CN111707253A - Mower system based on fixed artificial ultraviolet polarized light positioning and mowing method - Google Patents
Mower system based on fixed artificial ultraviolet polarized light positioning and mowing method Download PDFInfo
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- CN111707253A CN111707253A CN202010650926.0A CN202010650926A CN111707253A CN 111707253 A CN111707253 A CN 111707253A CN 202010650926 A CN202010650926 A CN 202010650926A CN 111707253 A CN111707253 A CN 111707253A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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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
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M1/00—Stationary means for catching or killing insects
- A01M1/22—Killing insects by electric means
- A01M1/226—Killing insects by electric means by using waves, fields or rays, e.g. sound waves, microwaves, electric waves, magnetic fields, light rays
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
Abstract
The invention discloses a mower system based on fixed artificial ultraviolet polarized light positioning, which comprises a mower and an artificial light source, wherein the mower is provided with a wheel driving mechanism, an ultraviolet polarized light positioning module and a controller, the wheel driving mechanism and the ultraviolet polarized light positioning module are respectively and electrically connected with the controller, the ultraviolet polarized light positioning module is used for acquiring polarized light data of the artificial light source and information of an included angle between the mower and the geographical north direction in a mower coordinate system, and the controller is used for receiving the information acquired by the ultraviolet polarized light positioning module to plan a walking path of the mower and controlling the mower to perform mowing operation in a working area according to the planned path. The method comprises the steps of determining the real-time position of the mower by utilizing the stability of ultraviolet polarized light and acquiring the change of the angle of the ultraviolet polarized light of the mower in the moving process and the information of an included angle between the mower and the geographical north direction, planning the mowing path of the mower, and obtaining stable and reliable position data in the daytime and at night, and can be applied to positioning of the mower.
Description
Technical Field
The invention relates to the technical field of mowers, in particular to a mower system based on fixed artificial ultraviolet polarized light positioning and a grass cutting method.
Background
The positioning instantaneity of the mower requires a stable and high-precision data source.
Most of existing lawn mowers are positioned in a mode of wire energization induction, before mowing, insulated wires are laid along the boundary of a lawn, after a power supply is connected, current passes through the wires to form a magnetic field, when the mowing robot meets the wires, magnetic field signals are induced, and the mowing robot turns to achieve the purpose of not crossing the boundary through program control. The mowing range can be determined, but the mowing range does not have positioning accuracy, wires need to be laid before mowing, time and labor are wasted, and the mowing operation needs to be powered on all the time.
And the part adopts the lawn mower of wireless tag location technique, and it can confirm the scope of mowing accurately, need not to place the fence around the area of mowing, but when the location label was sheltered from, can influence the positioning accuracy of lawn mower, and is also higher to the performance requirement of control system.
Disclosure of Invention
In order to solve the technical defects, the invention adopts the technical scheme that a mower system based on fixed artificial ultraviolet polarized light positioning is provided, and the mower system comprises a mower and an artificial light source used for providing fixed ultraviolet polarized light, wherein the mower is provided with a wheel driving mechanism, an ultraviolet polarized light positioning module and a controller, the wheel driving mechanism and the ultraviolet polarized light positioning module are respectively and electrically connected with the controller, the ultraviolet polarized light positioning module is used for collecting polarized light data of the artificial light source in a mower coordinate system and information of an included angle between the mower and the geographical north direction, and the controller is used for receiving the information collected by the ultraviolet polarized light positioning module to plan a traveling path of the mower and controlling the mower to perform mowing operation in a working area according to the planned path.
Furthermore, the ultraviolet polarized light positioning module comprises at least two polarized light sensors, a horizontal sensor and an inertial sensor, the polarized light sensors are used for acquiring ultraviolet polarized light information of the artificial light source of the mower at different positions and outputting a polarized azimuth angle, the horizontal sensor is used for adjusting the polarized light sensors to be in a horizontal state, the inertial sensor is used for acquiring included angle information and attitude information between the mower and the geographical north direction, and the controller receives and processes data acquired by the polarized light sensors, the horizontal sensor and the inertial sensor to output longitude and latitude coordinate information of the mower; the polarized light sensor, the horizontal sensor and the inertial sensor are respectively and electrically connected with the controller.
