Intelligent mower outbound control method and device, electronic equipment, medium and product

Abstract

The invention provides an intelligent mower departure control method and device, electronic equipment, a medium and a product, and relates to the field of intelligent robotics.The intelligent mower departure control method comprises the steps that before an intelligent mower drives into a target working area from a base station to execute a mowing task, a first point location and a second point location are determined; the first point location is any point location on the central axis of the base station, the distance between the first point location and the base station is within a first distance range and is located on the boundary of the preset area, and the second point location is any point location in the preset area; generating a target path based on the first point location and the second point location; the intelligent mower advances to the first point position from the base station, after the intelligent mower reaches the first point position, the intelligent mower advances to the second point position from the first point position based on the target path so as to drive into the target working area from the second point position to execute a mowing task, and due to the fact that the random path combination types driving into the target working area from the base station are various, the path selection randomness is enhanced, and the mowing efficiency is improved. The departure track randomization of the intelligent mower is realized, so that ruts are prevented from being generated to influence the growth of the lawn.

Description

Technical Field

[0001] The present application relates to the field of intelligent robots, and in particular to an exit control method, device, electronic equipment, medium and product for an intelligent lawn mower. Background Art

[0002] After charging, the smart lawn mower usually starts from the base station along a preset fixed track and returns to the work area to mow the lawn. The repeated use of the fixed track will cause the smart lawn mower to frequently travel on the same path. Over time, obvious ruts may form on these paths, which will not only affect the beauty of the lawn, but may also affect the health and normal growth of the lawn.

[0003] In the related technology, after the smart lawn mower completes charging, it can first retreat in a straight line from the base station along the central axis of the base station until it reaches a preset position, and then rotate in place at the preset position to face the working area. After the smart lawn mower completes the direction adjustment, the smart lawn mower will move along the planned fixed path to the working area to perform the mowing task.

[0004] However, on the one hand, this straight-line backward movement and navigation from the preset position to the working area will form a fixed rut on the lawn, and the continuous pressure on the fixed path may cause soil compaction, thereby affecting the water penetration and root development of the lawn, and further damaging the long-term health of the lawn; on the other hand, the action of the smart lawn mower rotating in situ at the preset position of the lawn to adjust its direction causes the wheels to leave rotation marks on the lawn, resulting in local excessive wear, damage to the lawn and even bald spots, affecting the overall appearance and health of the lawn, and causing irreparable damage to the lawn. Summary of the invention

[0005] The present application provides a method, device, electronic device, medium and product for controlling the exit of an intelligent lawn mower. A random path for executing a mowing task from a base station to a target working area is generated based on two random first and second points. Since there are many types of random path combinations from the base station to the target working area, the randomness of the path selection is enhanced, thereby reducing repeated grass grinding on the path each time the intelligent lawn mower exits the station, thereby protecting the health of the lawn.

[0006] In a first aspect, the present application provides a method for controlling an exit of an intelligent lawn mower, the method comprising:

[0007] Before the intelligent lawn mower drives from the base station into the target working area to perform the mowing task, a first point position and a second point position are determined;

[0008] The first point is any point on the central axis of the base station within a first distance range from the base station, the second point is any point in the preset area, and the first point is located on the boundary of the preset area;

[0009] Generate a target path based on the first point and the second point;

[0010] The intelligent lawn mower travels from the base station to a first point, and after reaching the first point, travels from the first point to a second point based on a target path, so as to enter a target working area from the second point to perform a mowing task.

[0011] In the present application, a random path is generated from the base station to the target working area to perform the mowing task based on two random first points and second points. Since the first point is determined randomly, the second point is also determined randomly, and the path determined based on these two points is also random. In this way, each time the smart lawn mower enters the target working area from the base station, there are many types of random path combinations, which enhances the randomness of path selection, avoids repeated grass grinding on the path and affects the normal growth of the lawn, and protects the health of the lawn.

[0012] It should be noted that when using the method of the present application to control the outbound movement of the smart lawn mower, there is no need to limit the specific direction and position of the base station, and when the position of the base station changes, there is no need to re-build the map to perform mowing operations, thereby improving the flexibility of the application.

[0013] Optionally, the first distance range is a range of 0.7-1.3 m from the base station.

[0014] In this way, when the smart lawn mower completely exits the base station, the minimum endpoint value of the first distance range is set to 0.7m, which can ensure that the wheels and the base station will not interfere with each other when the smart lawn mower completely exits the base station, and the maximum endpoint value of the first distance range is set to 1.3m, which can ensure that the marker is covered by at least 2 laser radar scanning lines, and then the distance between the smart lawn mower and the base station can be determined based on the position of the identified marker, so that the exit route of the smart lawn mower can be adjusted based on the distance to the base station.

[0015] Therefore, the distance range of 0.7-1.3m can provide the smart lawn mower with enough space to adjust the direction and speed, thereby ensuring that the smart lawn mower can smoothly start from the base station, and the distance range of 0.7-1.3 meters allows the smart lawn mower to operate flexibly under different environmental conditions, whether it is a small courtyard or a relatively open area, this distance can provide enough flexibility to adapt to different terrains and obstacle distributions, to provide a safety buffer for the smart lawn mower, and ensure that there is enough time and space to detect and avoid potential obstacles during startup and initial travel.

[0016] In addition, by setting the first distance range between 0.7-1.3m, the smart lawn mower can achieve higher flexibility and safety during startup and initial travel, thereby improving overall operating efficiency and lawn protection. By starting within 0.7-1.3m, the smart lawn mower can avoid repeatedly crushing the lawn in the same position, thereby reducing lawn wear and damage.

[0017] Optionally, the preset area is symmetrically arranged along the central axis and is a rectangular area with the second distance as the side length, and the first point is the midpoint of the side length of the rectangular area close to the base station.

[0018] In the present application, the symmetrical setting ensures that the smart lawn mower has a balanced path selection when starting from the base station, reducing the deviation or instability caused by the asymmetric path. The square area design can make full use of the space around the base station to ensure that the smart lawn mower has enough space to start and adjust.

[0019] It should be noted that setting the first point at the midpoint of the side length of the square area provides a clear starting direction, so that the smart lawn mower can move along the predetermined central axis direction, reducing the deviation of the initial path.

[0020] Therefore, by setting the first point at the midpoint of the side length, the smart lawn mower can avoid path conflicts with other equipment or obstacles, improve operational safety, and in a symmetrical square area, the smart lawn mower can more easily identify and avoid obstacles to optimize the driving path.

[0021] Optionally, the second distance is 2m.

[0022] In this way, setting the second distance b to 2m, that is, within the preset area of ​​2m*2m, the smart lawn mower can be allowed to turn without damaging the grass, and then perform flexible path planning to avoid repeatedly crushing the lawn at the same location, thereby reducing damage to the lawn.

[0023] Optionally, generating a target path based on the first point and the second point includes:

[0024] Based on the position coordinates of the first point and the posture coordinates of the second point, the target path is generated using the Reeds-Shepp curve algorithm.

[0025] Therefore, based on the position coordinates of the first point and the posture coordinates of the second point, the Reeds-Shepp curve algorithm is used to generate the target path, so that the smart lawn mower can move from the first point to the second point more accurately, reduce path deviations and errors, and improve navigation accuracy. In addition, the Reeds-Shepp curve algorithm can adapt to different environmental conditions and provide a flexible path planning solution that is suitable for a variety of terrains and obstacle distributions.

[0026] Optionally, the posture coordinates include position coordinates and a posture angle, and the posture angle is an entry angle into the target working area.

[0027] Therefore, by considering both position and attitude angle, the smart mower can follow the intended path more accurately, reduce the possibility of deviation from the path, improve navigation accuracy, and in complex or narrow terrain, the precise attitude angle helps the smart mower enter the working area with the best path and avoid unnecessary path detours.

[0028] Optionally, the second point position is determined by an attitude angle, and the attitude angle is determined by starting point information of the target working area.

[0029] Therefore, since the attitude angle is determined by the starting point information of the target working area, the smart lawn mower can smoothly connect to the mowing path of the working area, reducing the path adjustment after entering the working area, improving the driving efficiency, and through precise attitude angle setting, the smart lawn mower can enter the target working area from the second point more accurately.

[0030] Optionally, the attitude angle is determined by a mowing path corresponding to the target working area and a point at which the intelligent lawn mower enters the mowing path, and the intelligent lawn mower performs a mowing task in the target working area based on the mowing path.

