CN106647765A - Planning platform based on mowing robot - Google Patents
Planning platform based on mowing robot Download PDFInfo
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- CN106647765A CN106647765A CN201710025383.1A CN201710025383A CN106647765A CN 106647765 A CN106647765 A CN 106647765A CN 201710025383 A CN201710025383 A CN 201710025383A CN 106647765 A CN106647765 A CN 106647765A
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- G05D1/243—
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- 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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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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Abstract
The invention is suitable for a robot field, and provides a planning platform based on a mowing robot. The planning platform comprises an image boundary identification device, which is used for acquiring an image of a to-be-planned area, is used for processing the image, is used to identify the boundary of the to-be-planned area, and is used to output boundary image information after being processed to a control device; a positioning device, which is used to acquire the main positioning data of the platform to form first positioning information, and is used to output the first positioning information to the control device; an inertia device, which is used to acquire the inertia data of the platform during a moving process, is used to process the inertia data to be the second positioning information of the platform, and is used to output the second positioning information to the control device ; the control device, which is used to process the boundary image information, the second positioning information, and the first positioning information to form the map of the to-be-planned area, is used for route planning according to the map, and is used to control the moving of the platform according to the planned route. The planning platform has advantages of low requirements on operation places, low construction quantity, high mowing efficiency, high mowing coverage, and ability of reducing complexity of devices and costs.
Description
Technical field
The invention belongs to robot field, more particularly to a kind of planning platform based on grass-removing robot.
Background technology
China is with expanding economy, and the area on lawn is increasing sharply, and lawn must periodically carry out mowing and arrange, no
The attractive in appearance of lawn entirety can be then affected, and periodically mowing can also promote the tiller of grass so that and lawn is more closely knit, it is to avoid insect,
The health for perching impact people of the animals such as snake.
Carrying out a kind of common scheme of Boundary Recognition to mowing region at present is：In lawn border and the surrounding of barrier
Embedded wire, the two ends connection charging station of wire, alternating current of the charging station to the logical certain frequency of wire so that wire produces electromagnetism
Signal.Electromagnetic signal can be sensed so as to recognize border when grass-removing robot is near wire.Also have plenty of on border
Upper setting sender unit, the signal of emitter is received when grass-removing robot is near border so as to recognize border.But
This mode needs embedded wire of constructing, big for lawn Area comparison, the more complicated situation in border, and quantities is than larger；
If lawn border condition changes, needs re-start construction, and original wire may unrenewable, very flexible；For
The long situation in border, needs to use a large amount of wires, and cost is higher, and needs to be powered always when using, not energy-saving ring
Protect；Powered the limiting of restriction and wire itself internal resistance etc. by charging station, the total length of laying wire is limited, for total side
Boundary's length is restricted than larger application.
Another kind of scheme is：For sender unit is arranged on border, it needs also exist for certain construction, Er Qiexin
The cost of number emitter itself is higher, and the maintenance cost of sender unit is also higher.If sender unit is adopted
Powered with battery, then need periodic replacement battery, powered according to cable, then the laying of cable itself is needed than larger work
Journey.
Therefore, the common disadvantage of existing grass-removing robot presence is：Construction volume is than larger, very flexible, laying and dimension
Shield high cost, and accurate, intelligentized cutting operation cannot be carried out.
The content of the invention
The embodiment of the present invention provides a kind of planning platform based on grass-removing robot, it is intended to solve construction volume than larger, spirit
Poor activity, laying are high with maintenance cost, and cannot accurate, intelligentized cutting operation problem.
The embodiment of the present invention is achieved in that a kind of planning platform based on grass-removing robot, and platform includes：Image side
Boundary's identifying device, inertial device, positioner, and control device；
Image boundary identifying device, can be used to obtain the image of area to be planned, and image is processed, and be treated with recognizing
The border of planning region, and by the boundary image information output formed after process to control device；
Inertial device, can be used for the inertial data in acquisition platform motion process, and inertial data is processed as into the of platform
Two location informations, and export to control device；
Positioner, can be used for the main location data of acquisition platform, and form the first location information, export to control dress
Put；
Control device, can be processed border image information, the second location information and the first location information, formed and waited to advise
The map in partition domain, carries out according to the map path planning, and according to the path clustering platform motion planned.
