WO2024012286A1 - 割草方法、装置、割草机器人以及存储介质 - Google Patents

割草方法、装置、割草机器人以及存储介质 Download PDF

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Publication number
WO2024012286A1
WO2024012286A1 PCT/CN2023/105133 CN2023105133W WO2024012286A1 WO 2024012286 A1 WO2024012286 A1 WO 2024012286A1 CN 2023105133 W CN2023105133 W CN 2023105133W WO 2024012286 A1 WO2024012286 A1 WO 2024012286A1
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Prior art keywords
mowing
lawn
route
robot
area
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Application number
PCT/CN2023/105133
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English (en)
French (fr)
Inventor
陈建林
魏基栋
Original Assignee
松灵机器人(深圳)有限公司
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Publication of WO2024012286A1 publication Critical patent/WO2024012286A1/zh

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Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/006—Control or measuring arrangements
    • A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D91/00—Methods for harvesting agricultural products
    • A01D91/04—Products growing above the soil
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
    • G06Q10/063—Operations research, analysis or management
    • G06Q10/0631—Resource planning, allocation, distributing or scheduling for enterprises or organisations
    • G06Q10/06316—Sequencing of tasks or work
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
    • G06Q50/02—Agriculture; Fishing; Forestry; Mining

Definitions

  • This application relates to the field of computer technology, and specifically relates to an intelligent obstacle avoidance method, a lawn mowing robot and a storage medium.
  • Lawn mowing robots are widely used in the maintenance of home courtyard lawns and the mowing of large lawns.
  • the lawn mowing robot combines motion control, multi-sensor fusion and path planning technologies.
  • the mowing path of the lawn mower robot needs to be planned so that it can completely cover all working areas.
  • a lawn mowing robot that travels along a preset route, due to improper planning of the preset route, the actual route traveled by the current lawn mower robot is very long, resulting in reduced lawn mowing efficiency and consuming more storage of the lawn mower robot. of electrical energy.
  • Various embodiments of the present application provide an intelligent obstacle avoidance method, a lawn mowing robot, and a 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 mowing robot.
  • embodiments of the present application provide a lawn mowing method, including:
  • the lawn mowing robot is controlled to perform a lawn mowing operation based on the closed mowing route.
  • Grass order including:
  • the mowing order corresponding to the working area is determined.
  • generating a closed mowing route covering all working areas based on the mowing sequence, the current position information of the lawn mowing robot and the mowing direction including:
  • the generated mowing routes are connected to obtain a closed mowing route covering all working areas, where the starting point and end point of the closed mowing route are located at the current location of the lawn mowing robot.
  • generating a mowing route corresponding to each of the working areas based on the mowing sequence and the mowing direction of the lawn mowing robot includes:
  • an initial mowing route traveling along the mowing direction is generated, wherein, The starting point of the initial mowing route is located at the current position of the lawn mowing robot, and the end point of the initial mowing route is located within the working area of the first mowing sequence;
  • a mowing route corresponding to each of the working areas is sequentially generated.
  • generating an initial mowing route along the mowing direction includes:
  • the initial mowing route is adjusted to a mowing route in which the lawn mowing robot travels along the mowing boundary of the corresponding work area, wherein the working The area is a closed area formed by connecting multiple line segments in sequence, and each of the line segments is the mowing boundary of the working area.
  • the mowing route corresponding to each of the working areas is parallel to the longest boundary of the corresponding working area.
  • embodiments of the present application provide a lawn mowing method, including:
  • the lawn mowing robot is controlled to perform a lawn mowing operation based on the closed mowing route.
  • a lawn mowing device including:
  • the acquisition module is used to respond to the lawn mowing trigger request for the lawn mower robot and obtain multiple preset working areas;
  • a sorting module configured to output the mowing order corresponding to the working area according to the regional information of the working area
  • Generating module configured to generate a closed mowing route covering all working areas based on the mowing sequence, the current position information of the lawn mowing robot, and the mowing direction, wherein the starting point and end point of the closed mowing route are the same ;
  • a control module configured to control the lawn mowing robot to perform lawn mowing operations based on the closed mowing route.
  • a lawn mowing device including:
  • the acquisition module is used to respond to the mowing trigger request for the lawn mower robot and obtain the preset working area;
  • Generating module configured to generate a closed mowing route of the working area according to the area shape of the working area, the current position information of the lawn mowing robot, and the mowing direction, wherein the starting point and end point of the closed mowing route are the same ;
  • a control module configured to control the lawn mowing robot to perform lawn mowing operations based on the closed mowing route.
  • embodiments of the present application provide a lawn mowing robot, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the following is implemented: Steps to any of the lawn mowing methods described above.
  • embodiments of the present application provide a storage medium on which a computer program is stored, wherein when the computer program is executed by a processor, the steps of the lawn mowing method described in any one of the above items are implemented.
  • the embodiment of the present application responds to the mowing trigger request for the lawn mowing robot, obtains multiple preset working areas, and then outputs the mowing sequence corresponding to the working area based on the area information of the working area. Then, based on the The mowing sequence, the current position information of the lawn mowing robot and the mowing direction are used to generate a closed mowing route covering all working areas, where the starting point and end point of the closed mowing route are the same. Finally, based on the closed mowing route The mowing route controls the lawn mowing robot to perform lawn mowing operations.
  • the mowing sequence corresponding to the working area is output based on the regional information of the working area.
  • the lawn mowing robot does not need to start mowing along the mowing route from a fixed starting point or return to a fixed end point after completing the mowing operation. It can use the lawn mowing robot at any time.
  • the current position of the lawn mower is used as the starting point to start the lawn mowing operation, which is beneficial to improving the lawn mowing efficiency.
  • the lawn mower robot performs the lawn mowing operation according to the same closed mowing route of the starting point and the end point, it can save the lawn mower robot from returning from the end point.
  • the time of the starting point can be optimized to optimize the mowing route of the lawn mower robot, reduce the power consumption of the lawn mower robot, and improve the lawn mowing efficiency.
  • the lawn mower robot responds to the mowing trigger request for the lawn mower robot, obtains the preset working area, and then, according to the regional shape of the working area, the current position information of the lawn mowing robot, and the mowing direction, Generate a closed mowing route of the working area, wherein the starting point and end point of the closed mowing route are the same, and then control the lawn mowing robot to perform a mowing operation based on the closed mowing route.
  • the starting point and end point of the route are the same, so that the lawn mowing robot does not need to start mowing along the mowing route from a fixed starting point or return to a fixed end point after completing the mowing operation. It can use the current position of the lawn mowing robot as the starting point at any time. Start the lawn mowing operation, which is helpful to improve the lawn mowing efficiency.
  • the lawn mower robot carries out the lawn mowing operation according to the same closed mowing route with the same starting point and end point, the lawn mowing robot can save the time of returning from the ending point to the starting point, thus Optimize the mowing route of the lawn mower robot, reduce the power consumption of the lawn mower robot, and improve the lawn mowing efficiency.
  • Figure 1 is a schematic diagram of a scene of a lawn mowing method according to the prior art solution
  • Figure 2 is a schematic flow chart of a lawn mowing method provided by an embodiment of the present application.
  • Figure 3 is a schematic diagram of the work area arranged according to the mowing order provided by the embodiment of the present application.
  • Figure 4 is a schematic diagram of generating a closed mowing route provided by an embodiment of the present application.
  • Figure 5 is another schematic flow chart of a lawn mowing method provided by an embodiment of the present application.
  • Figure 6 is a schematic diagram of another scene of the lawn mowing method provided by the embodiment of the present application.
  • Figure 7 is a schematic structural diagram of a lawn mowing device provided by an embodiment of the present application.
  • Figure 8 is another structural schematic diagram of a lawn mowing device provided by an embodiment of the present application.
  • Figure 9 is a schematic structural diagram of a lawn mowing robot provided by an embodiment of the present application.
  • the charging location of the lawn mowing robot is the starting point of the mowing route
  • the starting point and the end point of the mowing route of the lawn mowing robot are located at different locations, which will cause the lawn mowing robot to complete the mowing operation according to the mowing route and arrive at the mowing route.
  • After the end point it needs to return to the charging location for charging and returns to the starting point of the mowing route. This allows the lawn mower robot to travel more distances and consumes more electric energy of the lawn mower robot to return to the charging location.
