the position of the obstacle according to the first sub-detection information and the second sub-detection information to obtain a predicted position;

The predicted position and the current position are determined as the first positioning information of the dynamic obstacle.

In a possible example, in terms of determining the first positioning information of the obstacle based on the detection information, the above program includes instructions for performing the following steps:

When the obstacle does not shift, determine the type corresponding to the obstacle as a static obstacle;

The current position is determined as the first positioning information of the static obstacle.

In a possible example, both the first sub-detection information and the second sub-detection information are image information, and in the step of determining the first sub-detection information and the second sub-detection information, the In terms of whether the obstacle is displaced, the above program includes instructions for performing the following steps:

Generate a detection image according to the image information;

Divide the detection image into at least one area;

For the current area, determine the first hue value and the first brightness value of the detection image corresponding to the first sub-detection information;

Determine the second hue value and the second brightness value of the detection image corresponding to the second sub-detection information;

According to the first hue value, the second hue value, the first brightness value and the second brightness value degree value to determine whether the obstacle has been displaced.

In a possible example, in terms of determining whether the obstacle is displaced based on the first hue value, the second hue value, the first brightness value, and the second brightness value, the above-mentioned The program includes instructions for performing the following steps:

Determine a first change ratio corresponding to the hue value according to the first hue value and the second hue value;

Determine a second change ratio corresponding to the brightness value according to the first brightness value and the second brightness value;

Determine the relative change value corresponding to the current area according to the first change ratio, the second change ratio and the preset weight;

When the relative change value is greater than the preset threshold, it is determined that the obstacle is displaced;

If the relative change value is less than or equal to the preset threshold, it is determined that the obstacle has not been displaced.

In a possible example, before obtaining the detection information of the working environment by the sensor and the original map of the working environment, the above program further includes instructions for performing the following steps:

Obtain angle detection information of the sensor, where the angle detection information is used to characterize the detection angle of the sensor;

Determine whether the detection angle of the sensor is abnormal according to the angle detection information;

When the detection angle is abnormal, generate corresponding prompt information and send the prompt information to a client device, and the client device is communicatively connected to the electronic device;

When there is no abnormality in the detection angle, the detection information of the working environment by the sensor is obtained.

The above mainly introduces the solution of the embodiment of the present application from the perspective of the execution process on the method side. It can be understood that, in order to implement the above functions, it includes hardware structures and/or software modules corresponding to each function. Persons skilled in the art should easily realize that, with the units and algorithm steps of each example described in conjunction with the embodiments provided herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a certain function is driven by hardware or computer software to be implemented depends on the specific application and design constraints of the technical solution. Skilled artisans may implement the described functionality using different methods for each specific application, but such implementations should not be considered beyond the scope of this application.

Embodiments of the present application can divide functional units according to the above method examples. For example, each functional unit can be divided corresponding to each function, or two or more functions can be integrated into one processing unit. The above integrated units can be implemented in the form of hardware or software functional units. It should be noted that the division of units in the embodiment of the present application is schematic and is only a logical function division. In actual implementation, there may be other division methods.

Consistent with the above embodiment, please refer to Figure 4A. Figure 4A is a functional unit block diagram of a lawnmower path planning device provided by an embodiment of the present application. The device 400 is applied to electronic equipment, and the electronic equipment can be a server. It can also be a lawn mower; the device 400 includes: an acquisition unit 401 and a determination unit 402, wherein,

The acquisition unit 401 is used to obtain the detection information of the working environment by the sensor and the original map of the working environment. The detection information is used to characterize obstacles existing in the working environment. The original map Terrain used to characterize the operating environment;

The determining unit 402 is configured to determine the first positioning information of the obstacle according to the detection information;

The determining unit 402 is also configured to determine a working map of the lawn mower based on the first positioning information and the original map;

The determining unit 402 is also used to determine the driving route of the lawn mower according to the working map.