[0031] Therefore, the attitude angle can be accurately determined through the mowing path and entry point. The accurate attitude angle improves the navigation accuracy of the smart lawn mower, ensuring that it can move along the planned path and reduce deviations. Due to the attitude angle and path planning, the smart lawn mower can quickly enter the working state, reduce the adjustment time in the working area, and improve mowing efficiency.

[0032] Optionally, after the smart lawn mower reaches the second point, the method further includes:

[0033] Determine the starting point information for entering the target work area;

[0034] Determine the attitude angle based on the starting point information and the position coordinates of the second point;

[0035] Based on the attitude angle, the starting point information and the position coordinates of the second point, a driving path from the second point to the target working area is generated.

[0036] Therefore, by accurately calculating the attitude angle and driving path, the smart lawn mower can quickly and smoothly enter the target working area, reduce the path adjustment time, and improve the overall efficiency. In addition, the present application can use automated path and attitude angle calculation to enable the smart lawn mower to autonomously adapt to different environmental conditions and improve the level of intelligence.

[0037] Optionally, based on the position coordinates of the first point and the posture coordinates of the second point, a target path is generated using a Reeds-Shepp curve algorithm, including:

[0038] Based on the position coordinates of the first point and the posture coordinates of the second point, an initial path is generated using a Reeds-Shepp curve algorithm;

[0039] When there is a first obstacle on the initial path, obtaining the position coordinates of the first obstacle;

[0040] A target path is generated by using a Reeds-Shepp curve algorithm based on the position coordinates of the first point, the posture coordinates of the second point, and the position coordinates of the first obstacle.

[0041] Therefore, in the present application, by detecting and avoiding obstacles, the risk of collision between the smart lawn mower and obstacles is reduced, and operational safety is improved. In particular, the Reeds-Shepp curve algorithm can generate an optimized path, which can adapt to environmental changes and is suitable for a variety of terrains and obstacle distributions, thereby improving the adaptability of the smart lawn mower.

[0042] Optionally, in the process of traveling from the first point to the second point based on the target path, so as to enter the target working area from the second point to perform the mowing task, the method further includes:

[0043] When there is a second obstacle in the target path, the position of the second obstacle can be identified by the smart lawn mower and is counted as a third point, and the third point is a first preset distance from the second obstacle on the target path;

[0044] Based on the third point, a first path is generated.

[0045] Therefore, the present application can identify and process obstacles in real time while the smart lawn mower is moving from a first point to a second point, dynamically adjust the path to adapt to real-time environmental changes, thereby improving the adaptability of the smart lawn mower in complex environments. In addition, since the driving path is dynamically adjusted based on the location of the obstacle, the risk of collision between the smart lawn mower and the obstacle is reduced, thereby ensuring the safety of operation.

[0046] Optionally, generating a first path based on the third point includes:

[0047] Based on the position coordinates of the third point, a first path from the third point to the target working area is generated, and the third point is regarded as the end point of the target path.

[0048] Therefore, after an obstacle is identified during the movement, a first path is generated through timely adjustments, which reduces the risk of the smart lawn mower colliding with obstacles, as well as unnecessary driving and waiting time, reduces energy consumption, and improves overall efficiency.

[0049] Optionally, generating a first path based on the third point includes:

[0050] Determine a fourth point, where the fourth point is any point within the preset area;

[0051] Based on the posture coordinates of the third point and the fourth point, a second path is generated by using a Reeds-Shepp curve algorithm;

[0052] Travel from the third point to the fourth point based on the second path, wherein, in the process of determining to travel from the third point to the fourth point, while avoiding the second obstacle, a first path from the fourth point to the target working area is generated based on the fourth point.

[0053] Therefore, by introducing the fourth point and then replanning the path to ensure that the smart lawn mower can safely avoid obstacles and reduce the risk of collision, and using the Reeds-Shepp curve algorithm to generate the second path, the feasibility of the second path is ensured. Then, while avoiding the second obstacle, based on the fourth point, a first path from the fourth point to the target working area is generated, thereby improving the adaptability of the smart lawn mower in complex environments.

[0054] Optionally, generating a first path based on the third point includes:

[0055] In the process of traveling from the third point to the fourth point based on the second path, if the second obstacle is recognized again, a fifth point and a sixth point are determined, the fifth point is a position where the second obstacle can be recognized on the second path, and the fifth point is a second preset distance from the second obstacle, and the sixth point is any point position within the preset area;

[0056] Based on the posture coordinates of the fifth point and the sixth point, a third path is generated by using a Reeds-Shepp curve algorithm;

[0057] Traveling from the fifth point to the sixth point based on the third path;

[0058] Among them, when it is determined that the second obstacle cannot be avoided in the process of traveling from the fifth point to the sixth point, a path is generated again based on any point position in the preset area and the point where the second obstacle is identified on the third path. When it is determined that the number of times the path is generated is greater than a preset threshold, the point where the second obstacle is identified for the last time is regarded as the termination point, and a path from the termination point to the target working area is generated.

[0059] Therefore, the present application can ensure that the smart lawn mower can safely avoid obstacles and reduce the risk of collision by adjusting the path multiple times, and the present application can dynamically adjust the path to adapt to real-time environmental changes, thereby improving the flexibility of path planning.

[0060] Optionally, traveling from the first point to the second point based on the target path includes:

[0061] When the intelligent lawn mower moves from the first point to the second point based on the target path, a second obstacle is identified;

[0062] When the second obstacle is identified, the smart lawn mower avoids the second obstacle;

[0063] After avoiding the second obstacle, determining the current position of the smart lawn mower;

[0064] Based on the current position and the second point, a fourth path is determined, and travel is performed from the current position to the second point based on the fourth path.

[0065] Therefore, the re-planned fourth path takes into account the current position and the second point of the smart lawn mower, ensuring that it can still travel to the second point after avoiding obstacles. Through this method of quickly adjusting the path, the smart lawn mower can reach the second point in the shortest time and distance, reducing unnecessary detours and pauses, thereby improving overall work efficiency. In addition, real-time obstacle avoidance and path re-planning allow the smart lawn mower to adapt to changing environmental conditions, whether new obstacles appear or terrain changes, enhancing flexibility and adaptability.

[0066] Optionally, traveling from the first point to the second point based on the target path includes:

[0067] When the intelligent lawn mower moves from the first point to the second point based on the target path, a second obstacle is identified;

[0068] When the second obstacle is identified, the smart lawn mower avoids the second obstacle;

[0069] After avoiding the second obstacle, the smart lawn mower continues to move to the second point based on the target path.

[0070] In this way, continuing to move along the target path after avoiding obstacles can ensure that the smart lawn mower completes the task as planned and avoids task interruptions caused by obstacles. By quickly avoiding obstacles and returning to the target path, unnecessary detours and pauses are reduced, and overall work efficiency is improved. In addition, returning directly to the target path after avoiding obstacles avoids long-term path replanning and unnecessary driving, thereby saving energy.

[0071] In a second aspect, the present application provides an intelligent lawn mower exit control device, the device comprising:

[0072] A determination module, used for determining a first point position and a second point position before the intelligent lawn mower drives from the base station into the target working area to perform a mowing task; the first point position is any point position on the central axis of the base station within a first distance range from the base station, the second point position is any point position within a preset area, and the first point position is located on the boundary of the preset area;

[0073] A generating module, used for generating a target path based on the first point and the second point;

[0074] The control module is used to control the intelligent lawn mower to move from the base station to the first point, and after reaching the first point, control the intelligent lawn mower to move from the first point to the second point based on the target path, so as to drive from the second point into the target working area to perform the mowing task.

[0075] In a third aspect, the present application provides an electronic device, comprising: a processor, and a memory communicatively connected to the processor;

[0076] Memory stores computer-executable instructions;

[0077] The processor executes the computer-executable instructions stored in the memory to implement the method as described in any one of the first aspects.

[0078] In a fourth aspect, the present application provides a computer-readable storage medium, which stores computer-executable instructions. When the computer-executable instructions are executed by a processor, they are used to implement the method as described in any one of the first aspects.

[0079] In a fifth aspect, the present application provides a computer program product, comprising a computer program, which, when executed by a processor, implements the method as described in any one of the first aspects.

[0080] It should be understood that the second to fifth aspects of the present application correspond to the technical solutions of the first aspect of the present application, and the beneficial effects achieved by each aspect and the corresponding feasible implementation methods are similar and will not be repeated here.

