CN113128747B - Intelligent mowing system and autonomous image building method thereof - Google Patents
Intelligent mowing system and autonomous image building method thereof Download PDFInfo
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/02—Control of position or course in two dimensions
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- A01D34/00—Mowers; Mowing apparatus of harvesters
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- G05D1/02—Control of position or course in two dimensions
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- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
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- G05D1/0285—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using signals transmitted via a public communication network, e.g. GSM network
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Abstract
The invention discloses an intelligent mowing system and an autonomous mapping method, wherein the intelligent mowing system comprises a physical boundary and intelligent mowing equipment, and the physical boundary defines a working area of the intelligent mowing equipment; further comprises: the control module is used for controlling the intelligent mowing equipment not to move beyond a physical boundary; and connected with the control module: a virtual boundary setting unit, configured to set a virtual boundary, where the virtual boundary surrounds the physical boundary, and a virtual map covering the working area is formed in the virtual boundary; the information acquisition module is used for at least recording the moving path of the intelligent mowing equipment; and a map construction module comprising an area construction unit arranged to mark a completed area on the virtual map according to the movement path and to construct an area map.
Description
The present application claims priority from chinese patent application No. 201911395326.8, having application date 2019, 12, 30, the entire contents of which are incorporated herein by reference.
Technical Field
The invention relates to the field of electric tools, in particular to an intelligent mowing system and an autonomous drawing building method thereof.
Background
Currently, intelligent mowers or mowing robots are increasingly being pursued by users. To limit the mower to move in the working area, the mowing area is set by arranging physical wires or physical electronic fences, and the intelligent mower mows in the mowing area according to the set mowing area.
In order for a mower to perform work in a defined work area, a map of the mowing area is typically created prior to performing the mowing work. In the prior art, in order to create a mowing area map, a mower is driven to walk for one circle along a physical boundary before starting a formal mowing work, and the map is built by a method of recording boundary tracks by walking; and after the map is built, starting the mower to execute mowing work.
Therefore, the mower needs to go through additional mapping steps before working, so that the normal mowing working time is occupied, the improvement of the working efficiency is not facilitated, and the existing experience is combined, in general, the mapping step has low one-time success rate, so that the mower needs to walk for two or more circles along the physical boundary to finish the mapping work, and more time is spent for the mapping work before mowing.
Disclosure of Invention
In order to solve the defects of the prior art, the invention aims to provide an intelligent mowing system which is simple to operate, efficient and energy-saving and an autonomous drawing building method thereof. .
In order to achieve the above object, the present invention adopts the following technical scheme:
an intelligent mowing system comprising a physical boundary and an intelligent mowing apparatus, the physical boundary defining a working area of the intelligent mowing apparatus;
further comprises:
the control module is used for controlling the intelligent mowing equipment not to move beyond a physical boundary;
and connected with the control module:
a virtual boundary setting unit, configured to set a virtual boundary, where the virtual boundary surrounds the physical boundary, and a virtual map covering the working area is formed in the virtual boundary;
the information acquisition module is used for at least recording the moving path of the intelligent mowing equipment;
and a map construction module comprising an area construction unit arranged to mark a completed area on the virtual map according to the movement path and to construct an area map.
Further, the information acquisition module is used for acquiring boundary position information when the intelligent mowing equipment is positioned at the physical boundary; the map construction module further comprises a boundary correction unit, wherein the boundary correction unit constructs a map boundary according to the boundary position information and corrects the edge of the regional map by adopting the map boundary.
Further, the information acquisition module comprises a boundary identification unit and a positioning unit; the boundary identification unit identifies the physical boundary and feeds back the result to the control module, and the positioning unit acquires the position information and the path information of the mower.
Further, the positioning unit is configured to receive signals from any one or more of a GNSS component, an inertial measurement component, an odometer, and a geomagnetic sensor.
Further, the virtual map is a grid map.
Further, the map construction module further comprises a path planning unit;
the path planning unit sets an unlabeled boundary as a target running area of the intelligent mowing equipment; or the path planning unit sets an area which is not movably covered by the intelligent mowing equipment as a target driving area of the intelligent mowing equipment.
Further, the map construction module further comprises a checking unit, and the checking unit compares constructed map information with user preset information.
Further, the map construction module further includes an obstacle marking unit marking an obstacle within the physical boundary.
Further, the obstacle marking unit and the physical boundary are both wires, and alternating current is introduced into the wires.
Further, the intelligent mowing system further comprises a mobile terminal, the mobile terminal comprises a display module and an input module, the mobile terminal is in communication connection with the intelligent mowing device through a communication unit, the display module outputs and displays the map, and the input module comprises the virtual boundary setting unit.
