WO2024008018A1 - 割草方法、装置、割草机器人以及存储介质 - Google Patents

割草方法、装置、割草机器人以及存储介质 Download PDF

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Publication number
WO2024008018A1
WO2024008018A1 PCT/CN2023/105199 CN2023105199W WO2024008018A1 WO 2024008018 A1 WO2024008018 A1 WO 2024008018A1 CN 2023105199 W CN2023105199 W CN 2023105199W WO 2024008018 A1 WO2024008018 A1 WO 2024008018A1
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WO
WIPO (PCT)
Prior art keywords
mowing
area
route
spiral
lawn
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Ceased
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PCT/CN2023/105199
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English (en)
French (fr)
Inventor
杜鹏举
王宁
黄振昊
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Agilex Robotics Shenzhen Lt
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Agilex Robotics Shenzhen Lt
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Application filed by Agilex Robotics Shenzhen Lt filed Critical Agilex Robotics Shenzhen Lt
Priority to EP23834785.0A priority Critical patent/EP4529754A4/en
Publication of WO2024008018A1 publication Critical patent/WO2024008018A1/zh
Priority to US19/008,400 priority patent/US20250172945A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • 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
    • G05D1/60—Intended control result
    • G05D1/646—Following a predefined trajectory, e.g. a line marked on the floor or a flight path
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • 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
    • G05D1/60—Intended control result
    • G05D1/648—Performing a task within a working area or space, e.g. cleaning
    • G05D1/6484—Performing a task within a working area or space, e.g. cleaning by taking into account parameters or characteristics of the working area or space, e.g. size or shape
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/006—Control or measuring arrangements
    • A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D91/00—Methods for harvesting agricultural products
    • A01D91/04—Products growing above the soil
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • 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
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • 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
    • G05D1/20—Control system inputs
    • G05D1/22—Command input arrangements
    • G05D1/229—Command input data, e.g. waypoints
    • G05D1/2297—Command input data, e.g. waypoints positional data taught by the user, e.g. paths
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • 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
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/246—Arrangements for determining position or orientation using environment maps, e.g. simultaneous localisation and mapping [SLAM]
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • 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
    • G05D1/60—Intended control result
    • G05D1/648—Performing a task within a working area or space, e.g. cleaning
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
    • G06Q10/047—Optimisation of routes or paths, e.g. travelling salesman problem
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
    • G06Q50/02—Agriculture; Fishing; Forestry; Mining
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
    • G06Q50/10—Services
    • G06Q50/16—Real estate
    • G06Q50/163—Real estate management
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D2101/00—Lawn-mowers
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2105/00—Specific applications of the controlled vehicles
    • G05D2105/15—Specific applications of the controlled vehicles for harvesting, sowing or mowing in agriculture or forestry
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2107/00—Specific environments of the controlled vehicles
    • G05D2107/20—Land use
    • G05D2107/23—Gardens or lawns
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/10—Land vehicles

Definitions

  • the present application relates to the field of computer technology, and specifically to a lawn mowing method, device, lawn mowing robot and storage medium.
  • Lawn mowing robots are widely used in the maintenance of home courtyard lawns and the mowing of large lawns.
  • the lawn mowing robot combines motion control, multi-sensor fusion and path planning technologies.
  • the mowing path of the lawn mower robot needs to be planned so that it can completely cover all working areas.
  • an intelligent obstacle avoidance method a lawn mowing robot, and a storage medium are provided.
  • embodiments of the present application provide a lawn mowing method, including:
  • a first area and a second area are divided in the mowing area, the first area is a spiral mowing area, and the first area surrounds the second area;
  • mowing operations are performed in the mowing area according to the spiral mowing route and the arcuate mowing route.
  • generating a spiral mowing route corresponding to the first area includes:
  • a spiral mowing route corresponding to the first area is generated, including:
  • generating an arcuate mowing route corresponding to the second area includes:
  • the target mowing direction corresponding to the arcuate mowing route is output;
  • a bow-shaped mowing route corresponding to the second area is generated.
  • the target mowing direction corresponding to the arcuate mowing route is output, including:
  • the longest area boundary is determined as the target boundary
  • the target mowing direction corresponding to the arcuate mowing route is output based on the mowing trend corresponding to the spiral mowing route.
  • an arcuate mowing route corresponding to the second area is generated, including:
  • a second inflection point is determined on the area boundary of the second area, and based on the route end point, the second inflection point and the target mowing direction, a bow-shaped mowing route corresponding to the second area is generated.
  • an arcuate mowing route corresponding to the second area is generated, including:
  • the third turning point and the target mowing direction Based on the starting point of the route, the third turning point and the target mowing direction, generate a spiral mowing covering at least part of the A bow-shaped mowing route for grass routes.
  • a lawn mowing device including:
  • a dividing module used to divide the first area and the second area in the mowing area according to the preset spiral mowing mode, the first area is the spiral mowing area, and the first area surrounds the second area;
  • the first generation module is used to generate the spiral mowing route corresponding to the first area
  • the second generation module is used to generate a bow-shaped mowing route corresponding to the second area based on the mowing trend corresponding to the spiral mowing route;
  • the lawn mowing module is used to respond to the lawn mowing trigger request for the lawn mower robot and perform mowing operations in the lawn mowing area according to the spiral mowing route and the arcuate mowing route.
  • the first area and the second area are divided into the mowing area according to the preset spiral mowing mode.
  • the first area is the spiral mowing area, and then,
  • the spiral mowing route corresponding to the first area, and based on the mowing trend corresponding to the spiral mowing route, a bow-shaped mowing route corresponding to the second area is generated.
  • Spiral mowing routes and bow-shaped mowing routes are used to perform mowing operations in the mowing area.
  • Shape-shaped mowing has the problem of difficulty in turning in the central area, resulting in low mowing efficiency. As a result, mowing can be flexibly carried out in the mowing area, thereby improving the coverage of the working area and the mowing efficiency.
  • Figure 1a is a schematic scene diagram of a lawn mowing method provided by an embodiment of the present application.
  • Figure 1b is a schematic flow chart of a lawn mowing method provided by an embodiment of the present application.
  • Figures 1c to 1g are schematic diagrams of the mowing route provided by this application.
  • Figure 2 is a schematic structural diagram of a lawn mowing device provided by an embodiment of the present application.
  • Figure 3 is a schematic structural diagram of an electronic device provided by an embodiment of the present application.
  • connection can be used for either fixation or circuit connection.
  • first and second are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of indicated technical features. Therefore, features defined as “first” and “second” may explicitly or implicitly include one or more of these features. In the description of the embodiments of this application, “plurality” means two or more, unless otherwise explicitly and specifically limited.
  • Embodiments of the present application provide a lawn mowing method, device, lawn mowing robot, and storage medium.
  • the lawn mowing device can be integrated into the microcontroller unit (MCU) of the lawn mowing robot, or can also be integrated into a smart terminal or server.
  • MCU is also called a single chip microcomputer (Single Chip Microcomputer) or a single chip microcomputer. It is to appropriately reduce the frequency and specifications of the Central Processing Unit (CPU), and integrate peripheral interfaces such as memory, counter (Timer), USB, analog-to-digital conversion/digital-to-analog conversion, UART, PLC, DMA, etc. , forming a chip-level computer to perform different combination controls for different applications.
  • the lawn mowing robot can walk automatically to prevent collisions, automatically return to charge within the range, has safety detection and battery power detection, and has a certain climbing ability. It is especially suitable for lawn mowing and maintenance in home courtyards, public green spaces and other places. Its characteristics are: automatic Cut grass, clean grass clippings, automatically avoid rain, automatically charge, automatically avoid obstacles, and Small size, electronic virtual fence, network control, etc.