It can be seen that in the lawn mower path planning device described in the embodiment of the present application, the sensor is installed in the working environment of the lawn mower to obtain the detection information of the working environment by the sensor, and the detection information is used to characterize obstacles existing in the working environment. object, determine the first positioning information of the obstacle based on the detection information, and obtain the original map of the working environment. The original map is used to characterize the terrain of the working environment. Based on the first positioning information and the original map, the working map of the lawn mower is determined. According to the working The map determines the driving route of the lawn mower; in this way, setting the sensor in the working environment to ensure that the sensor is in a relatively stable environmental state helps ensure the accuracy of the sensor detection results, which in turn helps ensure the accuracy of obstacles. positioning to help the lawnmower achieve precise and flexible obstacle avoidance. At the same time, the stable environmental state also helps It is used to reduce the failure rate of sensors, help reduce the cost of using lawn mowers, and optimize user experience.

In a possible example, the detection information includes first sub-detection information corresponding to the first time and second sub-detection information corresponding to the second time. When the first sub-detection information of the obstacle is determined based on the detection information, In terms of positioning information, the determining unit 402 is specifically used to:

In a possible example, in determining the first positioning information of the obstacle based on the detection information, the determining unit 402 is specifically configured to:

In a possible example, both the first sub-detection information and the second sub-detection information are image information, and in the step of determining the first sub-detection information and the second sub-detection information, the In terms of whether the obstacle is displaced, the determining unit 402 is specifically used to:

Generate a detection image according to the image information;

Divide the detection image into at least one area;

Whether the obstacle is displaced is determined based on the first hue value, the second hue value, the first brightness value, and the second brightness value.

In a possible example, in determining whether the obstacle is displaced based on the first hue value, the second hue value, the first brightness value, and the second brightness value, The determination unit 402 is specifically used for:

In a possible example, as shown in Figure 4B, compared with the above-mentioned Figure 4A, the device 400 may further include: a generating unit 404, wherein,

The acquisition unit 401 is also used to acquire angle detection information of the sensor, where the angle detection information is used to characterize the detection angle of the sensor;

The determination unit 402 is also configured to determine whether the detection angle of the sensor is abnormal based on the angle detection information;

The generating unit 404 is also configured to generate corresponding prompt information and send the prompt information to a client device when the detection angle is abnormal, and the client device is communicatively connected with the electronic device;

The acquisition unit 401 is also configured to acquire the detection information of the working environment by the sensor when no abnormality occurs in the detection angle.

It can be seen that in the lawn mower path planning device provided by the embodiment of the present application, the sensor is arranged in the working environment of the lawn mower. The lawn mower path planning device can obtain the detection information of the working environment from the sensor, and the detection information is used to characterize the operation. For obstacles existing in the environment, the first positioning information of the obstacle is determined based on the detection information, and the original map of the working environment is obtained. The original map is used to characterize the terrain of the working environment, and the lawnmower is determined based on the first positioning information and the original map. Work map, determine the driving route of the lawn mower based on the work map, and send the driving route to the lawn mower; in this way, setting the sensor in the working environment ensures that the sensor is in a relatively stable environmental state, which helps to ensure that the sensor detects The accuracy of the measurement results will help ensure the accurate positioning of obstacles and help the lawn mower achieve accurate and flexible obstacle avoidance. At the same time, a stable environmental state will also help reduce the failure rate of the sensor and help reduce the use of the lawn mower. cost and optimize user experience.

It can be understood that the functions of each program module of the lawn mower path planning device of this embodiment can be specifically implemented according to the method in the above method embodiment, and the specific implementation process can refer to the relevant description of the above method embodiment, which is not included here. Again.

Consistent with the above embodiments, please refer to Figure 5 , which is a schematic diagram of a lawnmower path planning system 500 provided by an embodiment of the present application. The system 500 includes a sensor 501, a server 502 and a lawnmower 503, where, The sensor 501 is installed in the working environment of the lawn mower 503. The working environment is the environment in which the lawn mower 503 performs lawn mowing operations. The sensor 501 is used to detect the working environment and obtain detection information. The detection information is used to characterize the presence in the working environment. obstacles; the server 502 is communicatively connected with the sensor 501, and the server 502 is used to obtain the detection information and the original map of the working environment, and the original map is used to represent the terrain of the working environment; and is used to determine the first positioning information of the obstacle based on the detection information. ; and used to determine the working map of the lawn mower 503 based on the first positioning information and the original map; and used to determine the driving route of the lawn mower 503 based on the working map; the lawn mower 503 is connected to the server 502 through communication, and the lawn mower 503 communicates with the server 502. 503 is used to receive the driving route sent by the server 502.