An autonomous mapping method of an intelligent mowing system, the intelligent mowing system comprising a physical boundary and an intelligent mowing apparatus, the physical boundary defining a working area of the intelligent mowing apparatus; the autonomous mapping method comprises the following steps:
setting a virtual boundary and generating a virtual map, wherein the virtual boundary surrounds a physical boundary;
starting the intelligent mowing equipment to execute work;
collecting information, namely collecting at least the moving path of the intelligent mowing equipment;
and (3) constructing a map, marking a finished area on the virtual map according to the moving path of the intelligent mowing equipment, and constructing an area map.
Further, the virtual map is a grid map;
the construction of the regional map comprises the following steps: and obtaining grid information in the grid map according to the movement path analysis of the mower so as to construct an area map.
Further, collecting information further includes collecting boundary position information: judging whether the intelligent mowing equipment is positioned on the physical boundary, if so, acquiring the position information of the intelligent mowing equipment positioned on the physical boundary;
constructing the map further comprises: marking the boundary position information on the virtual map and constructing a map boundary, wherein the map boundary corrects the edge of the regional map.
Further, constructing the map boundary includes:
constructing a boundary information subset, wherein the boundary information subset comprises a plurality of discrete boundary position information with the same characteristics;
and drawing map boundaries according to the boundary information subsets.
Further, the method also comprises the step of path planning: selecting an unlabeled boundary area as a target driving area in the process of constructing the map; or selecting the area which is not covered by the moving path as the target driving area of the intelligent mowing equipment.
Further, after constructing the map, the method further comprises:
checking map information, and judging whether the map is matched with preset information;
if the map is matched, completing the map construction and sending the map;
if not, returning to continuously collect the information.
Further, the collation map is outputted and displayed to the user after passing through:
if the user confirms, storing the map;
and if the user refuses, returning to continuously execute the information collection.
The invention has the advantages that:
according to the intelligent mowing system, the virtual boundary surrounding the physical boundary is arranged, the mower is driven to directly enter mowing operation within the range of the virtual boundary, the mower is controlled not to exceed the physical boundary in the mowing operation executing process, the position information of the physical boundary is obtained through the mower touching the physical boundary, and the complete information of the physical boundary is gradually obtained, so that map drawing is completed, the map construction process is simplified, and the working efficiency is improved.
According to the autonomous mapping method, the mower is driven to directly mow, and the boundary of the working area is gradually obtained in the process of executing mowing, so that the map drawing is completed, the map drawing is not required to be additionally executed before the mower executes the mowing, the working process is simplified, and the working efficiency is improved.
Drawings
FIGS. 1-2 are schematic diagrams of the operation of the intelligent mower of the present invention;
FIG. 3 is a schematic block diagram of the mower of FIG. 1;
FIG. 4 is a schematic view of the operating device of the mower of FIG. 3;
FIG. 5 is a schematic view of the intelligent mowing system of the present invention;
FIG. 6 is a schematic diagram of the operation of the intelligent mowing system of the present invention;
FIG. 7 is a schematic diagram of the operation of another embodiment of the intelligent mowing system of the present invention;
FIG. 8 is a schematic diagram of the framework of the intelligent mowing system of the present invention;
FIG. 9 is a workflow diagram of the intelligent mowing system of the present invention;
FIG. 10 is a flow chart of an initial setup of a mobile terminal according to the present invention;
fig. 11 is a schematic flow chart of the intelligent mowing system of the present invention for constructing a map.
Reference numerals illustrate:
100-physical boundaries; 101-working area; 110-virtual boundaries;
200-mower;
210-a control module;
220-an information acquisition module; 221-a boundary recognition unit; 222-a positioning unit;
230-a map construction module; 231-region construction unit; 232-a boundary correction unit; 233-a path planning unit;
240-a storage module;
250-operating the device;
300-a mobile terminal; 310-an input module; 311-a virtual boundary setting unit; 320-a display module;
400-communication unit;
500-mobile station;
600-base station;
700-charging station.
Detailed Description
The embodiment of the invention describes an intelligent mowing system, which comprises a physical boundary 100, an intelligent mowing device 200, a charging station 700 and a mobile terminal 300 as shown in fig. 1-2, wherein the intelligent mowing device 200 can be an intelligent mowing machine or a snowplow; referring to fig. 5, where charging station 700 is used to dock a smart grass cutting device, particularly for replenishing energy when it is underpowered, charging station 700 is generally disposed on physical boundary 100 or within physical boundary 100; the mobile terminal 300 is communicatively connected to the intelligent mowing apparatus 200.
Referring to fig. 1-2, the physical boundary 100 is used to define a working area 101 of the intelligent mowing apparatus, and typically the physical boundary 100 is joined end-to-end to enclose the working area 101. The physical boundary 100 may be a physical boundary or a virtual boundary signal, such as an electromagnetic signal or an optical signal, which is sent by a wire, a signal emitting device, or the like.
