CN114690783A - Path planning method of mower and related device - Google Patents

Abstract

The embodiment of the present application discloses a path planning method for a lawn mower and a related device. The method includes: acquiring detection information of the working environment by the sensor and an original map of the working environment, and the sensor is arranged in the In the working environment of the lawn mower, the working environment is the environment in which the lawn mower performs a lawn mowing operation, the detection information is used to represent obstacles existing in the working environment, and the original map is used for Characterize the terrain of the working environment; determine the first positioning information of the obstacle according to the detection information; determine the working map of the lawn mower according to the first positioning information and the original map; according to the The work map determines the driving route of the lawnmower. Using the embodiments of the present application helps to improve the accuracy of the detection result, and also helps to reduce the failure rate of the sensor.

Description

Path planning method and related device for lawn mower

technical field

The present application relates to the technical field of Internet of Vehicles, and in particular, to a path planning method for a lawn mower and a related device.

Background technique

With the improvement of living standards, people usually use lawn mowers instead of manual work for tedious and trivial chores such as lawn maintenance. At present, in order to achieve the effect of avoiding obstacles, the lawnmower usually installs the sensor on the body of the lawnmower. However, since the body of the lawnmower is in a bumpy state, the sensor is arranged in the body, which easily leads to the detection information obtained by the sensor. It is not accurate enough, thus affecting the accuracy of detecting obstacles and affecting the effect of obstacle avoidance. Therefore, how to improve the accuracy and flexibility of obstacle avoidance has become an urgent problem to be solved.

SUMMARY OF THE INVENTION

The embodiments of the present application provide a path planning method and a related device for a lawn mower, which help to improve the accuracy of detection results and also help to reduce the failure rate of sensors.

In a first aspect, an embodiment of the present application provides a path planning method for a lawn mower, the method comprising:

Obtain the detection information of the working environment by the sensor and the original map of the working environment, the sensor is arranged in the working environment of the lawn mower, and the working environment is for the lawn mower to cut The grass working environment, the detection information is used to characterize the obstacles existing in the working environment, and the original map is used to characterize the terrain of the working environment;

Determine the first positioning information of the obstacle according to the detection information;

According to the first positioning information and the original map, determine the working map of the lawn mower;

The driving route of the lawn mower is determined according to the working map.

In a second aspect, embodiments of the present application provide a path planning system for a lawn mower, the system comprising:

A sensor, the sensor is arranged in the working environment of the lawn mower, and the working environment is the environment where the lawn mower performs the mowing operation, and the sensor is used to detect the working environment and obtain the detection information, so The detection information is used to characterize the obstacles existing in the working environment;

A server, the server is connected in communication with the sensor, and the server is used for acquiring the detection information and an original map of the working environment, where the original map is used to represent the terrain of the working environment; The detection information determines the first positioning information of the obstacle; and is used to determine the working map of the lawn mower according to the first positioning information and the original map; and is used to determine the working map according to the working map. Describe the driving route of the lawn mower;

A lawn mower, the lawn mower is connected in communication with the server, and the lawn mower is configured to receive the driving route sent by the server.

In a third aspect, an embodiment of the present application provides an apparatus for planning a path of a lawn mower, the apparatus comprising: an acquisition unit and a determination unit, wherein,

The acquiring unit is configured to acquire the detection information of the working environment by the sensor and the original map of the working environment, the sensor is arranged in the working environment of the lawn mower, and the working environment is the environment in which the lawnmower performs the mowing operation, the detection information is used to characterize the obstacles existing in the operation environment, and the original map is used to characterize the terrain of the operation environment;

the determining unit, configured to determine the first positioning information of the obstacle according to the detection information;

The determining unit is further configured to determine the working map of the lawn mower according to the first positioning information and the original map;

The determining unit is further configured to determine the driving route of the lawn mower according to the working map.

In a fourth aspect, an embodiment of the present application provides an electronic device, including a processor, a memory, a communication interface, and one or more programs, wherein the one or more programs are stored in the memory, and are configured by the above Executed by the processor, the above program includes instructions for executing the steps in the first aspect of the embodiments of the present application.

In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program for electronic data exchange, wherein the computer program enables a computer to execute the computer program as described in the first embodiment of the present application. Instructions for some or all of the steps described in an aspect.

In a sixth aspect, an embodiment of the present application provides a computer program product, wherein the computer program product includes a computer program, and the computer program is operable to cause a computer to execute part or all of the first aspect of the embodiment of the present application. step.

Implementing the embodiments of the present application has the following beneficial effects:

It can be seen that in the path planning method and related device of the lawn mower described in the embodiments of the present application, the sensor is arranged in the working environment of the lawn mower, and the detection information of the working environment by the sensor is obtained, and the detection information is used to characterize the working environment. The first positioning information of the obstacle is determined according to the detection information, and the original map of the working environment is obtained. The original map is used to represent the terrain of the working environment, and the work of the lawn mower is determined according to the first positioning information and the original map. Map, according to the working map to determine the driving route of the lawn mower; in this way, the sensor is set in the working environment to ensure that the sensor is in a relatively stable environment, which helps to ensure the accuracy of the detection result of the sensor, and then helps to ensure the correctness of the sensor. The accurate positioning of obstacles helps the lawn mower to achieve precise and flexible obstacle avoidance. At the same time, the stable environmental state also helps to reduce the failure rate of the sensor, helps reduce the use cost of the lawn mower, and optimizes the user experience.

Description of drawings

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 accompanying drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only These are some embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without any creative effort.

FIG. 1A is a schematic structural diagram of an electronic device provided by an embodiment of the present application;

1B is a schematic flowchart of a path planning method for a lawn mower provided by an embodiment of the present application;

2 is a schematic flowchart of a path planning method for a lawn mower provided by an embodiment of the present application;

3 is a schematic structural diagram of an electronic device provided by an embodiment of the present application;

4A is a block diagram of functional units of a lawn mower path planning device provided in an embodiment of the present application;

4B is a block diagram of functional units of a lawnmower path planning device provided in an embodiment of the present application;

FIG. 5 is a schematic diagram of a path planning system for a lawn mower provided by an embodiment of the present application.

Detailed ways

The terms "first", "second" and the like in the description and claims of the present application and the above drawings are used to distinguish different objects, rather than to describe a specific order. Furthermore, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but optionally also includes unlisted steps or units, or optionally also includes For other steps or units inherent to these processes, methods, products or devices. The term "plurality" may refer to two or more than two, which will not be repeated hereafter.

