Mowing path planning method and device and storage medium

Abstract

The invention discloses a mowing path planning method and device and a storage medium, and belongs to the technical field of data processing navigation [A1]. The method comprises the following steps: acquiring map information of a mowing area, determining a signal blind area in the map information, generating an advancing path in the map information based on a preset rule, determining path segments passing through the signal blind area in the advancing path, identifying target path segments with segment distances greater than a preset distance threshold in the path segments, and generating a mowing path according to the target path segments. And determining the number of target path segments, and selecting a mowing path in the travel path based on the number of target path segments. In the mowing path planning process, the path segments with the segment distance exceeding the preset threshold value in the blind area are screened out, and the mowing path containing the short blind area path or reducing the continuous advancing length of the blind area is preferentially planned, so that when the mower enters the large-range blind area, the mowing path can be conveniently and rapidly planned, and the mowing efficiency is improved. The accumulation effect of positioning errors is reduced by shortening the duration of path tracking depending on machine vision for a single time.

Description

Technical Field

[0001] The present application relates to the field of data processing and navigation technology, and in particular to a mowing path planning method, device and storage medium. Background Art

[0002] Because smart lawn mowers use real-time kinematic (RTK) technology for navigation, there are navigation blind spots where RTK signals are missing. Related technologies use machine vision to supplement the lawn mower's positioning information in navigation blind spots to assist in executing navigation tasks.

[0003] However, as the mower moves, machine vision accumulates errors as navigation time increases, resulting in cumulative drift. In situations where the mower has a large blind spot, it takes longer for machine vision to complete its positioning, gradually reducing the accuracy of machine vision path tracking and affecting the mower's navigation accuracy.

[0004] The above content is only used to assist in understanding the technical solution of this application and does not constitute an admission that the above content is prior art. Summary of the Invention

[0005] The main purpose of this application is to provide a mowing path planning method, equipment and storage medium, aiming to solve the technical problem that in the process of completing the navigation positioning of the lawn mower through machine vision, the accuracy of machine vision path tracking gradually decreases with visual drift, affecting the accuracy of lawn mower navigation.

[0006] To achieve the above objectives, the present application provides a mowing path planning method, the method comprising the following steps: Obtaining map information of a mowing area and determining a signal blind area in the map information; Based on preset rules, generating a travel path in the map information, and determining a blind spot path segment in the travel path that passes through the signal blind spot; Identifying target path segments whose segment distances in the blind spot path segments are greater than a preset distance threshold, and determining the number of target path segments; A mowing path is selected in the travel path based on the target number of path segments.

[0007] In one embodiment, before the steps of obtaining map information of the mowing area and determining the signal blind area in the map information, the method further includes: Acquiring historical navigation data of the mowing area and determining signal loss records in the historical navigation data; Determining, based on the historical navigation data, navigation signal strengths corresponding to the coordinates of each position in the mowing area; Constructing a mapping relationship between the position coordinates and the navigation signal strength; Based on the mapping relationship and / or the signal loss record, the signal blind area is determined and marked.

[0008] In one embodiment, the step of identifying target path segments in the blind spot path segments whose segment distances are greater than a preset distance threshold and determining the number of target path segments includes: Obtaining, according to the map information, an area classification corresponding to the signal blind spot, and obtaining the preset distance threshold corresponding to the area classification; Calculating the path distance of the blind spot path segment according to the starting position coordinates and the ending position coordinates of the blind spot path segment; Among the blind spot path segments of the travel path, the target path segments having the path distance greater than the preset distance threshold are determined to obtain the target path segment quantity of the travel path.

[0009] In one embodiment, the step of generating the travel path in the map information based on a preset rule and determining the blind spot path segment in the travel path that passes through the signal blind spot includes: constructing the travel path by a rasterization algorithm based on a mowing path width of the lawn mower, wherein the travel path covers the mowing area based on the mowing path width; Obtaining the path position coordinates of the travel path, and determining the blind spot position coordinates of the signal blind spot based on the map information; The path position coordinates are matched with the blind spot position coordinates, and based on the matching result, the blind spot path segment where the travel path overlaps with the signal blind spot is obtained.

[0010] In one embodiment, the step of selecting a mowing path in the travel path based on the target number of path segments includes: Determining the number of target path segments of each of the travel paths by traversing the travel paths; The travel path with the smallest number of target path segments is selected as the mowing path.

