Lawn mowing robot full coverage path planning method and related apparatus

Abstract

A lawn mowing robot full coverage path planning method and apparatus, an electronic device, and a computer-readable storage medium. The method comprises: acquiring a preset lawn pattern, and generating stripes required for the preset lawn pattern on an operation map, to obtain a number n of stripes, n being a positive integer (101); based on the operation map, the n stripes and an operation width of a lawn mowing robot, generating a corresponding operation path for each of the n stripes, to obtain a number m of operation paths, m being a positive integer (102); determining operation parameters of each of the m operation paths, to obtain m operation parameters (103); controlling the lawn mowing robot to complete the m operation paths according to the m operation parameters (104). Using the present method can improve the efficiency of full-coverage operations.

Description

Full coverage path planning method and related device for lawn mowing robot Technical Field

[0001] The present application relates to the field of electronic technology or robotics, and in particular to a full-coverage path planning method for a lawn mowing robot and related devices. Background Art

[0002] Full-coverage path planning involves finding a continuous path that passes through all accessible points within a defined area while meeting certain optimal or near-optimal performance metrics. In the field of robotic lawn mowers, beyond full-coverage operations, there's a demand for additional lawn patterns. During operation, robotic lawn mowers use blades and rear rollers to create grass marks. After full-coverage operations are complete, the grass marks formed by the robot's movements are combined into a specific pattern. Common lawn patterns include stripes, waves, and spirals.

[0003] At present, traditional lawn mowing robots use random collision full coverage path planning during full coverage operations. Random collisions are highly random, and it takes longer to achieve a higher coverage rate. At the same time, the path repetition rate during the operation is high, the overall efficiency is low, and the time is long. The random collision method is completely unable to guarantee the shape of the generated grass marks, resulting in low full coverage operation efficiency. Therefore, the problem of how to improve the efficiency of full coverage operations needs to be solved urgently.

[0004] Summary of the Invention

[0005] The embodiments of the present application provide a full-coverage path planning method and related devices for a lawn mowing robot, which can improve the efficiency of full-coverage operations.

[0006] In a first aspect, an embodiment of the present application provides a method for full coverage path planning of a lawn mowing robot, the method comprising:

[0007] Obtain a preset lawn pattern, and generate stripes required for the preset lawn pattern on a work map to obtain n stripes, where n is a positive integer;

[0008] generating a corresponding operation path for each of the n stripes according to the operation map, the n stripes, and the operation width of the mowing robot, to obtain m operation paths, where m is a positive integer;

[0009] Determine an operation parameter of each of the m operation paths to obtain m operation parameters;

[0010] The lawn mowing robot is controlled to complete the m operating paths according to the m operating parameters.

[0011] In a second aspect, an embodiment of the present application provides a full coverage path planning device for a lawn mowing robot, the device comprising: a first generating unit, a second generating unit, a determining unit, and a control unit, wherein:

[0012] The first generating unit is configured to obtain a preset lawn pattern and generate stripes required for the preset lawn pattern on the work map to obtain n stripes, where n is a positive integer;

[0013] The second generating unit is configured to generate a corresponding operating path for each of the n stripes according to the operating map, the n stripes, and the operating width of the mowing robot, to obtain m operating paths, where m is a positive integer;

[0014] The determining unit is configured to determine an operation parameter of each of the m operation paths to obtain m operation parameters;

[0015] The control unit is used to control the mowing robot to complete the m operating paths according to the m operating parameters.

[0016] In a third aspect, an embodiment of the present application provides an electronic device comprising a processor, a memory, a communication interface, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor, and the program comprises instructions for executing the steps in the first aspect of the embodiment of the present application.

[0017] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the above-mentioned computer-readable storage medium stores a computer program for electronic data exchange, wherein the above-mentioned computer program enables a computer to execute some or all of the steps described in the first aspect of the embodiment of the present application.

[0018] In a fifth aspect, embodiments of the present application provide a computer program product, wherein the computer program product includes a non-transitory computer-readable storage medium storing a computer program, wherein the computer program is operable to cause a computer to perform some or all of the steps described in the first aspect of the embodiments of the present application. The computer program product may be a software installation package.

