KR20210059839A - Robotic lawn mower using image processing of lawn boundary and Method for Controlling the same - Google Patents

Abstract

The present invention relates to a robotic lawn mower using image processing of a lawn boundary and a controlling method thereof, which analyzes an image of a working area subjected to lawn mowing to generate a moving path and an activating area, thereby efficiently controlling operation of the robotic lawn mower. The robotic lawn mower of the present invention comprises: a working area photographing unit installed in a main body of the robotic lawn mower to photograph the whole area of the working area before operation starts; an image analyzing unit for analyzing the image taken by the working area photographing unit; a plant property determining unit for dividing plants on the lawn into grasses and others to determine a state of grasses, based on an analysis result produced by the image analyzing unit by using lawn properties which the robotic lawn mower learned in advance; a lawn boundary estimating unit for estimating a lawn boundary based on the analysis result produced by the image analyzing unit; a working area designating and moving path generating unit for designating a working area based on the lawn boundary estimated by the lawn boundary estimating unit and generating a moving path for operation; and a traveling and operation controlling unit for controlling the robotic lawn mower so that it travels on the area designated by the working area designating and moving path generating unit and the moving path and performs operation of lawn mowing.

Description

Robotic lawn mower using image processing of lawn boundary and Method for Controlling the same}

The present invention relates to a lawn mowing apparatus, and in particular, a lawn mower using image processing on a lawn boundary line to enable efficient work motion control by generating a moving path and an active region by analyzing an image captured in a work area, and its It relates to the control method.

The lawn mower is a device for trimming the lawn planted in the yard or playground of a home. These lawnmowers are also classified into households used in homes and tractors used in large playgrounds or large farms.

There are two types of domestic lawn mowers: a walk behind type, in which a person pulls the lawn mower directly from behind and mows the lawn, and a hand type that a person carries by hand.

However, both types of lawn mowers have the hassle of having to operate the lawn mower by hand.

In particular, since it is difficult to mow the lawn in the yard by the user directly operating the lawn mower in the busy daily life of the modern day, it is most likely to hire an outside person to mow the lawn, resulting in hiring costs.

Therefore, an automatic robot-type lawn mower has been developed to prevent the occurrence of such additional costs and to reduce the user's labor.

The lawnmower is an equipment for trimming planted lawns such as the yard or playground of a general home. Due to the recent advances in autonomous driving technology in these devices, humans no longer have to use these devices to trim the lawn.

In the conventional lawnmowing robot, a boundary power line that separates the boundary of the lawn is separately installed, and a technique of inducing the robot not to cross this line during weeding is used.

In this way, the conventional lawnmower robot made a division point for the lawn and the road other than the lawn by separately installing a boundary power line to transmit power to recognize the division point for the general street other than the lawn and the lawn. .

In addition to the purchase of a lawnmower robot, it is necessary to install a boundary power line, resulting in problems such as an increase in cost, damage to the lawn area, and impairment of aesthetics.

Therefore, there is a demand for the development of a new technology for autonomous driving of a lawnmower robot.

Republic of Korea Patent Publication No. 10-2013-0015457 Republic of Korea Patent Publication No. 10-2018-0101809 Republic of Korea Patent Publication No. 10-2010-0032154

The present invention is to solve the problem of the conventional lawn mowing apparatus, by analyzing the image captured of the work area to generate a moving path and an active area, using image processing for the lawn boundary to enable efficient work motion control. An object thereof is to provide a lawnmower robot and a control method thereof.

The present invention applies an image processing technology that distinguishes grass and non-grass points by using a camera when a lawnmower is operating in a work area, thereby enabling efficient driving and motion control of the lawnmower robot. An object thereof is to provide a lawnmower robot using image processing and a control method thereof.

The present invention is an image processing technology and deep learning technology that uses image processing on the grass boundary, which enables the robot to constantly manage the grass state by learning about the grass state by itself, thereby increasing the efficiency of the grass state management and reducing the management stress of residents. An object thereof is to provide a lawnmower robot and a control method thereof.

