阅读说明：本技术 割草机器人割草控制方法、系统及装置 (Mowing control method, system and device for mowing robot ) 是由 不公告发明人 于 2019-10-24 设计创作，主要内容包括：本发明适用于割草机器人技术领域,提供了一种割草机器人割草控制方法、系统及装置,该方法包括：当接收到割草任务指令时,生成默认起点位置；根据所述默认起点位置作为起始点进行割草操作,根据所述默认起点位置作为起始点进行割草操作,当完成割草操作后重新生成不同所述默认起点位置,并将所述默认起点位置设置为下次割草操作的起始点。本发明可以对起始点的位置选择做随机化处理,使割草机器人可以在指定区域内的任何地方开始执行割草,以避免设备在同一个地方被多次阻断,提高了割草质量和割草效率。(The invention is suitable for the technical field of mowing robots, and provides a mowing control method, a mowing control system and a mowing control device of a mowing robot, wherein the method comprises the following steps: when a mowing task instruction is received, generating a default starting point position; and carrying out mowing operation according to the default starting point position as a starting point, regenerating different default starting point positions after the mowing operation is finished, and setting the default starting point position as a starting point of next mowing operation. The invention can select the position of the starting point to be randomized, so that the mowing robot can start to mow anywhere in the designated area, the situation that equipment is blocked for many times in the same place is avoided, and the mowing quality and the mowing efficiency are improved.)

1. A mowing control method of a mowing robot, the method comprising:

when a mowing task instruction is received, generating a default starting point position;

and carrying out mowing operation according to the default starting position as a starting point, regenerating different default starting positions after the mowing operation is finished, and setting the default starting positions as starting points of next mowing operation.

2. The robot lawnmower control method of claim 1, wherein the step of regenerating a different default starting position after completing the lawnmower operation comprises:

recording the terminal position after completing the mowing operation;

and generating a target starting point position according to the end point position, and setting the target starting point position as the default starting point position of the next mowing operation.

3. The robot lawnmower control method of claim 2, wherein the step of generating a default starting position comprises:

and acquiring any default starting position in a starting position set, wherein the starting position set at least comprises one default starting position.

4. A robot lawnmower control method according to claim 3, wherein the step of obtaining a set of starting positions comprises:

inquiring a target mowing area according to the mowing task instruction;

and acquiring the corresponding starting point position set according to the target mowing area.

5. The robot lawnmower control method of claim 3, wherein the step of generating a target start position from the end position comprises:

and acquiring a target starting point position corresponding to the end point position in the starting point position set.

6. The robot lawnmower control method of claim 5, wherein the step of obtaining a target starting position corresponding to the end position in the set of starting positions comprises:

acquiring the end point coordinate of the end point position, and calculating the distance according to the end point coordinate and all the default starting point positions in the starting point position set to obtain a distance difference value;

and acquiring a starting point position which is closest or farthest to the end point coordinate from the starting point position set according to the distance difference value to obtain the target starting point position.

7. The robot lawnmower control method of claim 5, wherein the step of obtaining a target starting position corresponding to the end position in the set of starting positions comprises:

acquiring the end point coordinate of the end point position, and calculating the distance between the end point coordinate and the locally pre-stored mowing direction and all the default starting point positions in the starting point position set to obtain a direction difference value;

and acquiring a starting point position which is positioned in the terminal coordinate mowing direction and is closest to the terminal coordinate mowing direction in the starting point position set according to the direction difference value to obtain the target starting point position.

8. The robot lawnmower control method of claim 4, wherein prior to the step of obtaining the corresponding set of starting positions from the target mowing area, the method further comprises:

obtaining the area central point of the target mowing area, and drawing a circle according to a preset radius by taking the area central point as a circle center to obtain a circular area;

and acquiring the intersection points of the circular area and the boundary of the target mowing area, and taking the set of the intersection points as the starting point position set.

9. The robot lawnmower control method of claim 4, wherein prior to the step of obtaining the corresponding set of starting positions from the target mowing area, the method further comprises:

acquiring a zone center point of the target mowing zone, and carrying out zone segmentation on the target mowing zone by taking the zone center point as a datum point to obtain a plurality of segmented zones;

acquiring a point farthest from the reference point in a region boundary of each of the divided regions, and taking a set of the points farthest from each other as the set of starting point positions.

