CN107390686A - A kind of grass-removing robot control method and automatically control mowing system - Google Patents
A kind of grass-removing robot control method and automatically control mowing system Download PDFInfo
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- CN107390686A CN107390686A CN201710580317.0A CN201710580317A CN107390686A CN 107390686 A CN107390686 A CN 107390686A CN 201710580317 A CN201710580317 A CN 201710580317A CN 107390686 A CN107390686 A CN 107390686A
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- 238000000034 method Methods 0.000 title claims abstract description 36
- 230000004888 barrier function Effects 0.000 claims description 22
- 238000012544 monitoring process Methods 0.000 claims description 17
- 244000025254 Cannabis sativa Species 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 230000008859 change Effects 0.000 description 5
- 238000005520 cutting process Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 3
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- 208000010877 cognitive disease Diseases 0.000 description 2
- 238000013461 design Methods 0.000 description 2
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- 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
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
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- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- 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
- G05D1/0231—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, 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
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Abstract
The present invention is applied to intelligent mowing apparatus field, provide a kind of grass-removing robot control method and automatically control mowing system, by the monitor video for obtaining lawn, and lawn map is generated according to the monitor video, further according to the mowing route of the lawn map planning grass-removing robot, on the other hand, the corresponding relation of the grass-removing robot direction of motion actual on lawn and image moving direction of the grass-removing robot on the map of lawn is established, and then according to the corresponding relation grass-removing robot can be controlled to be mowed on lawn along programme path.The state on grass-removing robot and lawn can be obtained accurately, in real time by monitor video, and then it can accurately plan mowing route and accurately control grass-removing robot to be mowed along programme path, the occurrence of repetition is mowed is greatly reduced, so that mowing efficiency greatly improves, also it is avoided that leakage occur cuts region.
Description
Technical field
The invention belongs to intelligent mowing apparatus field, more particularly to a kind of grass-removing robot control method and automatically controlling is cut
Careless system.
Background technology
In the last few years, increasing considerably with city's green areas and family's garden meadow, the market of hay mover just by
No matter in public or family lawn is required for gradual change is big, and especially in European and American developed countries, the floor space on lawn is very big,
Substantial amounts of hay mover carries out maintenance trimming to lawn.Hay mover species is many in the market, can be divided into by its mode of operation
Intellectual hay mover and non intelligent formula hay mover, traditional non intelligent formula hay mover are broadly divided into hand propelled and sitting type；Intelligence
Hay mover, i.e. grass-removing robot, being capable of utonomous working for robot technology to be applied to a kind of product in hay mover field.Pass
Unite non intelligent mowing machine operation when it is time-consuming, laborious, while also produce very big noise pollution, and grass-removing robot can be carried out independently
Cutting operation, so as to substitute artificial trimming well.With market development, grass-removing robot will gradually substitute tradition non intelligent
Hay mover.
In the research and practice to prior art, the inventors found that problems be present in prior art, it is existing
Some grass-removing robots are to bury wire by the surrounding on lawn border and barrier mostly, and wire, which is powered, produces electromagnetism letter
Number, hay mover close to wire inductive electromagnetic signal so as to identify lawn border, grass-removing robot lawn border interior edge with
Machine path is mowed, and is run into border and is gone to or turn, and also has part grass-removing robot to be mowed using GPS coarse positionings to improve
The efficiency on the traversal lawn of machine.But mowed along random walk and occur that repetition is mowed and leakage situation about cutting, and GPS location due to compared with
Big error, can play a part of it is limited, so as to cause the presence mowing efficiency of prior art it is low, it is easy occur leakage cut asking for region
Topic.
The content of the invention
The present invention provides a kind of grass-removing robot control method and automatically controls mowing system, it is intended to solves prior art
In the presence of mowing efficiency it is low, easy there is the problem of region is cut in leakage.
The present invention is achieved in that a kind of grass-removing robot control method, and methods described comprises the following steps：
Obtain the monitor video on lawn；
Lawn map is generated according to the monitor video；
Mowing route is planned according to the lawn map；
The direction of motion of the grass-removing robot on the lawn is established with the image of the grass-removing robot described
The corresponding relation of image moving direction on the map of lawn；
The grass-removing robot is controlled to be mowed along the mowing route according to the corresponding relation.