[0019] The implementation of the embodiments of this application has the following beneficial effects:

[0020] It can be seen that the full-coverage path planning method and related devices for the lawn mowing robot described in the embodiments of the present application obtain a preset lawn pattern, generate stripes required for the preset lawn pattern on the work map, and obtain n stripes, where n is a positive integer. According to the work map, the n stripes, and the working width of the lawn mowing robot, a corresponding work path is generated for each of the n stripes, and m work paths are obtained, where m is a positive integer. The work parameters of each of the m work paths are determined to obtain m work parameters, and the lawn mowing robot is controlled to complete the m work paths according to the m work parameters. First, the required stripes can be planned based on the preset lawn pattern and the terrain of the work map. In addition, the corresponding work paths can be reasonably planned based on the work map, the stripes, and the working width of the lawn mowing robot. Then, considering the efficiency of the entire work process and the rationality of the work sequence, the work sequence planning is performed for all work paths to configure the corresponding work parameters for each work path. Finally, based on the planned work parameters, the full-coverage path planning is performed to obtain the required preset lawn pattern. In this way, the efficiency of the full-coverage work can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] 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, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0022] FIG1 is a flow chart of a method for full-coverage path planning of a lawn mowing robot provided in an embodiment of the present application;

[0023] FIG2 is a flow chart of another method for full coverage path planning of a lawn mowing robot provided in an embodiment of the present application;

[0024] FIG3 is a schematic structural diagram of an electronic device provided in an embodiment of the present application;

[0025] FIG4 is a block diagram of the functional units of a full-coverage path planning device for a lawn mowing robot provided in an embodiment of the present application. DETAILED DESCRIPTION

[0026] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0027] The terms "first," "second," "third," and "fourth," etc., in the specification, claims, and accompanying drawings of the present invention are used to distinguish between different items, not to describe a specific order. Furthermore, the terms "including," "having," and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or elements is not limited to the listed steps or elements, but may optionally include steps or elements not listed, or may optionally include other steps or elements inherent to the process, method, product, or apparatus.

[0028] Reference herein to an "embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the present invention. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute a separate or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0029] In related technologies, the main methods used by mowing robots for full coverage operations include random collisions and full coverage path planning based on region segmentation. Random collisions are highly random, requiring longer operation times to achieve a high coverage rate. Furthermore, the path repetition rate during the operation is high, resulting in lower overall efficiency and a longer operation time. Full coverage path planning based on region segmentation primarily uses region segmentation to divide an irregular area map into convex polygons that do not contain obstacles, plan the operation sequence between different polygonal areas, and then perform bow operations within each area.

[0030] When generating lawn patterns, the random collision method cannot guarantee the shape of the generated grass marks. The region segmentation method can generate simple stripes when operating in a single region, but the following problems still exist:

[0031] 1. It is difficult to ensure the neatness and completeness of the overall pattern when working in different areas separately; 2. It can only generate simple stripes and cannot generate more complex lawn patterns; 3. When navigating between different areas, it will pass through the area that has been worked on and destroy the completed lawn pattern.

[0032] To address the deficiencies in the related art, please refer to FIG1 , which is a flow chart of a method for full-coverage path planning for a lawn mowing robot provided in an embodiment of the present application. As shown in the figure, the method for full-coverage path planning for the lawn mowing robot includes:

[0033] 101. Obtain a preset lawn pattern, generate stripes required for the preset lawn pattern on a work map, and obtain n stripes, where n is a positive integer.

[0034] In the embodiment of the present application, the preset lawn pattern can be pre-set or system default. The preset lawn pattern can include at least one of the following: Chinese characters, characters, patterns, etc., which are not limited here. The pattern can include at least one of the following: stripes, waves, spirals, etc., which are not limited here.

[0035] The work map can be understood as a map on which a preset lawn pattern needs to be drawn.

[0036] In a specific implementation, a preset lawn pattern may be obtained, and stripes required for the preset lawn pattern may be generated on a work map to obtain n stripes, where n is a positive integer and the n stripes may roughly describe the preset lawn pattern.

[0037] The embodiments of the present application can be applied to electronic devices, which may include a lawn mower robot, or may also include other electronic devices that are communicatively connected to the lawn mower robot and used to control the lawn mower robot. The electronic device can be any electronic device with communication function. For example, the electronic device may include at least one of the following: a mobile phone, a tablet computer, a desktop computer, etc., which is not limited here.

[0038] Optionally, the above step 101, generating the stripes required for the preset lawn pattern on the work map to obtain n stripes, may include the following steps:

[0039] 11. Determine the size parameters of each outline in the preset lawn pattern to obtain k size parameters, where k is a positive integer;

[0040] 12. Determine the operation area corresponding to the preset lawn pattern on the operation map, and determine the area size parameters corresponding to the operation area;

[0041] 13. Generate the n stripes in the working area according to the area size parameter and the k size parameters.

[0042] The region size parameter may include at least one of the following: region width, region length, etc., which are not limited here. Each of the k size parameters may include at least one of the following: region width, region length, etc., which are not limited here.

[0043] In an embodiment of the present application, the preset lawn pattern can be contour extracted to obtain multiple contours, and then the size parameters of each contour in the preset lawn pattern are determined to obtain k size parameters, where k is a positive integer and k is equal to or unequal to n.

