A method, system, storage medium and intelligent terminal for adaptively adjusting collision parameters of a lawn mower

Abstract

The present application relates to a method, system, storage medium and intelligent terminal for adaptively adjusting collision parameters of a lawn mower, and relates to the field of lawn mower technology. The method includes obtaining a start signal, a left absolute value and a right absolute value; controlling the lawn mower to move along a patrol line trajectory according to the start signal, and obtaining left numerical information and right numerical information within a detection period; performing calculations according to a filtering algorithm after the detection period to determine left collision relative information and right collision relative information; determining whether the left collision relative information is less than the left absolute value and whether the right collision relative information is less than the right absolute value; if both are less than, updating the left collision relative information to a new left absolute value and updating the right collision relative information to a new right absolute value; if both are not less than, maintaining the original left absolute value and right absolute value. The present application has the effect of improving the collision detection effect of the lawn mower.

Description

Technical Field

[0001] The present application relates to the field of lawn mower technology, and in particular to a method, system, storage medium and intelligent terminal for adaptively adjusting collision parameters of a lawn mower. Background Art

[0002] A lawn mower is a mechanical tool used to mow lawns, vegetation, etc. It is divided into handheld lawn mowers and smart lawn mowers based on whether the lawn mower needs to be used by the staff.

[0003] In the related art, since there is no staff to operate the smart lawn mower, it needs to independently judge whether a collision occurs during the process of moving and mowing to determine whether it needs to be avoided. The existing collision determination method is to install a collision sensor on the lawn mower. When the value detected by the collision sensor is greater than the preset value, it is determined that the lawn mower has collided and subsequent avoidance processing is required.

[0004] Regarding the above-mentioned related technologies, the inventor believes that due to the accuracy of the collision sensor itself and the influence of the staff's installation operation, the data collected by the collision sensor will change. At this time, if the detection is performed according to the preset value that has been set, it will be easy to fail to detect the collision or detect the collision in real time, resulting in poor overall collision detection effect, and there is still room for improvement. Summary of the Invention

[0005] In order to achieve better lawn mower collision detection effect, the present application provides a lawn mower collision parameter adaptive adjustment method, system, storage medium and intelligent terminal.

[0006] In a first aspect, the present application provides a method for adaptively adjusting collision parameters of a lawn mower, which adopts the following technical solutions:

[0007] A method for adaptively adjusting collision parameters of a lawn mower, comprising:

[0008] Get the start signal, the absolute value on the left, and the absolute value on the right;

[0009] The lawn mower is controlled to move along a preset patrol track according to the start signal, and the left and right numerical information of the collision detectors preset on the left and right sides of the end face of the lawn mower in the moving direction are obtained within a preset detection time;

[0010] After the detection time, calculation is performed according to a preset filtering algorithm to determine the left collision relative information and the right collision relative information;

[0011] Determine whether the value corresponding to the left collision relative information is smaller than the left absolute value and whether the value corresponding to the right collision relative information is smaller than the right absolute value;

[0012] If the value corresponding to the left collision relative information is smaller than the left absolute value and the value corresponding to the right collision relative information is smaller than the right absolute value, then the value corresponding to the left collision relative information is updated to the new left absolute value and the value corresponding to the right collision relative information is updated to the new right absolute value;

[0013] If the value corresponding to the left collision relative information is not less than the left absolute value or the value corresponding to the right collision relative information is not less than the right absolute value, the original left absolute value and the original right absolute value are maintained.

[0014] By adopting the above technical solution, the left side absolute value and the right side absolute value stored in the lawn mower equipment are first obtained, and then the collision value collected during the movement of the lawn mower is obtained. When the mean value of the collected data decreases, the stored left side absolute value and right side absolute value can be updated, so that the collision sensor can determine more appropriate collision parameters according to its own installation situation, and realize adaptive adjustment of the collision parameters, so that the collision detection effect of the lawn mower is better.

[0015] Optionally, after the start signal is acquired, the method for adaptively adjusting the collision parameters of the lawn mower further includes:

[0016] Get the startup count information;

[0017] Determine whether the value corresponding to the startup number information is zero;

[0018] If the value corresponding to the start-up number information is zero, the preset collision upper limit value is used as the left absolute value and the right absolute value to control the movement of the lawn mower;

[0019] If the value corresponding to the start-up number information is not zero, determining whether the absolute value of the left side and the absolute value of the right side in the lawn mower are both less than the collision upper limit value;

[0020] If the absolute value of the left side and the absolute value of the right side in the lawn mower are both less than the collision upper limit, the movement of the lawn mower is controlled according to the obtained absolute value of the left side and the absolute value of the right side;

[0021] If the left absolute value and the right absolute value in the lawn mower are not both less than the collision upper limit value, the collision upper limit value is updated to the left absolute value and the right absolute value to control the movement of the lawn mower.

[0022] By adopting the above technical solution, the startup situation is identified, so that the stored absolute values of the left side and the right side are judged when the lawn mower is not started for the first time, thereby reducing the situation where the absolute values of the left side and the right side are suddenly changed due to interference from external factors during the storage of the lawn mower and then continued to be used, so that the lawn mower movement collision detection effect is better.

[0023] Optionally, a method for determining the number of startup times includes:

[0024] Obtain charging status information during the detection period of the lawn mower moving;

[0025] Determine whether the state value corresponding to the charging state information is consistent with the preset power state;

[0026] If the state value corresponding to the charging state information is inconsistent with the power-on state, the number of times corresponding to the original start-up number information is increased by one to update the start-up number information, and the absolute value on the left and the absolute value on the right are determined;

[0027] If the state value corresponding to the charging state information is consistent with the power-on state, the original startup count information is maintained, and the original left absolute value and right absolute value are maintained.

[0028] By adopting the above technical solution, the movement of the lawn mower is identified, so that when the lawn mower returns to the charging base within the detection time, the start is determined to be an invalid start, and the number of starts is not accumulated, so that the start status of the lawn mower can be determined more accurately.

