Control method for robotic lawn mower, and robotic lawn mower

Abstract

Disclosed in the present application are a control method for a robotic lawn mower, and a robotic lawn mower. The method comprises: controlling a robotic lawn mower to execute a mowing operation along a preset path within a target lawn, wherein the preset path at least comprises a plurality of linear paths parallel to each other; in the process of the robotic lawn mower executing the mowing operation along the preset path, acquiring a supplementary-mowing path for a missed-grass mowing area; controlling the robotic lawn mower to execute a supplementary-mowing operation on the missed-grass mowing area along the supplementary-mowing path; and after the robotic lawn mower has executed the supplementary-mowing operation, controlling the robotic lawn mower to return to the preset path and continue to execute the mowing operation. The present solution can remedy missed patches of grass during mowing caused by a relatively large single round-trip lateral displacement configuration. On this basis, the present application can control a robotic lawn mower to increase a single round-trip lateral displacement, thereby facilitating in an improvement in the mowing efficiency of the robotic lawn mower, and effectively avoiding missing patches of grass during mowing.

Description

Control method of lawn mowing robot and lawn mowing robot TECHNICAL FIELD

[0001] The present application relates to the technical field of lawn mowing robots, and more particularly, to a control method of a lawn mowing robot and a lawn mowing robot. BACKGROUND

[0002] With the development of intelligence, at present, a lawn can be path planned by using high-precision global positioning technology and mowed along a preset path, which is widely welcomed due to high efficiency and beautiful lawn after mowing.

[0003] However, when mowing along the preset path, the lawn mowing robot needs to have a high degree of overlap in return (i.e., the lawn mowing robot has a small amount of side shift in return), so as to avoid the phenomenon of missed mowing. As a result, the mowing efficiency of the lawn mowing robot is greatly reduced. SUMMARY

[0004] Embodiments of the present application provide a control method of a lawn mowing robot and a lawn mowing robot. Each aspect related to the embodiments of the present application is introduced below.

[0005] In a first aspect, a control method of a lawn mowing robot is provided, comprising: controlling the lawn mowing robot to perform mowing work in a target lawn along a preset path, the preset path comprising at least a plurality of straight line segment paths parallel to each other; during the process of the lawn mowing robot performing mowing work along the preset path, acquiring a mowing path for a missed mowing area; controlling the lawn mowing robot to perform mowing work on the missed mowing area along the mowing path; and after the lawn mowing robot performs the mowing work, controlling the lawn mowing robot to return to the preset path to continue performing mowing work.

[0006] As a possible implementation manner, the lawn mowing robot comprises a visual sensor, the visual sensor comprising a first visual module and a second visual module, the acquiring of the mowing path for the missed mowing area comprising: during the movement of the lawn mowing robot, acquiring a first image of an area in the advancing direction of the lawn mowing robot by using the first visual module, and acquiring a second image of the area in the advancing direction of the lawn mowing robot by using the second visual module; acquiring a parallax map according to the first image and the second image; identifying whether a preset specific object exists in the parallax map, the preset specific object being used to indicate a missed mowing area; and if the preset specific object exists, determining the mowing path for the missed mowing area corresponding to the preset specific object according to the position information of the preset specific object.

[0007] As a possible implementation manner, the preset path is an arch-shaped mowing path, and the method further comprises: determining a mowed area according to a current travel direction of the mowing robot during the mowing robot performing the mowing operation along the arch-shaped mowing path; and the method of identifying whether the preset specific object exists in the parallax map comprises: identifying whether the preset specific object exists in a partial image of the mowed area corresponding to the parallax map.

[0008] As a possible implementation manner, the method of determining the mowed area according to the current travel direction of the mowing robot comprises: obtaining the current travel direction of the mowing robot; and determining an identification line in the parallax map according to the current travel direction of the mowing robot, a size of a cutter head, and a sensor parameter of the visual sensor, the identification line being used to indicate a partial image of the mowed area corresponding to the parallax map.

[0009] As a possible implementation manner, before the method of identifying whether the preset specific object exists in the parallax map, the control method further comprises: performing edge extraction on the parallax map to obtain an edge map; and the method of identifying whether the preset specific object exists in the parallax map comprises: identifying whether the preset specific object exists in a partial image of the mowed area corresponding to the edge map.

