CN114815812A - A lawn mowing robot operation control method, device, electronic device and storage medium - Google Patents

Abstract

The present application relates to an operation control method, device, electronic device and storage medium for a lawnmower robot, including: S1. Obtaining at least one operation area during the mapping process of the lawnmower robot; S2. Obtaining at least one passage area according to the operation area, wherein , the passing area is used to enter the operation area; S3, obtain the target operation area; S4, obtain the current position of the lawnmower robot, and determine whether the lawnmower robot is located in the target operation area, if not, execute S5, otherwise execute S7; S5, obtain The lawnmower robot runs to all the optional paths of the target operation area; S6, selects the target path according to the optional path and establishes a passage map within the boundary of its corresponding passage area and operation area, so that the lawnmower robot enters the target operation area; S7 . Establish an operation map of the lawn mowing robot according to the target operation area, wherein the passing area is set outside the boundary of the operation map. The implementation of the present application can improve the reliability of the operation process of the lawn mower robot.

Description

A lawn mowing robot operation control method, device, electronic device and storage medium

technical field

The present application relates to the technical field of lawn mowing robots, and more particularly, to a method, device, electronic device and storage medium for controlling the operation of lawn mowing robots.

Background technique

There are passable non-grass areas in the work map of the borderless mowing robot, which will cause the lawn map to be split for the mowing robot and affect the path planning during the entire mowing process. At the same time, for the intelligent lawn mowing robot, not all non-grass passable areas need to be included in its operation map as an operation area, but in the actual process which areas should be included in the operation map, it is necessary for the robot to work. Process has a big impact.

Application content

The technical problem to be solved by the present application is to provide an operation control method, device, electronic device and storage medium of a lawn mowing robot.

The technical solution adopted by the present application to solve the technical problem is to construct a method for controlling the operation of a lawn mowing robot, including:

S1. In the process of mapping the lawnmower robot, the mapping area is divided according to preset rules, so as to obtain at least one operation area;

S2. Acquire at least one passing area when the number of the working areas is not unique or when the number of the working areas is unique and the starting point of the lawnmower robot is not within the unique working area, wherein the passing area is The area is used for the lawnmower robot to enter the corresponding work area;

S3. When the lawnmower robot performs the operation task, obtain the target operation area according to the trigger instruction;

S4. Obtain the current position of the lawnmower robot, and determine whether the lawnmower robot is located in the target operation area. If so, go to step S7, otherwise go to step S5;

S5. Acquire all optional paths of the lawnmower robot running to the target operation area, wherein the optional paths pass through the operation area or/and the passage area;

S6. Select a target path according to the optional path, and establish a traffic map of the lawnmower robot with the passing area and working area corresponding to the target path as the boundary, so that the lawnmower robot enters through the target path. the target operating area;

S7. Establish a work map of the lawnmower robot according to the target work area, so that the lawnmower robot can work according to the work map.

Preferably, in the operation control method of a lawn mowing robot described in this application, it also includes:

S21. When the number of the working area is unique and the starting point of the lawn mowing robot is within the unique working area, create a working map of the lawn mowing robot based on the working area, so that the lawn mowing robot can use the working area. The robot operates according to the operation map.

Preferably, in the operation control method of a lawnmower robot described in the present application, in the step S1, the mapping area is divided according to preset rules to obtain at least one operation area; AI machine recognition is performed on the mapping area to obtain the grass area as the operation area.

Preferably, in the operation control method of a lawn mowing robot described in this application, in the step S2, the acquiring at least one passing area includes: performing AI machine recognition on the mapping area to acquire non-grassland area, and obtain the passing area according to the non-grass area.

Preferably, in the operation control method for a lawnmower robot described in the present application, the obtaining the passing area according to the non-grass area includes: obtaining the passing area according to an attribute of the non-grass area.

Preferably, in the operation control method for a lawn mower described in the present application, the attributes of the non-grass area include flat areas and obstacles, and the passing area includes flat areas.

Preferably, in the operation control method for a lawn mowing robot described in the present application, the acquiring the passing area according to the non-grass area includes: receiving a user instruction to select the non-grass area as the passing area .

Preferably, in the operation control method of a lawn mowing robot described in the present application, in the step S7, the method further includes: setting a passage area corresponding to the target operation area outside the boundary of the operation map.