10. The robot lawnmower control method of claim 6 or claim 7, wherein prior to the step of setting the target start position obtained as the default start position for the next lawnmower operation, the method further comprises:

judging whether the current default starting point position coincides with the acquired target starting point position;

if so, acquiring a second cis-position starting point position in the starting point position set according to the distance difference value or the direction difference value;

setting the second cis-position starting position as the default starting position for the next mowing operation of the mowing robot.

11. The robot lawnmower control method of claim 2, wherein after the step of performing a lawnmower operation based on the default starting position as a starting point, the method further comprises:

and when the suspension phenomenon is judged to occur, judging that the mowing operation is finished currently.

12. A robot lawnmower mowing control system, the system comprising:

the starting point generating module is used for generating a default starting point position when a mowing task instruction is received;

and the mowing control module is used for carrying out mowing operation according to the default starting point position as a starting point, regenerating different default starting point positions after the mowing operation is finished, and setting the default starting point position as a starting point of the next mowing operation.

13. A robot lawnmower control apparatus comprising a storage device for storing a computer program and a processor that runs the computer program to cause the robot lawnmower control apparatus to perform the robot lawnmower control method according to any one of claims 1 to 11.

Technical Field

The invention belongs to the technical field of mowing robots, and particularly relates to a mowing control method, a mowing control system and a mowing control device for a mowing robot.

Background

In recent years, with the great increase of urban greening area and household courtyard grassland, the market of the lawn mower is gradually increasing, particularly in developed countries in europe and the united states, the lawn has a large floor area, and a large amount of lawn mowers are needed to maintain and trim the lawn in public places and household lawns. The existing grass mowers in the market are various in types, and can be divided into intelligent grass mowers and non-intelligent grass mowers according to the operation modes, and the traditional non-intelligent grass mowers are mainly divided into hand-push type grass mowers and riding type grass mowers; an intelligent mower, namely a mowing robot, can work autonomously for a product applying the robot technology to the field of mowers. The traditional non-intelligent mower is time-consuming and labor-consuming in operation, and simultaneously generates great noise pollution, and the mowing robot can automatically perform mowing operation so as to well replace manual trimming. With the market development, the mowing robot can gradually replace the traditional non-intelligent mowing machine.

At present, the mowing robot can be divided into a random type and a planning type, however, under the conditions of outdoor low-precision positioning and limited sensor configuration, the single traversal stability of the mowing robot during mowing can be influenced by a complex environment sometimes, so that the current traversal is stopped unexpectedly, and the overall coverage rate is further influenced. In this case, in the conventional mowing control method, generally, a mowing area is compensated by performing mowing control a plurality of times while changing a propelling direction. However, when the mowing robot performs a mowing task for multiple times, the mowing starting point position in the process link is not correspondingly adjusted, so that stopping may occur again at a place where stopping occurs last time, over-cutting and missed cutting phenomena occur in different areas, and mowing quality and mowing efficiency are reduced.

Disclosure of Invention

The embodiment of the invention aims to provide a mowing control method for a mowing robot, and aims to solve the problems of low mowing quality and low mowing efficiency caused by stopping again because the starting point position is not adjusted in the mowing process of the existing mowing robot.

The embodiment of the invention is realized in such a way that the mowing control method of the mowing robot comprises the following steps:

when a mowing task instruction is received, generating a default starting point position;

and carrying out mowing operation according to the default starting position as a starting point, regenerating different default starting positions after the mowing operation is finished, and setting the default starting positions as starting points of next mowing operation.

Further, the step of regenerating a different default starting position after completing the mowing operation comprises:

recording the terminal position after completing the mowing operation;

and generating a target starting point position according to the end point position, and setting the target starting point position as the default starting point position of the next mowing operation.

Further, the step of generating a default starting position comprises:

and acquiring any default starting position in a starting position set, wherein the starting position set at least comprises one default starting position.

Further, the step of obtaining the starting point position set comprises:

inquiring a target mowing area according to the mowing task instruction;

and acquiring the corresponding starting point position set according to the target mowing area.

Further, the step of generating a target starting point position according to the end point position includes:

and acquiring a target starting point position corresponding to the end point position in the starting point position set.