[0010] As a possible implementation manner, the method of identifying whether the preset specific object exists in the partial image of the mowed area corresponding to the edge map comprises: identifying whether the preset specific object exists in the partial image of the mowed area corresponding to the edge map according to a number of pixel points with a pixel value greater than 0 in the partial image.

[0011] As a possible implementation manner, the preset path includes an initial path and a plurality of L-shaped preset paths, the plurality of L-shaped preset paths are connected by complementary cutting paths, each of the L-shaped preset paths and the corresponding complementary cutting path thereof form a path closed loop, the L-shaped preset path includes a first transverse path and a first longitudinal path connected in sequence, and the method for obtaining the complementary cutting path of the missed mowing area in the process that the mowing robot performs the mowing operation along the preset path includes the following steps: after the mowing robot performs the mowing operation along the L-shaped preset path, the mowing robot is controlled to travel a first preset distance in a direction opposite to a travel direction of the first transverse path and turn to a direction opposite to a travel direction of the first longitudinal path; the mowing robot is controlled to move forward, and it is identified whether the missed mowing area exists in front of the mowing robot; if the missed mowing area exists, the complementary cutting path is obtained in real time according to position information of the missed mowing area; and the mowing robot is controlled to return to the preset path to continue the mowing operation, which includes: the mowing robot is controlled to perform the complementary mowing operation according to the complementary cutting path until the mowing robot returns to the first transverse path; and the mowing robot is controlled to move to a starting point of a next L-shaped preset path to continue the mowing operation.

[0012] As a possible implementation manner, in the process that the mowing robot returns to the first transverse path, the control method further includes: if it is identified that the missed mowing area does not exist in front of the mowing robot, the mowing robot is controlled to move straight to the first transverse path, and it is identified in real time whether the missed mowing area exists in front of the mowing robot until the mowing robot returns to the first transverse path.

[0013] As a possible implementation manner, the first preset distance is 1 / 2 of a spacing between two adjacent first longitudinal paths.

[0014] In a second aspect, a mowing robot is provided, including a processor and a memory, the memory is used to store a computer program, and the processor is used to call and run the computer program stored in the memory to control the mowing robot to perform the method according to the first aspect or any implementation manner of the first aspect.

[0015] The application provides a control method of a mowing robot, including: controlling the mowing robot to perform a mowing operation along a preset path in a target lawn, the preset path including at least a plurality of straight line segment paths parallel to each other; during the mowing operation of the mowing robot along the preset path, acquiring a supplementary mowing path of a missed mowing area; controlling the mowing robot to perform a supplementary mowing operation on the missed mowing area along the supplementary mowing path; and after the mowing robot performs the supplementary mowing operation, controlling the mowing robot to return to the preset path to continue the mowing operation. In the process of the mowing robot performing the mowing operation along the preset path, the supplementary mowing path of the missed mowing area is acquired, and the missed mowing area can be mowed. That is, the scheme can compensate for the missed mowing phenomenon caused by a large single return side displacement. On this basis, the mowing robot can be controlled to increase the single return side displacement, thereby helping to improve the mowing efficiency of the mowing robot and effectively avoiding the missed mowing phenomenon. BRIEF DESCRIPTION OF DRAWINGS

[0016] Fig. 1 is a schematic diagram of the position of the cutter head of the mowing robot during a return.

[0017] Fig. 2 is a flowchart of the control method of the mowing robot according to an embodiment of the application.

[0018] Fig. 3 is a schematic diagram of a mowing path according to an embodiment of the application.

[0019] Fig. 4 is a schematic diagram of the identification of a missed mowing area according to an embodiment of the application.

[0020] Fig. 5 is a schematic diagram of a mowing path according to another embodiment of the application.

[0021] Fig. 6 is a schematic diagram of the supplementary mowing of the mowing path shown in Fig. 5.

[0022] Fig. 7 is a schematic diagram of a mowing path according to yet another embodiment of the application.

[0023] Fig. 8 is a schematic diagram of the supplementary mowing of the mowing path shown in Fig. 7.