The present invention is a lawnmower robot using image processing for a lawn boundary line and its control so that the user's convenience can be improved by automatically performing a task within a specified range by designating a working area range. Its purpose is to provide a method.

The present invention uses image processing technology and deep learning technology to provide image processing for grass boundary lines, which improves the efficiency of grass management by allowing plants in the grass field to be classified as grass and non-grass, using features previously learned about grass. An object thereof is to provide a lawnmower using a lawnmower and a control method thereof.

The present invention uses image processing technology and deep learning technology to memorize area characteristics such as the average running speed of the area, the presence of obstacles, and the amount of grass removed, and the driving stability and work efficiency of the lawnmower by performing obstacle avoidance driving. It is an object of the present invention to provide a lawnmower robot and a control method thereof using image processing for a lawn boundary line with an increased value.

Other objects of the present invention are not limited to the above-mentioned objects, and other objects not mentioned will be clearly understood by those skilled in the art from the following description.

A lawnmower robot using image processing on a lawn boundary line according to the present invention for achieving the above object comprises: a working area photographing unit installed in the main body of the lawnmower to capture an entire area of the working area before starting work; An image analysis unit that analyzes the image captured by the area photographing unit; based on the analysis result of the image analysis unit, using the features learned in advance about the grass, classifies the plants in the lawn as grass and non-grass and determines the condition of the lawn. A plant characteristic determination unit to perform; A grass boundary line calculation unit that calculates a grass boundary line based on the analysis result of the image analysis unit; A work area is designated based on the grass boundary line calculated by the grass boundary line calculation unit, and a movement path for the work is generated. It characterized in that it comprises a; work area designation and movement path generation unit; Travel and work control unit for controlling for performing a lawnmowing operation while driving the area and movement path designated by the work area designation and movement path generation unit; and characterized in that it comprises a.

Here, the grass boundary calculation unit calculates the grass boundary by recognizing only the corresponding area as grass when color data of the green color series is recognized in the image captured by the work area photographing unit, When the color of is detected, the grass boundary is calculated by recognizing the corresponding area as a non-grass area, or the grass boundary is calculated based on the result of dividing the plants in the lawn as grass and non-grass by the plant characteristic determination unit. It is done.

In addition, when a color other than grass is detected in the image captured by the work area imaging unit, the grass-mower robot recognizes the distance to the boundary point using the shooting point as the origin, and makes the lawnmower move around this distance. When the area point of is measured, it is characterized in that it operates again through measurement to calculate the lawn boundary line.

And while performing the lawn mowing operation under the control of the driving and operation control unit, the work area photographing unit continues to take pictures, and using image processing technology and deep learning technology, the average driving speed of the area, presence or absence of obstacles, and the amount of grass removal are areas. Further comprising a region characteristic learning unit for learning characteristics, and a region characteristic storage and providing unit that stores the region characteristics learned by the region characteristic learning unit and provides a driving and operation control unit for control to perform a lawn mowing operation. It is done.

In addition, the region characteristic learning unit is characterized in that it learns region change characteristics by comparing an image photographed during a previous operation of a specific region with an image photographed during a current operation.

And it characterized in that it further comprises an obstacle detection unit for detecting an obstacle positioned on the path when the lawnmowing operation is performed based on the analysis result of the image captured by the work area photographing unit and the detection signal through the ultrasonic sensor.

In addition, a wireless charging station is provided in a designated area within the grass working area, so that the lawnmower robot automatically returns according to the charging state to charge and start the work.

A control method of a lawnmower robot using image processing on a lawn boundary line according to the present invention for achieving another object comprises: a working area photographing step of being installed on a main body of the lawnmower to capture an entire area of the working area before starting work; An image analysis step that analyzes the image captured in the work area photographing step; Based on the analysis result of the image analysis step, using the features learned in advance about the lawn, classify the plants in the lawn into lawns and non-grass and state the lawn. A plant characteristic determination step of judging; a grass boundary calculation step of calculating a grass boundary line based on the analysis result of the image analysis step; designating a work area based on the grass boundary line calculated in the grass boundary line calculation step, and a moving path for the work A working area designation and movement path generation step of generating; A driving and operation control step of performing a lawnmowing operation while driving the designated area and movement path in the work area designation and movement path generation step; It is done.