  • the terminal can be a smartphone, tablet, laptop, desktop computer, smart speaker, smart watch, etc., but is not limited to this. Terminals and servers can be connected directly or indirectly through wired or wireless communication methods.
  • the server can be an independent physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud service or cloud database. , cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN, and cloud servers for basic cloud computing services such as big data and artificial intelligence platforms, this application will not be used here. limit.
  • This application provides a lawn mowing system, including a lawn mowing robot 10, a server 20 and a user device 30 that have established communication connections with each other.
  • the user can control the movement of the lawn mowing robot 10 through the user device 30 in advance, set the mowing area based on the movement trajectory, and synchronize the data corresponding to the mowing area to the lawn mowing robot 10 and the server 20 .
  • the preset mowing area can be obtained, and then, the lawn mowing robot 10 divides the first area and the second area in the mowing area according to the preset spiral mowing mode, wherein the first area is the spiral mowing area.
  • the lawn mowing operation is performed in the mowing area according to the spiral mowing route and the arcuate mowing route.
  • the mowing plan provided by this application adopts a combined mowing method of spiral mowing and bow-shaped mowing to avoid the problem that spiral mowing has difficulty in turning in the central area, resulting in low mowing efficiency. Therefore, it can flexibly Mowing occurs in the mowing area, thereby increasing coverage of the work area and mowing efficiency.
  • a method of mowing including: obtaining a preset mowing area, dividing a first area and a second area in the mowing area according to the preset spiral mowing mode, and generating a spiral mowing route corresponding to the first area. , and based on the mowing trend corresponding to the spiral mowing route, generate a bow-shaped mowing route corresponding to the second area, respond to the mowing trigger request for the lawn mower robot, and based on the spiral mowing route and the bow-shaped mowing route, Perform mowing operations in the mowing area.
  • FIG. 1b is a schematic flow chart of a lawn mowing method provided by an embodiment of the present application.
  • the specific process of this lawn mowing method can be as follows:
  • the mowing area can be an area preliminarily circled by the user in the mowing map, or it can be determined based on the differential positioning data and satellite positioning data of the lawn mowing robot.
  • the specific situation can be determined according to the actual situation.
  • the number of mowing areas It can be one or more, and the shape and size of the mowing area can be preset by the user.
  • the lawn mowing map corresponding to the lawn mowing robot is determined based on the satellite positioning data, and then, in response to the area dividing operation for the lawn mowing map, the grass cutting area is divided in the lawn mowing map.
  • the user can control the movement of the lawn mower robot through the user device in advance and set the mowing area based on the movement trajectory.
  • the first area is a spiral mowing area, and the first area surrounds the second area.
  • the spiral mowing mode is: controlling the lawn mower robot to mow along the mowing boundary, as shown in Figure 1c.
  • the lawn mowing robot mows along the mowing boundary a in the outermost circle to form the first mowing path s1, and then forms the second mowing path s2 based on the first mowing path s1. And so on, finally forming a complete mowing route.
  • the mowing area is divided into a first area and a second area, wherein the first area is a spiral mowing area.
  • the step "dividing the first area and the second area in the mowing area according to the preset spiral mowing mode" may specifically include: based on the turning radius information of the lawn mowing robot and the mowing time. The area of the grass area divides the first area and the second area in the mowing area.
  • the turning radius information includes the area occupied by the lawn mowing robot for performing turning operations and the maximum turning angle.
  • the maximum turning angle of the lawn mowing robot is 360°. In this case, It is necessary to take into account the area occupied by the lawn mower robot for performing turning operations in order to subsequently divide the first area and the second area in the mowing area.
  • the shortest circumference of the innermost circle of the spiral mowing route and/or the smallest circumscribed semicircle of the innermost circle can be preset according to the area occupied by the lawn mowing robot for performing turning operations. diameter, whereby a first area and a second area can be divided in the mowing area.
  • the step "generating a spiral mowing route corresponding to the first area" may specifically include:
  • the area information can carry information such as the shape, area, and length of each boundary of the mowing area.
  • the peripheral mowing is output.
  • path z1 and based on the mowing path z1, the second segment of the mowing path z2 is output, and so on.
  • the innermost mowing path zn is composed of the mowing path zn-1 and the boundary of the first area a OK.
  • the spiral mowing route will include multiple route inflection points, which are used to instruct the lawn mowing robot to make turns. That is, optionally, in some embodiments, the step "is based on the mowing direction, area information and the first The regional boundary of the region is used to generate the spiral mowing route corresponding to the first region, which may include:
  • the first inflection point is determined.
  • the first inflection point is used to indicate the point where the first section of the mowing path performs a turn. Subsequently, based on the first inflection point, the area information and the preset mowing direction, and output the remaining mowing path, thereby obtaining the spiral mowing path corresponding to the first area.
  • the second mowing path As an example, after determining the first inflection point, based on the An inflection point and a preset mowing direction are used to output a second mowing path, and the inflection point of the second mowing path corresponds to the first inflection point, so that the second mowing path is consistent with the first mowing path.
  • Grass paths are similar.
  • a bow-shaped mowing route corresponding to the second area can be generated based on the spiral mowing route, that is, optionally, in some embodiments, the step "based on The mowing trend corresponding to the spiral mowing route generates a bow-shaped mowing route corresponding to the second area, which may include:
  • the mowing trend corresponding to the spiral mowing route represents the final route direction of the spiral mowing route.
  • the spiral mowing route can be based on the The corresponding mowing trend and the regional boundary of the second area are output, and the target mowing direction corresponding to the bow-shaped mowing route is output.
  • the target mowing direction is the return direction, that is, it includes the first direction and the second direction, and the first direction Symmetrical with the second direction, and finally, according to the target mowing direction, a bow-shaped mowing route corresponding to the second area is generated.
  • the longest area boundary in the second area can be determined as the target boundary, and the target boundary can be used as the benchmark.
  • output the target mowing direction corresponding to the arcuate mowing route that is, step "based on the mowing trend corresponding to the spiral mowing route and the regional boundary of the second area, output the target mowing direction corresponding to the arcuate mowing route" , specifically can include:
  • the longest regional boundary is determined as the target boundary
  • the target mowing direction corresponding to the arcuate mowing route is output based on the mowing trend corresponding to the spiral mowing route.
  • a second inflection point can be determined on the area boundary of the second area.
  • the second inflection point is the route turning point of the bow-shaped mowing route, that is, step: "With the target boundary as the benchmark, based on the spiral
  • the mowing trend corresponding to the "shaped mowing route” outputs the "target mowing direction corresponding to the arcuate mowing route", which may include:
  • (62) Determine the second inflection point on the regional boundary of the second area, and generate a bow-shaped mowing route corresponding to the second area based on the route end point, the second inflection point and the target mowing direction.
  • the regional boundaries of the second area are determined to be boundary a1, boundary a2, boundary a3 and boundary a4.
  • the target mowing direction is The intersection point between the mowing direction and the mowing boundary is the second inflection point, for example, as shown in the figure, Determine the intersection point between the lawn mowing robot and the mowing boundary when it travels along the target mowing direction. Based on the target mowing direction The position of z1 is the intersection point a1 and is translated to the right by S. Then, the next mowing return point z2 is calculated. After determining all the mowing return points, based on the current mowing position, a bow-shaped mowing route z1 corresponding to the second area is generated. -z2-...-zn.
  • the lawn coverage of the spiral mowing route in the inner circle will be smaller than the lawn coverage of the spiral mowing route in the outer circle. , therefore, an arcuate mowing route covering at least part of the spiral mowing route can be generated, thereby improving the mowing coverage rate of the inner circle of the spiral mowing route, that is, step "according to the target mowing direction, generate a second area corresponding to "bow-shaped mowing route", which may include:
  • the shape of the first region may be rectangular, circular or elliptical, and the shape of the second region may be rectangular.
  • the shape of the first region and the shape of the second region may both be rectangular.