[0024] Fig. 9 is a schematic diagram of the structure of the mowing robot according to an embodiment of the application. DETAILED DESCRIPTION

[0025] To enable persons skilled in the art to better understand the schemes of the application, the technical schemes in the embodiments of the application will be described clearly and completely below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only a part of the embodiments of the application, rather than all the embodiments. All other embodiments obtained by persons skilled in the art based on the embodiments of the application shall fall within the scope of the application.

[0026] Reference to“an embodiment” herein means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment. The appearances of the phrase“in one embodiment” in various places in the specification are not necessarily referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is appreciated that embodiments described herein can be combined with other embodiments.

[0027] In the description of the present application, it should be noted that the terms“center”,“upper”,“lower”,“left”,“right”,“vertical”,“horizontal”,“inner”,“outer” and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application; the terms“first”,“second”,“third” are only for the purpose of description, and cannot be understood as indicating or implying relative importance; in addition, unless otherwise explicitly specified and limited, the terms“mounting”,“connecting”,“connecting” should be understood in a broad sense, for example, can be fixedly connected, can also be detachably connected; can be directly connected, can also be indirectly connected through an intermediate medium, can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0028] With the development of intelligence, using high-precision global positioning technologies such as real-time kinematic (RTK), ultra-wideband (UWB), laser radar, and visual simultaneous localization and mapping (VSLAM), the lawn mowing robot can plan a path for the lawn and mow along the preset path. It is widely welcomed due to its high efficiency and beautiful lawn after work.

[0029] At present, on the one hand, the positioning system accuracy is low due to environmental factors (such as house tree shelter) and weather factors (such as cloudy and rainy weather) and other factors. On the other hand, due to factors such as ground undulation or wheel slip, the walking is inaccurate and deviates from the planned path. Therefore, when performing the mowing operation, the mowing robot has a high degree of overlap (i.e., the mowing robot has a small amount of side shift per round trip), thereby effectively avoiding the occurrence of missed mowing. As a result, the mowing efficiency of the mowing robot is greatly reduced. The above situation will be illustrated below in combination with FIG. 1. Referring to FIG. 1, for example, the diameter of the cutter head is 18 cm. In order to ensure that the mowing is missed, the mowing robot is usually controlled to have a small amount of side shift per round trip (for example, 5 cm). As a result, the mowing efficiency of the mowing robot is greatly reduced.

[0030] To solve the above problems, the present application provides a control method of a mowing robot, which comprises: controlling the mowing robot to perform a mowing operation along a preset path in a target lawn, the preset path comprising at least a plurality of parallel straight line segment paths; obtaining a supplementary mowing path of a missed mowing area during the mowing robot performing the mowing operation along the preset path; controlling the mowing robot to perform a supplementary mowing operation on the missed mowing area along the supplementary mowing path; and controlling the mowing robot to return to the preset path to continue the mowing operation after performing the supplementary mowing operation. In the process of the mowing robot performing the mowing operation along the preset path, the supplementary mowing path of the missed mowing area is obtained, and the missed mowing area can be mowed. That is, the present application can compensate for the missed mowing phenomenon caused by setting a large amount of side shift per round trip. On this basis, the present application can control the mowing robot to increase the amount of side shift per round trip, thereby helping to improve the mowing efficiency of the mowing robot and effectively avoiding the occurrence of missed mowing.

[0031] The control method of the mowing robot in the embodiment of the present application will be described in detail below in combination with FIG. 2. As shown in FIG. 2, the control method 200 of the mowing robot can comprise steps S210-S240.

[0032] In step S210, the mowing robot is controlled to perform a mowing operation along a preset path in a target lawn, the preset path comprising at least a plurality of parallel straight line segment paths.

[0033] In the embodiment of the present application, the target lawn can refer to a lawn that needs to be mowed by the mowing robot.

[0034] In some implementations, before performing the mowing operation, the preset path on the lawn can be set according to a global positioning technology. The global positioning technology can include but is not limited to RTK, UWB, laser radar, VSLAM, etc.

[0035] The type of the preset path is not specifically limited in the embodiments of the present application. For example, the preset path can be an arch-shaped mowing path, or a back-shaped mowing path. Of course, the preset path can also be other types of mowing paths, as long as it includes a plurality of straight line segment paths that are parallel to each other. For example, referring to FIG. 3, the preset path can include an initial path and a plurality of L-shaped preset paths, the plurality of L-shaped preset paths are connected by a complementary mowing path, each L-shaped preset path and the corresponding complementary mowing path form a path closed loop, and the initial path can be a path between the charging station and the starting point of the first L-shaped preset path of the mowing robot.