The present application also constructs an operation control device for a lawn mowing robot, including:

The operation area acquisition unit is used to divide the mapping area according to preset rules in the process of mapping the lawn mower robot, so as to obtain at least one operation area;

a pass area obtaining unit, configured to obtain at least one pass area when the number of the operation areas is not unique or when the number of the operation areas is unique and the starting point of the lawn mower robot is not within the unique operation area, Wherein, the passage area is used to allow the lawnmower robot to enter the corresponding work area therefrom;

a target operation area acquisition unit, configured to acquire a target operation area according to a trigger instruction when the lawnmower robot performs an operation task;

a judging unit, configured to obtain the current position of the lawnmower robot, and determine whether the lawnmower robot is located in the target operation area, if yes, output a positive result, otherwise output a negative result;

An optional path acquiring unit, configured to acquire all optional paths that the lawnmower robot runs to the target work area when the judgment unit outputs a negative result, wherein the optional paths pass through the work area or/or and said access area;

A target path selection unit is used to select a target path according to the optional path, and establish a traffic map of the lawn mower robot with the passing area and working area corresponding to the target path as the boundary, so that the lawn mower robot can pass the the target path enters the target operation area;

An operation unit, configured to establish an operation map of the lawnmower robot according to the target operation area, so that the lawnmower robot operates according to the operation map.

The present application also constructs a computer storage medium on which a computer program is stored, and when the computer program is executed by a processor, implements the operation control method for a lawn mowing robot as described in any one of the above.

The present application also constructs an electronic device including a memory and a processor;

the memory is used to store computer programs;

The processor is configured to execute the computer program to implement the operation control method for a lawnmower robot as described in any one of the above.

Implementing the operation control method, device, electronic device and storage medium of a lawn mowing robot of the present application has the following beneficial effects: the reliability of the operation process of the lawn mowing robot can be improved.

Description of drawings

The application will be further described below in conjunction with the accompanying drawings and embodiments, in which:

FIG. 1 is a schematic flowchart of an embodiment of an operation control method of a lawn mowing robot of the present application;

FIG. 2 is a logical block diagram of an embodiment of an operation control device of a lawn mowing robot according to the present application.

Detailed ways

In order to have a clearer understanding of the technical features, purposes and effects of the present application, the specific embodiments of the present application will now be described in detail with reference to the accompanying drawings.

As shown in FIG. 1 , in the first embodiment of a method for controlling the operation of a lawnmower robot according to the present application, the method includes: S1. Divide the map-building area according to preset rules during the map-building process of the lawnmower robot, so as to obtain at least A work area; specifically, when the lawnmower robot is working, it usually first composes the work area, and works according to the map obtained by the composition. In the present application, however, it is firstly divided according to the set rules to obtain the work area. For example, the connected lawns are set as one working area, and multiple lawns separated from each other can correspond to multiple different working areas.

S2. Acquire at least one passing area when the number of the working areas is not unique or when the number of the working areas is unique and the starting point of the lawnmower robot is not within the unique working area, wherein the passing area is The area is used for the lawnmower robot to enter the corresponding operation area; specifically, when the obtained operation area is multiple, that is, not unique, the connection relationship between the multiple operation areas can be obtained to obtain the passage area. In this way, when the lawnmower robot is in one operation area, it can enter another operation area through the corresponding passage area, and the number of passage areas may not be unique. That is to say, it can be understood that there may be multiple passage areas between one work area and another work area. In one embodiment, when the work area is unique, that is, there is only one work area, and the starting point of the lawnmower robot is not within the only work area, at this time, it is necessary to obtain the passage area for the lawnmower robot to enter the work area. It can be understood that there may be one or more passage areas where the mapping starting point of the lawnmower robot enters the working area.

S3. When the lawnmower robot performs the operation task, the target operation area is obtained according to the trigger instruction. Optionally, when the lawnmower robot performs the lawnmowing operation, it may first obtain the corresponding information that needs to perform the lawnmowing operation according to the trigger instruction. target work area. The setting can be automatically triggered by the lawn mower robot according to the set task, or manually triggered by the user. User manual triggering can be set to trigger through commands or through the UI interface.

