CN116018924B

CN116018924B - Lawn mowing method, device and computer equipment

Info

Publication number: CN116018924B
Application number: CN202211563544.XA
Authority: CN
Inventors: 赵永亮
Original assignee: Shenzhen Topband Co Ltd
Current assignee: Shenzhen Topband Co Ltd
Priority date: 2022-12-07
Filing date: 2022-12-07
Publication date: 2024-12-03
Anticipated expiration: 2042-12-07
Also published as: CN116018924A

Abstract

The present application relates to a mowing method, apparatus, computer device, storage medium and computer program product for a mower. The method comprises the steps of responding to mode selection operation, obtaining a selected target operation mode, starting the mower, controlling the mower to operate on a target lawn in the target operation mode, collecting images of the target lawn in the operation process, obtaining an operation strategy for the target obstacle in the target operation mode when the images of the target lawn are identified to comprise the target obstacle, controlling the mower to operate on a lawn area where the target obstacle is located in the operation strategy, and switching the operation strategy when the images of the target lawn in the operation process are identified to not comprise the target obstacle. In the method, as the mower has multiple operation modes and the operation strategies for the target obstacle are different in each operation mode, the mower has multiple operation methods, and can flexibly select the proper operation mode according to the lawn condition, thereby improving the mowing efficiency.

Description

Mowing method and device of mower and computer equipment

Technical Field

The present application relates to the technical field of mowing robots, and in particular to a mowing method, a device 5, a computer device, a storage medium and a computer program product of a mowing machine.

Background

Along with the continuous improvement of the living standard of people, lawns with larger occupied areas are planned around the living places of people, and the lawns need to be trimmed regularly at intervals.

0 Existing mowing robots face complex lawn environments, such as deep grass, wild flowers, scattered leaves,

Sparse lawns and other application scenes of soil leakage are prone to occurrence of conditions of missed cutting, and therefore the problems of unsmooth mowing and low mowing efficiency are caused.

Disclosure of Invention

Based on the foregoing, there is a need to provide a mowing method, apparatus, computer device, computer readable storage medium and computer program product for a mower capable of improving mowing efficiency.

In a first aspect, the present application provides a method of mowing a lawn mower, the method comprising:

responding to a mode selection operation, acquiring a selected target operation mode, and starting the mower;

controlling the mower to work on a target lawn in the target work mode;

0, acquiring an image of the target lawn in the working process;

When the image of the target lawn is identified to comprise a target obstacle, acquiring a working strategy of the target obstacle in the target working mode, wherein the working strategy of the target obstacle in each working mode is different;

Controlling the mower to perform 5 operations on the lawn area where the target obstacle is located according to the operation strategy, and when the target obstacle is not included in the image of the target lawn in the operation process,

And switching the operation strategy.

In one embodiment, the operation modes at least comprise a first operation mode and a second operation mode with different mowing precision, wherein the mowing precision of the first operation mode is lower than that of the second operation mode;

when the target operation mode is the first operation mode, the method further comprises:

When the mower finishes working in the first working mode, controlling the mower to switch from the first working mode to a second working mode;

and controlling the mower to work on a target lawn in the second working mode.

In one embodiment, the method further comprises:

when the target operation mode is operated for a preset time, obtaining quality evaluation of the target lawn;

And when the quality evaluation of the target lawn does not match the target working mode, controlling the mower to switch from the target working mode to a working mode matched with the quality evaluation of the target lawn.

In one embodiment, the target obstacle is a common obstacle, and the operation modes comprise a first operation mode, a second operation mode and a third operation mode with sequentially increased mowing precision;

the operation strategy for the common obstacle in the first operation mode comprises:

and judging whether the common obstacle is identified by adopting a contact obstacle avoidance method, if so, executing an obstacle avoidance strategy, and bypassing the common obstacle.

In one embodiment, the operating strategy for the common obstacle in the second operating mode comprises:

If the size of the common obstacle is smaller than the preset size, judging whether the common obstacle is identified by adopting a contact obstacle avoidance method, if so, executing an obstacle avoidance strategy, and bypassing the common obstacle;

and if the size of the common obstacle is larger than the preset size, executing a non-contact obstacle avoidance strategy to bypass the common obstacle.

In one embodiment, the operating strategy for the common obstacle in the third operating mode includes executing a contactless obstacle avoidance strategy that bypasses the common obstacle.

In one embodiment, when it is identified that the image of the target lawn includes a living obstacle, the mower is controlled to operate the lawn area where the living obstacle is located according to an operation strategy of the living obstacle, and the operation strategies of the living obstacle in each operation mode are the same.

In one embodiment, when the stereoscopic obstacle is identified to be included in the image of the target lawn, the mower is controlled to operate the lawn area where the stereoscopic obstacle is located according to the operation strategy of the stereoscopic obstacle, and the operation strategies of the stereoscopic obstacle in each operation mode are the same.

