CN111781924A - Boundary crossing control system based on mowing robot and boundary crossing control method thereof - Google Patents
Boundary crossing control system based on mowing robot and boundary crossing control method thereof Download PDFInfo
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- CN111781924A CN111781924A CN202010570129.1A CN202010570129A CN111781924A CN 111781924 A CN111781924 A CN 111781924A CN 202010570129 A CN202010570129 A CN 202010570129A CN 111781924 A CN111781924 A CN 111781924A
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- 238000009966 trimming Methods 0.000 description 1
- 238000009333 weeding 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, 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
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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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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Abstract
The invention is suitable for the field of robots, and provides a border crossing control system based on a mowing robot and a border crossing control method thereof, wherein the system comprises: the external independent camera is used for acquiring lawn image information; the central processing unit is used for collecting lawn images acquired by the camera, carrying out image processing on the lawn images, generating a plane map and transmitting the plane map to the user terminal, determining the position information of the mowing robot by identifying characteristics of the mowing robot in the lawn images so as to judge whether the mowing robot generates border crossing behaviors or not, and issuing instructions to control the mowing robot to return to a working border if the border crossing behaviors occur; the user terminal is used for receiving the plane map generated by the central processing unit, and the user circles the working boundary of the mowing robot based on the plane map; the mowing robot is used for intelligently mowing grass on the lawn. Compared with the prior art, the construction amount is small, the flexibility of the working boundary of the mowing robot can be improved by setting the working boundary by a user, the power consumption of the mowing robot can be reduced by arranging the independent camera externally, the working time of the mowing robot after being fully charged at one time is prolonged, and the working efficiency and the mowing coverage rate of the mowing robot are improved.
Description
Technical Field
The invention relates to the field of robots, in particular to a border crossing control system based on a mowing robot and a border crossing control method thereof.
Background
With the rapid development of economy in China, the demand of people on greening increases day by day, and the lawn laying area increases. The attractiveness and tidiness of the lawn require a great deal of time and energy for people to manage and maintain, and the intelligent mowing robot saves the time and energy for people to manage the lawn. The intelligent mowing robot has automatic walking capability, can autonomously finish the trimming work of a lawn, autonomously returns to the charging seat, and does not need manual control.
At present, three common methods for controlling the boundary crossing behavior of the mowing robot are provided, wherein one method is that an electronic fence is embedded in the boundary of a lawn, and the robot approaches the boundary and senses an electromagnetic signal so as to recognize the boundary and change a motion path to realize boundary crossing control; one method is to lay a signal emitting device on the lawn boundary, and the mowing robot approaches the boundary to receive signals so as to recognize the boundary and change the movement path to realize out-of-range control.
The other method is that a computer vision technology is applied, through presetting features such as lawn color and texture, the robot shoots a real-time image by using a lens carried by the robot to compare the real-time image with the preset features, if the features such as color and texture in the image are the same as the preset features, the image is determined to be a lawn, if the features are not consistent with the preset features, a non-lawn area is determined, a lawn boundary is formed between the lawn area and the non-lawn area, and if the robot recognizes that the real-time image is the non-lawn area, a motion path is changed to realize border-. According to the method, the camera is self-powered by the mowing robot, so that the power consumption is high, and the working time of the mowing robot after being fully charged at one time is shortened.
Therefore, the existing boundary control technology of the mowing robot has the common defects of large construction amount, poor flexibility, high maintenance and laying cost and large power consumption.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a border crossing control system based on a mowing robot and a border crossing control method thereof. The specific technical scheme of the invention is as follows:
a border crossing control system based on a mowing robot comprises the mowing robot, an independent camera, a central processing unit and a user terminal; the independent camera is arranged outside the lawn and used for collecting lawn images and outputting the lawn images to the central processing unit; the central processing unit is used for receiving the lawn images acquired by the camera, processing the images, generating a plane map, outputting the plane map to the user terminal, receiving working boundary information determined by the user terminal, analyzing whether the lawn image mowing robot appears in the boundary, if so, determining that the mowing robot does not cross the boundary, if not, determining that the mowing robot crosses the boundary, and sending a boundary crossing signal to the mowing robot; the user terminal is used for acquiring a plane map generated by the central processing unit, determining the working boundary of the mowing robot based on the plane map and transmitting the working boundary to the central processing unit; the system can reduce the construction amount required by the application of the mowing robot, and has high flexibility and low application cost.
Further preferably, the central processing unit includes: the image collection module is used for collecting lawn images collected by the independent cameras; the image processing module is used for processing the collected lawn images, converting the lawn images into top views through image processing and generating a plane map; the image identification module is used for identifying the position of the mowing robot and identifying a lawn boundary; the central processing unit converts the lawn image collected by the camera into a plane map through image processing, so that a user can more visually define the working boundary of the mowing machine based on the plane map.