  • the generated mowing route is shown in Figure 1f; for another example, the shape of the first area T1 is a circle, and the shape of the second area T2 is a rectangle, then the shape of the spiral mowing route s1 in the first area is Mosquito-coil shape, and, in order to ensure the mowing coverage, the arcuate mowing route s2 in the second area covers part of the spiral mowing route s1, as shown in Figure 1g.
  • the lawn mowing trigger request can be triggered by the lawn mowing robot itself or by the server. It can also be triggered by the user through hardware or software. For example, the lawn mowing robot needs to perform scheduled operations and trigger the lawn mowing trigger request within a set time; for another example, the server issues a lawn mowing trigger instruction based on the reported lawn mowing trigger instruction. The user can also input the lawn mowing task information through the application on the mobile phone, and the mobile phone generates a lawn mowing trigger request for the lawn mower robot based on the lawn mowing task information.
  • the spiral mowing route and the arcuate mowing route can be obtained from the mowing trigger request, and the spiral mowing route is used to mow the first area, and the arcuate mowing route is used to mow the second area.
  • the second area can be performed, thereby ensuring the grass mowing coverage.
  • the lawn mowing robot After the lawn mowing robot obtains the preset mowing area, it divides the first area and the second area in the mowing area according to the preset spiral mowing mode, where the first area is the spiral mowing area. grass area, then, generate a spiral mowing route corresponding to the first area, and based on the mowing trend corresponding to the spiral mowing route, generate a bow-shaped mowing route corresponding to the second area, and finally, respond to the The mowing triggers a request to perform mowing operations in the mowing area according to the spiral mowing route and the arcuate mowing route.
  • FIG. 2 is a schematic structural diagram of a lawn mowing device provided by an embodiment of the present application.
  • the lawn mowing device may include an acquisition module 201, a dividing module 202, a first generation module 203, a second generation module 204 and a lawn mower.
  • Module 205 the details can be as follows:
  • the acquisition module 201 is used to acquire a preset mowing area.
  • the mowing area can be an area preliminarily circled by the user in the mowing map, or it can be determined based on the differential positioning data and satellite positioning data of the lawn mowing robot.
  • the specific situation can be determined according to the actual situation.
  • the number of mowing areas It can be one or more, and the shape and size of the mowing area can be preset by the user.
  • the user can control the movement of the lawn mower robot through the user device in advance and set the mowing area based on the movement trajectory.
  • the acquisition module 201 can obtain the preset mowing area through network connection or other means.
  • the dividing module 202 is used to divide the first area and the second area in the mowing area according to the preset spiral mowing mode.
  • the first area is a spiral mowing area
  • the first area surrounds the second area
  • the spiral mowing mode is: controlling the lawn mowing robot to mow along the mowing boundary.
  • the dividing module 202 can preset the shortest circumference of the innermost circle of the spiral mowing route and/or the smallest circumference of the innermost circle according to the area occupied by the lawn mowing robot for performing the turning operation.
  • the radius of the circle whereby a first area and a second area can be divided in the mowing area.
  • the first generation module 203 is used to generate a spiral mowing route corresponding to the first area.
  • the first generation module 203 may specifically include:
  • the acquisition unit is used to acquire the preset mowing direction and regional information of the mowing area
  • the first generation unit is used to generate a spiral mowing route corresponding to the first area based on the mowing direction, area information and the area boundary of the first area.
  • the first generation unit may be specifically configured to: determine the first inflection point based on the mowing direction and the area boundary of the first area; and determine the first inflection point based on the first inflection point, area information and the preset mowing direction. , generate the spiral mowing route corresponding to the first area.
  • the second generation module 204 is configured to generate an arcuate mowing route corresponding to the second area based on the mowing trend corresponding to the spiral mowing route.
  • the second generation module 204 can generate a corresponding arcuate mowing route based on the mowing trend corresponding to the spiral mowing route and the regional boundary of the second area, that is, , optionally, in some embodiments, the second generation module 204 may specifically include:
  • An output unit is used to output the target mowing direction corresponding to the arcuate mowing route based on the mowing trend corresponding to the spiral mowing route and the regional boundary of the second area;
  • the second generation unit is used to generate a bow-shaped mowing route corresponding to the second area according to the target mowing direction.
  • the output unit may be specifically configured to: determine the longest area boundary at the area boundary of the second area as the target boundary; take the target boundary as a reference, and determine the corresponding mowing path based on the spiral mowing route.
  • the grass trend outputs the target mowing direction corresponding to the arcuate mowing route.
  • the output unit may be specifically configured to: determine the end point of the spiral mowing route; determine the second inflection point on the area boundary of the second area, and determine the second inflection point based on the end point of the route, the second The inflection point and the target mowing direction are used to generate a bow-shaped mowing route corresponding to the second area.
  • the second generation unit may be specifically configured to: determine the route end point of the spiral mowing route; determine the second inflection point on the regional boundary of the second area, and determine the second inflection point based on the route end point and the second inflection point. and the target mowing direction to generate a bow-shaped mowing route corresponding to the second area.
  • the second generation unit may be specifically configured to: determine the route end point of the spiral mowing route; determine the route starting point within a preset range where the route end point is away from the second area; and determine the route starting point according to the second area.
  • the area boundary determines the third inflection point; based on the route starting point, the third inflection point and the target mowing direction, a bow-shaped mowing route covering at least part of the spiral mowing route is generated.
  • the lawn mowing module 204 is configured to respond to the lawn mowing trigger request for the lawn mower robot and perform mowing operations in the lawn mowing area according to the spiral mowing route and the arcuate mowing route.
  • the lawn mowing trigger request can be triggered by the lawn mowing robot itself, by the server, or by the user through hardware or software. For example, the lawn mowing robot needs to perform scheduled operations within a set time. Trigger the lawn mowing trigger request; for another example, the server issues a lawn mowing trigger request based on the reported lawn mowing trigger instruction; the user can also input the lawn mowing task information through the application on the mobile phone, and the mobile phone generates a target based on the lawn mowing task information. The lawn mower robot's mowing trigger request.
  • the lawn mowing module 204 can obtain the spiral mowing route and the arcuate mowing route from the mowing trigger request, use the spiral mowing route to mow the first area, and use the arcuate mowing route for the second area. Grass route mowing.
  • the dividing module 202 divides the first area and the second area in the mowing area according to the preset spiral mowing mode, where, The first area is a spiral mowing area. Then, the first generation module 203 generates a spiral mowing route corresponding to the first area. The second generation module 204 generates a second area based on the mowing trend corresponding to the spiral mowing route.
  • the lawn mowing module 205 responds to the mowing trigger request for the lawn mower robot, and performs lawn mowing operations in the mowing area according to the spiral mowing route and the arcuate mowing route.
  • a combined mowing method of spiral mowing and bow-shaped mowing is used to avoid the problem of difficulty in turning the spiral mowing in the central area, resulting in low mowing efficiency. Therefore, it is possible to The flexibility to mow within the mowing area improves coverage and mowing efficiency of the work area.
  • the embodiment of the present application also provides a lawn mowing robot, as shown in Figure 3, which shows a schematic structural diagram of the lawn mowing robot involved in the embodiment of the present application. Specifically:
  • the lawn mowing robot may include a control module 301, a traveling mechanism 302, a cutting module 303, a power supply 304 and other components.
  • a control module 301 may control the traveling mechanism 302
  • a cutting module 303 may control the cutting module 303
  • a power supply 304 may supply power to the lawn mowing robot.
  • FIG. 3 does not constitute a limitation on the electronic device, and may include more or fewer components than shown in the figure, or combine certain components, or arrange different components. in:
  • the control module 301 is the control center of the lawn mowing robot.
