Control method of mowing robot and mowing robot

Abstract

The invention discloses a control method of a mowing robot and the mowing robot, and relates to the technical field of intelligent mowing. Before the mowing robot mows the target area, first image information, collected by the first optical sensor, of the target area is obtained; after the mowing robot mows the target area, second image information, collected by the second optical sensor, of the target area is obtained. And then, according to the first image information and the second image information, judging whether the target area needs to be subjected to supplementary cutting, if yes, determining a supplementary cutting strategy of the mowing robot, and finally, according to the supplementary cutting strategy, controlling the mowing robot to carry out supplementary cutting on the target area. Therefore, the image information of the lawn is collected in real time through the optical sensor, so that the mowing condition of the target area is determined, whether supplementary mowing needs to be conducted on the target area or not is determined in real time, the mowing robot is controlled to conduct supplementary mowing according to the preset mowing strategy, and the mowing efficiency and the mowing effect are effectively improved.

Description

Technical Field

[0001] The present application relates to the technical field of intelligent lawn mowing, and particularly to a control method for a lawn mowing robot and the lawn mowing robot. Background Art

[0002] The intelligent lawn mowing robot integrates technologies such as motion perception control, map positioning, and path planning, and has the advantages of high automation, higher safety, and can effectively reduce costs such as manpower and time. With the continuous development of technology and economy, the intelligent lawn mowing robot has gradually replaced traditional lawn mowing instruments and become a common tool for maintaining family courtyards and commercial lawns.

[0003] However, in order to mow the lawn comprehensively, the intelligent robot in the related technology usually adopts a random path planning method to mow the lawn without lawn status feedback. As a result, the lawn mowing robot will move back and forth in different directions on the same piece of grass multiple times, thereby reducing the mowing efficiency and mowing effect. Summary of the Invention

[0004] The present application aims to at least solve one of the technical problems existing in the prior art. To this end, the embodiments of the present application provide a control method for a lawn mowing robot and the lawn mowing robot, which can sense the real-time mowing status of the lawn and control the lawn mowing robot to perform supplementary mowing according to the corresponding mowing strategy, and can effectively improve the mowing efficiency and mowing effect.

[0005] In a first aspect, the embodiments of the present application provide a control method for a lawn mowing robot. The lawn mowing robot includes a first optical sensor and a second optical sensor that are oppositely arranged. The method includes:

[0006] Before the lawn mowing robot mows a target area, obtain first image information of the target area collected by the first optical sensor;

[0007] After the lawn mowing robot mows the target area, obtain second image information of the target area collected by the second optical sensor;

[0008] Judge whether it is necessary to perform supplementary mowing on the target area according to the first image information and the second image information;

[0009] If it is necessary to perform supplementary mowing on the target area, determine the supplementary mowing strategy of the lawn mowing robot for the target area;

[0010] Control the lawn mowing robot to perform supplementary mowing on the target area according to the supplementary mowing strategy.

[0011] In some embodiments of the present application, the method of obtaining the second image information of the target area collected by the second optical sensor after the mowing robot mows the target area includes:

[0012] After the mowing robot mows the target area, determine whether the mowing robot has moved a preset distance;

[0013] If the mowing robot has moved a preset distance, obtain the second image information of the target area collected by the second optical sensor;

[0014] Wherein, the preset distance is determined by the installation parameters of the first optical sensor, the installation parameters of the second optical sensor, and the body length of the mowing robot.

[0015] In some embodiments of the present application, before determining whether to perform supplementary mowing on the target area according to the first image information and the second image information, the method includes:

[0016] Determine whether the second image information has captured the image information of the target area;

[0017] If not, control the mowing robot to move and / or rotate, and use the second optical sensor to collect the image information of the target area.

[0018] In some embodiments of the present application, the method of determining whether to perform supplementary mowing on the target area according to the first image information and the second image information includes:

[0019] Obtain the first lawn attribute in the target area according to the first image information;

[0020] Obtain the second lawn attribute in the target area according to the second image information;

[0021] Obtain the mowing condition of the target area according to the first lawn attribute and the second lawn attribute, and determine whether to perform supplementary mowing on the target area according to the mowing condition; wherein, the lawn attribute includes the height of the lawn or the optical parameters of the lawn.

[0022] In some embodiments of the present application, the method of determining the supplementary mowing strategy of the mowing robot for the target area includes:

[0023] Obtain the working mode of the mowing robot;

[0024] Determine the supplementary mowing strategy of the mowing robot for the target area according to the working mode of the mowing robot.

[0025] In some embodiments of the present application, the method for determining the mowing strategy of the mowing robot for the target area according to the working mode of the mowing robot includes:

[0026] Obtain the current working mode of the mowing robot;

[0027] Generate at least one re-mowing area according to the area with poor mowing conditions in the target area;

[0028] Select the next working mode as the target working mode according to the current working mode, and perform re-mowing on the re-mowing area in the target working mode.

[0029] In some embodiments of the present application, the working modes of the mowing robot are successively: edge mowing mode, area mowing mode, and breakpoint continuation mowing mode; the re-mowing areas include edge re-mowing areas and internal re-mowing areas; the method for performing re-mowing on the re-mowing area in the target working mode includes:

[0030] If the target working mode is the area mowing mode, obtain the edge re-mowing area in the edge mowing mode, and perform re-mowing on the edge re-mowing area;

[0031] If the target working mode is the breakpoint continuation mowing mode, obtain the internal re-mowing area in the area mowing mode, generate a closed path to reach the charging station and traverse each internal re-mowing area according to the breakpoint position, the position of the internal re-mowing area, and the position of the charging station, and perform re-mowing on the internal re-mowing area.

[0032] In a second aspect, an embodiment of the present application further provides a mowing robot, including:

[0033] A mowing structure;

[0034] A first optical sensor for collecting first image information of the target area;

[0035] A second optical sensor for collecting second image information of the target area;

[0036] A processor, which is configured to receive the first image information and the second image information and control the mowing structure to mow the target area by using the control method of the mowing robot as described in the first aspect embodiment of the present application.

[0037] In some embodiments of the present application, the first optical sensor and the second optical sensor are arranged on the mowing robot front and back or left and right.

[0038] In some embodiments of the present application, the included angle between the first optical sensor or the second optical sensor and the horizontal plane where the mowing robot is located is between 10 degrees and 70 degrees.

[0039] In a third aspect, an embodiment of the present application further provides a computer-readable storage medium storing a program, which when executed by a processor implements the control method of the mowing robot as described in the first aspect embodiment of the present application.

[0040] The embodiments of the present application at least include the following beneficial effects:

[0041] The embodiments of the present application provide a control method for a mowing robot and the mowing robot. The mowing robot includes a first optical sensor and a second optical sensor arranged opposite to each other. In the control method, before the mowing robot mows a target area, first image information of the target area collected by the first optical sensor is obtained; after the mowing robot mows the target area, second image information of the target area collected by the second optical sensor is obtained. Then, it is determined whether re-mowing of the target area is required based on the first image information and the second image information. If re-mowing of the target area is required, a re-mowing strategy for the target area of the mowing robot is determined. Finally, the mowing robot is controlled to re-mow the target area according to the re-mowing strategy. Thus, by providing an optical sensor on the mowing robot, the image information of the lawn can be collected in real time to determine the mowing condition of the target area, so as to determine in real time whether the lawn in the target area needs to be re-mowed, and the mowing robot is controlled to perform re-mowing according to a preset mowing strategy, effectively improving the mowing efficiency and mowing effect.