[0036] It should be noted that the complementary mowing path can be a straight line or a curve, and the comparison is not specifically limited in the present application.

[0037] In step S220, during the mowing operation of the mowing robot along the preset path, the complementary mowing path of the missed mowing area is obtained.

[0038] In some implementations, the mowing robot includes a vision sensor, the vision sensor includes a first vision module and a second vision module, and the complementary mowing path of the missed mowing area is obtained by: during the movement of the mowing robot, obtaining a first image of the area in the forward direction of the mowing robot by using the first vision module, and obtaining a second image of the area in the forward direction of the mowing robot by using the second vision module; obtaining a parallax map according to the first image and the second image; identifying whether a preset specific object exists in the parallax map, the preset specific object being used to indicate the missed mowing area; and if the preset specific object exists, determining the complementary mowing path of the missed mowing area corresponding to the preset specific object according to the position information of the preset specific object.

[0039] In the embodiments of the present application, the vision sensor can be a multi-view camera (such as a binocular camera).

[0040] In the present embodiment, the specific object is a missed mowing area that needs to be mowed by the mowing robot, and the height of the missed mowing area is higher than the height of the surrounding grass.

[0041] In some implementations, the preset path is an arch-shaped mowing path, and the complementary mowing path of the missed mowing area is obtained by: during the mowing operation of the mowing robot along the arch-shaped mowing path, determining a mowed area according to the current travel direction of the mowing robot; and identifying whether a preset specific object exists in the parallax map, including: identifying whether the preset specific object exists in the partial image of the mowed area corresponding to the parallax map.

[0042] In some implementations, determining the mowed area according to the current travel direction of the mowing robot comprises: obtaining the current travel direction of the mowing robot; and determining, according to the current travel direction of the mowing robot, the size of the cutter deck, and the sensor parameters of the visual sensor, a recognition line in the parallax map, the recognition line being used to indicate the part of the image of the mowed area corresponding to the parallax map.

[0043] As an example, taking the visual sensor as a binocular camera, referring to FIG. 4, where FIG. a is a first image captured by the left camera, FIG. b is a second image captured by the right camera, FIG. c is a parallax map obtained based on the first image and the second image, and FIG. d is a depth map generated based on the parallax map, and the white part in FIG. d is a high grass part. Referring to FIG. c, a recognition line is determined in the parallax map according to the current travel direction of the mowing robot, the size of the cutter deck, and the sensor parameters of the visual sensor, and the range outside the coverage of the cutter deck is determined. In FIG. 4, taking the right side of the image as the mowed area (i.e., the right side of the travel direction as the mowed area) as an example, the range to the right of the recognition line is the range of the area not covered by the cutter deck. If there is a preset specific object to the right of the recognition line, it is determined that there is a missed mowing area in the mowed area.

[0044] Further, referring to FIG. d, a recognition line can also be determined in the depth map according to the current travel direction of the mowing robot, the size of the cutter deck, and the sensor parameters of the visual sensor, and the range to the right of the recognition line in the depth map is the range of the area not covered by the cutter deck. If there is a preset specific object to the right of the recognition line, it is determined that there is a missed mowing area in the mowed area.

[0045] It should be understood that if a missed mowing part (i.e., a preset specific object) is recognized in the mowed area during the mowing robot performing the mowing operation along the arch-shaped mowing path, a mowing path for the missed mowing part is determined according to the position information of the missed mowing part. That is, the mowing robot will detect in real time whether there is a missed mowing part in the mowed area during the mowing robot performing the mowing operation along the arch-shaped mowing path.

[0046] In step S230, the mowing robot is controlled to perform a mowing operation on the missed mowing area along the mowing path.

[0047] In step S240, after the mowing robot performs the mowing operation, the mowing robot is controlled to return to the preset path to continue the mowing operation.

[0048] For example, during the mowing operation along the arch-shaped mowing path, the visual sensor detects that there is a missed mowing area in the mowed area, and then the mowing robot is controlled to stop mowing along the current arch-shaped mowing path and turn to the missed mowing area to perform a mowing operation, and after performing the mowing operation, the mowing robot is controlled to return to the arch-shaped mowing path to continue the mowing operation.

