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

Abstract

The present application relates to a control method, device, electronic device and storage medium for mowing robot operation, including: S1, obtaining at least one operation area during the mapping process of the mowing robot; S2, obtaining at least one passage area according to the operation area, wherein the passage area is used to enter the operation area; S3, obtaining the target operation area; S4, obtaining the current position of the mowing robot, judging whether the mowing robot is located in the target operation area, if not, executing S5, otherwise executing S7; S5, obtaining all optional paths for the mowing robot to run to the target operation area; S6, selecting the target path according to the optional path and establishing a passage map within the corresponding passage area and operation area, so that the mowing robot enters the target operation area; S7, establishing the operation map of the mowing robot according to the target operation area, wherein the passage 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 mowing robot.

Description

Technical Field

[0001] The present application relates to the technical field of lawn mowing robots, and more specifically, to a lawn mowing robot operation control method, device, electronic device and storage medium. Background Art

[0002] There are passable non-grass areas in the operation map of the borderless mowing robot, which will cause the lawn map to be fragmented for the mowing robot, affecting the path planning during the entire mowing operation. At the same time, for the intelligent mowing robot, not all non-grass passable areas need to be included in its operation map as operation areas, but in actual process, which areas should be included in the operation map has a great impact on the robot's operation process. Summary of the invention

[0003] The technical problem to be solved by the present application is to provide a lawn mowing robot operation control method, device, electronic device and storage medium.

[0004] The technical solution adopted by the present application to solve the technical problem is to construct a lawn mowing robot operation control method, including:

[0005] S1. During the mapping process of the lawn mowing robot, the mapping area is divided according to a preset rule to obtain at least one working area;

[0006] S2. When the number of the working areas is not unique or the number of the working areas is unique and the mapping starting point of the lawn mowing robot is not within the unique working area, obtaining at least one passage area, wherein the passage area is used for the lawn mowing robot to enter the corresponding working area;

[0007] S3, when the lawn mowing robot performs an operation task, obtaining a target operation area according to a trigger instruction;

[0008] S4, obtaining the current position of the mowing robot, determining whether the mowing robot is located in the target operation area, and if so, executing step S7, otherwise executing step S5;

[0009] S5, obtaining all optional paths for the lawn mower robot to run to the target operating area, wherein the optional paths pass through the operating area and / or the passage area;

[0010] S6, selecting a target path according to the optional paths, and establishing a traffic map of the mowing robot within the traffic area and the working area corresponding to the target path, so that the mowing robot enters the target working area via the target path;

[0011] S7: establishing an operation map of the lawn mowing robot according to the target operation area, so that the lawn mowing robot operates according to the operation map.

[0012] Preferably, in the lawn mowing robot operation control method described in the present application, it also includes:

[0013] S21. When the number of the working areas is unique and the map-building starting point of the lawn mowing robot is within the unique working area, building a working map of the lawn mowing robot based on the working areas, so that the lawn mowing robot works according to the working map.

[0014] Preferably, in a lawn mowing robot operation control method described in the present application, in the step S1, the mapping area is divided according to preset rules to obtain at least one working area; including: performing AI machine recognition on the mapping area to obtain a grass area as the working area.

[0015] Preferably, in a lawn mowing robot operation control method described in the present application, in the step S2, the obtaining of at least one passage area includes: performing AI machine recognition on the mapping area to obtain a non-grass area, and obtaining the passage area based on the non-grass area.

[0016] Preferably, in the lawn mowing robot operation control method described in the present application, the acquiring the passage area according to the non-grass area includes: acquiring the passage area according to the attribute of the non-grass area.

[0017] Preferably, in the lawn mowing robot operation control method described in the present application, the attributes of the non-grass area include a flat area and an obstacle, and the passage area includes a flat area.

[0018] Preferably, in the robot lawn mowing operation control method described in the present application, acquiring the passage area according to the non-grass area includes: receiving a user instruction to select the non-grass area as the passage area.

[0019] Preferably, in the lawn mowing robot operation control method described in the present application, in the step S7, it also includes: a passage area corresponding to the target operation area is set outside the boundary of the operation map.