The speed sensor is arranged on the mower and electrically connected with the controller, and the controller receives and analyzes data collected by the speed sensor and the inertial sensor so as to correct speed and attitude errors of the mower.
The intelligent lawn mower is characterized by further comprising an auxiliary positioning assembly, wherein the auxiliary positioning assembly comprises a positioning rod and an image acquisition module, the image acquisition module is arranged on the positioning rod or the mower and is electrically connected with the controller, the image acquisition module is used for acquiring real-time image information of the mower or the positioning rod, and the controller receives and analyzes data acquired by the image acquisition module so as to output real-time coordinate information of the mower.
Further, still include wireless communication module and host computer, wireless communication module is connected with controller, host computer respectively, wireless communication module is used for giving the host computer with the operating condition real-time transmission of lawn mower.
Further, the artificial light source is an ultraviolet germicidal lamp.
Further, the ultraviolet germicidal lamp is located above the working area, and the height of the ultraviolet germicidal lamp is 1m-4 m.
The invention also provides a mowing method based on fixed artificial ultraviolet polarized light positioning, which comprises the following steps:
the method comprises the steps that a polarized light sensor is adjusted to be horizontal through a horizontal sensor, a mower is manually controlled to run for a circle at a constant speed along the boundary of a lawn area, an ultraviolet polarized light positioning module collects ultraviolet polarized light data of an artificial light source in the moving process of the mower, included angle information and posture information of the mower and the geographical north direction, a controller calculates position coordinates of all points in the testing process of the mower according to the collected information, and the position coordinates are sequentially connected through a continuous broken line or a curve to generate a virtual boundary of a mowing working area;
according to the set virtual boundary, the mower is controlled to carry out mowing operation in a mowing working area, longitude and latitude coordinate information of the real-time position of the mower is obtained, the controller carries out data fitting according to the obtained coordinate information of the mower, included angle information of geographical north direction and posture information, a walking path is planned for the mower, and whether the current position of the mower is in the mowing working area or not is judged by adopting a ray method.
Further, the method also comprises the following steps:
and acquiring speed information and posture information of the position of the mower, and correcting the speed and posture error of the mower according to the test speed and posture information of the mower stored by the controller.
Further, the method also comprises the following steps:
and arranging a positioning rod in the lawn working area or outside the lawn working area, and acquiring the relative distance and angle information between the mower and the positioning rod by the controller, analyzing the information to obtain the coordinate information of the position of the mower, and planning the auxiliary walking path of the mower.
Compared with the prior art, the technical scheme of the invention has the beneficial effects that:
1. according to the mower system based on fixed artificial ultraviolet polarized light positioning, the real-time position of the mower is determined by utilizing the stability of ultraviolet polarized light and acquiring the change of the angle of ultraviolet polarized light and the information of the included angle between the ultraviolet polarized light and the geographical north direction in the moving process of the mower, the mowing path of the mower is planned, the position data acquired in the daytime and at night are stable and reliable, the change of light due to time is not required to be considered, and the mower system based on fixed artificial ultraviolet polarized light positioning can be applied to positioning of the mower.
2. The polarized light sensor is adopted to obtain the ultraviolet polarization information of the artificial light source, so that the system not only has an instant positioning function and can fix data, but also can not accumulate errors in positioning without measuring acceleration, has stable positioning capability, can provide stable working area control capability for the mower, and solves the problems of mowing precision and control complexity.
3. A speed sensor and an inertial sensor are arranged to compensate the speed and attitude errors of the mower, so that the precision of real-time positioning is improved, and the requirements of different environment adaptation are met.
