Intelligent obstacle avoidance method, device, lawn mowing robot and storage medium

Abstract

The embodiments of the present application disclose an intelligent obstacle avoidance method, device, lawn mowing robot and storage medium, including: detecting whether there is an obstacle in the current path of the lawn mowing robot, if there is, generating an obstacle avoidance path through the first detection results of the first ultrasonic sensor and the second ultrasonic sensor, and controlling the lawn mowing robot to operate according to the obstacle avoidance path, during the operation of the lawn mowing robot, detecting the obstacle again through the second ultrasonic sensor, correcting the obstacle avoidance path according to the second detection result of the second ultrasonic sensor, and controlling the lawn mowing robot to continue operating according to the corrected obstacle avoidance path. The embodiments of the present application can generate an obstacle avoidance path by combining two ultrasonic sensors with different detection angles and correct the obstacle avoidance path, thereby improving the obstacle avoidance efficiency of the lawn mowing robot.

Description

Technical Field

[0001] The present application relates to the field of computer technology, and in particular to an intelligent obstacle avoidance method, device, lawn mowing robot and storage medium. Background Art

[0002] As people's living standards continue to improve, people have higher and higher requirements for leisure environments. Private gardens, parks, playgrounds and other places have become the best places for people to relax and entertain. However, private gardens, parks, playgrounds and other lawns need to be trimmed from time to time to ensure beauty. At present, mowing robots are usually used to replace manual trimming.

[0003] However, lawn mowing robots often encounter various obstacles during work. Existing lawn mowing robots can detect obstacles through an identification device provided on the robot, and then use an intelligent algorithm to avoid obstacles. Ultrasonic sensors are often used in the prior art to detect obstacles. However, the applicant has found that due to the large detection angle of ultrasonic sensors, obstacles that the robot has already bypassed are often detected, which will result in an excessively large bypass range and low obstacle avoidance efficiency. Summary of the invention

[0004] The embodiments of the present application provide an intelligent obstacle avoidance method, device, lawn mowing robot and storage medium, which can integrate two ultrasonic sensors with different detection ranges to generate an obstacle avoidance path and correct the obstacle avoidance path, thereby improving the obstacle avoidance efficiency of the lawn mowing robot.

[0005] In a first aspect, an embodiment of the present application provides an intelligent obstacle avoidance method, which is applied to a lawn mowing robot, wherein the lawn mowing robot includes a first ultrasonic sensor and a second ultrasonic sensor arranged on the same side, wherein the first ultrasonic sensor and the second ultrasonic sensor have different detection angles, including:

[0006] Detecting whether there is an obstacle in the current path of the lawn mowing robot;

[0007] If so, generating an obstacle avoidance path through the first detection results of the first ultrasonic sensor and the second ultrasonic sensor, and controlling the lawn mowing robot to operate according to the obstacle avoidance path;

[0008] During the operation of the lawn mowing robot, the obstacle is detected again by the second ultrasonic sensor;

[0009] The obstacle avoidance path is corrected according to the second detection result of the second ultrasonic sensor, and the lawn mowing robot is controlled to continue operating according to the corrected obstacle avoidance path.

[0010] In one embodiment, before detecting the obstacle again by the second ultrasonic sensor, the method further includes:

[0011] Acquire the relative position relationship between the lawn mowing robot and the obstacle in real time;

[0012] When the relative position relationship satisfies a preset position relationship, a step of detecting the obstacle again by using the second ultrasonic sensor is performed.

[0013] In one embodiment, before detecting the obstacle again by the second ultrasonic sensor, the method further includes:

[0014] Obtaining the completion progress of the lawn mowing robot on the obstacle avoidance path;

[0015] When the completion progress meets the preset progress, the step of detecting the obstacle again by using the second ultrasonic sensor is performed.

[0016] In one embodiment, generating an obstacle avoidance path using the first detection results of the first ultrasonic sensor and the second ultrasonic sensor includes:

[0017] Acquire characteristic information of the obstacle through first detection results of the first ultrasonic sensor and the second ultrasonic sensor;

[0018] A path parameter is determined according to the characteristic information, and an obstacle avoidance path is generated using the path parameter.

[0019] In one embodiment, the correcting the obstacle avoidance path according to the second detection result of the second ultrasonic sensor includes:

[0020] updating the characteristic information of the obstacle according to the second detection result of the second ultrasonic sensor;

[0021] The path parameters are modified according to the updated characteristic information to complete the correction of the obstacle avoidance path.

[0022] In one embodiment, the characteristic information includes size information and type information of the obstacle, and determining the path parameter according to the characteristic information includes:

[0023] Determining a path type corresponding to the type information of the obstacle;

[0024] A path parameter corresponding to the path type is determined according to the size information.

[0025] In one embodiment, after acquiring the characteristic information of the obstacle, the method further includes:

[0026] Determining whether the characteristic information is the same as the historical characteristic information stored in the database;

[0027] If they are the same, the historical path corresponding to the historical feature information is extracted, and the lawn mowing robot is controlled to operate according to the historical path.