S4. Acquire the current position of the lawnmower robot, and determine whether the lawnmower robot is located in the target operation area. If so, go to step S7, otherwise go to step S5; All optional paths in the target operation area, wherein the optional path passes through the operation area or/and the passing area; S6. Select a target path according to the optional path, and use the corresponding access path of the target path The area and the operation area are established within the bounds of the traffic map of the lawnmower robot, so that the lawnmower robot enters the target operation area through the target path; S7, establishes a map of the lawnmower robot according to the target operation area. an operation map, so that the lawnmower robot operates according to the operation map, wherein a passage area corresponding to the target operation area is set out of the boundary of the operation map. Specifically, after obtaining the target operation area where the lawnmower robot will perform the lawnmowing operation, it needs to judge the current position of the lawnmower robot to determine whether the current position of the lawnmower robot is within the target operation area. When it is determined that the lawnmower robot is currently in the target operation area, the lawnmower robot does not need to find a path to enter the target operation area from the current position, and it directly establishes a work map of the current lawnmower robot according to the current target operation area. . In one embodiment, the establishment of the operation map can set the passage area corresponding to the target operation area outside the boundary of the operation map, that is, the operation map does not include the passage area corresponding to the target operation area. Move only within the target work area. When it is determined that the lawnmower robot is not currently in the target operation area, the lawnmower robot needs to be driven to enter the target operation area. At this time, according to the relationship between the current position of the lawnmower robot and the target operation area, all paths that the lawnmower robot can realize to run from the current position to the target area are obtained and defined as all optional paths. The path may include a work area or a pass-through area. For example, in one embodiment, when the lawnmower robot is located in an operation area, the target operation area is adjacent to the operation area, and the optional path corresponding to the lawnmower robot is to pass through the current operation area, the operation area and the target operation. The passage area between the zones enters the target work area. In another embodiment, when the lawnmower robot is located in a work area, there are multiple intermediate work areas between the target work area and the work area. At this time, the optional path corresponding to the lawnmower robot is to pass through the current work area, A plurality of intermediate work areas and the passage area between them finally reach the target work area.

At the same time, in some embodiments, there may be multiple different paths from one operation area to the target area through other operation areas or passing areas. In this case, an appropriate path may be selected from multiple optional paths according to the settings Target path. The working area and the passing area passed by the target path are taken as the working boundary of the lawnmower robot, so that the lawnmower robot can run to the target operation area through the target route within the boundary.

After the lawnmower robot enters the target operation area, it performs the operation map of the lawnmower robot to cut grass according to the target operation area. At this time, all the passage areas corresponding to the target operation area are only outside the boundaries of the operation map, so that the lawnmower robot Work only within the target work area. For example, the lawnmower robot will not run to non-grass areas at this time.

Optionally, in a method for controlling the operation of a lawnmower robot of the present application, the method further includes: S21. When the number of the operation areas is unique and the starting point of mapping of the lawnmower robot is within the unique operation area, A work map of the lawn mower robot is established based on the work area, so that the lawn mower robot works according to the work map. Specifically, in an embodiment, the mowing area corresponding to the mowing robot may only be a complete lawn, and the starting point of the mowing robot's mapping is in the middle of the lawn. At this point, it can be understood that a passage area is not required for the lawnmower robot to enter the work area, that is, there is no corresponding passage area in the work area at this time. In this embodiment, the operation area can be directly used as the operation map of the lawnmower robot, so that the lawnmower robots can perform operations in the operation area.

Optionally, in the operation control method of a lawnmower robot of the present application, in the step S1, the mapping area is divided according to a preset rule to obtain at least one operation area; AI machine recognition is performed on the mapping area to obtain the grass area as the operation area. Specifically, during the mapping process of the lawnmower robot, the corresponding grass area can be obtained through AI machine recognition, and the complete grass area is used as the working area. Among them, the specific process of AI machine recognition can use the currently commonly used recognition process.

In the step S2, the acquiring at least one passing area includes: performing AI machine recognition on the mapping area to acquire a non-grass area, and acquiring the passing area according to the non-grass area. Specifically, during the mapping process of the lawnmower robot, the corresponding non-grass area can be obtained through AI machine recognition, the non-grass area can be judged, and an appropriate non-grass area can be selected as the passing area. The specific process of AI machine recognition can use the currently commonly used recognition process.