[0029] Optionally, the method for the lawn mower to move along the patrol line trajectory includes:

[0030] Determine whether the value corresponding to the left numerical information is greater than the absolute value on the left or the value corresponding to the right numerical information is greater than the absolute value on the right;

[0031] If the value corresponding to the numerical information on the left is not greater than the absolute value on the left, or the value corresponding to the numerical information on the right is not greater than the absolute value on the right, the original moving state is maintained;

[0032] If the value corresponding to the left numerical information is greater than the absolute value on the left or the value corresponding to the right numerical information is greater than the absolute value on the right, a collision signal is output and collision position information is obtained;

[0033] Controlling the lawn mower to move in the opposite direction of the patrol track at the location corresponding to the collision position information and starting a timer. After the lawn mower moves a preset fixed distance, controlling the lawn mower to move again along the patrol track. When the lawn mower again moves to the location corresponding to the collision position information, determining the obstruction duration information;

[0034] The left-side numerical information and the right-side numerical information obtained within the time period corresponding to the obstruction time period information are cancelled, and the detection time period is updated according to the obstruction time period information and the detection time period.

[0035] By adopting the above technical solution, when a collision occurs, the lawn mower can be controlled to reverse a certain distance and then move forward, so that the objects on the track have a certain amount of time to move away. At the same time, the data obtained during this period can be canceled to ensure the accuracy of the data.

[0036] Optionally, after the collision signal is output, the method for the lawn mower to move along the patrol line trajectory further includes:

[0037] Controlling a camera component preset at the rear end of the lawn mower and arranged forward to start to obtain collision image information;

[0038] Performing feature recognition in an image corresponding to the collision image information to obtain collision feature information;

[0039] After the lawn mower moves a fixed distance in the opposite direction of the patrol line, the fallback image information is obtained;

[0040] Determine whether the image corresponding to the fallback image information contains a feature corresponding to the collision feature information;

[0041] If the feature corresponding to the collision feature information does not exist in the image corresponding to the fallback image information, the lawn mower is controlled to move along the patrol line track again;

[0042] If the feature corresponding to the collision feature information exists in the image corresponding to the fallback image information, it is determined whether the feature corresponding to the collision feature information is on the path corresponding to the line patrol trajectory;

[0043] If the feature corresponding to the collision feature information is not on the path corresponding to the patrol track, the lawn mower is controlled to move along the patrol track again;

[0044] If the feature corresponding to the collision feature information is on the path corresponding to the line patrol trajectory, a continuous obstruction signal is output and the lawn mower is controlled to stop moving.

[0045] By adopting the above technical solution, when a collision occurs, images at the time of collision and images after retreating a fixed distance are obtained respectively to compare the features of the obstruction, so as to determine whether the obstructing object has been removed and whether the lawn mower needs to continue moving forward.

[0046] Optionally, after the continuous obstruction signal is output, the method for adaptively adjusting the collision parameters of the lawn mower further includes:

[0047] Get the distance moved information;

[0048] Acquire first characteristic pixel information from the collision image information, and acquire second characteristic pixel information from an image corresponding to the fallback image information;

[0049] determining scaling information according to the first characteristic pixel information and the second characteristic pixel information;

[0050] Performing a matching analysis based on the zoom ratio information, the fixed distance, and the shooting distance information stored in the preset zoom database to determine the shooting distance information corresponding to the zoom ratio information at the fixed distance;

[0051] Performing a sum calculation based on the shooting distance information and the moved distance information to determine the total distance information;

[0052] Determine whether the distance value corresponding to the total distance information is greater than the preset required distance value;

[0053] If the distance value corresponding to the total distance information is greater than the required distance value, the lawn mower is controlled to move along the patrol line again;

[0054] If the distance value corresponding to the total distance information is not greater than the required distance value, the lawn mower is controlled to stop moving.

[0055] By adopting the above technical solution, the blocking object on the moving trajectory can be determined to determine whether the object is within the trajectory required for the lawn mower to move during the detection time. When it is not within the trajectory required for the lawn mower to move during the detection time, the lawn mower can be controlled to move normally to achieve effective adjustment of the lawn mower collision parameters.

[0056] Optionally, when the distance value corresponding to the total distance information is not greater than the required distance value, the lawn mower moving method includes:

[0057] Acquiring feature position information in an image corresponding to the collision image information, and acquiring change position information in an image corresponding to the rollback image information;

[0058] Determine lateral change angle information based on feature position information and change position information;

[0059] Determine lateral distance information according to lateral change angle information and shooting distance information;

[0060] Calculating based on the shooting distance information, the fixed distance, and the horizontal distance information to determine the virtual distance information;

[0061] Virtually establishing simulation features based on virtual distance information and features in fallback image information;

[0062] Determine whether the simulated feature is on the path corresponding to the line patrol trajectory;

[0063] If the simulated feature is on the path corresponding to the patrol line trajectory, an alarm signal is output and the lawn mower is controlled to stop moving;

[0064] If the simulated feature is on the path corresponding to the line patrol trajectory, the lawn mower is controlled to move along the line patrol trajectory again.

[0065] By adopting the above technical solution, the lateral changes of the blocking object are determined to judge whether the object will move away from the path when the lawn mower moves to the position of the blocking object, so as to determine whether the lawn mower needs to continue moving forward, so that the movement of the lawn mower is more stable.

[0066] In a second aspect, the present application provides a lawn mower collision parameter adaptive adjustment system, which adopts the following technical solutions:

[0067] A lawn mower collision parameter adaptive adjustment system, comprising:

[0068] An acquisition module is used to obtain a start signal, a left absolute value, and a right absolute value;

[0069] A processing module, connected to the acquisition module and the judgment module, for storing and processing information;

[0070] The judgment module is connected with the acquisition module and the processing module and is used for judging the information;

[0071] The processing module controls the lawn mower to move along the preset patrol track according to the start signal, and causes the acquisition module to acquire left and right numerical information of the collision detectors preset on the left and right sides of the front end of the lawn mower within a preset detection time period;

[0072] After the detection time, the processing module performs calculations based on a preset filtering algorithm to determine the left collision relative information and the right collision relative information;

[0073] The judgment module judges whether the value corresponding to the left collision relative information is smaller than the left absolute value and whether the value corresponding to the right collision relative information is smaller than the right absolute value;

[0074] If the determination module determines that the value corresponding to the left collision relative information is smaller than the left absolute value and the value corresponding to the right collision relative information is smaller than the right absolute value, the processing module updates the value corresponding to the left collision relative information to a new left absolute value and updates the value corresponding to the right collision relative information to a new right absolute value;

[0075] If the determination module determines that the value corresponding to the left collision relative information is not less than the left absolute value or the value corresponding to the right collision relative information is not less than the right absolute value, the processing module maintains the original left absolute value and the original right absolute value.