[0028] In a second aspect, an embodiment of the present application provides an intelligent obstacle avoidance device, which is applied to a lawn mower robot. The lawn mower robot includes a first ultrasonic sensor and a second ultrasonic sensor arranged on the same side. The first ultrasonic sensor and the second ultrasonic sensor have different detection angles, including:

[0029] A first detection module, used to detect whether there is an obstacle in the current path of the lawn mowing robot;

[0030] a generating module, configured to generate an obstacle avoidance path according to the first detection results of the first ultrasonic sensor and the second ultrasonic sensor when the first detecting module detects yes, and control the lawn mowing robot to operate according to the obstacle avoidance path;

[0031] A second detection module, used for detecting the obstacle again by using the second ultrasonic sensor during the operation of the lawn mowing robot;

[0032] The correction module is used to correct the obstacle avoidance path according to the second detection result of the second ultrasonic sensor, and control the lawn mowing robot to continue working according to the corrected obstacle avoidance path.

[0033] In a third aspect, an embodiment of the present application provides a lawn mowing robot, comprising a first ultrasonic sensor and a second ultrasonic sensor arranged on the same side, wherein the first ultrasonic sensor and the second ultrasonic sensor have different detection angles, and comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of the intelligent obstacle avoidance method as described above are implemented.

[0034] In a fourth aspect, an embodiment of the present application provides a storage medium on which a computer program is stored, and when the computer program is executed by a processor, the steps of the intelligent obstacle avoidance method as described above are implemented.

[0035] The intelligent obstacle avoidance method provided in the embodiment of the present application can detect whether there is an obstacle in the current path of the lawn mower robot. If there is, an obstacle avoidance path is generated through the first detection results of the first ultrasonic sensor and the second ultrasonic sensor, and the lawn mower robot is controlled to operate according to the obstacle avoidance path. During the operation of the lawn mower robot, the obstacle is detected again by the second ultrasonic sensor, the obstacle avoidance path is corrected according to the second detection result of the second ultrasonic sensor, and the lawn mower robot is controlled to continue operating according to the corrected obstacle avoidance path. The embodiment of the present application can generate an obstacle avoidance path by combining two ultrasonic sensors with different detection angles and correct the obstacle avoidance path, thereby improving the obstacle avoidance efficiency of the lawn mower robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0037] Figure 1 is a schematic diagram of a scenario of an intelligent obstacle avoidance method provided in an embodiment of the present application;

[0038] Figure 2 It is a flow chart of the intelligent obstacle avoidance method provided in the embodiment of the present application;

[0039] Figure 3 is a schematic diagram of sensor settings of a lawn mowing robot provided in an embodiment of the present application;

[0040] Figure 4 It is a schematic diagram of a sensor detection angle of a lawn mowing robot provided in an embodiment of the present application;

[0041] Figure 5 It is a path generation schematic diagram provided in an embodiment of the present application;

[0042] Figure 6 is another path generation schematic diagram provided in an embodiment of the present application;

[0043] Figure 7 is another path generation schematic diagram provided in an embodiment of the present application;

[0044] Figure 8 is another flow chart of the intelligent obstacle avoidance method provided in the embodiment of the present application;

[0045] Fig. 9 is a structural schematic diagram of an intelligent obstacle avoidance device provided in an embodiment of the present application;

[0046] Fig.10is another structural schematic diagram of the intelligent obstacle avoidance device provided in an embodiment of the present application;

[0047] Fig.11 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0048] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of this application.

[0049] It should be noted that when a component is referred to as being "fixed to" or "disposed on" another component, it can be directly on the other component or indirectly on the other component. 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, connection can be used for both fixing and circuit connection.

[0050] It should be understood that the orientation or position relationship indicated by terms such as "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0051] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0052] Embodiments of the present application provide an intelligent obstacle avoidance method, device, lawn mowing robot, and storage medium.

[0053] The intelligent obstacle avoidance device can be integrated in the microcontroller unit (MCU) of the lawn mower robot, or in an intelligent terminal or server. The MCU is also called a single chip microcomputer or a single chip microcomputer, which appropriately reduces the frequency and specifications of the central processing unit (CPU), and forms a chip-level computer with memory, timer, USB, analog-to-digital conversion / digital-to-analog conversion, UART, PLC, DMA and other peripheral interfaces to make different combination controls for different application occasions. The lawn mower robot can walk automatically, prevent collisions, automatically return to charge within the range, has safety detection and battery power detection, has a certain climbing ability, and is particularly suitable for lawn mowing and maintenance in places such as home gardens and public green spaces. Its characteristics are: automatic mowing, cleaning grass clippings, automatic rain shelter, automatic charging, automatic obstacle avoidance, small size, electronic virtual fence, network control, etc.

[0054] The terminal may be a smart phone, tablet computer, laptop computer, desktop computer, smart speaker, smart watch, etc., but is not limited thereto. The terminal and the server may be directly or indirectly connected via wired or wireless communication. The server may be an independent physical server, or a server cluster or distributed system consisting of multiple physical servers. It may also be a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN, and big data and artificial intelligence platforms. This application does not limit this.

[0055] For example, see Figure 1 The present application provides a mowing system, including a mowing robot 10, a server 20 and a user device 30 that are connected to each other by communication. The user can control the mowing robot 10 through the user device 30 to detect obstacles while moving. Specifically, in an embodiment of the present application, a variety of sensors can be integrated into the mowing robot 10. For example, a rain sensor can be set on the top of the mowing robot 10 to detect whether it is raining. Ultrasonic sensors, infrared sensors and visual sensors can also be set on the mowing robot 10, and collision sensors can be set around the mowing robot 10. Obstacles can be detected by the above sensors. When it is detected that there is an obstacle in the current path of the mowing robot 10, an obstacle avoidance path can be generated for operation.