  • connection can be used for either fixation or circuit connection.
  • 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, it is limited to “first”, “Second” features may include one or more of these features, explicitly or implicitly.
  • “plurality” means two or more, unless otherwise explicitly and specifically limited.
  • Embodiments of the present application provide a lawn mowing method, device, lawn mowing robot, and storage medium.
  • the lawn mowing device can be integrated in the microcontroller unit (MCU) of the lawn mowing robot, or in a smart terminal or server.
  • MCU is also called a single chip microcomputer (Single Chip Microcomputer) or a single chip microcomputer. It is to appropriately reduce the frequency and specifications of the Central Processing Unit (CPU), and integrate peripheral interfaces such as memory, counter (Timer), USB, analog-to-digital conversion/digital-to-analog conversion, UART, PLC, DMA, etc. , forming a chip-level computer to perform different combination 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 will not be used here. limit.
  • the working area described in the following embodiments refers to a closed area connected in sequence by at least three line segments in the same coordinate system; the boundary of the working area refers to the line segments used to enclose the working area into a closed area; the mowing route refers to It is a line segment connected by at least two coordinate points in the same coordinate system.
  • the starting point of the line segment is the starting point of the mowing route, and the end of the line segment is the end point of the mowing route.
  • the transition route refers to the route that connects the work routes in different work areas and the route to and from the starting point, that is, the route where the lawn mower travels but does not perform mowing operations.
  • a lawn mowing method includes: responding to a lawn mowing trigger request for a lawn mower robot, obtaining a preset Multiple working areas; according to the regional information of the working area, output the mowing sequence corresponding to the working area; based on the mowing sequence, the current position information of the lawn mowing robot and the mowing direction, a closed mowing route covering all working areas is generated, where , the starting point and end point of the closed mowing route are the same; the lawn mowing robot is controlled to perform mowing operations based on the closed mowing route.
  • FIG. 2 is a schematic flow chart of a lawn mowing method provided by an embodiment of the present application.
  • the specific process of this lawn mowing method can be as follows:
  • the working area is the area where the lawn mowing robot performs lawn mowing operations within a closed area with set boundaries.
  • multiple working areas are independent of each other. After the lawn mowing robot completes the lawn mowing operation in one working area, it then enters another working area to perform the lawn mowing operation.
  • the lawn mowing trigger request can be triggered by the lawn mowing robot itself, by the server, or by the user through hardware or software. For example, the lawn mowing robot needs to perform scheduled operations within a set time.
  • Trigger the lawn mowing trigger request for another example, the server issues a lawn mowing trigger request based on the reported lawn mowing trigger instruction; the user can also input the lawn mowing task information through the application on the mobile phone, and the mobile phone generates a target based on the lawn mowing task information.
  • the lawn mower robot's mowing trigger request for another example, the server issues a lawn mowing trigger request based on the reported lawn mowing trigger instruction; the user can also input the lawn mowing task information through the application on the mobile phone, and the mobile phone generates a target based on the lawn mowing task information.
  • the lawn mower robot's mowing trigger request for another example, the server issues a lawn mowing trigger request based on the reported lawn mowing trigger instruction; the user can also input the lawn mowing task information through the application on the mobile phone, and the mobile phone generates a target based on the lawn mowing task information.
  • the lawn mower robot's mowing trigger request for another example, the
  • the area information of the work area includes the shape of the work area, such as a polygonal work area connected in sequence by straight line segments as the boundaries of the work area, or an irregular-shaped work area where the boundaries of the work area are curves. .
  • the regional information of the work area also includes the area of the work area and so on.
  • the mowing sequence corresponding to the working area refers to that according to the mowing sequence, the lawn mowing robot completes the mowing operation in one working area and then enters another working area to perform the mowing operation. For example, multiple working areas are set according to the mowing sequence. It is determined as the first mowing sequence working area, the second mowing sequence working area,...the Nth mowing sequence working area.
  • the step "output the mowing sequence corresponding to the work area based on the area information of the work area” may specifically include:
  • FIG. 3 is a schematic diagram of the work area arranged according to the mowing order provided by the embodiment of the present application.
  • the working areas can be arranged as working areas S1 in the first mowing sequence, S1 in the second mowing sequence, and S1 in the second mowing sequence.
  • the area area is extracted from the area information of the work area, the area area of each work area is determined, the area areas of the two work areas are compared, and the work area with the largest area is used as the first cut.
  • the work area with the second largest area is regarded as the working area S2 of the second mowing order, and so on, so as to sort each work area and obtain the corresponding mowing order of the work area.
  • the area shape is extracted from the area information of the work area, the area shape of each work area is determined, and the number of boundaries of the work area is determined based on the area shape.
  • the number of boundaries of the triangular work area is three
  • the number of boundaries of the quadrilateral is three.
  • the number of boundaries of the working area is four.
  • the working area with the largest number of boundaries is regarded as the working area S1 of the first mowing order.
  • the working area with the second largest number of boundaries is regarded as the working area S2 of the second mowing order, and so on.
  • a closed mowing route covering all working areas is generated, where the starting point and end point of the closed mowing route are the same.
  • the current position information of the lawn mowing robot is first determined, such as which working area the lawn mowing robot is in, and the position of the lawn mowing robot relative to the working area. Since the mowing direction of the lawn mowing robot will affect the generation of the mowing route, for example, when the mowing direction of the lawn mowing robot is opposite to the direction of the working area S1 of the first mowing sequence, the generated mowing route will return to the first mowing sequence. Sequential work area S1.
  • the lawn mowing robot can start mowing along the mowing route at any point on the closed mowing route as the starting point, and the starting point is also the end point, that is The lawn mower robot completes the mowing operation along the mowing route and returns to the starting point.
  • the step "generate a closed mowing route covering all working areas based on the mowing sequence, the current position information of the mowing robot, and the mowing direction" may specifically include:
  • the mowing route corresponding to each work area is parallel to the longest boundary of the corresponding work area.
  • the step of "sequentially generating a mowing route corresponding to each working area based on the mowing sequence and the mowing direction of the lawn mowing robot” may specifically include:
  • the initial mowing route passes through the work area; when it is detected that the initial mowing route passes through the corresponding work area, the initial mowing route is adjusted to the mowing of the lawn mower robot along the corresponding work area.
  • FIG. 4 is a schematic diagram of generating a closed mowing route according to an embodiment of the present application. It can be understood that by detecting the distance between the working area S1 of the first mowing sequence and the current position of the lawn mowing robot, it is found that the distance between the working area S1 of the first mowing sequence and the current position of the lawn mowing robot is greater than The threshold is preset, and the working area S4 of the fourth mowing sequence is closer to the lawn mowing robot than the working area S1 of the first mowing sequence, and the working area S1 of the first mowing sequence is separated from the lawn mowing robot by the first mowing robot.
  • the working area S1 of the second mowing sequence, the working area S2 of the second mowing sequence, and the working area S3 of the third mowing sequence Therefore, when generating a mowing route, an initial mowing route is first generated for the lawn mowing robot to reach the working area S1 of the first mowing sequence.
  • the initial mowing route passes through the working area S1 of the first mowing sequence and the second mowing sequence.
  • the working area S2 and the working area S3 of the third mowing sequence are examples of the third mowing sequence.
  • a mowing route is generated in the working area S1 of the first mowing sequence, and then a mowing route is generated in the working area S2 of the second mowing sequence, Corresponding mowing routes are generated in the working area S3 of the third mowing sequence and the working area S4 of the fourth mowing sequence in sequence according to the mowing order. Finally, the mowing route of the working area S4 of the fourth mowing sequence is combined with the end point. (starting point, which is the current position of the lawn mower robot) connection.
  • the lawn mower robot responds to the mowing trigger request for the lawn mower robot, obtains multiple preset working areas, and then outputs the mowing sequence corresponding to the working area based on the area information of the working area. Then, based on The mowing sequence, the current position information of the mowing robot, and the mowing direction generate a closed mowing route covering all working areas. The starting point and end point of the closed mowing route are the same. Finally, the mowing robot is controlled based on the closed mowing route. Perform lawn mowing operations. In the mowing plan provided by this application, the mowing sequence corresponding to the working area is output based on the regional information of the working area.
  • the lawn mowing robot does not need to start mowing along the mowing route from a fixed starting point or return to a fixed end point after completing the mowing operation. It can use the lawn mowing robot at any time.