[0042] The additional aspects and advantages of the present application will be partly given in the following description, partly will become obvious from the following description, or will be understood through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The above and / or additional aspects and advantages of the present application will become obvious and easy to understand from the description of the embodiments in conjunction with the following drawings, where:

[0044] Figure 1 is a schematic diagram of a mowing robot provided by an embodiment of the present application;

[0045] Figure 2 is a schematic diagram of a mowing robot provided by another embodiment of the present application;

[0046] Figure 3 is a flowchart of the control method of the mowing robot provided by an embodiment of the present application;

[0047] Figure 4 is Figure 3 a flowchart of step S103 in

[0048] Figure 5 is Figure 3 Another process schematic diagram of step S103 in

[0049] Figure 6 is the process schematic diagram of the control method of the lawn mowing robot provided by another embodiment of the present application;

[0050] Figure 7 is Figure 6 The process schematic diagram of step S403 in

[0051] Figure 8 is the schematic diagram of the edge supplementary mowing area provided by an embodiment of the present application;

[0052] Figure 9 is the schematic diagram of the first mowing path provided by an embodiment of the present application;

[0053] Figure 10 is the schematic diagram of the internal supplementary mowing area provided by an embodiment of the present application;

[0054] Figure 11 is Figure 7 The process schematic diagram of step S502 in

[0055] Figure 12 is the schematic diagram of the closed path provided by an embodiment of the present application;

[0056] Figure 13 is the schematic diagram of the internal supplementary mowing area mowing provided by an embodiment of the present application;

[0057] Figure 14 is Figure 1 The process schematic diagram of step S105 in

[0058] Figure 15 is Figure 14 The process schematic diagram of step S702 in

[0059] Figure 16 is the schematic diagram of the second mowing path provided by an embodiment of the present application;

[0060] Figure 17 is Figure 14 Another process schematic diagram of step S702 in

[0061] Figure 18 is the schematic diagram of the second mowing path provided by another embodiment of the present application;

[0062] Figure 19 is Figure 14 Another process schematic diagram of step S702 in

[0063] Figure 20 It is a schematic diagram of a second mowing path provided by another embodiment of the present application.

[0064] Reference numerals: mowing robot 1000, first optical sensor 1001, second optical sensor 1002. Detailed implementation manners

[0065] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0066] The embodiments of the present application will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals indicate the same or similar elements or elements with the same or similar functions from beginning to end. The embodiments described below by referring to the accompanying drawings are exemplary and are only used to explain the present application and cannot be understood as a limitation to the present application.

[0067] In the description of the present application, it should be understood that the orientation or positional relationship indicated by terms such as up, down, front, back, left, right, etc. is based on the orientation or positional relationship shown in the accompanying drawings. This is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present application.

[0068] In the description of the present application, the meaning of "a number of" is one or more, the meaning of "a plurality of" is two or more, and understandings such as "greater than", "less than", "exceeding", etc. do not include the present number, and understandings such as "above", "below", "within", etc. include the present number. If there is a description of "first" and "second", it is only for the purpose of distinguishing technical features and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or implicitly indicating the sequence relationship of the indicated technical features.

[0069] In the description of the present application, unless otherwise clearly defined, terms such as "set", "installed", "connected", etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present application in combination with the specific content of the technical solution.

[0070] Intelligent lawn mowing robots integrate technologies such as motion perception control, map positioning, and path planning, and have the advantages of high automation, greater safety, and can effectively reduce costs such as labor and time. With the continuous development of technology and the economy, intelligent lawn mowing robots are gradually replacing traditional lawn mowing equipment and becoming a common tool for maintaining family gardens and commercial lawns. Current intelligent lawn mowing robots usually judge whether a region is a lawn based on color features and fuzzy texture features when mowing the lawn, and it is difficult to identify the lawn based on the characteristics of the grass. Therefore, some lichens, mosses, etc. with colors similar to those of the lawn are easily misidentified as lawns by the lawn mowing robot. When the lawn mowing robot mows the lawn according to the pre-planned path, due to the complexity of the lawn environment, the lawn mowing robot may miss some areas of the lawn due to obstacles or slipping. For example, the lawn mowing robot slips during the mowing process, resulting in some areas being missed; or it encounters obstacles during the mowing process, resulting in some areas being missed, etc.

[0071] In order to mow the lawn comprehensively, in the related art, without feedback on the lawn status, the lawn mowing robot usually first adopts a random path planning method, and then cooperates with a long-term or even continuous working method to ensure complete coverage of the entire lawn. This results in the lawn mowing robot moving back and forth in different directions multiple times on the same piece of grass, thereby reducing the mowing efficiency and mowing effect.

[0072] Based on this, the embodiments of the present application provide a control method for a lawn mowing robot and a lawn mowing robot. Before the lawn mowing robot mows a target area, the first image information of the target area collected by the first optical sensor is obtained. After the lawn mowing robot mows the target area, the second image information of the target area collected by the second optical sensor is obtained. Then, it is judged whether the target area needs to be re-mowed according to the first image information and the second image information. If the target area needs to be re-mowed, the re-mowing strategy for the target area of the lawn mowing robot is determined. Finally, the lawn mowing robot is controlled to re-mow the target area according to the re-mowing strategy. Thus, by setting an optical sensor on the lawn mowing robot, the image information of the lawn can be collected in real time to determine the mowing status of the target area, thereby determining in real time whether the lawn in the target area needs to be re-mowed, and controlling the lawn mowing robot to re-mow according to the preset mowing strategy, effectively improving the mowing efficiency and mowing effect.

[0073] The embodiments of the present application provide a control method for a lawn mowing robot and a lawn mowing robot, which will be specifically described through the following embodiments. First, the lawn mowing robot in the embodiments of the present application is described.

[0074] Refer to Figure 1 and Figure 2Schematic diagram of a lawn mowing robot shown. The lawn mowing robot 1000 includes a first optical sensor 1001 and a second optical sensor 1002 which are oppositely arranged. Specifically, the first optical sensor 1001 and the second optical sensor 1002 can be installed front and back on the lawn mowing robot 1000. As Figure 1 shown, the first optical sensor 1001 is installed on the front side of the lawn mowing robot 1000, and the installation direction forms an angle θ1 with the horizontal plane where the lawn mowing robot 1000 is located; the second optical sensor 1002 is installed on the rear side of the lawn mowing robot 1000, and the installation direction forms an angle θ2 with the horizontal plane where the lawn mowing robot 1000 is located. θ1 and θ2 are within the range of [10, 70] degrees. For example, θ1 = θ2 = 30°. Thus, installing the optical sensors front and back can be used to identify the image information of the lawn in front of and behind the lawn mowing robot 1000.

[0075] In some embodiments, the first optical sensor 1001 and the second optical sensor 1002 can also be installed left and right on the lawn mowing robot 1000. As Figure 2 shown, the first optical sensor 1001 is installed on the left (or right) side of the lawn mowing robot 1000, and the installation direction forms an angle θ3 with the horizontal plane where the lawn mowing robot 1000 is located; the second optical sensor 1002 is installed on the right (or left) side of the lawn mowing robot 1000, and the installation direction forms an angle θ4 with the horizontal plane where the lawn mowing robot 1000 is located. θ3 and θ4 are within the range of [10, 70] degrees. For example, θ3 = θ4 = 35°. Thus, installing the optical sensors left and right can be used to identify the image information of the lawn on the left and right sides of the lawn mowing robot 1000, and this embodiment does not limit this.

[0076] It can be understood that the lawn mowing robot 1000 further includes a mowing structure (not shown in the figure) and a processor (not shown in the figure). The processor is configured to receive the first image information and the second image information and control the mowing structure to mow the target area by using the control method of the lawn mowing robot.

[0077] Next, the control method of the lawn mowing robot in the embodiments of the present application will be described.

[0078] Referring to Figure 3 shown, a control method of a lawn mowing robot provided by an embodiment of the present application may include but is not limited to the following steps S101 to step S105.