Here, in the step of calculating the grass boundary, when the green color data of the grass index is recognized in the image taken by the work area photographing unit, only the corresponding area is recognized as grass to calculate the grass boundary, or When a color other than that is detected, the grass boundary is calculated by recognizing the area as a non-grass area, or calculating the grass boundary based on the result of dividing the plants in the lawn as grass and non-grass by the plant characteristic determination unit. It is characterized.

In addition, when a color other than grass is detected in the image captured by the work area imaging unit, the grass-mower robot recognizes the distance to the boundary point using the shooting point as the origin, and makes the lawnmower move around this distance. When the area point of is measured, it is characterized in that it operates again through measurement to calculate the lawn boundary line.

In addition, if it is determined that other plants other than grass are found in the plant characteristic determination stage, the process of removing and re-searching the heterogeneous plant, removing the heterogeneous plant, and recognizing the distance to the boundary point using the shooting point as the origin, the lawnmower robot If more plants other than grass are found in the step of re-searching with the focus of distance and re-searching, the process of removing xenografts and re-searching is performed again, and no other plants other than grass are found. If not, it is characterized in that performing, including the step of performing a lawnmowing operation again by returning to the first heterogeneous plant discovery point.

And while performing the lawn mowing operation under the control of the driving and operation control steps, the work area photographing unit continuously photographs, and using image processing technology and deep learning technology, the average driving speed of the area, presence or absence of obstacles, and grass removal amount are determined. Further comprising a region characteristic learning step of learning the region characteristic, and a region characteristic storing and providing step of storing the region characteristic learned in the region characteristic learning step and providing the driving and operation control unit for control to perform a lawn mowing operation. It is characterized by that.

And it characterized in that it further comprises the step of detecting an obstacle positioned on the path when the lawnmowing operation is performed based on the image analysis result photographed in the work area photographing step and the detection signal through the ultrasonic sensor.

As described above, the lawnmower robot and its control method using image processing for a lawn boundary line according to the present invention have the following effects.

First, by analyzing the image captured by the work area, a movement path and an activity area are generated, so that efficient work operation control is possible.

Second, when the lawnmower robot operates in the work area, an image processing technology that automatically separates grass and non-grass points using a camera enables efficient driving and motion control of the lawnmower robot.

Third, by using image processing technology and deep learning technology, the robot can continuously manage the turf condition by learning about the turf condition by itself, thereby increasing the efficiency of turf condition management and reducing the management stress of residents.

Fourth, by designating the work area range, the lawnmower robot automatically performs work only within the designated range, thereby improving the user's convenience.

Fifth, by using the features learned about grass in advance using image processing technology and deep learning technology, the efficiency of grass management is improved by allowing plants in the grass field to be classified as grass and non-grass.

Sixth, using image processing technology and deep learning technology, it remembers the characteristics of the area, such as the average driving speed of the area, the presence of obstacles, and the amount of grass removed, and improves the driving stability and work efficiency of the lawnmower by performing obstacle avoidance driving. Raise.

1 is a block diagram showing an example of calculating a lawn boundary line using image processing of a lawnmower according to the present invention.
Figure 2 is a block diagram of the overall configuration of a lawnmower robot using image processing for a lawn boundary line according to the present invention
3 is a detailed block diagram of a lawnmower robot using image processing for a lawn boundary line according to the present invention
4 to 6 are flow charts showing a control method of a lawnmower robot using image processing for a lawn boundary line according to the present invention.
7 is a block diagram showing an example of the operation of a lawnmower robot when a plant suspected of weeds is found

Hereinafter, a preferred embodiment of a lawnmower robot using image processing for a lawn boundary line and a control method thereof according to the present invention will be described in detail as follows.