The embodiment of the present invention determines the border of area to be planned by way of image recognition, and by inertial device with it is fixed
The combination of position device so as to form the map of area to be planned, and carries out path planning and mobile control obtaining location information；
The planning platform based on grass-removing robot of the present invention is employed, lawn enters one without burying wire, the requirement to Active workings
Step is reduced, and construction volume is less, is reduced using the complexity of grass-removing robot, greatly reduces laying and the cost safeguarded, and
Equipment can automatic identification mowing region border, and automatically generate map and programming movement path so that grass-removing robot can
Build the map on lawn and determine the position of itself, greatly improve the mowing efficiency of grass-removing robot and lift covering of mowing
Rate.
Description of the drawings
Fig. 1 is a kind of implementation environment figure provided in an embodiment of the present invention；
Fig. 2 is a kind of structure chart of planning platform based on grass-removing robot provided in an embodiment of the present invention；
Fig. 3 is the structure chart of another kind of planning platform based on grass-removing robot provided in an embodiment of the present invention.
Specific embodiment
In order that the objects, technical solutions and advantages of the present invention become more apparent, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only to explain the present invention, and
It is not used in the restriction present invention.
The embodiment of the present invention determines the border of area to be planned by way of image recognition, and by inertial device with it is fixed
The combination of position device so as to form the map of area to be planned, and carries out path planning and mobile control obtaining location information；
The planning platform based on grass-removing robot of the present invention is employed, lawn enters one without burying wire, the requirement to Active workings
Step is reduced, and construction volume is less, is reduced using the complexity of grass-removing robot, greatly reduces laying and the cost safeguarded, and
Equipment can automatic identification mowing region border, and automatically generate map and programming movement path so that grass-removing robot can
Build the map on lawn and determine the position of itself, greatly improve the mowing efficiency of grass-removing robot and lift covering of mowing
Rate.
As shown in figure 1, in the present invention is embodied as in environment, the planning platform based on grass-removing robot can pass through
Image boundary knows method for distinguishing along border with certain direction movement (such as counterclockwise), by positioning meter in moving process
Calculation is positioned in real time with corrected Calculation to robot, while the positional information of record delimitation, forms border path；Work as hay mover
Device people covers the mapping completed after a complete circle to whole meadow/lawn.
Charging station in figure can provide electric energy supplement, to ensure the continuation of the journey of planning platform.
Fig. 2 shows a kind of structure chart of planning platform based on grass-removing robot provided in an embodiment of the present invention, and this is put down
Platform includes：Image boundary identifying device 1, positioner 2, inertial device 3, and control device 4.
Wherein, image boundary identifying device 1, can be used to obtain the image of area to be planned, and image is processed, with
The border of identification area to be planned, and by the boundary image information output formed after process to control device 4.Here boundary graph
As information is at least including the relevant location information on the border for having identified.It should be understood that the area to be planned in the present invention
Domain refers mainly to lawn, and the border on lawn mainly includes：Lawn region and non-lawn region (such as enclosure wall, hedge, concrete floor etc.)
Zone of transition；Or the junction in the lawn region cut and the lawn region do not cut；Or cut grass lawn region with
The boundary line etc. between the lawn region of grass was not cut.For the border of above-mentioned various states, image boundary identifying device can be with
It is identified, and the boundary image information output for recognizing is further processed to control device 4.
Positioner 2, can be used for the main location data of acquisition platform, and form the first location information, export to control dress
Put 4.
Inertial device 3, can be used for the inertial data in acquisition platform motion process, and inertial data is processed as into the of platform
Two location informations, and export to control device 4.
Control device 4, can be processed border image information, the second location information and the first location information, and formation is treated
The map of planning region, carries out according to the map path planning, and according to the path clustering platform motion planned.
In embodiments of the present invention, control device mentioned here 4 can be but not limited to microprocessor or microcontroller,
Such as the STM32f4 microcontrollers of ST Microelectronics, can also be other kinds of single-chip microcomputer or DSP, FPGA certainly
Deng being specifically not construed as limiting.
As shown in figure 3, in one embodiment of the invention, control device 4 is further comprised：Amending unit 41 and rule
Draw processing unit 42.
Wherein, amending unit 41, it is coupled with inertial device and positioner, for the second location information and first to be determined
Position information is processed by default correction algorithm, to obtain the 3rd location information of the positional information comprising platform.