[0079] Step S101, before the lawn mowing robot 1000 mows the target area, obtain the first image information of the target area collected by the first optical sensor 1001.

[0080] The target area is the area that can be sensed by the first optical sensor 1001 in front of or on the side of the lawn mowing robot 1000. The target area can be an uncut area or an area that needs to be mowed again. When the lawn mowing robot mows the target area, the traveling speed of the lawn mowing robot 1000 is proportional to the frequency of the first optical sensor 1001 collecting the first image information.

[0081] In some embodiments, the first optical sensor 1001 can be an image sensor such as a multispectral sensor or a binocular camera. In one of the embodiments, a first fill light can also be provided on the lawn mowing robot 1000. The first fill light is arranged near the first optical sensor 1001. When the lawn mowing robot 1000 moves to an environment with weak light, the first fill light can be turned on to improve the imaging quality of the first image information.

[0082] In some embodiments, when the first optical sensor 1001 is a multispectral sensor, the first image information is the first multispectral information. Before the lawn mowing robot 1000 mows the target area, the emission module of the multispectral sensor emits multiple light beams with different wavelengths (preferably near-infrared light and red light), and the reception module of the multispectral sensor receives the first multispectral information formed by the multiple light beams reflected by the target area.

[0083] In some embodiments, when the first optical sensor 1001 is a binocular camera, before the lawn mowing robot 1000 mows the target area, the two cameras of the binocular camera are used to simultaneously capture images of the target area (i.e., the target area appears in the overlapping field of view of the two cameras). When the target area does not appear in the overlapping field of view of the two cameras, at this time, the robot needs to be controlled to rotate left and right to adjust the pose of the lawn mowing robot 1000 so that the target area appears in the overlapping field of view of the two cameras.

[0084] In some embodiments, before the lawn mowing robot 1000 mows the target area in the front-back direction, the first image information of the target area collected by the first optical sensor 1001 arranged in the front is obtained. Thus, the true lawn area can be accurately identified according to the characteristics of the grass, effectively reducing the error rate of identifying lichen, artificial grass, moss, etc. as the lawn, and thus reducing the phenomenon of missed mowing by the lawn mowing robot 1000.

[0085] Step S102, after the lawn mowing robot 1000 mows the target area, obtain the second image information of the target area collected by the second optical sensor 1002.

[0086] In some embodiments, the second optical sensor 1002 can also be a vision sensor such as a multispectral sensor or a binocular camera. The type of the second optical sensor 1002 can be the same as or different from that of the first optical sensor 1001. In one of the embodiments, both the first optical sensor 1001 and the second optical sensor 1002 are multispectral sensors or binocular cameras. At this time, the way for the second optical sensor 1002 to collect the second image information is the same as that of the first optical sensor 1001. In another embodiment, the first optical sensor 1001 is a multispectral sensor and the second optical sensor 1002 is a binocular camera. At this time, the way for the second optical sensor 1002 to collect the second image information is the same as that of the above-mentioned binocular camera for collecting images, which will not be elaborated here.

[0087] In one of the embodiments, a second fill light can also be provided on the mowing robot 1000. The second fill light is arranged near the second optical sensor 1001. When the mowing robot 1000 moves to an environment with weak light, the second fill light can be turned on to improve the imaging quality of the second image information.

[0088] In some embodiments, after the mowing robot 1000 mows the target area, it is determined whether the mowing robot 1000 has moved a preset distance. If the mowing robot 1000 has moved the preset distance, the second image information of the target area collected by the second optical sensor 1002 is obtained. It can be understood that when the mowing robot 1000 mows the target area in the front-back direction, the first optical sensor 1001 obtains the image information before mowing. Only when the mowing robot 1000 has moved the preset distance can the image information after mowing of the same area be obtained through the second optical sensor 1002. Thus, it is ensured that the corresponding image information can be collected before and after the mowing robot 1000 mows the target area, which helps to determine the mowing effect of the target area so as to further adjust or plan the mowing strategy of the mowing robot 1000.

[0089] In some embodiments, determining whether the mowing robot 1000 has moved a preset distance can be achieved by recording the trajectory and position of the mowing robot 1000 during mowing. For example, the coordinate information of each point is recorded inside the control system of the mowing robot 1000, and then it is determined whether the robot has moved the preset distance based on this coordinate information. Specifically, the preset distance can be determined by the installation parameters of the first optical sensor 1001, the installation parameters of the second optical sensor 1002, and the body length of the mowing robot 1000. Among them, the installation parameters can be the installation height and / or the installation angle. At the same time, the body length of the mowing robot 1000 also affects the setting of the preset distance. If the body is longer, then during the movement of the robot, the actual distance change between the two optical sensors will be greater. Exemplarily, the body length of the mowing robot 1000 is 0.5 m. When the robot moves forward 0.5 m, the actual distance between the first optical sensor 1001 and the second optical sensor 1002 will increase by 0.5 m. Therefore, in order to ensure that both optical sensors can collect the image information of the target area before and after mowing, the preset distance needs to be set to at least 0.5 m or longer. The preset distance can also be set by those skilled in the art according to actual needs, and this embodiment does not limit it.

[0090] In some embodiments, after obtaining the second image information collected by the second optical sensor 1002, it is further determined whether the second image information has collected the image information of the target area, whereby it is possible to ensure accurate acquisition of relevant information of the same target area before and after mowing. Since when the mowing robot 1000 slips or enters an uneven area, the positioning of the mowing robot is deviated, therefore, after the mowing robot 1000 has moved the preset distance, the second optical sensor 1002 still cannot collect the second image information of the target area. At this time, it is necessary to control the mowing robot 1000 to move and / or rotate, and use the second optical sensor 1002 to collect the image information of the target area again. Even in various different harsh environments, such as when the ground is uneven or slippery, the mowing robot 1000 can timely judge and make corresponding adjustments to adapt to different environments, effectively improving the adaptability of the mowing robot 1000 and the accuracy and efficiency of obtaining information of the same area before and after mowing.

[0091] In one embodiment, if the image information collected by the second optical sensor indicates that this area has not been mowed yet, the mowing robot 1000 is controlled to retreat to the position where the second optical sensor can just detect the target area, and the image information of the target area is collected again by using the second optical sensor 1002; if the image information collected by the second optical sensor indicates that this area has been mowed and the second optical sensor still fails to detect the target area, the robot is controlled to move forward and the image information of the target area is collected again by using the second optical sensor 1002. In another embodiment, the mowing robot can also be controlled to perform a rotation action with the center of the axle as the rotation center, and the image information of the target area is collected again by using the second optical sensor 1002. If the image information of the target area still cannot be collected by the above method, this target is marked as an unmowed position for subsequent mowing. Since the first image information is the image information before mowing and the second image information is the image information after mowing, the chlorophyll content represented by the second image information is less than the chlorophyll content represented by the first image information.

[0092] Step S103, determine whether it is necessary to mow the target area again according to the first image information and the second image information.

[0093] In some embodiments, the first lawn attribute in the target area is obtained according to the first image information, and then the second lawn attribute in the target area is obtained according to the second image information. Then, the mowing condition of the target area is obtained according to the first lawn attribute and the second lawn attribute, so as to determine whether it is necessary to mow the target area again according to the mowing condition.

[0094] In some embodiments, the lawn attribute includes the height of the lawn, the optical parameters of the lawn, the NDVI (Normalized Difference Vegetation Index) index of the lawn, or other indicators characterizing chlorophyll information.

