CN-122015843-A - Information processing method for robot planning and intelligent mowing robot

CN122015843ACN 122015843 ACN122015843 ACN 122015843ACN-122015843-A

Abstract

The application relates to an information processing method for robot planning and an intelligent mowing robot, wherein the information processing method for robot planning is used for an execution unit of the mowing robot; the information processing method for robot planning comprises the steps of S1, obtaining a grassland modeling diagram by an execution unit, S2, obtaining grassland standardized information from the grassland modeling diagram, S3, planning a path based on the grassland standardized information, and generating a mowing path scheme. In the prior art, when the mowing robot faces a large-scale grassland, the workload of processing the area to be mowed is very large and the time consumption is long, and the mowing robot cannot be completed at one time due to limited battery power, so that the negative influence of the power on the mowing robot can be reduced under the condition of facing the large-scale grassland, the time required for mowing is reduced, and the mowing efficiency of the large-scale grassland of a processing target is remarkably improved.

Inventors

QIAO YAXING
DUAN XIANCHEN
LI ZHANBIN
YANG YINCHAO

Assignees

深圳星灿智能机器人有限公司

Dates

Publication Date: 20260512
Application Date: 20260112

Claims (8)

1. An information processing method for robot planning is characterized in that the information processing method for robot planning is used for an execution unit of a mowing robot; the information processing method for robot planning comprises the following steps: S1, an execution unit acquires a grassland modeling diagram; s2, obtaining grassland standardization information from the grassland modeling diagram; And S3, carrying out path planning based on the grassland standardization information, and generating a mowing path scheme.
2. The method for processing information for robot planning according to claim 1, wherein the step S1, the execution unit acquires a grassland modeling map, includes: S11, obtaining a pre-stored grassland modeling diagram corresponding to the area to be mowed.
3. The method for processing information for robot planning according to claim 2, wherein the step S2 of acquiring grassland standardization information from among grassland modeling maps includes: s21, the execution unit acquires the length and width parameter indexes and the area of the area to be mowed from the grassland modeling diagram.
4. The method for processing information for robot planning according to claim 3, wherein the step S21 of obtaining the length and width parameter index and the area of the area to be mowed from the grassland modeling map includes: S201, carrying out information analysis on the grassland modeling diagram to obtain a grassland modeling grid diagram containing position information; s202, identifying a grassland growth area in the grassland modeling grid map based on the grassland modeling grid map; s203, determining the region boundary of the grassland growth region according to the grassland growth region; s204, constructing a tangent circumscribed rectangle corresponding to the area boundary, generating a length and width parameter index of the circumscribed rectangle, and calculating the area of the area to be mowed, which is surrounded by the area boundary.
5. The method for robot planning according to claim 4, wherein the mowing robot is provided at an initial position on a broadside of the area to be mowed, the step S3 of planning a path based on the lawn standardization information, and generating a mowing path scheme includes: s31, according to the length and width parameter indexes and the area of the area to be mowed, combining the upper limit of the battery electric quantity and the lower limit of the return electric quantity of the mowing robot, and acquiring the minimum value N of the mowing times of the mowing robot; S32, calculating N electric quantity optimal coordinate points of the mowing robot according to the minimum value N and the length and width parameter indexes; S33, adjusting the positions of N electric quantity optimal coordinate points along the transverse axis along the first direction by taking the initial position of the broadside as the transverse axis, and keeping the ordinate of the N electric quantity optimal coordinate points unchanged until the abscissa of the N electric quantity optimal coordinate points is the same as the abscissa of the initial position, so as to obtain N corresponding return positions; S34, judging whether the residual electric quantity of the mowing robot at the return position is smaller than the preset warning electric quantity after the last mowing is finished; S35, if the residual electric quantity of the mowing robot at the return position is larger than or equal to the preset warning electric quantity after the last mowing is finished, judging that the planning decision is finished, and generating a corresponding first mowing path scheme; And S36, if the residual electric quantity of the mowing robot at the return position is smaller than the preset warning electric quantity after the last mowing is finished, adjusting the return position corresponding to the last mowing along the longitudinal axis direction, enabling the new return position to be closer to the initial position, and generating a corresponding second mowing path scheme.
6. The information processing method for robot planning according to claim 5, wherein after performing path planning based on the lawn standardization information and generating the mowing path scheme, the method further comprises: s4, controlling the intelligent mowing robot to execute mowing work based on the first mowing path scheme/the second mowing path scheme.
7. The information processing method for robot planning according to claim 6, wherein the step S4 of controlling the intelligent mowing robot to perform mowing work based on the first mowing path scheme/the second mowing path scheme includes: S401, acquiring a first mowing path scheme/a second mowing path scheme, and identifying terrain information of a region corresponding to the first mowing path scheme/the second mowing path scheme based on the first mowing path scheme/the second mowing path scheme; s403, carrying out path splitting on the first mowing path scheme/the second mowing path scheme according to the terrain information to generate N-1 sub-path sections and N target points; S405, controlling the intelligent mowing robot to move along the N-1 sub-path sections according to a preset sequence by referring to the N target points until the mowing work is completed.
8. An intelligent lawn mowing robot, characterized in that the intelligent lawn mowing robot comprises an execution unit for implementing the information processing method for robot planning as claimed in any one of claims 1 to 7.