[0020] The present application also constructs a lawn mowing robot operation control device, comprising:

[0021] An operation area acquisition unit, used for dividing the map construction area according to preset rules during the map construction process of the mowing robot to obtain at least one operation area;

[0022] A passage area acquisition unit, used for acquiring at least one passage area when the number of the working areas is not unique or when the number of the working areas is unique and the mapping starting point of the mowing robot is not within the unique working area, wherein the passage area is used for the mowing robot to enter the corresponding working area;

[0023] A target operation area acquisition unit, used to acquire a target operation area according to a trigger instruction when the mowing robot performs an operation task;

[0024] a judgment unit, configured to obtain the current position of the lawn mowing robot, judge whether the lawn mowing robot is located in the target operation area, and output a positive result if so, or a negative result otherwise;

[0025] an optional path acquisition unit, configured to acquire all optional paths for the lawn mower robot to run to the target working area when the judgment unit outputs a negative result, wherein the optional paths pass through the working area and / or the passage area;

[0026] a target path selection unit, configured to select a target path according to the optional paths, and establish a traffic map of the mowing robot within the traffic area and the working area corresponding to the target path, so that the mowing robot enters the target working area via the target path;

[0027] The operation unit is used to establish an operation map of the mowing robot according to the target operation area, so that the mowing robot operates according to the operation map.

[0028] The present application also constructs a computer storage medium on which a computer program is stored. When the computer program is executed by a processor, the lawn mowing robot operation control method as described in any one of the above items is implemented.

[0029] The present application also constructs an electronic device, including a memory and a processor;

[0030] The memory is used to store computer programs;

[0031] The processor is used to execute the computer program to implement the lawn mowing robot operation control method as described in any one of the above.

[0032] A lawn mowing robot operation control method, device, electronic device and storage medium implementing the present application have the following beneficial effects: the reliability of the lawn mowing robot operation process can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The present application will be further described below with reference to the accompanying drawings and embodiments, in which:

[0034] Figure 1 This is a flow chart of an embodiment of a lawn mowing robot operation control method of the present application;

[0035] Figure 2 This is a logic block diagram of an embodiment of a lawn mowing robot operation control device of the present application. DETAILED DESCRIPTION

[0036] In order to have a clearer understanding of the technical features, purposes and effects of the present application, the specific implementation methods of the present application are now described in detail with reference to the accompanying drawings.

[0037] like Figure 1 As shown, in a first embodiment of a lawn mowing robot operation control method of the present application, it includes: S1, in the process of mapping of the lawn mowing robot, the mapping area is divided according to the preset rules to obtain at least one working area; specifically, when the lawn mowing robot is working, it usually first composes the working area, and works according to the map obtained by the composition. In the present application, it first divides according to the set rules to obtain the working 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.

[0038] S2. When the number of the working areas is not unique or the number of the working areas is unique and the starting point of the mapping of the mowing robot is not in the unique working area, at least one passage area is obtained, wherein the passage area is used to enable the mowing robot to enter the corresponding working area from it; specifically, when the obtained working areas are multiple, i.e., not unique, the connection relationship between the multiple working areas can be obtained to obtain the passage area. In this way, the mowing robot can enter another working area through the corresponding passage area when it is in one working area, and the number of passage areas may not be unique. That is, it can be understood that there can be multiple passage areas between one working area and another working area. In one embodiment, when the working area is unique, i.e., there is only one working area, and the starting point of the mapping of the mowing robot is not in the unique working area, it is necessary to obtain the passage area for the mowing robot to enter the working area. It can be understood that the passage area for the starting point of the mapping of the mowing robot to enter the working area can be one or more.

[0039] S3. When the mowing robot performs a task, the target operation area is obtained according to the trigger instruction. Optionally, when the mowing robot performs a mowing task, it can first obtain the corresponding target operation area for mowing according to the trigger instruction. This setting can be automatically triggered by the mowing robot according to the set task, or manually triggered by the user. The user's manual triggering can be triggered by an instruction or by setting it through the UI interface.