[0081] In summary, the present application provides an exit control method, device, electronic device, medium and product for an intelligent lawn mower, aiming to randomize the exit trajectory of the intelligent lawn mower, thereby avoiding the generation of ruts to affect the normal growth of the lawn. Specifically, before the intelligent lawn mower drives from the base station into the target working area to perform the mowing task, a first point position and a second point position are determined. The first point position is any point located on the central axis of the base station and at a certain distance from the base station. By selecting any first point position on the central axis of the base station instead of a fixed exit path, the intelligent lawn mower can randomly select an exit path, which helps to avoid repeatedly crushing the lawn on the same path; the second point position is any point located in a preset area, and then Based on the first point and the second point, a target path is generated, and then the smart lawn mower can start from the base station and first move to the first point. After reaching the first point, it continues to move along the pre-generated target path until it reaches the second point, and then from the second point, it enters the target working area and starts to perform the mowing task; since the first point and the second point are dynamically selected, the smart lawn mower can avoid repeatedly passing through the same path. This diversified path selection can prevent a specific area of ​​the lawn from being damaged due to frequent crushing, thereby reducing the risk of grass grinding. In addition, this method reduces the chance of the lawn being repeatedly crushed, so that the smart lawn mower can enter the working area along a different path each time it leaves the station. BRIEF DESCRIPTION OF THE DRAWINGS

[0082] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0083] Figure 1 A schematic diagram of an application scenario provided for an embodiment of the present application;

[0084] Figure 2 A flow chart of an exit control method for an intelligent lawn mower provided in an embodiment of the present application;

[0085] Figure 3 A schematic diagram of a route for an outbound control of an intelligent lawn mower provided in an embodiment of the present application;

[0086] Figure 4 A schematic diagram of the structure of an intelligent lawn mower exit control device provided in an embodiment of the present application;

[0087] Figure 5 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0088] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0089] In order to facilitate the clear description of the technical solutions of the embodiments of the present application, in the embodiments of the present application, the words "first", "second" and the like are used to distinguish the same items or similar items with substantially the same functions and effects. For example, the first device and the second device are only used to distinguish different devices, and the order of precedence is not limited. Those skilled in the art can understand that the words "first", "second" and the like do not limit the quantity and execution order, and the words "first", "second" and the like do not necessarily limit the difference.

[0090] It should be noted that, in this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in this application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0091] In the present application, "at least one" means one or more, and "plurality" means two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can mean: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or multiple.

[0092] In one possible implementation, after the smart lawn mower completes charging, it can first retreat in a straight line from the base station along the central axis of the base station until it reaches a preset position. After retreating to the preset position, it rotates in place at the preset position to face the working area. After the smart lawn mower completes the direction adjustment, the smart lawn mower moves along a planned fixed path to the working area to mow the lawn.

[0093] However, on the one hand, this straight-line backward movement and navigation from the preset position to the working area will form a fixed rut on the lawn, and the continuous pressure on the fixed path may cause soil compaction, thereby affecting the water penetration and root development of the lawn, and further damaging the long-term health of the lawn; on the other hand, the action of the smart lawn mower rotating in situ to adjust the direction of the lawn causes the wheels to leave rotation marks on the lawn, resulting in local excessive wear, damage to the lawn and even bald spots, affecting the overall appearance and health of the lawn, and causing irreparable damage to the lawn.

[0094] In view of the above problems, the present application provides an exit control method for an intelligent lawn mower, which aims to randomize the exit trajectory of the intelligent lawn mower, thereby avoiding the generation of ruts to affect the normal growth of the lawn. Specifically, before the intelligent lawn mower drives from the base station into the target working area to perform the mowing task, a first point position and a second point position are determined. The first point position is any point located on the central axis of the base station and at a certain distance from the base station. By selecting any first point position on the central axis of the base station instead of a fixed exit path, the intelligent lawn mower can randomly select an exit path, which helps to avoid repeatedly crushing the lawn on the same path; the second point position is any point located in a preset area, and then based on the first point position, the exit path is randomly selected. and the second point, generate a target path, and then the smart lawn mower can start from the base station, first move to the first point, and after arriving at the first point, continue to move along the pre-generated target path until it reaches the second point, and then from the second point, drive into the target working area and start to perform the mowing task; since the first point and the second point are dynamically selected, the smart lawn mower can avoid repeatedly passing through the same path. This diversified path selection can prevent a specific area of ​​the lawn from being damaged due to frequent crushing, thereby reducing the risk of grass grinding, and this method reduces the chance of the lawn being repeatedly crushed, so that the smart lawn mower can enter the working area along a different path each time it leaves the station.

[0095] For example, Figure 1 A schematic diagram of an application scenario provided in an embodiment of the present application, such as Figure 1 As shown, the application scenario is applied to the process in which the smart lawn mower returns from the base station to the working area to perform a mowing task; the application scenario includes: a smart lawn mower 101 and a base station 102; wherein, the smart lawn mower 101 returns from the base station 102 to the working area C to perform a mowing task, the first point is A1, the second point is B1, and the preset area is D.

[0096] Before the smart lawn mower 101 drives from the base station 102 into the target working area C to perform the mowing task, a random first point A1 and a second point B1 can be determined first; the first point A1 is any point located on the central axis of the base station 102 (the dotted line in the figure) and at a certain distance from the base station 102, and the second point B1 is any point located in the preset area D, and the first point A1 is located on the boundary of the preset area D.

[0097] After determining the first point A1 and the second point B1, the intelligent lawn mower 101 can generate the following information based on the first point A1 and the second point B1: Figure 1 A target path is shown in the figure, and then, the smart lawn mower 101 starts from the base station 102, first travels from the base station 102 to the first point A1, and then travels from the first point A1 to the second point B1 based on the target path, and further, enters the target working area C from the second point B1 to perform the mowing task. Since the first point A1 and the second point B1 are dynamically and randomly determined, the determined target path is also random. In this way, the problem of grass grinding caused by the smart lawn mower leaving the station along a fixed track in the prior art can be solved, thereby avoiding the generation of fixed ruts to affect the normal growth of the lawn.

[0098] It should be noted that the embodiment of the present application does not specifically limit the size and shape of the preset area, which can be Figure 1 The square area shown may also be a circular area or any other shape.

[0099] For example, Figure 2 A flow chart of a method for controlling an exit of an intelligent lawn mower provided in an embodiment of the present application is shown in FIG. Figure 2 As shown, the intelligent lawn mower exit control method includes the following steps:

[0100] S201. Before the intelligent lawn mower drives from the base station into the target working area to perform a mowing task, determine a first point and a second point; the first point is any point on the central axis of the base station within a first distance range from the base station, the second point is any point in a preset area, and the first point is located on the boundary of the preset area.

[0101] In the embodiment of the present application, the first point position can be determined by selecting a suitable first distance range according to the design of the smart lawn mower and the layout of the base station to ensure that the smart lawn mower has enough space to adjust its direction. The second point position is any point within the preset area, usually close to the entrance of the target working area, and is used to guide the smart lawn mower into the target working area. The second point position can randomly select a suitable point according to the layout of the target working area and the requirements of the mowing task. The embodiment of the present application does not specifically limit the method for determining the first point position and the second point position. For example, it can also determine the first point position and / or the second point position based on a random number generator, and the first point position satisfies the condition of being located on the central axis of the base station, within the first distance range from the base station, and a point on the boundary of the preset area, and the second point position satisfies the condition of being located at any point within the preset area.

[0102] For example, Figure 3 A schematic diagram of a route for an outbound control of an intelligent lawn mower provided in an embodiment of the present application, such as Figure 3 As shown, a random number is selected on the central axis of the base station as the first distance a of retreat, and the range of the first distance a is 0.7-1.3m. There are 60cm between 0.7-1.3m, and a point is counted every 1cm, that is, there are 60 random points available for selection.

[0103] Among them, taking the total length of the smart lawn mower as 60cm, the distance from the laser radar to the center of the rear wheel of the smart lawn mower as 40cm, and the length of the base station bottom plate as 65cm as an example, when the smart lawn mower completely exits the base station, the minimum endpoint value of the first distance range is set to 0.7m, which can ensure that when the smart lawn mower completely exits the base station, the wheels and the base station will not interfere with each other. If the first distance a is less than 0.7m, the smart lawn mower may not be able to completely exit the base station and the base station bottom plate.

[0104] It should be noted that the marker is usually a 4 cm wide reflective sticker. If a 4 cm wide reflective sticker is to be covered by the scanning lines of two laser radars, the corresponding distance must be deduced based on the angular resolution formula of the laser radar.

[0105] Since the angular resolution of the laser radar is 0.6 degrees, that is, the angle between two adjacent scanning lines is 0.6 degrees, in order to make the interval between each scanning line equal to or slightly greater than 2 cm, that is, half the width of the reflective tape, to ensure that it is covered by the scanning lines of two laser radars.

