A dynamic map update method and an intelligent lawnmower robot

Abstract

This invention relates to a dynamic map updating method and an intelligent lawnmower robot, belonging to the field of intelligent map updating. The dynamic map updating method is used for an intelligent lawnmower robot and includes: S1, the intelligent lawnmower robot captures and acquires a first real-scene video within a grassy area; S2, the first real-scene video is compared with a first historical video; S3, the comparison result is obtained and the shooting method is adjusted to complete the dynamic map update. Existing intelligent lawnmower robots generally rely on mapping and positioning technologies to achieve autonomous navigation. The lawnmower operation environment has the following significant characteristics, such as lawn changes with the season and mowing cycle, seasonal differences in surrounding plants, and frequent occurrence of temporary obstacles. Based on this, the solution described in this application can achieve efficient adaptability to dynamic map environments.

Description

Technical Field

[0001] This invention relates to the field of intelligent map updating, and more particularly to a dynamic map updating method and an intelligent lawnmower robot. Background Technology

[0002] Existing intelligent lawn mowing robots generally rely on mapping and localization technologies to achieve autonomous navigation. The lawn mowing environment has the following significant characteristics, such as changes in lawn size with the season and mowing cycle, seasonal differences in plants around the lawn, and frequent occurrence of temporary obstacles. Traditional solutions rely on general static maps or single global reconstruction before mowing, lacking the ability to adapt efficiently to dynamic environments.

[0003] Based on this, the present invention proposes a dynamic map updating method and an intelligent lawn mowing robot, which can solve the above-mentioned technical problems. Summary of the Invention

[0004] The technical problem solved by this invention is how to design a dynamic map update method and an intelligent lawnmower robot that can achieve efficient adaptability to dynamic map environments.

[0005] Based on this, this application proposes a dynamic map updating method and an intelligent lawn mowing robot, which can solve the above-mentioned technical problems.

[0006] In a first aspect, this application proposes a dynamic map updating method for an intelligent lawnmower robot. The dynamic map updating method includes: S1, the intelligent lawnmower robot takes and acquires a first real-scene video in a grassy area; S2, the first real-scene video is compared with a first historical video; S3, the comparison result is obtained and the shooting mode is adjusted to complete the dynamic map updating.

[0007] The further technical solution is that, in step S1, the intelligent lawn mowing robot shoots and acquires a first real-scene video in the grass area, including: S11, the intelligent lawn mowing robot moves along a first preset route in the grass area, and shoots and acquires a first real-scene video of a preset duration in a conventional precision shooting mode.

[0008] The further technical solution is that step S2, comparing the first real-scene video with the first historical video, includes: S21, comparing the first real-scene video of a preset duration with the first historical video of a preset duration, wherein the first historical video corresponds to the shooting result of the previous first preset route movement.

[0009] A further technical solution is that comparing the first real-scene video of a preset duration with the first historical video of a preset duration includes: S201, extracting a first number of real-scene video frames from the first real-scene video; S202, using the first number of real-scene video frames as a reference, extracting a second number of historical video frames from the first historical video, wherein the first number is less than or equal to the second number; S203, performing an inter-frame difference comparison between the first number of real-scene video frames and the second number of historical video frames.

[0010] A further technical solution is as follows: Step S3, obtaining the comparison result and adjusting the shooting mode to complete the dynamic map update, includes: S31, determining whether there is a deviation in environmental elements within the grassland area in the comparison result between the first real-scene video and the first historical video; S32, if there is no deviation in environmental elements within the grassland area, continuing to move and shoot; S33, if there is a deviation in environmental elements within the grassland area, forming a deviation mark at the location of the deviation and mapping the deviation mark to the previously updated first version of the bird's-eye view map; S34, determining whether the path distance of the intelligent lawnmower robot from the deviation mark is less than a preset distance; S35, if the path distance of the intelligent lawnmower robot from the deviation mark is less than the preset distance, switching from the conventional precision shooting mode to the high precision shooting mode until the shooting of the area corresponding to the deviation mark is completed, thereby completing the dynamic map update. The environmental elements may include terrain changes, moving objects, stationary objects, etc., as will be understood by those skilled in the art.

[0011] The further technical solution is that step S35 includes: S301, if the path distance of the intelligent lawn mowing robot from the deviation mark is less than the preset distance, the conventional precision shooting mode of the monocular camera will be converted into a high-precision shooting mode that integrates the lidar and the IMU inertial measurement unit until the shooting of the area corresponding to the deviation mark is completed, thereby completing the dynamic map update.

[0012] Secondly, this application proposes an intelligent lawnmower robot, which includes an execution unit for implementing the dynamic map update method described in the first aspect. The advantages of the intelligent lawnmower robot include: firstly, the intelligent lawnmower robot moves along a preset route within a grassy area, acquiring a first real-scene video in a conventional precision shooting mode; secondly, it compares the currently captured video with historical videos from the previous operation, detecting environmental changes by extracting video frames and performing inter-frame difference analysis; finally, it adjusts the shooting mode based on the comparison results, and if environmental element deviations are detected, a deviation marker is formed at the corresponding location. When the robot approaches the marker, it switches to a high-precision shooting mode to complete the map update, ensuring the real-time performance and accuracy of the map.

