Intelligent obstacle avoidance method, mowing robot and storage medium

Abstract

Embodiments of the present application disclose a kind of intelligent obstacle avoidance method, mowing robot and storage medium, comprising: in the process of mowing robot operation, the obstacle in current path is detected, according to the detection result, first parameter is generated to generate first obstacle avoidance path, and based on first obstacle avoidance path, mowing robot is controlled to carry out operation, if obstacle is detected again in first obstacle avoidance path, second parameter is generated to generate second obstacle avoidance path, and based on second obstacle avoidance path, mowing robot is controlled to carry out operation, second parameter is greater than first parameter, the above steps are repeatedly executed until the obstacle in current path is bypassed.The embodiments of the present application will generate first obstacle avoidance path when detecting obstacle, and generate second obstacle avoidance path with larger range when detecting obstacle again in the process of mowing robot advancing according to first obstacle avoidance path, adaptively generate obstacle avoidance path, improve the efficiency and flexibility of mowing robot obstacle avoidance.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of computers, in particular to an intelligent obstacle avoidance method, a mowing robot and a storage medium. BACKGROUND

[0002] With the continuous improvement of people's living standards, people have higher and higher requirements for leisure environment, and private gardens, parks, playgrounds and other places have become the best places for people to relax and entertain. However, the grassland of private gardens, parks, playgrounds and the like needs to be trimmed from time to time to ensure the aesthetic appearance. At present, a mowing robot is usually used to replace manual trimming.

[0003] However, the mowing robot often encounters various obstacles in work. The existing mowing robot can detect obstacles through a recognition device arranged on the robot, and then use intelligent algorithm, visual graph method, free space method, artificial potential field method and other navigation path planning methods to avoid obstacles. However, this way is to uniformly avoid obstacles according to the preset path after detecting the obstacle, without adaptive adjustment according to the specific obstacle, so it cannot adapt to different use scenarios, has poor flexibility and low obstacle avoidance efficiency. SUMMARY

[0004] The embodiments of the present application provide an intelligent obstacle avoidance method, a mowing robot and a storage medium, which can generate an obstacle avoidance path according to the adaptability of the obstacle, improve the obstacle avoidance efficiency and flexibility of the mowing robot.

[0005] In a first aspect, the embodiments of the present application provide an intelligent obstacle avoidance method, comprising:

[0006] S11, detecting an obstacle in a current path during mowing robot operation;

[0007] S12, generating a first obstacle avoidance path according to a first parameter based on the detection result, and controlling the mowing robot to operate based on the first obstacle avoidance path;

[0008] S13, if the obstacle is detected again in the first obstacle avoidance path, generating a second obstacle avoidance path according to a second parameter, and controlling the mowing robot to operate based on the second obstacle avoidance path, the second parameter being greater than the first parameter;

[0009] S14, repeatedly executing S12 and S13 until the obstacle in the current path is bypassed.

[0010] In an embodiment, the first obstacle avoidance path is generated according to the detection result and the first parameter, comprising:

[0011] obtaining feature information of the obstacle;

[0012] The first parameter is calculated according to the characteristic information of the obstacle, and a first obstacle-avoiding path along the current mowing direction is generated according to the first parameter.

[0013] In an embodiment, the characteristic information of the obstacle includes a horizontal width of the obstacle.

[0014] The first parameter is calculated according to the characteristic information of the obstacle, and a first obstacle-avoiding path along the current mowing direction is generated according to the first parameter.

[0015] A first length range is calculated according to the horizontal width of the obstacle,

[0016] A first obstacle-avoiding path along the current mowing direction satisfying the first length range is generated.

[0017] In an embodiment, the first obstacle-avoiding path along the current mowing direction satisfying the first length range is generated by:

[0018] A side length parameter is determined according to the first length range, and a first polygonal path along the current mowing direction is generated according to the side length parameter; and / or,

[0019] An arc degree parameter and an arc length parameter are determined according to the first length range, and a first circular arc path along the current mowing direction is generated according to the arc degree parameter and the arc length parameter.

[0020] In an embodiment, the second obstacle-avoiding path is generated according to the second parameter, and the mowing robot is controlled to work based on the second obstacle-avoiding path, by:

[0021] The characteristic information of the obstacle is updated.

[0022] The second parameter is determined according to the updated characteristic information, and a second obstacle-avoiding path is generated according to the second parameter.

[0023] The mowing robot is controlled to return to the starting point of the first obstacle-avoiding path, and the mowing robot is controlled to work based on the second obstacle-avoiding path.

[0024] In an embodiment, the obstacle is detected again in the first obstacle-avoiding path, and the method further comprises:

[0025] It is determined whether the obstacle moves during the mowing robot works based on the first obstacle-avoiding path.

[0026] If the obstacle does not move, the step of generating a second obstacle-avoiding path according to the second parameter is executed.

[0027] If the mower robot moves, a first obstacle avoidance path is generated again based on the current position of the mower robot, and the mower robot is controlled to work based on the first obstacle avoidance path.