[0106] First, using the distance formula, the distance interval of the scanning lines of the two laser radars = 2×(first distance a+total length of the smart lawn mower)×tan(angular resolution / 2), and then the angular resolution (radians) = (0.6 / 360)×2π=0.01047 radians is derived. Since the distance interval is set to 2cm (0.02m), it can be derived that: 0.02m=2×(first distance a+total length of the smart lawn mower)×tan(0.01047 / 2).

[0107] From this we can get:

[0108] The first distance a=0.02 / (2×tan(0.01047 / 2))-0.6=0.02 / (2×tan(0.005235)-0.6≈0.02 / 0.01047-0.6≈1.31022 m.

[0109] The first distance a is the distance between the midpoint of the line connecting the rear driving wheels of the intelligent lawn mower and the intersection of the bottom plate outlet of the base station and the central axis.

[0110] Therefore, at a distance of about 1.3 m from the base station, a 4 cm wide reflective sticker can be covered by at least 2 scanning lines of the laser radar, thereby setting the maximum distance of the first distance range to 1.3 m.

[0111] It should be noted that if the first distance a is greater than 1.3m, the laser radar is too far away from the marker of the base station, and the point cloud data of the laser radar is too sparse, which may affect the recognition of the marker.

[0112] In this way, setting the maximum endpoint value of the first distance range to 1.3m can ensure that the marker is covered by at least 2 scanning lines of the laser radar, and then based on the identified position of the marker, the distance between the smart lawn mower and the base station can be determined, so that the exit route of the smart lawn mower can be adjusted based on the distance to the base station.

[0113] Therefore, the distance range of 0.7-1.3m can provide the smart lawn mower with enough space to adjust the direction and speed, thereby ensuring that the smart lawn mower can smoothly start from the base station, and the distance range of 0.7-1.3 meters allows the smart lawn mower to operate flexibly under different environmental conditions, whether it is a small courtyard or a relatively open area, this distance can provide enough flexibility to adapt to different terrains and obstacle distributions, to provide a safety buffer for the smart lawn mower, and ensure that there is enough time and space to detect and avoid potential obstacles during startup and initial travel.

[0114] In this way, by setting the first distance range between 0.7-1.3m, the smart lawn mower can achieve higher flexibility and safety during startup and initial travel, thereby improving overall operating efficiency and lawn protection, and by starting within 0.7-1.3m, the smart lawn mower can avoid repeatedly crushing the lawn at the same location, thereby reducing lawn wear and damage.

[0115] Among them, the preset area refers to an area between the base station and the target working area, which is used to plan the departure path of the smart lawn mower. The embodiment of the present application does not specifically limit the method for determining the preset area. It can define the preset area and clarify the boundaries of the area based on the terrain, obstacles and other environmental factors between the base station and the target working area.

[0116] It should be noted that the embodiment of the present application does not specifically limit the size of the first distance range, which can be determined based on the space around the base station, the sensor accuracy, the terrain around the base station, or the performance of the smart lawn mower. For example, according to the power and steering capabilities of the smart lawn mower, a suitable distance is selected to enable it to accelerate and turn smoothly, or according to the accuracy of the navigation sensor on the smart lawn mower, a suitable first distance range is selected to ensure that the smart lawn mower can accurately reach the first point.

[0117] S202: Generate a target path based on the first point and the second point.

[0118] In an embodiment of the present application, the target path is a planned path from a first point to a second point, which is used to guide the movement of the smart lawn mower. The method for determining the target path may be a path planning algorithm, such as an A* algorithm, a Dijkstra algorithm, or a Reeds-Shepp curve algorithm to generate an optimal path from the first point to the second point. The embodiment of the present application does not specifically limit the method for determining the target path.

[0119] S203, the intelligent lawn mower travels from the base station to a first point, and after reaching the first point, travels from the first point to a second point based on a target path, so as to enter a target working area from the second point to perform a mowing task.

[0120] In this step, the smart lawn mower travels from the base station to the first point, and after reaching the first point, travels from the first point to the second point based on the target path. Then, when the smart lawn mower is located at the second point, a driving path from the second point to the target working area can be generated, so that the smart lawn mower can smoothly enter the starting point of the target working area, and then drive into the target working area to perform the mowing task.

[0121] It should be noted that the embodiment of the present application does not specifically limit the method for generating a driving path from the second point to the target working area, which can be a Bezier curve algorithm, a spline curve algorithm, an A* algorithm, a Dijkstra algorithm, a machine learning algorithm, etc.

[0122] Therefore, the embodiment of the present application can generate a random path from the base station to the target working area to perform the mowing task based on two random first points and second points. Since the first point is determined randomly, the second point is also determined randomly, and the path determined based on these two points is also random. In this way, each time the smart lawn mower enters the target working area from the base station, there are many types of random path combinations, which enhances the randomness of path selection, avoids repeated grass grinding on the path, thereby affecting the normal growth of the lawn and protecting the health of the lawn.

[0123] It should be noted that when using the method of the present application to control the outbound movement of the smart lawn mower, there is no need to limit the specific direction and position of the base station, and when the position of the base station changes, there is no need to re-build the map to perform mowing operations, thereby improving the flexibility of the application.

[0124] Optional, such as Figure 3 As shown, the preset area is symmetrically arranged along the central axis and is a rectangular area with the second distance b as the side length, and the first point is the midpoint of the side length of the square area close to the base station.

[0125] For example, the first point may be A1 or A2.

[0126] In the present application, the symmetrical setting ensures that the smart lawn mower has a balanced path selection when starting from the base station, reducing the deviation or instability caused by the asymmetric path. The square area design can make full use of the space around the base station to ensure that the smart lawn mower has enough space to start and adjust.

[0127] It should be noted that setting the first point at the midpoint of the side length of the square area provides a clear starting direction, so that the smart lawn mower can move along the predetermined central axis direction, reducing the deviation of the initial path.

[0128] Therefore, by setting the first point at the midpoint of the side length, the smart lawn mower can avoid path conflicts with other equipment or obstacles, improve operational safety, and in a symmetrical square area, the smart lawn mower can more easily identify and avoid obstacles to optimize the driving path.

[0129] Optionally, the second distance b is 2 m.

[0130] It should be noted that the minimum turning radius of the smart lawn mower is the spacing of the driving wheels. When the left and right wheels of the driving wheels rotate in opposite directions, the smart lawn mower can turn on the spot, but this will cause serious grass grinding at the turning point. Since the speeds of the two driving wheels are different, the corresponding degree of grass damage when turning on the spot is different. At this time, the speeds of the left and right wheels can be adjusted to achieve turning without damaging the grass. For example, the rear drive wheel spacing is 40cm, the maximum speed of the smart lawn mower is 0.6m / s, and the smart lawn mower turns left as an example. Table 1 shows the corresponding grass damage levels of the driving wheels at different speeds when turning on the spot, as shown in Table 1:

[0131] Table 1

[0132]

[0133]

[0134] It can be seen from Table 1 that when the left wheel does not rotate and only the right wheel rotates, serious grass damage will occur; when the left wheel speed is half of the right wheel speed, that is, when the speed difference between the two driving wheels is less than one times the left wheel speed, the left turn can be achieved without damaging the grass; therefore, through actual data measurement, it is found that when the left wheel rotates slowly and the right wheel speed is greater than the left wheel, the turn can be achieved without damaging the grass.

[0135] At this time, the minimum turning radius of the smart lawn mower is 80cm, and the distance from the rear wheel to the tail end of the smart lawn mower is 20cm. Therefore, it is necessary to keep a distance of 80cm+20cm=100cm=1m on both sides of the base station exit to avoid grass damage to the greatest extent. Therefore, the preset area is a 2m×2m directional area.

[0136] It should be noted that the right turn process of the intelligent lawn mower is similar to the implementation process and logic of the left turn mentioned above, and will not be repeated here.

[0137] In this way, setting the second distance b to 2m, that is, within the preset area of ​​2m*2m, the smart lawn mower can be allowed to turn without damaging the grass, and then perform flexible path planning to avoid repeatedly crushing the lawn at the same location, thereby reducing damage to the lawn.

[0138] Optionally, generating a target path based on the first point and the second point includes:

[0139] Based on the position coordinates of the first point and the posture coordinates of the second point, the target path is generated using the Reeds-Shepp curve algorithm.

[0140] In an embodiment of the present application, the target path is composed of at least one straight line segment and / or arc segment. Through the combination of segments, a path that satisfies the motion constraints of the intelligent lawn mower can be generated, wherein the target path is generated based on the Reeds-Shepp curve algorithm. The embodiment of the present application does not specifically limit the definition of the Reeds-Shepp curve algorithm and the corresponding formula, and it can refer to the description of the prior art.