[0040] S4, obtain the current position of the mowing robot, determine whether the mowing robot is located in the target working area, if so, execute step S7, otherwise execute step S5; S5, obtain all optional paths for the mowing robot to run to the target working area, wherein the optional path passes through the working area and / or the passage area; S6, select the target path according to the optional path, and establish the passage map of the mowing robot with the passage area and the working area corresponding to the target path as the boundary, so that the mowing robot enters the target working area through the target path; S7, establish the working map of the mowing robot according to the target working area, so that the mowing robot works according to the working map, wherein the passage area corresponding to the target working area is set outside the boundary of the working map. Specifically, after obtaining the target working area where the mowing robot is going to perform mowing operations, it is necessary to judge the current position of the mowing robot to determine whether the current position of the mowing robot is within the target working area. When it is determined that the mowing robot is currently in the target operation area, the mowing robot does not need to find a path to enter the target operation area from the current position. It directly establishes an operation map for the current mowing robot to perform work 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 passage area corresponding to the target operation area is not included in the operation map. At this time, the mowing robot only moves in the target operation area during operation. When it is determined that the mowing robot is not currently in the target operation area, it is necessary to drive the mowing robot to enter the target operation area. At this time, according to the relationship between the current position of the mowing robot and the target operation area, all the ways that the mowing robot can achieve from the current position to the target area are obtained to define all optional paths. The path can include an operation area or a passage area. For example, in one embodiment, when the mowing robot is located in an operation area, the target operation area is adjacent to the operation area. At this time, the optional path corresponding to the mowing robot is to enter the target operation area through the current operation area and the passage area between the operation area and the target operation area. In another embodiment, when the lawn mowing robot is located in an operating area, there are multiple intermediate operating areas between the target operating area and the operating area. At this time, the optional path corresponding to the lawn mowing robot is to pass through the current operating area, multiple intermediate operating areas and the passage areas between them and finally reach the target operating area.

[0041] Meanwhile, in some embodiments, there may be multiple different paths from one working area through other working areas or passage areas to the target area. In this case, a suitable path can be selected from multiple optional paths as the target path according to the settings. The working area and passage area passed by the target path are used as the boundary of the lawn mower robot, so that the lawn mower robot can run to the target working area through the target path within the boundary.

[0042] After the mowing robot enters the target operation area, it will draw an operation map for mowing the lawn according to the target operation area. At this time, the passage area corresponding to the target operation area is all set outside the boundary of the operation map, so that the mowing robot only operates in the target operation area. For example, the mowing robot will not run into a non-grass area at this time.

[0043] Optionally, in a lawn mowing robot operation control method of the present application, it also includes: S21. When the number of the operation areas is unique and the mapping starting point of the lawn mowing robot is within the unique operation area, the operation map of the lawn mowing robot is established with the operation area, so that the lawn mowing robot operates according to the operation map. Specifically, in one embodiment, the mowing area corresponding to the lawn mowing robot may be only a complete lawn, and the mapping starting point of the lawn mowing robot is in the middle of the lawn. At this time, it can be understood that the lawn mowing robot does not need a passage area to enter the working area, that is, at this time, the working area does not have a corresponding passage area. In this embodiment, the operation area can be directly used as the operation map of the lawn mowing robot, so that the lawn mowing robots can operate in the operation area.

[0044] Optionally, in a lawn mowing robot operation control method of the present application, in the step S1, the mapping area is divided according to a preset rule to obtain at least one working area; including: performing AI machine recognition on the mapping area to obtain a grass area as the working area. Specifically, during the mapping process of the lawn mowing robot, the corresponding grass area can be obtained through AI machine recognition, and the complete grass area is the working area. The specific process of AI machine recognition can adopt the currently commonly used recognition process.

[0045] In step S2, obtaining at least one passable area includes: performing AI machine recognition on the mapping area to obtain a non-grass area, and obtaining the passable area based on the non-grass area. Specifically, during the mapping process of the mowing robot, the corresponding non-grass area can be obtained through AI machine recognition, the non-grass area can be judged, and a suitable non-grass area can be selected as the passable area. The specific process of AI machine recognition can adopt the currently commonly used recognition process.