[0095] Refer to Figure 4 As shown, in some embodiments of the present application, the method for determining whether it is necessary to mow the target area again according to the first image information and the second image information in the above step S103 may specifically include, but is not limited to, the following steps S201 to S204. Calculate the mowing index according to the lawn attributes obtained from the image information, so as to accurately identify the lawn area and the real-time mowing state according to the characteristics of the grass, and effectively reduce the error rate of identifying lichens, mosses, etc. as lawns. By sorting the mowing indexes of different areas and comparing them, the mowing effect of the current area is obtained, so as to accurately identify the area with poor mowing effect.

[0096] Step S201, calculate the chlorophyll content in the target area based on the first image information to obtain the first lawn attribute, and calculate the chlorophyll content in the target area based on the second image information to obtain the second lawn attribute.

[0097] It can be understood that the image information contains the reflectance of the infrared band and the near-infrared band in the lawn, and the NDVI index is an index calculated from the difference in reflectance between the red band and the near-infrared band. Specifically, its formula is: NDVI = (near-infrared band reflectance - red band reflectance) / (near-infrared band reflectance + red band reflectance). Thus, by calculating the NDVI index of each pixel, information representing the chlorophyll content of that pixel can be obtained.

[0098] In some embodiments, calculate the NDVI index of each pixel in the target area according to the first image information, and then perform a summation operation on each NDVI index to obtain the chlorophyll content Q1 of the target area. Thus, Q1 is used as the first lawn attribute. Similarly, calculate the chlorophyll content Q2 in the target area according to the second image information to obtain the second lawn attribute. Those skilled in the art can set other indicators representing chlorophyll information or optical parameters of the lawn as lawn information according to actual needs, and this embodiment does not limit this.

[0099] Step S202, divide the second lawn attribute by the first lawn attribute to obtain the mowing index at the current moment.

[0100] In some embodiments, the first lawn attribute is the chlorophyll content Q1 before mowing, and the second lawn attribute is the chlorophyll content Q2 after mowing. Specifically, divide the second lawn attribute Q2 by the first lawn attribute Q1 to obtain the mowing index R at the current moment, that is, R = Q2 / Q1.

[0101] Step S203, based on the preset number of mowing indices before the current moment and the mowing index at the current moment, form an index list, and sort the index list to generate the sorting position of the mowing index at the current moment.

[0102] In some embodiments, obtain the preset number of mowing indices before the current moment, for example, obtain the nearest n - 1 mowing indices, and form an index list with the mowing index R at the current moment. That is, there are a total of n mowing indices in the index list, and then sort the n mowing indices in the index list in ascending order to generate the sorting position of the mowing index at the current moment. It can be understood that the index list maintains the n latest mowing indices, and this embodiment does not limit this.

[0103] Step S204, if the sorting position is less than the first preset value, determine that the mowing condition of the target area is poor.

[0104] In some embodiments, if the sorting position of the mowing index R at the current moment is less than the first preset value, for example, R is not in the top 30% of the sorted index list, or R is not in the top 50% of the sorted index list, it is determined that the mowing condition of the target area is poor, and the mowing robot 1000 needs to be controlled to perform supplementary mowing on this. Otherwise, it is determined that the mowing condition of the target area meets the standard, and this embodiment does not limit this.

[0105] Thus, the mowing index can be determined according to the lawn attributes obtained from the image information, and the lawn area and the real-time mowing state can be accurately identified according to the characteristics of the grass, effectively reducing the error rate of identifying lichens, mosses, etc. as lawns, and determining the areas with poor mowing conditions in real time, effectively improving the mowing effect and mowing efficiency.

[0106] Refer to Figure 5 As shown, in some embodiments of the present application, the method for determining whether to perform supplementary mowing on the target area according to the first image information and the second image information in the above step S103 may specifically include, but is not limited to, the following steps S301 to S303. Using the first lawn attribute to represent the state of the un-mowed area in the target area, and the second lawn attribute to represent the state of the mowed area in the target area, the mowing effect of the lawn in the target area can be accurately determined in real time by calculating the two lawn attributes. Set preset values corresponding to different lawn heights, which can avoid the damage to the lawn caused by over-mowing while ensuring the mowing effect, help protect the ecological environment of the lawn, and improve the service life of the lawn.

[0107] Step S301, calculate the chlorophyll content in the target area according to the first image information to obtain the first lawn attribute, and calculate the chlorophyll content in the target area according to the second image information to obtain the second lawn attribute.

[0108] In some embodiments, calculate the NDVI index or other indicators representing chlorophyll information of each pixel point in the target area according to the first image information, and sum them to obtain the chlorophyll content Q1 before mowing as the first lawn attribute; calculate the NDVI index or other indicators representing chlorophyll information of each pixel point in the target area according to the second image information, and sum them to obtain the chlorophyll content Q2 after mowing as the first lawn attribute.

[0109] Step S302, take the absolute value of subtracting the first lawn attribute from the second lawn attribute as the mowing index at the current moment.

[0110] In some embodiments, take the absolute value of subtracting the first lawn attribute Q1 before mowing from the second lawn attribute Q2 after mowing as the mowing index R at the current moment, that is, R = |Q2 - Q1|.

[0111] Step S303, if the mowing index is less than the second preset value, it is determined that the mowing condition of the target area is poor.

[0112] In some embodiments, the second preset value is set according to the difference between the mowing height at the current moment and the target mowing height. Specifically, the mowing height at the current moment is the height before mowing, and the target mowing height is the height after mowing. Subtracting the target mowing height from the mowing height at the current moment gives the actual mowing height. If the actual mowing height is 1 cm, the second preset value is set to 5%; if the actual mowing height is 2 cm, the second preset value is set to 15%; if the actual mowing height is 3 cm, the second preset value is set to 25%, and so on. This embodiment does not limit this.

[0113] Exemplarily, if the actual mowing height is 2 cm and the mowing index R is 10% which is less than the second preset value of 15%, it is determined that the mowing condition of the target area is poor, and the mowing robot 1000 needs to be controlled to perform supplementary mowing on this. Otherwise, it is determined that the mowing condition of the target area meets the standard. This embodiment does not limit this.

[0114] Since the first lawn attribute represents the state of the un-mowed area in the target area and the second lawn attribute represents the state of the mowed area in the target area, it is possible to determine whether the mowing condition of the lawn in the target area is poor by calculating the two lawn attributes. This embodiment does not limit this.

[0115] Step S104, if supplementary mowing of the target area is required, determine the supplementary mowing strategy of the mowing robot 1000 for the target area.

[0116] In some embodiments, if the mowing condition of the lawn in the target area is poor, then the corresponding lawn area is determined as the supplementary mowing area, and the mowing robot 1000 needs to perform supplementary mowing on it. Specifically, obtain the working mode of the mowing robot 1000, and then determine the supplementary mowing strategy of the mowing robot 1000 for the target area according to the working mode of the mowing robot 1000. By understanding the working mode of the mowing robot 1000, its mowing behavior, such as the mowing path, etc., can be better understood. In order to formulate a more appropriate supplementary mowing strategy to optimize the mowing effect and efficiency. At the same time, different working modes and supplementary mowing strategies can help the mowing robot 1000 better adapt to various environments and conditions, avoid damage caused by overuse or improper use, and help extend the service life of the mowing robot. In addition, through a reasonable supplementary mowing strategy, unnecessary mowing times and trips can be reduced, thereby saving energy and maintenance costs, and also avoiding lawn damage or excessive growth caused by long-term non-mowing, thereby protecting the ecological environment and service life of the lawn.