The present invention also provides one kind and automatically controls mowing system, and the system includes grass-removing robot, camera and control
Unit；
The grass-removing robot is used to mow under the control of described control unit；
The camera is used for the monitor video for shooting lawn；
Described control unit is used to perform following steps：
Obtain the monitor video；
Lawn map is generated according to the monitor video；
Mowing route is planned according to the lawn map；
The direction of motion of the grass-removing robot on the lawn is established with the image of the grass-removing robot described
The corresponding relation of image moving direction on the map of lawn；
The grass-removing robot is controlled to be mowed along the mowing route according to the corresponding relation.
A kind of grass-removing robot control method provided by the invention and mowing system is automatically controlled, by the prison for obtaining lawn
Video is controlled, and lawn map is generated according to the monitor video, the mowing route of grass-removing robot is planned further according to the lawn map,
On the other hand, the grass-removing robot direction of motion actual on lawn is established, with image of the grass-removing robot on the map of lawn
The corresponding relation of moving direction, and then according to the corresponding relation grass-removing robot can be controlled to be carried out on lawn along programme path
Mow.The state on grass-removing robot and lawn can be obtained accurately, in real time by monitor video, and then can accurately be planned
Mowing route simultaneously accurately controls grass-removing robot to be mowed along programme path, the occurrence of repetition is mowed is greatly reduced so that cut
Careless efficiency greatly improves, and is also avoided that leakage occur cuts region.
Brief description of the drawings
Fig. 1 is a kind of implementation environment figure of grass-removing robot control method provided in an embodiment of the present invention；
Fig. 2 is a kind of implementation process figure of grass-removing robot control method provided in an embodiment of the present invention；
Fig. 3 is the implementation process figure provided in an embodiment of the present invention that mowing route is planned according to the lawn map；
Fig. 4 be it is provided in an embodiment of the present invention establish the direction of motion of the grass-removing robot on the lawn with it is described
The implementation process figure of the corresponding relation of image moving direction of the image of grass-removing robot on the lawn map；
Fig. 5 is provided in an embodiment of the present invention to control the grass-removing robot along the mowing road according to the corresponding relation
The implementation process figure that line is mowed；
Fig. 6 is provided in an embodiment of the present invention to control the grass-removing robot along the mowing road according to the corresponding relation
Another implementation process figure that line is mowed.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
A kind of grass-removing robot control method provided by the invention and mowing system is automatically controlled, by the prison for obtaining lawn
Video is controlled, and lawn map is generated according to the monitor video, the mowing route of grass-removing robot is planned further according to the lawn map,
On the other hand, the grass-removing robot direction of motion actual on lawn is established, with image of the grass-removing robot on the map of lawn
The corresponding relation of moving direction, and then according to the corresponding relation grass-removing robot can be controlled to be carried out on lawn along programme path
Mow.The state on grass-removing robot and lawn can be obtained accurately, in real time by monitor video, and then can accurately be planned
Mowing route simultaneously accurately controls grass-removing robot to be mowed along programme path, the occurrence of repetition is mowed is greatly reduced so that cut
Careless efficiency greatly improves, and is also avoided that leakage occur cuts region.
Fig. 1 shows a kind of implementation environment of grass-removing robot control method provided in an embodiment of the present invention, for the ease of
Illustrate, the content related to the embodiment of the present invention is only shown, details are as follows in figure：
The implementation environment includes camera 11, control terminal 12, grass-removing robot 13 and lawn 14.
Wherein, camera 11 is used for the monitor video for shooting lawn 14, may be mounted on lawn 14 or around lawn 14,
For the monitor video on preferably shooting lawn 14, camera 11 needs have certain difference in height with lawn 14.Due to camera 11
The scope of shooting monitor video can not possibly be overlapped just with lawn 14 substantially, therefore it is required that camera 11 shoots the model of monitor video
The scope more than or equal to lawn is enclosed, the quantity of camera 11 is not limited to one, if the scope of lawn 14 is larger, can use more
Individual camera 11 shoots the monitor video in 14 each region of lawn respectively, recycles the monitor video in each region to synthesize complete grass
The monitor video on level ground 14.