[0056] During the operation, the user can also adjust the action path, action speed, mowing range, etc. of the mowing robot 10 in real time through the user device 30. After the operation is completed, the data corresponding to the mowing operation can also be synchronized to the server 20, so that the user can view it conveniently.

[0057] For example, the lawn mower robot 10 responds to a user instruction to start working, wherein the user instruction can be generated and sent through the user device 30. During the operation, the lawn mower robot 10 detects whether there is an obstacle in the current path of the lawn mower robot. When an obstacle is detected, an obstacle avoidance path is generated through the first detection results of the first ultrasonic sensor and the second ultrasonic sensor, and the lawn mower robot is controlled to work according to the obstacle avoidance path. During the operation of the lawn mower robot, the obstacle is detected again through the second ultrasonic sensor, the obstacle avoidance path is corrected according to the second detection result of the second ultrasonic sensor, and the lawn mower robot is controlled to continue working according to the corrected obstacle avoidance path, thereby avoiding the above-mentioned obstacles.

[0058] It should be noted that the order of description of the following embodiments is not intended to limit the priority order of the embodiments.

[0059] An intelligent obstacle avoidance method comprises: detecting whether there is an obstacle in the current path of a lawn mower robot; if so, generating an obstacle avoidance path through first detection results of a first ultrasonic sensor and a second ultrasonic sensor, and controlling the lawn mower robot to operate according to the obstacle avoidance path; during the operation of the lawn mower robot, detecting the obstacle again through the second ultrasonic sensor, correcting the obstacle avoidance path according to the second detection result of the second ultrasonic sensor, and controlling the lawn mower robot to continue operating according to the corrected obstacle avoidance path.

[0060] See also Figure 2 , Figure 2 A flow chart of the intelligent obstacle avoidance method provided in the embodiment of the present application. The specific flow of the intelligent obstacle avoidance method can be as follows:

[0061] 101 . Detect whether there is an obstacle in the current path of the lawn mowing robot. If there is an obstacle, execute step 102 .

[0062] In one embodiment, the mowing robot can mow the work area with pre-defined boundaries and plan its corresponding action path according to the work area. When the mowing robot starts running, it will generate an action path in the entire current area to ensure that the action path can cover the entire current area, such as setting a turning point according to the boundary of the current area, and generating an arc-shaped action path based on the turning point as the action path, and mowing the lawn according to the action path.

[0063] In the embodiments of this application, please continue to refer to Figure 3 The above-mentioned lawn mower robot may include a first ultrasonic sensor, a second ultrasonic sensor and a third ultrasonic sensor, wherein the third ultrasonic sensor may be arranged in the middle position of the lawn mower robot, and is used to detect obstacles in the range directly in front of the lawn mower robot, for example, the third ultrasonic sensor may detect objects within a range of 90° in front. The first ultrasonic sensor and the second ultrasonic sensor may constitute a sensor pair (which may be integrated together or independently arranged), and are arranged on the side of the lawn mower robot. Furthermore, the first ultrasonic sensor and the second ultrasonic sensor may be arranged on both sides of the lawn mower robot, respectively. The above-mentioned first ultrasonic sensor may be arranged at the rear position of the side of the lawn mower robot, and the second ultrasonic sensor may be arranged at the front position of the side of the lawn mower robot, that is, the first ultrasonic sensor is arranged behind the second ultrasonic sensor, and correspondingly, the detection angle of the above-mentioned first ultrasonic sensor is also different from the detection angle of the second ultrasonic sensor. Please refer to Figure 4 In this embodiment, the detection angle of the first ultrasonic sensor on the left side is range B located at the left rear, the detection range of the second ultrasonic sensor is range A located at the left front, the detection angle of the first ultrasonic sensor on the right side is range D located at the right rear, the detection range of the second ultrasonic sensor is range C located at the right front, and the detection angle of the third ultrasonic sensor is range E directly in front of the lawn mowing robot.

[0064] In one implementation, the detection range of the first ultrasonic sensor and the detection range of the second ultrasonic sensor may partially overlap.

[0065] In one embodiment, when the mowing robot is mowing according to the initial action path, the third ultrasonic sensor can detect in real time whether an obstacle is encountered in the current path. Specifically, after the third ultrasonic sensor provided in the mowing robot is turned on, detection data can be collected in real time or at a fixed working frequency and at a preset time interval. The detection data can be ultrasonic data. When an obstacle is detected, the subsequent step 102 can be continued. If no obstacle is detected, the mowing robot can continue to operate according to the initial action path.

[0066] The ultrasonic sensor may include an ultrasonic transmitter and an ultrasonic receiver. The ultrasonic transmitter transmits ultrasonic waves to objects within the detection range. When the ultrasonic waves encounter obstacles, they will be reflected back to the ultrasonic receiver. The ultrasonic receiver receives the sound waves reflected by the obstacles and automatically records the time from the moment the ultrasonic waves are transmitted to the moment the sound waves are reflected back by the target object. Because we know the transmission speed of the sound waves in the transmission medium, we can calculate the distance from the sound wave generator to the target object. When the distance is less than the preset distance, it can be determined that there is an obstacle in the current path of the mowing robot.