[0011] In one embodiment, after the step of selecting a mowing path in the travel path based on the target number of path segments, the method further includes: Move based on the mowing path and perform mowing actions; Acquire a navigation signal through a first navigation module, and identify a first position coordinate corresponding to the navigation signal; determining a path segment type corresponding to the first position coordinate, and obtaining a second position coordinate through a second navigation module when the path type is a blind spot path segment; The second position coordinates are used as the current position coordinates.

[0012] In one embodiment, after the step of acquiring the navigation signal through the first navigation module and identifying the first position coordinates corresponding to the navigation signal, the method further includes: When it is detected that the navigation signal is lost, acquiring the second position coordinates by the second navigation module; Marking the second position coordinates as blind spot position coordinates, and determining a target signal blind spot corresponding to the blind spot position coordinates; Based on the blind spot position coordinates, the target signal blind spot is updated into the map information.

[0013] In one embodiment, after the step of acquiring the navigation signal through the first navigation module and identifying the first position coordinates corresponding to the navigation signal, the method further includes: Calculating the position distance between the path position coordinates in the mowing path and the blind spot position coordinates in the signal blind spot; Marking the path position coordinates where the position distance is less than the preset distance as safety zone coordinates, and determining the corresponding safety zone based on the safety zone coordinates; When the first position coordinates are in the safety zone, the second position coordinates are acquired through the second navigation module.

[0014] In addition, to achieve the above-mentioned purpose, the present application also provides a mowing path planning device, which includes: a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the computer program is configured to implement the steps of the mowing path planning method as described above.

[0015] In addition, to achieve the above-mentioned purpose, the present application also provides a storage medium, which is a computer-readable storage medium and stores a computer program. When the computer program is executed by a processor, the steps of the mowing path planning method as described above are implemented.

[0016] One or more technical solutions proposed in this application have at least the following technical effects: This application obtains map information, identifies signal blind spots, and generates an initial travel path. It then further selects path segments within the blind spot whose segment distance exceeds a preset threshold, locates the continuous blind spot areas that need to be addressed, and dynamically adjusts the mowing path selection strategy based on the quantitative analysis of the target path segments. It prioritizes planning mowing paths that include shorter blind spot paths or reduce the continuous travel length of blind spots. This allows the mower to reduce the cumulative effect of positioning errors by shortening the duration of a single path tracking process that relies on machine vision when entering a larger blind spot. At the same time, the frequency of blind spot navigation is controlled by the number of segments, avoiding the error superposition caused by multiple crossings of long-distance blind spots. This improves the stability of blind spot navigation and the efficiency of positioning completion at the path level, ensuring the accuracy of the mower's overall navigation. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] 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.

[0018] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0019] Figure 1 This is a flow chart of a first embodiment of a mowing path planning method of the present application; Figure 2 This is a schematic diagram of the path planning involved in the first embodiment; Figure 3 This is a flow chart of a second embodiment of the mowing path planning method of the present application; Figure 4 This is a flowchart of a third embodiment of the mowing path planning method of the present application; Figure 5 This is a flowchart of a fourth embodiment of the mowing path planning method of the present application; Figure 6 This is a flowchart of a fifth embodiment of the mowing path planning method of the present application; Figure 7 It is a structural diagram of a mowing path planning device in a hardware operating environment involved in an embodiment of the present application.

[0020] The realization of the objectives, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0021] It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application.

[0022] In order to better understand the above technical solution, the above technical solution will be described in detail below with reference to the accompanying drawings and specific implementation methods.

[0023] The main solution of the embodiment of the present application is: obtaining map information of the mowing area and determining the signal blind spot in the map information; generating a travel path in the map information based on preset rules and determining the path segments in the travel path that pass through the signal blind spot; identifying target path segments in the path segments whose segment distance is greater than a preset distance threshold and determining the number of target path segments; and selecting a mowing path in the travel path based on the target path segment number.

[0024] In related technologies, lawn mowers use machine vision to supplement their positioning information in blind spots to assist in navigation. However, as the mower moves, machine vision accumulates errors as navigation time increases, resulting in cumulative drift. In large blind spots, the time it takes to complete the mower's positioning using machine vision is long, gradually reducing the accuracy of machine vision path tracking and affecting the accuracy of the mower's navigation.

[0025] This application obtains map information, identifies signal blind spots, and generates an initial travel path. It then further selects path segments within the blind spot whose segment distance exceeds a preset threshold, locates the continuous blind spot areas that need to be addressed, and dynamically adjusts the mowing path selection strategy based on the quantitative analysis of the target path segments. It prioritizes planning mowing paths that include shorter blind spot paths or reduce the continuous travel length of blind spots. This allows the mower to reduce the cumulative effect of positioning errors by shortening the duration of a single path tracking process that relies on machine vision when entering a larger blind spot. At the same time, the frequency of blind spot navigation is controlled by the number of segments, avoiding the error superposition caused by multiple crossings of long-distance blind spots. This improves the stability of blind spot navigation and the efficiency of positioning completion at the path level, ensuring the accuracy of the mower's overall navigation.