[0076] By adopting the above technical solution, the acquisition module first obtains the left absolute value and the right absolute value stored in the lawn mower equipment, and then obtains the collision value collected during the movement of the lawn mower. When the judgment module determines that the mean value of the collected data has decreased, the processing module can update the stored left absolute value and right absolute value, so that the collision sensor can determine more appropriate collision parameters according to its own installation situation, and realize adaptive adjustment of the collision parameters, so that the collision detection effect of the lawn mower is better.

[0077] In a third aspect, the present application provides a smart terminal that adopts the following technical solution:

[0078] An intelligent terminal includes a memory and a processor. The memory stores a computer program that can be loaded by the processor and execute any one of the above-mentioned methods for adaptively adjusting collision parameters of a lawn mower.

[0079] By adopting the above technical solution and using an intelligent terminal, the left side absolute value and the right side absolute value stored in the lawn mower device are first obtained, and then the collision value collected during the movement of the lawn mower is obtained. When the mean value of the collected data decreases, the stored left side absolute value and the right side absolute value can be updated, so that the collision sensor can determine more appropriate collision parameters according to its own installation situation, and realize adaptive adjustment of the collision parameters, so that the collision detection effect of the lawn mower is better.

[0080] In a fourth aspect, the present application provides a computer storage medium capable of storing a corresponding program, which has the characteristics of achieving a better collision detection effect for a lawn mower, and adopts the following technical solutions:

[0081] A computer-readable storage medium stores a computer program capable of being loaded by a processor and executing any one of the above-mentioned methods for adaptively adjusting collision parameters of a lawn mower.

[0082] By adopting the above technical solution, a computer program for the adaptive adjustment method of the collision parameters of the lawn mower is stored in the storage medium. The computer program first obtains the left absolute value and the right absolute value stored in the lawn mower device, and then obtains the collision value collected during the movement of the lawn mower. When the mean value of the collected data decreases, the stored left absolute value and right absolute value can be updated, so that the collision sensor can determine more appropriate collision parameters according to its own installation situation, and realize adaptive adjustment of the collision parameters, so that the collision detection effect of the lawn mower is better.

[0083] In summary, this application includes at least one of the following beneficial technical effects:

[0084] 1. The collision parameters collected during the start-up detection period of the lawn mower can be processed so that the collision parameters of the lawn mower can be adaptively adjusted according to the detection results, thereby achieving better collision detection effect of the lawn mower;

[0085] 2. The collision parameters of the lawn mower can be tested when it is not the first time it is started, so as to reduce the situation where the collision parameters are changed by external influences during the storage of the lawn mower and then continue to use the same collision parameters;

[0086] 3. The collision situation of the lawn mower can be analyzed so that the lawn mower can move more effectively. BRIEF DESCRIPTION OF THE DRAWINGS

[0087] Figure 1 It is a flow chart of the method for adaptively adjusting collision parameters of a lawn mower.

[0088] Figure 2 It is a schematic diagram of the lawn mower moving operation.

[0089] Figure 3 It is a flow chart of a method for determining the impact of collision parameters.

[0090] Figure 4 is a flow chart of a method for determining a charging condition of a lawn mower.

[0091] Figure 5 It is a flow chart of the collision avoidance method for a lawn mower.

[0092] Figure 6 is a flowchart of the collision image processing method.

[0093] Figure 7 It is a flow chart of the obstacle distance determination method.

[0094] Figure 8 is a flow chart of a method for determining lateral distance.

[0095] Figure 9 It is a module flow chart of the adaptive adjustment method of collision parameters of a lawn mower. DETAILED DESCRIPTION

[0096] In order to make the purpose, technical solutions and advantages of this application more clear, the following Figure 1-9 It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application.

[0097] The embodiments of the present invention are described in further detail below with reference to the accompanying drawings.

[0098] An embodiment of the present application discloses a method for adaptively adjusting collision parameters of a lawn mower. When the lawn mower is started, collision data of the detection time during the movement of the lawn mower is obtained to determine collision parameters suitable for the lawn mower in the current environment, thereby realizing adaptive adjustment of the collision parameters of the lawn mower to reduce the occurrence of poor collision detection effect due to inaccurate set collision parameters.

[0099] Reference Figure 1 The method flow of the lawn mower collision parameter adaptive adjustment method includes the following steps:

[0100] Step S100: obtaining a start signal, a left side absolute value, and a right side absolute value.

[0101] The start signal is the signal output when the lawn mower is powered on. The absolute value on the left is the minimum value stored in the lawn mower when a collision occurs on the left side. The absolute value on the right is the minimum value stored in the lawn mower when a collision occurs on the right side. The absolute value on the left and the absolute value on the right can be set and determined by the staff.

[0102] Step S101: controlling the lawn mower to move along a preset line patrol track according to a start signal, and obtaining left and right numerical information of collision detectors preset on both sides of the end face of the lawn mower in the moving direction within a preset detection time.

[0103] Reference Figure 2 The patrol line trajectory is the route trajectory set by the staff for the lawn mower to start operation. The trajectory starts as a straight line at the start section. The detection time is the fixed time set by the staff for obtaining the collision data of the lawn mower. The collision detector is a collision sensor installed on the left and right sides of the end face of the lawn mower in the moving direction to determine the collision value. For example, collision detectors are installed on the front and rear faces of the lawn mower. When the lawn mower moves forward, the two collision detectors on the front face are enabled, and when the lawn mower moves backward, the two collision detectors on the rear face are enabled; the value corresponding to the left numerical information is the collision value collected by the collision detector on the left side of the front end of the lawn mower, and the value corresponding to the right numerical information is the collision value collected by the collision detector on the right side of the front end of the lawn mower.

[0104] Step S102 : After the detection time period, calculation is performed according to a preset filtering algorithm to determine left collision relative information and right collision relative information.

