Embodiments of the present disclosure disclose an abnormal area marking method and a related apparatus. The method includes: when a predicament is detected during an operation process, determining an area of a current position as an abnormal area; obtaining a sensing data set within a specified time period during the operation process, where the sensing data set is a set of data acquired by a sensor, and the specified time period represents a safe traveling time period before the robotic lawn mower gets into the predicament; determining abnormality description information of the abnormal area based on the sensing data set; and determining a target position corresponding to the abnormal area on an operation map, and establishing an association relationship between the target position and the abnormality description information.
An obstacle traversal method and apparatus, and a mowing robot and a storage medium. The method comprises: determining, in the current scene, position information corresponding to at least one obstacle; according to the position information, determining target points respectively corresponding to the at least one obstacle; and generating a mowing path according to the target points respectively corresponding to the at least one obstacle, and controlling a mowing robot to traverse the at least one obstacle according to the mowing path. In the method, target points respectively corresponding to at least one obstacle in the current scene can be determined, and an optimal mowing path is generated according to the target points, such that all obstacles are traversed. Therefore, the working efficiency of a mowing robot can be improved, and the power consumption thereof can be reduced.
The present application relates to a cutter disc assembly (100), and a mower (300), which comprises the cutter disc assembly (100). The cutter disc assembly (100) comprises a cutter disc (10), a blade (20) and a fixing member (30), wherein the blade (20) comprises a connecting end (A) and a cutting end (B) along the length direction thereof; the connecting end (A) is provided with a through hole; the fixing member (30) passes through the through hole to connect the blade (20) to an edge of the cutter disc (10); when the cutter disc (10) rotates, the cutting end (B) at least partially extends from the edge of the cutter disc (10) under the effect of a centrifugal force; in the length direction of the fixing member (30), a first gasket (40) is further disposed between the blade (20) and the cutter disc (10); and two faces of the first gasket (40) facing away from each other are respectively configured to abut against the cutter disc (10) and the blade (20), so as to prevent the blade (20) from colliding with the cutter disc (10), thereby reducing noise.
A01D 34/412 - MowersMowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
A01D 34/63 - MowersMowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
A01D 34/66 - MowersMowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis mounted on a vehicle, e.g. a tractor, or drawn by an animal or a vehicle with two or more cutters
Provided in the present application are an axle structure (20) and a vehicle (1). The vehicle (1) comprises a chassis (10), and the axle structure (20) is arranged on the chassis (10). The axle structure (20) comprises a base (100), a rotating shaft (200), an axle (300) and a limiting structure (130). The rotating shaft (200) is fixed to the base (100). The middle of the axle (300) is rotatably connected to the rotating shaft (200), so that two ends of the axle (300) can rotate vertically relative to the base (100). In the axle structure (20) provided in the present application, the rotating shaft (200) is provided on the base (100), and the axle (300) is rotatably connected to the rotating shaft (200), so that when the vehicle travels on uneven ground, the axle (300) can rotate vertically relative to the base (100), so as to counteract the impact of the uneven ground on the base (100), thereby improving the traveling stability of the vehicle (1).
A walking device (1) and a harvester (1000). The walking device (1) comprises a base (10), a mounting member (20), a walking mechanism (30) and a buffer mechanism (40), wherein the mounting member (20) is mounted on the base (10); the walking mechanism (30) comprises a connecting member (31) and two walking wheels (32), the connecting member (31) being rotatably arranged on the mounting member (20) in a penetrating manner, the two walking wheels (32) being respectively rotatably arranged at opposite ends of the connecting member (31), and a rotating shaft of the connecting member (31) being perpendicular to rotating shafts of the walking wheels (32); and one end of the buffer mechanism (40) is movably connected to the mounting member (20), and the other end thereof is connected to the connecting member (31). In this way, the safety and stability of the walking device (1) in a working state are improved.