In a second aspect, the present application provides a mowing apparatus for a mower, the apparatus comprising:

the response module is used for responding to the mode selection operation, acquiring a selected target operation mode and starting the mower;

The control module is used for controlling the mower to work on a target lawn in the target work mode;

the acquisition module is used for acquiring the image of the target lawn in the working process;

the identification module is used for acquiring the operation strategy of the target obstacle in the target operation mode when the target obstacle is identified to be included in the image of the target lawn, wherein the operation strategy of the target obstacle in each operation mode is different;

and the switching module is used for controlling the mower to operate the lawn area where the target obstacle is located according to the operation strategy, and switching the operation strategy when the target obstacle is not included in the image of the target lawn in the operation process.

In a third aspect, the present application provides a computer device comprising a memory storing a computer program and a processor implementing the following steps when executing the computer program:

controlling the mower to work on a target lawn in the target work mode;

acquiring an image of the target lawn in the working process;

And controlling the mower to operate the lawn area where the target obstacle is located according to the operation strategy, and switching the operation strategy when the target obstacle is not included in the image of the target lawn in the operation process.

In a fourth aspect, the present application provides a computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of:

controlling the mower to work on a target lawn in the target work mode;

acquiring an image of the target lawn in the working process;

In a fifth aspect, the present application provides a computer program product comprising a computer program which, when executed by a processor, performs the steps of:

controlling the mower to work on a target lawn in the target work mode;

acquiring an image of the target lawn in the working process;

According to the mowing method, the mowing device, the computer equipment, the storage medium and the computer program product of the mowing machine, the target operation mode is acquired, the operation strategy of the target obstacle in the target operation mode is acquired according to the target obstacle in the identified image of the target lawn by identifying the image of the target lawn, the processing of the target obstacle in different operation modes is different, and further, when the mowing machine identifies that the image of the target lawn does not contain the target obstacle in the operation process, the operation strategy is switched, so that in the same operation mode, different strategies are adopted for different obstacles.

Drawings

FIG. 1 is an environmental view of a mowing method of a mower in one embodiment;

FIG. 2 is a flow diagram of a method of mowing a lawn mower in one embodiment;

FIG. 3 is a flow chart of a method of mowing a mower in another embodiment;

FIG. 4 is a schematic illustration of a work strategy for a target obstacle and grass in a first mode of operation in one embodiment;

FIG. 5 is a schematic illustration of a work strategy for a target obstacle and grass in a second mode of operation in one embodiment;

FIG. 6 is a schematic illustration of a work strategy for a target obstacle and grass in a third mode of operation in one embodiment;

FIG. 7 is a block diagram of a mower of the mower in one embodiment;

fig. 8 is an internal structural diagram of a computer device in one embodiment.

Detailed Description

The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.

For an irregular lawn environment, a visual borderless mower is commonly used for mowing at present, the visual borderless mower is used for recognizing grass and various obstacles, mowing, obstacle avoidance and path planning actions are further completed, if deep grass, wild flowers, scattered leaves or sparse lawns with soil leakage exist in the lawn, conditions such as missed mowing, frequently useless obstacle avoidance actions and the like are easy to occur, mowing is not smooth, time is consumed, and user experience is poor.

The existing visual borderless processing is mainly based on continuously improving the data quantity and improving the accuracy of the algorithm. However, the use of the lawn mower is complex, for example, moving objects, large obstacles and deep grass on the lawn, and the visual borderless mower cannot completely meet the requirement of the use of the lawn mower.

In view of this, the mowing method of the mower provided by the embodiment of the application can be applied to the application environment shown in fig. 1. The terminal 102 and the server 104 data storage system can store data that the server 104 needs to process through a network. The data storage system may be integrated on the server 104, or may be located on a cloud or other network server, with the server 104 in communication with the mower 106. The mower 106 responds to a mode selection instruction sent by the terminal 102 to acquire a target operation mode, the mower 106 is started, the mower 106 is controlled to operate on a target lawn in the target operation mode, the mower 106 acquires an image of the target lawn in the operation process, when the mower 106 identifies that the image of the target lawn comprises a target obstacle, an operation strategy for the target obstacle in the target operation mode is acquired, wherein the operation strategies for the target obstacle in each operation mode are different, and when the mower 106 operates on a lawn area where the target obstacle is located in the operation strategy, the operation strategy is switched when the mower 106 identifies that the image of the target lawn in the operation process does not comprise the target obstacle.

The terminal 102 may be, but not limited to, various personal computers, notebook computers, smart phones, tablet computers, internet of things devices, and portable wearable devices, where the internet of things devices may be smart speakers, smart televisions, smart air conditioners, smart vehicle devices, and the like. The portable wearable device may be a smart watch, smart bracelet, headset, or the like. Server 104 may implement mower 106 as a stand-alone server or as a cluster of servers, and may be an intelligent mower with image acquisition capabilities and image recognition extraction capabilities.

In one embodiment, as shown in fig. 2, a mowing method of a mower is provided, and the mowing method is applied to the mower in fig. 1, and the mowing method includes the following steps:

s202, responding to the mode selection operation, acquiring the selected target operation mode, and starting the mower.

The mode selection operation may be an instruction for selecting a mower operation mode, specifically, the mode selection operation may be selected by a user through a terminal, or a control button may be set on the mower, and the user operates the control button to select.