[0105] The filtering algorithm is a method set by the staff to calculate multiple sets of data to eliminate error data. One of the methods is to exclude the maximum and minimum values of the values obtained in the same collision detector, and then calculate the average value of the remaining values. The staff can also select other methods that meet the requirements, which will not be described here. The value corresponding to the left-side collision relative information is the average value of the left-side collision sensor obtained after calculation by the filtering algorithm, and the value corresponding to the right-side collision relative information is the average value of the right-side collision sensor obtained after calculation by the filtering algorithm.

[0106] Step S103 : determining whether the value corresponding to the left collision relative information is smaller than the left absolute value and whether the value corresponding to the right collision relative information is smaller than the right absolute value.

[0107] The purpose of the judgment is to know whether the collision parameters of the current lawn mower are further accurate, so as to judge whether the collision parameters need to be modified.

[0108] Step S1031: If the value corresponding to the left collision relative information is smaller than the left absolute value and the value corresponding to the right collision relative information is smaller than the right absolute value, then update the value corresponding to the left collision relative information to the new left absolute value and update the value corresponding to the right collision relative information to the new right absolute value.

[0109] When the value corresponding to the left-side collision relative information is smaller than the left-side absolute value and the value corresponding to the right-side collision relative information is smaller than the right-side absolute value, it indicates that the collision parameters of the lawn mower are further refined downward. At this time, the calculated average is used to update the left-side absolute value and the right-side absolute value, so that the lawn mower collision detection can further improve the accuracy.

[0110] Step S1032 : If the value corresponding to the left collision relative information is not less than the left absolute value or the value corresponding to the right collision relative information is not less than the right absolute value, then maintain the original left absolute value and the original right absolute value.

[0111] When the value corresponding to the left collision relative information is not less than the left absolute value or the value corresponding to the right collision relative information is not less than the right absolute value, it means that the collision parameters cannot be further refined. At this time, the original left absolute value and right absolute value can be maintained for subsequent lawn mower operations.

[0112] Reference Figure 3 After the start signal is obtained, the method for adaptively adjusting the collision parameters of the lawn mower further includes:

[0113] Step S200: Obtain startup count information.

[0114] The value corresponding to the number of starts is the number of times the lawn mower has been successfully started. The determined number of times will be stored in the lawn mower for next retrieval. The number of starts can be recorded by counting the number of times the lawn mower is powered on, or by counting the number of times the lawn mower is powered off. The specific method is determined by the staff according to the actual situation and will not be elaborated here.

[0115] Step S201: Determine whether the value corresponding to the startup times information is zero.

[0116] The purpose of the judgment is to know whether this is the first time to use the lawn mower.

[0117] Step S2011: If the value corresponding to the start-up number information is zero, the preset collision upper limit value is used as the left absolute value and the right absolute value to control the movement of the lawn mower.

[0118] When the value corresponding to the number of startup information is zero, it means that it is the first startup. At this time, the collision upper limit value is used as the absolute value of the left side and the absolute value of the right side to control the movement of the lawn mower, so that the lawn mower can obtain the absolute value of the left side and the absolute value of the right side after startup, so as to facilitate the subsequent adjustment of the collision parameters. The collision upper limit value is the value set by the staff to determine that the lawn mower will definitely collide.

[0119] Step S2012: If the value corresponding to the start-up number information is not zero, it is determined whether the absolute value of the left side and the absolute value of the right side of the lawn mower are both smaller than the collision upper limit value.

[0120] When the value corresponding to the number of starts is not zero, it means that the lawn mower is not started for the first time. At this time, the machine stores the left absolute value and the right absolute value obtained from the last start. The purpose of the judgment is to find out whether the lawn mower has been affected by external factors since the last operation ended and before the current start, causing the left absolute value and the right absolute value to change significantly.

[0121] Step S20121: If the absolute value of the left side and the absolute value of the right side of the lawn mower are both smaller than the collision upper limit, the lawn mower is controlled to move according to the obtained absolute value of the left side and the absolute value of the right side.

[0122] When the left absolute value and the right absolute value in the lawn mower are both less than the collision upper limit value, it means that the left absolute value and the right absolute value stored in the lawn mower meet the requirements of the lawn mower. At this time, the lawn mower can be obtained according to the left absolute value and the right absolute value to move.

[0123] Step S20122: If the left absolute value and the right absolute value in the lawn mower are not both less than the collision upper limit value, the collision upper limit value is updated to the left absolute value and the right absolute value to control the movement of the lawn mower.

[0124] When the absolute value of the left side and the absolute value of the right side in the lawn mower are not both less than the collision upper limit value, it means that the data in the lawn mower has changed significantly. At this time, the absolute value of the left side and the absolute value of the right side are updated again with the collision upper limit value, so that the lawn mower can move more effectively within the detection time, and at the same time, the subsequent absolute value of the left side and the absolute value of the right side can be determined more conveniently.

[0125] Reference Figure 4 , the method for determining the number of startup times includes:

[0126] Step S300: obtaining charging status information within the detection time of the lawn mower moving.

[0127] The state corresponding to the charging state information is the state of the charging power supply of the lawn mower during the detection time. The state includes powered and unpowered, and the state can be obtained through the current situation.

[0128] Step S301: Determine whether the state value corresponding to the charging state information is consistent with the preset power-on state.

[0129] The powered state is a state set by the staff to determine when the lawn mower is moved to the charging base for charging. The purpose of the judgment is to know whether the lawn mower is moved back to the charging base within the detection time after starting.

[0130] Step S3011: If the state value corresponding to the charging state information is inconsistent with the power-on state, the number corresponding to the original start-up number information is increased by one to update the start-up number information, and the absolute value on the left and the absolute value on the right are determined.

[0131] When the status value corresponding to the charging status information is inconsistent with the power-on status, it means that the vehicle has not returned to the charging base within the detection time. At this time, the lawn mower can obtain collision data that meets the requirements within the detection time, that is, the lawn mower is moving for effective operation. At this time, the number of starts stored in the lawn mower will be increased by one to achieve effective recording of the number of starts.

[0132] Step S3012: If the state value corresponding to the charging state information is consistent with the power-on state, the original startup count information is maintained, and the original left absolute value and right absolute value are maintained.