[0028] In an embodiment, the generating the first obstacle avoidance path based on the detection result with the first parameter comprises:

[0029] The horizontal angle of the obstacle is divided into a left deflection angle and a right deflection angle according to the orientation of the mower robot.

[0030] The left deflection angle and the right deflection angle are compared to determine a deflection direction.

[0031] The first obstacle avoidance path is generated according to the deflection direction and the first parameter.

[0032] In an embodiment, the method further comprises:

[0033] The number of times that the obstacle is detected again in the first obstacle avoidance path is obtained.

[0034] When the number of times exceeds a preset number of times, a warning information is generated to prompt the user.

[0035] In a second aspect, the embodiments of the present application provide a mower robot, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the intelligent obstacle avoidance method as described above when executing the program.

[0036] In a third aspect, the embodiments of the present application provide a storage medium having a computer program stored thereon, and the computer program is executable by a processor to implement the steps of the intelligent obstacle avoidance method as described above.

[0037] The intelligent obstacle avoidance method provided by the embodiments of the present application can detect the obstacle in the current path of the mower robot during the working process of the mower robot, generate a first obstacle avoidance path based on the detection result with a first parameter, and control the mower robot to work based on the first obstacle avoidance path. If the obstacle is detected again in the first obstacle avoidance path, a second obstacle avoidance path is generated with a second parameter, and the mower robot is controlled to work based on the second obstacle avoidance path. The second parameter is greater than the first parameter, and the above steps are repeatedly executed until the obstacle in the current path is bypassed. When the obstacle is detected, the first obstacle avoidance path is generated, and when the obstacle is detected again during the process of the mower robot moving along the first obstacle avoidance path, the second obstacle avoidance path with a larger range is generated. The obstacle avoidance path can be adaptively generated, and the obstacle avoidance efficiency and flexibility of the mower robot are improved. BRIEF DESCRIPTION OF DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained from these drawings without creative labor.

[0039] Figure 1 is a scene schematic diagram of the intelligent obstacle avoidance method provided by the embodiments of the present application;

[0040] Figure 2 is a flow schematic diagram of the intelligent obstacle avoidance method provided by the embodiments of the present application;

[0041] Figure 3 is a route design schematic diagram provided by the embodiments of the present application;

[0042] Figure 4 is a path generation schematic diagram provided by the embodiments of the present application;

[0043] Figure 5 is another path generation schematic diagram provided by the embodiments of the present application;

[0044] Figure 6 is another flow schematic diagram of the intelligent obstacle avoidance method provided by the embodiments of the present application;

[0045] Figure 7 is a calculation of deflection direction schematic diagram provided by the embodiments of the present application;

[0046] Figure 8 is another path generation schematic diagram provided by the embodiments of the present application;

[0047] Figure 9 is a structure schematic diagram of the intelligent obstacle avoidance device provided by the embodiments of the present application;

[0048] Figure 10 is another structure schematic diagram of the intelligent obstacle avoidance device provided by the embodiments of the present application;

[0049] Figure 11 is a structure schematic diagram of the electronic device provided by the embodiments of the present application. DETAILED DESCRIPTION

[0050] The technical solutions in the embodiments of the present application will be described clearly and completely in the following description with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0051] It is to be noted that when an element is referred to as being "fixed" or "set" on another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or indirectly connected to the other element. In addition, the connection can be for fixing or for circuit communication.

[0052] It is to be understood that the terms "length", "width", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate directions or positions based on the directions or positions shown in the drawings, and are used only for the purpose of facilitating the description of the embodiments of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be construed as limiting the present application.

[0053] In addition, the terms "first", "second", "third", etc. are used only for descriptive purposes and cannot be construed as indicating or implying relative importance or an implied indication of the number of technical features indicated. Therefore, the features defined as "first", "second", etc. can explicitly or implicitly include one or more of the features. In the description of the embodiments of the present application, the meaning of "a plurality of" is two or more, unless otherwise explicitly specified.

[0054] The embodiments of the present application provide an intelligent obstacle avoidance method and device, a mowing robot and a storage medium.

[0055] The intelligent obstacle avoidance device can be integrated in a microcontroller unit (MCU) of the mowing robot, and can also be integrated in a smart terminal or a server. The MCU is also called a single chip microcomputer or a single-chip microprocessor. The frequency and specifications of the central processing unit (CPU) are appropriately reduced, and the memory, timer, USB, analog-to-digital conversion / digital-to-analog conversion, UART, PLC, DMA, and other peripheral interfaces are formed into a chip-level computer for different application scenarios to make different combinations of control. The mowing robot can automatically walk, prevent collision, automatically return to charging within a range, have safety detection and battery power detection, have a certain climbing ability, and is especially suitable for lawn trimming and maintenance in places such as family courtyards and public green spaces. The characteristics are: automatic mowing, cleaning of grass clippings, automatic rain avoidance, automatic charging, automatic obstacle avoidance, small size, electronic virtual fence, network control, etc.

[0056] The terminal can be a smart phone, a tablet computer, a notebook computer, a desktop computer, a smart speaker, a smart watch, etc., but is not limited thereto. The terminal and the server can be directly or indirectly connected through wired or wireless communication. The server can be a stand-alone physical server, a server cluster or a distributed system composed of multiple physical servers, a cloud server providing cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, CDNs, and basic cloud computing services such as big data and artificial intelligence platforms, etc. The present application does not limit the server.