Control terminal 12 is connected with camera 11 by wired or wireless mode, and the monitor video that camera 11 is shot passes
Transport to control terminal 12 so that control terminal 12 can perform subsequent step.Control terminal 12 passes through wired with grass-removing robot
Or wirelessly connect, so as to realize data interaction, control terminal 12 sends data with to grass cutter to grass-removing robot
People 13 is controlled, and sensor (such as odometer, accelerometer, gyroscope, magnetic force can be provided with grass-removing robot 13
Meter, temperature sensor, sonac, GPS, infrared sensor, crash sensor etc.), the data that these sensors obtain can
To be sent to control terminal, allow control terminal 12 using the execution of these data or optimal control process.
It should be noted that camera 11, control terminal 12, the three of grass-removing robot 13 can be separate productions
Product, camera 11 and control terminal 12 can also be designed in a product, or will control terminal 12 and grass-removing robot 13
Design is in a product, but camera 11 should take split to design therebetween with grass-removing robot 12.
Fig. 2 shows a kind of schematic flow sheet for grass-removing robot control method that one embodiment of the present of invention provides,
Details are as follows：
Step S201, obtain the monitor video on lawn.
In embodiments of the present invention, the monitor video on lawn 14 is obtained by camera 11, camera 11 can be aimed at
The camera or video camera implementing this grass-removing robot control method and set or originally existing monitoring camera or
Anti-theft image pick-up is first-class, as long as the monitor video on lawn 14 can be obtained, is not limited specifically.
Step S202, lawn map is generated according to the monitor video.
In embodiments of the present invention, after the monitor video on lawn 14 is obtained, at least frame in the monitor video is extracted
Image carries out computing, the map of generation monitor video institute overlay area, i.e. lawn map.
It should be noted that step S202 and it need not be carried out once in each mow, as long as the peace of camera 11
The situation on holding position and lawn 14 does not change, it is not necessary to regenerates lawn map, is calculated so as to reduce
Burden, improve arithmetic speed.It could be arranged to perform step S202 when implementing this grass-removing robot control method for the first time, it
(such as every seven days) are periodically executed a step S202 at regular intervals afterwards, can also increase user's manual operation button,
When the installation site change of camera 11 or the situation of lawn 14 change, user can send manually performs step S202's
Instruction.
Step S203, mowing route is planned according to the lawn map.
, then can be according to the mowing route of the lawn map planning grass-removing robot 13 after lawn map is generated, route can
To be the route of screw type route, Reciprocatory route or other forms, it is not limited specifically.When planning mowing route, may be used also
The circuit spacing of mowing route is designed with the mowing peak width according to grass-removing robot 13, repeats to mow so as to reduce as far as possible
Or the situation that leakage is mowed, improve mowing efficiency and mowing effect.
It should be noted that step S203 and it need not be carried out once in each mow, with step S202 similarly, only
Lawn map is wanted not change, grass-removing robot 13 is not changed, it is not necessary to mowing route is planned again, so as to
To reduce computation burden, improve arithmetic speed.It could be arranged to implement to perform step during this grass-removing robot control method for the first time
Rapid S203, is periodically executed afterwards, also increases the manually operated function of performing step S203 of user.
Step S204, establish the shadow of the direction of motion of the grass-removing robot on the lawn and the grass-removing robot
As the corresponding relation of the image moving direction on the lawn map
In embodiments of the present invention, because control terminal 12 can be according in monitor video, the image of grass-removing robot 13 exists
Image moving direction on the map of lawn, to control the direction of motion actual on lawn 14 of grass-removing robot 13, therefore in order to
Accurately control can be carried out to the motion state of grass-removing robot 13, it is necessary to establish the reality when being moved on lawn of grass-removing robot 13
The direction of motion on border, with image moving direction of the image of now grass-removing robot 13 on the map of lawn therebetween corresponding
Relation.
The actual direction of motion of grass-removing robot 13 can by sensor on grass-removing robot 13 (such as odometer,
Accelerometer, gyroscope, magnetometer, GPS etc.) obtain, the image moving direction of grass-removing robot 13 can be by lawn
Set plane coordinate system to define on map, can also be defined according to the true bearing on lawn.
It should be noted that, all held when step S204 is also without each mow with step S202 and step S203 similarly
Row is once.
