WO2024001880A1

WO2024001880A1 - Intelligent obstacle avoidance method and device, mowing robot, and storage medium

Info

Publication number: WO2024001880A1
Application number: PCT/CN2023/101484
Authority: WO
Inventors: 张伟夫; 王宁; 黄振昊
Original assignee: 松灵机器人(深圳)有限公司
Priority date: 2022-06-29
Filing date: 2023-06-20
Publication date: 2024-01-04
Also published as: CN115053689A

Abstract

According to an intelligent obstacle avoidance method provided by the present application, a mowing robot can operate according to an initial path corresponding to a preset operation mode; when there is an obstacle in the initial path, an arc path running in a current mowing direction is generated, the mowing robot is controlled to operate according to the arc path, and the steps are repeatedly executed till all obstacles are bypassed. In embodiments of the present application, an obstacle avoidance path can be adaptively generated, and the obstacle avoidance efficiency and flexibility of the mowing robot are improved.

Description

Intelligent obstacle avoidance method, device, lawn mowing robot and storage medium

This application requires the priority of the Chinese patent application submitted to the China Patent Office on June 29, 2022, with the application number CN202210763666.7 and the application name "Intelligent obstacle avoidance method, device, lawn mowing robot and storage medium", all of which The contents are incorporated into this application by reference.

Technical field

This application relates to the field of computer technology, and specifically to an intelligent obstacle avoidance method, device, lawn mowing robot and storage medium.

Background technique

With the continuous improvement of people's living standards, people have higher and higher requirements for leisure environment. Private gardens, parks, playgrounds and other venues have become the best places for people to relax and entertain. However, private gardens, parks, playgrounds and other grasslands need Renovate from time to time to ensure beautiful appearance. At present, lawn mowing robots are usually used to replace manual trimming.

However, lawn mowing robots often encounter various obstacles during their work. Existing lawn mowing robots can detect obstacles through the identification device installed on the robot, and then use intelligent algorithms, visual graphics methods, free space methods, Navigation path planning methods such as the artificial potential field method are used to avoid obstacles. However, as long as an obstacle is detected in this method, obstacle avoidance is performed uniformly according to the preset path. There is no adaptive adjustment according to the specific obstacle, so it cannot be adapted. Different usage scenarios, poor flexibility and low obstacle avoidance efficiency.

Contents of the invention

Embodiments of the present application provide an intelligent obstacle avoidance method, device, lawn mower robot, and storage medium, which can generate obstacle avoidance paths based on the adaptability of obstacles and improve the obstacle avoidance efficiency and flexibility of the lawn mower robot.

In the first aspect, embodiments of the present application provide an intelligent obstacle avoidance method, including:

S11. Turn on the preset working mode of the lawn mowing robot, so that the lawn mowing robot operates according to the initial path corresponding to the preset working mode;

S12. Determine whether there are obstacles in the initial path during the operation;

S13. If it exists, generate an arc path traveling in the current mowing direction, and use the arc path to The path controls the lawn mowing robot to perform operations;

S14. Repeat steps S12 and S13 until all obstacles in the initial path are bypassed.

In one embodiment, generating an arc path traveling along the current mowing direction includes:

Obtain characteristic information of the obstacle;

According to the characteristic information of the obstacle and the initial path, an arc path traveling along the current mowing direction is generated.

In one embodiment, activating the default working mode of the lawn mower robot includes:

Detect at least one obstacle around the lawn mowing robot to obtain position information of the at least one obstacle;

Determine the distribution range of the at least one obstacle relative to the lawn mowing robot based on the position information;

When the distribution range exceeds the preset distribution range, the preset working mode of the lawn mowing robot is automatically turned on.

In one embodiment, the characteristic information of the obstacle includes the horizontal length and/or angular range of the obstacle;

Generating an arc path traveling in the current mowing direction based on the characteristic information of the obstacle and the initial path includes:

Calculate radian parameters and arc length parameters based on the horizontal length and/or angular range of the obstacle;

According to the arc parameter, the arc length parameter and the initial path, a circular arc path traveling along the current mowing direction is generated.

In one embodiment, generating a circular arc path traveling in the current mowing direction based on the arc parameter, arc length parameter and the initial path includes:

Determine the initial arc according to the radian parameter and arc length parameter;

The initial arc is intersected with the initial path to generate a circular arc path traveling in the current mowing direction according to the intersection point.

In one embodiment, generating an arc path along the current mowing direction based on the characteristic information of the obstacle and the initial path includes:

The angular range of the obstacle is divided into left deflection angles according to the orientation of the lawn mower robot. degree and right deflection angle;

Compare the left deflection angle and the right deflection angle to determine the deflection direction;

A circular arc path traveling in the current mowing direction is generated according to the deflection direction.

In one embodiment, controlling the lawn mowing robot to perform operations according to the arc path includes:

Find the starting point of the arc path on the initial path;

The lawn mowing robot is controlled to retreat to the starting point to perform operations according to the arc path.

In one embodiment, the method further includes:

When controlling the lawn mowing robot to perform operations according to the arc path, determine whether there is a second obstacle in the arc path;

Generate a second arc path traveling along the current mowing direction according to the characteristic information of the second obstacle, the initial path and the current position of the lawn mowing robot;

The lawn mowing robot is controlled to perform operations according to the second arc path.