[0057] For example, please refer to Figure 1 The present application provides a mowing system, which includes a mowing robot 10, a server 20 and a user device 30, which are connected to each other through a communication connection. The user can control the mowing robot 10 to detect obstacles when moving through the user device 30. Specifically, in the embodiments of the present application, the mowing robot 10 can be integrated with various sensors, such as a rain sensor can be arranged on the top of the mowing robot 10 to detect whether it is currently raining, a lateral ultrasonic sensor and an infrared sensor can be arranged on the side of the mowing robot 10, and a collision sensor can be arranged around the mowing robot 10. Through the above-mentioned sensors, the obstacles can be detected comprehensively. When it is detected that there is an obstacle in the current path of the mowing robot 10, a first obstacle avoidance path can be generated for the mowing robot 10 to work.

[0058] During the working process, the user can also control the action path, action speed, or mowing range of the mowing robot 10 through the user device 30 in real time. After the work is completed, the data corresponding to the mowing work can be synchronized to the server 20, so that the user can view the data conveniently.

[0059] For example, the mowing robot 10 starts working in response to the user instruction, wherein the user instruction can be generated and sent through the user device 30. During the working process, the mowing robot 10 detects the obstacle in the current path and generates a first obstacle avoidance path according to the detection result. If the obstacle is detected again in the first obstacle avoidance path, a second obstacle avoidance path is generated according to a second parameter, so as to avoid the above-mentioned obstacle.

[0060] The following will be described in detail. It should be noted that the order of the following embodiments is not limited as the priority order of the embodiments.

[0061] The intelligent obstacle avoidance method comprises the following steps: detecting an obstacle in a current path during mowing robot operation, generating a first obstacle avoidance path according to a first parameter based on the detection result, and controlling the mowing robot to operate based on the first obstacle avoidance path; if the obstacle is detected again in the first obstacle avoidance path, a second obstacle avoidance path is generated according to a second parameter, and the mowing robot is controlled to operate based on the second obstacle avoidance path, the second parameter being greater than the first parameter, and the above steps are repeated until the obstacle in the current path is bypassed.

[0062] Referring to Figure 2 , Figure 2 The flowchart of the intelligent obstacle avoidance method provided by the embodiment is shown in the figure. The specific process of the intelligent obstacle avoidance method can be as follows:

[0063] 101. Detecting an obstacle in a current path during mowing robot operation.

[0064] In an embodiment, the mowing robot can mow a pre-defined boundary of the operation area, and plan the corresponding action path according to the operation area. As shown in Figure 3 When the mowing robot starts running, it generates an action path in the entire current area to determine that the action path can cover the entire current area, such as setting a turnaround point according to the boundary of the current area, and generating an arc-shaped action path according to the turnaround point as the action path, and mowing according to the action path.

[0065] In an embodiment, the mowing robot can also detect in real time whether an obstacle is encountered in the current path during mowing according to the initial action path, which can be detected by various sensors integrated on the mowing robot, including at least one of the following: a collision sensor, a depth sensor, an ultrasonic sensor, and an infrared sensor.

[0066] Specifically, after the various sensors integrated on the mowing robot are turned on, they can collect detection data in real time or at a fixed working frequency, once every interval of a preset time. The specific type of detection data is determined by the type of sensor, for example, the detection data collected by the collision sensor is impact data, the detection data collected by the depth sensor is depth data, the detection data collected by the ultrasonic sensor is ultrasonic data, and the detection data collected by the infrared sensor is infrared data.

[0067] In an embodiment, taking the infrared sensor as an example, the detection of the obstacle by the infrared sensor mainly aims at a part of the region by means of the infrared rays, and the infrared signal is emitted to the region in front of the mowing robot through the emission system, while the sampler samples the emitted signal as the pulse signal for opening the door of the counter, and the counter is started. The clock oscillator inputs the counting pulse like the effective input of the counter, and the infrared echo reflected by the target acts on the photoelectric detector and is converted into an electric pulse signal, which is amplified by the amplifier and enters the counter as the closing signal of the counter, and the counter stops counting. During the period from opening the door to closing the door of the counter, the number of clock pulses entering is obtained by operation to obtain the distance of each point in the target region, and then it is preliminarily judged whether there is an obstacle in the part of the region. Alternatively, the detection range of the sensor can also be set, such as detecting whether there is an obstacle in the range of 1M in front of the mowing robot through the sensor, and if not, the mowing robot can continue to mow according to the advancing path, and if so, the subsequent step 102 can be continued.

[0068] 102. Generating a first obstacle avoidance path with a first parameter according to the detection result, and controlling the mowing robot to work based on the first obstacle avoidance path.

[0069] In an embodiment, the first obstacle avoidance path can be generated with the first parameter when the mowing robot encounters an obstacle during work. The first parameter can be pre-set or generated by calculation according to the obstacle. The first parameter can include length, angle, etc. For example, the above-mentioned first obstacle avoidance path can be a polyline with a preset length. Please refer to Figure 4 In this embodiment, a polyline with a preset length and composed of three line segments can be generated after the mowing robot encounters an obstacle, so as to control the mowing robot to work according to the polyline to bypass the obstacle.