It can be seen that in the path planning system of the embodiment of the present application, the sensor is installed in the working environment of the lawn mower, and the detection information of the working environment by the sensor is obtained through the server. The detection information is used to characterize obstacles existing in the working environment. Determine the first positioning information of the obstacle based on the detection information, and obtain the original map of the working environment. The original map is used to characterize the terrain of the working environment. The server determines the working map of the lawn mower based on the first positioning information and the original map, and obtains the working map of the lawn mower based on the working environment. The map determines the driving route of the lawn mower, and the lawn mower receives the driving route sent by the server; in this way, setting the sensor in the operating environment ensures that the sensor is in a relatively stable environmental state, which helps ensure the accuracy of the sensor detection results. This in turn helps ensure the accurate positioning of obstacles and helps the lawn mower achieve accurate and flexible obstacle avoidance. At the same time, a stable environmental state also helps reduce the failure rate of the sensor, helps reduce the cost of using the lawn mower, and optimizes the user experience.

An embodiment of the present application also provides a computer storage medium, wherein the computer storage medium stores a computer program for electronic data exchange, and the computer program causes the computer to execute the above method. Some or all steps of any method described in the method examples.

Embodiments of the present application also provide a computer program product. The computer program product includes a computer program, and the computer program is operable to cause the computer to execute some or all of the steps of any method described in the above method embodiments.

It should be noted that for the sake of simple description, the foregoing method embodiments are expressed as a series of action combinations. However, those skilled in the art should know that the present application is not limited by the described action sequence. Because in accordance with this application, certain steps may be performed in other orders or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily necessary for this application.

In the above embodiments, each embodiment is described with its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

In the several embodiments provided in this application, it should be understood that the disclosed device can be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of the above units is only a logical function division. In actual implementation, there may be other divisions. For example, multiple units or components may be combined or integrated. to another system, or some features can be ignored, or not implemented. On the other hand, the coupling or direct coupling or communication connection between each other shown or discussed may be through some interfaces, and the indirect coupling or communication connection of the devices or units may be in electrical or other forms.

The units described above as separate components may or may not be physically separated. The components shown as units may or may not be physical units, that is, they may be located in one place, or they may be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present application can be integrated into one processing unit, each unit can exist physically alone, or two or more units can be integrated into one unit. The above integrated units can be implemented in the form of hardware or software functional units.

If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, this application The technical solution requested is essentially or contributes to the existing technology, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a memory and includes a number of instructions to enable A computer device (which can be a personal computer, a server or a network device, etc.) executes all or part of the steps of the above methods in various embodiments of the present application. The aforementioned memory includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

Those of ordinary skill in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing relevant hardware through a program. The program can be stored in a computer-readable memory. The memory can include: a flash disk. , read-only memory (English: Read-Only Memory, abbreviation: ROM), random access device (English: Random Access Memory, abbreviation: RAM), magnetic disk or optical disk, etc.

The embodiments of the present application have been introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method and the core idea of the present application; at the same time, for Those of ordinary skill in the art will have changes in the specific implementation and application scope based on the ideas of the present application. In summary, the content of this description should not be understood as a limitation of the present application.

Claims

A path planning method for a lawn mower, characterized in that the method includes:

Obtain the detection information of the working environment by the sensor and the original map of the working environment. The sensor is arranged in the working environment of the lawn mower, and the working environment is the environment in which the lawn mower performs lawn mowing operations. , the detection information is used to characterize the obstacles existing in the working environment, and the original map is used to characterize the terrain of the working environment;

Determine the first positioning information of the obstacle based on the detection information;

Determine a working map of the lawn mower based on the first positioning information and the original map;

The driving route of the lawn mower is determined based on the working map.
The method according to claim 1, characterized in that the detection information includes first sub-detection information corresponding to the first time and second sub-detection information corresponding to the second time, and the said detection information is determined based on the detection information. The first positioning information of the obstacle includes:

Determine whether the obstacle is displaced according to the first sub-detection information and the second sub-detection information;

When the obstacle is displaced, determine the corresponding type of the obstacle as a dynamic obstacle;

Predict the position of the obstacle according to the first sub-detection information and the second sub-detection information to obtain a predicted position;

The predicted position and the current position are determined as the first positioning information of the dynamic obstacle.
The method of claim 2, wherein determining the first positioning information of the obstacle based on the detection information includes:

When the obstacle does not shift, determine the type corresponding to the obstacle as a static obstacle;

The current position is determined as the first positioning information of the static obstacle.
The method according to claim 2, characterized in that the first sub-detection information and the The second sub-detection information is all image information, and determining whether the obstacle is displaced based on the first sub-detection information and the second sub-detection information includes:

Generate a detection image according to the image information;

Divide the detection image into at least one area;

For the current area, determine the first hue value and the first brightness value of the detection image corresponding to the first sub-detection information;

Determine the second hue value and the second brightness value of the detection image corresponding to the second sub-detection information;

Whether the obstacle is displaced is determined based on the first hue value, the second hue value, the first brightness value, and the second brightness value.
The method according to claim 4, characterized in that, determining whether the obstacle is based on the first hue value, the second hue value, the first brightness value and the second brightness value. Displacements occur, including:

Determine a first change ratio corresponding to the hue value according to the first hue value and the second hue value;

Determine a second change ratio corresponding to the brightness value according to the first brightness value and the second brightness value;

Determine the relative change value corresponding to the current area according to the first change ratio, the second change ratio and the preset weight;

When the relative change value is greater than the preset threshold, it is determined that the obstacle is displaced;

If the relative change value is less than or equal to the preset threshold, it is determined that the obstacle has not been displaced.
The method according to claim 1, characterized in that, applied to electronic equipment, before obtaining the detection information of the working environment by the sensor and the original map of the working environment, the method further includes:

Obtain angle detection information of the sensor, where the angle detection information is used to characterize the detection angle of the sensor;

Determine whether the detection angle of the sensor is abnormal according to the angle detection information;

When the detection angle is abnormal, generate corresponding prompt information and send the prompt information to a client device, and the client device is communicatively connected to the electronic device;

When there is no abnormality in the detection angle, the detection information of the working environment by the sensor is obtained.
A path planning system for a lawnmower, characterized in that the system includes:

Sensor, the sensor is arranged in the working environment of the lawn mower, and the working environment is the environment in which the lawn mower performs lawn mowing operations. The sensor is used to detect the working environment and obtain detection information, so The detection information is used to characterize obstacles existing in the working environment;

A server, the server is communicatively connected to the sensor, the server is used to obtain the detection information and the original map of the working environment, the original map is used to characterize the terrain of the working environment; and the server is used to obtain the detection information and the original map of the working environment; The detection information determines the first positioning information of the obstacle; and is used to determine the working map of the lawn mower according to the first positioning information and the original map; and is used to determine the working map of the lawn mower according to the working map. Describe the driving route of the lawn mower;

A lawn mower, the lawn mower is communicatively connected to the server, and the lawn mower is used to receive the driving route sent by the server.
A lawnmower path planning device, characterized in that the device includes: an acquisition unit and a determination unit, wherein,

The acquisition unit is used to acquire the detection information of the working environment by the sensor and the original map of the working environment. The sensor is arranged in the working environment of the lawn mower, and the working environment is The environment in which the lawn mower performs lawn mowing operations, the detection information is used to characterize obstacles existing in the operating environment, and the original map is used to characterize the terrain of the operating environment;

The determining unit is configured to determine the first positioning information of the obstacle based on the detection information;

The determining unit is also configured to determine a working map of the lawn mower based on the first positioning information and the original map;

The determining unit is also used to determine the driving route of the lawn mower according to the working map.
An electronic device, characterized by comprising a processor and a memory, the memory being used to store one or more programs and configured to be executed by the processor, the program including being used to execute claims 1-6 Instructions for steps in any of the methods described.
A computer-readable storage medium, characterized by storing a computer program for electronic data exchange, wherein the computer program causes a computer to execute instructions for steps in the method according to any one of claims 1-6.