Reference herein to an "embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor a separate or alternative embodiment that is mutually exclusive of other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

In order to make those skilled in the art better understand the solutions of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only It is a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

The key concepts and terms involved in this application include but are not limited to the following:

(1) The electronic device may be a mobile phone, a tablet computer, a wearable electronic device (such as a smart watch) with a wireless communication function, and the like. Exemplary embodiments of portable electronic devices include, but are not limited to, portable electronic devices powered by IOS systems, Android systems, Microsoft systems, or other operating systems. The above-mentioned portable electronic device may also be other portable electronic devices, such as a laptop computer (Laptop) or the like. It should also be understood that, in some other embodiments, the above-mentioned electronic device may not be a portable electronic device, but a desktop computer. The electronic devices may also include servers, lawn mowers, etc., which are not limited herein.

With the improvement of living standards, people usually use lawn mowers instead of manual work for tedious and trivial chores such as lawn maintenance. At present, in order to achieve the effect of avoiding obstacles, the lawnmower usually installs the sensor on the body of the lawnmower. However, since the body of the lawnmower is in a bumpy state, the sensor is arranged in the body, which easily leads to the detection information obtained by the sensor. It is not accurate enough, thus affecting the accuracy of detecting obstacles and affecting the effect of obstacle avoidance. Therefore, how to improve the accuracy and flexibility of obstacle avoidance has become an urgent problem to be solved.

Based on the above problems, the present application provides a path planning method and related device for a lawn mower, which will be described in detail below with reference to the accompanying drawings.

Please refer to FIG. 1A . FIG. 1A is a schematic structural diagram of an electronic device provided by an embodiment of the present application. The electronic device includes a processor and memory, among others. Wherein, the memory is connected with the processor. The processor is the control center of the electronic equipment, using various interfaces and lines to connect various parts of the entire electronic equipment, by running or executing the software programs and/or modules stored in the memory, and calling the data stored in the memory. Various functions and processing data of the device, so as to monitor the electronic device as a whole, the processor can be a central processing unit (Central Processing Unit/Processor, CPU), a graphics processing unit (Graphics Processing Unit, GPU) or a network processor (Neural -Network Processing Unit, NPU).

Further, the processor may integrate an application processor and a modem processor, wherein the application processor mainly handles the operating system, user interface and application programs, and the like, and the modem processor mainly handles wireless communication. It can be understood that, the above-mentioned modulation and demodulation processor may not be integrated into the processor.

The memory is used to store software programs and/or modules, and the processor executes various functional applications of the electronic device by running the software programs and/or modules stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, a software program required for at least one function, and the like; the storage data area may store data created according to the use of the electronic device, and the like. Additionally, the memory may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device.

Please refer to FIG. 1B . FIG. 1B is a schematic flowchart of a path planning method for a lawn mower provided by an embodiment of the present application. As shown in the figure, it is applied to the electronic device shown in FIG. 1A . The electronic device may be a server, or It can be a lawn mower, which is not limited here. The path planning method of the lawn mower includes the following steps:

Step 101: Acquire detection information of the working environment by the sensor and an original map of the working environment.

Step 102: Determine first positioning information of the obstacle according to the detection information.

Step 103: Determine a working map of the lawn mower according to the first positioning information and the original map.

Step 104: Determine the driving route of the lawn mower according to the working map.

Wherein, the above-mentioned sensors may be of multiple types or a single type of sensors, such as acoustic wave sensors, image sensors, thermal sensors, mechanical sensors, etc., which are not limited herein. Acoustic sensors can be used to measure and locate obstacles or lawn mowers from a distance. Image sensors can be used for specific identification of obstacles, such as identifying birds, beasts, people, vehicles, stones, and trees on the lawn. Thermal sensors can be used to identify live animals such as people or animals to avoid accidental injuries during the operation of the lawnmower and ensure safe operation. Mechanical sensors such as pressure sensors and touch sensors can be used as the last line of defense, and tactile sensors can be set at the border of the lawn. When the tactile sensor collides with the lawnmower, it can control the lawnmower to stop running or reroute.

In one embodiment, since the sensors applicable to sensing the position of obstacles of different types or different environments are not the same, multiple types of sensors can be set in the working environment at the same time, and the complementary advantages of different types of sensors can be achieved. It is helpful to achieve accurate detection and comprehensive detection of the operating environment.

The number of sensors may be one or multiple, which is not limited here. For example, sensors can include ultrasonic radar, lidar, millimeter-wave radar, monocular camera, binocular camera, depth camera, infrared sensor, pyroelectric sensor, inertial measurement unit, sensor with positioning function, tactile sensor, etc. limited. Sensors with positioning function can be loaded with globally available navigation satellite systems, such as Beidou 3rd Generation Satellite Navigation System (BDS), Global Positioning System (GPS), GLONASS Satellite Navigation System (GLONASS), Galileo Satellite Navigation System (GALILEO) , and an area navigation system, such as a quasi-zenith system (QZSS), an area navigation satellite system (IRNSS), etc., can also be loaded, which is not limited here.

Wherein, the above-mentioned sensor is installed in the working environment of the lawn mower, and the working environment is an environment in which the lawn mower performs a lawn mowing operation. The above detection information can be used to characterize obstacles existing in the work environment. For example, a camera is used to detect the working environment, and the obtained detection information is an image. By identifying the image, the obstacles existing in the image and the corresponding positions of the obstacles can be determined. For another example, the radar is used to detect the working environment, and the obtained detection information is echoes. The echoes are processed by the echo imaging technology to determine the obstacles existing in the working environment and the first positioning information corresponding to the obstacles. For another example, using pyroelectric sensors and mechanical sensors to detect the working environment, the obtained detection information can be corresponding voltage signals, current signals, etc., which can be used to determine whether there are live animals in the working environment and the location of the lawnmower.

The first positioning information may be the orientation of the obstacle relative to the lawnmower, the specific latitude and longitude of the obstacle, or the positioning in the coordinate system constructed by the server, which is not limited herein.

Wherein, the above-mentioned original map can be used to represent the terrain of the operating environment, such as plains, plateaus, hills, basins, mountains, rivers, etc., which are not limited herein.

In the specific implementation, the electronic device can obtain the detection information of the working environment by the sensor, determine the first positioning information of the obstacle according to the detection information, and determine the working map of the lawn mower according to the first positioning information of the obstacle and the original map of the working environment . For example, the first positioning information of the obstacle is marked in the original map, and the working map is the area in the original map that has no obstacles and needs to be weeded.

In addition, when the lawnmower is mowing, if there are multiple obstacles in the working environment, such as a small dynamic obstacle (such as a running pet dog) behind a larger obstacle, the sensor will When installed on the body of the lawnmower, due to light occlusion, long distance, etc., it is difficult for the sensors on the body to detect the obstacles behind the obstacles. avoid.

