CN115336459B - Method, system, computer readable medium and mowing robot for processing hay - Google Patents
Method, system, computer readable medium and mowing robot for processing hay Download PDFInfo
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- CN115336459B CN115336459B CN202210840529.9A CN202210840529A CN115336459B CN 115336459 B CN115336459 B CN 115336459B CN 202210840529 A CN202210840529 A CN 202210840529A CN 115336459 B CN115336459 B CN 115336459B
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- 238000000034 method Methods 0.000 title claims abstract description 48
- 244000025254 Cannabis sativa Species 0.000 claims abstract description 51
- 238000010276 construction Methods 0.000 claims description 13
- 108090000787 Subtilisin Proteins 0.000 claims description 4
- 238000004590 computer program Methods 0.000 claims description 4
- 241000196324 Embryophyta Species 0.000 claims description 2
- 230000010485 coping Effects 0.000 abstract description 3
- 230000008569 process Effects 0.000 description 12
- 230000000007 visual effect Effects 0.000 description 5
- 244000063299 Bacillus subtilis Species 0.000 description 3
- 235000014469 Bacillus subtilis Nutrition 0.000 description 3
- 230000009471 action Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 241001465754 Metazoa Species 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
Classifications
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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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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
- G06N20/00—Machine learning
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
- G06V10/764—Arrangements for image or video recognition or understanding using pattern recognition or machine learning using classification, e.g. of video objects
Abstract
The invention discloses a method, a system, a computer readable medium and a mowing robot for processing a hay, wherein the method comprises the following steps of S10: controlling the mowing robot to mow according to a planned route in the working map; s20: judging whether the mowing meets the mowing or not, if so, executing S30; s30: acquiring a withered position, judging whether the withered position is in the working map boundary, and executing S40 if not; s40: setting a hay position as a completed work area and controlling a mowing robot to cut to an original planned route along the boundary of the hay and the normal grass so as to continue mowing; s50: judging whether the mowing task is finished, if not, returning to S10; if yes, executing S60; s60: and controlling the mowing robot to return to the charging station for charging. According to the invention, different coping strategies are adopted when the hay is encountered at different positions in the working area, so that the mowing efficiency is improved, and the mowing experience of a user is improved.
Description
Technical Field
The invention relates to the technical field of visual obstacle recognition, in particular to a method and a system for processing cumulating, a computer readable medium and a mowing robot.
Background
When the vision mowing robot recognizes obstacles on a working scene, objects in a visual field range are generally divided into two types, one type is a lawn, the other type is an obstacle, all objects which are not lawns are used as the obstacle for obstacle avoidance, and sometimes some special obstacles in the obstacle, such as animals, people and the like, are used as independent objects for recognition, so that different obstacle avoidance strategies are adopted.
The movement condition of the visual mowing robot can be influenced by the hay in the lawn, the visual mowing robot is directly controlled to plan the hay into a common obstacle, and when mowing is performed in a working area, if more hay exists in the area, the mowing robot can frequently avoid the obstacle, so that the mowing efficiency and the mowing effect are influenced; if the hay is regarded as normal grass, when the grass cutting robot encounters an out-of-limit area like the hay, the grass cutting robot can go out of the limit due to false recognition, and danger occurs.
Disclosure of Invention
The technical problem to be solved by the invention is to solve at least one defect existing in the prior art: a method, a system, a computer readable medium and a mowing robot for processing the hay are provided.
The technical scheme adopted for solving the technical problems is as follows: a method for processing the dead-end is constructed, which comprises the following steps:
s10: controlling the mowing robot to mow according to a planned route in a working map;
s20: judging whether the mowing meets the mowing or not, if so, executing S30;
s30: acquiring a withered position, judging whether the withered position is in the working map boundary, and executing S40 if not;
s40: setting the position of the hay as a finished working area and cutting the hay to an original planned route along the boundary of the hay and normal grass so as to continue mowing;
s50: judging whether the mowing task is finished, if not, returning to S10; if yes, executing S60;
s60: and controlling the mowing robot to return to a charging station for charging.
