Narrow channel passing method and device, mobile device and computer readable storage medium

A technology for mobile devices and passing devices, applied in the fields of mobile devices, computer-readable storage media, devices, and narrow-path passage methods, capable of solving problems affecting mowing effects and low traffic efficiency of lawnmowers, and improving the mowing effect , Solve the effect of repeatedly colliding with the boundary line of the channel

Pending Publication Date: 2020-05-29
HUIZHOU TOPBAND ELECTRICAL TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] Embodiments of the present invention provide a method, device, mobile device, and computer-readable storage medium for narrow passage, aiming to solve the problem of low traffic efficiency of lawn mowers and affecting the mowing effect

Method used

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  • Narrow channel passing method and device, mobile device and computer readable storage medium
  • Narrow channel passing method and device, mobile device and computer readable storage medium
  • Narrow channel passing method and device, mobile device and computer readable storage medium

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0079] see figure 1 , is a schematic flow chart of the narrow passage method provided in Embodiment 1 of the present invention, and the method includes the following steps:

[0080] Step S10, acquiring the current location information of the mobile device, the target location, as well as map information and narrow road information in the map.

[0081] Step S20, calculating a global route according to the current location information, the target location and the map information.

[0082] The narrow passage passage method provided by the present invention is applicable to the movement control of mobile devices such as lawn mowers, sweepers, robots and mobile trolleys. A narrow passage program is stored in a computer-readable storage medium at the control end of the mobile device, and when the narrow passage program is executed by a processor, the narrow passage method is implemented. Wherein, the control end of the mobile device may be a controller in the mobile device, or a c...

Embodiment 2

[0101] Such as image 3 As shown, the narrow passage method provided by the second embodiment of the present invention is based on the first embodiment above, and step S30 includes the following steps:

[0102] Step S31, acquiring the narrow road width in the narrow road information.

[0103] Step S32, judging whether the width of the narrow passage is greater than a first preset width.

[0104] Step S33, when the width of the narrow road is greater than a first preset width, the global path is used as the target path.

[0105] Step S34, when the width of the narrow road is less than or equal to the first preset width, replacing the regional path belonging to the narrow road in the global path with the boundary line of the narrow road.

[0106] Step S35, using the replaced global path as the target path.

[0107] When the global path includes the narrow road, it is necessary to select an appropriate traffic plan according to the narrow road information and the global path, ...

Embodiment 3

[0111] Such as Figure 4 As shown, the narrow passage method provided by the third embodiment of the present invention is based on the first and second embodiments above, and before step S34, it also includes:

[0112] Step S36, when the width of the narrow lane is less than or equal to the first preset width, judging whether the width of the narrow lane is smaller than a second preset width, wherein the second preset width is smaller than the first preset width set width;

[0113] Step S37, when the width of the narrow road is smaller than the second preset width, discard the global path, and return to step S20, that is, calculate the global path according to the current position information, the target position and the map information. steps of the path;

[0114] When the width of the narrow road is greater than or equal to the second preset width, step S34 is performed to replace the regional path belonging to the narrow road in the global path with the boundary line of t...

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Abstract

The invention provides a narrow channel passing method and device, a mobile device and a computer readable storage medium. The method comprises the following steps: acquiring the current position information and the target position of a mobile device, map information and narrow channel information in the map; calculating a global path according to the current position information, the target position and the map information; judging whether the global path contains a narrow channel or not according to the global path and the narrow channel information; when the global path comprises the narrowchannel, generating a target path according to the narrow channel information of the narrow channel and the global path; and controlling the mobile device to move along the target path. In combination with the narrow channel information, the global path is regenerated into the target path through which the mower can efficiently pass so that the problems that the mower is low in passing efficiencyand excessive wheel marks are left due to the fact that the mower repeatedly collides with the channel boundary line when passing through the narrow channel are solved, and the mowing effect is improved.

Description

technical field [0001] The invention relates to the technical field of machine control, in particular to a narrow passage method, device, mobile device and computer-readable storage medium. Background technique [0002] There are large lawns in places such as parks, stadiums, and golf courses. Because the green grass on the lawn grows fast, the lawn needs to be trimmed regularly. Trimming a large area of ​​lawn not only consumes a lot of working time for trimmers, but also the noise made by lawn mowers seriously affects the health of trimmers. Therefore, more and more large-area lawn owners use automatic lawn mowers for lawn trimming. [0003] The lawn is laid according to the specific terrain, and it is usually not a very regular area, and there will be mowing obstacles such as flower beds, paths, pools, sinks, and public facilities in the lawn area. In this way, the mowing area of ​​the lawn mower is divided into many channels. [0004] The lawn mower will readjust its ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0214
Inventor 不公告发明人
Owner HUIZHOU TOPBAND ELECTRICAL TECH CO LTD
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