[0044] Furthermore, the work area can be understood as an area circled on the work map, within which the preset lawn pattern is depicted. The work area corresponding to the preset lawn pattern is determined on the work map. The work area can be configured by the electronic device or specified by the user. The area size parameters corresponding to the work area are then determined. Then, n stripes are generated in the work area based on the area size parameters and k size parameters. This allows the stripes required for the preset lawn pattern to be generated on the work map, helping to improve the efficiency of the robot mower's full-coverage path planning.

[0045] Of course, the selection of the work area may also be related to at least one of the following factors: the complexity of the preset lawn pattern, the color of the preset lawn pattern, the type of lawn in the work map, the height of the lawn in the work map, the density of the lawn in the work map, etc., which are not limited here.

[0046] Further, optionally, the above step 13, generating the n stripes in the working area according to the area size parameter and the k size parameters, may include the following steps:

[0047] 131. Embed the preset lawn pattern in the working area;

[0048] 132. Extract feature points from the preset lawn pattern to obtain p feature points, where p is a positive integer;

[0049] 133. Establishing an association relationship between the p feature points and the k size parameters;

[0050] 134. Based on the area size parameter and the association relationship, project the p feature points into the working area, and generate the n stripes according to the association relationship.

[0051] In an embodiment of the present application, a preset lawn pattern can be embedded in the working area, and feature points of the preset lawn pattern can be extracted to obtain p feature points, where p is a positive integer. That is, the preset lawn pattern can be fixed in the working area using the feature points, and then an association relationship between the p feature points and the k size parameters can be established. Since there are different stripes in the feature points, each stripe corresponds to a size parameter, and then an association relationship between the p feature points and the k size parameters can be established. Based on the area size parameters and the association relationship, the p feature points are projected into the working area, and n stripes are generated according to the association relationship. In this way, the stripes required for the preset lawn pattern can be generated on the working map, which helps to improve the efficiency of full coverage path planning of the lawn mowing robot.

[0052] 102. Generate a corresponding operation path for each of the n stripes according to the operation map, the n stripes, and the operation width of the mowing robot, to obtain m operation paths, where m is a positive integer.

[0053] Wherein, m is a positive integer, and m is equal to n, or is not equal to n.

[0054] In an embodiment of the present application, the work map can highlight the location of each obstacle and the terrain. According to the work map, n stripes and the working width of the lawn mowing robot, a corresponding work path can be generated for each of the n stripes to obtain m work paths, where m is a positive integer, so that the planning depth of the work path conforms to the terrain of the work map.

[0055] Optionally, step 102, generating a corresponding operation path for each of the n stripes according to the operation map, the n stripes, and the operation width of the mowing robot to obtain m operation paths, may include the following steps:

[0056] 21. Planning is performed based on the n stripes and the operating width of the mowing robot to obtain a preliminary operating paths; the a preliminary operating paths traverse the n stripes, where a is a positive integer;

[0057] 22. Optimize the a preliminary operation paths according to the operation map to obtain the m operation paths.

[0058] In an embodiment of the present application, a preliminary working path can be planned based on n stripes and the working width of the mowing robot, resulting in a preliminary working path. Each preliminary working path traverses n stripes, where a is a positive integer. Specifically, multiple planning schemes can be obtained based on n stripes and the working width of the mowing robot, and a working scheme with the shortest total working path length can be determined, thereby ensuring that the total working path length of the a preliminary working paths is the shortest. Subsequently, the a preliminary working paths can be optimized based on the working map to obtain m working paths. That is, the working map can highlight the location of each obstacle and the terrain, so that the planning depth of the working path can be consistent with the terrain of the working map.

[0059] Among them, a and m are equal or unequal. In a specific implementation, some paths may be connected into one path, thereby further reducing the number of paths.

[0060] 103. Determine an operation parameter of each of the m operation paths to obtain m operation parameters.

[0061] In an embodiment of the present application, the operating parameters may include at least one of the following: the working current of the lawn mower robot, the working voltage of the lawn mower robot, the working power of the lawn mower robot, the mowing rate of the lawn mower robot, the mowing mode of the lawn mower robot, the mowing height of the lawn mower robot, etc., which are not limited here.

[0062] In the specific implementation, based on the actual situation of each operation path, the operation parameters of each operation path in m operation paths can be determined to obtain m operation parameters. In this way, the efficiency of the entire operation process and the rationality of the operation sequence can be considered, and the operation sequence planning of all operation paths can be carried out until all operation paths are completed.

[0063] Optionally, the above step 103, determining the operation parameters of each of the m operation paths to obtain m operation parameters, may include the following steps:

[0064] 31. Determine a status evaluation parameter of each of the m operation paths to obtain m groups of status evaluation parameters, where the status evaluation parameters include environmental parameters and attribute parameters of the operation path;

[0065] 32. Determine an evaluation value of each of the m operation paths according to the m groups of state evaluation parameters, to obtain m evaluation values;

[0066] 33. Determine the job priorities of the m job paths according to the m evaluation values ​​to obtain m job priorities;

[0067] 34. Determine the operation parameters of each of the m operation paths according to the environmental parameters of each of the m operation paths, and obtain m reference operation parameters;

[0068] 35. Determine the operation parameters of each of the m operation paths according to the m operation priorities and the m reference operation parameters to obtain the m operation parameters.