  • the current position of the lawn mower is used as the starting point to start the lawn mowing operation, which is beneficial to improving the lawn mowing efficiency.
  • the lawn mower robot performs the lawn mowing operation according to the same closed mowing route of the starting point and the end point, it can save the lawn mower robot from returning from the end point.
  • the time of the starting point can be optimized to optimize the mowing route of the lawn mower robot, reduce the power consumption of the lawn mower robot, and improve the lawn mowing efficiency.
  • FIG. 5 is another schematic flowchart of a lawn mowing method provided by an embodiment of the present application.
  • the specific process of this lawn mowing method can be as follows:
  • the working area is the area where the lawn mowing robot performs lawn mowing operations within a closed area with set boundaries.
  • multiple working areas are independent of each other. After the lawn mowing robot completes the lawn mowing operation in one working area, it then enters another working area to perform the lawn mowing operation.
  • the lawn mowing trigger request can be triggered by the lawn mowing robot itself, by the server, or by the user through hardware or software. For example, the lawn mowing robot needs to perform scheduled operations within a set time.
  • Trigger the lawn mowing trigger request for another example, the server issues a lawn mowing trigger request based on the reported lawn mowing trigger instruction; the user can also input the lawn mowing task information through the application on the mobile phone, and the mobile phone generates a target based on the lawn mowing task information.
  • the lawn mower robot's mowing trigger request for another example, the server issues a lawn mowing trigger request based on the reported lawn mowing trigger instruction; the user can also input the lawn mowing task information through the application on the mobile phone, and the mobile phone generates a target based on the lawn mowing task information.
  • the lawn mower robot's mowing trigger request for another example, the server issues a lawn mowing trigger request based on the reported lawn mowing trigger instruction; the user can also input the lawn mowing task information through the application on the mobile phone, and the mobile phone generates a target based on the lawn mowing task information.
  • the lawn mower robot's mowing trigger request for another example, the
  • the lawn mower robot responds to the mowing trigger request for the lawn mower robot, obtains the preset working area, and then generates a work area based on the shape of the working area, the current position information of the lawn mowing robot, and the mowing direction.
  • the lawn mowing robot is controlled to perform mowing operations based on the closed mowing route. Since the starting point and end point of the closed mowing route are the same, the lawn mowing The robot does not need to start mowing along the mowing route from a fixed starting point or return to a fixed end point after completing the mowing operation.
  • FIG. 6 is a schematic diagram of another scenario of the lawn mowing method provided by an embodiment of the present application.
  • the location of the lawn mowing robot is used as the starting point of the mowing route, a bow-shaped mowing route is generated in the work area, and finally the end point of the mowing route is set at the same position as the starting point of the mowing route.
  • the lawn mowing robot performs mowing operations, the lawn mowing robot starts from the starting point of the mowing route and performs mowing while traveling along the mowing route.
  • the lawn mowing robot returns to the starting point (end point) of the mowing route. It can be seen that since the starting point and end point of the mowing route are the same, the lawn mowing robot does not need to go through more transition routes without mowing from the end point to the starting point after completing the lawn mowing operation, thus saving the need to generate transition routes, and Save time and energy wasted when the lawn mower robot travels on transition routes.
  • the embodiment of the present application also provides a lawn mowing device based on the above.
  • the meanings of the nouns are the same as in the above-mentioned lawn mowing method.
  • FIG. 7 is a schematic structural diagram of a lawn mower device provided by an embodiment of the present application.
  • the lawn mower device may include an acquisition module 301, a sorting module 302, a generation module 303 and a control module 304.
  • the lawn mower device may be as follows:
  • the acquisition module 301 is configured to acquire multiple preset working areas in response to a lawn mowing trigger request for the lawn mower robot.
  • the sorting module 302 is used to output the mowing order corresponding to the work area according to the area information of the work area.
  • the sorting module 302 also includes:
  • the extraction unit is used to extract the area and shape of the area from the area information of the work area.
  • the sorting unit is used to determine the mowing order corresponding to the work area based on the area and shape of the area.
  • the generation module 303 is configured to generate a closed mowing route covering all working areas based on the mowing order, the current position information of the mowing robot, and the mowing direction, where the starting point and end point of the closed mowing route are the same.
  • the generation module 303 includes:
  • the generation unit is used to sequentially generate the mowing route corresponding to each work area based on the mowing sequence and the mowing direction of the lawn mowing robot.
  • the mowing route corresponding to each work area is parallel to the longest boundary of the corresponding work area.
  • connection unit is used to connect the generated mowing routes to obtain a closed mowing route covering all working areas, where the starting point and end point of the closed mowing route are located at the current position of the lawn mowing robot.
  • the generation unit also includes:
  • a detection subunit is used to detect the distance between the working area of the first mowing sequence and the current position of the lawn mowing robot.
  • a first generation subunit configured to generate an initial mowing route traveling in the mowing direction when it is detected that the distance between the working area of the first mowing sequence and the current position of the lawn mowing robot is greater than a preset threshold, wherein, The starting point of the initial mowing route is located at the current position of the lawn mowing robot, and the end point of the initial mowing route is located in the working area of the first mowing sequence.
  • the second generation subunit is used to generate mowing routes corresponding to each work area based on the initial mowing route and mowing order.
  • the initial mowing route passes through the work area; when it is detected that the initial mowing route passes through the corresponding work area, the initial mowing route is adjusted so that the lawn mowing robot moves along the A mowing route corresponding to the mowing boundary of the work area, where the work area is a closed area formed by connecting multiple line segments in sequence, and each line segment is the mowing boundary of the work area.
  • the control module 304 is used to control the lawn mowing robot to perform lawn mowing operations based on the closed mowing route.
  • the acquisition module 301 responds to the mowing trigger request for the lawn mower robot and acquires multiple preset working areas. Then, the sorting module 302 outputs the mowing order corresponding to the working area according to the regional information of the working area. Next, the generation module 303 generates a closed mowing route covering all working areas based on the mowing sequence, the current position information of the mowing robot, and the mowing direction, where the starting point and end point of the closed mowing route are the same. Finally, the control module 304 The lawn mower robot is controlled to perform lawn mowing operations based on a closed mowing route.
  • the mowing sequence corresponding to the working area is output based on the regional information of the working area.
  • the lawn mowing robot does not need to start mowing along the mowing route from a fixed starting point or return to a fixed end point after completing the mowing operation. It can use the lawn mowing robot at any time.
  • the current position of the lawn mower is used as the starting point to start the lawn mowing operation, which is beneficial to improving the lawn mowing efficiency.
  • the lawn mower robot since the lawn mower robot performs the lawn mowing operation according to the same closed mowing route at the starting point and end point, it can save the lawn mower robot from returning from the end point.
  • the time of the starting point can be optimized to optimize the mowing route of the lawn mower robot, reduce the power consumption of the lawn mower robot, and improve the lawn mowing efficiency.
  • Figure 8 is a schematic structural diagram of a lawn mower device provided by an embodiment of the present application.
  • the lawn mower device may include an acquisition module 401, a generation module 402, and a control module 403.
  • the lawn mower device may be as follows:
  • the acquisition module 401 is used to obtain a preset working area in response to a lawn mowing trigger request for the lawn mower robot.
  • the generation module 402 is configured to generate a closed mowing route of the working area based on the area shape of the working area, the current position information of the lawn mowing robot, and the mowing direction, where the starting point and end point of the closed mowing route are the same.
  • the control module 403 is used to control the lawn mowing robot to perform lawn mowing operations based on the closed mowing route.
  • the intelligent terminal, server or lawn mowing robot can generate a bow-shaped mowing route.
  • the intelligent terminal, server or lawn mowing robot can generate a bow-shaped mowing route.
  • the acquisition module 401 responds to the mowing trigger request for the lawn mower robot and obtains the preset working area. Then, the generating module 402 generates the preset working area according to the shape of the working area, the current position information of the lawn mowing robot and the mowing direction. , generate a closed mowing route of the work area, where, closed The starting point and end point of the mowing route are the same. Then, the control module 403 controls the lawn mowing robot to perform the mowing operation based on the closed mowing route. Since the starting point and end point of the closed mowing route are the same, the lawn mowing robot does not need to start from a fixed starting point.