[0067] In actual use, since ultrasonic waves are affected by factors such as medium and temperature, which may change their propagation speed, the measurement results need to be compensated according to the actual situation. For example, v=340m / s refers to the speed of ultrasonic waves at 15°. Temperature affects the density of air. The greater the density of the medium, the greater the transmission speed of sound. If temperature compensation is not performed, the accuracy of the measurement results will be affected. Therefore, after the ultrasonic receiver receives the reflected ultrasonic signal, the calculation results can be compensated according to the temperature of the current environment, so as to more accurately locate the position of the obstacle.

[0068] 102. Generate an obstacle avoidance path according to the first detection results of the first ultrasonic sensor and the second ultrasonic sensor, and control the lawn mowing robot to operate according to the obstacle avoidance path.

[0069] In one embodiment, when an obstacle is detected in the current path, an obstacle avoidance path can be generated according to the first detection results of the first ultrasonic sensor and the second ultrasonic sensor, and then the lawn mowing robot is controlled to operate according to the obstacle avoidance path to bypass the obstacle.

[0070] Specifically, it can be determined according to the location of the obstacle whether to use the first ultrasonic sensor and the second ultrasonic sensor on the left side of the lawn mower robot for detection, or to use the first ultrasonic sensor and the second ultrasonic sensor on the right side of the lawn mower robot for detection. For example, when the obstacle detected by the third ultrasonic sensor is located in the left front of the lawn mower robot, the first ultrasonic sensor and the second ultrasonic sensor on the left side can be used for detection, and an obstacle avoidance path can be generated according to the first detection result. Optionally, when generating an obstacle avoidance path, the above-mentioned first detection result can also be combined with the detection result of the above-mentioned third ultrasonic sensor to jointly plan the path, such as turning on the third ultrasonic sensor on the lawn mower robot and the first ultrasonic sensor and the second ultrasonic sensor on the left side at the same time to detect the obstacle. This can ensure a sufficiently large detection range, making the detection result for the obstacle more accurate, thereby generating an obstacle avoidance path.

[0071] For example, the obstacle avoidance path can be a polyline of a preset length. Figure 5 In this embodiment, after the lawn mower robot encounters an obstacle, a broken line with a preset length and composed of three line segments can be generated. The length of the above line segments can be set according to the data detected by the first ultrasonic sensor, so as to control the lawn mower robot to operate along the broken line to bypass the obstacle.

[0072] For example, the MCU in the lawn mower robot can control the lawn mower robot to perform mowing operations based on the obstacle avoidance path; for another example, the server or user device can control the lawn mower robot to drive according to the obstacle avoidance path to perform mowing operations. That is, the lawn mower robot performs mowing operations according to the obstacle avoidance path, and after completing the above obstacle avoidance path, the lawn mower robot is controlled to continue to follow the initial action path and continue to detect obstacles.

[0073] 103. During the operation of the lawn mowing robot, the obstacle is detected again by the second ultrasonic sensor.

[0074] In the actual application process, considering that the detection angles of the first ultrasonic sensor and the second ultrasonic sensor are relatively large, it is possible to detect obstacles that the mowing robot has already bypassed, which will result in an excessively large detour range and low obstacle avoidance efficiency. Therefore, in this embodiment, when the mowing robot is operating according to the obstacle avoidance path, the first ultrasonic sensor can be further turned off, and only the second ultrasonic sensor can be turned on to detect the obstacle again, so as to further correct the obstacle avoidance path according to the detected second ultrasonic data. Since only the second ultrasonic sensor is used for re-detection, it is possible to avoid detecting obstacles that the mowing robot has already bypassed, thereby shortening the detour distance.

[0075] In one embodiment, during the operation of the lawn mower robot according to the obstacle avoidance path, when the lawn mower robot and the obstacle are in a parallel position, the first ultrasonic sensor can be turned off and only the second ultrasonic sensor can be turned on for detection. That is, before the obstacle is detected again by the second ultrasonic sensor, the method can also include: acquiring the relative position relationship between the lawn mower robot and the obstacle in real time, and when the relative position relationship meets the preset position relationship, executing the step of detecting the obstacle again by the second ultrasonic sensor.

[0076] In another embodiment, the completion progress of the current obstacle avoidance path can be monitored in real time while the lawn mowing robot is operating according to the obstacle avoidance path. When the lawn mowing robot completes a preset progress, such as 50%, the first ultrasonic sensor can be turned off and only the second ultrasonic sensor can be turned on for detection. That is, before the obstacle is detected again by the second ultrasonic sensor, the method can also include: obtaining the completion progress of the lawn mowing robot for the obstacle avoidance path, and when the completion progress meets the preset progress, executing the step of detecting the obstacle again by the second ultrasonic sensor.

[0077] 104. Correct the obstacle avoidance path according to the second detection result of the second ultrasonic sensor, and control the lawn mowing robot to continue operating according to the corrected obstacle avoidance path.

[0078] Further reading Figure 6 For example, when the mowing robot follows the obstacle avoidance path and moves parallel to the obstacle, only the second ultrasonic sensor is turned on to detect the obstacle again, and the obstacle avoidance path is corrected according to the second detection result, and then the mowing machine is controlled to continue to operate according to the corrected obstacle avoidance path. This allows the mowing robot to avoid having to complete the original obstacle avoidance path in its entirety, avoids the detour range of the second half of the mowing robot being too large, and can complete the detour of the obstacle faster, thereby improving the obstacle avoidance efficiency.