In the case where the sensor is installed in the working environment of the lawn mower, since the sensor is separated from the lawn mower and installed on objects such as lawn guardrails, utility poles, etc., the detection range of the sensor is large, which helps to reduce the detection blind area of the sensor. Helps solve the obstacle avoidance problem caused by the mutual occlusion of the above-mentioned multiple obstacles, and helps the lawn mower achieve accurate and flexible obstacle avoidance.

When determining the driving route of the lawn mower in the work map, the driving route of the lawn mower can be determined in the work map according to the user input, or a certain driving route can be preset by the research and development personnel, or the electronic device can determine the driving route of the lawn mower according to the user input. Factors such as the terrain of the work map, the type of grass to be cut, and the power of the lawn mower can be set flexibly, which are not limited here.

It can be seen that in the embodiment of the present application, the sensor is arranged in the working environment of the lawn mower, and the electronic device can obtain the detection information of the sensor on the working environment, and the detection information is used to characterize the obstacles existing in the working environment, and is determined according to the detection information. The first positioning information of the obstacle, the original map of the working environment is obtained, the original map is used to represent the terrain of the working environment, the working map of the lawn mower is determined according to the first positioning information and the original map, and the working map of the lawn mower is determined according to the working map. Driving route, sending the driving route to the lawn mower; in this way, the sensor is set in the working environment to ensure that the sensor is in a relatively stable environment, which helps to ensure the accuracy of the detection result of the sensor, which in turn helps to ensure that obstacles are detected. The accurate positioning helps the lawn mower to achieve precise and flexible obstacle avoidance. At the same time, the stable environmental state also helps to reduce the failure rate of the sensor, helps reduce the use cost of the lawn mower, and optimizes the user experience.

In a possible example, the server obtains the detection information of the working environment by the sensor and the original map of the working environment, the server determines the first positioning information of the obstacle according to the detection information, and the server determines the first positioning information of the lawn mower according to the first positioning information and the original map. Working map, the server determines the driving route of the lawn mower according to the working map. The server sends the driving route to the lawn mower, and the lawn mower receives the driving route and cuts grass according to the driving route. In this way, it is helpful to realize the unified management and control of the lawn mower by the server.

In a possible example, the server obtains the detection information of the working environment by the sensor and the original map of the working environment, the server determines the first positioning information of the obstacle according to the detection information, and sends the first positioning information and the original map to the lawn mower. The lawnmower receives the first positioning information and the original map, and the lawnmower determines the working map according to the first positioning information and the original map. In this way, it helps to reduce the data processing pressure on the server side.

In a possible example, the server acquires the detection information of the working environment by the sensor and the original map of the working environment, and sends the detection information and the original map to the lawn mower. The lawnmower determines the first positioning information of the obstacle according to the detection information, the lawnmower determines the working map according to the first positioning information and the original map, and the lawnmower determines the driving route according to the working map. In this way, it helps to further reduce the data processing pressure on the server side.

In a possible example, the lawnmower obtains the detection information of the working environment by the sensor and the original map of the working environment, the lawnmower determines the first positioning information of the obstacle according to the detection information, and the lawnmower determines the first positioning information of the obstacle according to the first positioning information and the original map of the working environment. The map determines the working map, and the lawnmower determines the driving route according to the working map. In this way, the number of interactions between the lawnmower and the server can be reduced, and the influence of the network communication factor on the lawnmower can be reduced.

In a possible example, the detection information includes first sub-detection information corresponding to a first time and second sub-detection information corresponding to a second time, and in step 102 above, determine the first sub-detection information of the obstacle according to the detection information. A positioning information may include the following steps:

Step 1021: Determine whether the obstacle is displaced according to the first sub-detection information and the second sub-detection information;

Step 1022, in the case that the obstacle is displaced, determine the type corresponding to the obstacle as a dynamic obstacle;

Step 1023: Predict the position of the obstacle according to the first sub-detection information and the second sub-detection information to obtain the predicted position;

Step 1024: Determine the predicted position and the current position as the first positioning information of the dynamic obstacle.

In a specific implementation, if the first time is before the second time, the historical position of the obstacle may be determined according to the first sub-detection information, and the current position of the obstacle may be determined according to the second sub-detection information. Conversely, if the second time is before the first time, the historical position of the obstacle is determined according to the second sub-detection information, and the current position of the obstacle is determined according to the first sub-detection information.

If the historical position and the current position are inconsistent, it can be determined that the obstacle is displaced. When the obstacle is displaced, the corresponding type of the obstacle is determined as a dynamic obstacle. Since the dynamic obstacle may continue to move at the next moment, the position of the dynamic obstacle at the next moment can be predicted, and the predicted position and the current position can be used together as the first positioning information of the dynamic obstacle. In this way, not only the current position of the dynamic obstacle, but also the predicted position is taken into consideration. When the lawnmower is mowing, if the dynamic obstacle is displaced at the next moment, it can help the lawnmower to deal with the dynamic obstacle. Make precise avoidance.

Further, step 1021 may be performed at predetermined time intervals, and the predetermined time may be 5 seconds, 10 seconds, 30 seconds, 1 minute, 3 minutes, 5 minutes, 7 minutes, 10 minutes, etc., thus, it is helpful to realize the dynamic obstacle detection. Precise positioning, which in turn helps the mower to precisely avoid dynamic obstacles.

Optionally, after determining the predicted position and the current position as the first positioning information of the dynamic obstacle in the above step 1024, the method may further include the following steps:

Step 01. Acquire second positioning information and motion information of the lawn mower, where the motion information includes at least one of the following: the current motion speed, motion acceleration and wheel deflection angle of the lawn mower.

Step 02: Determine the driving route of the lawn mower according to the second positioning information and the motion information.

Step 03: Determine whether the lawn mower meets the dynamic obstacle according to the first positioning information and the driving route.

Step 04: If the lawn mower meets the dynamic obstacle, determine the meeting time between the lawn mower and the dynamic obstacle.

Step 05: If the encounter time is less than or equal to a preset duration threshold, send avoidance information to the lawn mower.

The above-mentioned preset duration threshold may be comprehensively set according to factors such as the current motion speed of the lawn mower, the motion acceleration, and the distance between the lawn mower and the obstacle, which is not limited herein.

In a specific implementation, the driving route corresponding to the lawn mower may be determined by the movement speed, movement acceleration and wheel deflection angle of the lawn mower. If the driving route of the lawnmower overlaps with the positioning information of the dynamic obstacle, that is to say, the lawnmower may encounter the dynamic obstacle, and the meeting time is less than or equal to the preset time duration threshold, then the server can send the lawnmower to the lawnmower. The machine sends avoidance information to control the lawnmower to avoid obstacles.

If the driving route of the lawn mower does not overlap with the positioning information of the dynamic obstacle, there is no need to send avoidance information to the lawn mower, and the lawn mower can continue to drive according to the driving route.