[0070] In other embodiments, the above-mentioned first obstacle avoidance path can also be a semicircular path with a preset radius or an arc path with a preset arc length, and by controlling the mowing robot to advance according to the semicircular path or the arc path, the obstacle can be bypassed and the initial action path can be returned to continue work after bypassing.

[0071] In an embodiment, the first parameter can also be adaptively adjusted. For example, when an obstacle is detected on the action path, the feature information of the obstacle can be further obtained, such as by processing and analyzing the detection data currently collected by each sensor, so as to restore the shape, contour, position, and other information of the obstacle in the current environment. Then, the first parameter is calculated according to the feature information, and the corresponding first obstacle avoidance path is generated. That is, the step of generating the first obstacle avoidance path according to the detection result with the first parameter can include: obtaining the feature information of the obstacle, calculating the first parameter according to the feature information of the obstacle, and generating the first obstacle avoidance path along the current mowing direction with the first parameter.

[0072] In an embodiment, after the obstacle is initially detected, the mowing robot can obtain the depth information of the current scene by using the triangulation principle through the visual sensor, and can reconstruct the three-dimensional shape and position of the surrounding objects, similar to the stereoscopic function of the human eye, so as to determine the 3D information of the detected obstacle in space. That is, after the obstacle is initially detected, the position corresponding to the obstacle is determined, and then the position is further detected or scanned by the visual recognition system, and the feature information of the obstacle is obtained. The feature information of the obstacle is further confirmed based on the sensor, and the accuracy of the obstacle judgment is improved.

[0073] After the obstacle on the initial action path is detected, the first obstacle avoidance path with the initial and terminal positions located on the initial action path can be generated according to the feature information such as the size, volume, area, and height of the obstacle, so that the mowing robot avoids the obstacle and continues to work along the initial action path after avoiding the obstacle.

[0074] In an embodiment, when the first obstacle avoidance path is generated to avoid the obstacle, the position of the mowing robot when encountering the obstacle is usually not designed as the starting point of the first obstacle avoidance path. The mowing robot is usually very close to the obstacle when the obstacle is detected, so the mowing robot can be controlled to retreat to the starting point of the first obstacle avoidance path before being controlled to work according to the first obstacle avoidance path.

[0075] 103、If the obstacle is detected again in the first obstacle avoidance path, a second obstacle avoidance path is generated with a second parameter, and the mowing robot is controlled to work based on the second obstacle avoidance path, and the second parameter is greater than the first parameter.

[0076] In an embodiment, considering that in actual applications, if the size of the obstacle encountered by the mowing robot is large, the obstacle may be encountered again when the mowing robot travels along the first obstacle-avoiding path, i.e., the obstacle cannot be successfully bypassed, a second obstacle-avoiding path can be generated again and bypassed again. Specifically, when the mowing robot travels along the first obstacle-avoiding path, if the obstacle is encountered again, a second obstacle-avoiding path can be generated according to a second parameter that is larger than the first parameter. As shown in FIG. 8, the mowing robot can further increase the length of the broken line, bypass again, and finally return to the initial action path to continue the work after bypassing the obstacle. Figure 5

[0077] 104, repeat the above steps 102 and 103 until the obstacle in the current path is bypassed.

[0078] For example, the MCU in the mowing robot can control the mowing robot to perform the mowing work based on the first obstacle-avoiding path or the second obstacle-avoiding path; for another example, the server or the user device can control the mowing robot to travel according to the first obstacle-avoiding path or the second obstacle-avoiding path to perform the mowing work. That is, the mowing robot performs the mowing work according to the first obstacle-avoiding path or the second obstacle-avoiding path, and after walking along the first obstacle-avoiding path or the second obstacle-avoiding path, the mowing robot is controlled to continue walking along the initial action path and continue the obstacle detection.

[0079] It should be noted that when the first obstacle-avoiding path fails to successfully bypass the obstacle, the mowing robot can also return to the starting point of the first obstacle-avoiding path along the first obstacle-avoiding path, and perform work again according to the second obstacle-avoiding path from the starting point.

[0080] In an embodiment, if the second obstacle-avoiding path still fails to bypass the obstacle, the second parameter can be further increased, and a new obstacle-avoiding path can be generated again until the obstacle is successfully bypassed. Considering that in actual applications, there can be obstacles that cannot be bypassed by the mowing robot regardless of the obstacle-avoiding path, such as heavy objects against a wall or animals that constantly move to block the action path of the mowing robot, therefore, the embodiment of the present application can also stop the obstacle avoidance when the number of times the mowing robot encounters the obstacle during the obstacle avoidance is greater than a preset value, and send a reminder to inform the user. That is, the method can also include: obtaining the number of times the obstacle is detected again in the first obstacle-avoiding path, and generating warning information to prompt the user when the number of times exceeds a preset number of times.