In the second aspect, embodiments of the present application provide an intelligent obstacle avoidance device, including:

A control module for turning on the preset working mode of the lawn mowing robot, so that the lawn mowing robot operates according to the initial path corresponding to the preset working mode;

A judgment module used to judge whether there are obstacles in the initial path during the operation;

A generation module, configured to generate a circular arc path traveling in the current mowing direction when the judgment module determines yes, and control the lawn mowing robot to perform operations according to the circular arc path;

The judgment module and the generation module run repeatedly until all obstacles in the initial path are bypassed.

In a third aspect, embodiments of the present application provide a lawn mowing robot, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the above Steps of intelligent obstacle avoidance method.

In a fourth aspect, embodiments of the present application provide a storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of the intelligent obstacle avoidance method as described above are implemented.

The intelligent obstacle avoidance method provided by the embodiment of the present application can turn on the preset working mode of the lawn mowing robot, so that the lawn mowing robot operates according to the initial path corresponding to the preset working mode, and determines whether there are obstacles in the initial path during the operation. , if it exists, generate an arc traveling in the current mowing direction. path, and control the lawn mower robot to perform operations according to the arc path, and repeat the above steps until all obstacles in the initial path are bypassed. By detecting obstacles in a preset working mode and generating arc paths for obstacle avoidance after detecting obstacles, the embodiments of the present application can adaptively generate obstacle avoidance paths and improve the obstacle avoidance efficiency of the lawn mowing robot. flexibility.

Description of drawings

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

Figure 1 is a schematic scene diagram of the intelligent obstacle avoidance method provided by the embodiment of the present application;

Figure 2 is a schematic flow chart of an intelligent obstacle avoidance method provided by an embodiment of the present application;

Figure 3 is a schematic diagram of a route design provided by an embodiment of the present application;

Figure 4 is a schematic diagram of another route design provided by an embodiment of the present application;

Figure 5 is a schematic diagram of an arc path provided by an embodiment of the present application;

Figure 6 is a schematic diagram of another arc path provided by an embodiment of the present application;

Figure 7 is another schematic flow chart of the intelligent obstacle avoidance method provided by the embodiment of the present application;

Figure 8 is a schematic diagram of another arc path provided by an embodiment of the present application;

Figure 9 is a schematic diagram of yet another arc path provided by an embodiment of the present application;

Figure 10 is a schematic diagram of a second arc path provided by an embodiment of the present application;

Figure 11 is a schematic structural diagram of an intelligent obstacle avoidance device provided by an embodiment of the present application;

Figure 12 is another structural schematic diagram of an intelligent obstacle avoidance device provided by an embodiment of the present application;

Figure 13 is a schematic structural diagram of an electronic device provided by an embodiment of the present application.

Detailed ways

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without making creative efforts fall within the scope of protection of this application.

It should be noted that when an element is referred to as being "fixed to" or "disposed to" another element, it can directly Connected to another component or indirectly connected to the other component. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element. In addition, the connection can be used for either fixation or circuit connection.

It should be understood that the terms "length", "width", "top", "bottom", "front", "back", "left", "right", "vertical", "horizontal", "top" The orientations or positional relationships indicated by "bottom", "inner", "outside", etc. are based on the orientations or positional relationships shown in the drawings. They are only for convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply the following. It is intended that devices or elements must have a specific orientation, be constructed and operate in a specific orientation and therefore are not to be construed as limitations of the invention.

In addition, the terms “first” and “second” are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of indicated technical features. Therefore, features defined as "first" and "second" may explicitly or implicitly include one or more of these features. In the description of the embodiments of this application, "plurality" means two or more, unless otherwise explicitly and specifically limited.

Embodiments of the present application provide an intelligent obstacle avoidance method, device, lawn mowing robot, and storage medium.

Among them, the intelligent obstacle avoidance device can be integrated in the microcontroller unit (MCU) of the lawn mowing robot, or in an intelligent terminal or server. MCU is also called a single chip microcomputer (Single Chip Microcomputer) or a single chip microcomputer. , which is to appropriately reduce the frequency and specifications of the Central Processing Unit (CPU), and integrate peripherals such as memory, counter (Timer), USB, analog-to-digital conversion/digital-to-analog conversion, UART, PLC, DMA, etc. The interface forms a chip-level computer to perform different combinations of controls for different applications. The lawn mowing robot can walk automatically to prevent collisions, automatically return to charge within the range, has safety detection and battery power detection, and has a certain climbing ability. It is especially suitable for lawn mowing and maintenance in home courtyards, public green spaces and other places. Its characteristics are: automatic Cut grass, clean grass clippings, automatically avoid rain, automatically charge, automatically avoid obstacles, compact appearance, electronic virtual fence, network control, etc.

The terminal can be a smartphone, tablet, laptop, desktop computer, smart speaker, smart watch, etc., but is not limited to this. Terminals and servers can be connected directly or indirectly through wired or wireless communication methods. The server can be an independent physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud service or cloud database. , cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN, and cloud servers for basic cloud computing services such as big data and artificial intelligence platforms, this application Please make no restrictions here.