The target operating mode is the selected operating mode of the mower. Among other things, lawnmowers provide a variety of modes of operation. For example, the work modes may include a compatible mode, a normal mode, and a high-precision mode in terms of mowing precision from low to high. The target operation mode can be sequentially divided into a normal mode, a compatible mode and a high-precision mode according to the time taken for mowing from short to long. It should be noted that, depending on the applicable lawn environment, the common mode and the compatible mode may take shorter time for the same lawn than the common mode. The compatible mode is suitable for lawns which are not managed by people for a long time, for example, the lawns have higher grass clusters and more barriers. The common mode is suitable for common lawns, the height of the grass in the lawns is moderate, and barriers are slightly more. The high-precision mode is suitable for high-quality gauge lawns, the height of a grass bundle in the lawns is lower, and barriers are few. By selecting different operation modes of the mower for the lawns with different lawn conditions, the mowing efficiency is improved, and the user experience is improved.

S204, controlling the mower to work on the target lawn in the target work mode.

The target lawn is a lawn to be worked, the lawn to be worked may be an irregular lawn, the shape of the lawn to be worked is irregular, the types and the number of barrier types are large, the lawn to be worked may be called an irregular lawn, and the partial area of the irregular lawn cannot be paved with a solid border and the edge area of the lawn is a curve, so that different working modes need to be selected for different lawns.

Specifically, for a long-term unattended lawn, the grass depth is generally high, where the target mode of operation may be a compatible mode, for a high quality and regular lawn, where the target mode of operation may be a high precision mode, for an infrequently-treated lawn, where the grass quality is generally low, where the grass depth is a normal mode.

The grass cutter performs preparation and implementation operations before the target grass cutting operation.

The preparation before the operation can be to locate the target lawn boundary, specifically, a visual recognition mode is combined with a locating module of the mower, and the operation route is planned and the operation starting point is determined while the target lawn boundary is acquired. The operation can be implemented by completing mowing operation according to a preset line planning and tracking, specifically, image information of a recognition target lawn can be collected in real time when the mower is tracked, and an operation strategy of the mower can be adjusted according to the image information.

S206, acquiring an image of the target lawn in the working process.

The image of the target lawn can be acquired by visual sensors or cameras arranged on various angles of the mower.

The method comprises the steps of collecting images of a target lawn in a working process in real time, wherein the collected frequency is smaller than or equal to the shooting frequency of a camera, specifically, if the shooting frequency of the camera is 60Hz, namely, the number of the shot images of the camera within 1 second is 60, the collected frequency can be 20Hz, namely, the number of the collected images within 1 second is 20. The acquisition frequency of the camera can be determined according to the speed and the angle of the mower. Specifically, when the mower speed is faster or the mower angle is changed faster, the acquisition frequency of the camera is larger, that is, the number of images of the target lawn in the process of acquisition operation is larger in unit time.

After the image of the target lawn in the working process is collected, the target lawn image is further required to be subjected to classification preprocessing, and target obstacle information is extracted, wherein the step of classification preprocessing specifically comprises the following steps: training the classification model according to the data set of various obstacles of the lawn to obtain an obstacle classification model, and outputting the image of the target lawn to the obstacle classification model to obtain the number and the category of the obstacles. For example, the categories of obstacles may include living obstacles, three-dimensional obstacles, common obstacles.

The common obstacle refers to an obstacle with a height within a preset height, such as a cement step, a small soil pile and the like, and the three-dimensional obstacle refers to an obstacle with a height outside the preset height and a certain occupied area, such as a wooden pile, a toy car and the like. A living obstacle refers to an object that can move on a target lawn, and the volume of the living obstacle is typically larger than that of a mower.

S208, when the target obstacle is included in the image of the target lawn, acquiring the operation strategy of the target obstacle in the target operation mode, wherein the operation strategy of the target obstacle in each operation mode is different.

Wherein, there may be multiple obstacles in the lawn of operation, according to the different types of obstacles, different operation strategies to different obstacles in each operation mode can be set. The target obstacle is one of the total obstacle types, and may be a common obstacle such as a cement step, a small soil pile, or the like.

The operation strategies refer to the processing modes of the target obstacle in different operation modes, and the operation strategies of the mower for each obstacle in different operation modes are different, so that the mower can select a plurality of operation modes, and the operation strategies of the mower for the target obstacle in each operation mode are different, so that the mower has a plurality of operation methods.

Taking the target obstacle as a common obstacle as an example, the processing mode of the target obstacle can comprise one of contact obstacle avoidance, non-contact obstacle avoidance and direct passing, and understandably, the obstacle avoidance modes of different target obstacles in the same operation mode can be different.

Specifically, taking the target operation mode as a normal mode and the target obstacle as a cement step as an example, at this time, the operation strategy is to identify whether the target obstacle is a large-area obstacle, and if the cement step belongs to the large-area obstacle, adopting a non-contact obstacle avoidance mode, namely, bypassing the cement step by the mower.