The physical boundary 100 in the invention is a wire, and periodically-changing alternating current is introduced into the wire, so that periodic magnetic fields are generated near the inner side and the outer side of the physical boundary 100 (wherein the inner side refers to the area enclosed by the physical boundary 100, namely, the running area, and the outer side refers to the area enclosed by the physical boundary), and the magnetic field signals are stronger when the magnetic field signals are closer to the physical boundary 100.
The intelligent mowing apparatus 200 automatically walks in the working area 101, and generally the intelligent mowing apparatus 200 includes a main body and wheels mounted on the main body, the wheels are driven by a motor, and the structure of the intelligent mowing apparatus adopts a conventional walking structure in the art and will not be described herein; the intelligent mowing apparatus 200 in the present embodiment refers to an intelligent mower.
Referring to fig. 4, the mowing apparatus 200 comprises an operating apparatus 250, wherein the operating apparatus 250 is embodied as a rotary cutting blade for cutting mowing, the cutting blade having a cutting diameter D.
As shown in fig. 3 and 8, the intelligent mowing system of the present embodiment includes a control module 210, an information acquisition module 220, a map construction module 230, a storage module 240, an input module 310, and a display module 320, wherein the input module 310 includes a virtual boundary setting unit 311. Wherein referring to fig. 8, the control module 210, the information acquisition module 220, the map construction module 230, and the storage module 240 are installed in a lawn mower; the input module 310 and the display module 320 are mounted to the mobile terminal 300; the mower and the mobile terminal 300 are communicatively connected to transmit signals through the communication unit 400.
The communication unit 400 of the present invention is implemented as an IOT communication unit, which adopts IOT communication technology, and has advantages of wide signal coverage, high-speed transmission, etc. It should be understood that the communication unit 400 may alternatively use other wireless data transmission technologies, such as WWAN communication technology, and the invention is not limited thereto.
The mobile terminal 300 of the embodiments of the present invention may be implemented as a computer, a mobile phone, a wristwatch, VR/AR glasses, or other intelligent mobile device. The mobile terminal 300 includes a display module 320 for outputting and displaying related pattern or data information to a user, and an input module 310 for inputting a user instruction or an initial setting.
The display module 320 may be a display screen, the input module 310 may be a mouse and a keyboard, or the input module 310 may also be a button or a switch provided on the mobile terminal 300, including but not limited to a start/stop switch button, a working mode switching button, a communication switch button, etc., where the mobile terminal 300 is controlled by a related control button, and the mobile terminal 300 inputs an instruction to the mower through the communication unit 400 to change the working state of the mower; of course, the display module 320 and the input module 310 may be jointly configured as a touch screen, and the mobile terminal 300 is controlled through the touch screen, and the mobile terminal 300 inputs an instruction to the mower through the communication unit 400 to change the working state of the mower.
As an alternative embodiment, the control module may also be mounted on a mobile terminal, which is connected to control the operation of the mower through the control module.
As an alternative embodiment, the mobile terminal may not be provided, and the input module 310 and the display module 320 may be both provided on the main body of the mower, which only needs to satisfy that the mower can output externally, and the user can perform the input operation on the mower.
Referring to fig. 8, the input module 310 of the mobile terminal 300 includes a virtual boundary setting unit 311, and a virtual map is formed within the virtual boundary 110 by setting the virtual boundary 110 by the virtual boundary setting unit 311; and transmitting information of the virtual boundary 110 and the virtual map to the storage module 240, wherein the virtual boundary 110 encloses the physical boundary 100, and the virtual map covers the working area 101, and the virtual map in the embodiment of the present invention is a grid map; it should be understood that the virtual boundary is essentially position data information. The virtual boundary 110 in the embodiment of the present invention is a closed figure, which may be an irregular closed figure or a regular closed figure.
Wherein the control module 210 of embodiments of the present invention controls movement of the mower within a range that does not exceed the physical boundary 100; the information collection module 220 is connected to the control module 210, and is configured to record real-time pose information, a movement path, and boundary position information of the mower, where the boundary position information of the mower refers to position information when the mower moves to the physical boundary 100, and the information collection module 220 stores the collected movement path and boundary position information in the storage module 240.
The information acquisition module 220 in the embodiment of the present invention includes a boundary recognition unit 221 and a positioning unit 222; the boundary recognition unit 221 is configured to recognize the physical boundary 100 and feed back the result to the control module 210. The positioning unit 222 acquires the position information of the mower on the physical boundary and sends the position information to the storage module 240; the positioning unit 222 also obtains real-time pose information of any position of the mower in the travelling process, sends and stores the real-time pose information to the storage module 240, and obtains a moving path of the mower by analyzing and processing the real-time pose information; it is understood that the storage module 240 is divided into different storage areas to store different data.
Specifically, the boundary recognition unit 221 includes a plurality of electromagnetic field sensors provided on the mower, and the electromagnetic field sensors recognize the boundary line by detecting an electromagnetic field signal generated by the boundary line. The embodiment of the invention comprises four boundary recognition units 221 which are respectively shot at four corners of the mower. When the mower moves onto the physical boundary, the boundary recognition unit 221 recognizes the physical boundary and feeds back the recognition result to the control module 210, and the control module 210 controls the mower to return to the working area after receiving the recognition result and the mower to adjust the angle or to return to the working area after continuing to travel a distance along the physical boundary 100.