If the encounter time between the lawnmower and the dynamic obstacle is greater than the preset duration threshold, considering that the positioning information of the dynamic obstacle may still change, an alarm message can be sent to the client communicating with the server at this time to remind the user , the user can control the lawn mower according to the actual situation. If the user does not adjust the driving route of the lawn mower, the server can send avoidance information to the lawn mower to control the mowing when the encounter time between the lawn mower and the dynamic obstacle is less than or equal to the preset duration threshold. machine to avoid obstacles.

Further, in the case where multiple lawn mowers operate simultaneously in the same working environment, the obstacle avoidance scheme in this embodiment can also be applied in the same way, and the path planning provided by the embodiment of this application can be executed on the server side at this time. method. For a certain lawn mower, other lawn mowers in the same working environment are equivalent to dynamic obstacles. When the driving routes of multiple lawn mowers overlap, the server can control one or more of them to avoid them. . In this way, while ensuring the mowing effect of the lawn mower, compared to executing the path planning method provided by the embodiment of the present application on the lawn mower end, executing the path planning method provided by the embodiment of the present application on the server side can also help reduce The amount of data computation on the server.

It can be seen that, in this embodiment of the present application, the electronic device can obtain the second positioning information and motion information of the lawn mower, and the motion information includes at least one of the following: the current motion speed, motion acceleration, and wheel deflection angle of the lawn mower, according to The second positioning information and motion information are used to determine the driving route of the lawn mower. According to the first positioning information and the driving route, it is determined whether the lawn mower meets the dynamic obstacle. If the lawn mower meets the dynamic obstacle, the lawn mower is determined to be cut. The encounter time between the machine and the dynamic obstacle, if the encounter time is less than or equal to the preset duration threshold, the avoidance information will be sent to the lawn mower; in this way, while ensuring the accuracy of obstacle avoidance, it also helps to ensure the effect of mowing, Optimize user experience.

In a possible example, in the above step 102, determining the first positioning information of the obstacle according to the detection information may include the following steps:

Step 1025: In the case that the obstacle has not been displaced, determine the type corresponding to the obstacle as a static obstacle.

Step 1026: Determine the current position as the first positioning information of the static obstacle.

In the specific implementation, as can be seen from the foregoing, if the historical position of the obstacle is consistent with the current position, it can be determined that the obstacle has not displaced. When the obstacle is displaced, the corresponding type of the obstacle is determined as a static obstacle. Since the static obstacle is less likely to be displaced at the next moment, the current position of the static obstacle can be directly used as the first positioning information. In this way, it helps to ensure that the working map of the lawn mower covers a larger area, and mows a larger area as much as possible, which helps to ensure the effect of mowing.

In a possible example, the first sub-detection information and the second sub-detection information are both image information. In the above step 1021, according to the first sub-detection information and the second sub-detection information, determine the To determine whether the obstacle is displaced, the following steps can be included:

Step 10211: Generate a detection image according to the image information.

Step 10212: Divide the detection image into at least one area.

Step 10213: For the current area, determine the first hue value and the first brightness value of the detection image corresponding to the first sub-detection information.

Step 10214: Determine the second hue value and the second luminance value of the detected image corresponding to the second sub-detection information.

Step 10215: Determine whether the obstacle is displaced according to the first hue value, the second hue value, the first brightness value and the second brightness value.

It should be noted that, the embodiment of the present application performs processing by detecting the hue value and lightness value of the image to determine whether the obstacle is displaced. Therefore, the above-mentioned detected image should be a color image.

In a specific implementation, after the detection image is generated according to the image information, the detection image is divided into one or more regions. If the detection image is divided into multiple areas, the detection image may be divided equally, or the detection image may be divided according to the terrain of the operating environment indicated in the original map, so that the detection images in one area are all the same terrain, The division method is not uniquely limited here. Further, if the detection image is divided according to the terrain, the size of the divided area should be reasonably set, which helps to ensure the accurate determination of the obstacle type.

It is understandable that for any area, if the objects in the area are not displaced, the detection information at the time before and after, that is, the first sub-detection information and the second sub-detection information, the corresponding hue value and brightness value will not be. Too much change, and for lawn mowers, the green background of the lawn makes it easier to identify obstacles in the lawn, therefore, according to the first hue value, the second hue value, the first lightness value and the second The brightness value determines whether the obstacle is displaced, which helps to ensure the accuracy of the judgment result, thus helps to ensure the accurate positioning of the obstacle, and helps the lawn mower to achieve accurate and flexible obstacle avoidance.

In a possible example, in the above step 10215, according to the first hue value, the second hue value, the first brightness value and the second brightness value, it is determined whether the obstacle is displaced, which may be It includes the following steps:

Step 102151: Determine a first change ratio corresponding to the hue value according to the first hue value and the second hue value;

Step 102152: Determine the second change ratio corresponding to the brightness value according to the first brightness value and the second brightness value;

Step 102153: Determine the relative change value corresponding to the current area according to the first change ratio, the second change ratio and the preset weight;

Step 102154: When the relative change value is greater than a preset threshold, determine that the obstacle is displaced;

Step 102155: In the case that the relative change value is less than or equal to the preset threshold, determine that the obstacle is not displaced.

Wherein, the preset threshold value of the above-mentioned relative change value may be set by the user, or may be comprehensively set by the electronic device according to the main color of the working environment, the weather where the working environment is located, the terrain of the working environment, and other factors. limited.

The above-mentioned preset weights may be set by users or R&D personnel, or may be comprehensively set by electronic equipment according to factors such as the main color of the working environment, the weather where the working environment is located, and the terrain of the working environment, which are not limited here. .

In the specific implementation, considering that the most common color in the working environment of the lawn mower is green, and green is a rare color for obstacles (such as live animals, stones, etc.), if the current area is in the detection image at the previous moment If the object A does not appear, but the object A appears in the detected image at the current moment, the first change ratio of the hue value in the current area is relatively large. Therefore, the obstacle type can be preliminarily determined by the first change ratio of the hue value of the current region, and it can also be concluded that the weight corresponding to the first change ratio should be greater than the weight corresponding to the second change ratio. Further, considering that when an obstacle appears in the detected image of the current area, the brightness value corresponding to the current area will also change, so the obstacle type can also be assisted by the second change ratio corresponding to the brightness value.