[0013] In summary, existing intelligent lawn mowing robots generally rely on mapping and localization technologies to achieve autonomous navigation. The lawn mowing environment has the following significant characteristics, such as changes in lawn size with the season and mowing cycle, seasonal differences in surrounding plants, and frequent occurrences of temporary obstacles. Based on this, the solution described in this application can achieve efficient adaptability to dynamic map environments. Attached Figure Description

[0014] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a flowchart of the dynamic map update method provided by the present invention.

[0017] Figure 2 Another flowchart of the dynamic map update method provided by the present invention.

[0018] Figure 3 A block diagram of an electronic device provided by the present invention. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] It should be understood that, when used in this specification and the appended claims, the terms "comprising" and "including" indicate the presence of the described features, integrals, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0021] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0022] It should also be further understood that the term "and / or" as used in this specification and the appended claims refers to one or any combination of the associated listed items and all possible combinations, and includes such combinations.

[0023] As used in this specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if [described condition or event] is detected" may be interpreted, depending on the context, as "once determined," "in response to determination," "once [described condition or event] is detected," or "in response to detection of [described condition or event]."

[0024] In this specification and the appended claims, there may be multiple ways of expressing the same technical feature or technical term, such as using a superordinate generalization, a subordinate limitation, or a synonym substitution. Those skilled in the art can clearly understand the substantially the same technical meaning referred to by different expressions based on their professional knowledge and in conjunction with the overall content of the specification and the drawings. The differences in different expressions are only reflected in the diversity of words and do not constitute a substantial modification or limitation to the technical solution, nor will they affect the certainty of the scope of protection of this patent claim or the full disclosure of the technical content of the specification.

[0025] Example 1 Please see Figure 1 The image shows a dynamic map updating method proposed in an embodiment of the present invention. In a first aspect, this application proposes a dynamic map updating method for an intelligent lawnmower robot. The dynamic map updating method includes: S1, the intelligent lawnmower robot capturing and acquiring a first real-scene video within a grassy area; S2, comparing the first real-scene video with a first historical video; S3, obtaining the comparison result and adjusting the shooting mode to complete the dynamic map updating.

[0026] The further technical solution is that, in step S1, the intelligent lawn mowing robot shoots and acquires a first real-scene video in the grass area, including: S11, the intelligent lawn mowing robot moves along a first preset route in the grass area, and shoots and acquires a first real-scene video of a preset duration in a conventional precision shooting mode.

[0027] The further technical solution is that step S2, comparing the first real-scene video with the first historical video, includes: S21, comparing the first real-scene video of a preset duration with the first historical video of a preset duration, wherein the first historical video corresponds to the shooting result of the previous first preset route movement.

[0028] A further technical solution is that comparing the first real-scene video of a preset duration with the first historical video of a preset duration includes: S201, extracting a first number of real-scene video frames from the first real-scene video; S202, using the first number of real-scene video frames as a reference, extracting a second number of historical video frames from the first historical video, wherein the first number is less than or equal to the second number; S203, performing an inter-frame difference comparison between the first number of real-scene video frames and the second number of historical video frames.

[0029] The further technical solution is as follows: Step S3, obtaining the comparison result and adjusting the shooting mode to complete the dynamic map update, includes: S31, judging whether there is a deviation in environmental elements within the grass area in the comparison result between the first real-scene video and the first historical video; S32, if there is no deviation in environmental elements within the grass area, continue moving and shooting; S33, if there is a deviation in environmental elements within the grass area, form a deviation mark at the location where the environmental element deviation occurs, and map the deviation mark to the first version of the bird's-eye view map updated in the last time; S34, judging whether the path distance of the intelligent lawnmower robot from the deviation mark is less than a preset distance; S35, if the path distance of the intelligent lawnmower robot from the deviation mark is less than the preset distance, switch from the conventional precision shooting mode to the high precision shooting mode until the shooting of the area corresponding to the deviation mark is completed, thereby completing the dynamic map update.

[0030] The further technical solution is that step S35 includes: S301, if the path distance of the intelligent lawn mowing robot from the deviation mark is less than the preset distance, the conventional precision shooting mode of the monocular camera will be converted into a high-precision shooting mode that integrates the lidar and the IMU inertial measurement unit until the shooting of the area corresponding to the deviation mark is completed, thereby completing the dynamic map update.

[0031] Secondly, this application proposes an intelligent lawnmower robot, which includes an execution unit for implementing the dynamic map update method described in the first aspect. The advantages of the intelligent lawnmower robot include: firstly, the intelligent lawnmower robot moves along a preset route within a grassy area, acquiring a first real-scene video in a conventional precision shooting mode; secondly, it compares the currently captured video with historical videos from the previous operation, detecting environmental changes by extracting video frames and performing inter-frame difference analysis; finally, it adjusts the shooting mode based on the comparison results, and if environmental element deviations are detected, a deviation marker is formed at the corresponding location. When the robot approaches the marker, it switches to a high-precision shooting mode to complete the map update, ensuring the real-time performance and accuracy of the map.