[0081] ​As can be seen, the intelligent obstacle avoidance method provided in the embodiments of the present application can detect the obstacle in the current path during the operation of the mowing robot, generate a first obstacle avoidance path according to the detection result and a first parameter, control the mowing robot to operate based on the first obstacle avoidance path, and if the obstacle is detected again in the first obstacle avoidance path, generate a second obstacle avoidance path according to a second parameter, and control the mowing robot to operate based on the second obstacle avoidance path. The second parameter is greater than the first parameter, and the above steps are repeatedly executed until the obstacle in the current path is bypassed. When the obstacle is detected, the first obstacle avoidance path is generated, and when the obstacle is detected again during the movement of the mowing robot along the first obstacle avoidance path, the second obstacle avoidance path with a larger range is generated. The obstacle avoidance path can be adaptively generated, and the efficiency and flexibility of the mowing robot in obstacle avoidance are improved.

[0082] Please refer to Figure 6 , Figure 6 Another flowchart of the intelligent obstacle avoidance method provided in the embodiments of the present application is shown. The specific process of the intelligent obstacle avoidance method can be as follows:

[0083] 201. Detecting the obstacle in the current path during the operation of the mowing robot.

[0084] In an embodiment, the mowing robot can detect whether an obstacle is encountered in the current path during the movement of the mowing robot according to the initial action path for mowing. Specifically, various sensors integrated on the mowing robot can be used for detection, and the detection process can refer to the description above. The embodiment does not make further limitations on this. When no obstacle is detected, the mowing robot can continue to mow according to the initial action path. When the obstacle is detected, the subsequent step 201 is executed.

[0085] 202. Calculating a first length range according to the characteristic information of the obstacle.

[0086] In an embodiment, the characteristic information of the obstacle can include the horizontal width of the obstacle. After the horizontal width of the obstacle is detected, the mowing robot can calculate how many length ranges are needed to bypass the obstacle according to the width, that is, the first length range can be calculated according to the horizontal width of the obstacle.

[0087] 203. Generating a first obstacle avoidance path along the current mowing direction that meets the first length range, and controlling the mowing robot to operate based on the first obstacle avoidance path.

[0088] In an embodiment, after the mowing robot detects the horizontal width of the obstacle, the optimal side length parameter can be calculated according to the horizontal width, so as to generate a corresponding polyline path as the first obstacle avoidance path. For example, the optimal arc degree and arc length can also be calculated according to the horizontal width, so as to generate a corresponding circular arc path as the first obstacle avoidance path. For example, for a small obstacle, a circular arc path corresponding to a larger arc degree and a shorter arc length can be generated by calculation, and for a larger obstacle, a circular arc path corresponding to a smaller arc degree and a longer arc length can be generated. That is, the step of generating the first obstacle avoidance path along the current mowing direction within the first length range can include: determining a side length parameter according to the first length range, generating a first polyline path along the current mowing direction with the side length parameter; and / or determining an arc degree parameter and an arc length parameter according to the first length range, and generating a first circular arc path along the current mowing direction with the arc degree parameter and the arc length parameter.

[0089] Further, after the first obstacle avoidance path is generated, the first obstacle avoidance path can be spliced with the initial action path of the mowing robot, so as to form a complete path for the mowing robot to work. For example, the first obstacle avoidance path is crossed with the initial action path to generate a final action path along the current mowing direction according to the intersection point.

[0090] In an embodiment, please refer to Figure 7 When the mowing robot generates the first obstacle avoidance path, the deflection direction can also be determined according to the obstacle, so as to generate a first obstacle avoidance path deflected to the left or a first obstacle avoidance path deflected to the right. Specifically, the angle range of the obstacle can be divided into a left deflection angle A and a right deflection angle B according to the orientation of the mowing robot, and when the angle A is greater than the angle B, the first obstacle avoidance path can be generated by deflection to the right, so as to avoid the obstacle more quickly. Therefore, the step of generating the first obstacle avoidance path along the current mowing direction within the first length range can include: dividing the horizontal angle of the obstacle into a left deflection angle and a right deflection angle according to the orientation of the mowing robot, comparing the left deflection angle and the right deflection angle to determine the deflection direction, and generating the first obstacle avoidance path according to the deflection direction and the first length range.

[0091] 204、If the obstacle is detected again in the first obstacle avoidance path, the feature information of the obstacle is updated, and the second parameter is determined according to the updated feature information, and the second obstacle avoidance path is generated according to the second parameter.

[0092] In an embodiment, when the first obstacle-avoiding path is followed, if the obstacle is encountered again, i.e. the obstacle is not successfully bypassed, a second obstacle-avoiding path can be generated again and bypassed again. Specifically, when the obstacle is encountered again, the feature information of the obstacle can be detected again, and the second parameters can be determined according to the detected feature information, so that the second obstacle-avoiding path is generated according to the second parameters.