B60G 11/16 - Resilient suspensions characterised by arrangement, location, or kind of springs having helical, spiral, or coil springs only characterised by means specially adapted for attaching the spring to axle or sprung part of the vehicle
Disclosed in the embodiments of the present application is an obstacle detection method. The method comprises: acquiring at least one initial image for the current scene; extracting parallax information and semantic segmentation information from the initial image; matching the semantic segmentation information with the parallax information, so as to determine obstacle parallax information in the parallax information; and calculating the position and the size of an obstacle according to the obstacle parallax information. In addition, further provided in the present application are an obstacle detection apparatus, a mowing robot, and a storage medium.
G06V 10/26 - Segmentation of patterns in the image fieldCutting or merging of image elements to establish the pattern region, e.g. clustering-based techniquesDetection of occlusion
Disclosed in the embodiments of the present application is a mowing robot recharging method. The method may comprise: in response to a recharging request for a mowing robot, acquiring the position of the mowing robot; acquiring a preset recharging path and the position of a charging pile; on the basis of the recharging path and the position of the mowing robot, controlling the mowing robot to navigate to the recharging path; and on the basis of the recharging path, the position of the charging pile and the current position of the mowing robot, controlling the mowing robot to execute a recharging task. Therefore, the situation in which a mowing robot frequently rotates at the same position when being recharged on a charging pile causing serious abrasion of turf at the position is reduced, and a lawn can also be protected from being damaged by the mowing robot and the recharging efficiency on the charging pile is ensured.
A route planning method, comprising: acquiring slope data and height data corresponding to a mowing pending area; on the basis of the slope data and the height data, drawing a contour map corresponding to the mowing pending area; and in response to a mowing trigger request for a mowing robot (10), according to the contour map and position information of the mowing robot (10), generating a mowing route corresponding to the mowing robot (10), and on the basis of the mowing route, controlling the mowing robot (10) to execute mowing operation.
Disclosed in embodiments of the present application is a mowing method, comprising: when an unknown obstacle is detected in a mowing operation process of a mowing robot, interrupting a mowing task, and moving around the unknown obstacle to generate a surrounding trajectory; obtaining an operation breakpoint on an initial operation route when the mowing task of the mowing robot is interrupted; on the basis of the operation breakpoint and the surrounding trajectory, determining a remaining operation area in a preset mowing area; according to the operation breakpoint and a preset mowing direction, generating an operation route corresponding to the remaining operation area; and controlling the mowing robot to return to the operation breakpoint from the current position, and on the basis of the operation route, continuing to execute mowing operation. This solution can shorten the working time of the mowing robot and improve the mowing efficiency.
Disclosed in the present application is an intelligent obstacle avoidance method. The method comprises: detecting an obstacle in the current path; according to a detection result, generating a first obstacle avoidance path by means of a first parameter, and controlling a mowing robot to operate; if the obstacle is detected again in the first obstacle avoidance path, generating a second obstacle avoidance path by means of a second parameter, and controlling the mowing robot to operate; and repeating the steps until the obstacle is bypassed. In this way, the obstacle avoidance efficiency and flexibility of a mowing robot are improved.
Disclosed in the embodiments of the present application is a mowing method. The method comprises: acquiring a plurality of preset working areas in response to a mowing trigger request for a mowing robot; according to area information of the working areas, outputting a mowing sequence corresponding to the working areas; on the basis of the mowing sequence, the current position information of the mowing robot and a mowing direction, generating a closed mowing route which covers all working areas, wherein the start point and the end point of the closed mowing route are the same; and on the basis of the closed mowing route, controlling the mowing robot to execute a mowing operation. By means of the method, a mowing route of a mowing robot can be optimized, the electric energy consumed by the mowing robot is reduced, and the mowing efficiency is improved.
The present application discloses a mowing method, comprising: obtaining a preset mowing region; dividing a first region and a second region in the mowing region according to a preset spiral mowing mode, the first region being a spiral mowing region; generating a spiral mowing route corresponding to the first region, and on the basis of a mowing trend corresponding to the spiral mowing route, generating a bow-shaped mowing route corresponding to the second region; and in response to a mowing trigger request for a mowing robot, performing a mowing operation in the mowing region according to the spiral mowing route and the bow-shaped mowing route. According to the solution, the coverage rate of the working area and the mowing efficiency can be improved, and the mowing flexibility is also improved.