[0141] For example, Figure 3 As shown, when the smart lawn mower is located at a random point A1, with A1 as the starting point, B1 as the end point, and a turning radius of r, where r is the wheelbase of the driving wheel of the smart lawn mower, an RS curve path is generated based on the Reeds-Shepp curve algorithm, that is, the target path A1-B1, wherein B1 is a random point on the RS curve, and B1 is a random point in a preset area of ​​2m*2m, the preset area is generated with the random point A1 as the midpoint of the side length, the posture coordinates of point B1 are (x, y, θ), the value ranges of x and y are both 0-2m, θ is the entry angle into the target working area, and the embodiment of the present application does not specifically limit the size of θ.

[0142] It should be noted that the generation process of the target path A2-B2 is similar to the generation process of the above-mentioned target path A1-B1, except that the position coordinates of the first point and the posture coordinates of the second point are different. For details, please refer to the description of the above embodiment, which will not be repeated here.

[0143] Therefore, the embodiment of the present application generates a target path based on the position coordinates of the first point and the posture coordinates of the second point using the Reeds-Shepp curve algorithm, so that the smart lawn mower can move from the first point to the second point more accurately, reduce path deviations and errors, and improve navigation accuracy. In addition, the Reeds-Shepp curve algorithm can adapt to different environmental conditions and provide a flexible path planning solution that is suitable for a variety of terrains and obstacle distributions.

[0144] Optionally, the posture coordinates include position coordinates and a posture angle, and the posture angle is an entry angle into the target working area.

[0145] In the embodiment of the present application, the attitude angle provides information about the direction of the smart lawn mower, so that path planning can accurately control the entry direction of the smart lawn mower, which is crucial for intelligently ensuring that the lawn mower enters the target working area at the optimal angle.

[0146] For example, Figure 3 As shown, θ1 or θ2 is the entry angle into the target working area C, that is, the attitude angle. The setting of the attitude angle can ensure that the smart lawn mower smoothly connects to the mowing path when entering the target working area, reduces unnecessary adjustments and turns, and improves operating efficiency.

[0147] Therefore, by considering both position and attitude angle, the smart mower can follow the intended path more accurately, reduce the possibility of deviation from the path, improve navigation accuracy, and in complex or narrow terrain, the precise attitude angle helps the smart mower enter the working area with the best path and avoid unnecessary path detours.

[0148] Optionally, the second point position is determined by an attitude angle, and the attitude angle is determined by starting point information of the target working area.

[0149] In the embodiment of the present application, the attitude angle is the angle between the direction of the intelligent lawn mower driving out from the second point and the horizontal direction where the starting point information of the target working area is located. The horizontal direction is perpendicular to the central axis of the base station and parallel to the direction of the base station. Figure 3 As shown, the attitude angle is θ1 or θ2.

[0150] It should be noted that when the entry angles into the target working area are different but the position coordinates are the same, the two second points at this time correspond to different points, such as the second point B1 (X1, Y1, θ1) and the second point B3 (X1, Y1, θ3) correspond to two different points. Therefore, the second point is determined by the attitude angle.

[0151] Therefore, since the attitude angle is determined by the starting point information of the target working area, the smart lawn mower can smoothly connect to the mowing path of the working area, reducing the path adjustment after entering the working area, improving the driving efficiency, and through precise attitude angle setting, the smart lawn mower can enter the target working area from the second point more accurately.

[0152] Optionally, the attitude angle is determined by a mowing path corresponding to the target working area and a point at which the intelligent lawn mower enters the mowing path, and the intelligent lawn mower performs a mowing task in the target working area based on the mowing path.

[0153] In the embodiment of the present application, different mowing paths can be planned due to the different shapes, sizes and terrain features of the target working area, such as a bow-shaped mowing path, a parallel line mowing path, a U-shaped mowing path, a boundary following path, etc. The embodiment of the present application does not make specific limitations on this, and different mowing paths can correspond to different points at which different smart lawn mowers enter the mowing paths. It should be noted that even for mowing paths of the same shape, due to different application scenario requirements, the points at which the corresponding smart lawn mowers enter the mowing paths may also be different. The embodiment of the present application does not make specific limitations on the types of mowing paths and the points at which the smart lawn mowers enter the mowing paths.

[0154] Exemplarily, the entry angle of the smart lawn mower into the target working area can be calculated based on the entry point of the mowing path and the type of mowing path. The entry angle can ensure that the smart lawn mower enters the mowing path in the correct direction and reduce the angle adjustment. Furthermore, the calculated attitude angle and entry point are used to plan the path from the current position to the entry point to ensure that the smart lawn mower can smoothly and steadily reach the starting position of the mowing path, and then the smart lawn mower can perform the mowing task in the target working area along the predetermined mowing path.

[0155] Therefore, the attitude angle can be accurately determined through the mowing path and entry point. The accurate attitude angle improves the navigation accuracy of the smart lawn mower, ensuring that it can move along the planned path and reduce deviations. Due to the attitude angle and path planning, the smart lawn mower can quickly enter the working state, reduce the adjustment time in the working area, and improve mowing efficiency.

[0156] Optionally, after the smart lawn mower reaches the second point, the method further includes:

[0157] Determine the starting point information for entering the target work area;

[0158] Determine the attitude angle based on the starting point information and the position coordinates of the second point;

[0159] Based on the attitude angle, the starting point information and the position coordinates of the second point, a driving path from the second point to the target working area is generated.

[0160] In the embodiment of the present application, the starting point information includes the starting position and direction within the target working area, and the attitude angle is the entry angle when the smart lawn mower enters the target working area from the second point. Therefore, by calculating the relative position and direction between the starting point information and the second point, the attitude angle can be determined to ensure that the smart lawn mower correctly enters the target working area from the second point.

[0161] Furthermore, a driving path from the second point to the starting point of the target working area can be generated based on a path planning algorithm, such as a Reeds-Shepp curve algorithm. The driving path can take into account the physical characteristics, terrain features and obstacle locations of the smart lawn mower to ensure that the smart lawn mower enters the target working area smoothly and safely.

[0162] Therefore, by accurately calculating the attitude angle and driving path, the smart lawn mower can quickly and smoothly enter the target working area, reduce the path adjustment time, and improve the overall efficiency. In addition, the present application can use automated path and attitude angle calculation to enable the smart lawn mower to autonomously adapt to different environmental conditions and improve the level of intelligence.

[0163] Optionally, based on the position coordinates of the first point and the posture coordinates of the second point, a target path is generated using a Reeds-Shepp curve algorithm, including:

[0164] Based on the position coordinates of the first point and the posture coordinates of the second point, an initial path is generated using a Reeds-Shepp curve algorithm;

[0165] When there is a first obstacle on the initial path, obtaining the position coordinates of the first obstacle;

[0166] A target path is generated by using a Reeds-Shepp curve algorithm based on the position coordinates of the first point, the posture coordinates of the second point, and the position coordinates of the first obstacle.

[0167] In this step, based on the position coordinates of the first point and the posture coordinates of the second point, an initial path is generated using the Reeds-Shepp curve algorithm. Further, it is checked in the pre-drawn map whether there is a first obstacle on the initial path. If the first obstacle is detected, its position coordinates need to be obtained. Further, based on the position coordinates of the first point, the posture coordinates of the second point and the position coordinates of the first obstacle, the Reeds-Shepp curve algorithm is used again to generate a target path. The target path generated in this way can avoid obstacles and ensure that the smart lawn mower can safely reach the second point.

[0168] Therefore, in the present application, by detecting and avoiding obstacles, the risk of collision between the smart lawn mower and obstacles is reduced, and operational safety is improved. In particular, the Reeds-Shepp curve algorithm can generate an optimized path, which can adapt to environmental changes and is suitable for a variety of terrains and obstacle distributions, thereby improving the adaptability of the smart lawn mower.

[0169] When arriving at the second point, the smart lawn mower faces the target working area, and in the process of driving from the first point to the second point, the smart lawn mower performs positioning and obstacle avoidance in real time.

[0170] Optionally, in the process of traveling from the first point to the second point based on the target path, so as to enter the target working area from the second point to perform the mowing task, the method further includes:

[0171] When there is a second obstacle in the target path, the position of the second obstacle can be identified by the smart lawn mower and is counted as a third point, and the third point is a first preset distance from the second obstacle on the target path;

[0172] Based on the third point, a first path is generated.