[0093] It should be noted that when the mowing robot encounters the obstacle again while following the first obstacle-avoiding path, it is necessary to determine whether the obstacle is the same as the previous obstacle. Specifically, it can be determined by judging whether the obstacle moves during the mowing robot follows the first obstacle-avoiding path. That is, after the obstacle is detected again in the first obstacle-avoiding path, the method can further include: determining whether the obstacle moves during the mowing robot works based on the first obstacle-avoiding path; if not, performing the step of generating the second obstacle-avoiding path with the second parameters; if so, generating the first obstacle-avoiding path again with the current position of the mowing robot, and controlling the mowing robot to work based on the first obstacle-avoiding path.

[0094] 205、controlling the mowing robot to return to the starting point of the first obstacle-avoiding path, and controlling the mowing robot to work based on the second obstacle-avoiding path.

[0095] In an embodiment, the second parameters are greater than the first parameters, so that when the mowing robot fails to successfully bypass the obstacle through the first obstacle-avoiding path, the mowing robot can also return to the starting point of the first obstacle-avoiding path along the first obstacle-avoiding path, and work again according to the second obstacle-avoiding path from the starting point.

[0096] 206、repeating the above steps until the obstacle in the current path is bypassed.

[0097] After the second obstacle-avoiding path is generated, the mowing robot can perform the mowing work based on the second obstacle-avoiding path. During this process, if the mowing robot detects other obstacles again, such as Figure 8 the feature information of the other obstacles can be obtained, and the first obstacle-avoiding path can be generated on the current path based on the feature information, so that the original obstacle and the other obstacles are bypassed together, and the mowing is completed.

[0098] As can be seen, the intelligent obstacle avoidance method provided in the embodiments of the present application can detect the obstacle in the current path during the operation of the mowing robot, calculate a first length range according to the characteristic information of the obstacle, generate a first obstacle avoidance path along the current mowing direction that meets the first length range, and control the mowing robot to operate based on the first obstacle avoidance path. If the obstacle is detected again in the first obstacle avoidance path, the characteristic information of the obstacle is updated, a second parameter is determined according to the updated characteristic information, a second obstacle avoidance path is generated according to the second parameter, the mowing robot is controlled to return to the starting point of the first obstacle avoidance path, the mowing robot is controlled to operate based on the second obstacle avoidance path, and the above steps are repeatedly executed until the obstacle in the current path is bypassed. When the obstacle is detected, the first obstacle avoidance path is generated, and when the obstacle is detected again during the movement of the mowing robot along the first obstacle avoidance path, the second obstacle avoidance path with a larger range is generated. The obstacle avoidance path can be adaptively generated, and the obstacle avoidance efficiency and flexibility of the mowing robot are improved.

[0099] In order to better implement the intelligent obstacle avoidance method of the embodiments of the present application, the embodiments of the present application also provide an intelligent obstacle avoidance device based on the above. The meanings of the terms are the same as in the above intelligent obstacle avoidance method, and the specific implementation details can be referred to the description in the method embodiment.

[0100] Please refer to Figure 9 , Figure 9 The structure diagram of the intelligent obstacle avoidance device provided in the embodiments of the present application is shown in the figure, wherein the intelligent obstacle avoidance device can include:

[0101] The detection module 301 is configured to detect the obstacle in the current path during the operation of the mowing robot.

[0102] The first generation module 302 is configured to generate a first obstacle avoidance path with a first parameter according to the detection result, and control the mowing robot to operate based on the first obstacle avoidance path.

[0103] The second generation module 303 is configured to generate a second obstacle avoidance path with a second parameter when the obstacle is detected again in the first obstacle avoidance path, and control the mowing robot to operate based on the second obstacle avoidance path, wherein the second parameter is greater than the first parameter.

[0104] The first generation module 302 and the second generation module 303 are repeatedly executed until the obstacle in the initial path is bypassed.

[0105] In an embodiment, please refer to Figure 10 , the first generation module 302 can include:

[0106] The acquisition sub-module 3021 is configured to acquire the characteristic information of the obstacle. ​

[0107] The calculating sub-module 3022 is configured to calculate a first parameter according to the characteristic information of the obstacle, and generate a first obstacle-avoiding path along the current mowing direction according to the first parameter.

[0108] In an embodiment, the characteristic information of the obstacle includes a horizontal width of the obstacle, and the calculating sub-module 3022 can be specifically configured to calculate a first length range according to the horizontal width of the obstacle, and generate a first obstacle-avoiding path along the current mowing direction that meets the first length range.

[0109] In an embodiment, the second generating module 303 can include:

[0110] The updating sub-module 3031 is configured to update the characteristic information of the obstacle;

[0111] The generating sub-module 3032 is configured to determine the second parameter according to the updated characteristic information, and generate a second obstacle-avoiding path according to the second parameter;

[0112] The control sub-module 3033 is configured to control the mowing robot to return to a starting point of the first obstacle-avoiding path, and control the mowing robot to work based on the second obstacle-avoiding path.