[0026] To better understand the above technical solutions, exemplary embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein. Instead, these embodiments are provided to enable a more thorough understanding of the present application and to fully convey the scope of the present application to those skilled in the art.

[0027] It should be noted that the execution subject of this embodiment can be a lawn mower control system, or a computing service device with data processing, network communication, and program execution capabilities, such as a tablet computer, personal computer, or mobile phone, or a lawn mower, electronic device, or mowing path planning device capable of implementing the above functions, and this embodiment does not specifically limit this. The following uses a lawn mower control system as an example to illustrate this embodiment and the following embodiments.

[0028] Based on this, the embodiment of the present application provides a method for planning a mowing path, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the mowing path planning method of the present application.

[0029] In this embodiment, the mowing path planning method includes steps S10 to S40: Step S10: obtaining map information of the mowing area and determining a signal blind area in the map information; In this embodiment, the lawn mower includes a movement module, a mowing execution module, a vision module, an odometer, and a navigation module. The movement module allows the mower to change its position, while the mowing execution module allows it to execute mowing actions. Furthermore, while the movement module is used to move the mower, the navigation module can obtain the mower's current location coordinates, enabling path planning and movement guidance.

[0030] Specifically, to improve positioning accuracy, a lawn mower can use real-time kinematic (RTK) technology as a navigation module. By acquiring RTK signals as navigation signals, the lawn mower can determine its current location. RTK technology is a high-precision positioning technology based on satellite positioning systems such as GPS and Beidou, achieving centimeter-level positioning accuracy through differential correction. An RTK system consists of a base station and a rover. The base station receives satellite signals, calculates errors, and transmits this information to the rover via a data link. The rover, acting as a lawn mower, then performs differential processing based on the satellite signals it receives, achieving high-precision positioning.

[0031] Alternatively, the lawn mower control system can be deployed in a server to remotely control the lawn mower to perform mowing actions via Bluetooth, the Internet, etc. Alternatively, the lawn mower control system can be deployed in the lawn mower to control different components of the lawn mower to perform corresponding actions to complete the mowing operation.

[0032] Furthermore, the map information contains geographic data of the mowing area, including area boundaries, obstacle locations, terrain features, etc., which are usually obtained through sensors or preset map data, and are marked with areas where the RTK signal cannot cover or the signal strength is insufficient to support precise navigation, i.e., signal blind spots. The lawn mower control system can call pre-stored map information and determine the signal blind spots marked in the map information. The signal blind spots can be determined based on historical navigation information and / or recorded signal-missing areas corresponding to the lawn mower's historical mowing behavior. Specifically, the lawn mower will record the RTK signal strength at different locations and mark areas where the signal strength is below a certain threshold as signal blind spots, such as areas where the signal strength is less than -130dBm.

[0033] It should be noted that because blind spots are typically rectangular, elliptical, or irregularly shaped, the distances of the blind spot segments a mower must traverse vary when crossing the blind spot from different directions. For example, if the blind spot is rectangular, a mower crossing the blind spot perpendicular to the short side will traverse a longer path than if crossing the blind spot perpendicular to the long side.

[0034] For example, refer to Figure 2 , Figure 2 This is a schematic diagram of the path planning involved in the embodiments of this application. The outer square area is the mowing area, and the rectangular area within the mowing area is the signal blind spot. When the mower passes through the signal blind spot horizontally, the distance of a single pass through the blind spot path segment is the same as the length of the short side, and the probability of losing positioning is low. However, when the mower passes through the blind spot path segment vertically, the distance is the same as the length of the long side, the probability of losing positioning is higher.

[0035] Optionally, when there is no pre-stored map information, the lawn mower control system can also measure the navigation signal strength through a signal strength detection module, such as a GPS signal receiver, to determine areas in the map where the signal strength is lower than a preset threshold, and mark them as signal blind spots.

[0036] Step S20: generating a travel path in the map information based on a preset rule, and determining a blind spot path segment in the travel path that passes through the signal blind spot; In this embodiment, a blind spot path segment refers to a portion of a path that passes through a signal blind spot. The mower control system plans the path and screens the blind spot path segments within the path to identify paths where the mower may experience significant positioning deviations or errors in the vision module.