  • the control module 301 may specifically include a central processing unit (CPU), memory, input/output ports, system bus, timer/counter, digital-to-analog converter and Components such as analog-to-digital converters, the CPU performs various functions of the lawn mowing robot and processes data by running or executing software programs and/or modules stored in the memory, and calling data stored in the memory; preferably, the CPU can Integrated application processor and modem processor, where the application processor mainly handles operating systems and application programs, etc., and the modem processor mainly handles wireless communications. It is understandable that the above modem processor may not be integrated into the CPU.
  • the memory can be used to store software programs and modules, and the CPU executes various functional applications and data processing by running the software programs and modules stored in the memory.
  • the memory may mainly include a storage program area and a storage data area.
  • the storage program area may store an operating system, an application program required for at least one function (such as a sound playback function, an image playback function, etc.), etc.;
  • the storage data area may store electronic files according to the electronic data. Data created by the use of the device, etc.
  • the memory may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage device.
  • the memory may also include a memory controller to provide the CPU with access to the memory.
  • the traveling mechanism 302 is electrically connected to the control module 301, and is used to respond to the control signal transmitted by the control module 301, adjust the traveling speed and direction of the lawn mower robot, and realize the self-moving function of the lawn mower robot.
  • the cutting module 303 is electrically connected to the control module 301, and is used to respond to the control signal transmitted by the control module, adjust the height and rotation speed of the cutting blade, and implement lawn mowing operations.
  • the power supply 304 can be logically connected to the control module 301 through a power management system, so that functions such as charging, discharging, and power consumption management can be implemented through the power management system.
  • Power supply 304 may also include one or more DC or AC power supplies, recharging systems, power failure detection circuits, power converters or inverters, power status indicators, and other arbitrary components.
  • the lawn mowing robot may also include a communication module, a sensor module, a prompt module, etc., which will not be described again here.
  • the communication module is used to receive and send signals in the process of sending and receiving information. By establishing a communication connection with the user equipment, base station or server, it realizes signal sending and receiving with the user equipment, base station or server.
  • the sensor module is used to collect internal environmental information or external environmental information, and feeds the collected environmental data to the control module for decision-making, realizing the precise positioning and intelligent obstacle avoidance functions of the lawn mowing robot.
  • the sensors may include: ultrasonic sensors, infrared sensors, collision sensors, rain sensors, lidar sensors, inertial measurement units, wheel speedometers, image sensors, position sensors and other sensors, without limitation.
  • the prompt module is used to prompt the user about the current working status of the lawn mower robot.
  • the prompt module includes but is not limited to an indicator light, a buzzer, etc.
  • a lawn mowing robot can remind the user of the current power status, motor working status, sensor working status, etc. through indicator lights.
  • a buzzer can be used to provide an alarm.