Preferably, in the method for treating a hay according to the present invention, before step S10, the method further includes:
s01: judging whether the working map exists in the current working area or not, if so, executing S10; if not, executing S03;
s03: and controlling the mowing robot to walk along the boundary of the working area to establish a working map.
Preferably, in the method for treating a hay according to the present invention, step S03 includes:
s04: judging whether the working map is met with the withered grass or not when the working map is established, and executing S05 if the working map is met with the withered grass; if not, executing S06;
s05: controlling the mowing robot to walk along the junction of the hay and the non-hay area to establish the working map;
s06: judging whether the starting point is returned, if so, executing S07; if not, returning to S04;
s07: and finishing building the working map, storing the working map and waiting for receiving a user instruction.
Preferably, in the method for processing the hay according to the present invention, the planned route includes: a mowing route in the working map boundary and a mowing route along the working map boundary.
Preferably, in the method for treating a hay according to the present invention, before step S10, the method further includes:
s00: judging whether to start automatic mowing, if so, executing S01, and if not, executing S02;
s02: judging whether an automatic construction of a working map is needed, if so, executing S03; if not, waiting for receiving the user instruction.
The invention also constructs a system for treating the withered grass, comprising:
a first control module: the mowing robot is used for controlling the mowing robot to mow according to a planned route in a working map;
a first judging module: judging whether the mowing machine encounters the hay or not when mowing, and if so, operating a second judging module;
and a second judging module: the processing module is used for acquiring the position of the withered grass and judging whether the position of the withered grass is in the working map boundary or not, and if not, the processing module is operated;
the processing module is used for: the grass cutting robot is used for setting the position of the grass to be a finished working area and controlling the grass cutting robot to cut to an original planned route along the boundary of the grass and the normal grass so as to continue mowing;
and a third judging module: the first control module is used for judging whether the mowing task is finished or not, and if not, returning to the first control module; if yes, a second control module is operated;
and a second control module: and the controller is used for controlling the mowing robot to return to a charging station for charging.
Preferably, in the system for treating the bacillus subtilis according to the invention, the system further comprises:
a fourth judging module: the first control module is used for judging whether the working map exists in the current working area or not, and if yes, the first control module is operated; if not, a third control module is operated;
and a third control module: and the mowing robot is used for controlling the mowing robot to walk along the boundary of the working area to establish a working map.
Preferably, in the system for treating the bacillus subtilis according to the invention, the system further comprises:
and a fifth judging module: judging whether the working map meets the withered grass or not when the working map is established, and if so, operating a fourth control module; if not, a sixth judging module is operated;
and a fourth control module: the mowing robot is used for controlling the mowing robot to walk along the junction of the hay and the non-hay area to establish the working map;
a sixth judging module: the system comprises a starting point judging module, a drawing establishing and saving module and a drawing establishing and saving module, wherein the starting point judging module is used for judging whether the system returns to the starting point or not, if yes, the drawing establishing and saving module is operated; if not, a fifth judging module is operated;
and a drawing construction and storage module: and the method is used for completing the establishment of the working map and saving the working map and waiting for receiving a user instruction.
Preferably, in the system for treating a plant according to the present invention, the planned route includes: a mowing route in the working map boundary and a mowing route along the working map boundary.
Preferably, in the system for treating the bacillus subtilis according to the invention, the system further comprises:
seventh judgment module: the fourth judging module is used for judging whether to start automatic mowing or not, if yes, the fourth judging module is operated; if not, an eighth judging module is operated;
eighth judgment module: the method comprises the steps of judging whether an automatic construction work map is needed, and if yes, operating a third control module; if not, waiting for receiving the user instruction.
The present invention also constructs a computer-readable medium having stored thereon a computer program which, when executed by a processor, implements a method of treating a subtilis according to any of the preceding claims.