[0037] As an optional implementation for generating a travel path, the mower control system constructs a travel path based on the mowing path width of the mower using a rasterization algorithm, so that the travel path covers the mowing area based on the mowing path width. The mowing path width represents the width that the mower can cover during its mowing action along the mowing path, thereby forming a corresponding operating range on the mowing path. This operating range covers the entire mowing area to ensure the completion of the mowing operation. The mower control system obtains the path position coordinates of the travel path and, based on map information, determines the blind spot position coordinates of the signal blind spot. The path position coordinates are matched with the blind spot position coordinates, and based on the matching results, the blind spot path segment where the travel path overlaps with the signal blind spot is obtained.

[0038] Specifically, a rasterization algorithm divides a continuous space into discrete cells (grids). This algorithm, when used for path planning, ensures that the path covers the entire mowing area. The mower uses a rasterization algorithm to divide the mowing area into a number of grids based on the width of its mowing path. The size of each grid is equal to the width of the mowing path. The mower then plans a path that ensures that it covers all grid cells, thereby achieving coverage of the entire mowing area. Specifically, the mower starts from the starting point of the mowing area and plans a path according to preset rules, such as a serpentine or zigzag path, until the entire area is covered.

[0039] For example, assuming a mowing path is one meter wide, the mower generates a path using a rasterization algorithm based on preset rules and map information. Specifically, the mower divides the mowing area into several 1m x 1m grids and plans a path that covers all grids. The mower then matches the location coordinates of the path with those of the blind spot, identifying the portion of the path that passes through the blind spot—this is known as the blind spot path segment.

[0040] As another optional implementation method for generating a travel path, the lawn mower control system can also plan blind spot path segments separately for each signal blind spot, determine the path with the least number of target path segments among the paths passing through a single signal blind spot, and after completing the planning of all blind spot path segments, complete the planning of the travel path by connecting the blind spot path segments.

[0041] Step S30: identifying target path segments in the blind spot path segments whose segment distances are greater than a preset distance threshold, and determining the number of target path segments; In this embodiment, the preset distance threshold refers to a maximum distance value pre-set based on the degree of drift and safety conditions of the lawn mower's vision module. It is used to determine whether there is a significant risk of error in the vision module's navigation completion process during the movement of the lawn mower's blind spot path segments. The target path segment refers to the portion of the blind spot path segment whose segment distance exceeds the preset distance threshold. The lawn mower obtains target path segments within the blind spot path segments whose segment distance exceeds the preset distance threshold and counts the number of target path segments.

[0042] Optionally, the lawn mower control system also adopts a map classification area strategy to set the limit distance for signal loss in different areas when an RTK signal is present. The lawn mower control system obtains the area classification corresponding to the signal blind area based on the map information, and obtains the preset distance threshold corresponding to the area classification. Based on the starting position coordinates and the end position coordinates of the blind spot path segment, the path distance of the blind spot path segment can be calculated in the travel path, and in the blind spot path segment of the travel path, the target path segment with a path distance greater than the preset distance threshold is determined, and the number of target path segments of the travel path is obtained in a statistical manner.

[0043] Step S40: selecting a mowing path in the traveling path based on the target number of path segments.

[0044] In this embodiment, the mowing path refers to the optimal path selected from the travel path, used to guide the mower to complete the mowing task. The mower control system can select the mowing path based solely on the number of target path segments. A fewer number of target path segments indicates less time the mower spends in signal blind spots, resulting in higher navigation reliability. Alternatively, the mower control system can select the mowing path based on a combination of the number of target path segments and the target path segment with the longest path distance within the travel path.

[0045] As an optional embodiment, the lawn mower control system traverses the travel paths, determines the target number of path segments in each travel path, and selects the travel path with the smallest number of target path segments as the mowing path. For example, suppose the lawn mower generates three travel paths: Path A has two target path segments, Path B has one target path segment, and Path C has three target path segments. The lawn mower will select Path B as the mowing path because Path B has the smallest number of target path segments.

[0046] As another optional embodiment, the lawn mower control system can also calculate the weighted scores of the number of target path segments and the weighted scores of the path distance of the longest target path segment based on preset weight ratios through weighted summation, and sum them up to obtain the total score of the travel path, and select the travel path with the highest total score as the mowing path.