4. The positioning rod and the graph acquisition module are arranged, the relative distance and the position of the positioning rod and the mower are obtained through the change of the pixel points of the positioning rod or the mower at different distances, and the positioning precision and the positioning efficiency of the mower system are improved by combining an artificial ultraviolet polarized light positioning mode.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a mowing system based on fixed artificial ultraviolet polarized light positioning according to an embodiment of the invention;
fig. 2 is a model diagram of polarization direction distribution at a certain point in the sky in the mowing method based on fixed artificial ultraviolet polarized light positioning according to the embodiment of the invention;
fig. 3 is a flowchart of a mowing method based on fixed artificial ultraviolet polarized light positioning according to an embodiment of the present invention.
Wherein the reference numerals are:
1. the intelligent control system comprises a mower, 2, an artificial light source, 3, a wheel driving mechanism, 4, a controller, 5, a polarized light sensor, 6, a horizontal sensor, 7, an inertial sensor, 8, a speed sensor, 9, a graph acquisition module, 10, a wireless communication module, 11, an upper computer, 12, a light intensity information acquisition module, 13 and an A/D conversion module.
Detailed Description
The invention is further described with reference to the following figures and specific examples.
Example 1
Referring to fig. 1-3, the present invention provides a mower system based on fixed artificial ultraviolet polarized light positioning, including a mower 1 and an artificial light source 2 for providing fixed ultraviolet polarized light, the mower 1 is provided with a wheel driving mechanism 3, an ultraviolet polarized light positioning module and a controller 4, the wheel driving mechanism 3 and the ultraviolet polarized light positioning module are respectively electrically connected to the controller 4, the ultraviolet polarized light positioning module is configured to collect polarized light data of the artificial light source 2 in a coordinate system of the mower 1 and information of an included angle between the mower 1 and a geographical north direction, and the controller 4 is configured to receive information collected by the ultraviolet polarized light positioning module to plan a traveling path of the mower 1 and control the mower 1 to perform mowing operation in a working area according to the planned path. Wherein the controller 2 is an STM32 chip.
By utilizing the stability of the ultraviolet polarized light, the real-time position of the mower 1 is determined by acquiring the change of the angle of the ultraviolet polarized light of the mower 1 in the movement process and the information of the included angle between the mower 1 and the geographical north direction, the mowing path of the mower 1 is planned, the position data acquired in the daytime and at night is stable and reliable, the change of light due to time is not considered, and the method can be applied to the accurate positioning of the mower 1.
Specifically, the artificial light source 2 is an ultraviolet germicidal lamp. The ultraviolet germicidal lamp not only can provide fixed artificial ultraviolet polarized light, but also can kill mosquitoes, but also has damage to eyes and skin, so that the mower 1 is suitable for being operated in a mowing working area far away from people.
In order to reduce unnecessary damage as much as possible, the ultraviolet germicidal lamp is positioned above the mowing working area and is arranged at a height of 1-4 m.
Preferably, the ultraviolet polarized light positioning module comprises at least two polarized light sensors 5, a horizontal sensor 6 and an inertial sensor 7, the polarized light sensors 5 are used for acquiring ultraviolet polarized light information of the artificial light source 3 of the mower 1 at different positions and outputting polarization azimuth angles, the horizontal sensor 6 is used for adjusting the polarized light sensors 5 to be in a horizontal state, the inertial sensor 7 is used for acquiring included angle information and posture information between the mower 1 and the geographical north direction, and the controller 4 receives and processes data acquired by the polarized light sensors 5, the horizontal sensor 6 and the inertial sensor 7 to output longitude and latitude coordinate information of the mower 1; the polarized light sensor 5, the horizontal sensor 6, and the inertial sensor 7 are electrically connected to the controller 4.
Adopt polarized light sensor 5 to obtain artificial light source 3's ultraviolet polarization information, not only have instant locate function, can the fixed data, and need not to measure acceleration location and can not accumulate the error, have stable location ability, can provide stable work area control ability for lawn mower 1, solve the problem of mowing precision and control complexity.