The present invention also constructs a mowing robot comprising:
one or more processors;
storage means for storing one or more programs that, when executed by the one or more processors, cause the one or more processors to implement the method of subtilisin as set forth in any of the preceding claims.
By implementing the invention, the following beneficial effects are achieved:
the invention discloses a method, a system, a computer readable medium and a mowing robot for processing a hay, wherein the method comprises the following steps of S10: controlling the mowing robot to mow according to a planned route in the working map; s20: judging whether the mowing meets the mowing or not, if so, executing S30; s30: acquiring a withered position, judging whether the withered position is in the working map boundary, and executing S40 if not; s40: setting a hay position as a completed work area and controlling a mowing robot to cut to an original planned route along the boundary of the hay and the normal grass so as to continue mowing; s50: judging whether the mowing task is finished, if not, returning to S10; if yes, executing S60; s60: and controlling the mowing robot to return to the charging station for charging. According to the invention, different coping strategies are adopted when the hay is encountered at different positions in the working area, so that the mowing efficiency is improved, and the mowing experience of a user is improved.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a schematic flow chart of the method for treating the dead-end according to the present invention;
FIG. 2 is a block diagram of a module of the present invention of a subtile processing system.
Detailed Description
For a clearer understanding of technical features, objects and effects of the present invention, a detailed description of embodiments of the present invention will be made with reference to the accompanying drawings.
It should be noted that the flow diagrams depicted in the figures are merely exemplary and do not necessarily include all of the elements and operations/steps, nor are they necessarily performed in the order described. For example, some operations/steps may be decomposed, and some operations/steps may be combined or partially combined, so that the order of actual execution may be changed according to actual situations.
The block diagrams depicted in the figures are merely functional entities and do not necessarily correspond to physically separate entities. That is, the functional entities may be implemented in software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor devices and/or microcontroller devices.
In this embodiment, as shown in fig. 1, the present invention constructs a method for treating a hay, comprising the steps of:
s10: controlling the mowing robot to mow according to a planned route in a working map;
s20: judging whether the mowing meets the mowing or not, if so, executing S30;
s30: acquiring a withered position, judging whether the withered position is in the working map boundary, and executing S40 if not;
s40: setting the position of the hay as a completed working area and controlling the mowing robot to cut the hay to an original planned route along the boundary of the hay and normal grass so as to continue mowing;
s50: judging whether the mowing task is finished, if not, returning to S10; if yes, executing S60;
s60: and controlling the mowing robot to return to a charging station for charging.
Before the mowing robot is controlled to mow, a certain type of hay is added in the type of the identification object of the AI, a certain number of samples containing normal lawns, hay and common obstacles are collected, the hay is marked in a sample image manually, model training is carried out in an AI training server based on the manually marked samples, model parameters generated after training are deployed on the mowing robot, and the robot carries out recognition of the hay, the normal lawns and the common obstacles on the image collected in real time based on the trained model.
In the working map, when the mowing robot encounters the hay, the hay position is defined as two states of the inside of the map boundary and the map boundary, and the position of the total range of the hay is connected with the map boundary, so that the hay position is considered to be positioned at the map boundary; the total range position of the withers is not connected with the map boundary, and the withers are considered to be positioned in the map boundary.
In some embodiments, the mowing robot returns to the charging station for charging after completing the work, and stands by after the charging is completed; user instructions may be accepted and responded to during or after charging is completed.
In some implementations, the mowing robot can judge the electric quantity in a full range when mowing work, and if the electric quantity is insufficient, the mowing robot can return to the charging station for charging and then return to the working area for work.
When the hay is encountered in the working area, the robot can maintain the original cutting route and cutting mode as normal mowing treatment.
When the hay is hit near the boundary of the working area, the mowing robot can treat the mowing robot as an obstacle, and the specific obstacle avoidance action can be turning around and turning back, changing the cutting direction or cutting along edges around the edges of the hay and normal grass.