[0113] As can be seen from the above, in the embodiments of the present application, the detecting module 301 detects the obstacle in the current path during the working process of the mowing robot, the first generating module 302 generates a first obstacle-avoiding path according to the detection result and controls the mowing robot to work based on the first obstacle-avoiding path, if the obstacle is detected again in the first obstacle-avoiding path, the second generating module 303 generates a second obstacle-avoiding path according to a second parameter, and controls the mowing robot to work based on the second obstacle-avoiding path, the second parameter is greater than the first parameter, and the above steps are repeatedly executed until the obstacle in the current path is bypassed. In the embodiments of the present application, the first obstacle-avoiding path is generated when the obstacle is detected, and the second obstacle-avoiding path with a larger range is generated when the obstacle is detected again during the process of the mowing robot moving along the first obstacle-avoiding path, which can adaptively generate an obstacle-avoiding path and improve the obstacle-avoiding efficiency and flexibility of the mowing robot.

[0114] In addition, the embodiments of the present application also provide a mowing robot, as shown in the accompanying drawings, which shows a structural schematic diagram of the mowing robot related to the embodiments of the present application, and specifically: Figure 11

[0115] The mowing robot can include a control module 501, a moving mechanism 502, a cutting module 503, a power supply 504 and the like. Those skilled in the art can understand that, Figure 11 ​The electronic device structure shown in the figures does not constitute a limitation on the electronic device, and can include more or fewer components than shown, or combine certain components, or arrange the components differently. Among them:

[0116] The control module 501 is the control center of the mowing robot, which can specifically include a central processing unit (CPU), a memory, an input / output port, a system bus, a timer / counter, a digital-to-analog converter, an analog-to-digital converter, and the like. The CPU executes various functions of the mowing robot and processes data by running or executing software programs and / or modules stored in the memory, and calling data stored in the memory; preferably, the CPU can integrate an application processor and a modem processor, wherein the application processor mainly processes operating systems and application programs, and the modem processor mainly processes wireless communication. It can be understood that the above-mentioned modem processor can also not be integrated into the CPU.

[0117] The memory can be used to store software programs and modules, and the CPU executes various functions and data processing by running the software programs and modules stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store operating systems, application programs required by at least one function (such as sound playing function, image playing function, etc.), etc.; the data storage area can store data created according to the use of the electronic device, etc. In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other volatile solid-state memory device. Accordingly, the memory can also include a memory controller to provide access to the memory for the CPU.

[0118] The traveling mechanism 502 is electrically connected to the control module 501, and is used to adjust the traveling speed and direction of the mowing robot in response to the control signal transmitted by the control module 501, to realize the self-moving function of the mowing robot.

[0119] The cutting module 503 is electrically connected to the control module 501, and is used to adjust the height and rotating speed of the cutting disc in response to the control signal transmitted by the control module, to realize the mowing operation.

[0120] The power supply 504 can be logically connected to the control module 501 through a power management system, so as to realize the functions of managing charging, discharging, and power consumption management through the power management system. The power supply 504 can also include one or more than one direct current or alternating current power supply, a recharging system, a power failure detection circuit, a power converter or inverter, a power state indicator, and the like.

[0121] Although not shown, the mowing robot can also include a communication module, a sensor module, a prompt module, etc., which will not be described here.

[0122] The communication module is used for receiving and sending signals in the process of information transmission, and realizes signal transmission between the user equipment, the base station or the server by establishing a communication connection with the user equipment, the base station or the server.

[0123] The sensor module is used for collecting internal or external environmental information, and feeding back the collected environmental data to the control module for decision-making, so as to realize the precise positioning and intelligent obstacle avoidance function of the mowing robot. Optionally, the sensor can include an ultrasonic sensor, an infrared sensor, a collision sensor, a rain sensor, a laser radar sensor, an inertial measurement unit, a wheel speed meter, an image sensor, a position sensor and other sensors, which are not limited.

[0124] The prompt module is used to prompt the user of the current working state of the mowing robot. In the present scheme, the prompt module includes but is not limited to an indicator light, a buzzer, etc. For example, the mowing robot can prompt the user of the current power state, the working state of the motor, the working state of the sensor, etc. through the indicator light. For another example, when a fault or theft of the mowing robot is detected, an alarm prompt can be realized through the buzzer.

[0125] In the present embodiment, the processor in the control module 501 will load the executable file corresponding to the process of one or more application programs into the memory according to the following instructions, and run the application program stored in the memory by the processor, so as to realize various functions, as follows:

[0126] During the operation of the mowing robot, the obstacles in the current path are detected, a first obstacle avoidance path is generated according to a first parameter based on the detection result, and the mowing robot is controlled to operate based on the first obstacle avoidance path. If the obstacle is detected again in the first obstacle avoidance path, a second obstacle avoidance path is generated based on a second parameter, and the mowing robot is controlled to operate based on the second obstacle avoidance path. The second parameter is greater than the first parameter, and the above steps are repeatedly executed until the obstacles in the current path are bypassed.

[0127] The specific implementation of each operation can be referred to the previous embodiments, which will not be described here.

[0128] The embodiment of the present application can detect the obstacle in the current path during the mowing robot operation, generate a first obstacle avoidance path according to the detection result with a first parameter, control the mowing robot to operate based on the first obstacle avoidance path, if the obstacle is detected again in the first obstacle avoidance path, generate a second obstacle avoidance path with a second parameter, and control the mowing robot to operate based on the second obstacle avoidance path, the second parameter is greater than the first parameter, and the above steps are repeatedly executed until the obstacle in the current path is bypassed. The embodiment of the present application generates a first obstacle avoidance path when detecting an obstacle, and generates a second obstacle avoidance path with a larger range when detecting an obstacle again during the mowing robot traveling according to the first obstacle avoidance path, which can adaptively generate an obstacle avoidance path, improve the obstacle avoidance efficiency and flexibility of the mowing robot.