The positioning unit 222 in the embodiment of the present invention is used to obtain pose data of the mower, where the pose data refers to position coordinates and direction information of the mower. The positioning unit 222 in this embodiment includes, but is not limited to, a GNSS component, an inertial measurement component, an odometer, and a geomagnetic sensor. It should be noted that GNSS is a global navigation satellite system.
Further, as shown in fig. 1 and 2, the intelligent mowing system according to the embodiment of the present invention further comprises a base station 600 and a mobile station 500, wherein the base station 600 and the mobile station 500 each receive satellite signals, and the mobile station 500 is installed on a mower, and the base station 600 is installed on the ground or at a fixed location. The mobile station 500 establishes communication with the base station 600. Wherein base station 600 and mobile station 500 may receive positioning signals of a global navigation satellite system, as embodiments of the present invention are not limited in this respect.
When the mower works, navigation can be performed only by using the GNSS component positioning signals, and at the moment, real-time position data and direction data of the mower are determined according to the GNSS component position signals received by the mower mobile station 500; of course, the inertial measurement unit and the odometer can be used for calculating and acquiring pose information of the mower when the GNSS component signal is weak; alternatively, the pose information of the mower is obtained after the data of the GNSS component, the inertial measurement component and the odometer are comprehensively judged. It can be appreciated that there may be a variety of positioning means, as long as the coordinates and directions of the points through which the robotic lawnmower travels during travel can be obtained.
The map building module 230 further includes an obstacle marking unit, when an obstacle such as a tree, a stone, a flower bed, a shrub is present in the working area 101, the obstacle marking unit marks the obstacle, so as to avoid collision between the mower and the obstacle, wherein the obstacle marking unit may be an ultrasonic transmitter or an optical signal generator, and is used for sending a signal to the mower, a sensor capable of sensing the ultrasonic wave or the optical signal is provided on the mower, and the mower adjusts the driving direction to bypass the obstacle after receiving the signal. Of course, the obstacle marking unit may also employ a wire, and an alternating current is applied to the wire so as to generate an electromagnetic field.
It is also understood that when the mower moves to the obstacle marking unit, the boundary recognition unit 221 recognizes the boundary of the obstacle and feeds back the recognition result to the control module 210, and the control module 210 controls the mower to adjust the angle to return to the working area immediately after receiving the recognition result or to return to the working area after continuing to travel a distance along the boundary of the obstacle marking.
The map construction module 230 of the embodiment of the present invention includes a region construction unit 231 and a boundary correction unit 232, wherein the region construction unit 231 marks a completed region on the virtual map according to a moving path of the intelligent mowing apparatus 200 and constructs a region map; the boundary correction unit 232 constructs a map boundary according to the plurality of boundary position information acquired by the information acquisition module 220, where the map boundary is used to correct the outer edge of the regional map.
In the embodiment of the invention, the format of the virtual map is a grid map; the grid map stores map information in two-dimensional grids, and different attribute values are respectively generated in each grid according to the coverage or non-coverage of the mower moving path, for example, the attribute value is 1 when the grid is covered, and the non-covered attribute value is 0; the region construction unit 231 calculates the obtained grid attribute value and stores and records the attribute value of each grid.
The virtual map is provided with a coordinate origin, for example, a charging station is used as the coordinate origin of the map, and grid position information of each grid in the coordinate system of each virtual map can be calculated by combining the coordinate origin and the size of the grids.
When the mower moves to a certain grid position within the physical boundary 100, the pose of the mower at the current moment is acquired through the positioning unit 222 so as to determine the current position and orientation of the mower. At this time, the area construction unit 231 compares pose information of the mower and size information of the cutting deck with grid position information to determine whether the grid is covered by the mower, specifically, the comparison method is: it is determined whether the distance between the center of the grid and the center of the operation device 250 is less than a set threshold. In this embodiment of the present invention, the threshold is set as the cutting radius R of the operation device 250, the distance between the center of the grid and the center of the operation device 250 is set as a, if a < R, the grid is deemed to be covered, and the attribute value is marked as 1, and the area construction unit 231 calculates each grid attribute information according to the travel path information and the grid position information of the mower, so as to obtain the map grid data and finally generate the area map.
After the positioning unit 222 collects a plurality of pieces of boundary position information, it may be understood that the boundary position information includes coordinate information, and the boundary correction unit 232 may classify the boundary position points according to the feature information of the boundary position points to form different data subsets, where it may be understood that the data subsets are sets of coordinate data. The boundary position points in the data subset can be further connected through the construction of the data subset, and the boundary correction unit 232 forms a boundary corresponding to the data subset according to the data subset and forms a map boundary according to a plurality of boundary constructions; after the map boundary is formed, the map boundary is adopted to correct the boundary of the regional map so as to improve the map construction accuracy of the regional boundary region.