For example, please refer to Figure 1. This application provides a lawn mowing system, including a lawn mowing robot 10, a server 20 and a user device 30 that have established communication connections with each other. The user can control the lawn mowing robot 10 to start a preset working mode, such as land reclamation mode, through the user device 30 . Specifically, in the embodiment of the present application, a variety of sensors can be integrated into the lawn mowing robot 10. For example, a rain sensor can be installed on the top of the lawn mowing robot 10 to detect whether it is raining, or on the side of the lawn mowing robot 10. By setting up lateral ultrasonic sensors and infrared sensors, and setting up collision sensors around the lawn mowing robot 10, obstacles can be comprehensively detected through a variety of sensors. When it is detected that there are many obstacles around the lawn mowing robot 10, the land reclamation mode can be automatically or manually turned on. It should be noted that in the land reclamation mode, the lawn mowing robot 10 only travels in a straight line, so the side wheels can be turned off in this mode. For ultrasonic sensors and infrared sensors, you only need to turn on the collision sensor directly in front to detect obstacles directly in front.

Among them, the lawn mowing robot 10 can perform lawn mowing operations according to different paths in different working modes. During the operation, the user can also control and adjust the action path or action speed of the lawn mowing robot 10 in real time through the user device 30 , or mowing range, etc. After the operation is completed, the data corresponding to the lawn mowing operation can also be synchronized to the server 20 to facilitate viewing by the user.

For example, the lawn mowing robot 10 turns on a preset working mode in response to a user instruction, so that the lawn mowing robot operates according to the initial path corresponding to the preset working mode. The user instruction can be generated and sent through the user device 30, and during the operation, the lawn mowing robot 10 turns on the preset working mode. The grass robot 10 determines whether there are obstacles in the initial path. If there are obstacles, it obtains the characteristic information of the obstacles, and generates an arc path traveling in the current mowing direction based on the characteristic information of the obstacles and the initial path. Finally, the lawn mowing robot 10, you can control the lawn mowing robot to work according to the arc path.

Each is explained in detail below. It should be noted that the description order of the following embodiments is not used to limit the priority order of the embodiments.

An intelligent obstacle avoidance method includes: turning on a preset working mode of a lawn mowing robot, so that the lawn mowing robot operates according to the initial path corresponding to the preset working mode, and determines whether there are obstacles in the initial path during the operation. If If exists, generate an arc path along the current mowing direction, and control the lawn mower robot to perform operations according to the arc path. Repeat the above steps until all obstacles in the initial path are bypassed.

Please refer to Figure 2, which is a schematic flow chart of an intelligent obstacle avoidance method provided by an embodiment of the present application. The wisdom The specific process of obstacle avoidance methods can be as follows:

101. Turn on the preset working mode of the lawn mowing robot, so that the lawn mowing robot operates according to the initial path corresponding to the preset working mode.

In one embodiment, the lawn mowing robot may include multiple preset working modes, such as intelligent lawn mowing mode, normal lawn mowing mode, land reclamation and lawn mowing mode, etc. Among them, the intelligent lawn mowing mode means that in this mode, the lawn mower robot can automatically detect the area to be cut in the current area and plan the action path of the lawn mower robot based on the detection results. Specifically, as shown in Figure 3, the lawn mowing robot can detect a grass area with a growth height greater than a preset height in the current area as an area to be cut. For example, in this embodiment, grass area 1 and grass area 2 are determined. If the height of the medium-growing grass is greater than 20CM, the grass area 1 and grass area 2 can be used as areas to be cut, and an action path is generated based on the positions of grass area 1 and grass area 2 as the initial path.

In one embodiment, the normal mowing mode and the land reclamation mowing mode both mean that in the corresponding modes, the lawn mowing robot can mow the working area with predefined boundaries and plan its corresponding actions according to the working area. path. It should be noted that the height of the grass in the reclamation mode is greater than the height of the grass in the ordinary mowing mode. For example, the ordinary mowing mode is turned on when the grass height is between 20CM and 60CM, and the reclamation and mowing mode is turned on when the grass height is greater than 60CM. Grass mode. As shown in Figure 4, when the lawn mower robot turns on the land reclamation and mowing mode, the lawn mower robot will generate an action path in all the current areas. It has been determined that the action path can cover the entire current area, such as setting return according to the boundaries of the current area. point, and generate an arc-shaped action path based on the turning point as the initial path. After the preset working mode of the lawn mowing robot is determined, the lawn mowing operation can be carried out according to the initial path corresponding to the preset working mode.

Among them, the above-mentioned preset working mode can be set manually by the user, for example, through a user device connected to the lawn mowing robot. In other embodiments, the above-mentioned preset working mode can also be automatically selected by the lawn mowing robot according to the current scene. For example, if the current area has not been mowing for a long time, there may be more weeds growing in the area. In this case, You can turn on the land reclamation and mowing mode to mow the grass. Specifically, the time interval between the last time mowing in the current area and the current time can be determined based on historical mowing records. If the above time interval is less than the preset time (for example, 10 days), the lawn mowing robot can automatically choose to turn on smart mowing. Grass mode; if the above time interval is not less than the preset time, the lawn mower robot can automatically choose to turn on the land reclamation and grass cutting mode.