[0117] In some embodiments, the working modes of the lawn mowing robot 1000 may include an edge mowing mode, an area mowing mode, a breakpoint resuming mowing mode, etc. Specifically, in the edge mowing mode, the lawn mowing robot 1000 cuts the lawn near the area boundary of the target area, and at the same time controls the lawn mowing robot 1000 to travel along the area boundary by using image information or electromagnetic signals; in the area mowing mode, the lawn mowing robot 1000 cuts the lawn within the mowing area; in the breakpoint resuming mowing mode, when the lawn mowing robot 1000 needs to return to the charging station for charging during the area mowing mode, after the charging is completed, it continues to return to the breakpoint position to continue mowing the target area. Among them, the corresponding re-mowing strategies are different for different working modes, and this embodiment does not limit this.

[0118] Step S105, control the lawn mowing robot 1000 to perform re-mowing on the target area according to the re-mowing strategy.

[0119] In some embodiments, controlling the lawn mowing robot 1000 to perform re-mowing on the target area according to the re-mowing strategy avoids the lawn mowing robot 1000 from repeatedly moving back and forth in different directions on the same piece of grass by using a random path planning method. It only needs to determine whether the lawn needs to be re-mowed according to the real-time mowing situation, and control the lawn mowing robot 1000 to perform re-mowing on a specific re-mowing area according to the preset mowing strategy, effectively improving the mowing efficiency and mowing effect.

[0120] Before the lawn mowing robot 1000 mows the target area, obtain the first image information of the target area collected by the first optical sensor 1001. After the lawn mowing robot 1000 mows the target area, obtain the second image information of the target area collected by the second optical sensor 1002. Thus, it is ensured that the corresponding image information can be collected before and after the lawn mowing robot 1000 mows the target area. Then, judge whether the target area needs to be re-mowed according to the first image information and the second image information. If the target area needs to be re-mowed, determine the re-mowing strategy for the target area of the lawn mowing robot. Calculate the mowing index according to the lawn attributes obtained from the image information, so as to accurately identify the lawn area and the real-time mowing state according to the characteristics of the grass, effectively reducing the error rate of identifying lichens, mosses, etc. as lawns. Finally, control the lawn mowing robot to perform re-mowing on the target area according to the re-mowing strategy. Thus, by setting an optical sensor on the lawn mowing robot, the image information of the lawn can be collected in real time to determine the mowing situation of the target area, so as to determine in real time whether the lawn of the target area needs to be re-mowed, and control the lawn mowing robot to perform re-mowing according to the preset mowing strategy, effectively improving the mowing efficiency and mowing effect.

[0121] Refer to Figure 6As shown, in some embodiments of the present application, a method for determining a mowing supplement strategy for a target area by a mowing robot may specifically include, but is not limited to, the following steps S401 to S403.

[0122] Step S401, obtain the current working mode of the mowing robot 1000.

[0123] In some embodiments, the working modes of the mowing robot 1000 are, in sequence, an edge mowing mode, an area mowing mode, and a breakpoint continuation mowing mode. Specifically, in the edge mowing mode, the mowing robot 1000 cuts the lawn near the area boundary of the target area, and at the same time controls the mowing robot 1000 to travel along the area boundary using image information; in the area mowing mode, the mowing robot 1000 cuts the lawn within the mowing area; in the breakpoint continuation mowing mode, the mowing robot 1000 needs to return to the charging station to charge during the area mowing mode, and after charging is completed, it continues to return to the breakpoint position to continue mowing the target area. This embodiment does not limit this.

[0124] Step S402, generate at least one supplementary mowing area according to the area in the target area with poor mowing conditions.

[0125] In some embodiments, at least one supplementary mowing area is generated according to the area in the target area with poor mowing conditions. It can be understood that the target area is a large lawn. When the mowing robot 1000 mows the target area, it is possible that the mowing condition of a small area in the target area is poor, and then a supplementary mowing area is generated correspondingly.

[0126] Step S403, select the next working mode as the target working mode according to the current working mode, and perform supplementary mowing on the supplementary mowing area in the target working mode.

[0127] In some embodiments, the next working mode is selected as the target working mode according to the current working mode of the mowing robot 1000, and then supplementary mowing is performed on the supplementary mowing area in the target working mode. Specifically, if the current working mode of the mowing robot 1000 is the edge mowing mode, the target working mode is the area mowing mode. Therefore, the supplementary mowing area in the edge mowing mode will be mowed in the area mowing mode. Another example is that if the current working mode of the mowing robot 1000 is the area mowing mode, the target working mode is the breakpoint continuation mowing mode. Therefore, the supplementary mowing area in the area mowing mode will be mowed in the breakpoint continuation mowing mode. Thus, the mowing strategy of using the next working mode to mow the area with poor mowing effect in the previous working mode can effectively improve the mowing efficiency and mowing effect.

[0128] Refer to Figure 7As shown, in some embodiments of the present application, the supplementary mowing area includes an edge supplementary mowing area and an internal supplementary mowing area. The method of supplementary mowing the supplementary mowing area in the target working mode in step S403 may include, but is not limited to, the following steps S501 to S502. By identifying the areas with poor mowing effects in the previous mowing mode and performing supplementary mowing in the next mowing mode, the working time and energy of the mowing robot 1000 can be efficiently utilized, resource waste can be avoided, and repeated trampling of the lawn can also be avoided.

[0129] Step S501, if the target working mode is the area mowing mode, obtain the edge supplementary mowing area in the edge mowing mode, and perform supplementary mowing on the edge supplementary mowing area.

[0130] Exemplarily, referring to Figure 8 As shown in the schematic diagram of the edge supplementary mowing area, 1 is the charging station, 2 is the boundary line of the target area, 3 is the edge mowing path of the mowing robot 1000, and S1 and S2 are the edge supplementary mowing areas with poor mowing conditions in the edge mowing mode. In some embodiments, if the target working mode is the area mowing mode, obtain the edge supplementary mowing areas in the edge mowing mode, such as S1 and S2. Then, according to the boundary line 2 of the target area, generate a first mowing path located within the boundary line and passing through the edge supplementary mowing areas. Among them, the first mowing path includes row mowing paths and column mowing paths. The row mowing paths are arranged in parallel, and adjacent row mowing paths are connected by vertical column mowing paths.

[0131] Referring to Figure 9 As shown in the schematic diagram of the first mowing path, 6 is the starting point of the first mowing path, 4 is the first mowing path of the mowing robot 1000, and the target area is mowed column by column from the starting point 6 in the form of column mowing paths. 5 is the breakpoint position of the mowing robot 1000. Thus, in the area mowing mode, the areas with poor mowing conditions in the edge mowing mode are supplementary mowed. It can be understood that the target area can also be mowed row by row from the starting point in the form of row mowing paths, and this embodiment does not limit this.

[0132] Step S502, if the target working mode is the breakpoint continuation mowing mode, obtain the internal supplementary mowing area in the area mowing mode, and generate a closed path that charges the station and traverses each internal supplementary mowing area according to the breakpoint position, the position of the internal supplementary mowing area, and the position of the charging station, and perform supplementary mowing on the internal supplementary mowing area.

[0133] Exemplarily, referring to Figure 10Schematic diagram of the internal supplementary mowing area shown, where S3, S4, and S5 are internal supplementary mowing areas with poor mowing conditions in the area mowing mode. In some embodiments, if the target working mode is the breakpoint resumption mowing mode, the internal supplementary mowing areas in the area mowing mode are acquired, such as S3, S4, and S5. Then, according to the breakpoint position 5, the positions of the internal supplementary mowing areas, and the position of the charging station 1, a closed path that reaches the charging station 1 and passes through each internal supplementary mowing area is generated. Thereby, the mowing robot 1000 is controlled to perform supplementary mowing on the internal supplementary mowing areas according to the closed path.