Planning processing unit 42, its 3rd location information and the border of image boundary identifying device according to amending unit
Image information builds the map of area to be planned, and carries out path planning, and control platform is by the path motion planned.
In embodiments of the present invention, amending unit 41 and planning processing unit 42 can be the integrated moulds on control device 4
Block, or chip independently, its function can by software, hardware or its be implemented in combination in, specific real
Now it is not construed as limiting in form.
Planning platform based on grass-removing robot provided in an embodiment of the present invention, the requirement to Active workings is further dropped
Low, construction volume is less, greatly reduce laying with safeguard cost, and equipment can automatic identification mowing region border, and
Map and programming movement path, flexible operation, and accurate positioning are automatically generated, intelligence degree is higher.
Used as a specific embodiment of the present invention, it is right otherwise that image boundary identifying device 1 is known using optical bounds
The border on lawn is identified, and it includes：Image acquisition units 11 and graphics processing unit 12.
Wherein, image acquisition units 11, for obtaining the image of area to be planned.Graphics processing unit 12, for treating
The image of planning region is pre-processed, effective information is extracted and is calculated, and forms boundary image information, and is exported to control dress
Put.
It is appreciated that image acquisition units 11 can be camera, such as CCD camera or CMOS camera etc..For example,
In specific implementation environment, CCD camera or CMOS camera can be arranged on the top of grass-removing robot, with certain frequency
Rate carries out IMAQ to robot front region.
Wherein, graphics processing unit 12 is pre-processed to the acquired image of image acquisition units 11, for example, filter, in detail
Carefully, distortions correction can be included, noise and image enhaucament etc. is removed.
Certainly as a critical function module of the present invention, graphics processing unit 12 is additionally operable to effectively believe image
The extraction and calculating of breath.In detail, the extraction of effective information can be feature information extraction, here mainly for the border on lawn
Corresponding image is caught and is extracted, and graphics processing unit 12 can obtain colouring information, brightness information in the middle of image etc.,
And processed by preset rules.For example, graphics processing unit 12 can be counted to the colouring information in image, and be calculated
The distribution situation of color, for example, the mass-tone on meadow is green, it is possible to distinguish other objects in environment, be therefore, it can
Under rgb color pattern, the probability that green occurs in the middle of all colours is calculated, and lawn is determined whether according to its probability distribution
Border.Certainly, in the present invention, border, for example, graphics processing unit 12 can also be determined whether by the texture on lawn
Brightness information in image is counted, and calculates the distribution situation of shading value, further sentenced according to the distribution situation
Whether the disconnected image includes the boundary information on lawn.Secondly, graphics processing unit 12 can also calculate area to be planned (lawn)
Border and planning platform relative position.
In embodiments of the present invention, positioner 2 can be used for the main location data of acquisition platform, form the first positioning letter
Breath, and export to control device 4, to be processed by control device 4；The main location data of the collection of positioner 2 can determine that
The positional information of planning platform, control device 4 according to this data can determine that planning platform location and recorded so as to
In follow-up map structuring and path planning.
In an embodiment of the present invention, positioner 2 is GPS positioning unit 201, and main location data is GPS location
Data.Wherein, GPS positioning unit 201 can the current GPS location data of Real-time Collection platform, be by the GPS location data processing
First location information of the positional information comprising the platform, and export to the amending unit 41 of control device 4.
In another embodiment of the invention, positioner 2 is binocular positioning unit 202, and it can gather to default in and treat
The image information of the borderline mark of planning region, wherein, main location data is on the border for default in area to be planned
Mark image information.Therefore, binocular positioning unit 202 can be used to obtaining and recognizing the border for defaulting in area to be planned
On mark image information, and formed including at least platform positional information the first location information, with export to control
The amending unit 41 of device.
In one embodiment of the invention, inertial device 3 is further introduced in planning platform, with to planning platform
Movement state information is acquired and process.
In conventional robot, typically will not be using inertia system as a kind of independent positioning means, because inertia
The intrinsic integration accumulated error of system, can only ensure the positioning precision of short time, if without corresponding assisted location method, or do not have
There is corresponding cumulative errors correction measure, it is impossible to which independence is used as positioner in general robot.And it is of the invention
Inertial device 3 is introduced, 3 short time of inertial device positioning precision height, the continuous characteristic of data stabilization is make use of, can be solved just
When planning platform is positioned by GPS positioning unit 201 or binocular positioning unit 202, it is possible that short time positioning
Interference.Specifically, for example when being positioned by GPS positioning unit 201, it is possible that gps signal is not good or regional area
Interference situation (such as multipath effect) bigger than normal, may result in the unstable of positioning, cause the system cannot normal work.Or
, when being positioned by binocular positioning unit 202, often there is the shooting visual field due to carrying out IMAQ by camera in person
Blocked by other objects (such as trees), lead to not normally capture marker.