Step S205, the grass-removing robot is controlled to be mowed along the mowing route according to the corresponding relation.
In embodiments of the present invention, in the actual motion side of existing lawn map, mowing route and grass-removing robot 13
To with the corresponding relation of image moving direction in the case of, you can grass-removing robot 13 is controlled along planning according to the corresponding relation
Mowing route mowed.
A kind of grass-removing robot control method provided by the invention, by obtaining the monitor video on lawn, and according to the prison
Video generation lawn map is controlled, further according to the mowing route of the lawn map planning grass-removing robot, on the other hand, establishes and mows
The robot direction of motion actual on lawn, it is corresponding with image moving direction of the grass-removing robot on the map of lawn to close
System, and then according to the corresponding relation grass-removing robot can be controlled to be mowed on lawn along programme path.Regarded by monitoring
Frequency can accurately and real-time obtain the state on grass-removing robot and lawn, and then can accurately plan mowing route and accurate
Control grass-removing robot is mowed along programme path, and the occurrence of repetition is mowed is greatly reduced so that and mowing efficiency greatly improves,
Also it is avoided that leakage occur cuts region.
As shown in figure 3, in one embodiment of the invention, step S202 is according to monitor video generation lawn
Figure, is specifically included：
Step S301, identify the border on lawn in the monitor video.
In embodiments of the present invention, due to requiring that the monitoring range of monitor video is greater than or scope equal to lawn 14,
And the shape of lawn 14 is all irregular under normal circumstances, thus identify that behind the border on lawn 14, grass-removing robot can be controlled
13 mow in the range of lawn 14, so as to reduce the useless movement travel of grass-removing robot 13, improve mowing efficiency.
Step S302, the lawn map containing lawn boundary line is generated according to the monitor video and the border.
In embodiments of the present invention, after the border on lawn 14 is identified, then by lawn boundary line when establishing lawn map
It is plotted in the lawn map of generation,, can be with by the mowing road of planning when planning mowing route so as to perform step S203
Line is limited to inside the boundary line of lawn, can be to avoid mowing so as to when controlling grass-removing robot 13 to be mowed along mowing route
Robot 13 leaves lawn scope, reduces useless movement travel, improves mowing efficiency.
As shown in figure 4, in one embodiment of the invention, step S204 establishes the grass-removing robot on the lawn
On the direction of motion and the grass-removing robot image moving direction of the image on the lawn map corresponding relation, tool
Body includes：
Step S401, control the grass-removing robot to be moved along a straight line in either direction on the lawn, and obtain
The first straight line direction of motion of the grass-removing robot on the lawn during this, and the image of the grass-removing robot exist
The first image moving direction on the lawn map.
In embodiments of the present invention, control grass-removing robot 13 to keep straight on along any one direction on lawn 14 first to transport
It is dynamic, the direction of motion of the linear motion is obtained by the sensor on grass-removing robot 13 during this period, is moved along a straight line with this
Direction is the first straight line direction of motion.Meanwhile the image of grass-removing robot 13 is obtained on lawn by camera 11 during this period
Moving direction on map, using this direction as the first image moving direction.
Step S402, the grass-removing robot is controlled to be moved along the second straight line vertical with the first straight line direction of motion
Direction is moved along a straight line, and second image of the image on the lawn map of the grass-removing robot moves during obtaining this
Dynamic direction.
In embodiments of the present invention, after execution of step S401, using the sensor on grass-removing robot 13, control is cut
Careless robot 13 turns to 90 degree, is moved along a straight line towards the direction vertical with the first straight line direction of motion, passed through during this period
The sensor of grass-removing robot 13 obtains the direction of motion of linear motion, using this direction as the second straight line direction of motion.Meanwhile herein
Period obtains moving direction of the image of grass-removing robot 13 on the map of lawn by camera 11, using this direction as the second shadow
As moving direction.
Step S403, moved according to the first straight line direction of motion, the second straight line direction of motion, first image
Dynamic direction and the second image moving direction, calculate the direction of motion of the grass-removing robot on the lawn and are cut with described
The corresponding relation of image moving direction of the image of careless robot on the lawn map.