Optionally, the preset working mode can also be determined by the lawn mower robot based on the number of obstacles in the current area. and/or obstacle volume to select, such as taking an image corresponding to the current area through a camera, and then analyzing the number of obstacles and/or the volume of obstacles in the image. When the number of obstacles does not exceed the preset number and/or the volume of obstacles, When the volume does not exceed the preset volume, the lawn mowing robot can automatically choose to turn on the intelligent mowing mode; when the number of obstacles exceeds the preset number and/or the volume of the obstacles exceeds the preset volume, the lawn mowing robot can automatically choose to turn on land reclamation. Grass mode.

102. During the operation, determine whether there are obstacles in the initial path. If there are obstacles, perform step 103.

In one embodiment, while the lawn mowing robot is mowing the grass according to the above-mentioned initial path, it can also detect in real time whether it encounters obstacles on the current initial path. Specifically, this can be done through various sensors integrated on the lawn mowing robot. For detection, the above-mentioned sensors may include at least one of the following: a collision sensor, a depth sensor, an ultrasonic sensor, and an infrared sensor.

Specifically, after being turned on, various sensors installed on the lawn mowing robot can collect detection data in real time or at a fixed operating frequency and every preset time interval. The specific type of detection data is determined by the type of sensor. For example, the detection data collected by the collision sensor The detection data is impact data, the detection data collected by the depth sensor is depth data, the detection data collected by the ultrasonic sensor is ultrasonic data, the detection data collected by the infrared sensor is infrared data, etc.

In one embodiment, taking an infrared sensor as an example, the detection of obstacles through the infrared sensor mainly uses infrared rays to aim at certain areas, and the infrared signal is emitted to the area in front of the lawn mowing robot through the transmitting system. At the same time, The sampler samples the emitted signal, which is used as a pulse signal for the counter to open the door and start the counter. The clock oscillator effectively inputs the counting pulse like a counter. The infrared echo reflected by the target acts on the photodetector and is converted into an electrical pulse signal through the amplifier. Amplify and enter the counter. As the door closing signal of the counter, the counter stops counting. The number of clock pulses entered by the counter from opening the door to closing the door is calculated to obtain the distance of each point in the target area, and then preliminarily determines whether there are obstacle. Optionally, you can also set the detection range of the sensor. For example, use the sensor to detect whether there is an obstacle within 1M in front of the lawn mower robot. If there is no obstacle, the lawn mower robot can continue to mow the grass along the initial path. If If exists, proceed to subsequent step 103.

103. Generate an arc path traveling along the current mowing direction, and control the lawn mower robot to perform operations according to the arc path.

In one embodiment, if the lawn mowing robot encounters an obstacle during its operation, it can make a detour according to a pre-designed arc path. For example, please refer to Figure 5. The arc path can be a semicircle with a preset radius. By controlling the lawn mower robot to follow the semicircular path, the obstacle can be detoured and the original path can be returned to the initial path to continue the operation. . Optionally, considering that in actual applications, if the obstacle encountered by the lawn mowing robot is large, it may not have detoured around the obstacle after following the above arc path, then it can generate another arc path and continue to detour, and so on, until the obstacle is completely bypassed, as shown in Figure 6, and finally returns to the initial path to continue the operation after bypassing the obstacle.

In one embodiment, the above-mentioned arc path can also be adaptively adjusted. For example, when an obstacle is detected on the initial path, the characteristic information of the obstacle can be further obtained, for example, by analyzing the detection data currently collected by each sensor. Data processing and analysis can restore the shape, outline, location and other information of obstacles in the current environment. Then the arc path is generated based on the above feature information.

In one embodiment, after initially detecting an obstacle, the lawn mowing robot can obtain the depth information of the current scene using the triangulation principle through the visual sensor, and can reconstruct the three-dimensional shape and position of the surrounding objects, similar to the stereoscopic function of the human eye. , thus being able to determine the 3D information of obstacles detected in the space. That is to say, after the obstacle is initially detected, the position corresponding to the obstacle is determined, and then the position is further detected or scanned through the visual recognition system to obtain the characteristic information of the above obstacle. It is used to assist in judgment based on sensors and further confirm the characteristic information of obstacles to improve the accuracy of obstacle judgment.

After obtaining the characteristic information of the obstacle, you can also combine it with the initial path to generate an arc path traveling in the current mowing direction. For example, after detecting the presence of an obstacle on the initial path, you can combine the size and volume of the obstacle. , area, height and other characteristic information to generate an arc path with the beginning and end located on the initial path, so that the lawn mowing robot can avoid the obstacle and continue to move along the initial path after avoiding it. Therefore, the step of generating an arc path traveling along the current mowing direction may include: obtaining the characteristic information of the obstacle, and generating an arc path traveling along the current mowing direction based on the characteristic information of the obstacle and the initial path.

104. Repeat the above steps 102 and 103 until all obstacles in the initial path are bypassed.

For example, the MCU in a lawn mower robot can control the lawn mower robot to perform mowing operations based on the arc path; for another example, the server or user device can control the lawn mower robot to drive based on the arc path. Use this to perform lawn mowing operations. That is, the lawn mowing robot performs mowing operations according to the arc path, and after completing the arc path, the lawn mowing robot is controlled to continue walking on the initial path and continue to detect obstacles.