[0047] The embodiment of the present application obtains map information, identifies signal blind spots therein, and generates an initial travel path. It then further selects path segments within the blind spot whose segment distance exceeds a preset threshold, locates continuous blind spot areas that require focused processing, and dynamically adjusts the mowing path selection strategy based on quantitative analysis of the target path segments. It prioritizes planning mowing paths that include shorter blind spot paths or reduce the continuous travel length of blind spots. This allows the mower to reduce the cumulative effect of positioning errors by shortening the duration of a single machine vision-based path tracking when entering a larger blind spot. At the same time, the frequency of blind spot navigation is controlled by the number of segments, avoiding the accumulation of errors caused by multiple crossings of long-distance blind spots. This improves the stability of blind spot navigation and the efficiency of positioning completion at the path level, ensuring the accuracy of the mower's overall navigation.

[0048] Based on the same inventive concept, this application also provides a second embodiment, referring to Figure 3 , Figure 3 This is a flow chart of the second embodiment of the mowing path planning method of the present application.

[0049] In this embodiment, before obtaining the map information of the mowing area and determining the signal blind area in the map information as described in step S10, steps S01 to S04 are also included: Step S01: acquiring historical navigation data of the mowing area, and determining signal loss records in the historical navigation data; Step S02: determining the navigation signal strength corresponding to each position coordinate in the mowing area based on the historical navigation data; Step S03: constructing a mapping relationship between the position coordinates and the navigation signal strength; Step S04: Based on the mapping relationship and / or the signal loss record, determine and mark the signal blind area.

[0050] In this embodiment, the mower uses its built-in data storage module to read historical navigation data recorded during previous mowing operations. The mower's control system analyzes this data, identifies the specific locations and times when the RTK signal was lost, and marks these locations as signal loss records. Based on the historical navigation data, the mower's control system extracts the signal strength value for each location coordinate. Specifically, the system iterates through each recorded point in the historical navigation data, extracts its location coordinates and corresponding signal strength values, and stores this data in a mapping table. The mapping table's keys are the location coordinates, and the values ​​are the corresponding signal strengths.

[0051] Specifically, based on the extracted historical navigation data, the mower control system also constructs a mapping between location coordinates and navigation signal strength. Specifically, the system creates a data structure, such as a hash table, that stores each location coordinate as a key and the corresponding signal strength as a value. The mower control system can quickly query the corresponding signal strength based on the location coordinate.

[0052] Furthermore, the mower control system determines the location of the signal blind spot based on the constructed mapping relationship and / or signal loss records. The mower control system iterates over each location coordinate in the mapping relationship and checks whether the corresponding signal strength is below a preset threshold. If the signal strength is below the threshold, or if the location coordinate appears in the signal loss record, the location is marked as a signal blind spot.

[0053] This embodiment of the application further improves the accuracy and reliability of signal blind spot identification by acquiring historical navigation data, determining signal loss records, constructing a mapping relationship between location coordinates and signal strength, and using this information to determine and mark signal blind spots. This method not only optimizes path planning using historical data but also dynamically updates signal blind spot information, ensuring the lawn mower's navigation reliability in complex environments.

[0054] Since the system described in Example 2 of this application is the system used to implement the method of Example 1 of this application, those skilled in the art will be able to understand the specific structure and variations of the system based on the method described in Example 1 of this application, and therefore, no further description is given here. All systems used in the method of Example 1 of this application fall within the scope of protection to be provided by this application.

[0055] Based on the same inventive concept, this application also provides a third embodiment, referring to Figure 4 , Figure 4 This is a flow chart of the third embodiment of the mowing path planning method of the present application.

[0056] In this embodiment, after selecting a mowing path in the travel path based on the target number of path segments as described in step S40, steps S51 to S54 are further included: Step S51: moving based on the mowing path and performing a mowing action; Step S52: Acquire a navigation signal through a first navigation module, and identify a first position coordinate corresponding to the navigation signal; Step S53: determining the path segment type corresponding to the first position coordinate, and obtaining the second position coordinate through the second navigation module when the path type is a blind spot path segment; Step S54: taking the second position coordinates as the current position coordinates.

[0057] In this embodiment, the first navigation module refers to the module used by the lawn mower to obtain navigation signals, typically an RTK module. The navigation signal refers to the satellite signal received by the RTK module and is used to determine the lawn mower's precise location. The first position coordinates refer to the lawn mower's current position coordinates calculated based on the navigation signal. The second navigation module refers to the navigation module used in signal blind spots, typically the lawn mower's vision module. The second position coordinates refer to the lawn mower's current position coordinates calculated by the second navigation module.