Further, the step of obtaining a target starting point position corresponding to the end point position in the starting point position set includes:

acquiring the end point coordinate of the end point position, and calculating the distance according to the end point coordinate and all the default starting point positions in the starting point position set to obtain a distance difference value;

and acquiring a starting point position which is closest or farthest to the end point coordinate from the starting point position set according to the distance difference value to obtain the target starting point position.

Further, the step of obtaining a target starting point position corresponding to the end point position in the starting point position set includes:

acquiring the end point coordinate of the end point position, and calculating the distance between the end point coordinate and the locally pre-stored mowing direction and all the default starting point positions in the starting point position set to obtain a direction difference value;

and acquiring a starting point position which is positioned in the terminal coordinate mowing direction and is closest to the terminal coordinate mowing direction in the starting point position set according to the direction difference value to obtain the target starting point position.

Further, before the step of obtaining the corresponding starting position set according to the target mowing area, the method further includes:

obtaining the area central point of the target mowing area, and drawing a circle according to a preset radius by taking the area central point as a circle center to obtain a circular area;

and acquiring the intersection points of the circular area and the boundary of the target mowing area, and taking the set of the intersection points as the starting point position set.

Further, before the step of obtaining the corresponding starting position set according to the target mowing area, the method further includes:

acquiring a zone center point of the target mowing zone, and carrying out zone segmentation on the target mowing zone by taking the zone center point as a datum point to obtain a plurality of segmented zones;

acquiring a point farthest from the reference point in a region boundary of each of the divided regions, and taking a set of the points farthest from each other as the set of starting point positions.

Still further, before the step of setting the acquired target starting position as the default starting position for the next mowing operation, the method further includes:

judging whether the current default starting point position coincides with the acquired target starting point position;

if so, acquiring a second cis-position starting point position in the starting point position set according to the distance difference value or the direction difference value;

setting the second cis-position starting position as the default starting position for the next mowing operation of the mowing robot.

Further, after the step of performing the mowing operation according to the default starting position as a starting point, the method further comprises:

and when the suspension phenomenon is judged to occur, judging that the mowing operation is finished currently.

Another object of an embodiment of the present invention is to provide a mowing control system of a mowing robot, the system including:

the starting point generating module is used for generating a default starting point position when a mowing task instruction is received;

and the mowing control module is used for carrying out mowing operation according to the default starting point position as a starting point, regenerating different default starting point positions after the mowing operation is finished, and setting the default starting point position as a starting point of the next mowing operation.

Another objective of an embodiment of the present invention is to provide a robot lawnmower control apparatus, including a storage device and a processor, where the storage device is used to store a computer program, and the processor is used to run the computer program to make the robot lawnmower control apparatus execute the robot lawnmower control method.

According to the embodiment of the invention, through the design that the generated target starting point position is set as the default starting point position of the next mowing operation, when the mowing robot is stopped, the position of the starting point can be randomly selected, so that the mowing robot can start to mow anywhere in the designated area, the situation that equipment is blocked for multiple times in the same place is avoided, the over-cutting or under-cutting phenomenon is effectively prevented, and the mowing quality and the mowing efficiency are improved.

Drawings

Fig. 1 is a schematic path diagram of a conventional mowing robot performing mowing work;

fig. 2 is a flowchart of a mowing control method of the mowing robot according to the first embodiment of the invention;

fig. 3 is a flowchart of a mowing control method of the mowing robot according to the second embodiment of the invention;

fig. 4 is a flowchart of a mowing control method of the mowing robot according to the third embodiment of the invention;

fig. 5 is a flowchart of a mowing control method of the mowing robot according to a fourth embodiment of the present invention;

fig. 6 is a flowchart of a mowing control method of the mowing robot according to a fifth embodiment of the present invention;

fig. 7 is a schematic structural diagram of a mowing control system of a mowing robot provided by a sixth embodiment of the invention;

fig. 8 is a schematic structural diagram of a mowing control system of a mowing robot according to a seventh embodiment of the invention;

fig. 9 is a schematic structural view of a mowing control device of a mowing robot according to an eighth embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Please refer to fig. 1, which is a schematic diagram of a path of a conventional mowing robot during mowing, wherein when the mowing robot performs a mowing task in a planning manner and a stopping phenomenon occurs due to obstacles and the like, a predetermined planned path is executed in reverse order, so that a missed cutting area occurs, and mowing quality and mowing efficiency are reduced.

In order to explain the technical means of the present invention, the following description will be given by way of specific examples.