Further preferably, the image recognition module acquires the mowing robot position information by recognizing the characteristics of the mowing robot, so that the mowing robot and the position of the mowing robot can be determined more quickly and accurately.
Further preferably, the image recognition module can recognize the characteristics of the mowing robot, such as color, shape or special mark, and the recognition mode has diversity to meet different recognition requirements.
Preferably, the number of the independent cameras is two or more, and the lawn images acquired by the independent cameras are subjected to image stitching processing through an image processing module of the central processing unit, so that a planar map with a large area can be generated; the multiple independent cameras can cover lawns with wider areas, and the mowing coverage rate of the mower is improved.
Further preferably, the working boundary of the mowing robot is determined by the fact that the user terminal circles out of the working area of the mowing robot, and flexibility of the working boundary of the mowing robot is improved.
Further preferably, the mowing robot generates border crossing behavior, the central processing unit transmits an instruction to the mowing robot control unit in a wireless communication mode to control the mowing robot to return to the working boundary, and the mowing robot can be prevented from mowing in the border crossing mode and damaging user properties.
Further preferably, the central processing unit can identify and process the lawn image of the mobile phone to obtain the movement track of the mowing robot and transmit the movement track to the user terminal, so that a user can know the working progress of the mowing robot conveniently.
Further preferably, the electric quantity of the mowing robot is as low as the early warning electric quantity value, the mowing robot control unit controls the mowing robot to return to the charging seat, and a user does not need to manually control the mowing robot to return to the charging seat.
The invention also comprises a border crossing control method based on the mowing robot, which comprises any one of the border crossing control systems based on the mowing robot, and the border crossing control method comprises the following steps: step 1: the independent camera shoots the lawn image and transmits the lawn image to the central processing unit, and the central processing unit receives and processes the lawn image to generate a plane map; step 2: the central processing unit transmits the plane map to the user terminal, and the user terminal determines the working boundary of the mowing robot based on the plane map and outputs the working boundary to the central processing unit; and step 3: the central processing unit identifies characteristics of the mowing robot according to a real-time image shot by the camera, analyzes whether the mowing robot is in a working boundary or not, determines that the mowing robot is out of range if the mowing robot is not in the working boundary, and issues an instruction to the mowing robot to control the mowing robot to return to the working boundary; if the mowing robot is within the working boundary, determining that the mowing robot does not cross the boundary, and returning to the step 3; and 4, step 4: and (3) the mowing robot receives the instruction of the central processing unit, returns to the working boundary and returns to the step 3.
Drawings
Fig. 1 is a schematic diagram of a border crossing control system based on a mowing robot provided by the invention.
Fig. 2 is a schematic diagram of a border crossing control method based on a mowing robot provided by the invention.
Detailed Description
The present invention will be described in further detail below with reference to the accompanying drawings and examples. It should be understood that the following specific examples are illustrative only and are not intended to limit the invention.
As shown in fig. 1, a border crossing control system based on a mowing robot comprises an external independent camera, a central processing unit, the mowing robot and a user terminal, wherein: the external independent camera is used for collecting lawn images and transmitting the lawn images to the central processing unit in real time in a wireless communication mode; the central processing unit is used for receiving lawn images acquired by the independent camera, generating a plane map by processing the lawn images and transmitting the plane map to the user terminal, receiving the working boundary of the mowing robot determined by the user terminal based on the plane map, judging whether the mowing robot generates border crossing behaviors or not, and transmitting a border crossing control instruction to the mowing robot if the mowing robot generates the border crossing behaviors; the user terminal is used for acquiring the plane map generated by the central processing unit, determining the working boundary of the mowing robot based on the plane map and transmitting the working boundary to the central processing unit.
Compared with the traditional lawn mower, the lawn mowing robot disclosed by the invention is an intelligent robot capable of autonomously finishing lawn mowing and weeding. The working boundary refers to the boundary of the working area of the mowing robot defined by a user, can be the boundary of the whole lawn, can also be the boundary of a part of lawn, and can be used for adjusting the working area of the mowing robot according to actual requirements. The border-crossing behavior of the mowing robot refers to a behavior of the mowing robot entering a non-working area from a working area. The user terminal is a mobile device such as a mobile phone or a tablet personal computer and has the functions of touch screen, display and the like. The mowing robot, the central processing unit and the user terminal transmit information in a wireless communication mode, so that the information transmission time can be shortened, and the working efficiency of the mowing robot is improved. The external independent camera is arranged outside the mowing robot and generally above or outside a lawn, and the function of the external independent camera can be realized by arranging the cameras at different positions, and a specific implementation form is not limited. The central processing unit generally includes an arithmetic unit and a controller, and has functions of processing instructions, performing operations, and processing data.