[0069] In the embodiment of the present application, the state assessment parameters may include environmental parameters and attribute parameters of the work path. The environmental parameters of the work path may include at least one of the following: lawn humidity, weather, temperature, lawn type, relevant parameters of the soil beneath the lawn, slope of the work path, lawn color of the work path, etc., which are not limited here. The attribute parameters of the work path may include at least one of the following: average width of the work path, length of the work path, maximum width of the work path, minimum width of the work path, etc., which are not limited here.

[0070] In the specific implementation, the status evaluation parameters of each of the m operation paths can be determined to obtain m groups of status evaluation parameters. The status evaluation parameters include the environmental parameters of the operation path and the attribute parameters of the operation path. The status evaluation parameters of each dimension can correspond to a weight, and the sum of the weights of all dimensions can be 1.

[0071] Next, the mapping relationship between the state evaluation parameters and evaluation values ​​of each dimension can be pre-set. According to the evaluation value corresponding to the state evaluation parameter of each dimension in the m groups of state evaluation parameters, the evaluation values ​​of these dimensions are weighted and added with the weights to obtain m evaluation values.

[0072] Then, the job priorities of the m job paths are determined according to the m evaluation values ​​to obtain m job priorities, that is, different evaluation values ​​can correspond to different job priorities, and the mapping relationship between the preset environmental parameters and the job parameters can be pre-stored, and then, the job parameters corresponding to the environmental parameters of each job path in the m job paths are determined according to the mapping relationship to obtain m reference job parameters, and then, according to the m job priorities and the m reference job parameters, the job parameters of each job path in the m job paths are determined to obtain m job parameters, that is, corresponding job priorities are added to each reference job parameter in the m reference job parameters to obtain m job parameters, so that corresponding job parameters can be configured based on the actual environmental conditions of the job path and its own attributes, and then, the efficiency of the entire job process and the rationality of the job sequence can be considered to perform job sequence planning for all job paths until all job paths are completed.

[0073] 104. Control the mowing robot to complete the m operating paths according to the m operating parameters.

[0074] In an embodiment of the present application, the lawn mowing robot can be controlled to complete m operation paths according to m operation parameters. Furthermore, the efficiency of the entire operation process and the rationality of the operation sequence can be considered to plan the operation sequence for all operation paths until all operation paths are completed.

[0075] Optionally, the above step 104, controlling the mowing robot to complete the m operating paths according to the m operating parameters, may include the following steps:

[0076] 41. After completing operation path i, navigate to the starting point of operation path j without passing through completed operation paths during the navigation process; the operation path i is any operation path other than the last operation path among the m operation paths; the operation path j is the next operation path of the operation path i;

[0077] 42. Control the lawn mowing robot to continue completing the operation path j according to the operation parameters of the operation path j.

[0078] In the embodiment of the present application, taking operation path i and operation path j as examples, operation path i is any operation path other than the last operation path among the m operation paths, and operation path j is the next operation path of operation path i.

[0079] In the specific implementation, after the operation path i is completed, it navigates to the starting point of the operation path j. During the navigation process, it does not pass through the completed operation path, and then controls the mowing robot to continue to complete the operation path j according to the operation parameters of the operation path j. That is, the navigation path can only follow the map or obstacle boundary, pass through the unoperated area or follow the completed operation path to ensure that the completed lawn pattern will not be destroyed during the navigation process, thereby ensuring the improvement of full coverage operation efficiency and operation effect.

[0080] In the embodiment of the present application, the problem of generating an overall lawn pattern during the full coverage operation of a lawn mowing robot is solved. By way of example, the following steps may be specifically included:

[0081] S1. Based on a preset lawn pattern, generate the required stripes on the work map, and generate a work path for each stripe based on the work map, the stripes, and the robot's work width;

[0082] S2. Based on all the generated operation paths, considering the efficiency of the entire operation process and the rationality of the operation sequence, all operation paths are planned in the operation sequence until all operation paths are completed;

[0083] S3. When one work path is completed and navigation is conducted to the starting point of the next work path, a navigation path is planned based on the work map, the work path, and the completed work path. The navigation path can only follow the map or obstacle boundaries, pass through unworked areas, or follow the completed work path to ensure that the completed lawn pattern will not be destroyed during the navigation process.