The mowing robot is positioned in real time in the working process, and whether the mowing robot encounters the mowing robot is in the working area or near the boundary can be determined according to the positioning information and the map information of the robot.
In some embodiments, step S10 is preceded by:
s01: judging whether a working map exists in the current working area or not, if so, executing S10; if not, executing S03;
s03: and controlling the mowing robot to walk along the boundary of the working area to establish a working map.
Before the map is built, judging whether a working map exists in the current area of the robot according to real-time positioning; in the process of drawing, the mowing robot carries out recognition processing on the front image in real time, and when recognizing the withered grass, the mowing robot takes the withered grass in the area as normal grass to carry out edgewise walking drawing.
In some embodiments, step S03 is followed by:
s04: judging whether the working map is met or not when the working map is built, and executing S05 if the working map is met; if not, executing S06;
s05: controlling the mowing robot to walk along the junction of the hay and the non-hay area to establish a working map;
s06: judging whether the starting point is returned, if so, executing S07; if not, returning to S04;
s07: and finishing building the working map, saving the working map and waiting for receiving the user instruction.
When the mowing robot works on the lawn, a map of the working area needs to be established first. The map can be built by manual remote control, namely, the manual remote control robot walks one circle along the boundary of the working area, records the coordinate track of the walking process and generates a map; or automatically creating a map, namely, the mowing robot walks one circle along the automatically identified lawn boundary, and records the coordinate track of the walking process to generate the map. In the automatic drawing construction process, if the robot encounters the hay in the process of walking along the boundary, the robot walks along the junction of the hay and the non-hay area to construct the drawing, namely the hay area is contained in the working area.
In some embodiments, planning the route includes: a mowing route in the working map boundary and a mowing route along the working map boundary.
After the working area map is created, the robot can mow the working area. When mowing along the side route, if the boundary is identified to have the hay, the hay is taken as an obstacle, the mowing robot does not enter a hay area, mows along the boundary between the hay and a normal lawn, and avoids the occurrence of false identification near the boundary to cause out-of-boundary; when mowing in the boundary, if the middle of the map is identified to have the dead grass, the dead grass is taken as a normal lawn, and mowing is still continued on the original path; if the recognition that the hay area is connected with the map boundary, the hay is taken as an obstacle, the mowing robot does not enter the hay area, and mows on the normal lawn in the boundary in a turning way.
After the working area map is created, the working map is automatically subjected to map adjustment, an optimal planning route is screened out, turning back and turning actions of the mowing robot in the working map are reduced, the condition that the mowing robot enters into corners of the working map is reduced, and therefore working efficiency is improved.
In some embodiments, step S10 is preceded by:
s00: judging whether to start automatic mowing, if so, executing S01, otherwise, executing S02;
s02: judging whether an automatic construction of a working map is needed, if so, executing S03; if not, waiting for receiving the user instruction.
The user inputs an instruction to control whether the mowing robot performs the functions of automatic mowing and automatic drawing.
In some embodiments, step S20 further comprises: if not, executing S50;
step S30 further includes: if yes, executing S31;
s31: and controlling the mowing robot to continue mowing according to the original planned route, and executing S50.
In this embodiment, as shown in fig. 2, the present invention further constructs a system for treating a hay, comprising:
a first control module: the mowing robot is used for controlling the mowing robot to mow according to a planned route in a working map;
a first judging module: judging whether the mowing machine encounters the hay or not when mowing, and if so, operating a second judging module;
and a second judging module: the processing module is used for acquiring the position of the withered grass and judging whether the position of the withered grass is in the working map boundary or not, and if not, the processing module is operated;
the processing module is used for: the grass cutting robot is used for setting the position of the grass to be a finished working area and controlling the grass cutting robot to cut to an original planned route along the boundary of the grass and the normal grass so as to continue mowing;
and a third judging module: the first control module is used for judging whether the mowing task is finished or not, and if not, returning to the first control module; if yes, a second control module is operated;
and a second control module: for controlling the mowing robot to return to the charging station for charging.