  • the embodiment of the present application also provides a lawn mowing robot, as shown in Figure 9, 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.
  • a control module 501 may control the traveling mechanism 502 and a cutting module 503, a power supply 504 and other components.
  • Those skilled in the art can understand that the structure of the lawn mowing robot shown in Figure 9 does not constitute a limitation on the lawn mowing robot, and may include more or less components than shown in the figure, or combine certain components, or different components. layout. 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 is understandable that the above modem processor may not be integrated into 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, wherein the storage program area may store the operating system, at least one application required for a function (such as a sound playback function, an image playback function, etc.), etc.; the storage data area may store data according to the segmentation The data created by the use of grass robots, 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 storage device.
  • 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.
  • 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.
  • 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.
  • the prompt module includes but is not limited to indicator lights, buzzers, etc.
  • a lawn mowing robot can remind the user of the current power status, motor working status, sensor working status, etc. through indicator lights.
  • a buzzer can be used to provide an alarm.
  • 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:
  • the lawn mowing robot In response to the mowing trigger request for the lawn mowing robot, obtain multiple preset working areas, and then, according to the area information of the working area, output the mowing sequence corresponding to the working area, and then, based on the mowing sequence , the current position information and the mowing direction of the lawn mower robot, a closed mowing route covering all working areas is generated, where the starting point and end point of the closed mowing route are the same, and the final mowing route is Finally, the lawn mowing robot is controlled to perform a lawn mowing operation based on the closed mowing route.
  • a mowing trigger request for the lawn mowing robot in response to a mowing trigger request for the lawn mowing robot, obtain a preset working area, and then generate a closure of the working area based on the area shape of the working area, the current position information of the lawn mowing robot, and the mowing direction.
  • the lawn mowing robot since the starting point and end point of the closed mowing route are the same, the lawn mowing robot does not need to start mowing along the mowing route from a fixed starting point or return to a fixed end point after completing the mowing operation.
  • the lawn mowing robot can start mowing operations at any time with the current position of the lawn mower robot as the starting point, which is beneficial to improving the mowing efficiency.
  • the lawn mower robot mows the lawn along a closed mowing route with the same starting point and end point, the lawn mower robot can save money. The time it takes to return from the end point to the starting point, thereby optimizing the mowing route of the lawn mower robot, reducing the power consumption of the lawn mower robot, and improving lawn mowing efficiency.
  • embodiments of the present application provide a storage medium in which a plurality of instructions are stored, and the instructions can be loaded by the processor to execute the steps in any of the lawn mowing methods provided by the embodiments of the present application.
  • this command can perform the following steps:
  • the lawn mowing robot In response to the mowing trigger request for the lawn mowing robot, obtain multiple preset working areas, and then, according to the area information of the working area, output the mowing sequence corresponding to the working area, and then, based on the mowing sequence , the current position information and mowing direction of the lawn mowing robot, generate a closed mowing route covering all working areas, where the starting point and end point of the closed mowing route are the same, and finally, based on the closed mowing route control