[0032] This application enables high-precision perception when necessary, ensuring the real-time nature and accuracy of the internal map, significantly improving the reliability of navigation and overall operational efficiency in complex and changing lawn environments; therefore, this solution effectively overcomes the limitations of traditional static maps, adapts to the actual needs of the European and American markets, and provides good technical support for the optimization and innovation of intelligent lawn mowing robot operations.

[0033] In summary, existing intelligent lawn mowing robots generally rely on mapping and localization technologies to achieve autonomous navigation. The lawn mowing environment has the following significant characteristics, such as changes in lawn size with the season and mowing cycle, seasonal differences in surrounding plants, and frequent occurrences of temporary obstacles. Based on this, the solution described in this application can achieve efficient adaptability to dynamic map environments.

[0034] Example 2 Please see Figure 2 , Figure 2 This invention provides a block diagram of an electronic device. The electronic device can be a terminal or a server. The terminal can be a smartphone, tablet computer, laptop computer, desktop computer, personal digital assistant, wearable device, or other electronic device with communication capabilities. It includes a processor 111, a communication interface 112, a memory 113, and a communication bus 114. The processor 111, communication interface 112, and memory 113 communicate with each other via the communication bus 114.

[0035] Memory 113 is used to store computer programs.

[0036] In one embodiment of the present invention, the processor 111, when executing the program stored in the memory 113, implements the method provided in any of the foregoing method embodiments.

[0037] It will be understood by those skilled in the art that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program may be stored in a storage medium, which is a computer-readable storage medium. The computer program is executed by at least one processor in the computer system to implement the process steps of the embodiments of the above methods.

[0038] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions, but such implementations should not be considered beyond the scope of this invention.

[0039] In the several embodiments provided by this invention, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For example, the division of each unit is only a logical functional division, and there may be other division methods in actual implementation. For example, units or components may be combined or integrated into another system, or some features may be ignored or not executed.

[0040] The steps in the method of this invention can be adjusted, merged, or reduced in order according to actual needs. The units in the device of this invention can be merged, divided, or reduced according to actual needs. Furthermore, the functional units in the various embodiments of this invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0041] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, a terminal, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention.

[0042] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0043] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Since these modifications and variations fall within the scope of the claims and their equivalents, this invention also intends to include these modifications and variations.

[0044] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A dynamic map update method, characterized in that, The dynamic map update method is used for intelligent lawnmower robots, and the dynamic map update method includes: S1, the intelligent lawnmower robot, captures and obtains the first real-world video within the grassy area; S2, compare the first real-world video with the first historical video; S3 obtains the comparison results and adjusts the shooting mode to complete the dynamic map update.

2. The dynamic map update method according to claim 1, characterized in that, In step S1, the intelligent lawnmower robot captures and acquires a first real-scene video within the grassy area, including: The S11 intelligent lawnmower robot moves along a first preset route within the grassy area, and captures and acquires a first real-scene video of a preset duration in a standard precision shooting mode.

3. The dynamic map update method according to claim 2, characterized in that, Step S2, comparing the first real-scene video with the first historical video, includes: S21, compare the first real-scene video of preset duration with the first historical video of preset duration, the first historical video corresponding to the shooting result of the previous first preset route movement.

4. The dynamic map update method according to claim 3, characterized in that, The step of comparing a first real-world video of a preset duration with a first historical video of a preset duration includes: S201, Extract a first number of real-scene video frames from the first real-scene video; S202, based on a first number of real-scene video frames, extract a second number of historical video frames from the first historical video, wherein the first number is less than or equal to the second number; S203, perform inter-frame difference comparison between the first number of real-scene video frames and the second number of historical video frames.

5. The dynamic map update method according to claim 4, characterized in that, Step S3, obtaining the comparison results and adjusting the shooting method to complete the dynamic map update, includes: S31, determine whether there is a deviation in environmental elements within the grassland area in the comparison results between the first real-scene video and the first historical video; S32, if there are no deviations in environmental elements within the grassland area, continue moving and shooting; S33, if environmental element deviation occurs in the grassland area, a deviation marker is generated at the location of the environmental element deviation, and the deviation marker is mapped to the first version of the bird's-eye view map of the last update. S34, determine whether the path distance marked by the distance deviation of the intelligent lawn mowing robot is less than the preset distance; S35, if the path distance between the intelligent lawnmower robot and the deviation mark is less than the preset distance, the normal precision shooting mode will be switched to the high precision shooting mode until the area corresponding to the deviation mark is captured, and then the dynamic map will be updated.

6. The dynamic map update method according to claim 5, characterized in that, Step S35 includes: S301, if the path distance between the intelligent lawnmower robot and the deviation mark is less than the preset distance, the robot will switch from the conventional precision shooting mode of the monocular camera to the high precision shooting mode that integrates the lidar and the IMU inertial measurement unit until the area corresponding to the deviation mark is captured, and then the dynamic map will be updated.

7. An intelligent lawnmower robot, characterized in that, The intelligent lawnmower robot is used to implement the dynamic map update method as described in any one of claims 1 to 7.

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