[0049] It should be noted that in some implementations, the side displacement of a single round trip can be appropriately increased, for example, the side displacement in FIG. 1 can be increased from 5 cm to 7.5 cm. Then, it is detected in real time whether there is a missed mowing area in the mowed area. Of course, the side displacement can also be increased, for example, the side displacement in FIG. 1 can also be increased from 5 cm to 16 cm, and then a special mowing path is added. The case of adding a special mowing path is described in detail below in conjunction with examples.

[0050] Referring back to FIG. 3, the preset path can include an initial path and a plurality of L-shaped preset paths connected by a mowing path, each L-shaped preset path and its corresponding mowing path form a path closed loop, the L-shaped preset path includes a first transverse path and a first longitudinal path connected in sequence, in the process of the mowing robot performing the mowing work along the preset path, the mowing path of the missed mowing area is acquired, including: after the mowing robot performs the mowing work along the L-shaped preset path, controlling the mowing robot to travel in the opposite direction of the first transverse path for a first preset distance, and then turning to the direction opposite to the first longitudinal path; control the mowing robot to move forward and identify whether there is a missed mowing area in front of the mowing robot; if there is a missed mowing area, the mowing path is acquired in real time according to the position information of the missed mowing area; control the mowing robot to return to the preset path to continue the mowing work, including: controlling the mowing robot to perform the mowing work according to the mowing path until the mowing robot returns to the first transverse path; control the mowing robot to move to the starting point of the next L-shaped preset path to continue the mowing work.

[0051] In some implementations, in the process of the mowing robot returning to the first transverse path, the control method further includes: if no missed mowing area is identified in front of the mowing robot, controlling the mowing robot to move straight to the first transverse path, and identifying in real time whether there is a missed mowing area in front of the mowing robot until the mowing robot returns to the first transverse path.

[0052] It should be understood that if there is no missed mowing area in front of the mowing robot, the mowing robot will return to the first transverse path in a straight line in the opposite direction of the first longitudinal path.

[0053] It should be noted that in the mowing scheme of specifically setting a mowing path, the mowing robot does not need to detect in real time whether there is a missed mowing area in the mowed area, but after performing the mowing work along the L-shaped preset path, it is retreated by a first preset distance, then it is identified in real time whether there is a missed mowing area in front of the mowing robot to perform the mowing work.

[0054] In some implementations, the first preset distance is 1 / 2 of the distance between two adjacent first longitudinal paths. That is, the first preset distance is 1 / 2 of the first transverse path. When the first preset distance is 1 / 2 of the first transverse path, the mowing robot can maximize the mowing coverage, effectively perform the mowing operation, and reduce the phenomenon of missing mowing. Of course, the first preset distance can also be other distances, for example, it can also be 3 / 4 of the first transverse path, and the present application does not make specific limitations thereto.

[0055] According to the above, in the embodiments of the present application, by specially setting the mending path, the phenomenon of missing mowing is reduced, the mowing robot can set a larger side shift amount, and the mowing efficiency of the mowing robot is further improved.

[0056] In some implementations, before identifying whether the preset specific object exists in the disparity map, the control method further includes: performing edge extraction on the disparity map to obtain an edge map; and identifying whether the preset specific object exists in the disparity map, including: identifying whether the preset specific object exists in the part of the image of the mowed area corresponding to the edge map.

[0057] In some implementations, identifying whether the preset specific object exists in the part of the image of the mowed area corresponding to the edge map includes: identifying whether the preset specific object exists in the part of the image of the mowed area corresponding to the edge map according to the number of pixel points with a pixel value greater than 0 in the part of the image of the mowed area corresponding to the edge map.

[0058] For example, when the number of pixel points with a pixel value greater than 0 in the part of the image of the mowed area corresponding to the edge map is greater than a preset threshold, it can be determined that the part of the image of the mowed area corresponding to the edge map has the preset specific object, otherwise, it does not have the preset specific object. The preset threshold of the number of pixel points can be set according to requirements, and the present application does not make specific limitations thereto.