In an embodiment of the present invention, the central processing unit further includes: the device comprises an image collection module, an image processing module and an image identification module. The image collection module is used for collecting lawn images collected by the independent cameras; the image processing module is used for processing the lawn images collected by the image collecting module, converting the lawn images into top views through image conversion and converting the top views into a plane map through image conversion; the image recognition module is used for recognizing the position of the mowing robot and recognizing the lawn boundary.
In the embodiment of the invention, the central processing unit can be arranged in the charging seat of the mowing robot or be an independent component. The functions of the image collection module, the image processing module and the image recognition module can be realized by software, hardware or a combination thereof, and the specific implementation form is not limited.
In one embodiment of the invention, the central processing unit achieves the purpose of acquiring the position information of the mowing robot by identifying the characteristics of the mowing robot.
In one embodiment of the invention, the color, shape, special markings or a combination thereof of the mowing robot is used as a feature for identifying the mowing robot position. The special mark can refer to a special symbol, a special stripe, a special figure or a reflective strip and the like on the mowing robot so as to realize that the central processing unit identifies the position of the mowing robot through image processing, and the specific implementation form is not limited.
In one embodiment of the invention, a plurality of independent cameras are externally arranged, and lawn images acquired by the independent cameras are subjected to image splicing processing through a central processing unit to form a planar map with a larger area.
The embodiment of the invention can meet the condition that a single camera with a larger lawn area cannot cover all working areas, and increase the length of the working boundary and the working range of the mowing robot. The external independent camera can be a camera using a wide-angle lens or a camera using different lenses, the functions of the external independent camera can be realized by the types of the lenses, the number of the lenses or the combination of the types of the lenses and the number of the lenses, and the specific realization form is not limited.
In one embodiment of the invention, the user terminal receives the plane map transmitted by the central processing unit, based on the plane map, a user can determine the working area of the mowing robot by delineating the working boundary of the mowing robot, and if the user does not select the working boundary of the mowing robot, the image recognition module in the central processing unit automatically recognizes the lawn boundary and works. The embodiment of the invention provides a selection space for a user, and if the user does not define the working boundary of the mowing robot, the mowing robot can also identify the lawn boundary by self. The working boundary of the mowing robot is determined through a user delineation mode and an intelligent identification mode, a buried wire does not need to be laid on the lawn, the construction amount and the use cost of the mowing robot are reduced, and the mowing efficiency of the mowing robot is improved.
In an embodiment of the invention, the lawn mower robot further comprises a control unit. The central processing unit recognizes that the mowing robot generates border crossing behaviors, sends a command of returning to work in the boundary to the mowing robot, and the mowing robot control unit receives the command and changes the movement path of the mowing robot to enable the mowing robot to return to work in the work boundary. The embodiment of the invention controls the border crossing behavior of the mowing robot and prevents the property of a user from being damaged due to the border crossing behavior of the mowing robot.
In an embodiment of the invention, the central processing unit obtains the movement track of the mowing robot by analyzing and processing the real-time image transmitted by the independent camera, and transmits the movement track of the mowing robot to the user terminal, and a user can check the working progress of the mowing robot through the mobile device. According to the embodiment of the invention, the movement track of the mowing robot is obtained by analyzing the image and is transmitted to the user terminal, so that a user can know the working progress of the mowing robot conveniently.
In an embodiment of the invention, the mowing robot further comprises an electric quantity early warning module and a control unit, the working electric quantity of the mowing robot is used to the early warning electric quantity value, the electric quantity early warning module of the mowing robot transmits an early warning signal to the control unit, and the control unit controls the mowing robot to return to the charging seat. The embodiment of the invention can avoid the situation that the mowing robot stops working in the lawn due to too low electric quantity, and a user does not need to control the mowing robot to return to the charging seat by himself.