Before the control module controls the mowing robot to mow, a type of hay is added in the type of the identification object of the AI, a certain number of samples containing normal lawns, the hay and common obstacles are collected, the hay is marked in a sample image manually, model training is carried out in an AI training server based on the manually marked samples, model parameters generated after training are deployed on the mowing robot, and the robot carries out recognition of the hay, the normal lawns and the common obstacles on the image collected in real time based on the trained model.
In the working map, when the mowing robot encounters the hay, the hay position is defined as two states of the inside of the map boundary and the map boundary, and the position of the total range of the hay is connected with the map boundary, so that the hay position is considered to be positioned at the map boundary; the total range position of the withers is not connected with the map boundary, and the withers are considered to be positioned in the map boundary.
In some embodiments, the mowing robot returns to the charging station for charging after completing the work, and stands by after the charging is completed; user instructions may be accepted and responded to during or after charging is completed.
In some implementations, the mowing robot can judge the electric quantity in a full range when working, and if the electric quantity is insufficient, the mowing robot can return to the charging station for charging and then return to the working area for working.
When the hay is encountered in the working area, the robot can maintain the original cutting route and cutting mode as normal mowing treatment.
When the hay is hit near the boundary of the working area, the mowing robot can treat the mowing robot as an obstacle, and the specific obstacle avoidance action can be turning around and turning back, changing the cutting direction or cutting along edges around the edges of the hay and normal grass.
The mowing robot obtains the positioning information of the robot according to the positioning module in the working process and combines map information, so that whether the mowing robot touches the mowing robot is in the working area or near the boundary can be determined.
In some embodiments, further included within the system is:
a fourth judging module: the first control module is used for judging whether the working map exists in the current working area or not, and if yes, the first control module is operated; if not, a third control module is operated;
and a third control module: and the mowing robot is used for controlling the mowing robot to walk along the boundary of the working area to establish a working map.
Before the map is built, judging whether a working map exists in the current area of the system according to the positioning module and the judging module; in the drawing construction process, the recognition module controls the mowing robot to recognize the front image in real time, and when recognizing the withered grass, the control module treats the withered grass in the area as normal grass to carry out edge walking drawing construction.
In some embodiments, further included within the system is:
and a fifth judging module: judging whether the working map meets the withered grass or not when the working map is established, and if so, operating a fourth control module; if not, a sixth judging module is operated;
and a fourth control module: the mowing robot is used for controlling the mowing robot to walk along the junction of the hay and the non-hay area to establish the working map;
a sixth judging module: the system comprises a starting point judging module, a drawing establishing and saving module and a drawing establishing and saving module, wherein the starting point judging module is used for judging whether the system returns to the starting point or not, if yes, the drawing establishing and saving module is operated; if not, a fifth judging module is operated;
and a drawing construction and storage module: and the method is used for completing the establishment of the working map and saving the working map and waiting for receiving a user instruction.
When the mowing robot works on the lawn, a map of the working area needs to be established first. The map can be built by manual remote control, namely, the manual remote control robot walks one circle along the boundary of the working area, records the coordinate track of the walking process and generates a map; or automatically creating a map, namely controlling the mowing robot to walk one circle along the automatically identified lawn boundary by the control module, and recording the coordinate track of the walking process to generate the map. In the automatic drawing construction process, if the robot encounters the hay in the process of walking along the boundary, the robot walks along the junction of the hay and the non-hay area to construct the drawing, namely the hay area is contained in the working area.
In some embodiments, planning the route includes: a mowing route in the working map boundary and a mowing route along the working map boundary.