[0173] In an embodiment of the present application, while the smart lawn mower is moving from a first point to a second point based on a target path, real-time positioning can be performed based on sensors such as lidar, cameras, etc., and real-time identification of whether there are obstacles can be performed to adjust the route according to the identified results. The embodiment of the present application does not specifically limit the type of sensors for positioning and identifying obstacles.

[0174] Exemplarily, in the process of the smart lawn mower moving from a first point to a second point along a target path, a sensor is used to detect whether there are obstacles on the path. When a second obstacle is detected, its position coordinates are recorded. Furthermore, based on the position of the second obstacle, a third point is calculated and determined. The third point is a position point on the target path that is a first preset distance away from the second obstacle. The first preset distance is preset in advance to ensure that the smart lawn mower has enough space to adjust the path or stop to avoid collision with the corresponding distance. The embodiment of the present application does not specifically limit the size of the first preset distance, which can be determined based on the requirements of the application scenario.

[0175] Optionally, the path can be replanned based on the third point to avoid the second obstacle. For example, a Reeds-Shepp curve algorithm or other suitable algorithm can be used to regenerate a first path that bypasses the obstacle from the third point to ensure that the smart lawn mower can continue to move safely; wherein the first path may include a path to the target working area.

[0176] Therefore, the present application can identify and process obstacles in real time while the smart lawn mower is moving from a first point to a second point, dynamically adjust the path to adapt to real-time environmental changes, thereby improving the adaptability of the smart lawn mower in complex environments. In addition, since the driving path is dynamically adjusted based on the location of the obstacle, the risk of collision between the smart lawn mower and the obstacle is reduced, thereby ensuring the safety of operation.

[0177] Optionally, generating a first path based on the third point includes:

[0178] Based on the position coordinates of the third point, a first path from the third point to the target working area is generated, and the third point is regarded as the end point of the target path.

[0179] In the present application, when generating the first path from the third point to the target working area, different generation rules can be set according to different needs. For example, after identifying the second obstacle, if the smart lawn mower determines that subsequent routes cannot avoid the second obstacle, the third point can be regarded as the end point of the target path, and then based on the position coordinates of the third point, the first path from the third point to the target working area is generated.

[0180] Alternatively, after the second obstacle is identified, the first path from the third point to the target working area may be generated directly based on the position coordinates of the third point, and the third point only needs to be regarded as the end point of the target path.

[0181] It should be noted that the embodiment of the present application does not specifically limit the application scenarios of the above-mentioned generation rules, which can be set based on user needs or the motion characteristics of the smart lawn mower.

[0182] Therefore, after an obstacle is identified during the movement, a first path is generated through timely adjustments, which reduces the risk of the smart lawn mower colliding with obstacles, as well as unnecessary driving and waiting time, reduces energy consumption, and improves overall efficiency.

[0183] Optionally, generating a first path based on the third point includes:

[0184] Determine a fourth point, where the fourth point is any point within the preset area;

[0185] Based on the posture coordinates of the third point and the fourth point, a second path is generated by using a Reeds-Shepp curve algorithm;

[0186] Travel from the third point to the fourth point based on the second path, wherein, in the process of determining to travel from the third point to the fourth point, while avoiding the second obstacle, a first path from the fourth point to the target working area is generated based on the fourth point.

[0187] In the embodiment of the present application, the definition of the fourth point is similar to that of the first point and will not be repeated here. The purpose of selecting the fourth point is to consider that its position can help the smart lawn mower avoid the second obstacle and facilitate entry into the target working area. However, in the process of the smart lawn mower moving from the third point to the fourth point, it cannot be determined that the second obstacle can be completely avoided. Therefore, two situations need to be considered.

[0188] One situation is that when it is determined that the second obstacle can be avoided in the process of traveling from the third point to the fourth point, a second path is generated based on the posture coordinates of the third point and the fourth point using the Reeds-Shepp curve algorithm, so that the smart lawn mower travels from the third point to the fourth point along the second path. After the smart lawn mower arrives at the fourth point, a path to enter the target working area is planned based on the position coordinates and posture coordinates of the fourth point, namely, the first path.

[0189] In the embodiment of the present application, a fourth point can be introduced to replan the path to ensure that the smart lawn mower can safely avoid obstacles and reduce the risk of collision, and a second path can be generated using a Reeds-Shepp curve algorithm to ensure the feasibility of the second path. Then, while avoiding the second obstacle, a first path from the fourth point to the target working area is generated based on the fourth point, thereby improving the adaptability of the smart lawn mower in complex environments.

[0190] Another situation is that when it is determined that the second obstacle cannot be avoided in the process of traveling from the third point to the fourth point, an upper limit on the number of obstacle avoidance and path planning can be set. For example, if the obstacle cannot be avoided after three consecutive times of identifying the obstacle and replanning the path, the position of the third obstacle identification is regarded as the termination point, and a path from the termination point to the target working area is generated based on the termination point.

[0191] Optionally, generating a first path based on the third point includes:

[0192] In the process of traveling from the third point to the fourth point based on the second path, if the second obstacle is recognized again, a fifth point and a sixth point are determined, the fifth point is a position where the second obstacle can be recognized on the second path, and the fifth point is a second preset distance from the second obstacle, and the sixth point is any point position within the preset area;

[0193] Based on the posture coordinates of the fifth point and the sixth point, a third path is generated by using a Reeds-Shepp curve algorithm;

[0194] Traveling from the fifth point to the sixth point based on the third path;

[0195] Among them, when it is determined that the second obstacle cannot be avoided in the process of traveling from the fifth point to the sixth point, a path is generated again based on any point position in the preset area and the point where the second obstacle is identified on the third path. When it is determined that the number of times the path is generated is greater than a preset threshold, the point where the second obstacle is identified for the last time is regarded as the termination point, and a path from the termination point to the target working area is generated.

[0196] In an embodiment of the present application, when encountering an obstacle, the smart lawn mower may need to re-plan the path multiple times to try to avoid the obstacle, and the preset threshold can be defined as the maximum number of times the path is allowed to be re-planned. When the preset threshold is reached, further path adjustments will be stopped and other measures will be taken. The specific value of the preset threshold can generally be adjusted according to the capabilities of the smart lawn mower, environmental complexity and task requirements to achieve optimal performance and reliability. The embodiment of the present application does not specifically limit the size of the preset threshold.

[0197] For example, when the smart lawn mower moves from the third point to the fourth point along the second path, if the second obstacle is recognized again, further path adjustment is required, that is, determining the fifth point and the sixth point. The definition of the fifth point is similar to the first point mentioned above, and the definition of the sixth point is similar to the third point mentioned above. For details, please refer to the description of the above embodiment, which will not be repeated here.

[0198] Furthermore, based on the posture coordinates of the fifth point and the sixth point, a third path is generated using the Reeds-Shepp curve algorithm, and then the intelligent lawn mower travels from the fifth point to the sixth point along the third path. During this process, it continues to identify whether the second obstacle can be avoided.

[0199] If the second obstacle cannot be avoided during the movement, it is necessary to select a new arbitrary point in the preset area and generate a new path based on this position and the obstacle points identified on the third path, that is, to repeat the above steps continuously. However, after determining that the number of times the path is generated exceeds the preset threshold, the second obstacle point identified for the last time is regarded as the termination point, and a path to the target working area is generated from this point.

[0200] Therefore, the embodiment of the present application can also ensure that the smart lawn mower can safely avoid obstacles and reduce the risk of collision by adjusting the path multiple times, and the present application can dynamically adjust the path to adapt to real-time environmental changes, thereby improving the flexibility of path planning.

[0201] Optionally, traveling from the first point to the second point based on the target path includes:

[0202] When the intelligent lawn mower moves from the first point to the second point based on the target path, a second obstacle is identified;

[0203] When the second obstacle is identified, the smart lawn mower avoids the second obstacle;

[0204] After avoiding the second obstacle, determining the current position of the smart lawn mower;

[0205] Based on the current position and the second point, a fourth path is determined, and travel is performed from the current position to the second point based on the fourth path.

[0206] In the present application, once the second obstacle is identified, the smart lawn mower can immediately take obstacle avoidance measures, such as adjusting the driving direction, speed or path, etc., to safely bypass the obstacle.

[0207] Exemplarily, in the process of the smart lawn mower moving from a first point to a second point along a target path, sensors such as lidar and cameras can be used to monitor obstacles on the path in real time. When a second obstacle is detected, obstacle avoidance measures are taken to avoid the second obstacle. After successfully avoiding the second obstacle, the smart lawn mower re-determines its current position. Furthermore, based on the current position and the second point, the path is re-planned, that is, a fourth path is determined, so that the smart lawn mower can move from the current position to the second point.