[0134] Referring to Figure 11 As shown, in some embodiments of the present application, the method for generating a closed path for the charging station and traversing each internal supplementary mowing area in the above step S502 may specifically include, but is not limited to, the following steps S601 to S603. By performing path planning for supplementary mowing in the order from far to near according to the straight-line distance, row distance, or column distance, etc., between each internal supplementary mowing area and the charging station 1, it can be ensured that the mowing robot 1000 starts supplementary mowing from the area farthest from the charging station 1 during supplementary mowing, which can reduce the number and time of charging and improve the working efficiency of the mowing robot. And since the mowing robot 1000 always travels to each supplementary mowing area from far to near during the supplementary mowing path planning, energy can be more reasonably distributed during the supplementary mowing process.

[0135] Step S601, use the breakpoint position as the initial position.

[0136] In some embodiments, the breakpoint position 5 is used as the initial position of the mowing path. Starting from the initial position, path planning for the mowing robot 1000 is performed according to the positions of the internal supplementary mowing areas and the charging station.

[0137] Step S602, perform a closed path planning process, including: selecting an internal supplementary mowing area different from the initial position from multiple internal supplementary mowing areas as the first target area, and determining the first internal path connecting the initial position and the first target area; using the first target area as the initial position, and repeating the closed path planning process until all internal supplementary mowing areas are selected.

[0138] In some embodiments, when performing the closed path planning process, specifically, the closed path planning process includes: selecting an internal supplementary mowing area different from the initial position from multiple internal supplementary mowing areas as the first target area. It can be understood that the first target area is the internal supplementary mowing area with the shortest straight-line distance, row distance, or column distance from the initial position. Then, connect the initial position and the first target area to obtain the first internal path, and use the first target area as the initial position, repeating the above closed path planning process until all internal supplementary mowing areas are selected.

[0139] It can be understood that when there is only one internal supplementary mowing area, directly connecting the breakpoint position 5, the internal supplementary mowing area and the charging station completes the above-mentioned closed path planning process, and this embodiment does not limit this.

[0140] Step S603: Connect multiple first internal paths in sequence to obtain a second internal path, and then connect the second internal path, the charging station, and the breakpoint position in sequence to obtain a closed path.

[0141] In some embodiments, multiple first internal paths are connected in sequence to obtain a second internal path, and then the second internal path, the charging station 1, and the breakpoint position 5 are connected in sequence, and thus the closed path for the mowing robot 1000 to perform supplementary mowing on the internal supplementary mowing area can be obtained.

[0142] In some embodiments, if the mowing robot 1000 needs to return to the charging station for charging in the breakpoint resuming mowing mode, the closed path starts from the breakpoint position, plans the specific route of the internal supplementary mowing area and the charging point according to the straight-line distance, and finally returns to the breakpoint position to form a closed loop. Exemplarily, referring to Figure 12 the schematic diagram of the closed path shown, control the mowing robot 1000 to start from the breakpoint position 5, perform supplementary mowing on the internal supplementary mowing area S3 and the internal supplementary mowing area S4 in sequence, then go to the charging station 1 for charging, and perform supplementary mowing on the internal supplementary mowing area S5 during the process of returning to the breakpoint position 5 after charging is completed.

[0143] In some embodiments, if the mowing robot 1000 needs to return to the charging station for charging in the area mowing mode, the closed path starts from the breakpoint position, and connects the internal supplementary mowing areas in sequence according to the straight-line distance, row distance or column distance, and finally connects the charging station. Exemplarily, referring to Figure 13 the schematic diagram of supplementary mowing of the internal supplementary mowing area shown, Figure 13 (a) shows path planning according to the minimum straight-line distance between each point. The mowing robot 1000 first starts from the breakpoint position 5, performs supplementary mowing on S3, S4 and S5 in sequence, and then goes to the charging station 1 for charging. Figure 13 (b) shows path planning according to the minimum column distance between each point. The mowing robot 1000 first starts from the breakpoint position 5, performs supplementary mowing on S3, S5 and S4 in sequence, and then goes to the charging station 1 for charging. Figure 13 (c) shows path planning according to the minimum row distance between each point. The mowing robot 1000 first starts from the breakpoint position 5, performs supplementary mowing on S3, S4 and S5 in sequence, and then goes to the charging station 1 for charging. It can be understood that the charging station 1 can also be used as a reference point, and path planning for supplementary mowing can be performed according to the straight-line distance, row distance or column distance between each internal supplementary mowing area and the charging station 1 from far to near. This embodiment does not limit this.

[0144] Referring toFigure 14 As shown, in some embodiments of the present application, the method of controlling the lawn mowing robot to perform supplementary mowing on the target area according to the supplementary mowing strategy in step S105 may specifically include, but is not limited to, the following steps S701 to S702. After the lawn mowing robot completes mowing in various working modes, the areas with poor mowing effects are uniformly supplemented with mowing, so as to ensure that all areas are evenly mowed, avoid the situation that some areas are not mowed or mowed unevenly, and the unified mowing and then supplementary mowing can avoid repeated work, improve work efficiency, and reduce the probability of missed mowing.

[0145] Step S701, obtain at least one supplementary mowing area generated according to the areas with poor mowing conditions in the target area after the lawn mowing robot 1000 executes the area mowing mode.

[0146] In some embodiments, the working modes of the lawn mowing robot 1000 are successively the edge mowing mode and the area mowing mode. After the lawn mowing robot 1000 executes the edge mowing mode and then continues to execute the area mowing mode, by obtaining at least one supplementary mowing area generated according to the areas with poor mowing conditions in the target area after the lawn mowing robot 1000 executes the area mowing mode. It can be understood that the supplementary mowing areas include edge supplementary mowing areas and internal supplementary mowing areas.

[0147] Step S702, generate a second mowing path according to the positions of the edge supplementary mowing area and the internal supplementary mowing area, and control the lawn mowing robot 1000 to perform supplementary mowing on the supplementary mowing area according to the second mowing path.

[0148] In some embodiments, generate the second mowing path of the lawn mowing robot 1000 according to the positions of the edge supplementary mowing area and the internal supplementary mowing area, and then control the lawn mowing robot 1000 to perform supplementary mowing on the supplementary mowing area according to the second mowing path. It can be understood that the second supplementary mowing path passes through each edge supplementary mowing area and internal supplementary mowing area.

[0149] Refer to Figure 15 As shown, in some embodiments of the present application, the method of generating the second mowing path according to the positions of the edge supplementary mowing area and the internal supplementary mowing area in step S702 may specifically include, but is not limited to, the following steps S801 to S805. Control the lawn mowing robot 1000 to first perform supplementary mowing on each edge supplementary mowing area according to the second mowing path, and then perform supplementary mowing on each internal supplementary mowing area. Ensure that even in the case of insufficient power, the edge supplementary mowing area on the boundary line can be supplemented with mowing, ensure the supplementary mowing effect, and determine the power of the lawn mowing robot 1000 when it returns to charge according to the number and area of the supplementary mowing areas.

[0150] Step S801: Select, as the first starting point, the edge supplementary cutting area that is different from the breakpoint position and has the shortest distance among multiple edge supplementary cutting areas.

[0151] In some embodiments, the second mowing path starts from the breakpoint position, first performs supplementary cutting on the edge supplementary cutting area and then on the internal supplementary cutting area. Specifically, referring to Figure 16 the schematic diagram of the second mowing path shown in FIG. 5, first select, as the first starting point, the edge supplementary cutting area that is different from the breakpoint position 5 and has the shortest distance, that is, select the edge supplementary cutting area S2 in the figure as the first starting point.

[0152] Step S802: Starting from the first starting point, generate a first edge path that is located within the boundary line and passes through the edge supplementary cutting area according to the boundary line of the target area.

[0153] In some embodiments, starting from the first starting point, generate a first edge path that is located within the boundary line and passes through the edge supplementary cutting area according to the boundary line 2 of the target area and the along-edge mowing path 3. Specifically, the first edge path starts from the edge supplementary cutting area S2, travels along the boundary line 2 to the edge supplementary cutting area S1 for supplementary cutting. This embodiment is not limited thereto.