Moved obtaining the first straight line direction of motion, the second straight line direction of motion, the first image moving direction and the second image
, just can be by the way that each direction of motion of the grass-removing robot 13 on lawn 14 be calculated with its image on lawn behind dynamic direction
The corresponding relation of moving direction on map, so as to shifting of the image on the map of lawn by monitoring grass-removing robot 13
Dynamic direction, learns its actual motion direction on lawn 14.
As shown in figure 5, in one embodiment of the invention, step S205 controls the mowing according to the corresponding relation
Mowing route is mowed described in Robot, is specifically included：
Step S501, the direction of motion of the grass-removing robot is controlled according to the corresponding relation, so that the hay mover
Device people is along the mowing line-of-road movement.
In embodiments of the present invention, according to the direction of motion of the grass-removing robot 13 on lawn 14 with its image on lawn
The corresponding relation of moving direction on map, its actual fortune can be learnt by monitoring the image moving direction of grass-removing robot 13
Dynamic direction, so as to which according to the corresponding relation, its actual fortune is controlled by monitoring the image moving direction of grass-removing robot 13
Dynamic direction, so as to control mowing route of the grass-removing robot 13 along planning to be mowed.
Step S502, while the grass-removing robot is along the mowing line-of-road movement, control the grass-removing robot
Mowed.
In embodiments of the present invention, during grass-removing robot 13 is along mowing line-of-road movement, grass-removing robot is controlled
13 are mowed, and complete the grass cutting action of mowing route overlay area.The mowing-apparatus of grass-removing robot 13 can be controlled whole
Open, can also be by recording the mowing route of grass-removing robot 13, control mowing-apparatus only passes through first in grass-removing robot 13
Opened on the route crossed, and mowing-apparatus is then closed when again passing by certain section of route or region, to save grass-removing robot 13
Electricity, extend grass-removing robot 13 cruising time.
Step S503, the movement locus of the grass-removing robot is monitored, if the movement locus deviates the mowing route,
The direction of motion of the grass-removing robot is then adjusted, so that the grass-removing robot returns to the mowing route.
In embodiments of the present invention, by the movement locus of grass-removing robot 13 may deviate planned mowing road
Line, thus can by monitoring the movement locus of grass-removing robot 13 in real time, when grass-removing robot 13 deviates mowing route, and
When adjust the direction of motion of grass-removing robot 13, return it to the mowing route of planning, completed so as to continue on mowing route
Grass cutting action.
As shown in fig. 6, in one embodiment of the invention, step S205 controls the mowing according to the corresponding relation
Mowing route is mowed described in Robot, is specifically also included：
Step S601, if barrier be present in the direction of motion of the grass-removing robot, control the grass-removing robot
Along the border movement of the barrier until the mowing route is reentered, to get around the barrier.
In embodiments of the present invention, might have barrier on lawn 14, some barriers be fixed on lawn 14 certain
On individual position, if this barrier has just been identified by monitor video before mowing route is planned, mowed in planning
Just mowing route can be made to get around the barrier during route, it is of course also possible to by mowing route planning on barrier, and pass through
Perform step S601, border movement of the control grass-removing robot 13 along barrier, until grass-removing robot 13 is reentered and cut
Careless route.
For being not present in before mowing route is planned on lawn 14, although or in the presence of the obstacle that not can recognize that
Thing, then mowing route be just likely on these barriers, now can control grass-removing robot 13 by performing step 601
Along the border movement of barrier, until grass-removing robot 13 reenters mowing route.Grass-removing robot 13 is controlled along barrier
Hinder the border movement of thing, can be by monitor video cognitive disorders thing and grass-removing robot 13, so as to control grass-removing robot 13
Realized along barrier border movement, the sonac, infrared sensor, collision sensing of grass-removing robot 13 can be passed through
The sensors such as device carry out cognitive disorders thing, so as to border movement of the control machine people along barrier.
Step S602, if shelter be present in the lawn, the monitor video monitoring blind area is present, then cut when described
When careless robot enters the monitoring blind area, the grass-removing robot is controlled to move by inertial navigation, until the hay mover
Device people leaves the monitoring blind area.