[0079] In other embodiments, the obstacle avoidance path may also be an arc path, such as Figure 7 As shown, the type of obstacle avoidance path can be selected specifically according to the type of obstacle. For example, the obstacle type can be determined based on the detection result of the first ultrasonic sensor. For obstacles that are more circular, an arc obstacle avoidance path can be used, and for obstacles that are more rectangular, a broken line obstacle avoidance path can be used. For example, when the obstacle that needs to be bypassed is a circular trash can, the arc and arc length of the arc path can be set according to the first detection results of the first ultrasonic sensor and the second ultrasonic sensor, and then the lawn mower robot can be controlled to move along the arc path. Specifically, before controlling the lawn mower robot to operate according to the obstacle avoidance path, the lawn mower robot can also be controlled to retreat to the starting point of the obstacle avoidance path, and then move along the obstacle avoidance path. In the process of moving along the above obstacle avoidance path, the first ultrasonic sensor is turned off, and only the second ultrasonic sensor is turned on to detect the obstacle again, and the obstacle avoidance path is corrected according to the second detection result, and finally the lawn mower robot is controlled to continue to operate according to the corrected obstacle avoidance path.

[0080] In one embodiment, if the obstacle avoidance path fails to bypass the obstacle, for example, if the obstacle is encountered again during the movement, it is possible to return to the starting point of the obstacle avoidance path and generate a new obstacle avoidance path with a larger range again until the obstacle is successfully bypassed.

[0081] As can be seen from the above, the intelligent obstacle avoidance method provided in the embodiment of the present application can detect whether there are obstacles in the current path of the lawn mower robot. If there are obstacles, an obstacle avoidance path is generated through the first detection results of the first ultrasonic sensor and the second ultrasonic sensor, and the lawn mower robot is controlled to operate according to the obstacle avoidance path. During the operation of the lawn mower robot, the obstacle is detected again by the second ultrasonic sensor, the obstacle avoidance path is corrected according to the second detection result of the second ultrasonic sensor, and the lawn mower robot is controlled to continue operating according to the corrected obstacle avoidance path. The embodiment of the present application can generate an obstacle avoidance path by combining two ultrasonic sensors with different detection angles and correct the obstacle avoidance path, thereby improving the obstacle avoidance efficiency of the lawn mower robot.

[0082] See also Figure 8 , Figure 8 Another flowchart of the intelligent obstacle avoidance method provided in the embodiment of the present application is shown in FIG. The specific flow of the intelligent obstacle avoidance method may be as follows:

[0083] 201. Detect whether there is an obstacle in the current path through a third ultrasonic sensor. If there is an obstacle, execute step 202.

[0084] In one embodiment, the mowing robot can detect in real time whether an obstacle is encountered in the current path while mowing according to the initial action path. Specifically, the detection can be performed by a third ultrasonic sensor integrated in the mowing robot. The detection process can refer to the above description, and this embodiment does not further limit this. When no obstacle is detected, the mowing robot can continue to mow according to the initial action path. When an obstacle is detected, the subsequent step 202 is continued.

[0085] 202. Obtain characteristic information of the obstacle through first detection results of the first ultrasonic sensor and the second ultrasonic sensor, determine path parameters according to the characteristic information, and generate an obstacle avoidance path using the path parameters.

[0086] In one embodiment, if an obstacle is encountered during the operation of the lawn mowing robot, the first ultrasonic sensor and the second ultrasonic sensor can be further turned on to detect the obstacle, and characteristic information of the obstacle can be obtained based on the detected data. For example, by processing and analyzing the detection data currently collected by the first ultrasonic sensor and the second ultrasonic sensor, the shape, outline, position and other information of the obstacle in the current environment can be restored.

[0087] In one embodiment, after initially detecting an obstacle, the mowing robot can further shoot the current image, and further detect or scan the obstacle again through the image obtained, thereby obtaining characteristic information of the obstacle, which is used to assist in judgment based on the ultrasonic sensor, and further confirm the characteristic information of the obstacle, thereby improving the accuracy of obstacle judgment.

[0088] After obtaining the characteristic information of the above-mentioned obstacles, the path parameters can be determined in combination with the size, volume, area, height and other information in the obstacle characteristic information, and the path parameters can be used to generate an obstacle avoidance path whose beginning and end are both located on the initial action path, so that the lawn mowing robot can avoid the obstacle and continue to operate along the initial action path after avoiding it.

[0089] In one embodiment, when generating the above-mentioned obstacle avoidance path, the path type can also be determined according to the type of obstacle, and then the obstacle avoidance path can be generated in combination with the size of the obstacle. For example, when the obstacle to be circumvented is a circular trash can, the arc and arc length of the arc path can be set according to the first detection results of the first ultrasonic sensor and the second ultrasonic sensor. When the obstacle to be circumvented is a rectangular coffee table, the line segment length of the broken line path can be set according to the first detection results of the first ultrasonic sensor and the second ultrasonic sensor. That is, the step of determining the path parameters according to the characteristic information can include: determining the path type corresponding to the type information of the obstacle, and determining the path parameters corresponding to the path type according to the size information.