[0084] It can be seen that the full coverage path planning method of the lawn mowing robot described in the embodiment of the present application obtains a preset lawn pattern, generates stripes required for the preset lawn pattern on the work map, and obtains n stripes, where n is a positive integer. According to the work map, the n stripes and the working width of the lawn mowing robot, a corresponding work path is generated for each of the n stripes, and m work paths are obtained, where m is a positive integer. The work parameters of each of the m work paths are determined to obtain m work parameters, and the lawn mowing robot is controlled to complete the m work paths according to the m work parameters. First, the required stripes can be planned based on the preset lawn pattern and the terrain of the work map. In addition, the corresponding work paths can be reasonably planned based on the work map, the stripes and the working width of the lawn mowing robot. Then, considering the efficiency of the entire work process and the rationality of the work sequence, the work sequence planning is performed for all work paths to configure the corresponding work parameters for each work path. Finally, based on the planned work parameters, the full coverage path planning is performed to obtain the required preset lawn pattern. In this way, the efficiency of the full coverage operation can be improved.

[0085] Consistent with the above, please refer to FIG2 , which is a flow chart of another method for full coverage path planning of a lawn mowing robot provided in an embodiment of the present application. As shown in the figure, the method for full coverage path planning of the lawn mowing robot includes:

[0086] 201. Obtain a preset lawn pattern, generate stripes required for the preset lawn pattern on a work map, and obtain n stripes, where n is a positive integer.

[0087] 202. Generate a corresponding operation path for each of the n stripes according to the operation map, the n stripes, and the operation width of the mowing robot, to obtain m operation paths, where m is a positive integer.

[0088] 203. Determine an operation parameter of each of the m operation paths to obtain m operation parameters.

[0089] 204. After the operation path i is completed, navigate to the starting point of the operation path j without passing through the completed operation path during the navigation process; the operation path i is any other operation path among the m operation paths except the last operation path; the operation path j is the next operation path of the operation path i.

[0090] 205 : Control the lawn mowing robot to continue completing the operation path j according to the operation parameters of the operation path j.

[0091] The detailed description of the above steps 201 to 205 can be found in the corresponding steps of the full coverage path planning method of the lawn mowing robot shown in FIG1 , and will not be repeated here.

[0092] It can be seen that the full coverage path planning method of the lawn mowing robot described in the embodiment of the present application obtains a preset lawn pattern, generates stripes required for the preset lawn pattern on the work map, and obtains n stripes, where n is a positive integer. According to the work map, the n stripes, and the working width of the lawn mowing robot, a corresponding work path is generated for each of the n stripes, and m work paths are obtained, where m is a positive integer. The work parameters of each of the m work paths are determined, and m work parameters are obtained. After the work path i is completed, it navigates to the starting point of the work path j, and does not pass through the completed work path during the navigation process. The work path i is the m work paths except the last work path. any other operation path of operation path i; operation path j is the next operation path of operation path i, and the lawn mowing robot is controlled to continue to complete operation path j according to the operation parameters of operation path j. First, the required stripes can be planned based on the preset lawn pattern and the topography of the operation map. In addition, the corresponding operation path is reasonably planned according to the operation map, stripes and the operation width of the lawn mowing robot. Then, considering the efficiency of the entire operation process and the rationality of the operation sequence, the operation sequence planning is carried out for all operation paths to configure the corresponding operation parameters for each operation path. Finally, the full coverage path planning is based on the planned operation parameters to obtain the required preset lawn pattern. In this way, the full coverage operation efficiency can be improved.

[0093] Consistent with the above embodiment, please refer to Figure 3, which is a schematic structural diagram of an electronic device provided in an embodiment of the present application. As shown in the figure, the electronic device includes a processor, a memory, a communication interface, and one or more programs. The one or more programs are stored in the memory and configured to be executed by the processor. The program includes instructions for performing the following steps:

[0094] Obtain a preset lawn pattern, and generate stripes required for the preset lawn pattern on a work map to obtain n stripes, where n is a positive integer;

[0095] generating a corresponding operation path for each of the n stripes according to the operation map, the n stripes, and the operation width of the mowing robot, to obtain m operation paths, where m is a positive integer;

[0096] Determine an operation parameter of each of the m operation paths to obtain m operation parameters;

[0097] The lawn mowing robot is controlled to complete the m operating paths according to the m operating parameters.

[0098] Optionally, in terms of generating the stripes required for the preset lawn pattern on the work map to obtain n stripes, the program includes instructions for executing the following steps:

[0099] Determine the size parameters of each outline in the preset lawn pattern to obtain k size parameters, where k is a positive integer;

[0100] Determining a work area corresponding to the preset lawn pattern on the work map, and determining area size parameters corresponding to the work area;

[0101] The n stripes are generated in the working area according to the area size parameter and the k size parameters.

[0102] Further, optionally, in the aspect of generating the n stripes in the working area according to the area size parameter and the k size parameters, the program includes instructions for executing the following steps:

[0103] Embedding the preset lawn pattern in the working area;

[0104] Extracting feature points of the preset lawn pattern to obtain p feature points, where p is a positive integer;

[0105] Establishing an association relationship between the p feature points and the k size parameters;

[0106] Based on the area size parameter and the association relationship, the p feature points are projected into the working area, and the n stripes are generated according to the association relationship.