  • the lawn mowing robot performs lawn mowing operations.
  • a mowing trigger request for the lawn mowing robot in response to a mowing trigger request for the lawn mowing robot, obtain a preset working area, and then generate a closure of the working area based on the area shape of the working area, the current position information of the lawn mowing robot, and the mowing direction.
  • 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.

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Abstract

本申请实施例公开的一种割草方法，通过响应针对割草机器人的割草触发请求，获取预设的多个工作区域，根据所述工作区域的区域信息，输出所述工作区域对应的割草顺序，基于所述割草顺序、所述割草机器人的当前位置信息以及割草方向，生成覆盖所有工作区域的闭合割草路线，其中，所述闭合割草路线的起点和终点相同，基于所述闭合割草路线控制所述割草机器人执行割草作业，进而能够优化割草机器人的割草路线，减低割草机器人耗费的电能，提高割草效率。

Description

割草方法、装置、割草机器人以及存储介质
本申请要求于2022年07月12日提交中国专利局、申请号为CN202210820976.8、申请名称为“割草方法、装置、割草机器人以及存储介质”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及计算机技术领域，具体涉及一种智能避障方法、割草机器人以及存储介质。
背景技术
割草机器人被广泛应用于家庭庭院草坪的维护和大型草地的修剪。割草机器人融合了运动控制、多传感器融合以及路径规划等技术。为了控制割草机器人实现割草作业，需要对割草机器人的割草路径进行规划，使其可以完全覆盖所有的工作区域。虽然目前存在一种按照预设路线行驶的割草机器人，但是，由于预设路线规划不当，因此目前的割草机器人行驶的实际路线很长，导致降低割草效率同时耗费更多割草机器人存储的电能。
发明内容
本申请的各个实施例提供一种智能避障方法、割草机器人以及存储介质，可以根据障碍物适应性的生成避障路径，提高割草机器人的避障效率以及灵活性。
第一方面，本申请实施例提供了一种割草方法，包括：
响应针对割草机器人的割草触发请求，获取预设的多个工作区域；
根据所述工作区域的区域信息，输出所述工作区域对应的割草顺序；
基于所述割草顺序、所述割草机器人的当前位置信息以及割草方向，生成覆盖所有工作区域的闭合割草路线，其中，所述闭合割草路线的起点和终点相同；
基于所述闭合割草路线控制所述割草机器人执行割草作业。
可选地，所述根据所述工作区域的区域信息，输出所述工作区域对应的割 草顺序，包括：
从所述工作区域的区域信息中提取区域面积以及区域形状；
基于所述区域面积以及区域形状，确定所述工作区域对应的割草顺序。
可选地，所述基于所述割草顺序、所述割草机器人的当前位置信息以及割草方向，生成覆盖所有工作区域的闭合割草路线，包括：
基于所述割草顺序以及所述割草机器人的割草方向，生成每个所述工作区域对应的割草路线；
将生成的割草路线进行连接，得到覆盖所有工作区域的闭合割草路线，其中，所述闭合割草路线的起点和终点均位于所述割草机器人的当前位置。
可选地，所述基于所述割草顺序以及所述割草机器人的割草方向，生成每个所述工作区域对应的割草路线，包括：
检测第一割草顺序的工作区域与所述割草机器人的当前位置之间的距离；
当检测到所述第一割草顺序的工作区域与所述割草机器人的当前位置之间的距离大于预设阈值时，生成沿所述割草方向行驶的初始割草路线，其中，所述初始割草路线的起点位于所述割草机器人的当前位置，所述初始割草路线的终点位于所述第一割草顺序的工作区域内；
基于所述初始割草路线以及所述割草顺序，依次生成每个所述工作区域对应的割草路线。
可选地，所述生成沿所述割草方向行驶的初始割草路线，包括：
检测所述初始割草路线是否经过工作区域；
当检测到所述初始割草路线经过对应的工作区域时，将所述初始割草路线调整为所述割草机器人沿对应的工作区域的割草边界行驶的割草路线，其中，所述工作区域为多条线段依次连接形成的闭合区域，每条所述线段均为所述工作区域的割草边界。
可选地，每个所述工作区域对应的割草路线均与对应的工作区域的最长边界平行。
第二方面，本申请实施例提供了一种割草方法，包括：
响应针对割草机器人的割草触发请求，获取预设的工作区域；
根据所述工作区域的区域形状、割草机器人的当前位置信息以及割草方向， 生成所述工作区域的闭合割草路线，其中，所述闭合割草路线的起点和终点相同；
基于所述闭合割草路线控制所述割草机器人执行割草作业。
第三方面，本申请实施例提供了一种割草装置，包括：
获取模块，用于响应针对割草机器人的割草触发请求，获取预设的多个工作区域；
排序模块，用于根据所述工作区域的区域信息，输出所述工作区域对应的割草顺序；
生成模块，用于基于所述割草顺序、所述割草机器人的当前位置信息以及割草方向，生成覆盖所有工作区域的闭合割草路线，其中，所述闭合割草路线的起点和终点相同；
控制模块，用于基于所述闭合割草路线控制所述割草机器人执行割草作业。
第四方面，本申请实施例提供了一种割草装置，包括：
获取模块，用于响应针对割草机器人的割草触发请求，获取预设的工作区域；
生成模块，用于根据所述工作区域的区域形状、割草机器人的当前位置信息以及割草方向，生成所述工作区域的闭合割草路线，其中，所述闭合割草路线的起点和终点相同；
控制模块，用于基于所述闭合割草路线控制所述割草机器人执行割草作业。
第五方面，本申请实施例提供了一种割草机器人，包括存储器，处理器及存储在存储器上并可在处理器上运行的计算机程序，其中，所述处理器执行所述程序时实现如上任一项所述割草方法的步骤。
第六方面，本申请实施例提供了一种存储介质，其上存储有计算机程序，其中，所述计算机程序被处理器执行时实现如上任一项所述割草方法的步骤。
本申请实施例响应针对割草机器人的割草触发请求，获取预设的多个工作区域，然后，根据所述工作区域的区域信息，输出所述工作区域对应的割草顺序，接着，基于所述割草顺序、所述割草机器人的当前位置信息以及割草方向，生成覆盖所有工作区域的闭合割草路线，其中，所述闭合割草路线的起点和终点相同，最后，基于所述闭合割草路线控制所述割草机器人执行割草作业。在 本申请提供的割草方案中，根据所述工作区域的区域信息，输出所述工作区域对应的割草顺序，通过优化割草顺序，有利于提高割草效率。由于该闭合割草路线的起点和终点相同，使得割草机器人不需从固定的起点开始沿着割草路线进行割草作业或者完成割草作业后回到固定的终点，可以随时以割草机器人的当前位置为起点开始割草作业，从而有利于提高割草效率，而且，由于割草机器人按照起点和终点相同的闭合割草路线进行割草作业，能够使割草机器人节省从终止点回到出发点的时间，从而实现优化割草机器人的割草路线，减低割草机器人耗费的电能，提高割草效率。
本申请实施例中，割草机器人响应针对割草机器人的割草触发请求，获取预设的工作区域，接着，根据所述工作区域的区域形状、割草机器人的当前位置信息以及割草方向，生成所述工作区域的闭合割草路线，其中，所述闭合割草路线的起点和终点相同，然后，基于所述闭合割草路线控制所述割草机器人执行割草作业，由于该闭合割草路线的起点和终点相同，使得割草机器人不需从固定的起点开始沿着割草路线进行割草作业或者完成割草作业后回到固定的终点，可以随时以割草机器人的当前位置为起点开始割草作业，从而有利于提高割草效率，而且，由于割草机器人按照起点和终点相同的闭合割草路线进行割草作业，能够使割草机器人节省从终止点回到出发点的时间，从而实现优化割草机器人的割草路线，减低割草机器人耗费的电能，提高割草效率。
附图说明
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为现有技术方案的割草方法的场景示意图；
图2为本申请实施例提供的割草方法的流程示意图；
图3为本申请实施例提供的按照割草顺序排序的工作区域的示意图；
图4为本申请实施例提供的生成闭合割草路线的示意图；
图5为本申请实施例提供的割草方法的另一流程示意图；
图6为本申请实施例提供的割草方法的另一场景示意图；
图7为本申请实施例提供的割草装置的结构示意图；
图8为本申请实施例提供的割草装置的另一结构示意图；
图9是本申请实施例提供的割草机器人的结构示意图。
具体实施方式