[0154] Step S803: Select, as the second starting point, the internal supplementary cutting area that is different from the end point of the first edge path and has the shortest distance among multiple internal supplementary cutting areas.

[0155] In some embodiments, select, as the second starting point, the internal supplementary cutting area that is different from the end point of the first edge path and has the shortest distance among multiple internal supplementary cutting areas. Exemplarily, as Figure 16 shown in FIG. 19, the internal supplementary cutting area S4 corresponds to the second starting point, and it has the shortest distance from the end point of the first edge path, that is, the edge supplementary cutting area S1.

[0156] Step S804: Starting from the second starting point, generate a third internal path for the internal supplementary cutting area according to the principle of the shortest distance to the internal supplementary cutting area.

[0157] In some embodiments, starting from the second starting point, generate a third internal path for the internal supplementary cutting area according to the principle of the shortest distance to the internal supplementary cutting area. Exemplarily, as Figure 16 shown in FIG. 27, starting from the internal supplementary cutting area S4, the third internal path sequentially passes through the internal supplementary cutting area S3 and the internal supplementary cutting area S5, so that the mowing robot 1000 performs supplementary cutting on them.

[0158] Step S805: Connect the breakpoint position, the first edge path, the third internal path, and the charging station in sequence to obtain the second mowing path.

[0159] In some embodiments, by connecting the breakpoint position 5, the first edge path, the third internal path, and the charging station 1 in sequence, the second mowing path can be obtained. Thereby, the mowing robot 1000 is controlled to mow the edge mowing areas first according to the second mowing path, and then mow the internal mowing areas. This ensures that even when the power is insufficient, the edge mowing areas on the boundary line can be mowed, and the power of the mowing robot 1000 when it returns for charging is determined according to the number and area of the mowing areas.

[0160] Referring to Figure 17 As shown, in some embodiments of the present application, the method for generating the second mowing path according to the positions of the edge mowing areas and the internal mowing areas in step S702 may specifically include, but is not limited to, the following steps S901 to S905. Controlling the mowing robot 1000 to mow each mowing area according to the "zigzag" mowing path can avoid mowing along the previous path, thereby effectively preventing overtrampling of the lawn.

[0161] Step S901: Select, as the third starting point, an edge mowing area that is different from the breakpoint position and has the shortest distance among multiple edge mowing areas.

[0162] In some embodiments, select, as the third starting point, an edge mowing area that is different from the breakpoint position and has the shortest distance among multiple edge mowing areas. Exemplarily, referring to Figure 18 the schematic diagram of the second mowing path shown, the third starting point is the edge mowing area S2, which has the shortest distance from the breakpoint position 5. This embodiment is not limited thereto.

[0163] Step S902: Starting from the third starting point, generate a second edge path that is located within the boundary line and passes through the edge mowing area according to the boundary line of the target area.

[0164] In some embodiments, starting from the third starting point, generate a second edge path that is located within the boundary line and passes through the edge mowing area according to the boundary line 2 and the along-edge mowing path 3 of the target area. Exemplarily, as Figure 18 shown, the second edge path starts from the edge mowing area S2 and travels along the boundary line 2 to the edge mowing area S1 for mowing.

[0165] Step S903: Based on the end point of the second edge path, select, as the fourth starting point, an internal mowing area that has the shortest vertical distance from the boundary line among multiple internal mowing areas.

[0166] In some embodiments, based on the end point of the second edge path, that is Figure 18In the edge supplementary cutting area S1, select the internal supplementary cutting area with the shortest vertical distance from the boundary line among multiple internal supplementary cutting areas as the fourth starting point. Specifically, the internal supplementary cutting area with the shortest vertical distance from the boundary line 2 is S3, then S5, and finally S4. Since S3 is in the opposite direction of the end point of the second edge path, S5 is selected as the fourth starting point, but this embodiment does not limit this.

[0167] Step S904, starting from the fourth starting point, generate the fourth internal path of the internal supplementary cutting area in a zigzag shape according to the principle of the shortest vertical distance from the boundary line.

[0168] In some embodiments, starting from the fourth starting point, according to the principle of the shortest vertical distance from the boundary line, that is, based on the boundary line, generate the fourth internal path passing through each internal supplementary cutting area in a zigzag shape from the outside to the inside.

[0169] Step S905, connect the breakpoint position, the second edge path, the fourth internal path, and the charging station in sequence to obtain the second mowing path.

[0170] In some embodiments, connect the breakpoint position 5, the second edge path, the fourth internal path, and the charging station 1 in sequence to obtain the second mowing path. Thus, controlling the mowing robot 1000 to perform supplementary mowing on each supplementary cutting area according to the mowing path can avoid mowing along the previous path, thereby effectively preventing over-trampling of the lawn.

[0171] Refer to Figure 19 As shown, in some embodiments of the present application, the method for generating the second mowing path according to the positions of the edge supplementary cutting area and the internal supplementary cutting area in the above step S702 may specifically include but is not limited to the following steps S1001 to S1003. Controlling the mowing robot 1000 to perform supplementary mowing on the supplementary cutting area according to the second mowing path in different directions. Since the lawn may fall in one direction during the first mowing, if mowing is still performed in the previous direction, it may still not be possible to cut, resulting in poor supplementary mowing effect. Utilizing the different directions of the second mowing path can effectively improve the mowing efficiency and mowing effect.

[0172] Step S1001, use the breakpoint position as the initial position.

[0173] In some embodiments, use the breakpoint position 5 as the initial position of the second mowing path. Starting from the initial position, perform path planning for the mowing robot 1000 according to the positions of each edge supplementary cutting area, internal supplementary cutting area, and the charging station.

[0174] Step S1002: Execute the second mowing path planning process, including: selecting a re-mowing area different from the initial position from multiple re-mowing areas as the second target area, and determining the first re-mowing path connecting the initial position and the second target area; taking the second target area as the initial position, and repeating the execution of the second mowing path planning process until all re-mowing areas are selected.

[0175] In some embodiments, when executing the second mowing path planning process, specifically, the second path planning process includes: selecting a re-mowing area different from the initial position from multiple re-mowing areas as the second target area. It can be understood that the second target area is the re-mowing area with the shortest straight-line distance, row distance, or column distance from the initial position. Then, connect the initial position and the second target area to obtain the first re-mowing path, and then take the second target area as the initial position, and repeat the above second mowing path planning process until all re-mowing areas are selected. It can be understood that the re-mowing areas include each edge re-mowing area and internal re-mowing area.

[0176] Step S1003: Connect multiple first re-mowing paths in sequence to obtain the second re-mowing path, and connect the breakpoint position, the second re-mowing path, and the charging station in sequence to obtain the second mowing path.

[0177] In some embodiments, connect multiple first re-mowing paths in sequence to obtain the second re-mowing path, and then connect the breakpoint position, the second re-mowing path, and the charging station 1 in sequence to obtain the second mowing path of the mowing robot 1000. Exemplarily, referring to Figure 20 the schematic diagram of the second mowing path shown in Figure 20 (a) The path is planned according to the minimum straight-line distance between each point. The mowing robot 1000 starts from the breakpoint position 5, re-mows S2, S3, S1, S4, and S5 in sequence, and then goes to the charging station 1 for charging. Figure 20 (b) The path is planned according to the minimum column distance between each point. The mowing robot 1000 starts from the breakpoint position 5, re-mows S2, S3, S5, S4, and S1 in sequence, and then goes to the charging station 1 for charging. Figure 20 (c) The path is planned according to the minimum row distance between each point. The mowing robot 1000 starts from the breakpoint position 5, re-mows S2, S3, S1, S4, and S5 in sequence, and then goes to the charging station 1 for charging.