[0133] When the status value corresponding to the charging status information is consistent with the power-on status, it means that the lawn mower has returned to the charging base within the detection time. At this time, the lawn mower has not collected data that meets the quantity requirements, and the left absolute value and the right absolute value cannot be updated through the data that has been obtained. That is, this movement is an invalid movement, and its start-up number is not recorded. At the same time, the left absolute value and the right absolute value stored in the lawn mower last time are used to control the movement of the lawn mower.

[0134] Reference Figure 5 ,The method of moving the lawn mower along the patrol line trajectory includes:

[0135] Step S400: determining whether the value corresponding to the left numerical information is greater than the absolute value on the left or the value corresponding to the right numerical information is greater than the absolute value on the right.

[0136] The purpose of the judgment is to find out whether the lawn mower has a collision during the movement.

[0137] Step S4001: If the value corresponding to the left numerical information is not greater than the absolute value on the left or the value corresponding to the right numerical information is not greater than the absolute value on the right, the original moving state is maintained.

[0138] When the value corresponding to the left numerical information is not greater than the absolute value on the left or the value corresponding to the right numerical information is not greater than the absolute value on the right, it means that the lawn mower has not collided and the lawn mower can be controlled to move in the original state.

[0139] Step S4002: If the value corresponding to the left numerical information is greater than the absolute value on the left or the value corresponding to the right numerical information is greater than the absolute value on the right, a collision signal is output and collision position information is obtained.

[0140] When the value corresponding to the numerical information on the left is greater than the absolute value on the left, or the value corresponding to the numerical information on the right is greater than the absolute value on the right, it indicates that the lawn mower has collided. Generally, the patrol track that the lawn mower needs to move will be cleared before the lawn mower is started to remove obstacles. The obstacles at this time may be moving objects, such as small animals, rolling footballs, etc. At this time, a collision signal is output for identification to inform external staff of the situation, and at the same time, the position sensing device is triggered to obtain the position of the lawn mower when the collision occurred, and the information of the position, namely the collision position information, is recorded.

[0141] Step S401: Control the lawn mower to move in the opposite direction along the patrol track at the position corresponding to the collision position information and start timing. After the lawn mower moves a preset fixed distance, control the lawn mower to move along the patrol track again. When the lawn mower moves to the position corresponding to the collision position information again, determine the obstruction duration information.

[0142] The opposite direction of the patrol line track is the opposite direction of the forward movement of the lawn mower, that is, the backward direction. The lawn mower is controlled to move in the opposite direction of the patrol line track and the retreat time is determined in time. The fixed distance is the distance set by the staff for the lawn mower to avoid and retreat when a collision occurs. The specific value is set by the staff according to the actual situation. At the same time, after moving the fixed distance, the lawn mower moves along the patrol line track again. At this time, the obstacle may have been removed and the lawn mower may be able to continue moving along the patrol line track. The duration corresponding to the obstruction duration information is the time from the collision of the lawn mower to the time the lawn mower moves to the collision position again.

[0143] Step S402: canceling the left-side numerical information and the right-side numerical information obtained within the duration corresponding to the obstruction duration information, and updating the detection duration according to the obstruction duration information and the detection duration.

[0144] The left-side numerical information and the right-side numerical information obtained within a period of time after the lawn mower collides are canceled to reduce the occurrence of inaccurate or repeated collected data. At the same time, the original detection duration is added to the duration corresponding to the obstruction duration information to update the detection duration, so that the lawn mower can subsequently collect enough data for subsequent adjustment of the left-side absolute value and the right-side absolute value.

[0145] Reference Figure 6 After the collision signal is output, the method for the lawn mower to move along the patrol line trajectory also includes:

[0146] Step S500: controlling a camera component preset at the rear end of the lawn mower and arranged facing forward to start up to obtain collision image information.

[0147] The shooting component is a device installed on the rear end of the lawn mower with the function of shooting images. The device is higher than the upper surface of the body and the shooting probe is set directly in front of the lawn mower. The image corresponding to the collision image information is the image directly in front of the lawn mower's moving direction obtained by the shooting component after the lawn mower collides.

[0148] Step S501 : performing feature recognition in an image corresponding to the collision image information to obtain collision feature information.

[0149] The feature corresponding to the collision feature information is the feature of the object that hinders the lawn mower and causes the lawn mower to collide. The method of identifying this feature can be carried out by identifying the objects in the original patrol line trajectory, and then excluding the identified objects to determine the features of the object that hinders movement. The method of identifying objects that have been set on the patrol line is a conventional technical means for those skilled in the art and will not be elaborated on.

[0150] Step S502: Acquire fallback image information after the lawn mower moves a fixed distance in the opposite direction along the patrol line trajectory.

[0151] The image corresponding to the fallback image information is an image captured by the shooting component after the lawn mower moves a fixed distance in the opposite direction along the patrol line track.

[0152] Step S503: Determine whether the image corresponding to the rolled-back image information contains a feature corresponding to the collision feature information.

[0153] The purpose of the judgment is to know whether the object that obstructs the lawn mower during the retraction process has been removed.

[0154] Step S5031: If the feature corresponding to the collision feature information does not exist in the image corresponding to the rolled-back image information, the lawn mower is controlled to move along the patrol line track again.

[0155] When the feature corresponding to the collision feature information does not exist in the image corresponding to the rolled-back image information, it means that the object has been moved away, and the lawn mower can be controlled to move normally.

[0156] Step S5032: If the feature corresponding to the collision feature information exists in the image corresponding to the rolled-back image information, it is determined whether the feature corresponding to the collision feature information is on the path corresponding to the line patrol trajectory.

[0157] When the feature corresponding to the collision feature information exists in the image corresponding to the rolled-back image information, it means that the object is still within the shooting field of view of the shooting component. The purpose of this judgment is to know whether the object is still on the path of the patrol track, so as to know whether a collision will occur again when the lawn mower continues to move along the patrol track.

[0158] Step S50321: If the feature corresponding to the collision feature information is not on the path corresponding to the line patrol trajectory, the lawn mower is controlled to move along the line patrol trajectory again.

[0159] When the feature corresponding to the collision feature information is not on the path corresponding to the patrol track, it means that although the object is in the shooting field of view of the shooting component, it has moved away from the corresponding path and will not affect the subsequent movement of the lawn mower. At this time, you can continue to control the movement of the lawn mower.