[0090] In one embodiment, after the mowing robot detects the first detection result through the first ultrasonic sensor and the second ultrasonic sensor and obtains the characteristic information of the obstacle, it can also search in the historical records to determine whether there is historical data in the historical records that is the same as the current obstacle detection result. If so, the mowing robot can be directly controlled to bypass the obstacle according to the historical obstacle avoidance path, without having to generate a new obstacle avoidance route again. That is, after obtaining the characteristic information of the obstacle, the method can also include: determining whether the characteristic information is the same as the historical characteristic information stored in the database. If the same, extracting the historical path corresponding to the historical characteristic information, and controlling the mowing robot to operate according to the historical path.

[0091] 203. Control the lawn mowing robot to operate according to the obstacle avoidance path.

[0092] 204. During the operation of the lawn mowing robot, the obstacle is detected again by the second ultrasonic sensor.

[0093] After the obstacle avoidance path is generated, the mowing robot can be controlled to operate along the path. In this process, the first ultrasonic sensor can be further turned off, and only the second ultrasonic sensor on the mowing robot can be turned on to further detect the obstacle. For example, when the mowing robot is parallel to the obstacle, the first ultrasonic sensor is turned off and only the second ultrasonic sensor is turned on for detection to obtain a second detection result for the obstacle.

[0094] 205. Update characteristic information of the obstacle according to the second detection result of the second ultrasonic sensor, and modify the path parameters according to the updated characteristic information to complete the correction of the obstacle avoidance path.

[0095] 206. Control the lawn mower to continue operating according to the corrected obstacle avoidance path.

[0096] Since the detection angle of only turning on the second ultrasonic sensor is smaller than that of turning on the first ultrasonic sensor and the second ultrasonic sensor at the same time, it can avoid detecting obstacles or parts of obstacles that have been bypassed. Therefore, after updating the characteristic information of the obstacle again according to the second detection result corresponding to the second ultrasonic sensor, the original large-scale obstacle avoidance path can be corrected to a smaller-scale path. Avoiding the detour range of the second half of the mowing robot is too large, and the detour of obstacles can be completed faster.

[0097] Furthermore, after the obstacle avoidance path is corrected, the corrected obstacle avoidance path can be spliced ​​with the initial action path of the mowing robot to form a complete path for the mowing robot to operate. For example, the corrected obstacle avoidance path is intersected with the initial action path to generate a final action path along the current mowing direction according to the intersection point.

[0098] As can be seen from the above, the intelligent obstacle avoidance method provided in the embodiment of the present application can detect whether there is an obstacle in the current path through the third ultrasonic sensor. If there is, the characteristic information of the obstacle is obtained through the first detection results of the first ultrasonic sensor and the second ultrasonic sensor, and the path parameters are determined according to the characteristic information. The obstacle avoidance path is generated with the path parameters, and the lawn mowing robot is controlled to operate according to the obstacle avoidance path. During the operation of the lawn mowing machine, the obstacle is detected again by the second ultrasonic sensor, and the characteristic information of the obstacle is updated according to the second detection result of the second ultrasonic sensor. The path parameters are modified according to the updated characteristic information to complete the correction of the obstacle avoidance path, and the lawn mowing machine is controlled to continue to operate according to the corrected obstacle avoidance path. The embodiment of the present application can generate an obstacle avoidance path by integrating two ultrasonic sensors with different detection angles and correct the obstacle avoidance path, thereby improving the obstacle avoidance efficiency of the lawn mowing robot.

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

[0100] See also Fig. 9 , Fig. 9 A schematic diagram of the structure of an intelligent obstacle avoidance device provided in an embodiment of the present application, wherein the intelligent obstacle avoidance device may include:

[0101] The first detection module 301 is used to detect whether there is an obstacle in the current path of the lawn mowing robot;

[0102] A generating module 302, configured to generate an obstacle avoidance path according to the first detection results of the first ultrasonic sensor and the second ultrasonic sensor when the first detecting module 301 detects yes, and control the lawn mowing robot to operate according to the obstacle avoidance path;

[0103] A second detection module 303 is used to detect the obstacle again by using the second ultrasonic sensor during the operation of the lawn mowing robot;

[0104] The correction module 304 is used to correct the obstacle avoidance path according to the second detection result of the second ultrasonic sensor, and control the lawn mowing robot to continue working according to the corrected obstacle avoidance path.

[0105] In one embodiment, see Fig.10 , the generation module 302 may include:

[0106] The acquisition submodule 3021 is used to acquire the characteristic information of the obstacle;

[0107] The generating submodule 3022 is used to determine the path parameters according to the characteristic information, and generate the obstacle avoidance path with the path parameters.

[0108] In one embodiment, the characteristic information may include size information and type information of the obstacle, and the generating submodule 3022 may be specifically used to determine the path type corresponding to the type information of the obstacle, and determine the path parameters corresponding to the path type according to the size information.

[0109] In one embodiment, the correction module 304 may include:

[0110] An updating submodule 3041, configured to update the characteristic information of the obstacle according to the second detection result of the second ultrasonic sensor;

[0111] The correction submodule 3042 is used to modify the path parameters according to the updated feature information to complete the correction of the obstacle avoidance path.

