CN108490932B - Control method of mowing robot and automatic control mowing system - Google Patents
Control method of mowing robot and automatic control mowing system Download PDFInfo
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- CN108490932B CN108490932B CN201810195855.2A CN201810195855A CN108490932B CN 108490932 B CN108490932 B CN 108490932B CN 201810195855 A CN201810195855 A CN 201810195855A CN 108490932 B CN108490932 B CN 108490932B
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- 238000000034 method Methods 0.000 title claims abstract description 25
- 244000025254 Cannabis sativa Species 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
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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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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/006—Control or measuring arrangements
- A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
Abstract
The invention discloses a control method of a mowing robot and an automatic control mowing system. Firstly, acquiring a video image of a lawn near a mowing robot in real time; secondly, processing the video images to obtain a cutting boundary between a cut area and an uncut area on the lawn near the mowing robot in real time; and finally, controlling the advancing direction of the mowing robot in real time to perform mowing operation according to the obtained cutting boundary information and a certain rule or method. The control method of the mowing robot is realized by an automatic control mowing system comprising the mowing robot, a control device and an image acquisition and processing device. By adopting the invention, the mowing efficiency can be improved, and the situations of repeated cutting and missed cutting are greatly reduced.
Description
Technical Field
The invention relates to a control method of a mowing robot and an automatic control mowing system, and belongs to the technical field of intelligent mowing equipment.
Background
Landscaping is an important component of urbanization development in our society, and lawns are an indispensable part of the urbanization development in our country, and play a very important role in residential living areas and urban landscaping gardens. While lawns provide people with a good living environment, maintenance work of the lawns requires much time and effort, which is a considerable problem. In order to reduce the time and energy spent on maintaining a lawn, traditional mowing apparatuses and intelligent mowing robots appear in the market, and compared with the traditional mowing apparatuses, the intelligent mowing robot has the advantages of being high in intelligence level, independent of manual operation, safer, more suitable for development of green environments and the like. Therefore, as the market develops, the mowing robot will gradually replace the traditional non-intelligent mowing machine.
However, in practice, the problem of low mowing efficiency is one of the problems that needs to be solved urgently in the application of the intelligent mowing robot. Most existing mowing robot equipment mow grass along random paths in lawn boundaries, turns or turns when meeting the boundaries, and also some mowing robots adopt GPS positioning or inertial navigation or other positioning methods to form an electronic map and then plan the paths to improve mowing efficiency.
Disclosure of Invention
The purpose of the invention is as follows: the invention provides a control method of a mowing robot and a corresponding automatic control mowing system, wherein the control method can improve mowing efficiency and greatly reduce repeated cutting.
The technical scheme is as follows: the invention discloses a control method of a mowing robot, which comprises the following steps:
(1) acquiring a video image of a lawn near the mowing robot in real time;
(2) processing the video image, and judging whether a cutting boundary of a cut area and an uncut area exists near the mowing robot;
(3) when the mowing robot advances to the fence boundary: if a cutting boundary exists, determining the advancing direction according to the cutting boundary, adjusting the direction to advance in real time, and executing the step (4); if the boundary is not cut, the step (5) is executed by advancing along the direction of the fence boundary;
(4) proceeding along the current direction until a fence boundary is met, and returning to the step (3);
(5) advancing along the current direction, if a cutting boundary can be met in the advancing process, determining the advancing direction according to the cutting boundary, adjusting the direction to advance in real time, and returning to the step (3); if the cutting boundary has not been encountered one week along the fence boundary, the mowing task ends.
The video images in the step (1) mainly comprise a video image which takes the mowing robot body as a base point and is 'looked away' towards the front of the mowing robot body and a video image which takes a certain point above the mowing robot body as a base point and is 'looked down' towards the mowing robot body.
The advancing direction of the step (3) determined according to the cutting boundary can be adjusted in real time according to the cutting boundary, so that the newly formed cut region which is being cut during the cutting in the direction is overlapped with the cut region before the current cutting in the smallest area possible.
The invention also discloses an automatic control mowing system which comprises a mowing robot, a control device and an image acquisition and processing device; the mowing robot receives the instruction of the control device and performs mowing operation; the control device processes the externally input information and coordinately controls the movement of each part of the mowing robot; and the image acquisition and processing device is used for acquiring a video image of an area near the mowing robot and processing information related to a cutting boundary of the image. The controller comprises a microcontroller and a control circuit, and the microcontroller can calculate the advancing direction of the mowing robot according to the change of the cutting boundary obtained by the image acquisition and processing device.