[0160] Step S50322: If the feature corresponding to the collision feature information is on the path corresponding to the line patrol trajectory, a continuous obstruction signal is output and the lawn mower is controlled to stop moving.

[0161] When the feature corresponding to the collision feature information is on the path corresponding to the patrol trajectory, it means that the object is still on the moving path of the lawn mower. At this time, a continuous obstruction signal is output to mark the situation so that the staff can be informed of the situation. At the same time, the lawn mower is controlled to stop moving to reduce the occurrence of the lawn mower colliding again; and after the lawn mower stops moving, the lawn mower's own obstacle avoidance program will be activated. This is the general setting of the lawn mower and will not be elaborated here.

[0162] Reference Figure 7 After the continuous obstruction signal is output, the lawn mower collision parameter adaptive adjustment method further includes:

[0163] Step S600: Obtaining the distance traveled.

[0164] The distance value corresponding to the moved distance information is the distance value moved along the patrol line after the lawn mower starts the operation, which can be determined by locating the position of the lawn mower.

[0165] Step S601: obtaining first characteristic pixel information from the collision image information, and obtaining second characteristic pixel information from the image corresponding to the fallback image information.

[0166] The value corresponding to the first feature pixel information is the pixel size value occupied by the feature in the image corresponding to the collision image information. The two corresponding points can be determined in the feature to perform pixel distance calculation to determine it. The two points can be the points on the object contour line that intersect with the trajectory center line. The specific setting is made by the staff according to actual conditions. The value corresponding to the second feature pixel information is the pixel size value occupied by the feature in the image corresponding to the fallback image information. The two points of this size value are consistent with the two points when the value corresponding to the first feature pixel information is determined.

[0167] Step S602: Determine scaling information according to the first characteristic pixel information and the second characteristic pixel information.

[0168] The scaling value corresponding to the scaling ratio information is the scaling value of the feature in the image after the lawn mower retreats a fixed distance, and is determined by dividing the value corresponding to the first feature pixel information by the value corresponding to the second feature pixel information.

[0169] Step S603: performing a matching analysis based on the zoom ratio information, the fixed distance, and the shooting distance information stored in the preset zoom database to determine the shooting distance information corresponding to the zoom ratio information at the fixed distance.

[0170] The distance value corresponding to the shooting distance information is the distance value between the current position of the lawn mower and the object feature on the patrol line trajectory, which is determined by the change of the fixed distance and the scaling ratio information. The correspondence between the three is obtained by the staff through multiple experiments based on the shooting conditions of the shooting component, and a scaling database is established based on the correspondence between the three. The method of establishing the database is a conventional technical means for those skilled in the art and will not be elaborated on.

[0171] Step S604: performing a sum calculation based on the shooting distance information and the moved distance information to determine total distance information.

[0172] The distance value corresponding to the total distance information is the distance the lawn mower needs to travel from the time it is started to the time it collides with the object again, and is determined by adding the distance value corresponding to the shooting distance information to the distance value corresponding to the moved distance information.

[0173] Step S605: Determine whether the distance value corresponding to the total distance information is greater than a preset required distance value.

[0174] The required distance value is the distance that the lawn mower can move within the detection time set by the staff. The purpose of the judgment is to know whether it will hit the obstacle again in the process of adjusting the collision parameters to obtain data.

[0175] Step S6051: If the distance value corresponding to the total distance information is greater than the required distance value, the lawn mower is controlled to move along the patrol line track again.

[0176] When the distance value corresponding to the total distance information is greater than the required distance value, it means that the obstacle on the patrol track does not affect the acquisition of collision data within the detection time. At this time, the lawn mower can be controlled to move normally.

[0177] Step S6052: If the distance value corresponding to the total distance information is not greater than the required distance value, the lawn mower is controlled to stop moving.

[0178] When the distance value corresponding to the total distance information is not greater than the required distance value, it means that the obstacle on the patrol track still affects the data acquisition of the lawn mower, and the lawn mower is controlled to stop moving.

[0179] Reference Figure 8 When the distance value corresponding to the total distance information is not greater than the required distance value, the lawn mower moving method includes:

[0180] Step S700 : Acquire feature position information in the image corresponding to the collision image information, and acquire change position information in the image corresponding to the rollback image information.

[0181] The position corresponding to the feature position information is the position of the feature in the image corresponding to the collision image information. It can be determined for a certain point of the feature, and can be used to determine the contour boundary point of the first feature pixel information. The position corresponding to the change position information is the position of the corresponding point of the feature in the image corresponding to the fallback image information.

[0182] Step S701: determining lateral change angle information according to characteristic position information and change position information.

[0183] The angle corresponding to the lateral change angle information is the angle between the obstacle and the lawn mower in the lateral direction. Figure 2 .

[0184] Step S702: determining lateral distance information according to the lateral change angle information and the shooting distance information.

[0185] The distance value corresponding to the lateral distance information is the lateral movement distance of the obstacle object, which is determined by the lateral change angle information and the shooting distance information according to trigonometric calculation.

[0186] Step S703: performing calculation according to the shooting distance information, the fixed distance and the horizontal distance information to determine the virtual distance information.

[0187] The distance value corresponding to the virtual distance information is the distance that the obstacle may move after the lawn mower moves the distance corresponding to the shooting distance information. The corresponding ratio is determined by dividing the distance corresponding to the shooting distance information by the fixed distance, and then the distance value corresponding to the lateral distance information is multiplied by the calculated ratio to determine the distance value.

[0188] Step S704: Virtually establishing simulation features based on the virtual distance information and features in the fallback image information.

[0189] The simulated feature is an obstacle feature formed when the obstacle object simulates moving the distance corresponding to the virtual distance information in the image corresponding to the back-pushing information. The feature is an object in the processor, not a physical entity.

[0190] Step S705: Determine whether the simulation feature is on the path corresponding to the line patrol trajectory.

[0191] The purpose of the judgment is to know whether the lawn mower will continue to collide with obstacles if it moves along the patrol line trajectory.

[0192] Step S7051: If the simulation feature is on the path corresponding to the line patrol trajectory, an alarm signal is output and the lawn mower is controlled to stop moving.

[0193] When the simulation feature is on the path corresponding to the line patrol trajectory, it means that continuing to move along the line patrol trajectory will collide with an obstacle. At this time, an alarm signal is output to inform external staff of the situation so that the staff can intervene in time.