Similarly, taking the target operation mode as a high-precision mode and the target obstacle as a cement step as an example, the operation strategy is to directly execute the non-contact obstacle avoidance, i.e. the mower bypasses the cement step.

S210, controlling the mower to operate the lawn area where the target obstacle is located according to the operation strategy, and switching the operation strategy when the target obstacle is not included in the image of the target lawn in the operation process.

The lawn area where the mower is located refers to an ideal lawn area where the mower is formed by taking the mower as a circle center and taking the maximum recognition distance of the mower as a radius. It will be appreciated that the lawn area where the mower is located is blocked by obstacles or other objects, such as grass of a high height, and the actual target lawn area is generally smaller than the ideal lawn area.

If the mower does not recognize the target obstacle in the actual lawn area, the operation strategy is switched.

Specifically, the target strategy after switching can be to control the mower to directly pass and keep the working state of the cutter head.

In the mowing method of the mower, the target operation mode is acquired, the image of the target lawn is identified, the operation strategy of the target obstacle in the target operation mode is acquired according to the identified target obstacle in the image of the target lawn, the processing of the target obstacle in different operation modes is different, and further, when the mower identifies that the image of the target lawn does not contain the target obstacle in the operation process, the operation strategy is switched, so that different strategies are adopted for different obstacles in the same operation mode.

In one embodiment, the operation modes at least comprise a first operation mode and a second operation mode with different mowing precision, the mowing precision of the first operation mode is lower than that of the second operation mode, when the target operation mode is the first operation mode, the method further comprises the steps of controlling the mower to switch from the first operation mode to the second operation mode after the mower is operated in the first operation mode, and controlling the mower to operate on the target lawn in the second operation mode.

The target operation modes can be sequentially divided into a compatible mode, a common mode and a high-precision mode according to the mowing precision from low to high.

The first mode of operation may be a compatible mode or a normal mode. The second operation mode may be a normal mode or a high-precision mode.

Specifically, when the first operation mode is the compatible mode, the second operation mode may be the normal mode or the high-precision mode. When the mower finishes working in the compatible mode, the higher grass in the lawn is removed, the mower is suitable for working in the normal mode and the high-precision mode, the second working mode can be set to be the normal mode or the high-precision mode according to the expected mowing precision of the lawn, and the mower is not limited.

When the first operation mode is the normal operation mode, the second operation mode may be the high-precision mode. When the mower finishes working in the normal mode, the lawn is leveled, and the second working mode can be set to a high-precision mode in order to further improve the evenness of the lawn.

Specifically, the completion of the work in the first operation mode means that the mower works once on the target lawn in the first operation mode, that is, cuts the grass once. It should be appreciated that the completion of the first mode of operation also means that the mower is operated in the first mode of operation multiple times at different tracking angles on the target lawn, i.e. more than twice grass apart. Wherein the tracking angle refers to an angle with a predetermined datum line of the mower, for example, 90 degrees or 45 degrees. The preset datum line can be a datum line of an actual lawn or a virtual datum line in a mower simulation map.

In this embodiment, by performing the operation twice according to the mowing precision, the mowing effect of the mower can be improved by switching to the second operation mode after the first operation mode is completed.

In one embodiment, a quality evaluation of the target lawn is obtained after operating in the target work mode for a preset time, and when the quality evaluation of the target lawn does not match the target work mode, the mower is controlled to switch from the target work mode to a work mode matching the quality evaluation of the target lawn.

The preset time may be an internal parameter of the mower, and may be set manually, for example, 1 minute.

The quality evaluation of the target lawn is an evaluation result of the mowed lawn area. The quality evaluation may be determined according to the depth of grass, the size of obstacles, the number of obstacles, the recognition result of a grass image after mowing, and the like. Specifically, parameter information of the mowed lawn area may be acquired according to a visual camera, a collision sensor, a ranging sensor, or the like.

Specifically, taking the target operation mode as an example, when the mower works in the normal mode for 1 minute, obtaining the quality evaluation of the target lawn, and if the quality evaluation includes that the depth of the lawn is larger than 60cm and the number of obstacles is larger than a preset value, and the like, the quality evaluation of the target lawn is not matched with the target operation mode, controlling the mower to switch from the target operation mode to an operation mode matched with the quality evaluation of the target lawn, such as a compatible mode.

In this embodiment, the quality evaluation is introduced to evaluate the target lawn, and if the quality evaluation of the target lawn does not match with the target operation mode, the operation mode is switched to the operation mode matching with the quality evaluation of the target lawn, so that the mower can switch the operation modes in time, the conditions of missed cutting, false cutting and the like caused by selecting an improper operation mode are prevented, and the mowing efficiency of the mower is further improved.

In one embodiment, the target obstacle is a common obstacle, the operation modes comprise a first operation mode, a second operation mode and a third operation mode with mowing precision increased in sequence, and the operation strategy for the common obstacle in the first operation mode comprises the steps of adopting a contact obstacle avoidance to judge whether the common obstacle is identified or not, and if so, executing the obstacle avoidance strategy to bypass the common obstacle.

Wherein the first mode of operation may be a compatible mode.