After the third control module completes the creation of the map of the working area, the mowing robot can perform mowing operation in the working area. When the third control module controls the mowing robot to mow along the edge route, if the mowing robot recognizes that the boundary is provided with the hay, the hay is taken as an obstacle, the mowing robot does not enter a hay area, mows along the boundary between the hay and a normal lawn, and avoids the occurrence of false recognition near the boundary to cause out-of-boundary; when mowing in the boundary, if the middle of the map is identified to have the dead grass, the dead grass is taken as a normal lawn, and mowing is still continued on the original path; if the recognition that the hay area is connected with the map boundary, the hay is taken as an obstacle, the mowing robot does not enter the hay area, and mows on the normal lawn in the boundary in a turning way.
In some embodiments, further included within the system is:
seventh judgment module: the automatic mowing control module is used for judging whether to start automatic mowing or not, and if yes, the third control module is operated; if not, an eighth judging module is operated;
eighth judgment module: the method comprises the steps of judging whether an automatic construction work map is needed, and if yes, operating a third control module; if not, waiting for receiving the user instruction.
In some embodiments, the first determination module further comprises: if not, a third judging module is operated;
the second judging module further includes: if yes, the first control module is operated to control the mowing robot to finish mowing according to the original planned route, and the third judging module is operated.
The user inputs an instruction to control whether the mowing robot performs the functions of automatic mowing and automatic drawing.
In this embodiment, the present invention also constructs a computer-readable medium having a computer program stored thereon, which when executed by a processor implements the method of treating a subtilis as described above.
In this embodiment, the present invention constructs a mowing robot including: one or more processors; and a storage means for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to implement the method of subtilisin as described above.
The mowing robot comprises a vision module, a control module and a control module, wherein the vision module is used for collecting video images of the environment in the advancing direction of the robot; the identification module is used for carrying out real-time identification on the video image collected by the visual module by the preset identification model, and can identify normal lawns, withered grass and obstacles; the positioning module is used for outputting the real-time coordinate position of the robot; the control module is used for controlling the robot to execute tasks of a user based on the command of the user, such as drawing, mowing and the like; the movement module comprises a walking mechanism and a mowing operation mechanism and is used for executing tasks such as walking, mowing and the like under the control of the control module; the interaction module is used for receiving user instructions, sending the instructions to the control module, and displaying information of the mowing robot such as a map, a working state and the like; and the energy source module is used for providing energy sources for the modules.
By implementing the invention, the following beneficial effects are achieved:
the invention discloses a method, a system, a computer readable medium and a mowing robot for processing a hay, wherein the method comprises the following steps of S10: controlling the mowing robot to mow according to a planned route in the working map; s20: judging whether the mowing meets the mowing or not, if so, executing S30; s30: acquiring a withered position, judging whether the withered position is in the working map boundary, and executing S40 if not; s40: setting a hay position as a completed work area and controlling a mowing robot to cut to an original planned route along the boundary of the hay and the normal grass so as to continue mowing; s50: judging whether the mowing task is finished, if not, returning to S10; if yes, executing S60; s60: and controlling the mowing robot to return to the charging station for charging. According to the invention, different coping strategies are adopted when the hay is encountered at different positions in the working area, so that the mowing efficiency is improved, and the mowing experience of a user is improved.
It is to be understood that the above examples only represent preferred embodiments of the present invention, which are described in more detail and are not to be construed as limiting the scope of the invention; it should be noted that, for a person skilled in the art, the above technical features can be freely combined, and several variations and modifications can be made without departing from the scope of the invention; therefore, all changes and modifications that come within the meaning and range of equivalency of the claims are to be embraced within their scope.
Claims (12)
1. The method for processing the hay is applied to the mowing robot and is characterized by comprising the following steps of:
s10: controlling the mowing robot to mow according to a planned route in a working map;
s20: judging whether the mowing meets the mowing or not, if so, executing S30;
s30: acquiring a withered position, judging whether the withered position is in the working map boundary, and executing S40 if not;
s40: setting the position of the hay as a completed working area and controlling the mowing robot to cut the hay to an original planned route along the boundary of the hay and normal grass so as to continue mowing;
s50: judging whether the mowing task is finished, if not, returning to S10; if yes, executing S60;
s60: and controlling the mowing robot to return to a charging station for charging.