In one embodiment, when generating an arc path for avoiding obstacles, the position of the lawn mower robot when encountering an obstacle is usually not designed as the starting point of the arc path, and the lawn mower robot often detects When it reaches an obstacle, it is already very close to the obstacle. Therefore, before controlling the lawn mower robot to perform operations according to the arc path, the lawn mower robot can also be controlled to retreat to the starting point of the arc path and then proceed along the arc path. . That is to say, the step of controlling the lawn mowing robot to perform operations according to the arc path may include: finding the starting point of the arc path on the initial path; controlling the lawn mowing robot to retreat to the starting point according to the arc path. The arc path is used for operation.

It can be seen from the above that the intelligent obstacle avoidance method provided by the embodiment of the present application can turn on the preset working mode of the lawn mowing robot, so that the lawn mowing robot operates according to the initial path corresponding to the preset working mode, and determines the initial path during the operation. Whether there are obstacles, if so, generate an arc path along the current mowing direction, and control the lawn mower robot to work according to the arc path. Repeat the above steps until all obstacles in the initial path are bypassed. By detecting obstacles in a preset working mode and generating arc paths for obstacle avoidance after detecting obstacles, the embodiments of the present application can adaptively generate obstacle avoidance paths and improve the obstacle avoidance efficiency of the lawn mowing robot. flexibility.

Please refer to FIG. 7 , which is another schematic flowchart of the intelligent obstacle avoidance method provided by an embodiment of the present application. The specific process of this intelligent obstacle avoidance method can be as follows:

201. Detect at least one obstacle around the lawn mowing robot to obtain position information of at least one obstacle.

202. Determine the distribution range of at least one obstacle relative to the lawn mowing robot based on the position information.

In one embodiment, the lawn mowing robot may include multiple working modes, such as intelligent lawn mowing mode, land reclamation and lawn mowing mode, etc. Specifically, it can be automatically selected based on the distribution of obstacles around the lawn mowing robot. For example, the lawn mowing robot is used as the center for detection, and it is judged whether the distribution range of the detected surrounding obstacles exceeds 270°. If it exceeds, it means that there are many obstacles nearby. , the land reclamation and mowing mode can be automatically turned on, and if it does not exceed, the intelligent lawn mowing mode can be turned on. Among them, the above-mentioned land reclamation and mowing mode means that in this mode the lawn mowing robot can mow the entire current area, and the intelligent lawn mowing mode means that in this mode the lawn mowing robot can automatically detect the grass to be cut in the current area. area and mow it.

Optionally, when detecting with the lawn mower robot as the center, the number of detected obstacles can also be The quantity is taken as the distribution range of obstacles relative to the lawn mowing robot. Wherein, the detection range of the above-mentioned detection obstacle can be determined by taking the lawn mower robot as the center of the circle and making a circle with a preset radius so that the circular area is used as the detection range.

203. When the distribution range exceeds the preset distribution range, the preset working mode of the lawn mowing robot is automatically turned on, so that the lawn mowing robot operates according to the initial path corresponding to the preset working mode.

In one embodiment, when the lawn mowing robot turns on the land reclamation and mowing mode, the lawn mowing robot will generate an action path in all the current areas. It is determined that the action path can cover the entire current area, such as setting return according to the boundaries of the current area. point, and generate an arc-shaped action path based on the turning point as the initial path.

204. During the operation, determine whether there are obstacles in the initial path. If there are obstacles, perform step 205.

In one embodiment, while the lawn mowing robot is mowing according to the above-mentioned initial path, it can also detect in real time whether it encounters obstacles in the current path. Specifically, the detection can be carried out through various sensors integrated on the lawn mowing robot. For the specific detection process, reference may be made to the above description, which is not further limited in this embodiment. When no obstacle is detected, the lawn mowing robot can continue to move and cut grass along the initial path. If there is an obstacle, continue to perform subsequent step 205.

205. Calculate the arc parameter and arc length parameter based on the characteristic information of the obstacle.

206. Generate a circular arc path traveling in the current mowing direction based on the arc parameter, arc length parameter and initial path.

In one embodiment, the above-mentioned characteristic information may include the horizontal length and/or angular range of the obstacle. After obtaining the horizontal length and/or angular range of the obstacle, the optimal arc sum can be calculated based on the characteristics. The arc length is used to generate the final arc path. For example, for the small obstacles in Figure 5, arc paths corresponding to larger arcs and shorter arc lengths can be generated through calculation. For the larger obstacles in Figure 8, When there are obstacles, an arc path corresponding to a smaller arc and a longer arc length can be generated.

Further, after the arc path is generated, the arc path can be spliced with the initial path to form a complete path for the lawn mowing robot to travel. For example, the step of generating an arc path traveling along the current mowing direction based on the radian parameter, the arc length parameter and the initial path may include: determining an initial arc based on the radian parameter and the arc length parameter; The initial arc and The initial paths are intersected to generate an arc path traveling in the current mowing direction based on the intersection points.