[0059] The embodiments of the present application will be described in more detail below with reference to specific examples. In the following examples, only to help those skilled in the art to understand the embodiments of the present application, but not to limit the embodiments of the present application to the specific values or specific scenarios exemplified. Those skilled in the art can obviously make various equivalent modifications or changes according to the given examples, and such modifications or changes also fall within the scope of the embodiments of the present application.

[0060] In the embodiments of the present application, the mowing operation can be performed along the arch-shaped mowing path when the side displacement increases greatly, and then it is determined in real time whether there is a missed mowing part in the mowed area, and the missed mowing part is mowed in real time. In the embodiments of the present application, the side displacement can increase greatly, and a mowing path is specially set for mowing, and the mowing path and the preset mowing path are used in cooperation to improve the mowing efficiency of the mowing robot and effectively avoid the missed mowing phenomenon. The two mowing schemes are described in detail below.

[0061] Embodiment one

[0062] Referring to FIG. 5, the mowing robot is controlled to perform the mowing operation along the arch-shaped mowing path, and the side displacement is increased from 5 cm to 7.5 cm before the mowing operation is performed. Compared with the mowing scheme in the related art in which the side displacement is 5 cm, the mowing scheme in the embodiments of the present application in which the side displacement is 7.5 cm can have a small amount of missed mowing phenomenon. In view of this situation, in the embodiments of the present application, the visual sensor (such as a binocular camera) on the mowing robot is used to detect in real time whether there is a missed mowing part in the mowed area during the mowing operation of the mowing robot along the arch-shaped mowing path.

[0063] The detection method of the missed mowing part in the embodiments of the present application is not specifically limited. For example, during the mowing operation of the mowing robot along the arch-shaped mowing path, the mowed area can be determined according to the current advancing direction of the mowing robot. Referring back to FIG. 4, the binocular camera is used to acquire a first image and a second image of the area in the advancing direction of the mowing robot in real time; then, a parallax map is obtained according to the first image and the second image; then, according to the current advancing direction of the mowing robot, the size of the cutter head, and the sensor parameters of the visual sensor, an identification line is determined in the parallax map, and the identification line is used to indicate the part image (such as the image to the right of the identification line in FIG. 4) of the mowed area corresponding to the parallax map. If the missed mowing part is detected in the mowed area by using the identification method in FIG. 4, referring to FIG. 6, the mowing path of the missed mowing part can be determined according to the position information of the missed mowing part. Then, the mowing robot is controlled to perform the mowing operation along the mowing path of the missed mowing part (i.e., the missed mowing area). After the mowing robot performs the mowing operation, the mowing robot is controlled to return to the original position and turn to the original arch-shaped path direction to continue the mowing operation.

[0064] Embodiment two

[0065] Referring to FIG. 7, in the second embodiment, a special mowing path can be added, the preset mowing path includes an initial path and a plurality of L-shaped preset paths, the plurality of L-shaped preset paths are connected by the mowing path, each L-shaped preset path and the corresponding mowing path form a path closed loop, and the L-shaped preset path includes a first transverse path and a first longitudinal path connected in sequence. Before performing the mowing operation, the side shift amount is increased from 5 cm to 16 cm.

[0066] Referring to FIG. 8, after the mowing robot performs the mowing operation along the L-shaped preset path, the mowing robot is controlled to travel in the direction opposite to the first transverse path by about 8 cm (i.e., the reverse side shift is about 8 cm), and then turn to the direction opposite to the first longitudinal path; the mowing robot is controlled to move forward, and whether there is a missed mowing area in front of the mowing robot is identified; if there is a missed mowing area, the mowing path is obtained in real time according to the position information of the missed mowing area; then, the mowing robot is controlled to perform the mowing operation according to the mowing path until the mowing robot returns to the first transverse path; and the mowing robot is controlled to move to the starting point of the next L-shaped preset path along the direction of the first transverse path to continue the mowing operation.

[0067] It should be understood that when performing the mowing operation along the L-shaped preset path, the mowing robot does not need to perform missed mowing identification, and can move linearly along the planned L-shaped preset path.

[0068] It should be understood that when performing the mowing operation along the mowing path, the specific path is identified by the binocular camera and the mowing operation is performed along the missed mowing part; if there is no missed mowing part, the mowing robot moves linearly in the direction opposite to the first longitudinal path until it returns to the first transverse path.