Specifically, the polarized light sensor 5, the horizontal sensor 6 and the inertial sensor 7 are all arranged on the mower 1, and the inertial sensor 7 is an electronic compass. The number of the polarized light sensors is preferably 3, the controller 4 synchronously collects data of a plurality of polarized azimuth angles, even if the polarization degree in a certain direction is 0 or the polarization direction vector is parallel or a certain collection direction is interfered, the mower system can work normally, and the stability of the polarized light real-time positioning system can be improved by multi-direction simultaneous measurement.
Specifically, the ultraviolet polarized light positioning module further comprises a plurality of light intensity information acquisition modules 12 and an a/D conversion module 13, the light intensity information acquisition modules 12 are electrically connected with the a/D conversion module 13, the a/D conversion module 13 is electrically connected with the controller 4, the light intensity information acquisition modules 12 are used for acquiring sun light intensity information at different positions and outputting current signals, the a/D conversion module 13 is used for receiving the current signals transmitted by the sun information acquisition modules 12 and converting the current signals into voltage signals, and the controller 2 receives and processes the voltage signal values transmitted by the a/D conversion module 13 to judge the direction of the sun direction vector.
The interval of the coordinate system where the position of the sun is located can be judged according to the positive and negative values of the output voltage, the judgment of the direction of the sun direction vector by human eyes is replaced, and the instantaneity of the polarized light positioning of the mower system can be improved.
Specifically, the ultraviolet polarized light positioning module is provided on the mower 1.
Preferably, the mower further comprises a speed sensor 8 for collecting real-time speed information of the mower 1, the speed sensor 8 is arranged on the mower 1, the speed sensor 8 is electrically connected with the controller 4, and the controller 4 receives and analyzes data collected by the speed sensor 8 and the inertial sensor 7 to correct speed and attitude errors of the mower 1. For example to compensate for the speed of movement of the mower 1 when making heading adjustments on a slope.
A speed sensor 8 and an inertial sensor 7 are arranged to compensate the speed and attitude errors of the mower 1, so that the real-time positioning precision is improved and the requirements of different environment adaptations are met.
Preferably, the intelligent mower further comprises an auxiliary positioning assembly, the auxiliary positioning assembly comprises a positioning rod and an image acquisition module 9, the image acquisition module 9 is arranged on the positioning rod or the mower 1, the image acquisition module 9 is electrically connected with the controller 4, the image acquisition module 9 is used for acquiring real-time image information of the mower 1 or the positioning rod, and the controller 4 receives and analyzes data acquired by the image acquisition module 9 to output real-time coordinate information of the mower 1. The positioning rod is located in the mowing working area or outside the mowing working area, and the image acquisition module 12 is preferably arranged on the mower 1.
The relative distance and position between the positioning rod and the mower 1 are obtained by changing the size of the pixel point of the positioning rod or the mower 1 at different distances, and the positioning precision and efficiency of the mower system are improved by combining an artificial ultraviolet polarized light positioning mode.
Preferably, still include wireless communication module 10 and host computer 11, wireless communication module 10 is connected with controller 4, host computer 11 respectively, and wireless communication module 10 is used for transmitting the operating condition of lawn mower 1 in real time to host computer 11, and host computer 11 carries out real-time supervision and remote control to lawn mower 1.