Description

Information processing method for robot planning and intelligent mowing robot Technical Field The invention relates to the field of mowing mobile equipment, in particular to an information processing method for robot planning and an intelligent mowing robot. Background In the field of mowing mobile devices, the range size of a lawn affects the efficiency with which mowing is performed by the mowing mobile device. For example, in the case of a grass cutting robot facing a wide range of grass, the work amount of handling the area to be cut is very large and takes a long time, and the limited battery power limits the grass cutting robot, resulting in failure to complete cutting at one time. To cope with this scenario, the mowing robot needs to be charged multiple times to cope with the actual mowing operation scenario of a wide range of grasslands, which puts higher demands on mowing efficiency. Based on the above, the invention provides an information processing method for robot planning and an intelligent mowing robot, which can solve the technical problems. Disclosure of Invention The technical problem to be solved by the invention is how to design an information processing method for robot planning and an intelligent mowing robot, which can perfect the preparation work before starting the mowing task and intelligently generate the most reasonable mowing path scheme, so that the mowing robot can finish mowing with the highest efficiency, and meanwhile, the condition of insufficient electric quantity in the mowing process is avoided. In a first aspect, the application provides an information processing method for robot planning, which is used for an execution unit of a mowing robot, and the information processing method for robot planning comprises the steps of S1, acquiring a grassland modeling diagram by the execution unit, S2, acquiring grassland standardized information from the grassland modeling diagram, S3, planning a path based on the grassland standardized information, and generating a mowing path scheme. The further technical scheme includes that in the step S1, an execution unit acquires a grassland modeling diagram, and the step S11 comprises the step of acquiring a pre-stored grassland modeling diagram corresponding to a to-be-mowed area. The area of the lawn modeling diagram is large enough, and the intelligent mowing robot needs to perform multiple operations to complete a mowing task. The further technical scheme includes that step S2, grassland standardization information is obtained from grassland modeling diagrams, and S21, an execution unit obtains length and width parameter indexes and the area of a region to be mowed from the grassland modeling diagrams. The method comprises the further technical scheme that step S21 is performed, length and width parameter indexes and areas of areas to be mowed are obtained from a grassland modeling diagram, and comprises the steps of S201, performing information analysis on the grassland modeling diagram to obtain a grassland modeling grid diagram containing position information, S202, identifying grassland growth areas in the grassland modeling grid diagram based on the grassland modeling grid diagram, S203, determining area boundaries of the grassland growth areas according to the grassland growth areas, S204, constructing external rectangles corresponding to the tangential areas boundaries, generating the length and width parameter indexes of the external rectangles, and calculating areas of the areas to be mowed, which are enclosed by the area boundaries. The method comprises the steps of S31, obtaining the minimum value N of the mowing times of the mowing robot according to the upper limit of the battery power and the lower limit of the return power of the mowing robot, S32, calculating N optimal coordinate points of the electric quantity of the mowing robot according to the minimum value N and the lower limit of the electric quantity of the return path, S33, adjusting the positions of the N optimal coordinate points along the transverse axis along the first direction by taking the initial position of the wide side as the transverse axis, keeping the ordinate of the N optimal coordinate points unchanged until the abscissa of the N optimal coordinate points is identical with the abscissa of the initial position, obtaining corresponding N return positions, S34, judging whether the residual electric quantity of the mowing robot at the return position is smaller than a preset warning value after the second-to-last mowing is completed, S35, and if the second-to-last mowing is completed, determining that the residual electric quantity of the mowing robot is smaller than the preset warning value, and generating a warning path corresponding to the second-to-last mowing position of the mowing robot after the second-to-last-mowing is completed, and the second-to-wait distance is smaller than the preset, and the first-wait distance is larger than the preset