The contact obstacle avoidance may be that whether a common obstacle is identified through current of an internal circuit of the mower is judged, specifically, if the mower collides with the common obstacle in a first operation mode, at this time, the mower is stopped, torque of a motor of the mower is increased, current is increased, if the current is greater than a preset threshold, the obstacle is considered to be the common obstacle needing obstacle avoidance, an obstacle avoidance strategy is executed, and the common obstacle is bypassed.

If the current is smaller than the preset threshold value, the obstacle avoidance strategy is not executed, and the common obstacle is directly passed through.

The obstacle avoidance strategy can be to change the original travelling route of the mower, and keep the mower at a certain distance from the common obstacle through a distance measurement sensor arranged on the mower, so that the mower bypasses the common obstacle.

In this embodiment, the contact obstacle avoidance is adopted, if the internal current of the mower is greater than the threshold value, the obstacle avoidance strategy is executed, so that the common obstacle can be correctly identified, whether the common obstacle can block the travel route of the mower is judged in a collision mode, and the phenomenon of mowing missing caused by fallen leaves accumulation or other reasons is avoided.

In one embodiment, the operation strategy for the common obstacle in the second operation mode comprises the steps of adopting a contact obstacle avoidance to judge whether the common obstacle is identified or not if the size of the common obstacle is smaller than a preset size, executing the obstacle avoidance strategy to bypass the common obstacle if the size of the common obstacle is larger than the preset size, adopting a non-contact obstacle avoidance to judge whether the common obstacle is identified or not if the size of the common obstacle is larger than the preset size, and executing the obstacle avoidance strategy to bypass the common obstacle if the size of the common obstacle is smaller than the preset size.

Wherein the second operation mode may be a normal mode.

The size of the common obstacle can be obtained by shooting an image of the common obstacle through a visual camera and performing recognition extraction.

Specifically, if the size of the common obstacle is smaller than the preset size, the common obstacle is likely to be formed by stacking fallen leaves, at the moment, the mower can try to strike the common obstacle, judge whether the common obstacle is recognized, and if the current is larger than the preset threshold value through striking the common obstacle, the common obstacle is considered to be the common obstacle needing to perform obstacle avoidance action, and an obstacle avoidance strategy is executed to bypass the common obstacle.

If the size of the common obstacle is larger than the preset size, the possibility that the common obstacle is a real common obstacle is high, and a non-contact obstacle avoidance strategy is adopted, namely the common obstacle is directly bypassed.

In this embodiment, the size of the common obstacle is determined in the second operation mode, different obstacle avoidance strategies can be executed according to the size, and whether the mower needs to execute the obstacle avoidance strategies or not can be determined through size determination and impact determination on the premise of inaccurate identification of the common obstacle, so that the mowing efficiency is improved.

In one embodiment, the operating strategy for the common obstacle in the third operating mode includes performing a contactless obstacle avoidance strategy that bypasses the common obstacle.

Wherein the third operation mode may be a high-precision mode.

Under the high-precision mode, if common obstacles are identified, the obstacle avoidance strategies of the mower are all non-contact obstacle avoidance strategies.

Specifically, the obstacle avoidance strategy can be to change the original travelling route of the mower, and keep the mower at a certain distance from the common obstacle through a distance measurement sensor arranged on the mower, so that the mower bypasses the common obstacle.

In the embodiment, in the third operation mode, non-contact obstacle avoidance is adopted facing the common obstacle, so that the cutter head is protected, and meanwhile, the mowing precision of the mower is improved.

In one embodiment, when a living obstacle is included in the image of the target lawn, the mower is controlled to operate the lawn area where the living obstacle is located with an operation strategy of the living obstacle, and the operation strategy of the living obstacle in each operation mode is the same.

The living obstacle can be of an obstacle type with a size larger than that of a mower, and has certain capability of moving on a lawn. Specifically, the living obstacle is typically a person, a pet, an automatic car, or the like.

Specifically, the operation strategy of the living obstacle may be to stop the mower deck when the living obstacle is recognized as being within the safety range of the mower, and simultaneously perform non-contact obstacle avoidance, that is, recognize a real-time distance from the living obstacle through the ranging sensor, keep the real-time distance greater than the safety distance, and bypass the living obstacle.

The operation strategy of the living obstacle may be to adjust the traveling direction of the mower to bypass the living obstacle when the living obstacle is recognized as entering the safety range of the mower.

In this embodiment, by setting the operation policy of the living obstacle, the obstacle avoidance operation can be completed on the premise of ensuring safety.

In one embodiment, when the stereoscopic obstacle is included in the image of the target lawn, the mower is controlled to operate the lawn area where the stereoscopic obstacle is located according to an operation strategy of the stereoscopic obstacle, and the operation strategies of the stereoscopic obstacle in each operation mode are the same.

The three-dimensional obstacle can be an obstacle with a certain height and a certain occupied area, such as a tree, a rockery, a toy car and the like. It should be noted that the difference between the three-dimensional obstacle and the common obstacle is that the height of the three-dimensional obstacle is generally larger than that of the common obstacle.

