WO2023202423A1 - Procédé de planification de trajet de tondeuse et dispositif associé - Google Patents

Procédé de planification de trajet de tondeuse et dispositif associé Download PDF

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Publication number
WO2023202423A1
WO2023202423A1 PCT/CN2023/087548 CN2023087548W WO2023202423A1 WO 2023202423 A1 WO2023202423 A1 WO 2023202423A1 CN 2023087548 W CN2023087548 W CN 2023087548W WO 2023202423 A1 WO2023202423 A1 WO 2023202423A1
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WIPO (PCT)
Prior art keywords
detection information
obstacle
lawn mower
working environment
sensor
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PCT/CN2023/087548
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English (en)
Chinese (zh)
Inventor
袁理
廖孟�
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松灵机器人(深圳)有限公司
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Publication of WO2023202423A1 publication Critical patent/WO2023202423A1/fr

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    • 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

Definitions

  • 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.
  • 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.
  • embodiments of the present application provide a path planning method for a lawn mower, the method including:
  • 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;
  • the driving route of the lawn mower is determined based on the working map.
  • inventions of the present application provide a path planning system for a lawn mower.
  • the system includes:
  • the senor 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 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • Electronic devices can be mobile phones, tablets, wearable electronic devices with wireless communication functions (such as smart watches), etc.
  • 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.
  • 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.
  • 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.
  • FIG. 1A 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).
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • BDS Beidou third-generation satellite navigation system
  • GPS global satellite positioning system
  • GLONASS GLONASS
  • Galileo satellite navigation system GALILEO
  • regional navigation systems such as quasi-zenith system (QZSS), regional navigation satellite system (IRNSS), etc.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the first positioning information of the obstacle is marked in the original map
  • the working map is an area in the original map that has no obstacles and needs to be weeded.
  • the senor 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.
  • 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.
  • 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.
  • the senor 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the detection information includes first sub-detection information corresponding to the first time and second sub-detection information corresponding to the second time.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the dynamic obstacle will be considered The positioning information of the obstruction may still change.
  • 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.
  • 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.
  • the obstacle avoidance solution in this embodiment can also be applied in the same way.
  • the path planning provided by the embodiment of this application can be executed on the server side. method.
  • the server can control one or more of the lawn mowers to avoid them. .
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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. .
  • 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.
  • the first time (n-1) corresponds to the first sub-detection information
  • the first sub-detection information corresponds to the first hue value P (n-1) of the current area x in the detection image.
  • the second time (n) corresponds to the second sub-detection information
  • 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 ⁇ is The weight corresponding to the second change ratio ⁇ is The relative change value ⁇ of the current area x can be determined as follows: in
  • 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.
  • 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.
  • 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 ⁇ corresponding to the saturation value. , determine the relative change value corresponding to the current area based on the first change ratio ⁇ , the second change ratio ⁇ , the third change ratio ⁇ and the preset weight:
  • 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.
  • the relative change value is greater than the preset threshold, it is determined that the obstacle has been displaced.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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
  • 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.
  • 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.
  • the senor 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.
  • the 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.
  • Figure 3 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 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.
  • the above program includes instructions for performing the following steps:
  • 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;
  • the driving route of the lawn mower is determined based on the working map.
  • the senor 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.
  • 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.
  • 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.
  • the detection information includes first sub-detection information corresponding to the first time and second sub-detection information corresponding to the second time.
  • the above procedure includes instructions for performing the following steps:
  • the predicted position and the current position are determined as the first positioning information of the dynamic obstacle.
  • the above program includes instructions for performing the following steps:
  • the current position is determined as the first positioning information of the static obstacle.
  • both the first sub-detection information and the second sub-detection information are image information
  • the above program includes instructions for performing the following steps:
  • 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.
  • the program includes instructions for performing the following steps:
  • the above program 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:
  • angle detection information of the sensor where the angle detection information is used to characterize the detection angle of the sensor
  • the detection angle 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;
  • the detection information of the working environment by the sensor is obtained.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the detection information includes first sub-detection information corresponding to the first time and second sub-detection information corresponding to the second time.
  • the determining unit 402 is specifically used to:
  • the predicted position and the current position are determined as the first positioning information of the dynamic obstacle.
  • the determining unit 402 is specifically configured to:
  • the current position is determined as the first positioning information of the static obstacle.
  • 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:
  • 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 determination unit 402 is specifically used for:
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • FIG. 5 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.
  • 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.
  • 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.
  • 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.
  • the disclosed device can be implemented in other ways.
  • the device embodiments described above are only illustrative.
  • the division of the above units is only a logical function division. In actual implementation, there may be other divisions.
  • multiple units or components may be combined or integrated. to another system, or some features can be ignored, or not implemented.
  • 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.
  • 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.
  • the 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.
  • 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.
  • 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.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (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)

Abstract

Des modes de réalisation de la présente demande concernent un procédé de planification de trajet d'une tondeuse et un dispositif associé. Le procédé consiste à : obtenir des informations de détection du capteur pour l'environnement de fonctionnement et une carte d'origine de l'environnement de fonctionnement, le capteur étant disposé dans l'environnement de fonctionnement de la tondeuse, l'environnement de fonctionnement étant un environnement pour que la tondeuse effectue une opération de tonte, les informations de détection étant utilisées pour représenter un obstacle existant dans l'environnement de fonctionnement, et la carte d'origine étant utilisée pour représenter le terrain de l'environnement de fonctionnement ; déterminer des premières informations de positionnement de l'obstacle en fonction des informations de détection ; déterminer une carte de travail de la tondeuse selon les premières informations de positionnement et la carte d'origine ; et déterminer un itinéraire de déplacement de la tondeuse selon la carte de travail. Les modes de réalisation de la présente demande sont utilisés, ce qui facilite l'amélioration de la précision d'un résultat de détection, et facilite également la réduction d'un taux de défaut du capteur.
PCT/CN2023/087548 2022-04-18 2023-04-11 Procédé de planification de trajet de tondeuse et dispositif associé WO2023202423A1 (fr)

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CN114690783A (zh) * 2022-04-18 2022-07-01 松灵机器人(深圳)有限公司 割草机的路径规划方法及相关装置

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CN114690783A (zh) * 2022-04-18 2022-07-01 松灵机器人(深圳)有限公司 割草机的路径规划方法及相关装置

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