[0058] Specifically, the mower moves along the selected mowing path and performs mowing operations. Specifically, the mower uses a first navigation module, such as an RTK navigation module, to acquire navigation signals and identify the first position coordinates corresponding to the navigation signals. If the path type is a blind spot segmented path, the mower uses a second navigation module, such as a depth vision module, to acquire second position coordinates and uses the second position coordinates as the current position coordinates. The mower adjusts the mowing equipment based on the current position coordinates to ensure smooth mowing operations.

[0059] Optionally, the lawn mower control system may also use a wheel odometer module as a second navigation module to record mileage data of the lawn mower to determine the current moving position of the lawn mower based on the mowing path, thereby determining the current positioning.

[0060] This embodiment of the present application ensures accurate navigation even in signal blind spots by moving along the mowing path and performing mowing actions while switching navigation modules based on the path segment type. This method can effectively improve the mower's navigation reliability and mowing efficiency in complex environments, ensuring smooth mowing operations.

[0061] Since the system described in Example 3 of this application is the system used to implement the method of Example 1 of this application, those skilled in the art will be able to understand the specific structure and variations of the system based on the method described in Example 1 of this application, and therefore will not be described in detail here. All systems used in the method of Example 1 of this application fall within the scope of protection to be provided by this application.

[0062] Based on the same inventive concept, this application also provides a fourth embodiment, referring to Figure 5 , Figure 5 This is a flow chart of a fourth embodiment of the mowing path planning method of the present application.

[0063] In this embodiment, Figure 4 After obtaining the navigation signal through the first navigation module and identifying the first position coordinates corresponding to the navigation signal in step S52, the method further includes steps S61 to S63: Step S61: when it is detected that the navigation signal is lost, obtaining the second position coordinates through the second navigation module; Step S62: marking the second position coordinates as blind spot position coordinates, and determining a target signal blind spot corresponding to the blind spot position coordinates; Step S63: Based on the blind spot position coordinates, the target signal blind spot is updated into the map information.

[0064] In this embodiment, the mower monitors the signal strength of the first navigation module in real time. If the navigation signal is lost, or if the current navigation signal strength is insufficient to determine the mower's first location, the mower switches to the second navigation module and uses the vision module to determine the second location. Specifically, the depth vision module uses a camera to capture images of the surrounding environment and calculates the mower's current location using an image processing algorithm.

[0065] Furthermore, the mower marks the second location coordinates calculated by the second navigation module as the blind spot location coordinates and records them in the map information. Simultaneously, based on the blind spot location coordinates, the mower determines the target signal blind spot to which the location belongs. The mower checks the map information for marked signal blind spots. If the location coordinates fall within a marked signal blind spot, the boundaries of that blind spot are updated. If the location coordinates do not fall within any marked signal blind spots, a new signal blind spot is created. Simultaneously, the mower control system updates the navigation data with the historical navigation data.

[0066] This embodiment switches the first navigation module to the second navigation module when the navigation signal is detected to be lost, and records the newly discovered blind spot location coordinates in the map information, dynamically updates the signal blind spot information, improves the navigation reliability and adaptability of the lawn mower in complex environments, and ensures the smooth progress of mowing operations.

[0067] Since the system described in Example 4 of this application is the system used to implement the method of Example 1 of this application, those skilled in the art will be able to understand the specific structure and variations of the system based on the method described in Example 1 of this application, and therefore will not be described in detail here. All systems used in the method of Example 1 of this application fall within the scope of protection to be provided by this application.

[0068] Based on the same inventive concept, this application also provides a fifth embodiment, referring to Figure 6 , Figure 6 This is a flow chart of the fifth embodiment of the mowing path planning method of the present application.

[0069] In this embodiment, the mowing path planning method further includes steps S71 to S73: Step S71: calculating the position distance between the path position coordinates in the mowing path and the blind spot position coordinates in the signal blind spot; Step S72: marking the path position coordinates where the position distance is less than the preset distance as safety zone coordinates, and determining the corresponding safety zone based on the safety zone coordinates; Step S73: when the first position coordinates are the safety zone, obtaining the second position coordinates through the second navigation module.

[0070] In this embodiment, the mower calculates the distance between each path coordinate in the mowing path and each blind spot coordinate in the blind spot. The mower iterates through the list of path coordinates for the mowing path and, for each path coordinate, calculates the Euclidean distance between it and each blind spot coordinate in the blind spot.

[0071] Specifically, based on the calculated distances, the mower marks path coordinates whose distances from the blind spot are less than a preset distance as safe zone coordinates. Specifically, the mower iterates through all calculated distances and marks each path coordinate whose distance is less than the preset distance as a safe zone coordinate. These coordinates are then stored in a safe zone coordinate list. The mower then determines the corresponding safe zone based on the safe zone coordinates.