Specifically, when the image of the target lawn is identified to include the three-dimensional obstacle, the mower is controlled to stop the cutter head, and non-contact obstacle avoidance is performed, namely, the real-time distance between the mower and the three-dimensional obstacle is identified through the ranging sensor, and the real-time distance is kept to be larger than the safety distance, so that the three-dimensional obstacle is bypassed.

In this embodiment, by setting the operation policy of the three-dimensional obstacle, the obstacle avoidance operation can be completed on the premise of ensuring safety.

In one embodiment, as shown in fig. 3, there is provided another mowing method of a mower, comprising:

s302, responding to the mode selection operation, acquiring a selected target operation mode, and starting the mower.

S304, controlling the mower to work on the target lawn in a target work mode.

The operation modes at least comprise a first operation mode and a second operation mode with different mowing precision, and the mowing precision of the first operation mode is lower than that of the second operation mode.

The method comprises the steps of controlling the mower to switch from a first operation mode to a second operation mode after the mower finishes operating in the first operation mode, and controlling the mower to operate in a target lawn in the second operation mode.

And when the quality evaluation of the target lawn does not match the target operation mode, controlling the mower to switch from the target operation mode to an operation mode matched with the quality evaluation of the target lawn.

S306, acquiring an image of the target lawn in the working process.

S308, when the target obstacle is included in the image of the target lawn, acquiring the operation strategy of the target obstacle in the target operation mode, wherein the operation strategy of the target obstacle in each operation mode is different.

S310, an operation strategy for a common obstacle in a first operation mode.

Among them, various categories such as common obstacles, living obstacles, stereoscopic obstacles, grass, and the like can be identified through AI.

As shown in fig. 4, a schematic diagram of a working strategy for a target obstacle and grass in a first working mode is provided, including:

s3102, judging whether a common obstacle is identified by adopting a contact obstacle avoidance method, if so, executing an obstacle avoidance strategy, and bypassing the common obstacle.

Specifically, a contact obstacle avoidance mode is adopted, whether the obstacle is a common obstacle is identified in a front collision mode, if so, an obstacle avoidance strategy is executed, namely, the common obstacle is bypassed, and the cutter head is not stopped in the process. If not, the cutter head is directly passed without stopping the cutter head.

S3104, controlling the mower to work the lawn area where the living obstacle is located with a work strategy of the living obstacle.

Specifically, the operation strategy of the living obstacle can be to stop the cutter head and simultaneously perform non-contact obstacle avoidance and turning mowing.

S3106, controlling the mower to operate the lawn area where the stereoscopic obstacle is located according to the operation strategy of the stereoscopic obstacle.

Specifically, the operation strategy of the three-dimensional obstacle can be to control the mower to bypass the three-dimensional obstacle without stopping the cutter head.

S3108, controlling the mower to check the operation according to the grass operation strategy.

Specifically, the mower is controlled to directly pass through without stopping the cutter head.

S312, an operation strategy for the normal obstacle in the second operation mode.

Wherein, as shown in fig. 5, a schematic diagram of a working strategy for the target obstacle and grass in the second working mode is provided, comprising:

S3122, if the size of the common obstacle is smaller than the preset size, adopting the contact obstacle avoidance to judge whether the obstacle is identified, if so, executing the obstacle avoidance strategy, and if the size of the common obstacle is larger than the preset size, executing the non-contact obstacle avoidance strategy, and bypassing the common obstacle.

Specifically, if the size of the common obstacle is smaller than the preset size, that is, the common obstacle is a small-area obstacle, whether the common obstacle is the front collision mode is determined, if yes, an obstacle avoidance strategy is executed, and the common obstacle is bypassed. If not, the mower is controlled to pass directly.

If the size of the common obstacle is larger than the preset size, namely, the common obstacle is a large-area obstacle, a non-contact obstacle avoidance strategy is executed, the cutter head is not stopped, and the common obstacle is bypassed.

S3124, controlling the mower to operate the lawn area where the living obstacle is located with an operation strategy of the living obstacle.

S3126, controlling the mower to operate the lawn area where the stereoscopic obstacle is located with an operation policy of the stereoscopic obstacle.

S3128, controlling the mower to check the operation with the grass operation policy.

S314, the operation strategy for the normal obstacle in the third operation mode includes.

Wherein, as shown in fig. 6, a schematic diagram of a working strategy for the target obstacle and grass in the third working mode is provided, comprising:

s3142, executing a non-contact obstacle avoidance strategy, and bypassing the common obstacle.

Specifically, the mower is controlled to avoid the obstacle in a non-contact mode, the cutter head is not stopped, and the common obstacle is bypassed.

S3144, controlling the mower to work the lawn area where the living obstacle is located according to a work strategy of the living obstacle.

S3146, controlling the mower to operate the lawn area where the three-dimensional obstacle is located according to an operation strategy of the three-dimensional obstacle.

S3148, controlling the mower to check the operation according to the grass operation strategy.

S316, controlling the mower to operate the lawn area where the target obstacle is located according to the operation strategy, and switching the operation strategy when the target obstacle is not included in the image of the target lawn in the operation process.