An operation map construction method disclosed in embodiments of the present application comprises: laser point cloud data in the environment corresponding to a target map can be collected; according to the laser point cloud data, candidate obstacles are determined in the target map; feature images of the candidate obstacles are acquired, and on the basis of the feature images, a target obstacle is determined from the candidate obstacles; and according to the target obstacle, the target map is divided into an operation area and an non-operation area. Thus, operation map construction efficiency is improved.
According to an intelligent obstacle avoidance method provided by the present application, a mowing robot can operate according to an initial path corresponding to a preset operation mode; when there is an obstacle in the initial path, an arc path running in a current mowing direction is generated, the mowing robot is controlled to operate according to the arc path, and the steps are repeatedly executed till all obstacles are bypassed. In embodiments of the present application, an obstacle avoidance path can be adaptively generated, and the obstacle avoidance efficiency and flexibility of the mowing robot are improved.
Disclosed in embodiments of the present application is a mowing method, comprising: obtaining a preset operation region in response to a mowing trigger request for a mowing robot; dividing the preset operation region to obtain a plurality of operation sub-regions; according to region information of the operation sub-regions, generating a mowing route corresponding to each operation sub-region; and connecting the generated mowing routes, and controlling the mowing robot to perform a mowing operation on the basis of the connected mowing route. According to the mowing method, the route of the mowing robot can be changed to increase the actual working area of the mowing robot, thereby improving the mowing efficiency of the mowing robot.
Embodiments of the present application disclose an abnormal region calibration method and a related device. The method comprises: when a dilemma is detected during an operation process, determining that a current position region is an abnormal region; obtaining a sensing data set in a specified time period during the operation process, wherein the sensing data set refers to a set of data collected by a sensor, and the specified time period is used for representing a safe driving time period before a mowing robot runs into the dilemma; determining abnormal description information of the abnormal region according to the sensing data set; and determining a target position on an operation map corresponding to the abnormal region, and establishing an association relationship between the target position and the abnormal description information. Therefore, according to the method provided in the embodiments of the present application, an abnormal region is determined once related information of an operation region of the mowing robot is obtained according to a sensing device, and the abnormal region is calibrated and an avoidance plan is designed, so that the number of times the mowing robot tips over or runs aground is reduced, and the operation efficiency of the mowing robot is increased.
Embodiments of the present application disclose a path planning method of a mower and a related device. The method comprises: obtaining detection information of the sensor for the operation environment and an original map of the operation environment, wherein the sensor is provided in the operation environment of the mower, the operation environment is an environment for the mower to perform mowing operation, the detection information is used for representing an obstacle existing in the operation environment, and the original map is used for representing the terrain of the operation environment; determining first positioning information of the obstacle according to the detection information; determining a working map of the mower according to the first positioning information and the original map; and determining a traveling route of the mower according to the working map. The embodiments of the present application are used, thereby facilitating improving the accuracy of a detection result, and also facilitating reducing a fault rate of the sensor.
A lawn mower control method and device, a lawn mower, and a storage medium. The method comprises: detecting working data and perception data of a plurality of working sensors provided on a lawn mower, wherein the plurality of working sensors comprise at least two different types of sensors (S101); fusing on the basis of the perception data of the plurality of working sensors to obtain environment data around the lawn mower (S102); when it is detected that any working sensor fails, determining the fault type of the failed sensor according to the working data of the failed sensor and the environment data around the lawn mower, wherein the failed sensor is the working sensor which fails (S103); and if the fault type of the failed sensor is a first fault type, controlling the failed sensor to stop working, and controlling a standby sensor corresponding to the failed sensor to start (S104). A redundant and accurate perception function can be provided, and accurate identification of the fault type and effective processing of a fault can be implemented.