As an alternative embodiment, when the obstacle marking unit is a wire, it may also be considered as an inner boundary, and the map construction module 230 collects the position information of the inner boundary in the above manner, and constructs the inner boundary of the map accordingly, which is used for correcting the inner edge of the map. The final map construction module 230 integrates the region map, the inner boundary and the outer boundary into a complete map through algorithmic processing.
The map generated in the embodiment of the invention is a two-dimensional (2D) map of an environment where a mower is located, and particularly is a grid map. Of course, an environment sensor and a 3D sensor can be additionally arranged on the three-dimensional map, and the three-dimensional map can be built by associating the three-dimensional data with the two-dimensional data.
It should be noted that, the area construction unit 231 further includes an image processing unit, where the image processing unit analyzes whether a few uncovered areas in the current area or around the area meet a preset condition, for example, the preset condition includes grid position information of the uncovered area, a size of the uncovered area, and the like, if the preset condition is met, the uncovered area belongs to an area map, and the image processing unit marks the grid attribute located in the few uncovered areas as 1 and records the grid attribute in the area map.
According to the intelligent mowing system, the virtual boundary 110 surrounding the physical boundary is arranged, the mower is driven to directly enter mowing operation within the range of the virtual boundary 110, the mower is controlled not to exceed the physical boundary 100 in the mowing operation executing process, the position information of the physical boundary is obtained through the mower touching the physical boundary 100, and the complete information of the physical boundary 100 is gradually obtained, so that map drawing is completed, additional map drawing is not required to be executed before the mower executes mowing, the working process is simplified, and the working efficiency is improved.
The map construction module in the embodiment of the invention further comprises a checking unit, wherein the checking unit compares whether the constructed map information is matched with preset information, and judges whether the map construction is finished, wherein the preset information is standard information input by a user on the mobile terminal, and comprises, for example, the length, the width, whether obstacles exist, the number of obstacles, whether narrow channels exist, the number of narrow channels and the like of a mowing area.
The map construction module sends the map information generated by the map construction module to the checking unit, the checking unit preliminarily judges whether the map information accords with the user setting through data processing, analysis and comparison, if so, the map information is stored in the storage module 240 and is output to a display or a touch screen for the user to check, specifically, the information displayed on the display or the touch screen can comprise map image information and map data information, and the user checks the image and the data to judge whether the map accords with the requirement. After confirmation by the user, the map finally formed is saved in the storage module 240 or the map information can be uploaded to a server.
Through setting up the proofreading unit, realized the automatic proofreading and the screening of intelligent grass cutting system, at first independently screen out the map that does not accord with initial configuration through the proofreading unit, confirm by hand through the proofreading of proofreading unit and verify the back again that sends, further improved the degree of automation of system, effectively reduced the repeated affirmation or the modification of user to user's use experience degree has been improved.
It should be noted that, the intelligent mowing system in the embodiment of the invention further includes a path planning unit 233, where the path planning unit 233 obtains the boundary segment of the marked physical boundary, so as to control the mower to select the unmarked physical boundary as the target driving area in the next operation process; or the path planning unit 233 acquires an area that has been covered by the moving path of the mower, and sets an area that has not been covered by the moving path of the mower as a target traveling area of the mower.
Of course, as another implementation manner, after the virtual map is generated, the path planning unit may plan in advance to form a preset mowing path of the mower according to the initial position of the mower, where the path planning method is not limited herein, as long as the mower performs a planned operation on the virtual map, and thereafter, the mower performs an operation according to the planned path, and in the process of performing the mowing operation, the information acquisition module is controlled to acquire and form a moving path of the mower; and when it runs on the boundary, the boundary recognition unit 221 recognizes the physical boundary 100 and sends a signal for collecting boundary position information to the control module 210, and the control module 210 controls the information collecting module 220 to collect the boundary position information and controls the mower to return to the area to be mowed immediately or return to the working area 101 after running a part of distance along the physical boundary 100.
By setting the path planning unit 233, path planning can be optimized according to the current operation area form and the operation parameters of the mower, path curve fitting is performed, the optimal path analysis simulation is completed, the preset path is calculated and generated, and the operation efficiency of the mower is improved through path planning, so that the purpose of saving energy is achieved.
The workflow and method of the intelligent mowing system of the present invention is described in detail below in conjunction with fig. 9-11.
Referring to fig. 9, a schematic workflow diagram of an intelligent mowing system according to the present invention mainly includes:
s201: setting a virtual boundary;
s202: starting the mowing equipment;
s203: collecting boundary information;
s204: and constructing a map.