[0194] Step S7052: If the simulation feature is on the path corresponding to the line patrol trajectory, the lawn mower is controlled to move along the line patrol trajectory again.

[0195] When the simulation feature is on the path corresponding to the line patrol track, it means that it will not collide with obstacles if it continues to move along the line patrol track. At this time, the lawn mower can be controlled to move normally.

[0196] Reference Figure 9 Based on the same inventive concept, an embodiment of the present invention provides a lawn mower collision parameter adaptive adjustment system, comprising:

[0197] An acquisition module is used to obtain a start signal, a left absolute value, and a right absolute value;

[0198] A processing module, connected to the acquisition module and the judgment module, for storing and processing information;

[0199] The judgment module is connected with the acquisition module and the processing module and is used for judging the information;

[0200] The processing module controls the lawn mower to move along the preset patrol track according to the start signal, and causes the acquisition module to acquire left and right numerical information of the collision detectors preset on the left and right sides of the front end of the lawn mower within a preset detection time period;

[0201] After the detection time, the processing module performs calculations based on a preset filtering algorithm to determine the left collision relative information and the right collision relative information;

[0202] The judgment module judges whether the value corresponding to the left collision relative information is smaller than the left absolute value and whether the value corresponding to the right collision relative information is smaller than the right absolute value;

[0203] If the judgment module determines that the value corresponding to the left collision relative information is less than the left absolute value and the value corresponding to the right collision relative information is less than the right absolute value, the processing module updates the value corresponding to the left collision relative information to a new left absolute value and updates the value corresponding to the right collision relative information to a new right absolute value;

[0204] If the determination module determines that the value corresponding to the left collision relative information is not less than the left absolute value or the value corresponding to the right collision relative information is not less than the right absolute value, the processing module maintains the original left absolute value and the original right absolute value;

[0205] a parameter impact determination module, configured to determine whether an external factor causes a change in the left side absolute value and the right side absolute value stored in the lawn mower;

[0206] A startup number determination module is used to determine the startup number information;

[0207] The collision avoidance control module enables the mower to reverse and then move to avoid the obstructing object when a collision occurs;

[0208] An image condition determination module is used to determine the condition of the blocking object to judge whether the object blocking the lawn mower has been removed after the lawn mower moves backward;

[0209] The distance determination module is used to determine whether an object on the patrol trajectory is within the distance that the lawn mower needs to move within the detection time, so as to facilitate the subsequent control of the lawn mower's movement;

[0210] The lateral distance determination module is used to determine the lateral movement of the blocking object to determine whether the blocking object is likely to move away when the lawn mower moves along the patrol line again.

[0211] Those skilled in the art will clearly understand that for the sake of convenience and brevity, the division of the above-mentioned functional modules is only used as an example for illustration. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working processes of the above-mentioned systems, devices, and units can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0212] An embodiment of the present invention provides a computer-readable storage medium storing a computer program capable of being loaded by a processor and executed by a method for adaptively adjusting collision parameters of a lawn mower.

[0213] Computer storage media include, for example, various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical disks.

[0214] Based on the same inventive concept, an embodiment of the present invention provides an intelligent terminal including a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and execute a method for adaptively adjusting collision parameters of a lawn mower.

[0215] Those skilled in the art will clearly understand that for the sake of convenience and brevity, the division of the above-mentioned functional modules is only used as an example for illustration. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working processes of the above-mentioned systems, devices, and units can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0216] The above are all preferred embodiments of the present application and are not intended to limit the scope of protection of this application. Unless otherwise specified, any feature disclosed in this specification (including the abstract and drawings) may be replaced by other equivalent or similar features. In other words, unless otherwise specified, each feature is merely an example of a series of equivalent or similar features.

Claims

1. A method for adaptively adjusting collision parameters of a lawn mower, characterized in that: include: Get the start signal, the absolute value on the left, and the absolute value on the right; The lawn mower is controlled to move along a preset patrol track according to the start signal, and the left and right numerical information of the collision detectors preset on the left and right sides of the end face of the lawn mower in the moving direction are obtained within a preset detection time; After the detection time, calculation is performed according to a preset filtering algorithm to determine the left collision relative information and the right collision relative information; Determine whether the value corresponding to the left collision relative information is smaller than the left absolute value and whether the value corresponding to the right collision relative information is smaller than the right absolute value; If the value corresponding to the left collision relative information is smaller than the left absolute value and the value corresponding to the right collision relative information is smaller than the right absolute value, then the value corresponding to the left collision relative information is updated to the new left absolute value and the value corresponding to the right collision relative information is updated to the new right absolute value; If the value corresponding to the left collision relative information is not less than the left absolute value or the value corresponding to the right collision relative information is not less than the right absolute value, the original left absolute value and the original right absolute value are maintained; Among them, after the start signal is obtained, the adaptive adjustment method of the collision parameters of the lawn mower also includes: obtaining the start number information; judging whether the value corresponding to the start number information is zero; if the value corresponding to the start number information is zero, using the preset collision upper limit value as the left absolute value and the right absolute value to control the movement of the lawn mower; if the value corresponding to the start number information is not zero, judging whether the left absolute value and the right absolute value in the lawn mower are both less than the collision upper limit value; if the left absolute value and the right absolute value in the lawn mower are both less than the collision upper limit value, controlling the movement of the lawn mower according to the obtained left absolute value and right absolute value; if the left absolute value and the right absolute value in the lawn mower are not both less than the collision upper limit value, updating the collision upper limit value to the left absolute value and the right absolute value to control the movement of the lawn mower.

2. The method for adaptively adjusting collision parameters of a lawn mower according to claim 1, characterized in that: Methods for determining the number of startup times include: Obtain charging status information during the detection period of the lawn mower moving; Determine whether the state value corresponding to the charging state information is consistent with the preset power state; If the state value corresponding to the charging state information is inconsistent with the power-on state, the number of times corresponding to the original start-up number information is increased by one to update the start-up number information, and the absolute value on the left and the absolute value on the right are determined; If the state value corresponding to the charging state information is consistent with the power-on state, the original startup number information is maintained, and the original left absolute value and right absolute value are maintained.