[0112] As can be seen from the above, the embodiment of the present application detects whether there is an obstacle in the current path of the lawn mower robot. If there is, an obstacle avoidance path is generated through the first detection results of the first ultrasonic sensor and the second ultrasonic sensor, and the lawn mower robot is controlled to operate according to the obstacle avoidance path. During the operation of the lawn mower robot, the obstacle is detected again by the second ultrasonic sensor, the obstacle avoidance path is corrected according to the second detection result of the second ultrasonic sensor, and the lawn mower robot is controlled to continue operating according to the corrected obstacle avoidance path. The embodiment of the present application can generate an obstacle avoidance path by combining two ultrasonic sensors with different detection angles and correct the obstacle avoidance path, thereby improving the obstacle avoidance efficiency of the lawn mower robot.

[0113] In addition, the present application also provides a lawn mowing robot. Fig.11 As shown, it shows a schematic diagram of the structure of the lawn mowing robot involved in the embodiment of the present application, specifically:

[0114] The lawn mowing robot may include components such as a control module 501, a travel mechanism 502, a cutting module 503, and a power supply 504. Those skilled in the art will appreciate that Fig.11 The electronic device structure shown in the figure does not constitute a limitation on the electronic device, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0115] The control module 501 is the control center of the lawn mower robot. The control module 501 may specifically include components such as a central processing unit (CPU), a memory, an input / output port, a system bus, a timer / counter, a digital-to-analog converter, and an analog-to-digital converter. The CPU executes various functions of the lawn mower 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 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system and application programs, and the modem processor mainly processes wireless communications. It is understandable that the above-mentioned modem processor may not be integrated into the CPU.

[0116] The memory can be used to store software programs and modules. The CPU executes various functional applications and data processing by running the software programs and modules stored in the memory. The memory may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the data storage area may store data created according to the use of the electronic device, etc. In addition, the memory may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage devices. Accordingly, the memory may also include a memory controller to provide the CPU with access to the memory.

[0117] The traveling mechanism 502 is electrically connected to the control module 501 and is used to respond to the control signal transmitted by the control module 501 to adjust the traveling speed and traveling direction of the lawn mower robot, thereby realizing the self-moving function of the lawn mower robot.

[0118] The cutting module 503 is electrically connected to the control module 501 and is used to respond to the control signal transmitted by the control module to adjust the height and rotation speed of the cutting disc to achieve mowing operation.

[0119] The power supply 504 can be logically connected to the control module 501 through a power management system, so as to realize functions such as managing charging, discharging, and power consumption management through the power management system. The power supply 504 can also include any components such as one or more DC or AC power supplies, recharging systems, power failure detection circuits, power converters or inverters, and power status indicators.

[0120] Although not shown, the lawn mowing robot may also include a communication module, a sensor module, a prompt module, etc., which will not be described in detail here.

[0121] The communication module is used to receive and send signals during the process of sending and receiving information. By establishing a communication connection with the user equipment, base station or server, the signal sending and receiving between the user equipment, base station or server is realized.

[0122] The sensor module is used to collect internal environment information or external environment information, and feed the collected environment data back to the control module for decision-making, so as to realize the precise positioning and intelligent obstacle avoidance function of the lawn mowing robot. Optionally, the sensor may include: ultrasonic sensor, infrared sensor, collision sensor, rain sensor, lidar sensor, inertial measurement unit, wheel speed meter, image sensor, position sensor and other sensors, which are not limited to this.

[0123] The prompt module is used to prompt the user of the current working status of the lawn mower robot. In this solution, the prompt module includes but is not limited to indicator lights, buzzers, etc. For example, the lawn mower robot can prompt the user of the current power status, motor working status, sensor working status, etc. through indicator lights. For another example, when the lawn mower robot is detected to be faulty or stolen, an alarm prompt can be implemented through a buzzer.

[0124] Specifically in this embodiment, the processor in the control module 501 will load the executable files corresponding to the processes of one or more applications into the memory according to the following instructions, and the processor will run the applications stored in the memory to implement various functions, as follows:

[0125] Detecting whether there is an obstacle in the current path of the lawn mowing robot;

[0126] If so, generating an obstacle avoidance path through the first detection results of the first ultrasonic sensor and the second ultrasonic sensor, and controlling the lawn mowing robot to operate according to the obstacle avoidance path;

[0127] During the operation of the lawn mowing robot, the obstacle is detected again by the second ultrasonic sensor;

[0128] The obstacle avoidance path is corrected according to the second detection result of the second ultrasonic sensor, and the lawn mowing robot is controlled to continue operating according to the corrected obstacle avoidance path.

[0129] The specific implementation of the above operations can be found in the previous embodiments, which will not be described in detail here.

[0130] The embodiment of the present application can detect whether there is an obstacle in the current path of the lawn mower robot. If there is, an obstacle avoidance path is generated through the first detection results of the first ultrasonic sensor and the second ultrasonic sensor, and the lawn mower robot is controlled to operate according to the obstacle avoidance path. During the operation of the lawn mower robot, the obstacle is detected again by the second ultrasonic sensor, the obstacle avoidance path is corrected according to the second detection result of the second ultrasonic sensor, and the lawn mower robot is controlled to continue operating according to the corrected obstacle avoidance path. The embodiment of the present application can generate an obstacle avoidance path by combining two ultrasonic sensors with different detection angles and correct the obstacle avoidance path, thereby improving the obstacle avoidance efficiency of the lawn mower robot.

[0131] A person of ordinary skill in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be completed by instructions, or by controlling related hardware through instructions. The instructions may be stored in a computer-readable storage medium and loaded and executed by a processor.