Further, the obtaining the passing area according to the non-grass area includes: obtaining the passing area according to an attribute of the non-grass area. Specifically, the process of acquiring the passable area from the non-operational area may be to obtain the passable area where the attribute meets the requirements. For example, when it is determined that the non-grass area is flat, the flat area can be set as the passage area corresponding to the operation area. When it is determined that the non-grass area is an obstacle, obviously it cannot be set as the corresponding passage area of the operation area. pass area.

Optionally, the acquiring the pass area according to the non-grass area includes: receiving a user instruction to select the non-grass area as the pass area. In still another embodiment, after the non-grass area is acquired, the passing area may be selected by a user instruction. For example, suitable flat ground can be selected as the passable area. For example, a passage with a relatively short path in the flat ground may be selected as the passage area, or a cement ground in the flat ground may be selected as the passage area.

As shown in Figure 2, a lawn mowing robot operation control device of the present application includes:

The operation area obtaining unit 110 is used to divide the mapping area according to preset rules in the process of mapping the lawn mower robot, so as to obtain at least one operation area;

A passage area acquisition unit 120, configured to acquire at least one passage area when the number of the operation areas is not unique or when the number of the operation areas is unique and the starting point of the lawn mowing robot is not within the unique operation area , wherein the passage area is used for the lawnmower robot to enter the corresponding work area;

The target operation area acquisition unit 130 is configured to acquire the target operation area according to the trigger instruction when the lawn mower robot performs the operation task;

The judgment unit 140 is configured to obtain the current position of the lawnmower robot, and determine whether the lawnmower robot is located in the target operation area, if yes, output a positive result, otherwise, output a negative result;

The optional path obtaining unit 150 is configured to obtain all optional paths that the lawnmower robot runs to the target operation area when the judgment unit outputs a negative result, wherein the optional paths pass through the operation area or / and said access area;

The target path selection unit 160 is used to select a target path according to the optional path, and establish a traffic map of the lawn mower robot within the pass area and work area corresponding to the target path, so that the lawn mower robot Entering the target operation area through the target path;

The operation unit 170 is configured to establish an operation map of the lawnmower robot according to the target operation area, so that the lawnmower robot operates according to the operation map, wherein the passage area corresponding to the target operation area is set at out of bounds of the job map.

Specifically, for the specific cooperative operation process between the units of the operation control device for a lawnmower robot, reference may be made to the operation control method for a lawnmower robot, which will not be repeated here.

In addition, an electronic device of the present application includes a memory and a processor; the memory is used to store a computer program; the processor is used to execute the computer program to implement any one of the above methods for controlling the operation of a lawn mowing robot. Specifically, according to the embodiments of the present application, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the present application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the method illustrated in the flowchart. In such an embodiment, the computer program can be downloaded and installed through an electronic device and when executed, executes the above-mentioned functions defined in the methods of the embodiments of the present application. The electronic device in this application may be a terminal such as a notebook computer, a desktop computer, a tablet computer, and a smart phone, and may also be a server.

In addition, a computer storage medium of the present application has a computer program stored thereon, and when the computer program is executed by a processor, any one of the above operation control methods for a lawn mower robot is implemented. Specifically, it should be noted that the computer-readable medium mentioned above in the present application may be a computer-readable signal medium or a computer-readable storage medium, or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus or device, or any combination of the above. More specific examples of computer readable storage media may include, but are not limited to, electrical connections with one or more wires, portable computer disks, hard disks, random access memory (RAM), read only memory (ROM), erasable Programmable read only memory (EPROM or flash memory), fiber optics, portable compact disk read only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing. In this application, a computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this application, however, a computer readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying computer readable program code therein. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing. A computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device . Program code embodied on a computer readable medium may be transmitted using any suitable medium including, but not limited to, electrical wire, optical fiber cable, RF (radio frequency), etc., or any suitable combination of the foregoing.

The above-mentioned computer-readable medium may be included in the above-mentioned electronic device; or may exist alone without being assembled into the electronic device.