[0107] Optionally, in the aspect of generating a corresponding operation path for each of the n stripes according to the operation map, the n stripes, and the operation width of the mowing robot to obtain m operation paths, the program includes instructions for executing the following steps:

[0108] Planning is performed based on the n stripes and the operating width of the mowing robot to obtain a preliminary operating paths; the a preliminary operating paths traverse the n stripes, where a is a positive integer;

[0109] The a preliminary operation paths are optimized according to the operation map to obtain the m operation paths.

[0110] Optionally, in determining the operation parameters of each of the m operation paths to obtain the m operation parameters, the program includes instructions for executing the following steps:

[0111] Determine a status evaluation parameter of each of the m operation paths to obtain m groups of status evaluation parameters, wherein the status evaluation parameters include environmental parameters of the operation path and attribute parameters of the operation path;

[0112] Determining an evaluation value of each of the m operation paths according to the m groups of state evaluation parameters to obtain m evaluation values;

[0113] Determine the job priorities of the m job paths according to the m evaluation values ​​to obtain m job priorities;

[0114] Determine, according to the environmental parameters of each of the m operation paths, an operation parameter of each of the m operation paths, to obtain m reference operation parameters;

[0115] The operation parameters of each of the m operation paths are determined according to the m operation priorities and the m reference operation parameters to obtain the m operation parameters.

[0116] Optionally, in controlling the mowing robot to complete the m operating paths according to the m operating parameters, the program includes instructions for executing the following steps:

[0117] After the operation path i is completed, navigate to the starting point of the operation path j, without passing through the completed operation path during the navigation process; the operation path i is any operation path other than the last operation path among the m operation paths; the operation path j is the next operation path of the operation path i;

[0118] The lawn mowing robot is controlled to continue to complete the operation path j according to the operation parameters of the operation path j.

[0119] It can be seen that the electronic device described in the embodiment of the present application obtains a preset lawn pattern, generates stripes required for the preset lawn pattern on the work map, and obtains n stripes, where n is a positive integer. According to the work map, the n stripes, and the working width of the lawn mowing robot, a corresponding work path is generated for each of the n stripes, and m work paths are obtained, where m is a positive integer. The work parameters of each of the m work paths are determined, and m work parameters are obtained. After the work path i is completed, it navigates to the starting point of the work path j, and does not pass through the completed work path during the navigation process. The work path i is any other work path in the m work paths except the last work path. Operation path; operation path j is the next operation path of operation path i, and the lawn mowing robot is controlled to continue to complete operation path j according to the operation parameters of operation path j. First, the required stripes can be planned based on the preset lawn pattern and the topography of the operation map. In addition, the corresponding operation path is reasonably planned according to the operation map, stripes and the operation width of the lawn mowing robot. Then, considering the efficiency of the entire operation process and the rationality of the operation sequence, the operation sequence of all operation paths is planned to configure the corresponding operation parameters for each operation path. Finally, based on the planned operation parameters, the full coverage path planning is carried out to obtain the required preset lawn pattern. In this way, the full coverage operation efficiency can be improved.

[0120] Among them, the electronic device may include a lawn mowing robot, or may also include other electronic devices that are connected to the lawn mowing robot for communication and used to control the lawn mowing robot. The electronic device may be any electronic device with communication function. For example, the electronic device may include at least one of the following: a mobile phone, a tablet computer, a desktop computer, etc., which is not limited here.

[0121] FIG4 is a functional block diagram of a lawn mowing robot full coverage path planning device 400 involved in an embodiment of the present application. The lawn mowing robot full coverage path planning device 400 includes: a first generating unit 401, a second generating unit 402, a determining unit 403 and a control unit 404, wherein:

[0122] The first generating unit 401 is configured to obtain a preset lawn pattern and generate stripes required for the preset lawn pattern on a work map to obtain n stripes, where n is a positive integer;

[0123] The second generating unit 402 is configured to generate a corresponding operating path for each of the n stripes according to the operating map, the n stripes, and the operating width of the mowing robot, to obtain m operating paths, where m is a positive integer;

[0124] The determining unit 403 is configured to determine an operation parameter of each of the m operation paths to obtain m operation parameters;

[0125] The control unit 404 is configured to control the mowing robot to complete the m operating paths according to the m operating parameters.

[0126] Optionally, in terms of generating the stripes required for the preset lawn pattern on the work map to obtain n stripes, the first generating unit 401 is specifically configured to:

[0127] Determine the size parameters of each outline in the preset lawn pattern to obtain k size parameters, where k is a positive integer;

[0128] Determining a work area corresponding to the preset lawn pattern on the work map, and determining area size parameters corresponding to the work area;

[0129] The n stripes are generated in the working area according to the area size parameter and the k size parameters.