3. The method for adaptively adjusting collision parameters of a lawn mower according to claim 1, characterized in that: Methods for moving the mower along the line trajectory include: Determine whether the value corresponding to the left numerical information is greater than the absolute value on the left or the value corresponding to the right numerical information is greater than the absolute value on the right; If the value corresponding to the numerical information on the left is not greater than the absolute value on the left, or the value corresponding to the numerical information on the right is not greater than the absolute value on the right, the original moving state is maintained; If the value corresponding to the left numerical information is greater than the absolute value on the left or the value corresponding to the right numerical information is greater than the absolute value on the right, a collision signal is output and collision position information is obtained; Controlling the lawn mower to move in the opposite direction of the patrol track at the location corresponding to the collision position information and starting a timer. After the lawn mower moves a preset fixed distance, controlling the lawn mower to move again along the patrol track. When the lawn mower again moves to the location corresponding to the collision position information, determining the obstruction duration information; The left-side numerical information and the right-side numerical information obtained within the duration corresponding to the obstruction duration information are cancelled, and the detection duration is updated according to the obstruction duration information and the detection duration.

4. The method for adaptively adjusting collision parameters of a lawn mower according to claim 3, characterized in that: After the collision signal is output, the method for the lawn mower to move along the patrol line trajectory further includes: Controlling a camera component preset at the rear end of the lawn mower and arranged forward to start to obtain collision image information; Performing feature recognition in an image corresponding to the collision image information to obtain collision feature information; After the lawn mower moves a fixed distance in the opposite direction of the patrol line, the fallback image information is obtained; Determine whether the image corresponding to the fallback image information contains a feature corresponding to the collision feature information; If the feature corresponding to the collision feature information does not exist in the image corresponding to the fallback image information, the lawn mower is controlled to move along the patrol line track again; If the feature corresponding to the collision feature information exists in the image corresponding to the fallback image information, it is determined whether the feature corresponding to the collision feature information is on the path corresponding to the line patrol trajectory; If the feature corresponding to the collision feature information is not on the path corresponding to the patrol track, the lawn mower is controlled to move along the patrol track again; If the feature corresponding to the collision feature information is on the path corresponding to the line patrol trajectory, a continuous obstruction signal is output and the lawn mower is controlled to stop moving.

5. The method for adaptively adjusting collision parameters of a lawn mower according to claim 4, characterized in that: After the continuous obstruction signal output, the lawn mower collision parameter adaptive adjustment method further includes: Get the distance moved information; Acquire first characteristic pixel information from the collision image information, and acquire second characteristic pixel information from an image corresponding to the fallback image information; determining scaling information according to the first characteristic pixel information and the second characteristic pixel information; Performing a matching analysis based on the zoom ratio information, the fixed distance, and the shooting distance information stored in the preset zoom database to determine the shooting distance information corresponding to the zoom ratio information at the fixed distance; Performing a sum calculation based on the shooting distance information and the moved distance information to determine the total distance information; Determine whether the distance value corresponding to the total distance information is greater than the preset required distance value; If the distance value corresponding to the total distance information is greater than the required distance value, the lawn mower is controlled to move along the patrol line again; If the distance value corresponding to the total distance information is not greater than the required distance value, the lawn mower is controlled to stop moving.

6. The method for adaptively adjusting collision parameters of a lawn mower according to claim 5, characterized in that: When the distance value corresponding to the total distance information is not greater than the required distance value, the lawn mower moving method includes: Acquiring feature position information in an image corresponding to the collision image information, and acquiring change position information in an image corresponding to the rollback image information; Determine lateral change angle information based on feature position information and change position information; Determine lateral distance information according to lateral change angle information and shooting distance information; Calculating based on the shooting distance information, the fixed distance, and the horizontal distance information to determine the virtual distance information; Virtually establishing simulation features based on virtual distance information and features in fallback image information; Determine whether the simulated feature is on the path corresponding to the line patrol trajectory; If the simulated feature is on the path corresponding to the patrol line trajectory, an alarm signal is output and the lawn mower is controlled to stop moving; If the simulated feature is on the path corresponding to the line patrol trajectory, the lawn mower is controlled to move along the line patrol trajectory again.

7. A lawn mower collision parameter adaptive adjustment system, characterized in that: include: An acquisition module is used to obtain a start signal, a left absolute value, and a right absolute value; A processing module, connected to the acquisition module and the judgment module, for storing and processing information; The judgment module is connected with the acquisition module and the processing module and is used for judging the information; The processing module controls the lawn mower to move along the preset patrol track according to the start signal, and causes the acquisition module to acquire left and right numerical information of the collision detectors preset on the left and right sides of the front end of the lawn mower within a preset detection time period; After the detection time, the processing module performs calculations based on a preset filtering algorithm to determine the left collision relative information and the right collision relative information; The judgment module judges whether the value corresponding to the left collision relative information is smaller than the left absolute value and whether the value corresponding to the right collision relative information is smaller than the right absolute value; If the determination module determines that the value corresponding to the left collision relative information is smaller than the left absolute value and the value corresponding to the right collision relative information is smaller than the right absolute value, the processing module updates the value corresponding to the left collision relative information to a new left absolute value and updates the value corresponding to the right collision relative information to a new right absolute value; If the determination module determines that the value corresponding to the left collision relative information is not less than the left absolute value or the value corresponding to the right collision relative information is not less than the right absolute value, the processing module maintains the original left absolute value and the original right absolute value; Among them, the lawn mower collision parameter adaptive adjustment system is also used to determine whether the value corresponding to the start-up number information is zero; if the value corresponding to the start-up number information is zero, the preset collision upper limit value is used as the left absolute value and the right absolute value to control the movement of the lawn mower; if the value corresponding to the start-up number information is not zero, it is determined whether the left absolute value and the right absolute value in the lawn mower are both less than the collision upper limit value; if the left absolute value and the right absolute value in the lawn mower are both less than the collision upper limit value, the lawn mower movement is controlled according to the obtained left absolute value and right absolute value; if the left absolute value and the right absolute value in the lawn mower are not both less than the collision upper limit value, the collision upper limit value is updated to the left absolute value and the right absolute value to control the movement of the lawn mower.

8. An intelligent terminal, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executes the method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that A computer program is stored which can be loaded by a processor and execute the method according to any one of claims 1 to 6.

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