[0046] Furthermore, the obtaining of the passable area according to the non-grass area includes: obtaining the passable area according to the attribute of the non-grass area. Specifically, the process of obtaining the passable area from the non-operating area may be to obtain an area whose attribute meets the requirements as the passable area. For example, when it is determined that the non-grass area is flat, the flat can be set as the passable area corresponding to the operating area. When it is determined that the non-grass area is an obstacle, it is obvious that it cannot be set as the passable area corresponding to the operating area.

[0047] Optionally, the acquiring the passable area according to the non-grass area includes: receiving a user instruction to select the non-grass area as the passable area. In another embodiment, after acquiring the non-grass area, the passable area can be selected by a user instruction. For example, a suitable flat land can be selected as the passable area. For example, a path with a relatively short path in a flat land can be selected as the passable area, or a cement ground in a flat land can be selected as the passable area.

[0048] like Figure 2 As shown, a lawn mowing robot operation control device of the present application includes:

[0049] The operation area acquisition unit 110 is used to divide the map construction area according to a preset rule during the map construction process of the lawn mowing robot to obtain at least one operation area;

[0050] A passage area acquisition unit 120, configured to acquire at least one passage area when the number of the working areas is not unique or when the number of the working areas is unique and the mapping starting point of the mowing robot is not within the unique working area, wherein the passage area is used for the mowing robot to enter the corresponding working area;

[0051] A target operation area acquisition unit 130 is used to acquire a target operation area according to a trigger instruction when the mowing robot performs an operation task;

[0052] The judging unit 140 is used to obtain the current position of the mowing robot and judge whether the mowing robot is located in the target operation area. If so, an affirmative result is outputted; otherwise, a negative result is outputted;

[0053] An optional path acquisition unit 150, configured to acquire all optional paths for the lawn mower robot to run to the target working area when the judgment unit outputs a negative result, wherein the optional paths pass through the working area and / or the passage area;

[0054] A target path selection unit 160 is used to select a target path according to the optional paths, and establish a traffic map of the mowing robot within the traffic area and the working area corresponding to the target path, so that the mowing robot enters the target working area via the target path;

[0055] The operation unit 170 is used to establish an operation map of the mowing robot according to the target operation area, so that the mowing robot operates according to the operation map, wherein the passage area corresponding to the target operation area is set outside the boundary of the operation map.

[0056] Specifically, the specific coordinated operation process between the various units of the lawn mowing robot operation control device here can refer to the above-mentioned lawn mowing robot operation control method, which will not be repeated here.

[0057] 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 of the above lawn mowing robot operation control methods. Specifically, according to an embodiment of the present application, the process described with reference to the flowchart above can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program contains a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed by an electronic device and when executed, it executes the above functions defined in the method of the embodiment of the present application. The electronic device in the present application can be a terminal such as a notebook, a desktop, a tablet computer, a smart phone, or a server.

[0058] In addition, a computer storage medium of the present application stores a computer program thereon, and when the computer program is executed by a processor, a lawn mowing robot operation control method of any one of the above items 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, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by or in combination with an instruction execution system, device or device. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable program code. 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 above. Computer readable signal media may also be any computer readable medium other than computer readable storage media, which may send, propagate, or transmit programs for use by or in conjunction with an instruction execution system, apparatus, or device. The program code contained on the computer readable medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0059] The computer-readable medium may be included in the electronic device, or may exist independently without being incorporated into the electronic device.

[0060] It can be understood that the above embodiments only express the preferred implementation methods of the present application, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present application; it should be pointed out that for ordinary technicians in this field, without departing from the concept of the present application, the above-mentioned technical features can be freely combined, and several deformations and improvements can be made, which all belong to the protection scope of the present application; therefore, all equivalent changes and modifications made to the scope of the claims of the present application should belong to the scope covered by the claims of the present application.