  • the processor in the control module 301 will load the executable files corresponding to the processes of one or more application programs into the memory according to the following instructions, and the processor will to run applications stored in memory to implement various functions, as follows:
  • the preset mowing area divide the first area and the second area in the mowing area according to the preset spiral mowing mode, generate the spiral mowing route corresponding to the first area, and generate the spiral mowing route based on the spiral mowing route.
  • the corresponding mowing trend generate a bow-shaped mowing route corresponding to the second area, respond to the mowing trigger request for the lawn mower robot, and perform mowing operations in the mowing area according to the spiral mowing route and the bow-shaped mowing route.
  • the lawn mowing robot divides the first area and the second area in the mowing area according to the preset spiral mowing mode, wherein the first area is spiral mow area, and then generate a spiral mowing route corresponding to the first area, and based on the mowing trend corresponding to the spiral mowing route, generate a bow-shaped mowing route corresponding to the second area, and finally, respond to the lawn mowing robot
  • the mowing trigger request is based on the spiral mowing route and the arcuate mowing route in the mowing area. Perform lawn mowing operations.
  • embodiments of the present application provide a storage medium in which a plurality of instructions are stored, and the instructions can be loaded by the processor to execute the steps in any of the lawn mowing methods provided by the embodiments of the present application.
  • this command can perform the following steps:
  • the storage medium may include: read-only memory (ROM, Read Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk, etc.
  • ROM read-only memory
  • RAM random access memory
  • magnetic disk or optical disk etc.

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Abstract

本申请公开的割草方法，可以获取预设的割草区域，根据预设螺旋形割草模式，在割草区域中划分第一区域和第二区域，第一区域为螺旋形割草区域，生成第一区域对应的螺旋形割草路线，并基于螺旋形割草路线对应的割草趋势，生成第二区域对应的弓字形割草路线；响应针对割草机器人的割草触发请求，根据螺旋形割草路线和弓字形割草路线在割草区域中执行割草作业，该方案可以提高工作面积的覆盖率和割草效率，并且还提高了割草的灵活性。

Description

割草方法、装置、割草机器人以及存储介质
本申请要求于2022年07月06日提交中国专利局、申请号为CN202210798876.X、申请名称为“割草方法、装置、割草机器人以及存储介质”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及计算机技术领域，具体涉及一种割草方法、装置、割草机器人以及存储介质。
背景技术
割草机器人被广泛应用于家庭庭院草坪的维护和大型草地的修剪。割草机器人融合了运动控制、多传感器融合以及路径规划等技术。为了控制割草机器人实现割草作业，需要对割草机器人的割草路径进行规划，使其可以完全覆盖所有的作业区域。
然而，目前大部分的割草机器人采用随机路径规划的方式进行割草，由于其路径规划的随机性，导致在割草时容易出现漏割或重复割草的情况，可见，目前的割草方案，工作面积的覆盖率低且割草效率低下。
发明内容
根据本申请的各种实施例，提供一种智能避障方法、割草机器人以及存储介质。
第一方面，本申请实施例提供了一种割草方法，包括：
获取预设的割草区域；
根据预设螺旋形割草模式，在割草区域中划分第一区域和第二区域，第一区域为螺旋形割草区域，且第一区域环绕第二区域；
生成第一区域对应的螺旋形割草路线，并基于螺旋形割草路线对应的割草趋势，生成第二区域对应的弓字形割草路线；
响应针对割草机器人的割草触发请求，根据螺旋形割草路线和弓字形割草路线在割草区域中执行割草作业。
可选地，在一些实施例中，生成第一区域对应的螺旋形割草路线，包括：
获取预设的割草方向以及割草区域的区域信息；
基于割草方向、区域信息和第一区域的区域边界，生成第一区域对应的螺旋形割草路线。
可选地，在一些实施例中，基于割草方向、区域信息和第一区域的区域边界，生成第一区域对应的螺旋形割草路线，包括：
基于割草方向和第一区域的区域边界，确定第一拐点；
根据第一拐点、区域信息以及预设的割草方向，生成第一区域对应的螺旋形割草路线。
可选地，在一些实施例中，基于螺旋形割草路线对应的割草趋势，生成第二区域对应的弓字形割草路线，包括：
基于螺旋形割草路线对应的割草趋势和第二区域的区域边界，输出弓字形割草路线对应的目标割草方向；
根据目标割草方向，生成第二区域对应的弓字形割草路线。
可选地，在一些实施例中，基于螺旋形割草路线对应的割草趋势和第二区域的区域边界，输出弓字形割草路线对应的目标割草方向，包括：
在第二区域的区域边界将最长的区域边界确定为目标边界；
以目标边界为基准，基于螺旋形割草路线对应的割草趋势输出弓字形割草路线对应的目标割草方向。
可选地，在一些实施例中，根据目标割草方向，生成第二区域对应的弓字形割草路线，包括：
确定螺旋形割草路线的路线终点；
在第二区域的区域边界上确定第二拐点，并基于路线终点、第二拐点以及目标割草方向，生成第二区域对应的弓字形割草路线。
可选地，在一些实施例中，根据目标割草方向，生成第二区域对应的弓字形割草路线，包括：
确定螺旋形割草路线的路线终点；
在路线终点远离第二区域的预设范围内确定路线起点；
根据第二区域的区域边界，确定第三拐点；
基于路线起点、第三拐点以及目标割草方向，生成覆盖至少部分螺旋形割 草路线的弓字形割草路线。
第二方面，本申请实施例提供了一种割草装置，包括：
获取模块，用于获取预设的割草区域；
划分模块，用于根据预设螺旋形割草模式，在割草区域中划分第一区域和第二区域，第一区域为螺旋形割草区域，且第一区域环绕第二区域；
第一生成模块，用于生成第一区域对应的螺旋形割草路线；
第二生成模块，用于基于螺旋形割草路线对应的割草趋势，生成第二区域对应的弓字形割草路线；
割草模块，用于响应针对割草机器人的割草触发请求，根据螺旋形割草路线和弓字形割草路线在割草区域中执行割草作业。
本申请实施例在获取预设的割草区域后，根据预设螺旋形割草模式，在割草区域中划分第一区域和第二区域，第一区域为螺旋形割草区域，然后，生成第一区域对应的螺旋形割草路线，并基于螺旋形割草路线对应的割草趋势，生成第二区域对应的弓字形割草路线，最后，响应针对割草机器人的割草触发请求，根据螺旋形割草路线和弓字形割草路线在割草区域中执行割草作业，在本申请提供的割草方案中，采用螺旋形割草和弓字形割草的组合割草方式，避免出现螺旋形割草在中心区域出现拐弯困难导致割草效率低下的问题，由此，可以灵活地在割草区域中进行割草，进而提高了工作面积的覆盖率和割草效率。