In embodiments of the present invention, there may be shelter (such as desk, chair, parasols etc.) on lawn 14, this
A little barriers can not necessarily hinder the motion of grass-removing robot 13, but can block lawn 14, monitor video monitoring blind area is present,
When grass-removing robot 13 moves to monitoring blind area, the motion of grass-removing robot just can not be learnt by monitor video, then now
Can be so that by performing step S602, the motion state of grass-removing robot 13 be controlled by inertial navigation, until grass cutter
People 13 leaves monitoring blind area, then continues to control mowing route of the grass-removing robot 13 along planning to complete grass cutting action.
A kind of grass-removing robot control method provided in an embodiment of the present invention, by obtaining the monitor video on lawn, and root
Lawn map is generated according to the monitor video, further according to the mowing route of the lawn map planning grass-removing robot, on the other hand, is built
The vertical grass-removing robot direction of motion actual on lawn, pair with image moving direction of the grass-removing robot on the map of lawn
It should be related to, and then according to the corresponding relation grass-removing robot can be controlled to be mowed on lawn along programme path.Pass through prison
Control video can obtain the state on grass-removing robot and lawn accurately, in real time, and then can accurately plan mowing route simultaneously
Accurate control grass-removing robot is mowed along programme path, the occurrence of repetition is mowed is greatly reduced so that mowing efficiency is significantly
Improve, be also avoided that leakage occur cuts region.
The embodiment of the present invention additionally provides one kind and automatically controls mowing system, including grass-removing robot, camera and control
Unit, wherein, grass-removing robot is used to mow under the control of the control unit, and camera is used for the monitor video for shooting lawn,
Control unit is used to perform following steps：
Obtain monitor video；
Lawn map is generated according to monitor video；
Mowing route is planned according to lawn map；
Establish image of the image of the direction of motion and grass-removing robot of the grass-removing robot on lawn on the map of lawn
The corresponding relation of moving direction；
Grass-removing robot is controlled to be mowed along mowing route according to corresponding relation.
In embodiments of the present invention, this, which automatically controls mowing system, can use the grass-removing robot provided with above-described embodiment
Control method identical principle and step, therefore do not repeating in the present embodiment.
One of ordinary skill in the art will appreciate that all or part of step in the various methods of above-described embodiment is can
To instruct the hardware of correlation to complete by program, the program can be stored in a computer-readable recording medium, storage
Medium can include：Read-only storage (ROM, Read Only Memory), random access memory (RAM, Random
Access Memory), disk or CD etc..
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement made within refreshing and principle etc., should be included in the scope of the protection.
Claims (10)
1. a kind of grass-removing robot control method, it is characterised in that methods described comprises the following steps：
Obtain the monitor video on lawn；
Lawn map is generated according to the monitor video；
Mowing route is planned according to the lawn map；
The direction of motion of the grass-removing robot on the lawn is established with the image of the grass-removing robot on the lawn
The corresponding relation of image moving direction on map；
The grass-removing robot is controlled to be mowed along the mowing route according to the corresponding relation.
2. grass-removing robot control method as claimed in claim 1, it is characterised in that described to be generated according to the monitor video
The step of lawn map, specifically includes：
Identify the border on lawn in the monitor video；
The lawn map containing lawn boundary line according to the monitor video and border generation.
3. grass-removing robot control method as claimed in claim 1, it is characterised in that described to establish the grass-removing robot and exist
Pair of image moving direction of the image of the direction of motion and the grass-removing robot on the lawn on the lawn map
The step of should being related to, specifically includes：
The grass-removing robot is controlled to be moved along a straight line in either direction on the lawn, and the mowing during obtaining this
The first straight line direction of motion of the robot on the lawn, and the grass-removing robot image on the lawn map
The first image moving direction；
The grass-removing robot is controlled to carry out straight line along the second straight line direction of motion vertical with the first straight line direction of motion
Motion, and during obtaining this grass-removing robot second image moving direction of the image on the lawn map；
According to the first straight line direction of motion, the second straight line direction of motion, the first image moving direction and described
Second image moving direction, calculate the shadow of the direction of motion of the grass-removing robot on the lawn and the grass-removing robot
As the corresponding relation of the image moving direction on the lawn map.