In this embodiment, by identifying an image of a target lawn, according to an identified target obstacle in the image of the target lawn, a working strategy for the target obstacle in a target working mode is obtained, and processing of the target obstacle in different working modes is different, and further, when the mower identifies that the image of the target lawn does not contain the target obstacle in the working process, the working strategy is switched, so that in the same working mode, different strategies are adopted for different obstacles, and in the method, as the mower has multiple working modes and the working strategy for the target obstacle in each working mode is different, the mower has multiple working methods, and can flexibly select a proper working mode according to the condition of the lawn, thereby improving the mowing efficiency. On the premise of not increasing hardware cost, various complex sites can be compatible through the selection of the mode, mowing efficiency is higher, missed mowing is less, and user experience is better. The problem of missed cutting of complex scenes such as deep grass, wild flowers, wild grass, fallen leaves and the like is avoided. The situation that the mower cannot mow normally due to the extreme working conditions such as shielding and blurring of the image can be avoided.

It should be understood that, although the steps in the flowcharts related to the embodiments described above are sequentially shown as indicated by arrows, these steps are not necessarily sequentially performed in the order indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in the flowcharts described in the above embodiments may include a plurality of steps or a plurality of stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of the steps or stages is not necessarily performed sequentially, but may be performed alternately or alternately with at least some of the other steps or stages.

Based on the same inventive concept, the embodiment of the application also provides a mowing device of the mowing machine for realizing the mowing method of the mowing machine. The implementation of the solution provided by the device is similar to that described in the above method, so the specific limitations in the embodiments of the mowing device of one or more mowers provided below can be referred to the limitations of the mowing method of the mowers hereinabove, and are not repeated here.

In one embodiment, as shown in FIG. 7, a mowing apparatus of a mower is provided, comprising a response module 702, a control module 704, an acquisition module 706, an identification module 708, and a switching module 710, wherein:

a response module 702 is configured to obtain a selected target operating mode and activate the mower in response to a mode selection operation.

A control module 704 for controlling the mower to operate on the target lawn in a target operation mode.

And the acquisition module 706 is used for acquiring the image of the target lawn in the working process.

And the identifying module 708 is used for acquiring the operation strategy of the target obstacle in the target operation mode when the target obstacle is identified to be included in the image of the target lawn, wherein the operation strategy of the target obstacle in each operation mode is different.

And the switching module 710 is used for controlling the mower to perform operation on the lawn area where the target obstacle is located according to the operation strategy, and switching the operation strategy when the target obstacle is not included in the image of the target lawn in the operation process.

In one embodiment, the operation modes at least comprise a first operation mode and a second operation mode with different mowing precision, the mowing precision of the first operation mode is lower than that of the second operation mode, the control module 704 is further used for controlling the mower to switch from the first operation mode to the second operation mode after the mower operates in the first operation mode, and controlling the mower to operate on the target lawn in the second operation mode.

In one embodiment, the evaluation module is used for acquiring the quality evaluation of the target lawn after the target operation mode is operated for a preset time, and controlling the mower to switch from the target operation mode to an operation mode matched with the quality evaluation of the target lawn when the quality evaluation of the target lawn is not matched with the target operation mode.

In one embodiment, the target obstacle is a common obstacle, the operation modes comprise a first operation mode, a second operation mode and a third operation mode with sequentially increased mowing precision, and the mowing device of the mower further comprises a first operation module for judging whether the obstacle is identified by adopting a contact obstacle avoidance, if so, an obstacle avoidance strategy is executed to bypass the obstacle.

In one embodiment, the mowing device of the mower further comprises a second operation module, wherein the second operation module is used for judging whether the obstacle is identified by adopting the contact obstacle avoidance if the size of the common obstacle is smaller than the preset size, executing the obstacle avoidance strategy to bypass the obstacle if the obstacle is identified by adopting the contact obstacle avoidance, and executing the non-contact obstacle avoidance strategy to bypass the obstacle if the size of the common obstacle is larger than the preset size.

In one embodiment, the mowing apparatus of the mower further comprises a third operational module for operating the normal obstacle in a third operational mode comprising executing a contactless obstacle avoidance strategy bypassing the obstacle.

In one embodiment, the living obstacle operation module is configured to control the mower to operate the lawn area where the living obstacle is located according to an operation policy of the living obstacle when the living obstacle is included in the image of the target lawn, where the living obstacle is identified, and the operation policies of the living obstacle in each operation mode are the same.

In one embodiment, the three-dimensional obstacle operation module is configured to control the mower to operate the lawn area where the three-dimensional obstacle is located according to an operation strategy of the three-dimensional obstacle when the three-dimensional obstacle is included in the image of the target lawn, and the operation strategies of the three-dimensional obstacle in each operation mode are the same.

The respective modules in the mowing device of the mower can be fully or partially realized by software, hardware and a combination thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.