Has the advantages that: compared with the prior art, the invention has the beneficial effects that: 1. the path planning of the mowing robot is carried out by utilizing the boundary of the cut area and the uncut area, the mowing efficiency is improved, and the situations of repeated mowing and missed mowing are greatly reduced; 2. by utilizing the automatic control mowing system with the image acquisition processing device and the control device, the lawn information can be acquired in real time, the mowing path can be planned and corrected in real time, and the condition of re-cutting and missed cutting can be avoided.
Drawings
FIG. 1 is a flow chart of a mowing robot control method;
FIG. 2 is a cutting route diagram of a mowing robot control method;
fig. 3 is a cutting route diagram of a mowing robot control method.
Detailed Description
The attack will be described in further detail below with reference to the accompanying drawings.
As shown in fig. 1, the present invention provides a control method of a mowing robot. Acquiring a video image of a lawn near the mowing robot in real time; processing the video image, and judging whether a cutting boundary of a cut area and an uncut area exists near the mowing robot; when the mowing task begins, the mowing robot proceeds in any direction until an electronic fence boundary is encountered. If the cutting boundary can be judged, determining the advancing direction according to the cutting boundary, advancing along the direction until meeting the fence boundary, and then judging the cutting boundary; if the cutting boundary can not be judged, the mowing robot moves forward along the direction of the electric fence boundary; in the process of advancing along the boundary direction of the electric fence, if the cutting boundary can be judged, the advancing direction is determined according to the cutting boundary and the electric fence advances along the direction; and if the cutting boundary is not judged yet after the electric fence is moved for one circle along the boundary direction of the electric fence, finishing the mowing task.
The electric fence boundary refers to a boundary which defines the activity area of the mowing robot, namely the working area of the mowing robot cannot exceed the boundary; the cutting boundary refers to the boundary between the cut region and the uncut region. The cutting boundary may be judged by the difference in the height and color of the grass of the cut area and the uncut area.
The determined advancing direction is calculated by the mowing system controller under the condition that the cutting boundary is identified, the direction is changed according to the cutting boundary change obtained by the image acquisition and processing device, the direction needs to be strictly calculated by the mowing robot controller, and the advancing direction of the mowing robot is required to be consistent with the direction within a certain advancing precision range. The advancing direction can be adjusted in real time according to the cutting boundary, and the area swept by the mowing robot cutter head is always overlapped with the cut area when the mowing robot cuts in the direction, but the overlapped area is small.
FIG. 2 is a cut roadmap for the present invention in a simple implementation environment. Starting a mowing task, starting from any point S, and enabling the mowing robot to move forward along any direction; when the cutting edge moves to the position near the point a, if the boundary of the electric fence is detected to be met, turning around is carried out, and meanwhile, the action of searching for the cutting boundary is carried out; assuming that the u-turn direction is clockwise, a definite direction can be obtained when turning about 180 degrees, and the mowing robot continues to advance to mow grass along the direction. When the mowing robot moves to the position near the point b, if the mowing robot is detected to meet the boundary of the electric fence, turning around is carried out, and meanwhile, the action of searching for a cutting boundary is carried out; at the moment, the cutting boundary can not be judged and the advancing direction can not be determined, and then the cutting edge advances along the direction of the fence boundary; assuming that the electronic fence boundary advances along the anticlockwise direction, when the electronic fence boundary moves to the vicinity of the point c, a cutting boundary can be judged, the advancing direction is determined according to the cutting boundary, the electronic fence boundary advances along the direction to perform a mowing task, and the like, and the mowing task is finished when the electronic fence boundary moves to the vicinity of the point d.
Fig. 3 is a cut-away roadmap of the invention in another embodiment, wherein the shaded area of the map has been cut away. Starting a mowing task, starting from any point S, and enabling the mowing robot to move forward along any direction; when the cutting edge moves to the position near the point a, if the boundary of the electric fence is detected to be met, turning around is carried out, and meanwhile, the action of searching for the cutting boundary is carried out; assuming that the u-turn direction is clockwise, a definite direction can be obtained when turning about 180 degrees, and the mowing robot continues to advance to mow grass along the direction. When the robot moves to the vicinity of point b, the zone that has been cut before is encountered, and the new cutting boundary formed by this zone determines the direction of advance as illustrated, and advances in this direction; when the mowing robot moves to the position near the point c, if the mowing robot is detected to meet the boundary of the electric fence, turning around is carried out, and meanwhile, the action of searching for a cutting boundary is carried out; at the moment, the cutting boundary can not be judged and the advancing direction can not be determined, and then the cutting edge advances along the direction of the fence boundary; assuming that the electronic fence boundary advances along the counterclockwise direction, when the electronic fence boundary moves to the point d, the cutting boundary can be judged, the advancing direction is determined according to the cutting boundary, the electronic fence boundary advances along the direction to perform the mowing task, and the like, until the electronic fence boundary moves to the vicinity of the point e, the mowing task is finished.