As shown in fig. 2, the present invention further includes a border crossing control method based on a mowing robot, including any one of the above border crossing control systems based on a mowing robot, where the border crossing control method includes the following steps:
step 1: the lawn image is collected by the camera, the image information collected by the camera is transmitted to the central processing unit (1) in a wireless communication mode, and the central processing unit generates a plane electronic map (2) through image collection and image processing;
step 2: the central processing unit transmits a plane electronic map to a user terminal display (3) in a wireless communication mode, and a user can select a manual circling mowing robot working boundary (4-1) based on the plane map and transmit the manual circling mowing robot working boundary to the central processing unit or select the central processing unit to intelligently identify a lawn boundary (4-2) through image processing;
and step 3: the central processing unit carries out image processing on the lawn image transmitted by the camera, identifies the mowing robot position (5) in the image according to the characteristics of the mowing robot, judges that the mowing robot generates boundary crossing behavior (6-1) if the characteristics of the mowing robot cannot be identified in a working boundary, issues an instruction to the mowing robot control unit, and controls the mowing robot to return to a limited working area (7); if the characteristics of the mowing robot can be identified in the working area, judging that the mowing robot does not generate out-of-range behaviors (6-2), enabling the mowing robot to work normally, and repeating the step 3;
and 4, step 4: and the mowing robot control unit receives an instruction of returning to the working boundary of the central processing unit, controls the mowing robot to return to the working boundary and returns to the step 3.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents, which are to be considered as merely preferred embodiments of the invention, and not intended to be limiting of the invention, and that various changes and modifications may be effected therein by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. A border crossing control system based on a mowing robot, comprising:
the mowing robot is used for intelligently mowing grass on the lawn;
the independent camera is arranged outside the mowing robot and used for acquiring lawn images and outputting the lawn images to the central processing unit;
the central processing unit is used for receiving the lawn image shot by the camera, obtaining a plane map through image processing, outputting the plane map to the user terminal, receiving working boundary information determined by the user terminal, analyzing whether the mowing robot appears in the working boundary in the lawn image, judging that the mowing robot does not cross the boundary if the mowing robot appears, judging that the mowing robot crosses the boundary if the mowing robot does not appear, and sending a boundary crossing signal to the mowing robot;
and the user terminal is used for acquiring the plane map generated by the central processing unit, determining a working boundary based on the plane map and transmitting the working boundary to the central processing unit.
2. The robot lawnmower-based out-of-range control system of claim 1, wherein the central processing unit comprises:
the image collection module is used for collecting lawn images collected by the independent cameras;
the image processing module is used for processing the collected lawn images, converting the images into top views through image conversion and converting the top views into a plane map through image conversion;
the image identification module is used for identifying the position of the mowing robot and identifying a working boundary;
the robot lawnmower-based out-of-range control system of claim 2, wherein the image recognition module in the central processing unit recognizes the robot lawnmower characteristics within the lawn image to obtain robot lawnmower position information.
3. The robot lawnmower-based out-of-range control system of claim 2, wherein the robot lawnmower characteristic can be a color, shape, or a special logo on the body of the robot lawnmower.
4. The robot lawnmower-based out-of-range control system of claim 1, wherein the number of independent cameras is two or more, and images of the lawn collected by the independent cameras are processed by image stitching through an image processing module of the central processing unit.
5. The robot lawnmower-based out-of-range control system of claim 1, wherein the working boundary is determinable by a user terminal circling out of a robot lawnmower working area.
6. The robot lawnmower-based out-of-range control system of claim 1, wherein the robot lawnmower is instructed by the central processing unit to return to within working boundaries by the robot lawnmower control unit to take out the out-of-range action.
7. The robot lawnmower-based out-of-range control system of claim 1, wherein the central processing unit is configured to identify the collected lawn images, obtain a movement trajectory of the robot lawnmower, and transmit the movement trajectory to the user.
8. The robot lawnmower-based out-of-range control system of claim 1, wherein the internal control unit of the robot lawnmower controls the robot lawnmower to return to the charging dock when the working power of the robot lawnmower reaches the warning power value.
9. A robot lawnmower-based out-of-range control method, comprising the robot lawnmower-based out-of-range control system according to any one of claims 1 to 9, the out-of-range control method comprising the steps of:
step 1: the independent camera shoots the lawn image and transmits the lawn image to the central processing unit, and the central processing unit receives and processes the lawn image to generate a plane map;
step 2: the central processing unit transmits the plane map to the user terminal, and the user terminal determines a working boundary based on the plane map and outputs the working boundary to the central processing unit;
and step 3: the central processing unit identifies characteristics of the mowing robot according to a real-time image shot by the camera, analyzes whether the mowing robot works in a working boundary or not, determines that the mowing robot crosses the boundary if the mowing robot does not appear in the working boundary, and issues an instruction to the mowing robot to control the mowing robot to return to the working boundary; if the mowing robot is within the working boundary, determining that the mowing robot does not cross the boundary, and repeating the step 3;
and 4, step 4: and (3) the mowing robot receives the instruction of the central processing unit, returns to the working boundary and returns to the step 3.
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| CN110612492A (en) * | 2018-06-20 | 2019-12-24 | 灵动科技（北京）有限公司 | Self-driven unmanned mower |
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2020
- 2020-06-21 CN CN202010570129.1A patent/CN111781924A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20130238130A1 (en) * | 2012-03-06 | 2013-09-12 | Travis Dorschel | Path recording and navigation |
| CN104699101A (en) * | 2015-01-30 | 2015-06-10 | 深圳拓邦股份有限公司 | Robot mowing system capable of customizing mowing zone and control method thereof |
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