In one embodiment, a computer device is provided, which may be a server, and the internal structure of which may be as shown in fig. 8. The computer device includes a processor, a memory, an Input/Output interface (I/O) and a communication interface. The processor, the memory and the input/output interface are connected through a system bus, and the communication interface is connected to the system bus through the input/output interface. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The database of the computer device is used for storing image data of the target lawn. The input/output interface of the computer device is used to exchange information between the processor and the external device. The communication interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a method of mowing a lawn mower.

It will be appreciated by those skilled in the art that the structure shown in FIG. 8 is merely a block diagram of some of the structures associated with the present inventive arrangements and is not limiting of the computer device to which the present inventive arrangements may be applied, and that a particular computer device may include more or fewer components than shown, or may combine some of the components, or have a different arrangement of components.

In an embodiment, there is also provided a computer device comprising a memory and a processor, the memory having stored therein a computer program, the processor implementing the steps of the method embodiments described above when the computer program is executed.

In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored which, when executed by a processor, carries out the steps of the method embodiments described above.

In an embodiment, a computer program product is provided, comprising a computer program which, when executed by a processor, implements the steps of the method embodiments described above.

The user information (including but not limited to user equipment information, user personal information, etc.) and the data (including but not limited to data for analysis, stored data, presented data, etc.) related to the present application are information and data authorized by the user or sufficiently authorized by each party.

Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, database, or other medium used in embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high density embedded nonvolatile Memory, resistive random access Memory (ReRAM), magneto-resistive random access Memory (Magnetoresistive Random Access Memory, MRAM), ferroelectric Memory (Ferroelectric Random Access Memory, FRAM), phase change Memory (PHASE CHANGE Memory, PCM), graphene Memory, and the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, and the like. By way of illustration, and not limitation, RAM can be in various forms such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), etc. The databases referred to in the embodiments provided herein may include at least one of a relational database and a non-relational database. The non-relational database may include, but is not limited to, a blockchain-based distributed database, and the like. The processor referred to in the embodiments provided in the present application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic unit, a data processing logic unit based on quantum computing, or the like, but is not limited thereto.

The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The foregoing examples illustrate only a few embodiments of the application and are described in detail herein without thereby limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of the application should be assessed as that of the appended claims.

Claims

1. A method of mowing a lawn mower, the method comprising:

controlling the mower to work on a target lawn in the target work mode;

acquiring an image of the target lawn in the working process;

When the image of the target lawn is identified to comprise a common obstacle, acquiring a working strategy of the target lawn on the common obstacle in a target working mode, wherein the working strategies of the target lawn on the common obstacle in different working modes are different, the working strategies comprise a contact obstacle avoidance strategy, a non-contact obstacle avoidance strategy and direct passing, the working modes at least comprise a first working mode and a second working mode with different mowing precision, the mowing precision of the first working mode is lower than that of the second working mode, and the common obstacle represents a non-living obstacle with the height within a preset height;

And controlling the mower to work the lawn area where the common obstacle is located according to the working strategy, and switching the working strategy when the image of the target lawn in the working process is identified to not include the common obstacle.

2. The method of claim 1, wherein when the target mode of operation is a first mode of operation, the method further comprises:

and controlling the mower to work on a target lawn in the second working mode.

3. The method according to claim 1, wherein the method further comprises:

4. The method of claim 1, wherein the modes of operation comprise a first mode of operation, a second mode of operation, and a third mode of operation in which mowing precision increases in sequence;

5. The method of claim 4, wherein the operating strategy for the common obstacle in the second mode of operation comprises:

6. The method of claim 4, wherein operating the normal obstacle in the third mode of operation includes performing a non-contact obstacle avoidance strategy that bypasses the normal obstacle.

7. The method according to claim 1, wherein when a living obstacle is included in the image of the target lawn, the mower is controlled to operate the lawn area where the living obstacle is located with an operation strategy of the living obstacle, and the operation strategy of the living obstacle in each operation mode is the same, wherein the living obstacle represents an obstacle moving on the target lawn.

8. The method according to claim 1, wherein when a stereoscopic obstacle is included in the image of the target lawn, the mower is controlled to operate the lawn area where the stereoscopic obstacle is located according to an operation strategy of the stereoscopic obstacle, and the operation strategies of the stereoscopic obstacle in each operation mode are the same, wherein the stereoscopic obstacle represents a non-living obstacle having a height outside the preset height and having a certain occupied area.

9. A mowing device for a mower, the device comprising:

The device comprises an identification module, a target lawn, a detection module and a control module, wherein the identification module is used for acquiring an operation strategy for the common obstacle in the target operation mode when the image of the target lawn comprises the common obstacle, wherein the operation strategies for the common obstacle in different operation modes are different, the operation strategies comprise a contact obstacle avoidance strategy, a non-contact obstacle avoidance strategy and direct passing, the operation modes at least comprise a first operation mode and a second operation mode with different mowing precision, the mowing precision of the first operation mode is lower than that of the second operation mode, and the common obstacle represents a non-living obstacle with the height within a preset height;

And the switching module is used for controlling the mower to operate the lawn area where the common obstacle is located according to the operation strategy, and switching the operation strategy when the image of the target lawn in the operation process is identified to not include the common obstacle.

10. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any one of claims 1 to 8 when the computer program is executed.