The invention also provides a mowing method based on fixed artificial ultraviolet polarized light positioning, which comprises the following steps:
s1: the method comprises the steps that a polarized light sensor 5 is adjusted to be horizontal through a horizontal sensor 6, a horizontal coordinate system is established on a mower 1, the mower 1 is manually controlled to run for a circle at a constant speed along the boundary of a lawn area, an ultraviolet polarized light positioning module collects ultraviolet polarized light data of an artificial light source 3 in the moving process of the mower 1, information of an included angle between the mower 1 and the geographical north direction and attitude information, a controller 4 calculates and obtains position coordinates of each point in the testing process of the mower 1 according to the collected information, and the position coordinates are sequentially connected through continuous folding lines or curved lines to generate a virtual boundary of a mowing working area;
the principle of calculating the position coordinates of each point in the moving process of the mower 1 according to the collected polarized light data of the sun and the information of the included angle between the mower 1 and the geographical north direction is as follows:
the polarization direction distribution model of a certain point in the sky is shown in fig. 2, wherein point W represents an observed point, point O represents an observed point on the earth, point S represents a position of the sun at a certain time, point Z represents a zenith point, and the polarization direction of the observation point W is parallel to a normal vector of a plane WOS formed by the position of the sun, the observed point on the earth and the observed point.
The polarization direction vector P is expressed as:
P＝k(cosθ，sinθ，0)；(1)
wherein θ is the polarization azimuth angle measured by the polarized light sensor 5, k is 1 or-1, and the value is determined by the voltage value output by the a/D conversion module 13.
Because there is a certain regularity in the polarized light distributed in the sky, that is, the polarized light distribution is stable at a certain time and a certain place, theoretically, the polarized light can be composed of two non-parallel polarization direction vectors P1、P2Cross multiplication to obtain direction vector S of sun0Direction vector S of the sun0The direction of (d) is determined by the sun direction vector determination module 8.
The method comprises the steps that a polarized light sensor 5 is adopted to collect included angles between a mower 1 and a solar meridian at T1 and T2 moments, namely polarization azimuth angles theta 1 and theta 2, and an electronic compass is adopted to collect an included angle between the mower 1 and the geographical north direction, namely a heading angle H of the mower 1;
in the horizontal coordinate system, the corresponding polarization direction vector is P1、P2，S0Can be expressed as:
S0＝(SxSySz)T＝k(P1×P2)T： (2)
wherein S isx、Sy、SzCoordinate values of the direction vector of the sun on an X axis, a Y axis and a Z axis of a horizontal coordinate system are respectively represented; p1、P2Representing the polarization direction vectors of two observed points W1, W2 in the sky.
Defining the altitude of the sun as hsThe included angle between the projection of the direction vector of the sun in the horizontal coordinate system and the X axis in the horizontal coordinate system is the solar pseudo azimuth angle As' clockwise direction represents the positive direction of the angle, and the included angle between the projection of the direction vector of the sun in the horizontal coordinate system and the true north is the azimuth angle A of the suns；
In the horizontal coordinate system, the following formula is obtained from the direction vector of the sun:
wherein when k is 1, the altitude and pseudo azimuth of the sun obtained by the formula (3) are hsAnd As'; when k is-1, the altitude and pseudo azimuth of the sun obtained by the formula (3) are-hsAnd 180+ As′。
From the astronomical triangle:
wherein, the red latitude of the sun,
and omega is the solar time angle, which is the geographic latitude.
The solar view angle ω is represented as:
ω＝η+15(UT1+E)-180； (5)
where η is the geographic longitude, UT1 is the universal time (the standard time of greenwich mean), and E is the time difference.
The deviation between the universal time and the coordinated universal time UTC is within 0.9s, the 0.9s is converted into a small time value in hours, the subsequent calculation is influenced little, therefore, the UTC replaces UT1, and therefore, the formula (4) is expressed as follows:
ω＝η+15(UTC+E)-180： (6)
in a plane coordinate system, AsExpressed as:
As＝As+H+D； (7)
h is an included angle between the geomagnetic north pole and the axis of the electronic compass, D is a declination of the measured place according to the geographic longitude η and the geographic dimensionality
The relationship of the three parameters is shown by a table look-up:
from equations (4), (6), (7), (8):
wherein, the solar declination and the time difference E can be obtained by searching an ephemeris, the coordinated universal time is provided by an upper computer 11, H is obtained by the acquisition of an electronic compass, As' and hsThe direction vector of the sun.