In one embodiment, please refer to FIG. 9 . When the lawn mowing robot generates a circular arc path, it can also determine the deflection direction according to the obstacle, thereby generating a circular arc path deflected to the left or a circular arc path deflected to the right. Specifically, you can first divide the angular range of the obstacle into left deflection angle A and right deflection angle B according to the orientation of the lawn mower robot. When the left deflection angle A is greater than the right deflection angle B, you can choose to deflect to the right to generate Arc path allows faster obstacle avoidance. Therefore, the step of generating an arc path traveling along the current mowing direction may also include: dividing the angular range of the obstacle into a left deflection angle and a right deflection angle according to the orientation of the lawn mowing robot; The side deflection angle is compared with the right deflection angle to determine the deflection direction; an arc path traveling along the current mowing direction is generated according to the deflection direction.

207. When controlling the lawn mowing robot to perform operations according to the arc path, determine whether there is a second obstacle in the arc path. If there is, perform step 208.

208. Generate a second arc path traveling along the current mowing direction according to the characteristic information of the second obstacle, the initial path and the current position of the lawn mower robot, and control the lawn mower robot to perform operations according to the second arc path.

After the arc path is generated, the lawn mower robot can control the lawn mower robot to perform lawn mowing operations based on the arc path. During this process, if the lawn mowing robot detects the second obstacle again, it can continue to obtain the characteristic information of the second obstacle and generate the second arc path again based on the arc path. Please refer to Figure 10. The lawn mowing robot can design arc paths with different arcs and arc lengths based on different obstacles. When a second obstacle is detected, the current position of the lawn mowing robot can also be used as the second arc path. , and place the end point of the second arc path on the initial path, so that the lawn mower robot can return to the initial path and complete mowing after completing the arc path and the second arc path.

It can be seen from the above that the intelligent obstacle avoidance method provided by the embodiment of the present application can detect at least one obstacle around the lawn mowing robot to obtain the position information of the at least one obstacle, and determine the relative position of the at least one obstacle relative to the lawn mower based on the position information. The distribution range of the robot. When the distribution range exceeds the preset distribution range, the preset working mode of the lawn mowing robot is automatically turned on so that the lawn mowing robot can operate according to the initial path corresponding to the preset working mode and determine the initial path during the operation. Whether there is an obstacle, if so, calculate the radian parameter and arc length parameter based on the characteristic information of the obstacle. Based on the radian parameter, arc length parameter and the initial path, generate an arc path traveling in the current mowing direction. According to the arc path When the lawn mowing robot is controlled to perform operations, it is determined whether there is a second obstacle in the arc path. If there is a second obstacle, based on the characteristic information of the second obstacle, the initial path and the current position of the lawn mowing robot, a method is generated to drive in the current mowing direction. the second arc path, and the lawn mowing robot is controlled to perform operations according to the second arc path. Embodiments of the present application can automatically turn on the preset working mode, detect obstacles in this mode, and generate arc paths for obstacle avoidance based on the characteristic information of the obstacles and the initial path. The avoidance can be generated according to the adaptability of the obstacles. obstacle path to improve the obstacle avoidance efficiency and flexibility of the lawn mower robot.

In order to facilitate better implementation of the intelligent obstacle avoidance method in the embodiment of the present application, the embodiment of the present application also provides an intelligent obstacle avoidance device based on the above. The meanings of the nouns are the same as in the above-mentioned intelligent obstacle avoidance method. For specific implementation details, please refer to the description in the method embodiment.

Please refer to Figure 11. Figure 11 is a schematic structural diagram of an intelligent obstacle avoidance device provided by an embodiment of the present application. The intelligent obstacle avoidance device may include:

The control module 301 is used to turn on the preset working mode of the lawn mowing robot, so that the lawn mowing robot operates according to the initial path corresponding to the preset working mode;

The judgment module 302 is used to judge whether there are obstacles in the initial path during the operation;

The generation module 303 is configured to generate a circular arc path traveling in the current mowing direction when the judgment module 302 determines yes, and control the lawn mowing robot to perform operations according to the circular arc path;

The judgment module 302 and the generation module 303 are executed repeatedly until all obstacles in the initial path are bypassed.

In one embodiment, the control module 301 specifically includes:

The detection sub-module 3011 is used to detect at least one obstacle around the lawn mowing robot to obtain the position information of the at least one obstacle;

Determination sub-module 3012, configured to determine the distribution range of the at least one obstacle relative to the lawn mowing robot according to the position information;

The starting sub-module 3013 is used to automatically turn on the preset working mode of the lawn mowing robot when the distribution range exceeds the preset distribution range.

In one embodiment, the generation module 303 is specifically configured to obtain the characteristic information of the obstacle, and generate an arc path traveling along the current mowing direction according to the characteristic information of the obstacle and the initial path.

In one embodiment, the characteristic information of the obstacle includes the horizontal length and/or Angle range, wherein the generation module 303 may include:

Calculation sub-module 3031, used to calculate radian parameters and arc length parameters according to the horizontal length and/or angular range of the obstacle;

The generation sub-module 3032 is used to generate a circular arc path traveling along the current mowing direction according to the radian parameter, the arc length parameter and the initial path.