[0072] Furthermore, while the mower is moving along the mowing path and executing the mowing action, it checks whether the first position coordinates are within the safe zone. If the first position coordinates are within the safe zone, the mower switches to the second navigation module to obtain the second position coordinates. Specifically, if the second navigation module is a depth vision module, the depth vision module uses a camera to capture image information of the surrounding environment and calculates the current position coordinates of the mower using an image processing algorithm.

[0073] This embodiment further improves the navigation reliability and safety of the lawn mower at the edge of the signal blind spot by calculating the position distance between the path position coordinates in the mowing path and the blind spot position coordinates in the signal blind spot, marking the safe zone coordinates, and switching to the second navigation module when the lawn mower enters the safe zone.

[0074] Since the system described in Example 5 of this application is the system used to implement the method of Example 1 of this application, those skilled in the art will be able to understand the specific structure and variations of the system based on the method described in Example 1 of this application, and therefore will not be described in detail here. All systems used in the method of Example 1 of this application fall within the scope of protection to be provided by this application.

[0075] The present application provides a mowing path planning device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the mowing path planning method of the above-mentioned embodiment 1.

[0076] Reference below Figure 7 , which shows a schematic structural diagram of a mowing path planning device suitable for implementing an embodiment of the present application. The mowing path planning device in the embodiment of the present application may include, but is not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 7 The mowing path planning device shown is only an example and should not limit the functions and scope of use of the embodiments of the present application.

[0077] like Figure 7As shown, the mowing path planning device may include a processing device 1001 (e.g., a core processor, graphics processor, etc.), which can perform various appropriate actions and processes based on programs stored in a read-only memory (ROM) 1002 or programs loaded from a storage device 1003 into a random access memory (RAM) 1004. RAM 1004 also stores various programs and data required for the operation of the mowing path planning device. Processing device 1001, ROM 1002, and RAM 1004 are interconnected via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems may be connected to the I / O interface 1006: input devices 1007 including, for example, a touch screen, touchpad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), speaker, vibrator, etc.; storage devices 1003 including, for example, a magnetic tape, hard disk, etc.; and communication devices 1009. Communication devices 1009 may allow the mowing path planning device to communicate with other devices wirelessly or by wire to exchange data. While the figure illustrates a mowing path planning device with various systems, it should be understood that implementation or provision of all of the illustrated systems is not required. More or fewer systems may alternatively be implemented or provided.

[0078] In particular, according to the embodiments disclosed in the present application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, the embodiments disclosed in the present application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program comprising program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via a communication device, or installed from a storage device 1003, or installed from a read-only memory 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are performed.

[0079] The mowing path planning device provided in this application, which utilizes the mowing path planning method described in the aforementioned embodiment, can address the technical issue of a mower's navigation accuracy being affected by the gradual decrease in machine vision path tracking accuracy due to visual drift during machine vision-assisted navigation and positioning. Compared to the prior art, the mowing path planning device provided in this application offers the same beneficial effects as the mowing path planning method described in the aforementioned embodiment. Other technical features of the mowing path planning device are the same as those disclosed in the aforementioned embodiment and are not further elaborated upon here.

[0080] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0081] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

[0082] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, a computer program) stored thereon, wherein the computer-readable program instructions are used to execute the mowing path planning method in the above embodiment.

[0083] The computer-readable storage medium provided herein may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems, or devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to, an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including, but not limited to, wires, optical cables, radio frequency (RF), etc., or any suitable combination thereof.

[0084] The computer-readable storage medium may be included in the mowing path planning device; or may exist independently without being assembled into the mowing path planning device.

[0085] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by a mowing path planning device, the mowing path planning device: obtains map information of a mowing area and determines a signal blind spot in the map information; generates a travel path in the map information based on preset rules, and determines path segments in the travel path that pass through the signal blind spot; identifies target path segments in the path segments whose segment distances are greater than a preset distance threshold, and determines the number of target path segments; and selects a mowing path in the travel path based on the number of target path segments.

[0086] Computer program code for performing the operations of the present application may be written in one or more programming languages, or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0087] The flow charts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a module, program segment or a part of code, and the module, program segment or a part of code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order than that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented by a dedicated hardware-based system that performs the specified function or operation, or can be implemented by a combination of dedicated hardware and computer instructions.

[0088] The modules described in the embodiments of the present application may be implemented in software or hardware, wherein the name of a module does not necessarily limit the unit itself.