The positioning purpose of the mower can be realized by combining longitude and latitude coordinates and magnetic declination angles, and the included angle between the mower 1 and the true north direction is αNorth ChinaWherein, αNorth ChinaH + D, achieving the goal of orientation.
S2: according to the set virtual boundary, the mower 1 is controlled to carry out mowing operation in a mowing working area, longitude and latitude coordinate information of the real-time position of the mower 1 is obtained, whether the current position of the mower 1 is in the mowing working area or not is judged by adopting an ray method, and the controller 4 carries out data fitting according to the obtained coordinate information and course angle information of the mower 1 and plans a walking route for the mower 1.
The method comprises the steps of judging whether the current position of the mower 1 is in a mowing working area or not by adopting a ray method, observing the number of intersection points of rays and a polygon, wherein if the number of the intersection points is an odd number, the point is in the polygon, and if the number of the intersection points is an even number, the point is out of the polygon. The calculation formula is as follows:
x＝(y0-p1.y)*(p2.x-p1.x)/(p2.y-p1.y)+x0； (10)
where P is the position of the mower 1, x0 is the abscissa of the point P, y0 is the ordinate of the point P, and P1 and P2 represent two adjacent sides of the polygon.
S3: and acquiring speed information and attitude information of the position of the mower 1, and correcting the speed and attitude error of the mower 1 by adopting a minimum root mean square error algorithm according to the testing speed and attitude information of the mower 1 stored in the controller 4.
The mower 1 is preset to move at a constant speed in the mowing process, but different speeds may exist in the actual moving process, for example, the moving speed when course adjustment is performed on a slope, so that speed and attitude errors in the moving process of the mower 1 need to be compensated to adapt to different outdoor environments.
Wherein, the root mean square error is used for describing the accuracy of the speed, the heading angle and the attitude angle of the inertial sensor 7, and is recorded as RMS, and under the condition of limited measurement times, the root mean square error can be obtained by the following formula:
wherein n is the number of effective tests; m isiThe number of sampling points of the ith test is; j is the jth sampling time of the ith test; x is the number ofijMeasured value of j sampling time of the ith test; x is the number of0ijIs the true value at the jth sample of the ith trial.
S4: a positioning rod is arranged in a mowing working area or outside the mowing working area, the controller 2 obtains the relative distance and angle information between the mower 1 and the positioning rod, analyzes the information to obtain the coordinate information of the position of the mower 1, and assists in planning a walking route for the mower 1.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (10)
1. The utility model provides a lawn mower system based on fixed artificial ultraviolet polarized light location which characterized in that: the ultraviolet polarized light intelligent mowing system comprises a mowing machine (1) and an artificial light source (2) used for providing fixed ultraviolet polarized light, wherein a mowing machine driving mechanism (3), an ultraviolet polarized light positioning module and a controller (4) are arranged on the mowing machine (1), the mowing machine driving mechanism (3) and the ultraviolet polarized light positioning module are respectively electrically connected with the controller (4), the ultraviolet polarized light positioning module is used for collecting polarized light data of the artificial light source (2) and information of an included angle between the mowing machine (1) and the geographical north direction under a coordinate system of the mowing machine (1), and the controller (4) is used for receiving the information collected by the ultraviolet polarized light positioning module to plan a walking path of the mowing machine (1) and controlling the mowing machine (1) to perform mowing operation in a working area according to the planned path.
2. The fixed artificial ultraviolet polarized light positioning based mower system of claim 1 further characterized by: the ultraviolet polarized light positioning module comprises at least two polarized light sensors (5), a horizontal sensor (6) and an inertial sensor (7), wherein the polarized light sensors (5) are used for acquiring ultraviolet polarized light information of the artificial light source (3) of the mower (1) at different positions and outputting polarization azimuth angles, the horizontal sensor (6) is used for adjusting the polarized light sensors (5) to be in a horizontal state, the inertial sensor (7) is used for acquiring included angle information and posture information between the mower (1) and the geographical north direction, and the controller (4) receives and processes data acquired by the polarized light sensors (5), the horizontal sensor (6) and the inertial sensor (7) so as to output longitude and latitude coordinate information of the mower (1); the polarized light sensor (5), the horizontal sensor (6) and the inertial sensor (7) are respectively and electrically connected with the controller (4).