[0130] Further, optionally, in the aspect of generating the n stripes in the working area according to the area size parameter and the k size parameters, the first generating unit 401 is specifically configured to:

[0131] Embedding the preset lawn pattern in the working area;

[0132] Extracting feature points of the preset lawn pattern to obtain p feature points, where p is a positive integer;

[0133] Establishing an association relationship between the p feature points and the k size parameters;

[0134] Based on the area size parameter and the association relationship, the p feature points are projected into the working area, and the n stripes are generated according to the association relationship.

[0135] Optionally, in generating a corresponding operation path for each of the n stripes according to the operation map, the n stripes, and the operation width of the mowing robot to obtain m operation paths, the second generation unit 402 is specifically configured to:

[0136] Planning is performed based on the n stripes and the operating width of the mowing robot to obtain a preliminary operating paths; the a preliminary operating paths traverse the n stripes, where a is a positive integer;

[0137] The a preliminary operation paths are optimized according to the operation map to obtain the m operation paths.

[0138] Optionally, in determining the operation parameters of each of the m operation paths to obtain the m operation parameters, the determining unit 403 is specifically configured to:

[0139] Determine a status evaluation parameter of each of the m operation paths to obtain m groups of status evaluation parameters, wherein the status evaluation parameters include environmental parameters of the operation path and attribute parameters of the operation path;

[0140] Determining an evaluation value of each of the m operation paths according to the m groups of state evaluation parameters to obtain m evaluation values;

[0141] Determine the job priorities of the m job paths according to the m evaluation values ​​to obtain m job priorities;

[0142] Determine, according to the environmental parameters of each of the m operation paths, an operation parameter of each of the m operation paths, to obtain m reference operation parameters;

[0143] The operation parameters of each of the m operation paths are determined according to the m operation priorities and the m reference operation parameters to obtain the m operation parameters.

[0144] Optionally, in controlling the mowing robot to complete the m operating paths according to the m operating parameters, the control unit 404 is specifically configured to:

[0145] After the operation path i is completed, navigate to the starting point of the operation path j, without passing through the completed operation path during the navigation process; the operation path i is any operation path other than the last operation path among the m operation paths; the operation path j is the next operation path of the operation path i;

[0146] The lawn mowing robot is controlled to continue to complete the operation path j according to the operation parameters of the operation path j.

[0147] It can be seen that the full-coverage path planning device for the lawn mower robot described in the embodiment of the present application obtains a preset lawn pattern, generates stripes required for the preset lawn pattern on the work map, and obtains n stripes, where n is a positive integer. According to the work map, the n stripes, and the working width of the lawn mower robot, a corresponding work path is generated for each of the n stripes, and m work paths are obtained, where m is a positive integer. The work parameters of each of the m work paths are determined to obtain m work parameters, and the lawn mower robot is controlled to complete the m work paths according to the m work parameters. First, the required stripes can be planned based on the preset lawn pattern and the terrain of the work map. In addition, the corresponding work paths can be reasonably planned based on the work map, the stripes, and the working width of the lawn mower robot. Then, considering the efficiency of the entire work process and the rationality of the work sequence, the work sequence planning is performed for all work paths to configure the corresponding work parameters for each work path. Finally, based on the planned work parameters, the full-coverage path planning is performed to obtain the required preset lawn pattern. In this way, the efficiency of the full-coverage work can be improved.

[0148] It can be understood that the functions of each program module of the full coverage path planning device of the lawn mowing robot in this embodiment can be specifically implemented according to the method in the above method embodiment. The specific implementation process can refer to the relevant description of the above method embodiment and will not be repeated here.

[0149] An embodiment of the present application also provides a computer storage medium, wherein the computer storage medium stores a computer program for electronic data exchange, and the computer program enables a computer to execute part or all of the steps of any method described in the above method embodiments, and the above computer includes a lawn mowing robot.

[0150] Embodiments of the present application also provide a computer program product, comprising a non-transitory computer-readable storage medium storing a computer program, wherein the computer program is operable to cause a computer to perform some or all of the steps of any of the methods described in the above method embodiments. The computer program product may be a software installation package, and the computer may include a lawn mowing robot.

[0151] It should be noted that for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that this application is not limited by the order of the actions described, because according to this application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by this application.

[0152] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0153] In the several embodiments provided in this application, it should be understood that the disclosed devices can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the above-mentioned units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection of devices or units can be electrical or other forms.

[0154] The units described above as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0155] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0156] If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a memory and includes a number of instructions for enabling a computer device (which can be a personal computer, server or network device, etc.) to execute all or part of the steps of the above-mentioned methods of each embodiment of the present application. The aforementioned memory includes: various media that can store program codes, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk.