The following describes a process of inputting preset information by a user through a mobile terminal with reference to fig. 10, wherein the process of initially setting and setting a virtual boundary on the mobile terminal by the user is shown as steps:
s100: program initialization, namely selecting and inputting a preset information icon on a touch screen, and inputting preset information;
s110: setting a virtual boundary on the mobile terminal by a user; and generating a virtual map: specifically, a user directly sets a virtual boundary 110 through a mobile terminal, and ensures that the virtual boundary 110 encloses a physical boundary 100 defining a working area 101, the physical boundary 100 defines the working area 101 of the mower, and a virtual map is generated in the virtual boundary 110.
S120: the virtual boundary and virtual map information is uploaded to the mower.
Wherein the user sets a virtual boundary through the virtual boundary setting unit 311 of the mobile terminal; the virtual boundary setting unit supports establishment, deletion, and maintenance of virtual boundaries. Specifically, physical boundary information, such as physical boundary size, position, etc., may be displayed on the display, and a user may input virtual boundary setting information through a keyboard, a touch screen, etc., such as: start point, length, width, etc.; of course, the physical boundary image may be directly displayed on the touch screen, and the user may draw and save the virtual boundary directly on the touch screen with a finger or a stylus. It should be understood that there may be a plurality of ways to set the virtual boundary, and the method is not limited herein, so long as the virtual boundary can be enclosed; the system generates a grid-like virtual map from the virtual boundaries 110 set by the user input.
The following describes the detailed steps of the map construction method according to the embodiment of the present invention with reference to fig. 11:
starting the mower to start working;
s301: the mower runs in the working area and performs mowing operation;
s302: collecting pose information of the mower in the process of mowing, and recording a moving path of the mower;
s303: calculating and acquiring map grid information according to the position information of the mower, the cutting diameter of the working equipment, grid position data, grid size and the like, and marking a finished area on a map after the area construction unit acquires the grid information covered by the mower;
s304: judging whether the mower is driven onto the physical border 100;
if yes, go to step S305;
if not, returning to continue to the step S301;
s305: the positioning unit 222 collects position coordinate information of the mower on the physical boundary 100 and marks the coordinate as a boundary line in the virtual map;
s306: the mower immediately returns to the work area 101; or travel a distance along the physical boundary 100 and then rotate a certain angle to return to the working area 101; wherein fig. 6 shows a schematic diagram of the control of the mower to return to the work area 101 immediately when the boundary recognition unit 221 recognizes that the mower is at the physical boundary 100; fig. 7 shows a schematic view of controlling the mower to travel a certain distance along the physical boundary and then rotate a certain angle to return to the working area 101 when the boundary recognition unit 221 recognizes that the mower is at the physical boundary 100.
And returning to the step S301 to continue to perform the next boundary information acquisition until the acquired information completes the map construction.
According to the autonomous mapping method, the mower is driven to directly mow, and the boundary of the working area is gradually obtained in the process of executing mowing, so that the map drawing is completed, the map drawing is not required to be additionally executed before the mower executes the mowing, the working process is simplified, and the working efficiency is improved.
The above-described construction process is described in detail below.
And (3) an area map construction process:
the origin of coordinates is set in the virtual map, for example, the charging station 700 is used as the origin of coordinates of the map, and the grid position information of each grid in the coordinate system is calculated by combining the origin of coordinates and the size of the grid.
Wherein in the present embodiment, the operating device 250 of the mower has a cutting diameter D and a cutting radius R; the generated grid virtual map includes a plurality of square grids, wherein the side length L of each grid is set to be smaller than D, and specifically, L is set to be less than or equal to 1/4D in the embodiment.
When the mower moves to a certain grid position within the physical boundary 100, the pose of the mower at the current moment is acquired through the positioning unit 222 so as to determine the current position and orientation of the mower. At this time, the area construction unit 231 compares pose information of the mower and size information of the cutting deck with grid position information, and determines whether the grid is covered by the mower, specifically, the comparison method is as follows:
judging whether the distance between the center of the grid and the center of the operation device 250 is smaller than a set threshold, wherein in the embodiment of the invention, the set threshold is the cutting radius R of the operation device 250, the distance between the center of the grid and the center of the operation device 250 is set to be a, if a is smaller than R, the grid is determined to be covered, the attribute value is marked as 1, if the current grid does not meet the conditions, the grid is not determined to be covered, and the attribute value is marked as 0; the area construction unit 231 calculates map raster data from the travel path information and raster attribute information of the mower, and generates an area map from the map raster data calculation.
The map boundary construction process is described below with reference to fig. 7:
in the embodiment of the invention, the characteristic information of the boundary position points is used for indicating different boundaries, and the processing unit can form different data subsets according to the characteristic information after acquiring the boundary position points.
As an example, referring to fig. 7, boundary position information such as P0-P10 is recorded during walking of the mower, where after the processing unit performs comparative analysis on the boundary position points, the processing unit obtains boundary position points meeting the same characteristics, for example:
the feature information of the points P0, P7, P8 in fig. 7 is the same and belongs to the first boundary, so they are included in the same data subset to form the set 1{ P0, P7, P8}, and after the data of the same feature information is acquired, they are also included in the data set 1.