G01D 18/00 - Testing or calibrating apparatus or arrangements provided for in groups
G01D 21/02 - Measuring two or more variables by means not covered by a single other subclass
G06V 10/80 - Fusion, i.e. combining data from various sources at the sensor level, preprocessing level, feature extraction level or classification level
Provided in the present application are an anti-collision device (1) and a robot (1000). The anti-collision device (1) comprises a first connecting member (10), a working structure (20) and a first elastic member (31), wherein the first connecting member (10) is fixedly connected to a robot body (2); the working structure (20) is arranged on the side of the first connecting member (10) away from the robot body (2); the first elastic member (31) is located between the first connecting member (10) and the working structure (20); and the first elastic member (31) becomes deformed when the working structure (20) bears an impact. When the working structure (20) bears an impact, the first elastic member (31) of the anti-collision device (1) of the present application becomes elastically deformed, and thus the working structure (20) is deflected relative to the first connecting member (10), such that an impact force acting on the working structure (20) can be eliminated, thereby reducing the probability of the anti-collision device (1) being damaged when coming into contact with an obstacle.
An off-ground detection device (1) and a harvester (1000). The off-ground detection device (1) comprises a rack (10) and a travel mechanism (20), wherein the travel mechanism (20) is movably arranged on the rack (10), the travel mechanism (20) has a first position (P1) and a second position (P2), which are relative to the rack (10), and when the travel mechanism (20) is in the first position (P1), the harvester (1000) stops operating; and when the travel mechanism (20) is in the second position (P2), the state of the harvester (1000) remains unchanged. In the present application, when the travel mechanism (20) is in the first position (P1), the harvester (1000) is configured to stop operating when the travel mechanism (20) is in an abnormal state, so as to avoid a safety incident when the harvester (1000) is used, such that the safety of the harvester (1000) is improved when same is in an operating state.
A01D 34/63 - MowersMowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
A multi-modal switchable trolley, comprising a trolley body (100), a steering rack (200), a wheel assembly (300), a steering driving module (400), a steering locking structure, and a locking sensing structure (500), wherein the trolley body has a control module that is preset with a plurality of wheel driving programs; the steering rack is rotatably connected to the trolley body; the wheel assembly comprises a hub electric motor (310) and a wheel-type member, the hub electric motor is connected to the steering rack or the trolley body, the wheel-type member is detachably connected to the hub electric motor, and the form of a wheel can be switched by connecting different wheel-type members to the hub electric motor; the steering driving module is configured to drive the steering rack; the steering locking structure can lock the steering rack in a locked position; the locking sensing structure is configured to acquire the position of the steering locking structure and is electrically connected to the control module; and the control module can switch the wheel driving programs according to the position information acquired by the locking sensing structure.
B62D 5/24 - Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle specially adapted for particular type of steering gear or particular application for worm type
09 - Scientific and electric apparatus and instruments
28 - Games; toys; sports equipment
Goods & Services
Telepresence robots; Security surveillance robots;
Laboratory robots; Teaching robots; Humanoid robots with
artificial intelligence for use in scientific research;
Electronic navigational and positioning apparatus and
instruments; Remote-controlled telemetry equipment and
instruments; Surveying apparatus and instruments; Surveying
instruments; Data processing apparatus. Manual smart toys; Radio-controlled toy vehicles; Toy
vehicles; Toy robots; Drones [toys]; Controllers for toys;
Remote-controlled toy vehicles; Smart toys; Smart electronic
toy vehicles; Scale model vehicles.
09 - Scientific and electric apparatus and instruments
Goods & Services
(1) Telepresence robots; security surveillance robots; laboratory robots; teaching robots for use in teaching children to read; teaching robots for use in teaching piano; teaching robots for medical teaching; humanoid robots with artificial intelligence for use in scientific research; humanoid robots with artificial intelligence with electronic navigational and positioning function; laboratory robots with electronic navigational and positioning function; security surveillance robots with electronic navigational and positioning function; telepresence robots with electronic navigational and positioning function; remote-controlled geographic mapping robots; surveying robots; surveying instruments; computers.