[0069] As can be seen from the above, in the process of the mowing robot performing the mowing operation along the preset path, the mowing robot can perform the mowing operation on the missed mowing area by obtaining the mowing path of the missed mowing area. That is, the scheme can compensate for the missed mowing phenomenon caused by the large single round-trip side shift amount. On this basis, the scheme can control the mowing robot to increase the single round-trip side shift amount, thereby helping to improve the mowing efficiency of the mowing robot and effectively avoiding the missed mowing phenomenon.

[0070] Next, FIG. 9 is used to introduce a mowing robot in an embodiment of the present application. The mowing robot 900 can be used to implement the method described in the above method embodiment.

[0071] The mowing robot 900 can include one or more processors 910. The processor 910 can support the mowing robot 900 to implement the method described in the foregoing method embodiment.

[0072] The processor 910 can be a general purpose processor or a special purpose processor. For example, the processor can be a central processing unit (CPU). Alternatively, the processor can also be other general purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic, discrete hardware components, etc. The general purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0073] The mowing robot 900 can further include one or more memories 920. The memories 920 store programs which can be executed by the processor 910 to control the mowing robot 900 to perform the methods described in the foregoing method embodiments. The memories 920 can be independent of the processor 910 or integrated in the processor 910.

[0074] The mowing robot 900 can further include a transceiver 930. The processor 910 can communicate with other devices through the transceiver 930. For example, the processor 910 can perform data transceiving with other devices through the transceiver 930.

[0075] The embodiments of the present application also provide a chip including a processor. The processor can be used to call and run a computer program from a memory, so that a mowing robot having the chip installed performs the methods described in the foregoing method embodiments. It can be understood that the processor can be any of the processors mentioned above. It can be understood that the memory can be independent of the chip or integrated in the chip.

[0076] The embodiments of the present application also provide a machine readable storage medium for storing a program. The program causes a computer to perform the methods in the embodiments of the present application.

[0077] The embodiments of the present application also provide a computer program product. The computer program product includes a program. The program causes a computer to perform the methods in the embodiments of the present application.

[0078] In the embodiments described above, all or some of the embodiments can be implemented by software, hardware, firmware or any combination thereof. When implemented by software, all or some of the embodiments can be implemented in the form of a computer program product storing computer program instructions. When the computer program instructions are loaded into and executed by a computer, all or some of the procedures or functions according to the embodiments of the present disclosure are generated. The computer can be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer program instructions can be stored in a machine-readable storage medium or transmitted from one machine-readable storage medium to another, for example, the computer program instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center through wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.) manner. The machine-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. integrated with one or more available media. The available media can be a magnetic medium (such as a floppy disk, a hard disk, a magnetic tape), an optical medium (such as a digital video disc (DVD)), or a semiconductor medium (such as a solid state disk (SSD)), etc.

[0079] Those skilled in the art can realize that the units and algorithm steps of each example described in combination with the embodiments of the present disclosure can be realized by electronic hardware or a combination of computer software and electronic hardware. Whether the functions are realized in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present disclosure.

[0080] In several embodiments provided by the present disclosure, it should be understood that the disclosed system, device and method can be implemented in other ways. For example, the device embodiments described above are merely schematic, for example, the division of the units is only a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units or components shown or discussed can be indirect coupling or communication connection through some interfaces, devices or units, and can be electrical, mechanical or other forms.

[0081] The units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may also be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment scheme.

[0082] In addition, each functional unit in various embodiments of the present disclosure can be integrated into one processing unit, or each unit can exist physically, or two or more units can be integrated into one unit.

[0083] The above is only a specific embodiment of the present disclosure, but the protection scope of the present disclosure is not limited thereto, and any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present disclosure, which should be covered within the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be subject to the protection scope of the claims.

Claims

1. A control method for a lawnmower robot, characterized in that, The control method comprises the following steps: controlling the mowing robot to perform mowing work along a preset path in a target lawn, the preset path comprising at least a plurality of straight line segment paths parallel to each other; during the mowing work performed by the mowing robot along the preset path, acquiring a mowing-omitted area and a mowing-omitted-area supplement path; controlling the mowing robot to perform mowing-omitted-area supplement work along the mowing-omitted-area supplement path; after the mowing robot performs the mowing-omitted-area supplement work, controlling the mowing robot to return to the preset path to continue performing mowing work.