2. The method of claim 1, further comprising, prior to step S10:
s01: judging whether the working map exists in the current working area or not, if so, executing S10; if not, executing S03;
s03: and controlling the mowing robot to walk along the boundary of the working area to establish a working map.
3. The method of claim 2, wherein step S03 is followed by:
s04: judging whether the working map is met with the withered grass or not when the working map is established, and executing S05 if the working map is met with the withered grass; if not, executing S06;
s05: controlling the mowing robot to walk along the junction of the hay and the non-hay area to establish the working map;
s06: judging whether the starting point is returned, if so, executing S07; if not, returning to S04;
s07: and finishing building the working map, storing the working map and waiting for receiving a user instruction.
4. The method of claim 1, wherein the planning the route comprises: a mowing route in the working map boundary and a mowing route along the working map boundary.
5. A method for treating a plant according to claim 2, wherein,
the step S10 further includes:
s00: judging whether to start automatic mowing, if so, executing S01, and if not, executing S02;
s02: judging whether an automatic construction of a working map is needed, if so, executing S03; if not, waiting for receiving the user instruction.
6. A system for treating hay, for use with a robot lawnmower, comprising:
a first control module: the mowing robot is used for controlling the mowing robot to mow according to a planned route in a working map;
a first judging module: judging whether the mowing machine encounters the hay or not when mowing, and if so, operating a second judging module;
and a second judging module: the processing module is used for acquiring the position of the withered grass and judging whether the position of the withered grass is in the working map boundary or not, and if not, the processing module is operated;
the processing module is used for: the grass cutting robot is used for setting the position of the grass to be a finished working area and controlling the grass cutting robot to cut to an original planned route along the boundary of the grass and the normal grass so as to continue mowing;
and a third judging module: the first control module is used for judging whether the mowing task is finished or not, and if not, returning to the first control module; if yes, a second control module is operated;
and a second control module: for controlling the mowing robot to return to the charging station for charging.
7. The system of claim 6, further comprising within the system:
a fourth judging module: the first control module is used for judging whether the working map exists in the current working area or not, and if yes, the first control module is operated; if not, a third control module is operated;
and a third control module: and the mowing robot is used for controlling the mowing robot to walk along the boundary of the working area to establish a working map.
8. The system of claim 6, further comprising within the system:
and a fifth judging module: judging whether the working map meets the withered grass or not when the working map is established, and if so, operating a fourth control module; if not, a sixth judging module is operated;
and a fourth control module: the mowing robot is used for controlling the mowing robot to walk along the junction of the hay and the non-hay area to establish the working map;
a sixth judging module: the system comprises a starting point judging module, a drawing establishing and saving module and a drawing establishing and saving module, wherein the starting point judging module is used for judging whether the system returns to the starting point or not, if yes, the drawing establishing and saving module is operated; if not, a fifth judging module is operated;
and a drawing construction and storage module: and the method is used for completing the establishment of the working map and saving the working map and waiting for receiving a user instruction.
9. The system of claim 6, wherein the planned route comprises: a mowing route in the working map boundary and a mowing route along the working map boundary.
10. The system of claim 6, wherein the system comprises a plurality of filters,
also included within the system is:
seventh judgment module: the fourth judging module is used for judging whether to start automatic mowing or not, if yes, the fourth judging module is operated; if not, an eighth judging module is operated;
eighth judgment module: the method comprises the steps of judging whether an automatic construction work map is needed, and if yes, operating a third control module; if not, waiting for receiving the user instruction.
11. A computer readable medium on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the method of the subtilisin according to any of claims 1-5.
12. A robot lawnmower, comprising:
one or more processors;
storage means for storing one or more programs which when executed by the one or more processors cause the one or more processors to implement the method of subtilisin according to any of claims 1-5.
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