It can be understood that the above examples only represent the preferred embodiments of the present application, and the descriptions thereof are more specific and detailed, but should not be construed as a limitation on the scope of the patent of the present application; it should be noted that for those of ordinary skill in the art In other words, under the premise of not departing from the concept of the application, the above-mentioned technical features can be freely combined, and some deformations and improvements can also be made, and these all belong to the protection scope of the application; All equivalent transformations and modifications made shall fall within the scope of the claims of the present application.

Claims (11)

1. A work control method for a mowing robot, comprising:

s1, dividing the map building area according to a preset rule in the map building process of the mowing robot to obtain at least one operation area;

s2, when the number of the working areas is not unique or the number of the working areas is unique and the drawing starting point of the mowing robot is not in the unique working area, acquiring at least one passing area, wherein the passing area is used for enabling the mowing robot to enter the corresponding working area;

s3, when the mowing robot executes a work task, acquiring a target work area according to a trigger instruction;

s4, acquiring the current position of the mowing robot, and judging whether the mowing robot is located in the target operation area, if so, executing a step S7, otherwise, executing a step S5;

s5, acquiring all selectable paths of the mower robot running to the target working area, wherein the selectable paths pass through the working area or/and the passing area;

s6, selecting a target path according to the selectable path, and establishing a passing map of the mowing robot by taking a passing area and a working area corresponding to the target path as boundaries, so that the mowing robot enters the target working area through the target path;

and S7, establishing a work map of the mowing robot according to the target work area, so that the mowing robot works according to the work map.

2. The robot lawnmower work control method according to claim 1, further comprising:

and S21, when the number of the working areas is unique and the drawing starting point of the mowing robot is in the unique working area, establishing a working map of the mowing robot by the working area so that the mowing robot works according to the working map.

3. The robot lawnmower work control method according to claim 1, wherein in step S1, the map creation area is divided according to a preset rule to obtain at least one work area; the method comprises the following steps: and carrying out AI machine identification on the mapping area to acquire the grassland area as the working area.

4. The robot lawnmower work control method according to claim 1, wherein in said step S2, said obtaining at least one passing area comprises: and carrying out AI machine identification on the mapping area to obtain a non-grassland area, and obtaining the passing area according to the non-grassland area.

5. The robot lawnmower work control method of claim 4, wherein the obtaining the passing area from the non-lawn area comprises: and acquiring the passing area according to the attribute of the non-grassland area.

6. The robot lawnmower work control method of claim 5, wherein the attributes of the non-grass area include a flat zone and an obstacle, and the traffic zone includes a flat zone.

7. The lawn mowing robot work control method according to claim 4, wherein the acquiring the passing area from the non-lawn area includes: receiving a user instruction to select the non-meadow area as the passing area.

8. The work control method for a mowing robot according to claim 1, wherein the step S7 further comprises: and the passing area corresponding to the target operation area is arranged outside the boundary of the operation map.

9. A work control device for a mowing robot, comprising:

the operation area acquisition unit is used for dividing the mapping area according to a preset rule in the mapping process of the mowing robot to obtain at least one operation area;

a passing area acquisition unit, configured to acquire at least one passing area when the number of the work areas is not unique or when the number of the work areas is unique and a mapping start point of the mowing robot is not within the unique work area, where the passing area is used for enabling the mowing robot to enter a corresponding work area;

the target operation area acquisition unit is used for acquiring a target operation area according to a trigger instruction when the mowing robot executes an operation task;

the judging unit is used for acquiring the current position of the mowing robot and judging whether the mowing robot is located in the target operation area, if so, a positive result is output, and if not, a negative result is output;

an optional path acquiring unit, configured to acquire all optional paths traveled by the mower robot to the target working area when the determining unit outputs a negative result, where the optional paths pass through the working area or/and the passing area;

the target path selection unit is used for selecting a target path according to the selectable path and establishing a passing map of the mowing robot by taking a passing area and a working area corresponding to the target path as boundaries so that the mowing robot enters the target working area through the target path;

and the operation unit is used for establishing an operation map of the mowing robot according to the target operation area so as to enable the mowing robot to operate according to the operation map.

10. A computer storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the lawn mowing robot job control method according to any one of claims 1 to 8.

11. An electronic device comprising a memory and a processor;

the memory is used for storing a computer program;

the processor is configured to execute the computer program to implement the lawn mowing robot work control method according to any one of claims 1 to 8.

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