附图的简要说明
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1a是本申请实施例提供的割草方法的场景示意图；
图1b是本申请实施例提供的割草方法的流程示意图；
图1c至图1g是本申请提供的割草路线示意图；
图2是本申请实施例提供的割草装置的结构示意图；
图3是本申请实施例提供的电子设备的结构示意图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
需要说明的是，当元件被称为“固定于”或“设置于”另一个元件，它可以直接在另一个元件上或者间接在该另一个元件上。当一个元件被称为是“连接于”另一个元件，它可以是直接连接到另一个元件或间接连接至该另一个元件上。另外，连接既可以是用于固定作用也可以是用于电路连通作用。
需要理解的是，术语“长度”、“宽度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明实施例和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多该特征。在本申请实施例的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。
本申请实施例提供一种割草方法、装置、割草机器人和存储介质。
其中，该割草装置具体可以集成在割草机器人的微控制单元(Microcontroller Unit，MCU)中，还可以集成在智能终端或服务器中，MCU又称单片微型计算机(Single Chip Microcomputer)或者单片机，是把中央处理器(Central Process Unit，CPU)的频率与规格做适当缩减，并将内存(memory)、计数器(Timer)、USB、模数转换/数模转换、UART、PLC、DMA等周边接口，形成芯片级的计算机，为不同的应用场合做不同组合控制。割草机器人可以自动行走，防止碰撞，范围之内自动返回充电，具备安全检测和电池电量检测，具备一定爬坡能力，尤其适合家庭庭院、公共绿地等场所进行草坪修剪维护，其特点是：自动割草、清理草屑、自动避雨、自动充电、自动躲避障碍物、外 形小巧、电子虚拟篱笆、网络控制等。
终端可以是智能手机、平板电脑、笔记本电脑、台式计算机、智能音箱、智能手表等，但并不局限于此。终端以及服务器可以通过有线或无线通信方式进行直接或间接地连接，服务器可以是独立的物理服务器，也可以是多个物理服务器构成的服务器集群或者分布式系统，还可以是提供云服务、云数据库、云计算、云函数、云存储、网络服务、云通信、中间件服务、域名服务、安全服务、CDN、以及大数据和人工智能平台等基础云计算服务的云服务器，本申请在此不做限制。
例如，请参阅图1a，本申请提供一种割草系统，包括相互之间建立有通信连接的割草机器人10、服务器20以及用户设备30。用户可以预先通过用户设备30控制割草机器人10移动，基于移动轨迹设定割草区域，并将该割草区域对应的数据同步至割草机器人10和服务器20中。可以获取该预先设定的割草区域，然后，割草机器人10根据预设螺旋形割草模式，在割草区域中划分第一区域和第二区域，其中，该第一区域为螺旋形割草区域，紧接着，生成第一区域对应的螺旋形割草路线，并基于该螺旋形割草路线对应的割草趋势，生成第二区域对应的弓字形割草路线，最后，在执行割草作业时，响应针对割草机器人10的割草触发请求，根据该螺旋形割草路线和弓字形割草路线在割草区域中执行割草作业。
本申请提供的割草方案，采用螺旋形割草和弓字形割草的组合割草方式，避免出现螺旋形割草在中心区域出现拐弯困难导致割草效率低下的问题，由此，可以灵活地在割草区域中进行割草，进而提高了工作面积的覆盖率和割草效率。
以下分别进行详细说明。需说明的是，以下实施例的描述顺序不作为对实施例优先顺序的限定。
一种割草方法，包括：获取预设的割草区域，根据预设螺旋形割草模式，在割草区域中划分第一区域和第二区域，生成第一区域对应的螺旋形割草路线，并基于螺旋形割草路线对应的割草趋势，生成第二区域对应的弓字形割草路线，响应针对割草机器人的割草触发请求，根据螺旋形割草路线和弓字形割草路线在割草区域中执行割草作业。
请参阅图1b，图1b为本申请实施例提供的割草方法的流程示意图。该割草方法的具体流程可以如下：
101、获取预设的割草区域。
其中，割草区域可以是由用户预先在割草地图中圈定的区域，也可以是根据割草机器人的差分定位数据和卫星定位数据确定的，具体可以根据实际情况而定，割草区域的数量可以为一个，也可以为多个，该割草区域的形状和尺寸均可以由用户预先进行设定。
比如，根据卫星定位数据确定该割草机器人对应的割草地图，然后，响应针对该割草地图的区域划分操作，在割草地图中划分割草区域。又比如，用户可以预先通过用户设备控制割草机器人移动，并基于移动轨迹设定割草区域。
102、根据预设螺旋形割草模式，在割草区域中划分第一区域和第二区域。
其中，第一区域为螺旋形割草区域，且第一区域环绕第二区域，螺旋形割草模式为：控制割草机器人沿着割草边界进行割草，如图1c所示，在该种割草模式下，割草机器人在最外圈沿着割草边界a进行割草，形成第一段割草路径s1，随后，基于第一段割草路径s1形成第二段割草路径s2，以此类推，最终形成完整的割草路线。
需要说明的是，由于割草机器人其自身具有一定规格的尺寸，因此，采用螺旋式割草模式行驶到割草区域的中心位置时，会出现转向困难导致无法进行割草，故，在本申请中，将割草区域划分为第一区域和第二区域，其中，该第一区域为螺旋形割草区域。
可选地，在一些实施例中，步骤“根据预设螺旋形割草模式，在割草区域中划分第一区域和第二区域”，具体可以包括：基于割草机器人的转弯半径信息和割草区域的区域面积，在割草区域中划分第一区域和第二区域。
该转弯半径信息包含了割草机器人执行转弯操作所占用的面积以及最大可转弯角度，可选地，在一些实施例中，割草机器人的最大可转弯角度为360°，在该种情况下，需要考虑到割草机器人执行转弯操作所占用的面积，以便后续在割草区域中划分第一区域和第二区域。
可选地，在一些实施例中，可以根据割草机器人执行转弯操作所占用的面积，预先设定螺旋形割草路线最内圈的最短周长和(或)最内圈最小外接圆半 径，由此，可以在割草区域中划分第一区域和第二区域。
103、生成第一区域对应的螺旋形割草路线，并基于螺旋形割草路线对应的割草趋势，生成第二区域对应的弓字形割草路线。
其中，可以预先设定螺旋形割草路线对应的割草方向，然后，基于该割草方向、第一区域的形状以及边界等信息，生成第一区域对应的螺旋形割草路线，即，可选地，步骤“生成第一区域对应的螺旋形割草路线”，具体可以包括：
(21)获取预设的割草方向以及第一区域的区域信息；
(22)基于割草方向、区域信息和第一区域的区域边界，生成第一区域对应的螺旋形割草路线。
其中，区域信息可以携带有该割草区域的形状、面积以及各边界的长度等信息，具体的，请参阅图1d，根据该割草方向以及第一区域T1的区域信息，输出外围的割草路径z1，并基于该割草路径z1，输出第二段割草路径z2，以此类推，需要说明的是，最内圈的割草路径zn由割草路径zn-1和第一区域的边界a确定。
此外，螺旋形割草路线会包含多个路线拐点，该路线拐点用于指示割草机器人进行拐弯，即，可选地，在一些实施例中，步骤“基于割草方向、区域信息和第一区域的区域边界，生成第一区域对应的螺旋形割草路线”，具体可以包括：
(31)基于割草方向和第一区域的区域边界，确定第一拐点；
(32)根据第一拐点、区域信息以及预设的割草方向，生成第一区域对应的螺旋形割草路线。
其中，基于割草方向和第一区域最外侧的区域边界，确定第一拐点，该第一拐点用于指示第一段割草路径执行拐弯的点位，随后，基于该第一拐点、区域信息以及预设的割草方向，输出剩余的割草路径，由此，得到第一区域对应的螺旋形割草路线，以第二段割草路径为例，在确定第一拐点后，基于该第一拐点和预设的割草方向，输出第二段割草路径，且该第二段割草路经的路线拐点与第一拐点相对应，使得第二段割草路经与第一段割草路经相似。
进一步的，在得到螺旋形割草路线后，可以基于该螺旋形割草路线，生成第二区域对应的弓字形割草路线，即，可选地，在一些实施例中，步骤“基于 螺旋形割草路线对应的割草趋势，生成第二区域对应的弓字形割草路线”，具体可以包括：
(41)基于螺旋形割草路线对应的割草趋势和第二区域的区域边界，输出弓字形割草路线对应的目标割草方向；
(42)根据目标割草方向，生成第二区域对应的弓字形割草路线。
需要说明的是，螺旋形割草路线对应的割草趋势表征螺旋形割草路线最后的路线朝向，为了使得能够生成与第二区域相适应的弓字形割草路线，可以基于螺旋形割草路线对应的割草趋势和第二区域的区域边界，输出弓字形割草路线对应的目标割草方向，该目标割草方向为折返方向，即，包含第一方向和第二方向，且第一方向与第二方向对称，最后，根据目标割草方向，生成第二区域对应的弓字形割草路线。
为了减少割草机器人在第二区域拐弯的次数，从而提高割草的覆盖率，在一些实施例中，可以将第二区域中最长的区域边界确定为目标边界，并以该目标边界为基准，输出弓字形割草路线对应的目标割草方向，即，步骤“基于螺旋形割草路线对应的割草趋势和第二区域的区域边界，输出弓字形割草路线对应的目标割草方向”，具体可以包括：
(51)在第二区域的区域边界将最长的区域边界确定为目标边界；