在现有技术方案中，虽然现有市面上存在一种按照预设路线行驶的割草机器人，但是，现有的割草机器人按照预设路线行驶的出发点和终止点不是同一个位置的坐标点，导致割草机器人在终止点结束割草作业后，重新回到出发点会浪费时间，以及耗费更多割草机器人存储的电能。请参阅图1，图1为现有技术方案的割草方法的场景示意图。当割草机器人的充电地点为割草路线的起点时，割草机器人的割草路线的起点和终点分别位于不同的位置，会导致割草机器人按照割草路线完成割草作业并到达割草路线的终点后，因需要返回充电地点进行充电而折返回到割草路线的起点，从而使割草机器人行驶更多路程，耗费割草机器人更多的电能返回充电地点。
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
需要说明的是，当元件被称为“固定于”或“设置于”另一个元件，它可以直接在另一个元件上或者间接在该另一个元件上。当一个元件被称为是“连接于”另一个元件，它可以是直接连接到另一个元件或间接连接至该另一个元件上。另外，连接既可以是用于固定作用也可以是用于电路连通作用。
需要理解的是，术语“长度”、“宽度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明实施例和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、 “第二”的特征可以明示或者隐含地包括一个或者更多该特征。在本申请实施例的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。
本申请实施例提供一种割草方法、装置、割草机器人和存储介质。
其中，该割草装置具体可以集成在割草机器人的微控制单元(Microcontroller Unit，MCU)中，还可以集成在智能终端或服务器中，MCU又称单片微型计算机(Single Chip Microcomputer)或者单片机，是把中央处理器(Central Process Unit，CPU)的频率与规格做适当缩减，并将内存(memory)、计数器(Timer)、USB、模数转换/数模转换、UART、PLC、DMA等周边接口，形成芯片级的计算机，为不同的应用场合做不同组合控制。割草机器人可以自动行走，防止碰撞，范围之内自动返回充电，具备安全检测和电池电量检测，具备一定爬坡能力，尤其适合家庭庭院、公共绿地等场所进行草坪修剪维护，其特点是：自动割草、清理草屑、自动避雨、自动充电、自动躲避障碍物、外形小巧、电子虚拟篱笆、网络控制等。
终端可以是智能手机、平板电脑、笔记本电脑、台式计算机、智能音箱、智能手表等，但并不局限于此。终端以及服务器可以通过有线或无线通信方式进行直接或间接地连接，服务器可以是独立的物理服务器，也可以是多个物理服务器构成的服务器集群或者分布式系统，还可以是提供云服务、云数据库、云计算、云函数、云存储、网络服务、云通信、中间件服务、域名服务、安全服务、CDN、以及大数据和人工智能平台等基础云计算服务的云服务器，本申请在此不做限制。
以下分别进行详细说明。需说明的是，以下实施例的描述顺序不作为对实施例优先顺序的限定。以下实施例中记述的工作区域指的是在同一坐标系内至少三条线段依次连接起来的闭合区域；工作区域的边界指的是用于将工作区域围成闭合区域的线段；割草路线指的是由同一坐标系内至少两个坐标点连接起来的线段，该线段起始端为割草路线的起点，该线段的末端为割草路线的终点。过渡路线指的是，连接不同工作区域内作业路线的路线以及前往起点和从终点返回起点的路线，即割草机器行驶但不执行割草作业的路线。
一种割草方法，包括：响应针对割草机器人的割草触发请求，获取预设的 多个工作区域；根据工作区域的区域信息，输出工作区域对应的割草顺序；基于割草顺序、割草机器人的当前位置信息以及割草方向，生成覆盖所有工作区域的闭合割草路线，其中，闭合割草路线的起点和终点相同；基于闭合割草路线控制割草机器人执行割草作业。
请参阅图2，图2为本申请实施例提供的割草方法的流程示意图。该割草方法的具体流程可以如下：
101、响应针对割草机器人的割草触发请求，获取预设的多个工作区域。
其中，工作区域，割草机器人在设定边界的封闭区域内进行割草作业的区域。在本实施例中，多个工作区域之间相互独立，割草机器人在一个工作区域完成割草作业后再进入另一个作业区域进行割草作业。该割草触发请求可以是由割草机器人本身触发的，也可以是由服务器触发的，还可以是用户通过硬件或软件触发的，比如，割草机器人需要进行定时作业，在设定的时间内触发该割草触发请求；又比如，服务器根据上报的割草触发指令，下发的割草触发请求；还可以用户通过手机上的应用输入割草任务信息，手机根据该割草任务信息生成针对割草机器人的割草触发请求。
102、根据工作区域的区域信息，输出工作区域对应的割草顺序。
在本实施例中，工作区域的区域信息包括该工作区域的形状，例如由直线线段作为工作区域的边界依次连接而成的多边形工作区域，又如工作区域的边界为曲线的不规则形状工作区域。工作区域的区域信息还包括工作区域的面积等等。工作区域对应的割草顺序指的是，按照割草顺序，割草机器人在一个工作区域完成割草作业后再进入另一个作业区域进行割草作业，例如将多个工作区域按照割草顺序设定为第一割草顺序工作区域、第二割草顺序工作区域、……第N割草顺序工作区域。
可选地，步骤“根据工作区域的区域信息，输出工作区域对应的割草顺序”，具体可以包括：
(21)从工作区域的区域信息中提取区域面积以及区域形状。
(22)基于区域面积以及区域形状，确定工作区域对应的割草顺序。
请参阅图3，图3为本申请实施例提供的按照割草顺序排序的工作区域的示意图。按照割草顺序，可将工作区域排列为第一割草顺序的工作区域S1、第二 割草顺序的工作区域S2、第三割草顺序的工作区域S3、第四割草顺序的工作区域S4。
在一个具体的实施例中，从工作区域的区域信息中提取区域面积，确定每个工作区域的区域面积，将两两工作区域的区域面积进行对比，将区域面积最大的工作区域作为第一割草顺序的工作区域S1，将区域面积第二大的工作区域作为第二割草顺序的工作区域S2，以此类推，从而将每个工作区域进行排序，得到工作区域对应的割草顺序。
在另一个具体的实施例中，从工作区域的区域信息中提取区域形状，确定每个工作区域的区域形状，根据区域形状确定工作区域的边界数量，例如三角形工作区域的边界数量为三，四边形工作区域的边界数量为四，将边界数量最大的工作区域作为第一割草顺序的工作区域S1，将边界数量第二大的工作区域作为第二割草顺序的工作区域S2，以此类推，从而将每个工作区域进行排序，得到工作区域对应的割草顺序。
103、基于割草顺序、割草机器人的当前位置信息以及割草方向，生成覆盖所有工作区域的闭合割草路线，其中，闭合割草路线的起点和终点相同。
在本实施例中，先确定割草机器人的当前位置信息，例如割草机器人处于哪个工作区域内，割草机器人相对于工作区域的位置。由于割草机器人的割草方向会影响割草路线生成，例如当割草机器人的割草方向与第一割草顺序的工作区域S1所在方向相反时，生成的割草路线折返至第一割草顺序的工作区域S1。
可以理解的是，对于起点和终点相同的闭合割草路线，割草机器人可以在该闭合割草路线上的任意一点作为起点开始沿着割草路线进行割草作业，该起点也即终点，即割草机器人沿着割草路线完成割草作业后回到该起点。
可选地，步骤“基于割草顺序、割草机器人的当前位置信息以及割草方向，生成覆盖所有工作区域的闭合割草路线”，具体可以包括：
(31)基于割草顺序以及割草机器人的割草方向，依次生成每个工作区域对应的割草路线。
优选地，每个工作区域对应的割草路线均与对应的工作区域的最长边界平行。
(32)将生成的割草路线进行连接，得到覆盖所有工作区域的闭合割草路 线，其中，闭合割草路线的起点和终点均位于割草机器人的当前位置。
可选地，在一些实施例中，步骤“基于割草顺序以及割草机器人的割草方向，依次生成每个工作区域对应的割草路线”，具体可以包括：
(311)检测第一割草顺序的工作区域与割草机器人的当前位置之间的距离。
(312)当检测到第一割草顺序的工作区域与割草机器人的当前位置之间的距离大于预设阈值时，生成沿割草方向行驶的初始割草路线，其中，初始割草路线的起点位于割草机器人的当前位置，初始割草路线的终点位于第一割草顺序的工作区域内。
(313)基于初始割草路线以及割草顺序，依次生成每个工作区域对应的割草路线。
优选地，在一个实施例中，检测初始割草路线是否经过工作区域；当检测到初始割草路线经过对应的工作区域时，将初始割草路线调整为割草机器人沿对应的工作区域的割草边界行驶的割草路线，其中，工作区域为多条线段依次连接形成的闭合区域，每条线段均为工作区域的割草边界。
在一个实施例中，请参阅图4，图4为本申请实施例提供的生成闭合割草路线的示意图。可以理解的是，通过检测第一割草顺序的工作区域S1与割草机器人的当前位置之间的距离，发现第一割草顺序的工作区域S1与割草机器人的当前位置之间的距离大于预设阈值，且第四割草顺序的工作区域S4比第一割草顺序的工作区域S1更接近割草机器人，第一割草顺序的工作区域S1与割草机器人之间隔着第一割草顺序的工作区域S1、第二割草顺序的工作区域S2、第三割草顺序的工作区域S3。因此，生成割草路线时，首先生成割草机器人到达第一割草顺序的工作区域S1的初始割草路线，该初始割草路线经过第一割草顺序的工作区域S1、第二割草顺序的工作区域S2、第三割草顺序的工作区域S3。生成初始割草路线后，从第一割草顺序的工作区域S1开始，在第一割草顺序的工作区域S1生成割草路线，然后在第二割草顺序的工作区域S2生成割草路线，依次按照割草顺序在第三割草顺序的工作区域S3、第四割草顺序的工作区域S4生成对应的割草路线，最后，将第四割草顺序的工作区域S4的割草路线与终点(起点，即割草机器人的当前位置)连接。
104、基于闭合割草路线控制割草机器人执行割草作业。