Therefore, for these reasons, it is fixed with GPS positioning unit 201 or binocular by inertial device 3 in the embodiment of the present invention
Bit location 202 is combined positioning so that even if there are above-mentioned some improper factors, system be also obtained in that precision compared with
High, stable location information.
In one embodiment of the invention, inertial device 3 includes：
Inertial data collecting unit 31, for gathering the inertial data that planning platform is formed in motion process；And
Inertial data processing unit 32, for processing inertial data, to form the motion shape comprising planning platform
Second location information of state information and positional information, and export to control device 4.
In embodiments of the present invention, inertial data is included but is not limited to：Acceleration information, angular velocity data and ground magnetic number
According to.Correspondingly, inertial data collecting unit 31, can be inertial sensor, and it may include：
Can be acceleration transducer, such as MEMS for obtaining the acceleration acquisition module of the acceleration information of platform
Accelerometer etc.；
Can be angular-rate sensor, such as MEMS for obtaining the angular velocity detecting module of the angular velocity data of platform
Gyroscope etc.；And
Can be magnetometric sensor for obtaining the earth magnetism acquisition module of the geomagnetic data of platform, such as MEMS magnetometers
Deng.
Each module of inertial data collecting unit 31 above realizes the acceleration to planning platform, earth magnetism, and angle
Speed is measured, and the data that measurement is obtained further are sent to inertial data processing unit 32, and inertial data process is single
Unit 32 further by these data processings be the orientation information comprising planning platform, attitude information, velocity information second positioning
Information, therefore, inertial data processing unit 32 here also includes：
Data fusion module, for carrying out fusion treatment to inertial data, to obtain orientation information, attitude comprising platform
Second location information of information, velocity information and positional information, and the second location information is exported to amending unit 41, with
First location information is merged, correcting process, to obtain stable, higher positioning accuracy the 3rd location information, and is exported
To planning processing unit 42.
Fusion, correcting process for data or information, it is detailed, when using GPS positioning device 201, for example, can lead to
Cross the acceleration information processed Jing and carry out quadratic integral and obtain positional information of the platform based on inertia measurement, and be based on
The positional information based on GPS location data that the measurement of GPS positioning device 201 is obtained, and melted with certain data anastomosing algorithm
Close the accurate location information that two positional informations obtain platform.
Again for example, when using binocular positioner 202, for example, can be carried out by the acceleration processed Jing secondary
Integration obtains positional information of the platform based on inertia measurement, and the position obtained based on binocular camera based on binocular range finding is believed
Breath, and the positional information that two positional informations obtain robot is merged with certain data anastomosing algorithm.
What the embodiment of the present invention illustrated below was adopted a kind of is merged inertial data and GPS location data
Computational methods：
1st, status predication：
X (k | k-1)=AX (k-1 | k-1)+BU (k)
In formula, X (k | k-1) is the prediction based on upper moment state to current state, and U (k) is current input, at this
In embodiment, position and speed of the state using both direction on horizontal plane, input is the acceleration on the horizontal plane through correcting
Degree, i.e.,
X=(Px Py Vx Vy)T
U=(ax ay)T
A is state-transition matrix, and B is control input matrix, and Δ t is sampling time interval
2nd, error prediction：
P (k | k-1)=AP (k-1 | k-1) AT+Q(k)
In formula, P (k | k-1) is the predicted estimate based on upper moment error to error current, and Q (k) is systematic procedure
Error co-variance matrix, determines according to the process model of system.
3rd, kalman gain is calculated：
In formula, Kg (k) is the kalman gain matrix at current time, and H is observing matrix, and R (k) is observation error covariance
Matrix, it is position and the speed on the horizontal plane that GPS is measured that here we select observation vector, then：
Y=(Px Py Vx Vy)T
Because state vector is consistent with measurement vector, observing matrix is unit matrix, and observation error covariance matrix is according to GPS
Measure error determine.