[0178] It can be understood that the charging station 1 can also be used as a reference point, and the path planning for re-mowing can be carried out from far to near according to the straight-line distance, row distance, or column distance between each internal re-mowing area and the charging station 1; or the re-mowing can be carried out perpendicular or parallel to the regional mowing direction, and this embodiment does not limit this.

[0179] Thus, the lawn mowing robot 1000 is controlled to perform supplementary mowing on the supplementary mowing area according to the second mowing path. Since the lawn may fall in one direction during the first mowing, if the supplementary mowing is still carried out in the previous direction, it may still not be possible to mow. By having a different direction for the second mowing path, the mowing efficiency and mowing effect can be effectively improved.

[0180] The embodiment of the present application also provides a storage medium, which is a computer-readable storage medium. This storage medium stores a computer program, and when the computer program is executed by a processor, it implements the control method of the above-mentioned lawn mowing robot. As a non-transitory computer-readable storage medium, the memory can be used to store non-transitory software programs and non-transitory computer-executable programs. In addition, the memory may include a high-speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, a flash memory device, or other non-transitory solid-state storage devices. In some embodiments, the memory may optionally include a memory remotely set relative to the processor, and these remote memories can be connected to the processor through a network. Examples of the above-mentioned network include but are not limited to the Internet, an enterprise intranet, a local area network, a mobile communication network, and combinations thereof.

[0181] The control method of the lawn mowing robot and the lawn mowing robot provided by the embodiment of the present application. In the control method, before the lawn mowing robot mows the target area, the first image information of the target area collected by the first optical sensor is obtained; after the lawn mowing robot mows the target area, the second image information of the target area collected by the second optical sensor is obtained. Then, it is judged whether supplementary mowing of the target area is required according to the first image information and the second image information. If supplementary mowing of the target area is required, the supplementary mowing strategy for the target area of the lawn mowing robot is determined. Finally, the lawn mowing robot is controlled to perform supplementary mowing on the target area according to the supplementary mowing strategy. Thus, by setting an optical sensor on the lawn mowing robot, the image information of the lawn can be collected in real time to determine the mowing condition of the target area, so as to determine in real time whether the lawn in the target area needs to be supplementary mowed, and control the lawn mowing robot to perform supplementary mowing according to the preset mowing strategy, effectively improving the mowing efficiency and mowing effect.

[0182] The embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, that is, they may be located in one place, or may be distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0183] Those of ordinary skill in the art will understand that all or some of the steps and systems disclosed in the above methods can be implemented as software, firmware, hardware, and their appropriate combinations. Some physical components or all physical components can be implemented as software executed by a processor, such as a central processing unit, a digital signal processor, or a microprocessor, or implemented as hardware, or implemented as an integrated circuit, such as an application specific integrated circuit. Such software can be distributed on a computer-readable medium, which can include a computer storage medium (or non-transitory medium) and a communication medium (or transitory medium). As is well known to those of ordinary skill in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information, such as computer-readable instructions, data structures, program modules, or other data. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic storage devices storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer. In addition, it is well known to those of ordinary skill in the art that communication media typically includes computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transmission mechanism, and can include any information delivery medium.

[0184] It should also be understood that the various embodiments provided in the embodiments of the present application can be combined arbitrarily to achieve different technical effects. The above is a specific description of the preferred embodiments of the present application, but the present application is not limited to the above embodiments. Those skilled in the art can also make various equivalent deformations or substitutions without departing from the spirit of the present application.

Claims

1. A control method for a lawn mowing robot, characterized in that, the lawn mowing robot includes a first optical sensor and a second optical sensor which are oppositely arranged, and the method includes: before the lawn mowing robot mows a target area, acquiring first image information of the target area collected by the first optical sensor; after the lawn mowing robot mows the target area, acquiring second image information of the target area collected by the second optical sensor; judging whether the target area needs to be re-mowed according to the first image information and the second image information; if the target area needs to be re-mowed, determining a re-mowing strategy for the lawn mowing robot to the target area; controlling the lawn mowing robot to re-mow the target area according to the re-mowing strategy.

2. The control method for a lawn mowing robot according to claim 1, characterized in that, the method for acquiring the second image information of the target area collected by the second optical sensor after the lawn mowing robot mows the target area includes: after the lawn mowing robot mows the target area, judging whether the lawn mowing robot has moved a preset distance; if the lawn mowing robot has moved a preset distance, acquiring the second image information of the target area collected by the second optical sensor; wherein, the preset distance is determined by the installation parameters of the first optical sensor, the installation parameters of the second optical sensor, and the body length of the lawn mowing robot.

3. The control method for a lawn mowing robot according to claim 1, characterized in that, before judging whether the target area needs to be re-mowed according to the first image information and the second image information, the method includes: judging whether the second image information has acquired the image information of the target area; if not, controlling the lawn mowing robot to move and / or rotate, and acquiring the image information of the target area by using the second optical sensor.

4. The control method for a lawn mowing robot according to claim 1, characterized in that, the method for judging whether the target area needs to be re-mowed according to the first image information and the second image information includes: acquiring a first lawn attribute in the target area according to the first image information; acquiring a second lawn attribute in the target area according to the second image information; obtaining the mowing condition of the target area according to the first lawn attribute and the second lawn attribute, and judging whether the target area needs to be re-mowed according to the mowing condition; wherein, the lawn attribute includes the height of the lawn or the optical parameters of the lawn.

5. The control method for a lawn mowing robot according to any one of claims 1 to 4, characterized in that, the method for determining the re-mowing strategy for the lawn mowing robot to the target area includes: acquiring the working mode of the lawn mowing robot; determining the re-mowing strategy for the lawn mowing robot to the target area according to the working mode of the lawn mowing robot.

6. The control method for a lawn mowing robot according to claim 5, characterized in that, The method for determining the mowing supplement strategy of the target area by the mowing robot according to the working mode of the mowing robot includes: Obtaining the current working mode of the mowing robot; Generating at least one supplementary mowing area according to the area with poor mowing conditions in the target area; Selecting the next working mode as the target working mode according to the current working mode, and performing supplementary mowing on the supplementary mowing area in the target working mode.

7. The control method of the mowing robot according to claim 6, characterized in that the working modes of the mowing robot are successively: edge mowing mode, area mowing mode and breakpoint continuous mowing mode; the supplementary mowing areas include edge supplementary mowing areas and internal supplementary mowing areas; The method for performing supplementary mowing on the supplementary mowing area in the target working mode includes: If the target working mode is the area mowing mode, obtaining the edge supplementary mowing area in the edge mowing mode and performing supplementary mowing on the edge supplementary mowing area; If the target working mode is the breakpoint continuous mowing mode, obtaining the internal supplementary mowing area in the area mowing mode, generating a closed path to reach the charging station and traverse each internal supplementary mowing area according to the breakpoint position, the position of the internal supplementary mowing area and the position of the charging station, and performing supplementary mowing on the internal supplementary mowing area.

8. A mowing robot, characterized in that it includes: a mowing structure; a first optical sensor for collecting first image information of the target area; a second optical sensor for collecting second image information of the target area; a processor, the processor is used to receive the first image information and the second image information and control the mowing structure to mow the target area by using the control method of the mowing robot according to any one of claims 1 to 7.

9. The mowing robot according to claim 8, characterized in that the first optical sensor and the second optical sensor are arranged on the mowing robot front and back or left and right.

10. The mowing robot according to claim 9, characterized in that the angle formed by the first optical sensor or the second optical sensor and the horizontal plane where the mowing robot is located is between 10 degrees and 70 degrees.

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