[0089] The computer-readable storage medium provided in this application stores computer-readable program instructions (i.e., a computer program) for executing the aforementioned mowing path planning method. This computer-readable storage medium can address the technical issue of a lawn mower's navigation accuracy being affected by the gradual decrease in path tracking accuracy due to visual drift during machine vision-assisted navigation and positioning. Compared to the prior art, the beneficial effects of the computer-readable storage medium provided in this application are similar to those of the mowing path planning method provided in the aforementioned embodiment and are not further elaborated here.

[0090] The above description is only part of the embodiments of the present application and does not limit the patent scope of the present application. All equivalent structural transformations made by using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect application in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A mowing path planning method, characterized in that: The method comprises the following steps: Obtaining map information of a mowing area and determining a signal blind area in the map information; Based on preset rules, generating a travel path in the map information, and determining a blind spot path segment in the travel path that passes through the signal blind spot; Identifying target path segments whose segment distances in the blind spot path segments are greater than a preset distance threshold, and determining the number of target path segments; A mowing path is selected in the travel path based on the target number of path segments.

2. The method according to claim 1, wherein Before the steps of obtaining map information of the mowing area and determining the signal blind area in the map information, the method further includes: Acquiring historical navigation data of the mowing area and determining signal loss records in the historical navigation data; Determining, based on the historical navigation data, navigation signal strengths corresponding to the coordinates of each position in the mowing area; Constructing a mapping relationship between the position coordinates and the navigation signal strength; Based on the mapping relationship and / or the signal loss record, the signal blind area is determined and marked.

3. The method according to claim 1, wherein The step of identifying target path segments whose segment distances in the blind spot path segments are greater than a preset distance threshold and determining the number of target path segments comprises: Obtaining, according to the map information, an area classification corresponding to the signal blind spot, and obtaining the preset distance threshold corresponding to the area classification; Calculating the path distance of the blind spot path segment according to the starting position coordinates and the ending position coordinates of the blind spot path segment; Among the blind spot path segments of the travel path, the target path segments having the path distance greater than the preset distance threshold are determined to obtain the target path segment quantity of the travel path.

4. The method according to claim 1, wherein The step of generating a travel path in the map information based on a preset rule and determining a blind spot path segment in the travel path that passes through the signal blind spot includes: constructing the travel path by a rasterization algorithm based on a mowing path width of the lawn mower, wherein the travel path covers the mowing area based on the mowing path width; Obtaining the path position coordinates of the travel path, and determining the blind spot position coordinates of the signal blind spot based on the map information; The path position coordinates are matched with the blind spot position coordinates, and based on the matching result, the blind spot path segment where the travel path overlaps with the signal blind spot is obtained.

5. The method according to claim 1, wherein The step of selecting a mowing path in the travel path based on the target number of path segments includes: Determining the number of target path segments of each of the travel paths by traversing the travel paths; The travel path with the smallest number of target path segments is selected as the mowing path.

6. The method according to claim 1, wherein After the step of selecting a mowing path in the travel path based on the target number of path segments, the method further includes: Move based on the mowing path and perform mowing actions; Acquire a navigation signal through a first navigation module, and identify a first position coordinate corresponding to the navigation signal; determining a path segment type corresponding to the first position coordinate, and obtaining a second position coordinate through a second navigation module when the path type is a blind spot path segment; The second position coordinates are used as the current position coordinates.

7. The method according to claim 6, wherein After the steps of acquiring the navigation signal through the first navigation module and identifying the first position coordinates corresponding to the navigation signal, the method further includes: When it is detected that the navigation signal is lost, acquiring the second position coordinates by the second navigation module; Marking the second position coordinates as blind spot position coordinates, and determining a target signal blind spot corresponding to the blind spot position coordinates; Based on the blind spot position coordinates, the target signal blind spot is updated into the map information.

8. The method according to claim 6, wherein After the steps of acquiring the navigation signal through the first navigation module and identifying the first position coordinates corresponding to the navigation signal, the method further includes: Calculating the position distance between the path position coordinates in the mowing path and the blind spot position coordinates in the signal blind spot; Marking the path position coordinates where the position distance is less than the preset distance as safety zone coordinates, and determining the corresponding safety zone based on the safety zone coordinates; When the first position coordinates are in the safety zone, the second position coordinates are acquired through the second navigation module.

9. A mowing path planning device, characterized in that: The device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the mowing path planning method according to any one of claims 1 to 8.

10. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the mowing path planning method according to any one of claims 1 to 8 are implemented.

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