(52)以目标边界为基准，基于螺旋形割草路线对应的割草趋势输出弓字形割草路线对应的目标割草方向。
在确定目标割草方向后，可以在第二区域的区域边界上确定第二拐点，该第二拐点为弓字形割草路线的路线折返点，即，步骤：“以目标边界为基准，基于螺旋形割草路线对应的割草趋势输出弓字形割草路线对应的目标割草方向”，具体可以包括：
(61)确定螺旋形割草路线的路线终点；
(62)在第二区域的区域边界上确定第二拐点，并基于路线终点、第二拐点以及目标割草方向，生成第二区域对应的弓字形割草路线。
例如，请参阅图1e，确定第二区域的区域边界为边界a1、边界a2、边界a3和边界a4，目标割草方向为X，根据该割草方向和路线终点，确定割草机器人沿着目标割草方向行进时与割草边界之间的交点为第二拐点，比如，如图所示， 确定割草机器人沿着目标割草方向行进时与割草边界之间的交点，基于该目标割草方向X计算割草机器人沿着边界行驶的目标距离S，由此，可以确定割草折返点z1的位置为交点a1向右平移S，随后，再计算下一个割草折返点z2，在确定所有割草折返点后，根据当前割草位置，生成第二区域对应的弓字形割草路线z1-z2-...-zn。
可选地，在一些实施例中，由于割草机器人自身拐弯需要一定的面积，因此，螺旋形割草路线在内圈的割草覆盖率会小于螺旋形割草路线在外圈的割草覆盖率，因此，可以生成至少覆盖部分螺旋形割草路线的弓字形割草路线，从而提高螺旋形割草路线内圈的割草覆盖率，即，步骤“根据目标割草方向，生成第二区域对应的弓字形割草路线”，具体可以包括：
(71)确定螺旋形割草路线的路线终点；
(72)在路线终点远离第二区域的预设范围内确定路线起点；
(73)根据第二区域的区域边界，确定第三拐点；
(74)基于路线起点、第三拐点以及目标割草方向，生成覆盖至少部分螺旋形割草路线的弓字形割草路线。
请参阅图1g，确定螺旋形割草路线的路线终点e，在路线终点远离第二区域的预设范围内确定路线起点f，然后，根据第二区域的区域边界a，确定第三拐点s，最后，基于路线起点f、第三拐点s以及目标割草方向X，生成覆盖至少部分螺旋形割草路线的弓字形割草路线，由此，提高螺旋形割草路线内圈的割草覆盖率。
可选地，在一些实施例中，第一区域的形状可以是矩形、圆形或椭圆形，第二区域的形状可以是矩形，比如，第一区域的形状和第二区域的形状均为矩形时，生成的割草路线如图1f所示；又比如，第一区域T1的形状为圆形，第二区域T2的形状为矩形，则第一区域的螺旋形割草路线s1的形状则为蚊香形，并且，为了保证割草覆盖率，第二区域的弓字形割草路线s2覆盖部分螺旋形割草路线s1，如图1g所示。
104、响应针对割草机器人的割草触发请求，根据螺旋形割草路线和弓字形割草路线在割草区域中执行割草作业。
该割草触发请求可以是由割草机器人本身触发的，也可以是由服务器触发 的，还可以是用户通过硬件或软件触发的，比如，割草机器人需要进行定时作业，在设定的时间内触发该割草触发请求；又比如，服务器根据上报的割草触发指令，下发的割草触发请求；还可以用户通过手机上的应用输入割草任务信息，手机根据该割草任务信息生成针对割草机器人的割草触发请求。
例如，可以从该割草触发请求中获取到螺旋形割草路线和弓字形割草路线，对第一区域采用螺旋形割草路线割草，以及对第二区域采用弓字形割草路线割草，可选地，在一些实施例中，可以对第一区域进行割草作业后，对第二区域进行割草作业，由此可以保证割草覆盖率。
本申请实施例中，割草机器人获取预设的割草区域后，根据预设螺旋形割草模式，在割草区域中划分第一区域和第二区域，其中，第一区域为螺旋形割草区域，然后，生成第一区域对应的螺旋形割草路线，并基于螺旋形割草路线对应的割草趋势，生成第二区域对应的弓字形割草路线，最后，响应针对割草机器人的割草触发请求，根据螺旋形割草路线和弓字形割草路线在割草区域中执行割草作业。在本申请提供的割草方案中，采用螺旋形割草和弓字形割草的组合割草方式，避免出现螺旋形割草在中心区域出现拐弯困难导致割草效率低下的问题，由此，可以灵活地在割草区域中进行割草，进而提高了工作面积的覆盖率和割草效率。
请参阅图2，图2为本申请实施例提供的割草装置的结构示意图，其中该割草装置可以包括获取模块201、划分模块202、第一生成模块203、第二生成模块204以及割草模块205，具体可以如下：
获取模块201，用于获取预设的割草区域。
其中，割草区域可以是由用户预先在割草地图中圈定的区域，也可以是根据割草机器人的差分定位数据和卫星定位数据确定的，具体可以根据实际情况而定，割草区域的数量可以为一个，也可以为多个，该割草区域的形状和尺寸均可以由用户预先进行设定。
比如，用户可以预先通过用户设备控制割草机器人移动，并基于移动轨迹设定割草区域，获取模块201可以通过网络连接等方式获取到预设的割草区域。
划分模块202，用于根据预设螺旋形割草模式，在割草区域中划分第一区域和第二区域。
其中，第一区域为螺旋形割草区域，且第一区域环绕第二区域，螺旋形割草模式为：控制割草机器人沿着割草边界进行割草。
可选地，在一些实施例中，划分模块202可以根据割草机器人执行转弯操作所占用的面积，预先设定螺旋形割草路线最内圈的最短周长和(或)最内圈最小外接圆半径，由此，可以在割草区域中划分第一区域和第二区域。
第一生成模块203，用于生成第一区域对应的螺旋形割草路线。
其中，可以预先设定螺旋形割草路线对应的割草方向，然后，基于该割草方向、第一区域的形状以及边界等信息，生成第一区域对应的螺旋形割草路线，即，可选地，在一些实施例中，第一生成模块203具体可以包括：
获取单元，用于获取预设的割草方向以及割草区域的区域信息；
第一生成单元，用于基于割草方向、区域信息和第一区域的区域边界，生成第一区域对应的螺旋形割草路线。
可选地，在一些实施例中，第一生成单元具体可以用于：基于割草方向和第一区域的区域边界，确定第一拐点；根据第一拐点、区域信息以及预设的割草方向，生成第一区域对应的螺旋形割草路线。
第二生成模块204，用于基于螺旋形割草路线对应的割草趋势，生成第二区域对应的弓字形割草路线。
在第一生成模块203生成螺旋形割草路线后，第二生成模块204在可以基于螺旋形割草路线对应的割草趋势和第二区域的区域边界，生成相应的弓字形割草路线，即，可选地，在一些实施例中，第二生成模块204具体可以包括：
输出单元，用于基于螺旋形割草路线对应的割草趋势和第二区域的区域边界，输出弓字形割草路线对应的目标割草方向；
第二生成单元，用于根据目标割草方向，生成第二区域对应的弓字形割草路线。
可选地，在一些实施例中，输出单元具体可以用于：在第二区域的区域边界将最长的区域边界确定为目标边界；以目标边界为基准，基于螺旋形割草路线对应的割草趋势输出弓字形割草路线对应的目标割草方向。
可选地，在一些实施例中，输出单元具体可以用于：确定螺旋形割草路线的路线终点；在第二区域的区域边界上确定第二拐点，并基于路线终点、第二 拐点以及目标割草方向，生成第二区域对应的弓字形割草路线。
可选地，在一些实施例中，第二生成单元具体可以用于：确定螺旋形割草路线的路线终点；在第二区域的区域边界上确定第二拐点，并基于路线终点、第二拐点以及目标割草方向，生成第二区域对应的弓字形割草路线。
可选地，在一些实施例中，第二生成单元具体可以用于：确定螺旋形割草路线的路线终点；在路线终点远离第二区域的预设范围内确定路线起点；根据第二区域的区域边界，确定第三拐点；基于路线起点、第三拐点以及目标割草方向，生成覆盖至少部分螺旋形割草路线的弓字形割草路线。
割草模块204，用于响应针对割草机器人的割草触发请求，根据螺旋形割草路线和弓字形割草路线在割草区域中执行割草作业。
该割草触发请求可以是由割草机器人本身触发的，也可以是由服务器触发的，还可以是用户通过硬件或软件触发的，比如，割草机器人需要进行定时作业，在设定的时间内触发该割草触发请求；又比如，服务器根据上报的割草触发指令，下发的割草触发请求；还可以用户通过手机上的应用输入割草任务信息，手机根据该割草任务信息生成针对割草机器人的割草触发请求。
例如，割草模块204可以从该割草触发请求中获取到螺旋形割草路线和弓字形割草路线，对第一区域采用螺旋形割草路线割草，以及对第二区域采用弓字形割草路线割草。
本申请实施例中，割草机器人在获取模块201获取预设的割草区域后，划分模块202根据预设螺旋形割草模式，在割草区域中划分第一区域和第二区域，其中，第一区域为螺旋形割草区域，然后，第一生成模块203生成第一区域对应的螺旋形割草路线，第二生成模块204基于螺旋形割草路线对应的割草趋势，生成第二区域对应的弓字形割草路线，最后，割草模块205响应针对割草机器人的割草触发请求，根据螺旋形割草路线和弓字形割草路线在割草区域中执行割草作业。在本申请提供的割草方案中，采用螺旋形割草和弓字形割草的组合割草方式，避免出现螺旋形割草在中心区域出现拐弯困难导致割草效率低下的问题，由此，可以灵活地在割草区域中进行割草，进而提高了工作面积的覆盖率和割草效率。
此外，本申请实施例还提供一种割草机器人，如图3所示，其示出了本申请实施例所涉及的割草机器人的结构示意图，具体来讲：
该割草机器人可以包括控制模块301、行进机构302、切割模块303以及电源304等部件。本领域技术人员可以理解，图3中示出的电子设备结构并不构成对电子设备的限定，可以包括比图示更多或更少的部件，或者组合某些部件，或者不同的部件布置。其中：