In one embodiment, the generation sub-module 3032 is specifically configured to determine an initial arc according to the radian parameter and the arc length parameter, and intersect the initial arc with the initial path to generate a path along the current cut according to the intersection point. An arc path traveling in the direction of the grass.

It can be seen from the above that in the embodiment of the present application, the control module 301 turns on the preset working mode of the lawn mowing robot, so that the lawn mowing robot operates according to the initial path corresponding to the preset working mode. The judgment module 302 judges the initial path during the operation. Whether there is an obstacle? If so, the generation module 303 generates an arc path traveling along the current mowing direction, and controls the lawn mower robot to perform operations according to the arc path. The above judgment module 302 and the generation module 303 are repeatedly run until the obstacle is bypassed. All obstacles in the initial path. By detecting obstacles in a preset working mode and generating arc paths for obstacle avoidance after detecting obstacles, the embodiments of the present application can adaptively generate obstacle avoidance paths and improve the obstacle avoidance efficiency of the lawn mowing robot. flexibility.

In addition, the embodiment of the present application also provides a lawn mowing robot, as shown in Figure 13, which shows a schematic structural diagram of the lawn mowing robot involved in the embodiment of the present application. Specifically:

The lawn mowing robot may include a control module 501, a traveling mechanism 502, a cutting module 503, a power supply 504 and other components. Those skilled in the art can understand that the structure of the electronic device shown in FIG. 13 does not constitute a limitation of the electronic device, and may include more or fewer components than shown in the figure, or combine certain components, or arrange different components. in:

The control module 501 is the control center of the lawn mowing robot. The control module 501 may specifically include a central processing unit (CPU), memory, input/output ports, system bus, timer/counter, digital-to-analog converter and Components such as analog-to-digital converters, the CPU performs various functions of the lawn mowing robot and processes data by running or executing software programs and/or modules stored in the memory, and calling data stored in the memory; preferably, the CPU can Integrated application processor and modem processor, where the application processor mainly handles operating systems and application programs, etc., and the modem processor mainly handles wireless communications. It can be understood that the above modem processor may not be integrated into in the CPU.

The memory can be used to store software programs and modules, and the CPU executes various functional applications and data processing by running the software programs and modules stored in the memory. The memory may mainly include a storage program area and a storage data area. The storage program area may store an operating system, an application program required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the storage data area may store electronic files according to the electronic data. Data created by the use of the 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 storage device. Correspondingly, the memory may also include a memory controller to provide the CPU with access to the memory.

The traveling mechanism 502 is electrically connected to the control module 501, and is used to respond to the control signal transmitted by the control module 501, adjust the traveling speed and direction of the lawn mower robot, and realize the self-moving function of the lawn mower robot.

The cutting module 503 is electrically connected to the control module 501, and is used to respond to the control signal transmitted by the control module, adjust the height and rotation speed of the cutting blade, and implement lawn mowing operations.

The power supply 504 can be logically connected to the control module 501 through the power management system, so that functions such as charging, discharging, and power consumption management can be implemented through the power management system. The power supply 504 may also include one or more DC or AC power supplies, recharging systems, power failure detection circuits, power converters or inverters, power status indicators, and other arbitrary components.

Although not shown, the lawn mowing robot may also include a communication module, a sensor module, a prompt module, etc., which will not be described again here.

The communication module is used to receive and send signals in the process of sending and receiving information. By establishing a communication connection with the user equipment, base station or server, it realizes signal sending and receiving with the user equipment, base station or server.

The sensor module is used to collect internal environmental information or external environmental information, and feeds the collected environmental data to the control module for decision-making, realizing the precise positioning and intelligent obstacle avoidance functions of the lawn mowing robot. Optionally, the sensors may include: ultrasonic sensors, infrared sensors, collision sensors, rain sensors, lidar sensors, inertial measurement units, wheel speedometers, image sensors, position sensors and other sensors, without limitation.

The prompt module is used to prompt the user about the current working status of the lawn mower robot. In this solution, the prompt module includes but is not limited to indicator lights, buzzers, etc. For example, a lawn mowing robot can remind the user of the current power status, motor working status, sensor working status, etc. through indicator lights. For another example, when it is detected When the lawn mowing robot malfunctions or is stolen, the buzzer can be used to provide an alarm.

Specifically, in this embodiment, the processor in the control module 501 will load the executable files corresponding to the processes of one or more application programs into the memory according to the following instructions, and the processor will run the executable files stored in the memory. application to achieve various functions, as follows:

Turn on the preset working mode of the lawn mowing robot, so that the lawn mowing robot can operate according to the initial path corresponding to the preset working mode. During the operation, it is judged whether there are obstacles in the initial path. If there are obstacles, generate a function along the current mowing direction. Drive the arc path, and control the lawn mower robot to perform operations according to the arc path. Repeat the above steps until all obstacles in the initial path are bypassed.

For the specific implementation of each of the above operations, please refer to the previous embodiments and will not be described again here.