[0132] To this end, an embodiment of the present application provides a storage medium in which a plurality of instructions are stored, and the instructions can be loaded by a processor to execute the steps in any one of the intelligent obstacle avoidance methods provided in the embodiments of the present application. For example, the instructions can execute the following steps:

[0133] Detecting whether there is an obstacle in the current path of the lawn mowing robot;

[0134] If so, generating an obstacle avoidance path through the first detection results of the first ultrasonic sensor and the second ultrasonic sensor, and controlling the lawn mowing robot to operate according to the obstacle avoidance path;

[0135] During the operation of the lawn mowing robot, the obstacle is detected again by the second ultrasonic sensor;

[0136] The obstacle avoidance path is corrected according to the second detection result of the second ultrasonic sensor, and the lawn mowing robot is controlled to continue operating according to the corrected obstacle avoidance path.

[0137] The specific implementation of the above operations can be found in the previous embodiments, which will not be described in detail here.

[0138] The storage medium may include: a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0139] Since the instructions stored in the storage medium can execute the steps in any one of the intelligent obstacle avoidance methods provided in the embodiments of the present application, the beneficial effects that can be achieved by any one of the intelligent obstacle avoidance methods provided in the embodiments of the present application can be achieved. Please refer to the previous embodiments for details and will not be repeated here.

[0140] The above is a detailed introduction to an intelligent obstacle avoidance method, device, lawn mowing robot and storage medium provided in the embodiments of the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for technical personnel in this field, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. An intelligent obstacle avoidance method, applied to a lawn mower robot, the lawn mower robot comprising a first ultrasonic sensor and a second ultrasonic sensor arranged on the same side, the first ultrasonic sensor and the second ultrasonic sensor having different detection angles, characterized in that: include: Detecting whether there is an obstacle in the current path of the lawn mowing robot; If yes, generating an obstacle avoidance path through the first detection results of the first ultrasonic sensor and the second ultrasonic sensor, and controlling the lawn mowing robot to operate according to the obstacle avoidance path; During the operation of the lawn mower robot, when the lawn mower robot and the obstacle are in parallel, the first ultrasonic sensor is turned off and only the second ultrasonic sensor is turned on to detect the obstacle again; The obstacle avoidance path is corrected according to the second detection result of the second ultrasonic sensor, and the lawn mowing robot is controlled to continue operating according to the corrected obstacle avoidance path.

2. The method according to claim 1, characterized in that: Before turning on only the second ultrasonic sensor to detect the obstacle again, the method further includes: Obtaining the completion progress of the lawn mowing robot on the obstacle avoidance path; When the completion progress meets the preset progress, the step of turning on only the second ultrasonic sensor to detect the obstacle again is performed.

3. The method according to claim 1, characterized in that The generating an obstacle avoidance path according to the first detection results of the first ultrasonic sensor and the second ultrasonic sensor includes: Acquire characteristic information of the obstacle through first detection results of the first ultrasonic sensor and the second ultrasonic sensor; A path parameter is determined according to the characteristic information, and an obstacle avoidance path is generated using the path parameter.

4. The method according to claim 1, characterized in that: The correcting the obstacle avoidance path according to the second detection result of the second ultrasonic sensor includes: updating the characteristic information of the obstacle according to the second detection result of the second ultrasonic sensor; The path parameters are modified according to the updated characteristic information to complete the correction of the obstacle avoidance path.

5. The method according to claim 3, characterized in that: The characteristic information includes size information and type information of the obstacle, and determining the path parameter according to the characteristic information includes: Determining a path type corresponding to the type information of the obstacle; A path parameter corresponding to the path type is determined according to the size information.

6. The method according to claim 3, characterized in that After acquiring the characteristic information of the obstacle, the method further includes: Determining whether the characteristic information is the same as the historical characteristic information stored in the database; If they are the same, the historical path corresponding to the historical feature information is extracted, and the lawn mowing robot is controlled to operate according to the historical path.

7. An intelligent obstacle avoidance device, applied to a lawn mower robot, the lawn mower robot comprising a first ultrasonic sensor and a second ultrasonic sensor arranged on the same side, the first ultrasonic sensor and the second ultrasonic sensor having different detection angles, characterized in that: include: A first detection module, used to detect whether there is an obstacle in the current path of the lawn mowing robot; a generating module, configured to generate an obstacle avoidance path according to the first detection results of the first ultrasonic sensor and the second ultrasonic sensor when the first detecting module detects yes, and control the lawn mowing robot to operate according to the obstacle avoidance path; A second detection module is used to turn off the first ultrasonic sensor and turn on only the second ultrasonic sensor to detect the obstacle again when the lawn mower robot is in parallel with the obstacle during the operation of the lawn mower robot; The correction module is used to correct the obstacle avoidance path according to the second detection result of the second ultrasonic sensor, and control the lawn mowing robot to continue working according to the corrected obstacle avoidance path.

8. A lawn mowing robot, comprising a first ultrasonic sensor and a second ultrasonic sensor arranged on the same side, wherein the first ultrasonic sensor and the second ultrasonic sensor have different detection angles, and wherein: The method comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of the intelligent obstacle avoidance method according to any one of claims 1 to 6 are implemented.

9. A storage medium, characterized in that: A computer program is stored thereon, and when the computer program is executed by a processor, the steps of the intelligent obstacle avoidance method as described in any one of claims 1-6 are implemented.

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