[0157] Those skilled in the art will appreciate that all or part of the steps in the various methods of the above embodiments can be completed by instructing related hardware through a program. The program can be stored in a computer-readable memory, and the memory can include: a flash drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0158] The above is a detailed introduction to the embodiments of the present application. Specific examples are used herein to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method and core idea of ​​the present application. At the same time, for those skilled in the art, according to the idea of ​​the present application, there may be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A full coverage path planning method for a lawn mowing robot, characterized in that: The method comprises: Obtain a preset lawn pattern, generate stripes required for the preset lawn pattern on the work map, and obtain n stripes, where n is a positive integer; According to the operation map, the n stripes and the operation width of the mowing robot, a corresponding operation path is generated for each of the n stripes to obtain m operation paths, where m is a positive integer; Determine the operation parameters of each of the m operation paths to obtain m operation parameters; The lawn mowing robot is controlled to complete the m operating paths according to the m operating parameters.

2. The method according to claim 1, characterized in that: The step of generating the stripes required for the preset lawn pattern on the operation map to obtain n stripes includes: Determine the size parameters of each contour in the preset lawn pattern to obtain k size parameters, where k is a positive integer; Determine the operation area corresponding to the preset lawn pattern on the operation map, and determine the area size parameters corresponding to the operation area; The n stripes are generated in the working area according to the area size parameter and the k size parameters.

3. The method according to claim 2, characterized in that Generating the n stripes in the operation area according to the area size parameter and the k size parameters includes: Embedding the preset lawn pattern in the working area; Extracting feature points of the preset lawn pattern to obtain p feature points, where p is a positive integer; Establishing an association relationship between the p feature points and the k size parameters; Based on the area size parameter and the association relationship, the p feature points are projected into the working area, and the n stripes are generated according to the association relationship.

4. The method according to any one of claims 1 to 3, characterized in that: The method generates a corresponding operation path for each of the n stripes according to the operation map, the n stripes and the operation width of the mowing robot to obtain m operation paths, including: Planning is performed according to the n stripes and the working width of the mowing robot to obtain a preliminary working paths; the a preliminary working paths traverse the n stripes, where a is a positive integer; The a preliminary operation paths are optimized according to the operation map to obtain the m operation paths.

5. The method according to any one of claims 1 to 3, characterized in that: The determining of the operation parameters of each of the m operation paths to obtain m operation parameters includes: Determine a state evaluation parameter of each of the m operation paths to obtain m groups of state evaluation parameters, wherein the state evaluation parameters include an environmental parameter of the operation path and an attribute parameter of the operation path; Determine an evaluation value of each of the m operation paths according to the m groups of state evaluation parameters to obtain m evaluation values; Determine the job priorities of the m job paths according to the m evaluation values ​​to obtain m job priorities; Determine the operation parameters of each of the m operation paths according to the environmental parameters of each of the m operation paths, and obtain m reference operation parameters; According to the m job priorities and the m reference job parameters, the job parameters of each of the m job paths are determined to obtain the m job parameters.

6. The method according to any one of claims 1 to 3, characterized in that: The controlling the lawn mowing robot to complete the m operating paths according to the m operating parameters comprises: After the operation path i is completed, navigate to the starting point of the operation path j, and do not pass through the completed operation path during the navigation process; the operation path i is any other operation path among the m operation paths except the last operation path; the operation path j is the next operation path of the operation path i; The lawn mowing robot is controlled to continue to complete the operation path j according to the operation parameters of the operation path j.

7. A full coverage path planning device for a lawn mowing robot, characterized in that: The device comprises: a first generating unit, a second generating unit, a determining unit and a control unit, wherein: The first generating unit is used to obtain a preset lawn pattern, generate stripes required for the preset lawn pattern on the work map, and obtain n stripes, where n is a positive integer; The second generating unit is used to generate a corresponding operating path for each of the n stripes according to the operating map, the n stripes and the operating width of the mowing robot, so as to obtain m operating paths, where m is a positive integer; The determining unit is used to determine the operation parameters of each operation path in the m operation paths to obtain m operation parameters; The control unit is used to control the lawn mowing robot to complete the m operating paths according to the m operating parameters.

8. The device according to claim 7, characterized in that In terms of generating the stripes required for the preset lawn pattern on the work map to obtain n stripes, the first generating unit is specifically used for: Determine the size parameters of each contour in the preset lawn pattern to obtain k size parameters, where k is a positive integer; Determine the operation area corresponding to the preset lawn pattern on the operation map, and determine the area size parameters corresponding to the operation area; The n stripes are generated in the working area according to the area size parameter and the k size parameters.

9. An electronic device, characterized in that: The method comprises a processor and a memory, wherein the memory is used to store one or more programs and is configured to be executed by the processor, wherein the program comprises instructions for executing the steps in the method according to any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that: A computer program for electronic data exchange is stored, wherein the computer program enables a computer to execute the method according to any one of claims 1 to 6.

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