2. The control method according to claim 1, characterized by, The mowing robot comprises a visual sensor, which comprises a first visual module and a second visual module. The acquisition of the mowing-omitted-area supplement path comprises the following steps: during the movement of the mowing robot, acquiring a first image of an area in the advancing direction of the mowing robot by using the first visual module, and acquiring a second image of the area in the advancing direction of the mowing robot by using the second visual module; acquiring a parallax map according to the first image and the second image; identifying whether a preset specific object exists in the parallax map, the preset specific object being used to indicate a mowing-omitted area; if the preset specific object exists, determining a mowing-omitted-area supplement path corresponding to the mowing-omitted area according to the position information of the preset specific object.

3. The control method according to claim 2, characterized by, The preset path is an arch-shaped mowing path. The acquisition of the mowing-omitted-area supplement path further comprises the following steps: during the mowing work performed by the mowing robot along the arch-shaped mowing path, determining a mowed area according to the current advancing direction of the mowing robot. The identification of whether the preset specific object exists in the parallax map comprises the following steps: identifying whether the preset specific object exists in a partial image of the mowed area corresponding to the parallax map.

4. The control method according to claim 3, characterized by The determination of the mowed area according to the current advancing direction of the mowing robot comprises the following steps: acquiring the current advancing direction of the mowing robot; determining an identification line in the parallax map according to the current advancing direction of the mowing robot, the size of a cutter head, and the sensor parameters of the visual sensor, the identification line being used to indicate a partial image of the mowed area corresponding to the parallax map.

5. The control method according to claim 2, characterized by, Before the identification of whether the preset specific object exists in the parallax map, the control method further comprises the following steps: performing edge extraction on the parallax map to obtain an edge map; The identification of whether the preset specific object exists in the parallax map comprises the following steps: identifying whether the preset specific object exists in a partial image of the mowed area corresponding to the edge map.

6. The control method according to claim 5, characterized by The identification of whether the preset specific object exists in the partial image of the mowed area corresponding to the edge map comprises the following steps: identifying whether the preset specific object exists in the partial image of the mowed area corresponding to the edge map according to the number of pixel points with a pixel value greater than 0 in the partial image.

7. The control method according to claim 2, characterized by, The preset path includes an initial path and a plurality of L-shaped preset paths, the plurality of L-shaped preset paths are connected by a complementary cutting path, each L-shaped preset path and its corresponding complementary cutting path form a path closed loop, the L-shaped preset path includes a first horizontal path and a first vertical path connected in sequence, the method for obtaining the complementary cutting path of the missed cutting area during the cutting robot performing the cutting operation along the preset path includes: After the cutting robot performs the cutting operation along the L-shaped preset path, the cutting robot is controlled to travel a first preset distance in a direction opposite to the travel direction of the first horizontal path and turn to a direction opposite to the travel direction of the first vertical path; The cutting robot is controlled to move forward, and it is determined whether the missed cutting area exists in front of the cutting robot; If the missed cutting area exists, the complementary cutting path is obtained in real time according to the position information of the missed cutting area; The control method for controlling the cutting robot to return to the preset path to continue the cutting operation includes: The cutting robot is controlled to perform the complementary cutting operation according to the complementary cutting path until the cutting robot returns to the first horizontal path; The cutting robot is controlled to move to the starting point of the next L-shaped preset path to continue the cutting operation.

8. The control method according to claim 7, characterized by, During the process that the cutting robot returns to the first horizontal path, the control method further includes: If the missed cutting area is not determined to exist in front of the cutting robot, the cutting robot is controlled to move directly to the first horizontal path, and it is determined in real time whether the missed cutting area exists in front of the cutting robot until the cutting robot returns to the first horizontal path.

9. The control method according to any one of claims 7 to 8, characterized by, The first preset distance is 1 / 2 of the distance between two adjacent first vertical paths.

10. A mowing robot, characterized in that It includes: A processor and a memory, the memory is used to store a computer program, and the processor is used to call and run the computer program stored in the memory to control the cutting robot to perform the control method according to any one of claims 1-9.

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