明度值对应的第二变化比例为

第一变化比例α对应的权重为

第二变化比例β对应的权重为

当前区域x的相对变化值γ可以通过如下方式确定：

中

Taking the first time before the second time as an example, the first time (n-1) corresponds to the first sub-detection information, and the first sub-detection information corresponds to the first hue value P _(n-1) of the current region x in the detection image (x) and the first lightness value Q _(n-1) (x), the second time (n) corresponds to the second sub-detection information, and the second sub-detection information corresponds to the second hue value P _{( n)} (x) and the second lightness value Q _(n) (x). The first change ratio corresponding to the hue value is

The second change ratio corresponding to the lightness value is

The weight corresponding to the first change ratio α is

The weight corresponding to the second change ratio β is

The relative change value γ of the current region x can be determined as follows:

middle

It can be understood that when there is a dynamic obstacle in the current area, the first change ratio and/or the second change ratio corresponding to the current area is relatively large, and the relative change value is greater than the preset threshold. Therefore, when the relative change value is greater than the preset threshold, it can be considered that there is an obstacle in the current area and the obstacle is displaced. Conversely, when there is no obstacle in the current area or the obstacle is a static obstacle, the first change ratio and/or the second change ratio corresponding to the current area is small, and the relative change value is less than or equal to the preset threshold. Therefore, when the relative change value is less than or equal to the preset threshold, it can be considered that there is no obstacle in the current area or the obstacle has not been displaced.

In addition, the saturation of the current region can also be taken into account in the relative change value. For example, for the current area, the first saturation value of the detection image corresponding to the first sub-detection information and the second saturation value of the detection image corresponding to the second sub-detection information are determined, and the third change ratio δ corresponding to the saturation value is determined , according to the first change ratio α, the second change ratio β, the third change ratio δ and the preset weight, determine the relative change value corresponding to the current area:

It can be seen that in the embodiment of the present application, the electronic device can determine the first change ratio corresponding to the hue value according to the first hue value and the second hue value, and determine the corresponding value of the brightness value according to the first brightness value and the second brightness value. The second change ratio is to determine the relative change value corresponding to the current area according to the first change ratio, the second change ratio and the preset weight. When the relative change value is greater than the preset threshold, it is determined that the obstacle is displaced. When the value is less than or equal to the preset threshold, it is determined that the obstacle has not displaced. In this way, the relative change value of the current area is used to determine whether the obstacle has displaced, which helps to ensure the accuracy of the determination result, and thus helps to ensure the correctness of the obstacle. The accurate positioning of obstacles helps the lawn mower to achieve precise and flexible obstacle avoidance.

Optionally, in the above step 101, before acquiring the detection information of the working environment by the sensor and the original map of the working environment, the method further includes the following steps:

Step A01: Acquire angle detection information of the sensor.

Step A02: Determine whether the detection angle of the sensor is abnormal according to the angle detection information.

Step A03: When the detection angle is abnormal, generate corresponding prompt information and send the prompt information to the client device.

Step A04: In the case that the detection angle is not abnormal, acquire the detection information of the working environment by the sensor.

The above angle detection information may be used to characterize the detection angle of the sensor. The detection angle of each sensor may be determined by mutual monitoring of multiple sensors, or the sensor may determine its detection angle by detecting marked objects in the working environment.

Understandably, the shooting angle of the camera installed on the lawn fence may be offset, and the emission angle of the radar signal installed on the utility pole may be offset. Therefore, before acquiring the detection information of the sensor, you can first ensure the detection angle of the sensor. No exception occurred. Further, even when the detection angle of the sensor is only slightly shifted, it can be considered that the detection angle of the sensor is not abnormal. Only when the angular deviation amplitude of the sensor is greater than the amplitude threshold, it is considered that the detection angle of the sensor is abnormal.

In the specific implementation, the above-mentioned amplitude threshold can be determined by detecting the marked objects in the working environment. For example, when the detection angle of the sensor is too large, the object B in its initial detection range cannot be detected, and the object B can be used as The sensor detects an angular marker object, and when the sensor cannot detect the marker object, it can be considered that the angular offset of the sensor is greater than the amplitude threshold.

The above-mentioned client device can be connected to the electronic device in communication, and when the detection angle of the sensor is abnormal, the electronic device generates corresponding prompt information and sends it to the client device to prompt the user to check the sensor to ensure the detection of the sensor. The angle is correct.

It can be seen that, in the embodiment of the present application, the electronic device can obtain the angle detection information of the sensor, and the angle detection information is used to represent the detection angle of the sensor. According to the angle detection information, it is determined whether the detection angle of the sensor is abnormal. In this case, the corresponding prompt information is generated and sent to the client device. The client device is connected to the electronic device in communication, and when the detection angle is not abnormal, the detection information of the working environment by the sensor and the original working environment are obtained. Map; in this way, the detection information of the sensor is obtained only when the detection angle is not abnormal, which helps to ensure the accuracy of the detection result of the sensor, which in turn helps to ensure the accurate positioning of obstacles, and helps the lawn mower achieve precise and flexible obstacle avoidance. .

Consistent with the embodiment shown in FIG. 1B above, please refer to FIG. 2 . FIG. 2 is a schematic flowchart of a path planning method for a lawn mower provided by an embodiment of the present application, which is applied to the electronic device shown in FIG. 1A , The electronic device can be a server or a lawn mower; the path planning method of the lawn mower includes:

Step 201: Acquire angle detection information of the sensor, where the angle detection information is used to represent the detection angle of the sensor.

Step 202: Determine whether the detection angle of the sensor is abnormal according to the angle detection information.

Step 203: In the case that the detection angle is abnormal, generate corresponding prompt information and send the prompt information to a client device, and the client device is in communication connection with the electronic device;

Step 204 , in the case that the detection angle is not abnormal, obtain the detection information of the working environment by the sensor and the original map of the working environment, and the sensor is arranged in the work of the lawn mower In the environment, the working environment is the environment in which the lawnmower performs the mowing operation, the detection information is used to characterize the obstacles existing in the working environment, and the original map is used to characterize the terrain of the working environment .

Step 205: Determine first positioning information of the obstacle according to the detection information.

Step 206: Determine a working map of the lawn mower according to the first positioning information and the original map.

Step 207: Determine the driving route of the lawn mower according to the working map.

The specific description of the above steps 201 to 207 may refer to the corresponding steps of the path planning method for the lawn mower described in FIG. 1B , which will not be repeated here.