[0129] Those skilled in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructions, or by related hardware controlled by the instructions, which can be stored in a computer readable storage medium and loaded and executed by a processor.

[0130] To this end, the embodiment of the present application provides a storage medium, which stores a plurality of instructions capable of being loaded by a processor to execute the steps in any intelligent obstacle avoidance method provided by the embodiment of the present application. For example, the instructions can execute the following steps:

[0131] During the mowing robot operation, the obstacle in the current path is detected, a first obstacle avoidance path is generated according to the detection result with a first parameter, and the mowing robot is controlled to operate based on the first obstacle avoidance path, if the obstacle is detected again in the first obstacle avoidance path, a second obstacle avoidance path is generated with a second parameter, and the mowing robot is controlled to operate based on the second obstacle avoidance path, the second parameter is greater than the first parameter, and the above steps are repeatedly executed until the obstacle in the current path is bypassed.

[0132] The specific implementation of each operation can be referred to the previous embodiments, which will not be repeated here.

[0133] The storage medium can include a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0134] Since the instructions stored in the storage medium can execute the steps in any intelligent obstacle avoidance method provided by the embodiment of the present application, the beneficial effects of any intelligent obstacle avoidance method provided by the embodiment of the present application can be achieved, which will be described in detail in the previous embodiments, and will not be repeated here.

[0135] The above describes in detail the intelligent obstacle avoidance method, the mowing robot and the storage medium provided by the embodiments of the application. The principles and implementation manners of the application are described by applying specific examples. The above description of the embodiments is only used to help understand the method of the application and its core idea. Meanwhile, for those skilled in the art, according to the idea of the application, the specific implementation manners and application ranges will be changed. In conclusion, the content of the specification should not be understood as a limitation of the application.

Claims

1. An intelligent obstacle avoidance method, characterized in that, include: S11. Detect obstacles in the current path during the operation of the lawnmower robot; S12. Obtain the feature information of the obstacle, the feature information of the obstacle including the horizontal width of the obstacle; calculate the first parameter according to the feature information of the obstacle, generate the first obstacle avoidance path along the current mowing direction with the first parameter, and control the mowing robot to perform the operation based on the first obstacle avoidance path; S13. If the obstacle is detected again in the first obstacle avoidance path, the feature information of the obstacle is updated, the second parameter is determined with the updated feature information, a second obstacle avoidance path is generated according to the second parameter, the lawn mowing robot is controlled to return to the starting point of the first obstacle avoidance path, and the lawn mowing robot is controlled to perform operations based on the second obstacle avoidance path, wherein the second parameter is greater than the first parameter. S14. Repeat S12 and S13 until the obstacles in the current path are bypassed.

2. The method according to claim 1, characterized in that, The step of calculating a first parameter based on the feature information of the obstacle, and generating a first obstacle avoidance path along the current mowing direction using the first parameter, includes: Calculate the first length range based on the horizontal width of the obstacle. Generate a first obstacle avoidance path along the current mowing direction that satisfies the first length range.

3. The method according to claim 2, characterized in that, The generation of a first obstacle avoidance path along the current mowing direction that satisfies the first length range includes: The side length parameter is determined based on the first length range, and a first polyline path along the current mowing direction is generated using the side length parameter; and / or, The arc parameter and arc length parameter are determined based on the first length range, and a first arc path along the current mowing direction is generated using the arc parameter and arc length parameter.

4. The method according to claim 1, characterized in that, After the obstacle is detected again in the first obstacle avoidance path, the method further includes: Determine whether the obstacle moves during the lawnmower robot's operation based on the first obstacle avoidance path; If no movement is made, proceed to the step of generating a second obstacle avoidance path using the second parameter; If the robot moves, a first obstacle avoidance path is generated again based on the current position of the lawnmower robot, and the lawnmower robot is controlled to perform operations based on the first obstacle avoidance path.

5. The method according to claim 1, characterized in that, The process of generating a first obstacle avoidance path along the current mowing direction using a first parameter includes: The horizontal angle of the obstacle is divided into a left deflection angle and a right deflection angle according to the orientation of the lawnmower robot; The left and right deflection angles are compared to determine the deflection direction; A first obstacle avoidance path is generated based on the deflection direction and the first parameter.

6. The method according to claim 1, characterized in that, The method further includes: The number of times the obstacle is detected again in the first obstacle avoidance path is obtained; When the number of attempts exceeds a preset limit, a warning message is generated to alert the user.

7. A lawnmower robot, characterized in that, It includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the program, implements the steps of the intelligent obstacle avoidance method as described in any one of claims 1-6.

8. A storage medium, characterized in that, It stores a computer program, which, when executed by a processor, implements the steps of the intelligent obstacle avoidance method as described in any one of claims 1-6.

Images