[0208] Therefore, the re-planned fourth path takes into account the current position and the second point of the smart lawn mower, ensuring that it can still travel to the second point after avoiding obstacles. Through this rapid adjustment of the path, the smart lawn mower reaches the second point in the shortest time and distance, reducing unnecessary detours and pauses, thereby improving overall work efficiency. In addition, real-time obstacle avoidance and path re-planning allow the smart lawn mower to adapt to changing environmental conditions, whether new obstacles appear or terrain changes, thereby enhancing flexibility and adaptability.

[0209] Optionally, traveling from the first point to the second point based on the target path includes:

[0210] When the intelligent lawn mower moves from the first point to the second point based on the target path, a second obstacle is identified;

[0211] When the second obstacle is identified, the smart lawn mower avoids the second obstacle;

[0212] After avoiding the second obstacle, the smart lawn mower continues to move to the second point based on the target path.

[0213] In the present application, after the smart lawn mower identifies the second obstacle, it can perform obstacle avoidance action, and after successfully avoiding the obstacle, it returns to the originally planned target path, avoiding re-planning the path and saving energy consumption.

[0214] For example, when the smart lawn mower is moving from a first point to a second point along a target path, when a second obstacle is detected, the smart lawn mower performs an obstacle avoidance action, and after successfully avoiding the second obstacle, the smart lawn mower returns to the target path and continues to move toward the second point, to ensure that the smart lawn mower can complete the task as originally planned without the need to replan the entire path.

[0215] In this way, continuing to move along the target path after avoiding obstacles can ensure that the smart lawn mower completes the task as planned and avoids task interruptions caused by obstacles. By quickly avoiding obstacles and returning to the target path, unnecessary detours and pauses are reduced, and overall work efficiency is improved. In addition, returning directly to the target path after avoiding obstacles avoids long-term path replanning and unnecessary driving, thereby saving energy.

[0216] In the above embodiments, the intelligent lawn mower exit control method provided by the embodiment of the present application is introduced. In order to realize the functions in the method provided by the embodiment of the present application, the electronic device as the execution subject may include a hardware structure and / or a software module, and realize the above functions in the form of a hardware structure, a software module, or a hardware structure plus a software module. Whether one of the above functions is executed in the form of a hardware structure, a software module, or a hardware structure plus a software module depends on the specific application and design constraints of the technical solution.

[0217] For example, Figure 4 A schematic diagram of the structure of an intelligent lawn mower exit control device provided in an embodiment of the present application, such as Figure 4 As shown, the device 400 includes:

[0218] The determination module 401 is used to determine a first point position and a second point position before the intelligent lawn mower drives from the base station into the target working area to perform the mowing task; the first point position is any point position on the central axis of the base station within a first distance range from the base station, and the second point position is any point position within a preset area, and the first point position is located on the boundary of the preset area;

[0219] A generating module 402, configured to generate a target path based on the first point and the second point;

[0220] The control module 403 is used to control the intelligent lawn mower to move from the base station to the first point, and after reaching the first point, control the intelligent lawn mower to move from the first point to the second point based on the target path, so as to drive from the second point into the target working area to perform the mowing task.

[0221] Optionally, the first distance range is a range of 0.7-1.3 m from the base station.

[0222] Optionally, the preset area is symmetrically arranged along the central axis and is a rectangular area with the second distance as the side length, and the first point is the midpoint of the side length of the rectangular area close to the base station.

[0223] Optionally, the second distance is 2m.

[0224] Optionally, the generating module 402 is specifically used for:

[0225] Based on the position coordinates of the first point and the posture coordinates of the second point, the target path is generated using the Reeds-Shepp curve algorithm.

[0226] Optionally, the posture coordinates include position coordinates and a posture angle, and the posture angle is an entry angle into the target working area.

[0227] Optionally, the second point position is determined by an attitude angle, and the attitude angle is determined by starting point information of the target working area.

[0228] Optionally, the attitude angle is determined by a mowing path corresponding to the target working area and a point at which the intelligent lawn mower enters the mowing path, and the intelligent lawn mower performs a mowing task in the target working area based on the mowing path.

[0229] Optionally, after the intelligent lawn mower reaches the second point, the device 400 further includes a path generation module, the path generation module being used to:

[0230] Determine the starting point information for entering the target work area;

[0231] Determine the attitude angle based on the starting point information and the position coordinates of the second point;

[0232] Based on the attitude angle, the starting point information and the position coordinates of the second point, a driving path from the second point to the target working area is generated.

[0233] Optionally, the generating module 402 is specifically used for:

[0234] Based on the position coordinates of the first point and the posture coordinates of the second point, an initial path is generated using a Reeds-Shepp curve algorithm;

[0235] When there is a first obstacle on the initial path, obtaining the position coordinates of the first obstacle;

[0236] A target path is generated by using a Reeds-Shepp curve algorithm based on the position coordinates of the first point, the posture coordinates of the second point, and the position coordinates of the first obstacle.

[0237] Optionally, in the process of traveling from the first point to the second point based on the target path to drive into the target working area from the second point to perform the mowing task, the device 400 further includes an obstacle detection module, which is used to:

[0238] When there is a second obstacle in the target path, the position of the second obstacle can be identified by the smart lawn mower and is counted as a third point, and the third point is a first preset distance from the second obstacle on the target path;

[0239] Based on the third point, a first path is generated.

[0240] Optionally, the obstacle detection module is specifically used for:

[0241] Based on the position coordinates of the third point, a first path from the third point to the target working area is generated, and the third point is regarded as the end point of the target path.

[0242] Optionally, the obstacle detection module is specifically used for:

[0243] Determine a fourth point, where the fourth point is any point within the preset area;

[0244] Based on the posture coordinates of the third point and the fourth point, a second path is generated by using a Reeds-Shepp curve algorithm;

[0245] Travel from the third point to the fourth point based on the second path, wherein, in the process of determining to travel from the third point to the fourth point, while avoiding the second obstacle, a first path from the fourth point to the target working area is generated based on the fourth point.

[0246] Optionally, the obstacle detection module is specifically used for:

[0247] In the process of traveling from the third point to the fourth point based on the second path, if the second obstacle is recognized again, a fifth point and a sixth point are determined, the fifth point is a position where the second obstacle can be recognized on the second path, and the fifth point is a second preset distance from the second obstacle, and the sixth point is any point position within the preset area;

[0248] Based on the posture coordinates of the fifth point and the sixth point, a third path is generated by using a Reeds-Shepp curve algorithm;

[0249] Traveling from the fifth point to the sixth point based on the third path;

[0250] Among them, when it is determined that the second obstacle cannot be avoided in the process of traveling from the fifth point to the sixth point, a path is generated again based on any point position in the preset area and the point where the second obstacle is identified on the third path. When it is determined that the number of times the path is generated is greater than a preset threshold, the point where the second obstacle is identified for the last time is regarded as the termination point, and a path from the termination point to the target working area is generated.

[0251] Optionally, the control module 403 includes a first control unit and a second control unit, wherein the first control unit is configured to:

[0252] When the intelligent lawn mower moves from the first point to the second point based on the target path, a second obstacle is identified;

[0253] When the second obstacle is identified, the smart lawn mower avoids the second obstacle;

[0254] After avoiding the second obstacle, determining the current position of the smart lawn mower;

[0255] Based on the current position and the second point, a fourth path is determined, and travel is performed from the current position to the second point based on the fourth path.

[0256] Optionally, the first control unit is used to:

[0257] When the intelligent lawn mower moves from the first point to the second point based on the target path, a second obstacle is identified;

[0258] When the second obstacle is identified, the smart lawn mower avoids the second obstacle;

[0259] After avoiding the second obstacle, the smart lawn mower continues to move to the second point based on the target path.

[0260] It should be noted that the specific implementation principle and effect of the above-mentioned intelligent lawn mower exit control device can be found in the relevant description and effects corresponding to the above-mentioned embodiments, and no further details will be given here.

[0261] The present application also provides a schematic diagram of the structure of an electronic device. Figure 5 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application is shown in FIG. Figure 5 As shown, the electronic device may include: a processor 501 and a memory 502 communicatively connected to the processor; the memory 502 stores a computer program; the processor 501 executes the computer program stored in the memory 502, so that the processor 501 executes the method described in any of the above embodiments.

[0262] The memory 502 and the processor 501 may be connected via a bus 503 .