Embodiments of the present application can turn on the preset working mode of the lawn mowing robot, so that the lawn mowing robot operates according to the initial path corresponding to the preset working mode. During the operation, it is judged whether there are obstacles in the initial path, and if so, generate Follow the arc path in the current mowing direction, and control the lawn mower robot to perform operations according to the arc path. Repeat the above steps until all obstacles in the initial path are bypassed. By detecting obstacles in a preset working mode and generating arc paths for obstacle avoidance after detecting obstacles, the embodiments of the present application can adaptively generate obstacle avoidance paths and improve the obstacle avoidance efficiency of the lawn mowing robot. flexibility.

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 instructions, or by controlling relevant hardware through instructions. The instructions can be stored in a computer-readable storage medium, and loaded and executed by the processor.

To this end, embodiments of the present application provide a storage medium in which multiple instructions are stored, and the instructions can be loaded by the processor to execute steps in any of the intelligent obstacle avoidance methods provided by the embodiments of the present application. For example, this command can perform the following steps:

The storage medium may include: read only memory (ROM, Read Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk, etc.

Since the instructions stored in the storage medium can execute the steps in any intelligent obstacle avoidance method provided by the embodiments of the present application, it is possible to realize the capabilities of any intelligent obstacle avoidance method provided by the embodiments of the present application. The beneficial effects achieved are detailed in the previous embodiments and will not be described again here.

The above is a detailed introduction to an intelligent obstacle avoidance method, device, lawn mower robot and storage medium provided by the embodiments of the present application. This article uses specific examples to illustrate the principles and implementation methods of the present application. The above embodiments The description is only used to help understand the methods and core ideas of this application; at the same time, for those skilled in the art, there will be changes in the specific implementation and application scope based on the ideas of this application. In summary, The contents of this specification should not be construed as limiting this application.

Claims

An intelligent obstacle avoidance method, including:

S11. Turn on the preset working mode of the lawn mowing robot, so that the lawn mowing robot operates according to the initial path corresponding to the preset working mode;

S12. Determine whether there are obstacles in the initial path during the operation;

S13. If it exists, generate an arc path traveling in the current mowing direction, and control the lawn mowing robot to perform operations according to the arc path;

S14. Repeat steps S12 and S13 until all obstacles in the initial path are bypassed.
The method according to claim 1, wherein generating an arc path traveling along the current mowing direction includes:

Obtain characteristic information of the obstacle;

According to the characteristic information of the obstacle and the initial path, an arc path traveling along the current mowing direction is generated.
The method according to claim 1, wherein said turning on the preset working mode of the lawn mowing robot includes:

Detect at least one obstacle around the lawn mowing robot to obtain position information of the at least one obstacle;

Determine the distribution range of the at least one obstacle relative to the lawn mowing robot based on the position information;

When the distribution range exceeds the preset distribution range, the preset working mode of the lawn mowing robot is automatically turned on.
The method according to claim 2, wherein the characteristic information of the obstacle includes the horizontal length and/or angular range of the obstacle;

Generating an arc path traveling in the current mowing direction based on the characteristic information of the obstacle and the initial path includes:

Calculate radian parameters and arc length parameters based on the horizontal length and/or angular range of the obstacle;

According to the arc parameter, the arc length parameter and the initial path, a circular arc path traveling along the current mowing direction is generated.
The method according to claim 4, wherein generating a circular arc path traveling along the current mowing direction according to the arc parameter, the arc length parameter and the initial path includes:

Determine the initial arc according to the radian parameter and arc length parameter;

The initial arc is intersected with the initial path to generate a circular arc path traveling in the current mowing direction according to the intersection point.
The method according to claim 4, wherein generating an arc path traveling along the current mowing direction according to the characteristic information of the obstacle and the initial path includes:

Divide the angular range of the obstacle into a left deflection angle and a right deflection angle according to the orientation of the lawn mowing robot;

Compare the left deflection angle and the right deflection angle to determine the deflection direction;

A circular arc path traveling in the current mowing direction is generated according to the deflection direction.
The method according to claim 1, wherein controlling the lawn mowing robot to perform operations according to the arc path includes:

Find the starting point of the arc path on the initial path;

The lawn mowing robot is controlled to retreat to the starting point to perform operations according to the arc path.
The method of claim 1, further comprising:

When controlling the lawn mowing robot to perform operations according to the arc path, determine whether there is a second obstacle in the arc path;

Generate a second arc path traveling along the current mowing direction according to the characteristic information of the second obstacle, the initial path and the current position of the lawn mowing robot;

The lawn mowing robot is controlled to perform operations according to the second arc path.
An intelligent obstacle avoidance device, including:

A control module for turning on the preset working mode of the lawn mowing robot, so that the lawn mowing robot operates according to the initial path corresponding to the preset working mode;

A judgment module used to judge whether there are obstacles in the initial path during the operation;

A generation module, configured to generate a circular arc path traveling in the current mowing direction when the judgment module determines yes, and control the lawn mowing robot to perform operations according to the circular arc path;

The judgment module and the generation module run repeatedly until all obstacles in the initial path are bypassed.
A lawn mowing robot, which includes a memory, a processor and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the method described in any one of claims 1-8. Steps of intelligent obstacle avoidance method.
A storage medium, wherein a computer program is stored thereon, and when the computer program is executed by a processor, the steps of the intelligent obstacle avoidance method according to any one of claims 1-8 are implemented.