It can be seen that, in the path planning method of the lawn mower described in the embodiments of the present application, the sensor is set in the working environment of the lawn mower, and the electronic device can obtain the angle detection information of the sensor, and the angle detection information is used for Characterize the detection angle of the sensor, determine whether the detection angle of the sensor is abnormal according to the angle detection information, and generate corresponding prompt information and send the prompt information to the client when the detection angle is abnormal. The device sends, the client device is connected to the electronic device in communication, and in the case that the detection angle is not abnormal, the detection information of the working environment by the sensor and the original map of the working environment are obtained. , the detection information is used to characterize the obstacles existing in the working environment, the original map is used to characterize the terrain of the working environment, the first positioning information of the obstacle is determined according to the detection information, and the first positioning information of the obstacle is determined according to the detection information. The first positioning information and the original map are used to determine the working map of the lawn mower, and the driving route of the lawn mower is determined according to the working map; in this way, the sensor is set in the working environment to ensure that the sensor is relatively In a stable environment, it helps to ensure the accuracy of the detection results of the sensor, and the detection information of the sensor is obtained when the detection angle of the sensor is not abnormal, which helps to ensure the accurate positioning of obstacles and helps the lawn mower to achieve accurate Flexible obstacle avoidance, and at the same time, the stable environmental state also helps to reduce the failure rate of the sensor, help reduce the use cost of the lawn mower, and optimize the user experience.

Consistent with the above-mentioned embodiment, please refer to FIG. 3 , which is a schematic structural diagram of an electronic device provided by an embodiment of the present application. As shown in the figure, the electronic device includes a processor, a memory, and a memory device stored in the memory. A computer program or instructions, wherein the computer program or instructions are stored in the memory and configured to be executed by the processor. The electronic device may also include a communication interface. In this embodiment of the present application, the above program includes an instruction for executing the following steps:

Obtain the detection information of the working environment by the sensor and the original map of the working environment, the sensor is arranged in the working environment of the lawn mower, and the working environment is for the lawn mower to cut The grass working environment, the detection information is used to characterize the obstacles existing in the working environment, and the original map is used to characterize the terrain of the working environment;

Determine the first positioning information of the obstacle according to the detection information;

According to the first positioning information and the original map, determine the working map of the lawn mower;

The driving route of the lawn mower is determined according to the working map.

It can be seen that, in the electronic device described in the embodiments of the present application, the sensor is set in the working environment of the lawn mower, and the electronic device can obtain the detection information of the sensor on the working environment, and the detection information is used to characterize the obstacles existing in the working environment. , determine the first positioning information of the obstacle according to the detection information, obtain the original map of the working environment, the original map is used to represent the terrain of the working environment, according to the first positioning information and the original map, determine the working map of the lawn mower, according to the working map Determine the driving route of the lawn mower; in this way, setting the sensor in the working environment to ensure that the sensor is in a relatively stable environment will help to ensure the accuracy of the detection result of the sensor, which in turn helps to ensure the accurate positioning of obstacles , to help the lawn mower achieve accurate and flexible obstacle avoidance, and at the same time, the stable environmental state also helps to reduce the failure rate of the sensor, help reduce the use cost of the lawn mower, and optimize the user experience.

In a possible example, the detection information includes first sub-detection information corresponding to a first time and second sub-detection information corresponding to a second time, and in the first step of determining the obstacle according to the detection information In terms of positioning information, the above program includes instructions for performing the following steps:

determining whether the obstacle is displaced according to the first sub-detection information and the second sub-detection information;

In the case of displacement of the obstacle, determining the type corresponding to the obstacle as a dynamic obstacle;

According to the first sub-detection information and the second sub-detection information, predict the position of the obstacle to obtain the predicted position;

The predicted position and the current position are determined as the first positioning information of the dynamic obstacle.

In a possible example, in the aspect of determining the first positioning information of the obstacle according to the detection information, the above program includes instructions for performing the following steps:

In the case that the obstacle does not move, determining the type corresponding to the obstacle as a static obstacle;

The current position is determined as the first positioning information of the static obstacle.

In a possible example, the first sub-detection information and the second sub-detection information are both image information, and when determining the In terms of whether the obstacle is displaced, the above program includes instructions for performing the following steps:

generating a detection image according to the image information;

dividing the detection image into at least one area;

For the current area, determine the first hue value and the first brightness value of the detected image corresponding to the first sub-detection information;

determining the second hue value and the second lightness value of the detected image corresponding to the second sub-detection information;

Whether the obstacle is displaced is determined according to the first hue value, the second hue value, the first lightness value and the second lightness value.

In a possible example, in the aspect of determining whether the obstacle is displaced according to the first hue value, the second hue value, the first lightness value and the second lightness value, the above The program includes instructions for performing the following steps:

determining a first change ratio corresponding to the hue value according to the first hue value and the second hue value;

According to the first brightness value and the second brightness value, determine the second change ratio corresponding to the brightness value;

Determine the relative change value corresponding to the current area according to the first change ratio, the second change ratio and the preset weight;

In the case that the relative change value is greater than a preset threshold value, determine that the obstacle is displaced;

When the relative change value is less than or equal to the preset threshold, it is determined that the obstacle is not displaced.

In a possible example, before acquiring the detection information of the working environment by the sensor and the original map of the working environment, the above program further includes an instruction for executing the following steps:

acquiring angle detection information of the sensor, where the angle detection information is used to characterize the detection angle of the sensor;

According to the angle detection information, determine whether the detection angle of the sensor is abnormal;

In the case that the detection angle is abnormal, generate corresponding prompt information and send the prompt information to a client device, and the client device is in communication connection with the electronic device;

When the detection angle is not abnormal, the detection information of the work environment by the sensor is acquired.

The foregoing mainly introduces the solutions of the embodiments of the present application from the perspective of the method-side execution process. It can be understood that, in order to realize the above-mentioned functions, it includes corresponding hardware structures and/or software modules for performing each function. Those skilled in the art should easily realize that the present application can be implemented in hardware or in the form of a combination of hardware and computer software, in combination with the units and algorithm steps of each example described in the embodiments provided herein. Whether a function is performed by hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Skilled artisans may implement the described functionality using different methods for each particular application, but such implementations should not be considered beyond the scope of this application.

In this embodiment of the present application, functional units may be divided according to the foregoing method examples. For example, each functional unit may be divided corresponding to each function, or two or more functions may be integrated into one processing unit. The above-mentioned integrated units may be implemented in the form of hardware, or may be implemented in the form of software functional units. It should be noted that the division of units in the embodiments of the present application is illustrative, and is only a logical function division, and other division methods may be used in actual implementation.

Consistent with the above-mentioned embodiment, please refer to FIG. 4A , FIG. 4A is a block diagram of the functional units of a lawnmower path planning device provided in an embodiment of the present application, the device 400 is applied to an electronic device, and the electronic device may be a server, It can also be a lawn mower; the device 400 includes: an acquisition unit 401 and a determination unit 402, wherein,

The acquisition unit 401 is configured to acquire detection information of the working environment by the sensor and an original map of the working environment, where the detection information is used to represent obstacles existing in the working environment, and the original map the terrain used to characterize the operating environment;

The determining unit 402 is configured to determine the first positioning information of the obstacle according to the detection information;

The determining unit 402 is further configured to determine the working map of the lawn mower according to the first positioning information and the original map;

The determining unit 402 is further configured to determine the driving route of the lawn mower according to the working map.