4. grass-removing robot control method as claimed in claim 1, it is characterised in that the control grass-removing robot edge
The step of mowing route is mowed specifically includes：
The direction of motion of the grass-removing robot is controlled according to the corresponding relation, so that the grass-removing robot is along the mowing
Line-of-road movement；
While the grass-removing robot is along the mowing line-of-road movement, the grass-removing robot is controlled to be mowed；
The movement locus of the grass-removing robot is monitored, if the movement locus deviates the mowing route, is cut described in adjustment
The direction of motion of careless robot, so that the grass-removing robot returns to the mowing route.
5. grass-removing robot control method as claimed in claim 4, it is characterised in that the control grass-removing robot edge
The step of mowing route is mowed specifically also includes：
If barrier be present in the direction of motion of the grass-removing robot, the grass-removing robot is controlled along the barrier
Border movement is until reenter the mowing route, to get around the barrier；
If shelter be present in the lawn, the monitor video is set monitoring blind area to be present, then when the grass-removing robot enters
During the monitoring blind area, control the grass-removing robot to move by inertial navigation, until the grass-removing robot leave it is described
Monitor blind area.
6. one kind automatically controls mowing system, it is characterised in that it is single that the system includes grass-removing robot, camera and control
Member；
The grass-removing robot is used to mow under the control of described control unit；
The camera is used for the monitor video for shooting lawn；
Described control unit is used to perform following steps：
Obtain the monitor video；
Lawn map is generated according to the monitor video；
Mowing route is planned according to the lawn map；
The direction of motion of the grass-removing robot on the lawn is established with the image of the grass-removing robot on the lawn
The corresponding relation of image moving direction on map；
The grass-removing robot is controlled to be mowed along the mowing route according to the corresponding relation.
7. grass-removing robot control method as claimed in claim 6, it is characterised in that described to be generated according to the monitor video
The step of lawn map, specifically includes：
Identify the border on lawn in the monitor video；
The lawn map containing lawn boundary line according to the monitor video and border generation.
8. grass-removing robot control method as claimed in claim 6, it is characterised in that described to establish the grass-removing robot and exist
Pair of image moving direction of the image of the direction of motion and the grass-removing robot on the lawn on the lawn map
The step of should being related to, specifically includes：
The grass-removing robot is controlled to be moved along a straight line in either direction on the lawn, and the mowing during obtaining this
The first straight line direction of motion of the robot on the lawn, and the grass-removing robot image on the lawn map
The first image moving direction；
The grass-removing robot is controlled to carry out straight line along the second straight line direction of motion vertical with the first straight line direction of motion
Motion, and during obtaining this grass-removing robot second image moving direction of the image on the lawn map；
According to the first straight line direction of motion, the second straight line direction of motion, the first image moving direction and described
Second image moving direction, calculate the shadow of the direction of motion of the grass-removing robot on the lawn and the grass-removing robot
As the corresponding relation of the image moving direction on the lawn map.
9. grass-removing robot control method as claimed in claim 6, it is characterised in that the control grass-removing robot edge
The step of mowing route is mowed specifically includes：
The direction of motion of the grass-removing robot is controlled according to the corresponding relation, so that the grass-removing robot is along the mowing
Line-of-road movement；
While the grass-removing robot is along the mowing line-of-road movement, the grass-removing robot is controlled to be mowed；
The movement locus of the grass-removing robot is monitored, if the movement locus deviates the mowing route, is cut described in adjustment
The direction of motion of careless robot, so that the grass-removing robot returns to the mowing route.
10. grass-removing robot control method as claimed in claim 9, it is characterised in that the control grass-removing robot
The step of being mowed along the mowing route specifically also includes：
If barrier be present in the direction of motion of the grass-removing robot, the grass-removing robot is controlled along the barrier
Border movement is until reenter the mowing route, to get around the barrier；
If shelter be present in the lawn, the monitor video is set monitoring blind area to be present, then when the grass-removing robot enters
During the monitoring blind area, control the grass-removing robot to move by inertial navigation, until the grass-removing robot leave it is described
Monitor blind area.
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| CN109247118A (en) * | 2018-08-24 | 2019-01-22 | 宁波市德霖机械有限公司 | Intelligent grass-removing based on full-view camera building electronic map |
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| CN110347144A (en) * | 2018-04-03 | 2019-10-18 | 苏州宝时得电动工具有限公司 | From mobile device and its self-learning method, readable storage medium storing program for executing |
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