4th, state updates：
X (k | k)=X (k | k-1)+Kg (k) (Y (k)-HX (k | k-1))
5th, error update：
P (k | k)=(I-Kg (k) H) P (k | k-1)
In formula, I is unit matrix.
Certainly it is above-mentioned to be merely illustrative a kind of adoptable computation rule of the present invention, for embodying embodiment of the present invention institute
The realizability of the scheme of offer, is specifically not construed as limiting.
Then, plan that processing unit 42 gets the 3rd location information, known according to the 3rd location information and image boundary
The map of the boundary image information architecture area to be planned of other device 1, and carry out path planning, and control platform is by being planned
Path motion.
Therefore, the embodiment of the present invention determines the border of area to be planned by way of image recognition, and auxiliary by inertia
Help positioner to obtain accurate location information, so as to form the map of area to be planned, and carry out path planning and movement
Control；The planning platform based on grass-removing robot of the present invention is employed, lawn is without burying wire, the requirement to Active workings
Further reduce, construction volume is less, reduce using the complexity of grass-removing robot, greatly reduce laying and the cost safeguarded,
And equipment can automatic identification mowing region border, and automatically generate map and programming movement path so that grass-removing robot
The map that lawn can be built and the position for determining itself, greatly improve the mowing efficiency of grass-removing robot and are lifted and mow
Coverage rate.
In a preferred embodiment of the invention, control device 4 also includes：
Multitask control unit, if operation is finished current area to be planned, according to default mission bit stream and treats
The location information of planning region, control platform is moved to the area to be planned that the next one was not carried out operation.For example, this rule is carried
The grass-removing robot for drawing platform is completed after the cutting operation on a certain piece of lawn, if the mission bit stream in task list also has other
The mowing task on lawn, grass-removing robot goes to next lawn to perform work of mowing automatically according to the GPS location information on the lawn
Industry, until all of cutting operation is all completed, intelligence degree is high, and Consumer's Experience is good.
In a preferred embodiment of the invention, control device 4 also includes：
Electricity control unit, during platform operations, if not enough power supply, according to the positional information of default charging station,
And the location information of platform goes to charging station to be charged.
In an embodiment of the present invention, positioner 2 is GPS positioning unit 201, then be equipped with foregoing invention enforcement
The grass-removing robot of the planning platform provided in example, it is recognized by image boundary and is exemplified below with the implementation steps of positioning：
A1. after grass-removing robot starts, first the position of itself is determined according to GPS positioning unit 201, has then been detected whether
The map on current lawn, if it is not, execution step B1, otherwise execution step C1；
B1. grass-removing robot finds border along certain fixed-direction (such as north), finds behind border along border toward necessarily
Direction (such as counterclockwise) takes a round, the positional information of record delimitation when walking.After completing a circle, control device 4 judges the side
Boundary is the border of barrier in the external boundary on lawn or lawn (such as central flower bed etc.).Determination methods are according to grass cutter
People is in closed boundary or the outside of closed boundary, if inside closed boundary, showing the border for the outer of lawn
Border, the otherwise border are the border of barrier in lawn.If the border found is the border of barrier, grass-removing robot changes
Change direction (such as towards south), repeat step B1, the external boundary until finding lawn；
C1. grass-removing robot carries out mowing path planning according to the shape on lawn, is then performed according to the path planned
Cutting operation；
Preferably, following two steps are further comprised：
D1. grass-removing robot is completed after the cutting operation on a certain piece of lawn, if there is other lawns in task list
Mowing task, grass-removing robot goes to next lawn to perform cutting operation, Zhi Daosuo automatically according to the gps coordinate on the lawn
Some cutting operations are all completed；
E1. perform in mowing task process in grass-removing robot, if there is not enough power supply, can be according to the position of the charging station of record
Put and go to automatically charging.
In another embodiment of the invention, positioner 2 is binocular positioning unit 202, then be equipped with foregoing invention
The grass-removing robot of the planning platform provided in embodiment, it recognizes the implementation steps citing (example with positioning by image boundary
Mark post number is 2 in son) it is as follows：
A2. after grass-removing robot starts, the map on current lawn is first detected whether, if it is not, execution step B2,
Otherwise execution step C2；
B2. the binocular camera head rotation sweep one of grass-removing robot is enclosed, and finds mark post (here using mark post as mark
Thing), a mark post for moving towards nearest after mark post is found, then the distance with an other bar is measured according to binocular range measurement principle.