本申请实施例中，割草机器人响应针对割草机器人的割草触发请求，获取预设的多个工作区域，然后，根据工作区域的区域信息，输出工作区域对应的割草顺序，接着，基于割草顺序、割草机器人的当前位置信息以及割草方向，生成覆盖所有工作区域的闭合割草路线，其中，闭合割草路线的起点和终点相同，最后，基于闭合割草路线控制割草机器人执行割草作业。在本申请提供的割草方案中，根据工作区域的区域信息，输出工作区域对应的割草顺序，通过优化割草顺序，有利于提高割草效率。由于该闭合割草路线的起点和终点相同，使得割草机器人不需从固定的起点开始沿着割草路线进行割草作业或者完成割草作业后回到固定的终点，可以随时以割草机器人的当前位置为起点开始割草作业，从而有利于提高割草效率，而且，由于割草机器人按照起点和终点相同的闭合割草路线进行割草作业，能够使割草机器人节省从终止点回到出发点的时间，从而实现优化割草机器人的割草路线，减低割草机器人耗费的电能，提高割草效率。
请参阅图5，图5为本申请实施例提供的割草方法的另一流程示意图。该割草方法的具体流程可以如下：
201、响应针对割草机器人的割草触发请求，获取预设的工作区域。
其中，工作区域，割草机器人在设定边界的封闭区域内进行割草作业的区域。在本实施例中，多个工作区域之间相互独立，割草机器人在一个工作区域完成割草作业后再进入另一个作业区域进行割草作业。该割草触发请求可以是由割草机器人本身触发的，也可以是由服务器触发的，还可以是用户通过硬件或软件触发的，比如，割草机器人需要进行定时作业，在设定的时间内触发该割草触发请求；又比如，服务器根据上报的割草触发指令，下发的割草触发请求；还可以用户通过手机上的应用输入割草任务信息，手机根据该割草任务信息生成针对割草机器人的割草触发请求。
202、根据工作区域的区域形状、割草机器人的当前位置信息以及割草方向，生成工作区域的闭合割草路线，其中，闭合割草路线的起点和终点相同。
根据工作区域的区域形状、割草机器人的当前位置信息以及割草方向生成 工作区域的闭合割草路线的具体实施例可参见上述实施例中的相关描述，在此不再赘述。
203、基于闭合割草路线控制割草机器人执行割草作业。
本申请实施例中，割草机器人响应针对割草机器人的割草触发请求，获取预设的工作区域，接着，根据工作区域的区域形状、割草机器人的当前位置信息以及割草方向，生成工作区域的闭合割草路线，其中，闭合割草路线的起点和终点相同，然后，基于闭合割草路线控制割草机器人执行割草作业，由于该闭合割草路线的起点和终点相同，使得割草机器人不需从固定的起点开始沿着割草路线进行割草作业或者完成割草作业后回到固定的终点，可以随时以割草机器人的当前位置为起点开始割草作业，从而有利于提高割草效率，而且，由于割草机器人按照起点和终点相同的闭合割草路线进行割草作业，能够使割草机器人节省从终止点回到出发点的时间，从而实现优化割草机器人的割草路线，减低割草机器人耗费的电能，提高割草效率。
为了便于进一步理解本申请的割草方法，以下以智能割草的场景为例进行进一步说明，请参阅图6，图6为本申请实施例提供的割草方法的另一场景示意图。请参见图6，以割草机器人所在位置为割草路线的起点，在工作区域内生成弓字型的割草路线，最后将割草路线的终点设置在与割草路线的起点相同的位置。当割草机器人进行割草作业时，割草机器人从割草路线的起点开始沿着割草路线一边行进一边执行割草，最终割草机器人回到割草路线的起点(终点)。由此可见，由于割草路线的起点与终点相同，因此割草机器人无需在完成割草作业后从终点走过更多不进行割草的过渡路线才能到达起点，从而节省了生成过渡路线，以及节省割草机器人在过渡路线行驶时浪费的时间和能量。
为便于更好的实施本申请实施例的割草方法，本申请实施例还提供一种基于上述割草装置。其中名词的含义与上述割草方法中相同，具体实现细节可以参考方法实施例中的说明。
请参阅图7，图7为本申请实施例提供的割草装置的结构示意图，其中该割草装置可以包括获取模块301、排序模块302、生成模块303以及控制模块304，具体可以如下：
获取模块301，用于响应针对割草机器人的割草触发请求，获取预设的多个工作区域。
排序模块302，用于根据工作区域的区域信息，输出工作区域对应的割草顺序。
可选地，在一些实施例中，排序模块302还包括：
提取单元，用于从工作区域的区域信息中提取区域面积以及区域形状。
排序单元，用于基于区域面积以及区域形状，确定工作区域对应的割草顺序。
生成模块303，用于基于割草顺序、割草机器人的当前位置信息以及割草方向，生成覆盖所有工作区域的闭合割草路线，其中，闭合割草路线的起点和终点相同。
可选地，在一些实施例中，生成模块303包括：
生成单元，用于基于割草顺序以及割草机器人的割草方向，依次生成每个工作区域对应的割草路线。
优选地，每个工作区域对应的割草路线均与对应的工作区域的最长边界平行。
连接单元，用于将生成的割草路线进行连接，得到覆盖所有工作区域的闭合割草路线，其中，闭合割草路线的起点和终点均位于割草机器人的当前位置。
可选地，在一些实施例中，生成单元还包括：
检测子单元，用于检测第一割草顺序的工作区域与割草机器人的当前位置之间的距离。
第一生成子单元，用于当检测到第一割草顺序的工作区域与割草机器人的当前位置之间的距离大于预设阈值时，生成沿割草方向行驶的初始割草路线，其中，初始割草路线的起点位于割草机器人的当前位置，初始割草路线的终点位于第一割草顺序的工作区域内。
第二生成子单元，用于基于初始割草路线以及割草顺序，依次生成每个工作区域对应的割草路线。
优选地，在一个实施例中，检测初始割草路线是否经过工作区域；当检测到初始割草路线经过对应的工作区域时，将初始割草路线调整为割草机器人沿 对应的工作区域的割草边界行驶的割草路线，其中，工作区域为多条线段依次连接形成的闭合区域，每条线段均为工作区域的割草边界。
控制模块304，用于基于闭合割草路线控制割草机器人执行割草作业。
本申请实施例中，获取模块301响应针对割草机器人的割草触发请求，获取预设的多个工作区域，然后，排序模块302根据工作区域的区域信息，输出工作区域对应的割草顺序，接着，生成模块303基于割草顺序、割草机器人的当前位置信息以及割草方向，生成覆盖所有工作区域的闭合割草路线，其中，闭合割草路线的起点和终点相同，最后，控制模块304基于闭合割草路线控制割草机器人执行割草作业。在本申请提供的割草方案中，根据工作区域的区域信息，输出工作区域对应的割草顺序，通过优化割草顺序，有利于提高割草效率。由于该闭合割草路线的起点和终点相同，使得割草机器人不需从固定的起点开始沿着割草路线进行割草作业或者完成割草作业后回到固定的终点，可以随时以割草机器人的当前位置为起点开始割草作业，从而有利于提高割草效率，而且，由于割草机器人按照起点和终点相同的闭合割草路线进行割草作业，能够使割草机器人节省从终止点回到出发点的时间，从而实现优化割草机器人的割草路线，减低割草机器人耗费的电能，提高割草效率。
请参阅图8，图8为本申请实施例提供的割草装置的结构示意图，其中该割草装置可以包括获取模块401、生成模块402以及控制模块403，具体可以如下：
获取模块401，用于响应针对割草机器人的割草触发请求，获取预设的工作区域。
生成模块402，用于根据工作区域的区域形状、割草机器人的当前位置信息以及割草方向，生成工作区域的闭合割草路线，其中，闭合割草路线的起点和终点相同。
控制模块403，用于基于闭合割草路线控制割草机器人执行割草作业。
智能终端、服务器或割草机器人可以生成弓字型割草路线，其具体实施例可参见上述实施例中的相关描述，在此不再赘述。
本申请实施例中，获取模块401响应针对割草机器人的割草触发请求，获取预设的工作区域，接着，生成模块402根据工作区域的区域形状、割草机器人的当前位置信息以及割草方向，生成工作区域的闭合割草路线，其中，闭合 割草路线的起点和终点相同，然后，控制模块403基于闭合割草路线控制割草机器人执行割草作业，由于该闭合割草路线的起点和终点相同，使得割草机器人不需从固定的起点开始沿着割草路线进行割草作业或者完成割草作业后回到固定的终点，可以随时以割草机器人的当前位置为起点开始割草作业，从而有利于提高割草效率，而且，由于割草机器人按照起点和终点相同的闭合割草路线进行割草作业，能够使割草机器人节省从终止点回到出发点的时间，从而实现优化割草机器人的割草路线，减低割草机器人耗费的电能，提高割草效率。
此外，本申请实施例还提供一种割草机器人，如图9所示，其示出了本申请实施例所涉及的割草机器人的结构示意图，具体来讲：
该割草机器人可以包括控制模块501、行进机构502、切割模块503以及电源504等部件。本领域技术人员可以理解，图9中示出的割草机器人结构并不构成对割草机器人的限定，可以包括比图示更多或更少的部件，或者组合某些部件，或者不同的部件布置。其中：
控制模块501是该割草机器人的控制中心，该控制模块501具体可以包括中央处理器(Central Process Unit，CPU)、存储器、输入/输出端口、系统总线、定时器/计数器、数模转换器和模数转换器等组件，CPU通过运行或执行存储在存储器内的软件程序和/或模块，以及调用存储在存储器内的数据，执行割草机器人的各种功能和处理数据；优选的，CPU可集成应用处理器和调制解调处理器，其中，应用处理器主要处理操作系统和应用程序等，调制解调处理器主要处理无线通信。可以理解的是，上述调制解调处理器也可以不集成到CPU中。
存储器可用于存储软件程序以及模块，CPU通过运行存储在存储器的软件程序以及模块，从而执行各种功能应用以及数据处理。存储器可主要包括存储程序区和存储数据区，其中，存储程序区可存储操作系统、至少一个功能所需的应用程序(比如声音播放功能、图像播放功能等)等；存储数据区可存储根据割草机器人的使用所创建的数据等。此外，存储器可以包括高速随机存取存储器，还可以包括非易失性存储器，例如至少一个磁盘存储器件、闪存器件、或其他易失性固态存储器件。相应地，存储器还可以包括存储器控制器，以提供CPU对存储器的访问。