It can be seen that, in the lawn mower path planning device described in the embodiments of the present application, the sensor is arranged in the working environment of the lawn mower, and the detection information of the working environment by the sensor is obtained, and the detection information is used to represent the obstacles existing in the working environment. The first positioning information of the obstacle is determined according to the detection information, and the original map of the working environment is obtained. The original map is used to represent the terrain of the working environment. According to the first positioning information and the original map, the working map of the lawn mower is determined. The map determines the driving route of the lawn mower; in this way, the sensor is set in the working environment to ensure that the sensor is in a relatively stable environment, which helps to ensure the accuracy of the detection results of the sensor, which in turn helps to ensure the accuracy of obstacles. Positioning helps the lawn mower to avoid obstacles accurately and flexibly. At the same time, the stable environmental state also helps to reduce the failure rate of the sensor, helps reduce the use cost of the lawn mower, and optimizes the user experience.

In a possible example, the detection information includes first sub-detection information corresponding to a first time and second sub-detection information corresponding to a second time, and in the first step of determining the obstacle according to the detection information In terms of positioning information, the determining unit 402 is specifically configured to:

determining whether the obstacle is displaced according to the first sub-detection information and the second sub-detection information;

In the case of displacement of the obstacle, determining the type corresponding to the obstacle as a dynamic obstacle;

According to the first sub-detection information and the second sub-detection information, predict the position of the obstacle to obtain the predicted position;

The predicted position and the current position are determined as the first positioning information of the dynamic obstacle.

In a possible example, in the aspect of determining the first positioning information of the obstacle according to the detection information, the determining unit 402 is specifically configured to:

In the case that the obstacle does not move, determining the type corresponding to the obstacle as a static obstacle;

The current position is determined as the first positioning information of the static obstacle.

In a possible example, the first sub-detection information and the second sub-detection information are both image information, and when determining the In terms of whether the obstacle is displaced, the determining unit 402 is specifically used for:

generating a detection image according to the image information;

dividing the detection image into at least one area;

For the current area, determine the first hue value and the first brightness value of the detected image corresponding to the first sub-detection information;

determining the second hue value and the second lightness value of the detected image corresponding to the second sub-detection information;

Whether the obstacle is displaced is determined according to the first hue value, the second hue value, the first lightness value and the second lightness value.

In a possible example, in the aspect of determining whether the obstacle is displaced according to the first hue value, the second hue value, the first brightness value and the second brightness value, the The determining unit 402 is specifically used for:

determining a first change ratio corresponding to the hue value according to the first hue value and the second hue value;

According to the first brightness value and the second brightness value, determine the second change ratio corresponding to the brightness value;

Determine the relative change value corresponding to the current area according to the first change ratio, the second change ratio and the preset weight;

In the case that the relative change value is greater than a preset threshold value, determine that the obstacle is displaced;

When the relative change value is less than or equal to the preset threshold, it is determined that the obstacle is not displaced.

In a possible example, as shown in FIG. 4B, compared with the above-mentioned FIG. 4A, the apparatus 400 may further include: a generating unit 404, wherein:

The acquiring unit 401 is further configured to acquire angle detection information of the sensor, where the angle detection information is used to characterize the detection angle of the sensor;

The determining unit 402 is further configured to determine whether the detection angle of the sensor is abnormal according to the angle detection information;

The generating unit 404 is further configured to generate corresponding prompt information and send the prompt information to a client device in a case that the detection angle is abnormal, and the client device is communicatively connected to the electronic device;

The acquiring unit 401 is further configured to acquire the detection information of the working environment by the sensor when the detection angle is not abnormal.

It can be seen that, in the lawn mower path planning device provided by the embodiment of the present application, the sensor is arranged in the working environment of the lawn mower, and the lawn mower path planning device can obtain the detection information of the sensor on the working environment, and the detection information is used to characterize the operation. For obstacles existing in the environment, determine the first positioning information of the obstacle according to the detection information, and obtain the original map of the working environment. The original map is used to represent the terrain of the working environment, and according to the first positioning information and the original map, determine the Working map, determine the driving route of the lawn mower according to the working map, and send the driving route to the lawn mower; in this way, the sensor is set in the working environment to ensure that the sensor is in a relatively stable environment, which helps to ensure that the detection results of the sensor are accurate. Accuracy, which helps to ensure the accurate positioning of obstacles, helps the lawn mower to achieve precise and flexible obstacle avoidance, and at the same time, the stable environmental state also helps to reduce the failure rate of the sensor, help reduce the use cost of the lawn mower, optimize the user experience.

It can be understood that, the functions of each program module of the lawn mower path planning device in this embodiment can be specifically implemented according to the methods in the above method embodiments, and the specific implementation process can refer to the relevant descriptions of the above method embodiments, which are not described here. Repeat.

Consistent with the above-mentioned embodiment, please refer to FIG. 5 . FIG. 5 is a schematic diagram of a path planning system 500 for a lawn mower provided by an embodiment of the present application. The system 500 includes a sensor 501 , a server 502 and a lawn mower 503 , wherein, The sensor 501 is arranged in the working environment of the lawn mower 503, and the working environment is the environment in which the lawn mower 503 performs the lawn mowing operation. The sensor 501 is used to detect the working environment to obtain detection information, and the detection information is used to represent the existence of the working environment. The server 502 is connected to the sensor 501 in communication, the server 502 is used to obtain the detection information and the original map of the working environment, the original map is used to represent the terrain of the working environment; and the first positioning information used to determine the obstacle according to the detection information and for determining the working map of the lawn mower 503 according to the first positioning information and the original map; and for determining the driving route of the lawn mower 503 according to the working map; the lawn mower 503 is connected in communication with the server 502, and the lawn mower 503 is used to receive the driving route sent by the server 502 .

It can be seen that, in the path planning system of the embodiment of the present application, the sensor is set in the working environment of the lawn mower, and the detection information of the sensor on the working environment is obtained through the server, and the detection information is used to characterize the obstacles existing in the working environment. Determine the first positioning information of the obstacle according to the detection information, and obtain the original map of the working environment. The original map is used to represent the terrain of the working environment. The server determines the working map of the lawn mower according to the first positioning information and the original map, and according to the working environment The map determines the driving route of the lawn mower, and the lawn mower receives the driving route sent by the server; in this way, the sensor is set in the working environment to ensure that the sensor is in a relatively stable environment, which helps to ensure the accuracy of the detection result of the sensor. This helps to ensure the accurate positioning of obstacles, and helps the lawn mower to achieve precise and flexible obstacle avoidance. At the same time, the stable environmental state also helps to reduce the failure rate of the sensor, helps reduce the use cost of the lawn mower, and optimizes the user experience.