The feature information of the points P9 and P10 in fig. 7 are the same and belong to the second boundary, so they are included in the same data subset to form the set 2{ P9, P10}, and after the data of the same feature information is acquired, they are also included in the data set 2.
The feature information of the points P1, P2, P5 and P6 in fig. 7 is the same and belongs to the third boundary, so they are included in the same data subset to form the set 3{ P1, P2, P5, P6}, and after the data of the same feature information are acquired again, they are also included in the data set 3.
The feature information of the points P6, P3, P4 in fig. 7 is the same and belongs to the fourth boundary, so they are included in the same data subset to form the set 4{ P6, P3, P4}, and after the data of the same feature information is acquired, they are also included in the data set 4.
Along with the operation of the mower, the points collected on the physical boundary line are increased, a boundary map is drawn according to the data subsets, and the boundary obtained by integrating the data subsets gradually approaches to the real boundary when the mower is operated for a certain time or after a preset amount of boundary position information is collected.
In the above examples, the regular rectangular boundary is taken as an example, and the boundary is not limited to a rectangle or a regular pattern in actual operation.
The map construction module 230 corrects the edges of the regional map according to the map boundaries and thereby obtains the final map.
In order to improve the efficiency, the method further can further comprise a step of path planning in the step of constructing the map, specifically: the path planning unit 233 acquires and marks the boundary segments that have been traveled by the mower, thereby controlling the mower to select the physical boundary segments that have not been marked as the target traveling area of the mower during the operation.
Of course, as another embodiment, after the virtual map is generated, a preset mowing path of the mower is planned according to the initial position of the mower, wherein the planning method of the path is not limited herein, as long as the mower performs a planned operation on the virtual map, at this time, the mower performs an operation according to the planned path, and during the operation, when the mower travels onto the boundary 100, the boundary recognition unit 221 recognizes the physical boundary 100 and sends a signal for collecting boundary position information to the control module, and controls the mower to immediately return to the working area 101 or return to the working area 101 after traveling a distance along the physical boundary 100.
By executing path planning in the composition process, the path planning can be optimized according to the current operation area form and the operation parameters of the mower, path curve fitting is carried out, the optimal path analysis simulation is completed, the preset path is calculated and generated, the operation efficiency of the mower is improved through path planning, and the purpose of saving energy is achieved.
The method further comprises the step of collating map information after the map is established: the method is used for judging whether the constructed map meets the requirements; specifically, after the map building module builds the map, the map information generated by the map building module is sent to the checking unit, the checking unit compares the map with preset information input by the user in step S110 through data processing, judges whether the map accords with the initial setting of the user, if so, stores the map information to the storage module 240, and outputs the map information to the display or the touch screen for the user to check, for example, the image information and the data information can be displayed on the display or the touch screen, and the user judges whether the map accords with the requirement by checking the image and the data.
If the map information is not matched with the configuration parameter information input by the user, the operation in the working area is continued until the constructed map information is matched with the input parameter, wherein the execution of the comparison unit can be started according to a preset time interval or according to the acquisition quantity of the preset boundary position information.
After the map information is sent to the display module 320, if the user confirms the map information, the map information is saved to the storage module 240 or the uploading server;
if the map is rejected by the user, the step S301 is continued to be returned, the operation in the working area is continued, the information is collected, and the map construction is finished until the constructed map meets the requirements of the user.
It should be noted that the autonomous mapping method of the present invention is not only suitable for intelligent mowing systems, but also suitable for map construction of intelligent robots such as cleaning robots, snowplotters, etc.
According to the autonomous map building method, the dual checking steps of checking and manual checking are set in the map building process, the automatic checking of the system is firstly adopted to check whether the drawing result of the map accords with the preset condition, and if not, the map is automatically returned to the map building process, so that the detection efficiency is improved; after the system is checked, the effectiveness of the map is finally confirmed through manual verification, the automation of the system is improved, the operation steps of a user are simplified, and therefore the use experience of the user is further improved.
Those skilled in the art will appreciate that the elements and modules referred to herein may be implemented as one or a combination of software, e.g., as data structures, components, libraries, routines, etc., and hardware, e.g., memory, and may comprise algorithms to perform tasks to achieve data types and component operational states transformations to achieve the technical effects.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be appreciated by persons skilled in the art that the above embodiments are not intended to limit the invention in any way, and that all technical solutions obtained by means of equivalent substitutions or equivalent transformations fall within the scope of the invention.