[0263] An embodiment of the present application further provides a computer-readable storage medium, which stores computer-executable instructions. When the computer-executable instructions are executed by a processor, they are used to implement the method described in any of the aforementioned embodiments of the present application.

[0264] An embodiment of the present application further provides a chip for executing instructions, wherein the chip is used to execute the method described in any of the aforementioned embodiments as executed by an electronic device in any of the aforementioned embodiments of the present application.

[0265] An embodiment of the present application further provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the method described in any of the aforementioned embodiments of the present application executed by an electronic device can be implemented.

[0266] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of modules is only a logical function division. There may be other division methods in actual implementation, such as multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0267] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to implement the solution of this embodiment.

[0268] In addition, each functional module in each embodiment of the present application can be integrated into one processing unit, or each module can exist physically separately, or two or more modules can be integrated into one unit. The above-mentioned module-composed unit can be implemented in the form of hardware or in the form of hardware plus software functional units.

[0269] The above-mentioned integrated module implemented in the form of a software function module can be stored in a computer-readable storage medium. The above-mentioned software function module is stored in a storage medium, including a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to perform some steps of the method described in each embodiment of the present application.

[0270] It should be understood that the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in the application may be directly implemented as being executed by a hardware processor, or may be implemented by a combination of hardware and software modules in the processor.

[0271] The memory may include high-speed random access memory (RAM), and may also include non-volatile memory (NVM), such as at least one disk storage, and may also be a USB flash drive, a mobile hard disk, a read-only memory, a disk or an optical disk, etc.

[0272] The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of the present application is not limited to only one bus or one type of bus.

[0273] The above storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The storage medium can be any available medium that can be accessed by a general or special computer.

[0274] An exemplary storage medium is coupled to a processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can be located in an application specific integrated circuit (ASIC). Of course, the processor and the storage medium can also exist as discrete components in an electronic device or a main control device.

[0275] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required by the present application.

[0276] It should be further noted that, although the various steps in the flowchart are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless there is a clear description in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowchart may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these sub-steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0277] In the above embodiments, the description of each embodiment has its own emphasis. For the part not described in detail in a certain embodiment, please refer to the relevant description of other embodiments. The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0278] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the claims.

[0279] The above is only a specific implementation of the embodiment of the present application, but the protection scope of the embodiment of the present application is not limited thereto, and any changes or replacements within the technical scope disclosed in the embodiment of the present application should be included in the protection scope of the embodiment of the present application. Therefore, the protection scope of the embodiment of the present application should be based on the protection scope of the claims.

Claims

1. A method for controlling the exit of an intelligent lawn mower, characterized in that: The method comprises: Before the intelligent lawn mower drives from the base station into the target working area to perform the mowing task, a first point position and a second point position are determined; the first point position is any point position on the central axis of the base station within a first distance range from the base station, and the second point position is any point position within a preset area, and the first point position is located on the boundary of the preset area; Generate a target path based on the first point and the second point; The intelligent lawn mower travels from the base station to the first point, and after reaching the first point, travels from the first point to the second point based on the target path, so as to enter the target working area from the second point to perform the mowing task.

2. The method according to claim 1, characterized in that The first distance range is a range of 0.7-1.3 m from the base station.

3. The method according to claim 1, characterized in that The preset area is symmetrically arranged along the central axis and is a rectangular area with a second distance as a side length. The first point is the midpoint of the side length of the rectangular area close to the base station.

4. The method according to claim 3, characterized in that The second distance is 2 m.

5. The method according to claim 1, characterized in that Generating a target path based on the first point and the second point includes: A target path is generated using a Reeds-Shepp curve algorithm based on the position coordinates of the first point and the posture coordinates of the second point.

6. The method according to claim 5, characterized in that The posture coordinates include position coordinates and a posture angle, and the posture angle is an entry angle into the target working area.

7. The method according to claim 6, characterized in that The second point position is determined by the attitude angle, and the attitude angle is determined by the starting point information of the target working area.

8. The method according to claim 6, characterized in that The attitude angle is determined by a mowing path corresponding to the target working area and a point at which the intelligent lawn mower enters the mowing path, and the intelligent lawn mower performs a mowing task in the target working area based on the mowing path.

9. The method according to claim 6, characterized in that After the intelligent lawn mower reaches the second point, the method further includes: Determine the starting point information for entering the target working area; Determining the attitude angle based on the starting point information and the position coordinates of the second point; Based on the attitude angle, the starting point information and the position coordinates of the second point, a driving path from the second point to the target working area is generated.

10. The method according to claim 5, characterized in that Based on the position coordinates of the first point and the posture coordinates of the second point, a target path is generated using a Reeds-Shepp curve algorithm, including: Based on the position coordinates of the first point and the posture coordinates of the second point, generating an initial path using the Reeds-Shepp curve algorithm; When there is a first obstacle on the initial path, obtaining the position coordinates of the first obstacle; Based on the position coordinates of the first point, the posture coordinates of the second point and the position coordinates of the first obstacle, a target path is generated using the Reeds-Shepp curve algorithm.

11. The method according to claim 5, characterized in that In the process of traveling from the first point to the second point based on the target path so as to enter the target working area from the second point to perform the mowing task, the method further includes: When there is a second obstacle in the target path, obtaining a position where the smart lawn mower can identify the second obstacle and counting it as a third point, and the third point is a first preset distance from the second obstacle on the target path; Based on the third point, a first path is generated.

12. The method according to claim 11, characterized in that Based on the third point, generating a first path includes: Based on the position coordinates of the third point, a first path from the third point to the target working area is generated, and the third point is regarded as the end point of the target path.

13. The method according to claim 11, characterized in that Based on the third point, generating a first path includes: Determine a fourth point, where the fourth point is any point in the preset area; Based on the posture coordinates of the third point and the fourth point, generating a second path using the Reeds-Shepp curve algorithm; Travel from the third point to the fourth point based on the second path, wherein, in determining the process of traveling from the third point to the fourth point, while avoiding the second obstacle, a first path from the fourth point to the target working area is generated based on the fourth point.

14. The method according to claim 13, characterized in that Based on the third point, generating a first path includes: In the process of traveling from the third point to the fourth point based on the second path, if the second obstacle is recognized again, a fifth point and a sixth point are determined, wherein the fifth point is a position where the second obstacle can be recognized on the second path, and the fifth point is a second preset distance from the second obstacle, and the sixth point is any point within the preset area; Based on the posture coordinates of the fifth point and the sixth point, a third path is generated by using the Reeds-Shepp curve algorithm; Traveling from the fifth point to the sixth point based on the third path; Among them, when it is determined that the second obstacle cannot be avoided in the process of traveling from the fifth point to the sixth point, a path is generated again based on any point position in the preset area and the point where the second obstacle is identified on the third path. When it is determined that the number of times the path is generated is greater than a preset threshold, the point where the second obstacle is identified for the last time is regarded as the termination point, and a path from the termination point to the target working area is generated.

15. The method according to claim 1, characterized in that Traveling from the first point to the second point based on the target path includes: In the process of the intelligent lawn mower traveling from the first point to the second point based on the target path, identifying a second obstacle; When the second obstacle is identified, the smart lawn mower avoids the second obstacle; After avoiding the second obstacle, determining the current position of the intelligent lawn mower; A fourth path is determined based on the current position and the second point, and travel is performed from the current position to the second point based on the fourth path.

16. The method according to claim 1, characterized in that Traveling from the first point to the second point based on the target path includes: In the process of the intelligent lawn mower traveling from the first point to the second point based on the target path, identifying a second obstacle; When the second obstacle is identified, the smart lawn mower avoids the second obstacle; After avoiding the second obstacle, the intelligent lawn mower continues to move to the second point based on the target path.

17. An intelligent lawn mower exit control device, characterized in that: The device comprises: A determination module, used for determining a first point position and a second point position before the intelligent lawn mower drives from the base station into the target working area to perform a mowing task; the first point position is any point position on the central axis of the base station within a first distance range from the base station, and the second point position is any point position within a preset area, and the first point position is located on the boundary of the preset area; A generating module, configured to generate a target path based on the first point and the second point; The control module is used to control the intelligent lawn mower to move from the base station to the first point, and after reaching the first point, control the intelligent lawn mower to move from the first point to the second point based on the target path, so as to drive from the second point into the target working area to perform the mowing task.

18. An electronic device, characterized in that: include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory to implement the method according to any one of claims 1 to 16.

19. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, they are used to implement the method according to any one of claims 1 to 16.

20. A computer program product, characterized in that The invention comprises a computer program, which, when executed by a processor, implements the method according to any one of claims 1 to 16.

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