Embodiments of the present application further provide a computer storage medium, wherein the computer storage medium stores a computer program for electronic data exchange, and the computer program causes the computer to execute part or all of the steps of any method described in the above method embodiments .

Embodiments of the present application further provide a computer program product, where the computer program product includes a computer program, and the computer program is operable to cause a computer to execute part or all of the steps of any method described in the above method embodiments.

It should be noted that, for the sake of simple description, the foregoing method embodiments are all expressed as a series of action combinations, but those skilled in the art should know that the present application is not limited by the described action sequence. Because in accordance with the present application, certain steps may be performed in other orders or concurrently. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

In the above-mentioned embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

In the several embodiments provided in this application, it should be understood that the disclosed apparatus may be implemented in other manners. For example, the device embodiments described above are only 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. For example, multiple units or components may be combined or integrated. to another system, or some features can be ignored, or not implemented. On the other hand, the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of devices or units, and may be in electrical or other forms.

The above-mentioned units described as separate components may or may not be physically separated, and components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution in this embodiment.

In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit. The above-mentioned integrated units may be implemented in the form of hardware, or may be implemented in the form of software functional units.

The above-mentioned integrated units, if implemented in the form of software functional units and sold or used as independent products, may be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application can be embodied in the form of a software product in essence, or the part that contributes to the prior art, or all or part of the technical solution, and the computer software product is stored in a memory, Several instructions are included to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the above-mentioned methods in the various embodiments of the present application. The aforementioned memory includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

Those of ordinary skill in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing relevant hardware through a program, and the program can be stored in a computer-readable memory, and the memory can include: a flash disk , Read-only memory (English: Read-Only Memory, referred to as: ROM), random access device (English: Random Access Memory, referred to as: RAM), magnetic disk or optical disk, etc.

The embodiments of the present application have been introduced in detail above, and the principles and implementations of the present application are described in this paper by using specific examples. The descriptions of the above embodiments are only used to help understand the methods and core ideas of the present application; at the same time, for Persons of ordinary skill in the art, based on the idea of the present application, will have changes in the specific implementation manner and application scope. In summary, the contents of this specification should not be construed as limitations on the present application.

Claims (10)

1. A method of path planning for a lawnmower, the method comprising:

acquiring detection information of a sensor on a working environment and an original map of the working environment, wherein the sensor is arranged in the working environment of the mower, the working environment is the environment of the mower for mowing, the detection information is used for representing obstacles existing in the working environment, and the original map is used for representing the terrain of the working environment;

determining first positioning information of the obstacle according to the detection information;

determining a working map of the mower according to the first positioning information and the original map;

and determining the driving route of the mower according to the work map.

2. The method according to claim 1, wherein the detection information includes first sub-detection information corresponding to a first time and second sub-detection information corresponding to a second time, and the determining the first positioning information of the obstacle according to the detection information includes:

determining whether the obstacle displaces or not according to the first sub-detection information and the second sub-detection information;

determining the type corresponding to the obstacle as a dynamic obstacle under the condition that the obstacle displaces;

predicting the position of the obstacle according to the first sub-detection information and the second sub-detection information to obtain a predicted position;

determining the predicted and current positions as the first positioning information for the dynamic obstacle.

3. The method of claim 2, wherein the determining first positioning information of the obstacle from the detection information comprises:

determining the type corresponding to the obstacle as a static obstacle when the obstacle is not displaced;

determining the current location as the first positioning information for the static obstacle.

4. The method according to claim 2, wherein the first sub-detection information and the second sub-detection information are both image information, and the determining whether the obstacle is displaced according to the first sub-detection information and the second sub-detection information comprises:

generating a detection image according to the image information;

dividing the detection image into at least one region;

for the current area, determining a first color phase value and a first brightness value of a detection image corresponding to the first sub-detection information;

determining a second hue value and a second brightness value of the detection image corresponding to the second sub-detection information;

and determining whether the obstacle is displaced or not according to the first color phase value, the second color phase value, the first brightness value and the second brightness value.

5. The method of claim 4, wherein said determining whether the obstacle is displaced based on the first hue value, the second hue value, the first lightness value, and the second lightness value comprises:

determining a first change proportion corresponding to the hue value according to the first hue value and the second hue value;

determining a second change proportion corresponding to the brightness value according to the first brightness value and the second brightness value;

determining a relative change value corresponding to the current region according to the first change proportion, the second change proportion and a preset weight;

determining that the obstacle displaces when the relative change value is larger than a preset threshold value;

determining that the obstacle is not displaced if the relative change value is less than or equal to the preset threshold value.

6. The method according to claim 1, applied to an electronic device, further comprising, before the acquiring detection information of the sensor on the working environment and an original map of the working environment:

acquiring angle detection information of the sensor, wherein the angle detection information is used for representing a detection angle of the sensor;

determining whether the detection angle of the sensor is abnormal or not according to the angle detection information;

under the condition that the detection angle is abnormal, generating corresponding prompt information and sending the prompt information to client equipment, wherein the client equipment is in communication connection with the electronic equipment;

and acquiring the detection information of the working environment by the sensor when the detection angle is not abnormal.

7. A path planning system for a lawn mower, the system comprising:

the sensor is arranged in a working environment of the mower, the working environment is the environment for carrying out mowing operation on the mower, the sensor is used for detecting the working environment to obtain detection information, and the detection information is used for representing obstacles in the working environment;

the server is in communication connection with the sensor and is used for acquiring the detection information and an original map of the working environment, and the original map is used for representing the terrain of the working environment; and first positioning information for determining the obstacle according to the detection information; the map processing unit is used for determining a working map of the mower according to the first positioning information and the original map; and for determining a travel route for the lawnmower from the work map;

the mower is in communication connection with the server and is used for receiving the driving route sent by the server.

8. A lawn mower path planning apparatus, said apparatus comprising: an acquisition unit and a determination unit, wherein,

the acquisition unit is used for acquiring detection information of the sensor on the working environment and an original map of the working environment, the sensor is arranged in the working environment of the mower, the working environment is the environment of the mower for mowing, the detection information is used for representing obstacles existing in the working environment, and the original map is used for representing the terrain of the working environment;

the determining unit is used for determining first positioning information of the obstacle according to the detection information;

the determining unit is further used for determining a working map of the mower according to the first positioning information and the original map;

the determining unit is further used for determining the traveling route of the mower according to the working map.

9. An electronic device comprising a processor, a memory for storing one or more programs and configured for execution by the processor, the programs comprising instructions for performing the steps in the method of any of claims 1-6.

10. A computer-readable storage medium, characterized by storing a computer program for electronic data exchange, wherein the computer program causes a computer to execute instructions of the steps in the method according to any one of claims 1-6.

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