The invention also provides an automatic control mowing system, which comprises a mowing robot, a control device and an image acquisition and processing device; the mowing robot receives the instruction of the control device and performs mowing activity; the control device processes the externally input information and coordinately controls the movement of each part of the mowing robot; and the image acquisition and processing device is used for acquiring a video image of an area near the mowing robot and processing information related to a cutting boundary of the image. The controller comprises a microcontroller and a control circuit, and the microcontroller can calculate the advancing direction of the mowing robot according to the change of the cutting boundary obtained by the image acquisition and processing device.
Claims (5)
1. A control method of a mowing robot is characterized by comprising the following steps:
(1) acquiring a video image of a lawn near the mowing robot in real time;
(2) processing the video image, and judging whether a cutting boundary of a cut area and an uncut area exists near the mowing robot;
(3) when the mowing robot advances to the fence boundary: if a cutting boundary exists, determining the advancing direction according to the cutting boundary, adjusting the direction to advance in real time, and executing the step (4); if the boundary is not cut, the step (5) is executed by advancing along the direction of the fence boundary;
(4) proceeding along the current direction until a fence boundary is met, and returning to the step (3);
(5) advancing along the current direction, if a cutting boundary can be met in the advancing process, determining the advancing direction according to the cutting boundary, adjusting the direction to advance in real time, and returning to the step (3); if the cutting boundary has not been encountered one week along the fence boundary, the mowing task ends.
2. The method for controlling a lawn mowing robot according to claim 1, wherein the video image in the step (1) is a video image that is "looked away" toward a front side of the lawn mowing robot main body mainly from the lawn mowing robot main body, and a video image that is "looked down" toward the lawn mowing robot main body from a certain point above the lawn mowing robot main body.
3. The control method of a robot lawnmower according to claim 1, wherein the direction of advance "determined according to the cutting boundary" in step (3) is adjusted in real time according to the cutting boundary so that the newly formed cut area that is being cut while cutting in that direction overlaps the cut area that was cut before the current cut was made with as little area as possible.
4. An automatically controlled mowing system adopting the method of claim 1, wherein the system comprises a mowing robot, a control device and an image acquisition and processing device; the mowing robot receives an instruction of the control device and performs mowing operation; the control device processes externally input information and coordinately controls the movement of each part of the mowing robot; the image acquisition and processing device acquires video images of the area near the mowing robot and processes information related to the cutting boundary of the images.
5. The automatic control mowing system according to claim 4, wherein the controller comprises a microcontroller and a control circuit, and the microcontroller can calculate the advancing direction of the mowing robot according to the change of the cutting boundary obtained by the image acquisition and processing device.
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| CN108490932B true CN108490932B (en) | 2021-01-26 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20210176912A1 (en) * | 2019-12-16 | 2021-06-17 | Cnh Industrial America Llc | System and method for assessing agricultural operation performance based on image data of processed and unprocessed portions of the field |
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| US11054831B2 (en) * | 2018-09-27 | 2021-07-06 | Caterpillar Paving Products Inc. | Automatic site planning for autonomous construction vehicles |
| CN110209154B (en) * | 2019-04-09 | 2022-10-14 | 丰疆智能科技股份有限公司 | Residual harvesting path planning system and method of automatic harvester |
| CN112433521B (en) * | 2019-08-07 | 2023-03-21 | 南京苏美达智能技术有限公司 | Control method of self-walking device, self-walking device and system |
| CN112567958A (en) * | 2019-09-12 | 2021-03-30 | 南京德朔实业有限公司 | Self-walking mowing system and method for supplementing operation of missed cutting area of self-walking mowing system |
| CN112673794B (en) * | 2020-12-24 | 2022-06-07 | 格力博(江苏)股份有限公司 | Mower and control method thereof |
| CN113485334A (en) * | 2021-07-02 | 2021-10-08 | 宁波瑞霖机械科技有限公司 | Mower control method, system and storage medium thereof |
| CN114698453B (en) * | 2022-03-14 | 2023-06-23 | 未岚大陆(北京)科技有限公司 | Cutting control method and device, cutting machine and storage medium |
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| CN102662400A (en) * | 2012-05-10 | 2012-09-12 | 慈溪思达电子科技有限公司 | Path planning algorithm of mowing robot |
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