3. The fixed artificial ultraviolet polarized light positioning based mower system of claim 1 or 2 further characterized by: the intelligent mower is characterized by further comprising a speed sensor (8) used for collecting real-time speed information of the mower (1), wherein the speed sensor (8) is arranged on the mower (1), the speed sensor (8) is electrically connected with the controller (4), and the controller (4) receives and analyzes data collected by the speed sensor (8) and the inertial sensor (7) so as to correct speed and attitude errors of the mower (1).
4. The fixed artificial ultraviolet polarized light positioning based mower system of claim 1 or 2 further characterized by: the intelligent lawn mower is characterized by further comprising an auxiliary positioning assembly, the auxiliary positioning assembly comprises a positioning rod and an image acquisition module (9), the image acquisition module (9) is arranged on the positioning rod or the lawn mower (1), the image acquisition module (9) is electrically connected with the controller (4), the image acquisition module (9) is used for acquiring real-time image information of the lawn mower (1) or the positioning rod, and the controller (4) receives and analyzes data acquired by the image acquisition module (9) to output real-time coordinate information of the lawn mower (1).
5. The fixed artificial ultraviolet polarized light positioning based mower system of claim 1 or 2 further characterized by: still include wireless communication module (10) and host computer (11), wireless communication module (10) are connected with controller (4), host computer (11) respectively, wireless communication module (10) are used for giving host computer (11) with the operating condition real-time transmission of lawn mower (1).
6. The fixed artificial ultraviolet polarized light positioning based mower system of claim 1 or 2 further characterized by: the artificial light source (2) is an ultraviolet germicidal lamp.
7. The fixed artificial ultraviolet polarized light positioning based mower system of claim 6 further comprising: the ultraviolet germicidal lamp is located above the working area, and the height of the ultraviolet germicidal lamp is 1-4 m.
8. A mowing method based on fixed artificial ultraviolet polarized light positioning is characterized in that: the method comprises the following steps:
the polarized light sensor (5) is adjusted to be horizontal through the horizontal sensor (6), the mower (1) is controlled to manually run for a circle at a constant speed along the boundary of the lawn area, the ultraviolet polarized light positioning module collects ultraviolet polarized light data of the artificial light source (3) in the moving process of the mower (1), information of an included angle between the mower (1) and the geographical north direction and attitude information, the controller (4) calculates and obtains position coordinates of each point in the testing process of the mower (1) according to the collected information, and the position coordinates are sequentially connected through continuous broken lines or curves to generate a virtual boundary of a mowing working area;
according to the set virtual boundary, the mower (1) is controlled to carry out mowing operation in a mowing working area, longitude and latitude coordinate information of the real-time position of the mower (1) is obtained, the controller (4) carries out data fitting according to the obtained coordinate information of the mower (1), included angle information of geographical north directions and posture information, a walking path is planned for the mower (1), and whether the current position of the mower (1) is in the mowing working area or not is judged by adopting an ray method.
9. The method of mowing based on fixed artificial ultraviolet polarized light positioning of claim 8, wherein: also comprises the following steps:
and acquiring speed information and attitude information of the position of the mower (1), and correcting the speed and attitude error of the mower (1) according to the test speed and attitude information of the mower (1) stored in the controller (4).
10. The method of mowing based on fixed artificial ultraviolet polarized light positioning of claim 8, wherein: also comprises the following steps:
the positioning rod is arranged in the lawn working area or outside the lawn working area, the controller (2) obtains the relative distance and angle information between the mower (1) and the positioning rod, analyzes the information to obtain the coordinate information of the position of the mower (1), and plans the auxiliary walking path for the mower (1).
Priority Applications (1)
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