控制模块301是该割草机器人的控制中心，该控制模块301具体可以包括中央处理器(Central Process Unit，CPU)、存储器、输入/输出端口、系统总线、定时器/计数器、数模转换器和模数转换器等组件，CPU通过运行或执行存储在存储器内的软件程序和/或模块，以及调用存储在存储器内的数据，执行割草机器人的各种功能和处理数据；优选的，CPU可集成应用处理器和调制解调处理器，其中，应用处理器主要处理操作系统和应用程序等，调制解调处理器主要处理无线通信。可以理解的是，上述调制解调处理器也可以不集成到CPU中。
存储器可用于存储软件程序以及模块，CPU通过运行存储在存储器的软件程序以及模块，从而执行各种功能应用以及数据处理。存储器可主要包括存储程序区和存储数据区，其中，存储程序区可存储操作系统、至少一个功能所需的应用程序(比如声音播放功能、图像播放功能等)等；存储数据区可存储根据电子设备的使用所创建的数据等。此外，存储器可以包括高速随机存取存储器，还可以包括非易失性存储器，例如至少一个磁盘存储器件、闪存器件、或其他易失性固态存储器件。相应地，存储器还可以包括存储器控制器，以提供CPU对存储器的访问。
行进机构302与控制模块301电性相连，用于响应控制模块301传递的控制信号，调整割草机器人的行进速度和行进方向，实现割草机器人的自移动功能。
切割模块303与控制模块301电性相连，用于响应控制模块传递的控制信号，调整切割刀盘的高度和转速，实现割草作业。
电源304可以通过电源管理系统与控制模块301逻辑相连，从而通过电源管理系统实现管理充电、放电、以及功耗管理等功能。电源304还可以包括一个或一个以上的直流或交流电源、再充电系统、电源故障检测电路、电源转换器或者逆变器、电源状态指示器等任意组件。
尽管未示出，该割草机器人还可以包括通信模块、传感器模块、提示模块等，在此不再赘述。
通信模块用于收发信息过程中信号的接收和发送，通过与用户设备、基站或服务器建立通信连接，实现与用户设备、基站或服务器之间的信号收发。
传感器模块用于采集内部环境信息或外部环境信息，并将采集到的环境数据反馈给控制模块进行决策，实现割草机器人的精准定位和智能避障功能。可选地，传感器可以包括：超声波传感器、红外传感器、碰撞传感器、雨水感应器、激光雷达传感器、惯性测量单元、轮速计、图像传感器、位置传感器及其他传感器，对此不做限定。
提示模块用于提示用户当前割草机器人的工作状态。本申请实施例提供的割草机器人中，提示模块包括但不限于指示灯、蜂鸣器等。例如，割草机器人可以通过指示灯提示用户当前的电源状态、电机的工作状态、传感器的工作状态等。又例如，当检测到割草机器人出现故障或被盗时，可以通过蜂鸣器实现告警提示。
具体在本申请实施例提供的割草机器人中，控制模块301中的处理器会按照如下的指令，将一个或一个以上的应用程序的进程对应的可执行文件加载到存储器中，并由处理器来运行存储在存储器中的应用程序，从而实现各种功能，如下：
获取预设的割草区域，根据预设螺旋形割草模式，在割草区域中划分第一区域和第二区域，生成第一区域对应的螺旋形割草路线，并基于螺旋形割草路线对应的割草趋势，生成第二区域对应的弓字形割草路线，响应针对割草机器人的割草触发请求，根据螺旋形割草路线和弓字形割草路线在割草区域中执行割草作业。
以上各个操作的具体实施可参见前面的实施例，在此不再赘述。
本申请实施例中，割草机器人在获取预设的割草区域后，根据预设螺旋形割草模式，在割草区域中划分第一区域和第二区域，其中，第一区域为螺旋形割草区域，然后，生成第一区域对应的螺旋形割草路线，并基于螺旋形割草路线对应的割草趋势，生成第二区域对应的弓字形割草路线，最后，响应针对割草机器人的割草触发请求，根据螺旋形割草路线和弓字形割草路线在割草区域 中执行割草作业。在本申请提供的割草方案中，采用螺旋形割草和弓字形割草的组合割草方式，避免出现螺旋形割草在中心区域出现拐弯困难导致割草效率低下的问题，由此，可以灵活地在割草区域中进行割草，进而提高了工作面积的覆盖率和割草效率。
本领域普通技术人员可以理解，上述实施例的各种方法中的全部或部分步骤可以通过指令来完成，或通过指令控制相关的硬件来完成，该指令可以存储于一计算机可读存储介质中，并由处理器进行加载和执行。
为此，本申请实施例提供一种存储介质，其中存储有多条指令，该指令能够被处理器进行加载，以执行本申请实施例所提供的任一种割草方法中的步骤。例如，该指令可以执行如下步骤：
响应针对割草机器人的割草触发请求，根据历史割草方向确定割草机器人的当前割草方向，获取预设的割草区域，基于割草区域、割草机器人的割草模式以及当前割草方向，生成沿当前割草方向的弓字形割草路线，基于弓字形割草路线控制割草机器人执行割草作业。
以上各个操作的具体实施可参见前面的实施例，在此不再赘述。
其中，该存储介质可以包括：只读存储器(ROM，Read Only Memory)、随机存取记忆体(RAM，Random Access Memory)、磁盘或光盘等。
由于该存储介质中所存储的指令，可以执行本申请实施例所提供的任一种割草方法中的步骤，因此，可以实现本申请实施例所提供的任一种割草方法所能实现的有益效果，详见前面的实施例，在此不再赘述。
以上对本申请实施例所提供的一种割草方法、装置、割草机器人以及存储介质进行了详细介绍，本文中应用了具体个例对本申请的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本申请的方法及其核心思想；同时，对于本领域的技术人员，依据本申请的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本申请的限制。

Claims (10)

  1. 一种割草方法，其中，包括：
    获取预设的割草区域；
    根据预设螺旋形割草模式，在所述割草区域中划分第一区域和第二区域，所述第一区域为螺旋形割草区域，且所述第一区域环绕所述第二区域；
    生成所述第一区域对应的螺旋形割草路线，并基于螺旋形割草路线对应的割草趋势，生成所述第二区域对应的弓字形割草路线；
    响应针对割草机器人的割草触发请求，根据所述螺旋形割草路线和弓字形割草路线在所述割草区域中执行割草作业。
  2. 根据权利要求1所述的方法，其中，所述生成所述第一区域对应的螺旋形割草路线，包括：
    获取预设的割草方向以及所述割草区域的区域信息；
    基于所述割草方向、所述区域信息和所述第一区域的区域边界，生成所述第一区域对应的螺旋形割草路线。
  3. 根据权利要求2所述的方法，其特征在于，所述基于所述割草方向、所述区域信息和所述第一区域的区域边界，生成所述第一区域对应的螺旋形割草路线，包括：
    基于所述割草方向和第一区域的区域边界，确定第一拐点；
    根据所述第一拐点、所述区域信息以及预设的割草方向，生成所述第一区域对应的螺旋形割草路线。
  4. 根据权利要求1所述的方法，其中，所述基于螺旋形割草路线对应的割草趋势，生成所述第二区域对应的弓字形割草路线，包括：
    基于所述基于螺旋形割草路线对应的割草趋势和所述第二区域的区域边界，输出弓字形割草路线对应的目标割草方向；
    根据所述目标割草方向，生成所述第二区域对应的弓字形割草路线。
  5. 根据权利要求4所述的方法，其中，所述基于所述基于螺旋形割草路线对应的割草趋势和所述第二区域的区域边界，输出弓字形割草路线对应的目标割草方向，包括：
    在所述第二区域的区域边界将最长的区域边界确定为目标边界；
    以所述目标边界为基准，基于所述基于螺旋形割草路线对应的割草趋势输出弓字形割草路线对应的目标割草方向。
  6. 根据权利要求4所述的方法，其特征在于，所述根据所述目标割草方向，生成所述第二区域对应的弓字形割草路线，包括：
    确定所述螺旋形割草路线的路线终点；
    在所述第二区域的区域边界上确定第二拐点，并基于所述路线终点、第二拐点以及目标割草方向，生成所述第二区域对应的弓字形割草路线。
  7. 根据权利要求4所述的方法，其中，所述根据所述目标割草方向，生成所述第二区域对应的弓字形割草路线，包括：
    确定所述螺旋形割草路线的路线终点；
    在所述路线终点远离所述第二区域的预设范围内确定路线起点；
    根据所述第二区域的区域边界，确定第三拐点；
    基于所述路线起点、第三拐点以及目标割草方向，生成覆盖至少部分所述螺旋形割草路线的弓字形割草路线。
  8. 一种割草装置，其中，包括：
    获取模块，用于获取预设的割草区域；
    划分模块，用于根据预设螺旋形割草模式，在所述割草区域中划分第一区域和第二区域，所述第一区域为螺旋形割草区域，且所述第一区域环绕所述第二区域；
    第一生成模块，用于生成所述第一区域对应的螺旋形割草路线；
    第二生成模块，用于基于螺旋形割草路线对应的割草趋势，生成所述第二区域对应的弓字形割草路线；
    割草模块，用于响应针对割草机器人的割草触发请求，根据所述螺旋形割草路线和弓字形割草路线在所述割草区域中执行割草作业。
  9. 一种割草机器人，包括存储器，处理器及存储在存储器上并可在处理器上运行的计算机程序，其中，所述处理器执行所述程序时实现如权利要求1-7所述割草方法的步骤。
  10. 一种存储介质，其中，其上存储有计算机程序，所述计算机程序被处理器执行时实现如权利要求1-7所述割草方法的步骤。
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