Then method for distinguishing is known along border with certain direction walking (such as counterclockwise) by image boundary, is led in the process of walking
Cross location Calculation in real time to position robot with amending unit, while the positional information of record delimitation；Work as grass-removing robot
Cover the mapping completed after a complete circle to whole lawn；
C2. grass-removing robot carries out mowing path planning according to the shape on lawn, is then performed according to the path planned
Cutting operation；
Preferably, following two steps are further comprised：
D2. perform in mowing task process in grass-removing robot, if there is not enough power supply, can be according to the position of the charging station of record
Put and go to automatically charging.
These are only presently preferred embodiments of the present invention, not to limit the present invention, all spirit in the present invention and
Any modification, equivalent and improvement for being made within principle etc., should be included within the scope of the present invention.
Claims (10)
1. a kind of planning platform based on grass-removing robot, it is characterised in that platform includes：Image boundary identifying device, inertia
Device, positioner, and control device；
Image boundary identifying device, can be used to obtain the image of area to be planned, and image is processed, to be planned to recognize
The border in region, and by the boundary image information output formed after process to control device；
Positioner, can be used for the main location data of acquisition platform, form the first location information, and export to control device；
Inertial device, can be used for the inertial data in acquisition platform motion process, inertial data is processed as into the second of platform and is determined
Position information, and export to control device；
Control device, can be processed border image information, the second location information and the first location information, form area to be planned
The map in domain, carries out according to the map path planning, and according to the path clustering platform motion planned.
2. platform as claimed in claim 1, it is characterised in that control device includes：
Amending unit, couples with inertial device and positioner, for the second location information and the first location information to be pressed into default
Correction algorithm processed, with obtain comprising platform positional information the 3rd location information；
Planning processing unit, according to the 3rd location information and the boundary image information of image boundary identifying device of amending unit
The map of area to be planned is built, and carries out path planning, and control platform is by the path motion planned.
3. platform as claimed in claim 1, it is characterised in that Boundary Recognition device includes：Image acquisition units and image procossing
Unit；
Image acquisition units, for obtaining the image of area to be planned；And
Graphics processing unit, for being pre-processed to the image of area to be planned, effective information extract and calculate, formed border
Image information, and export to control device.
4. platform as claimed in claim 2, it is characterised in that positioner includes GPS positioning unit, main location data is fixed for GPS
Position data；
GPS positioning unit, is the letter of the position comprising platform by GPS location data processing for the GPS location data of acquisition platform
First location information of breath, and export to the amending unit of control device.
5. platform as claimed in claim 2, it is characterised in that positioner includes binocular positioning unit, and it can gather to default in and treat
The image information of the borderline mark of planning region；
Binocular positioning unit, for obtaining and recognizes the image information of the borderline mark for defaulting in area to be planned, and
The first location information of the positional information including at least platform is formed, to export to the amending unit of control device.
6. platform as claimed in claim 1, it is characterised in that inertial device includes：
Inertial data collecting unit, for the inertial data formed in acquisition platform motion process；And
Inertial data processing unit, for processing inertial data, to form the movement state information comprising platform and position
Second location information of confidence breath, and export to control device.
7. platform as claimed in claim 6, it is characterised in that inertial data includes：Acceleration information, angular velocity data and earth magnetism
Data；
Inertial data collecting unit includes：
For obtaining the acceleration acquisition module of the acceleration information of platform；
For obtaining the angular velocity detecting module of the angular velocity data of platform；And
For obtaining the earth magnetism acquisition module of the geomagnetic data of platform.
8. such as the platform of claim 2 or 6, it is characterised in that movement state information includes：Orientation information, attitude information, speed
Information；
Inertial data processing unit includes：
Data fusion module, for carrying out fusion treatment to inertial data, to obtain the orientation information comprising platform, attitude letter
Second location information of breath, velocity information and positional information, and the second location information is exported to amending unit.
9. platform as claimed in claim 1, it is characterised in that control device also includes：
Multitask control unit, if operation is finished current area to be planned, according to default mission bit stream and to be planned
The location information in region, control platform is moved to the area to be planned that the next one was not carried out operation.
10. platform as claimed in claim 1, it is characterised in that control device also includes：
Electricity control unit, it is according to the positional information of default charging station and flat if not enough power supply during platform operations
The location information of platform goes to charging station to be charged.
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