Claims

1. A lawn mowing robot operation control method, characterized in that: include: S1. During the mapping process of the lawn mowing robot, the mapping area is divided according to a preset rule to obtain at least one working area; S2. When the number of the working areas is not unique or the number of the working areas is unique and the mapping starting point of the lawn mowing robot is not within the unique working area, obtaining at least one passage area, wherein the passage area is used for the lawn mowing robot to enter the corresponding working area; S3, when the lawn mowing robot performs an operation task, obtaining a target operation area according to a trigger instruction; S4, obtaining the current position of the lawn mowing robot, and determining whether the lawn mowing robot is located in the target operation area, if so, executing step S7, otherwise executing step S5; S5, obtaining all optional paths for the lawn mower robot to run to the target operating area, wherein the optional paths pass through the operating area and / or the passage area; S6, selecting a target path according to the optional paths, and establishing a traffic map of the mowing robot within the traffic area and the working area corresponding to the target path, so that the mowing robot enters the target working area via the target path; S7. Establishing an operation map of the mowing robot according to the target operation area, so that the mowing robot operates according to the operation map, wherein a passage area corresponding to the target operation area is set outside the boundary of the operation map.

2. The lawn mowing robot operation control method according to claim 1, characterized in that: The method further comprises: S21. When the number of the working areas is unique and the map-building starting point of the lawn mowing robot is within the unique working area, building a working map of the lawn mowing robot based on the working areas, so that the lawn mowing robot works according to the working map.

3. The lawn mowing robot operation control method according to claim 1, characterized in that: In the step S1, the mapping area is divided according to a preset rule to obtain at least one working area; including: performing AI machine recognition on the mapping area to obtain a grassland area as the working area.

4. The lawn mowing robot operation control method according to claim 1, characterized in that: In the step S2, the obtaining of at least one passable area includes: performing AI machine recognition on the mapping area to obtain a non-grass area, and obtaining the passable area based on the non-grass area.

5. The lawn mowing robot operation control method according to claim 4, characterized in that: The acquiring the passable area according to the non-grass area includes: acquiring the passable area according to the attribute of the non-grass area.

6. The lawn mowing robot operation control method according to claim 5, characterized in that: The attributes of the non-grass area include a flat area and an obstacle, and the passable area includes a flat area.

7. The lawn mowing robot operation control method according to claim 4, characterized in that: The acquiring the passable area according to the non-grass area includes: receiving a user instruction to select the non-grass area as the passable area.

8. The lawn mowing robot operation control method according to claim 1, characterized in that: In the step S7, it also includes: a passage area corresponding to the target operation area is set outside the boundary of the operation map.

9. A lawn mowing robot operation control device, characterized in that: include: An operation area acquisition unit, used for dividing the map construction area according to preset rules during the map construction process of the mowing robot to obtain at least one operation area; A passage area acquisition unit, used for acquiring at least one passage area when the number of the working areas is not unique or when the number of the working areas is unique and the mapping starting point of the mowing robot is not within the unique working area, wherein the passage area is used for the mowing robot to enter the corresponding working area; A target operation area acquisition unit, used to acquire a target operation area according to a trigger instruction when the mowing robot performs an operation task; a judgment unit, configured to obtain the current position of the lawn mowing robot, judge whether the lawn mowing robot is located in the target operation area, and output a positive result if so, or a negative result otherwise; an optional path acquisition unit, configured to acquire all optional paths for the lawn mower robot to run to the target working area when the judgment unit outputs a negative result, wherein the optional paths pass through the working area and / or the passage area; a target path selection unit, configured to select a target path according to the optional paths, and establish a traffic map of the mowing robot within the traffic area and the working area corresponding to the target path, so that the mowing robot enters the target working area via the target path; The operation unit is used to establish an operation map of the mowing robot according to the target operation area, so that the mowing robot operates according to the operation map, wherein the passage area corresponding to the target operation area is set outside the boundary of the operation map.

10. A computer storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the lawn mowing robot operation control method according to any one of claims 1 to 8 is implemented.

11. An electronic device, characterized in that: including memory and processor; The memory is used to store computer programs; The processor is used to execute the computer program to implement the lawn mowing robot operation control method according to any one of claims 1 to 8.

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