Claims (17)
1. An intelligent mowing system comprising a physical boundary and an intelligent mowing apparatus, the physical boundary defining a working area of the intelligent mowing apparatus;
further comprises:
the control module is used for controlling the intelligent mowing equipment not to move beyond a physical boundary;
and connected with the control module:
a virtual boundary setting unit, configured to set a virtual boundary, where the virtual boundary surrounds the physical boundary, and a virtual map covering the working area is formed in the virtual boundary; the control module is used for controlling the intelligent mowing equipment to execute work in the virtual boundary range and touch the physical boundary;
the information acquisition module is used for at least recording the moving path of the intelligent mowing equipment;
and a map construction module comprising an area construction unit arranged to mark a completed area on the virtual map according to the movement path and to construct an area map.
2. The intelligent mowing system of claim 1, wherein the information acquisition module further acquires boundary position information when the intelligent mowing apparatus is located at the physical boundary;
the map construction module further comprises a boundary correction unit, wherein the boundary correction unit constructs a map boundary according to the boundary position information and corrects the edge of the regional map by adopting the map boundary.
3. The intelligent mowing system of claim 2, wherein the information acquisition module comprises a boundary identification unit and a positioning unit;
the boundary identification unit identifies the physical boundary and feeds back the result to the control module, and the positioning unit acquires the position information and the path information of the intelligent mowing equipment.
4. A smart mowing system according to claim 3, wherein the positioning unit is arranged to receive signals from any one or more of a GNSS assembly, an inertial measurement assembly, an odometer, a geomagnetic sensor.
5. The intelligent mowing system according to claim 1, wherein: the virtual map is a grid map.
6. The intelligent mowing system according to any one of claims 1-5, wherein: the map construction module further comprises a path planning unit;
the path planning unit acquires and marks the physical boundary which is passed by the intelligent mowing equipment, and the physical boundary which is not marked is set as a target running area of the intelligent mowing equipment; or the path planning unit sets an area which is not movably covered by the intelligent mowing equipment as a target driving area of the intelligent mowing equipment.
7. The intelligent mowing system of claim 6, wherein the map construction module further comprises a collation unit that collates constructed map information with user preset information.
8. The intelligent mowing system according to claim 7, wherein: the map construction module further includes an obstacle marking unit that marks an obstacle within the physical boundary.
9. The intelligent mowing system of claim 8, wherein: the obstacle marking unit and the physical boundary are both wires, and alternating current is introduced into the wires.
10. The intelligent mowing system according to any one of claims 7-9, wherein: the intelligent mowing system further comprises a mobile terminal, the mobile terminal comprises a display module and an input module, the mobile terminal is in communication connection with the intelligent mowing device through a communication unit, the display module outputs and displays the map, and the input module comprises a virtual boundary setting unit.
11. An autonomous mapping method of an intelligent mowing system, the intelligent mowing system comprising a physical boundary and an intelligent mowing apparatus, the physical boundary defining a working area of the intelligent mowing apparatus; the autonomous mapping method comprises the following steps:
setting a virtual boundary and generating a virtual map, wherein the virtual boundary surrounds a physical boundary;
controlling the intelligent mowing equipment to execute work within the virtual boundary range and touch the physical boundary without crossing the physical boundary;
collecting information, namely collecting at least the moving path of the intelligent mowing equipment;
and (3) constructing a map, marking a finished area on the virtual map according to the moving path of the intelligent mowing equipment, and constructing an area map.
12. The autonomous mapping method of claim 11, wherein,
the virtual map is a grid map;
the construction of the regional map comprises the following steps: and obtaining grid information in the grid map according to the movement path analysis of the intelligent mowing equipment so as to construct an area map.
13. The autonomous mapping method as claimed in claim 11 or 12, characterized in that:
collecting information further includes collecting boundary position information: judging whether the intelligent mowing equipment is positioned on the physical boundary, if so, acquiring the position information of the intelligent mowing equipment positioned on the physical boundary;
constructing the map further comprises: marking the boundary position information on the virtual map and constructing a map boundary, wherein the map boundary corrects the edge of the regional map.
14. The autonomous mapping method of claim 13, wherein constructing map boundaries comprises:
constructing a boundary information subset, wherein the boundary information subset comprises a plurality of discrete boundary position information with the same characteristics;
and drawing map boundaries according to the boundary information subsets.
15. The autonomous mapping method of claim 13, wherein: the map construction further comprises the step of path planning: selecting an unlabeled boundary area as a target driving area in the process of constructing the map; or selecting the area which is not covered by the moving path as the target driving area of the intelligent mowing equipment.
16. The autonomous mapping method of claim 15, wherein: the map is constructed, and then the map is constructed further comprises:
checking map information, and judging whether the map is matched with preset information;
if the map is matched, completing the map construction and sending the map;
if not, returning to continuously collect the information.
17. The autonomous mapping method of claim 16, wherein: the proofreading map is output to a user through a rear mode and the map is displayed:
if the user confirms, storing the map;
and if the user refuses, returning to continuously execute the information collection.
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| CN113126613A (en) | 2021-07-16 |
| CN113128747A (en) | 2021-07-16 |
| CN113126613B (en) | 2024-06-21 |
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