行进机构502与控制模块501电性相连，用于响应控制模块501传递的控制信号，调整割草机器人的行进速度和行进方向，实现割草机器人的自移动功能。
切割模块503与控制模块501电性相连，用于响应控制模块传递的控制信号，调整切割刀盘的高度和转速，实现割草作业。
电源504可以通过电源管理系统与控制模块501逻辑相连，从而通过电源管理系统实现管理充电、放电、以及功耗管理等功能。电源504还可以包括一个或一个以上的直流或交流电源、再充电系统、电源故障检测电路、电源转换器或者逆变器、电源状态指示器等任意组件。
尽管未示出，该割草机器人还可以包括通信模块、传感器模块、提示模块等，在此不再赘述。
通信模块用于收发信息过程中信号的接收和发送，通过与用户设备、基站或服务器建立通信连接，实现与用户设备、基站或服务器之间的信号收发。
传感器模块用于采集内部环境信息或外部环境信息，并将采集到的环境数据反馈给控制模块进行决策，实现割草机器人的精准定位和智能避障功能。可选地，传感器可以包括：超声波传感器、红外传感器、碰撞传感器、雨水感应器、激光雷达传感器、惯性测量单元、轮速计、图像传感器、位置传感器及其他传感器，对此不做限定。
提示模块用于提示用户当前割草机器人的工作状态。本方案中，提示模块包括但不限于指示灯、蜂鸣器等。例如，割草机器人可以通过指示灯提示用户当前的电源状态、电机的工作状态、传感器的工作状态等。又例如，当检测到割草机器人出现故障或被盗时，可以通过蜂鸣器实现告警提示。
具体在本实施例中，控制模块501中的处理器会按照如下的指令，将一个或一个以上的应用程序的进程对应的可执行文件加载到存储器中，并由处理器来运行存储在存储器中的应用程序，从而实现各种功能，如下：
以上各个操作的具体实施可参见前面的实施例，在此不再赘述。
响应针对割草机器人的割草触发请求，获取预设的多个工作区域，然后，根据所述工作区域的区域信息，输出所述工作区域对应的割草顺序，接着，基于所述割草顺序、所述割草机器人的当前位置信息以及割草方向，生成覆盖所有工作区域的闭合割草路线，其中，所述闭合割草路线的起点和终点相同，最 后，基于所述闭合割草路线控制所述割草机器人执行割草作业。或者，响应针对割草机器人的割草触发请求，获取预设的工作区域，接着，根据所述工作区域的区域形状、割草机器人的当前位置信息以及割草方向，生成所述工作区域的闭合割草路线，其中，所述闭合割草路线的起点和终点相同，然后，基于所述闭合割草路线控制所述割草机器人执行割草作业。
可以理解的是，由于该闭合割草路线的起点和终点相同，使得割草机器人不需从固定的起点开始沿着割草路线进行割草作业或者完成割草作业后回到固定的终点，可以随时以割草机器人的当前位置为起点开始割草作业，从而有利于提高割草效率，而且，由于割草机器人按照起点和终点相同的闭合割草路线进行割草作业，能够使割草机器人节省从终止点回到出发点的时间，从而实现优化割草机器人的割草路线，减低割草机器人耗费的电能，提高割草效率。
本领域普通技术人员可以理解，上述实施例的各种方法中的全部或部分步骤可以通过指令来完成，或通过指令控制相关的硬件来完成，该指令可以存储于一计算机可读存储介质中，并由处理器进行加载和执行。
为此，本申请实施例提供一种存储介质，其中存储有多条指令，该指令能够被处理器进行加载，以执行本申请实施例所提供的任一种割草方法中的步骤。例如，该指令可以执行如下步骤：
响应针对割草机器人的割草触发请求，获取预设的多个工作区域，然后，根据所述工作区域的区域信息，输出所述工作区域对应的割草顺序，接着，基于所述割草顺序、所述割草机器人的当前位置信息以及割草方向，生成覆盖所有工作区域的闭合割草路线，其中，所述闭合割草路线的起点和终点相同，最后，基于所述闭合割草路线控制所述割草机器人执行割草作业。或者，响应针对割草机器人的割草触发请求，获取预设的工作区域，接着，根据所述工作区域的区域形状、割草机器人的当前位置信息以及割草方向，生成所述工作区域的闭合割草路线，其中，所述闭合割草路线的起点和终点相同，然后，基于所述闭合割草路线控制所述割草机器人执行割草作业。
以上各个操作的具体实施可参见前面的实施例，在此不再赘述。
其中，该存储介质可以包括：只读存储器(ROM，Read Only Memory)、随机存取记忆体(RAM，Random Access Memory)、磁盘或光盘等。
由于该存储介质中所存储的指令，可以执行本申请实施例所提供的任一种割草方法中的步骤，因此，可以实现本申请实施例所提供的任一种割草方法所能实现的有益效果，详见前面的实施例，在此不再赘述。
以上对本申请实施例所提供的一种割草方法、装置、割草机器人以及存储介质进行了详细介绍，本文中应用了具体个例对本申请的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本申请的方法及其核心思想；同时，对于本领域的技术人员，依据本申请的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本申请的限制。

Claims (11)

  1. 一种割草方法，其中，包括：
    响应针对割草机器人的割草触发请求，获取预设的多个工作区域；
    根据所述工作区域的区域信息，输出所述工作区域对应的割草顺序；
    基于所述割草顺序、所述割草机器人的当前位置信息以及割草方向，生成覆盖所有工作区域的闭合割草路线，其中，所述闭合割草路线的起点和终点相同；
    基于所述闭合割草路线控制所述割草机器人执行割草作业。
  2. 根据权利要求1所述的方法，其中，所述根据所述工作区域的区域信息，输出所述工作区域对应的割草顺序，包括：
    从所述工作区域的区域信息中提取区域面积以及区域形状；
    基于所述区域面积以及区域形状，确定所述工作区域对应的割草顺序。
  3. 根据权利要求1所述的方法，其中，所述基于所述割草顺序、所述割草机器人的当前位置信息以及割草方向，生成覆盖所有工作区域的闭合割草路线，包括：
    基于所述割草顺序以及所述割草机器人的割草方向，生成每个所述工作区域对应的割草路线；
    将生成的割草路线进行连接，得到覆盖所有工作区域的闭合割草路线，其中，所述闭合割草路线的起点和终点均位于所述割草机器人的当前位置。
  4. 根据权利要求3所述的方法，其中，所述基于所述割草顺序以及所述割草机器人的割草方向，生成每个所述工作区域对应的割草路线，包括：
    检测第一割草顺序的工作区域与所述割草机器人的当前位置之间的距离；
    当检测到所述第一割草顺序的工作区域与所述割草机器人的当前位置之间的距离大于预设阈值时，生成沿所述割草方向行驶的初始割草路线，其中，所述初始割草路线的起点位于所述割草机器人的当前位置，所述初始割草路线的终点位于所述第一割草顺序的工作区域内；
    基于所述初始割草路线以及所述割草顺序，依次生成每个所述工作区域对应的割草路线。
  5. 根据权利要求4所述的方法，其中，所述生成沿所述割草方向行驶的初 始割草路线，包括：
    检测所述初始割草路线是否经过工作区域；
    当检测到所述初始割草路线经过对应的工作区域时，将所述初始割草路线调整为所述割草机器人沿对应的工作区域的割草边界行驶的割草路线，其中，所述工作区域为多条线段依次连接形成的闭合区域，每条所述线段均为所述工作区域的割草边界。
  6. 根据权利要求3至5任一项所述的方法，其中，每个所述工作区域对应的割草路线均与对应的工作区域的最长边界平行。
  7. 一种割草方法，其中，包括：
    响应针对割草机器人的割草触发请求，获取预设的工作区域；
    根据所述工作区域的区域形状、割草机器人的当前位置信息以及割草方向，生成所述工作区域的闭合割草路线，其中，所述闭合割草路线的起点和终点相同；
    基于所述闭合割草路线控制所述割草机器人执行割草作业。
  8. 一种割草装置，其中，包括：
    获取模块，用于响应针对割草机器人的割草触发请求，获取预设的多个工作区域；
    排序模块，用于根据所述工作区域的区域信息，输出所述工作区域对应的割草顺序；
    生成模块，用于基于所述割草顺序、所述割草机器人的当前位置信息以及割草方向，生成覆盖所有工作区域的闭合割草路线，其中，所述闭合割草路线的起点和终点相同；
    控制模块，用于基于所述闭合割草路线控制所述割草机器人执行割草作业。
  9. 一种割草装置，其中，包括：
    获取模块，用于响应针对割草机器人的割草触发请求，获取预设的工作区域；
    生成模块，用于根据所述工作区域的区域形状、割草机器人的当前位置信息以及割草方向，生成所述工作区域的闭合割草路线，其中，所述闭合割草路线的起点和终点相同；
    控制模块，用于基于所述闭合割草路线控制所述割草机器人执行割草作业。
  10. 一种割草机器人，其中，包括存储器，处理器及存储在存储器上并可在处理器上运行的计算机程序，所述处理器执行所述程序时实现如权利要求1-6任一项或权利要求7所述割草方法的步骤。
  11. 一种存储介质，其中，其上存储有计算机程序，所述计算机程序被处理器执行时实现如权利要求1-6任一项或权利要求7所述割草方法的步骤。
PCT/CN2023/105133 2022-07-12 2023-06-30 割草方法、装置、割草机器人以及存储介质 WO2024012286A1 (zh)

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