Features and advantages of the lawnmower robot and its control method using image processing for a lawn boundary line according to the present invention will become apparent through detailed description of each embodiment below.

FIG. 1 is a block diagram showing an example of calculating a lawn boundary line using image processing of a lawnmower according to the present invention, and FIG. 2 is a block diagram showing the overall configuration of a lawnmower using image processing on the lawn boundary line according to the present invention. to be.

A lawnmower robot using image processing on a lawn boundary according to the present invention and a control method thereof are to generate a movement path and an active region by analyzing an image photographed in a working area. When the lawnmower robot operates in the working area, a camera By applying an image processing technology that distinguishes grass and non-turf spots by itself, efficient driving and motion control of the lawnmower robot is possible.

To this end, the present invention uses image processing technology and deep learning technology to designate a configuration and work area range in which the robot always manages itself through learning about the state of the grass, so that the lawnmower robot automatically performs tasks only within the specified range. It may include a configuration that performs.

In particular, it may include a configuration for classifying plants in a lawn into lawns and non-grasses by using features previously learned about lawns with image processing technology and deep learning technology.

The present invention may include a configuration for storing area characteristics such as an average driving speed of a corresponding area, presence or absence of an obstacle, and an amount of grass removal by using image processing technology and deep learning technology, and performing obstacle avoidance driving.

The present invention may include a configuration in which a wireless charging station is provided in a designated area within a grass working area so that the lawnmower robot can automatically return to charge and start work according to the charging state.

1 shows an example of calculating a lawn boundary line using image processing of a lawnmower according to the present invention. A camera is provided in the main body of the lawnmower, and an image received from the camera distinguishes the color of the lawn to distinguish boundary points. .

The classification method for calculating the lawn boundary line is as follows.

First, if the green color data of the grass color is recognized on the screen measured by the camera, it is recognized as grass.

Second, when a color other than grass comes in from the screen measured by the camera, the lawnmower robot moves the distance to the boundary point by recognizing the distance to the boundary point from the camera shooting point. If the point is measured, it operates through measurement again and calculates the lawn boundary line.

Third, using the features learned about grass in advance with image processing technology and deep learning technology, plants in the grass field are classified into grass and non-grass.

When the lawnmower robot finds a plant that is not'grass', it checks the presence of non-grass plants within a certain range, and then allows it to remove plants other than those within a certain range.

As shown in FIG. 2, the lawnmower robot using image processing for a lawn boundary line according to the present invention includes a camera for photographing a work area for calculating a lawn boundary line, and sensors for driving control, obstacle detection, and weeding operation control, A movement path and activity area generator that creates a movement path and designates a work area by analyzing an image by a camera and a sensor and a sensing signal, a vehicle controller that controls the movement and weeding work for lawn mowing, and an image processing technology department. Using the features learned about grass in advance with deep learning technology, plants in the grass field are classified into grass and non-grass, and obstacles and heterogeneous plant recognizers that recognize obstacles, and image processing technology and deep learning technology are used to identify the grass. It includes a memory for storing characteristics of areas such as the average driving speed of the area, the presence or absence of obstacles, and the amount of grass removal using deep learning technology and image processing technology and storage of features learned in advance.

A detailed configuration of a lawnmower robot using image processing for a lawn boundary line according to the present invention will be described as follows.

3 is a detailed block diagram of a lawnmower using image processing for a lawn boundary line according to the present invention.

As shown in FIG. 3, the lawnmower robot using image processing on the lawn boundary line according to the present invention includes a working area photographing unit 10 installed in the main body of the lawnmower to capture the entire area of the working area before starting work. , Using the image analysis unit 20 that analyzes the image captured by the work area photographing unit 10 and the features learned about the grass in advance based on the analysis result of the image analysis unit 20, plants in the lawn A plant characteristic determination unit 30 that divides the field into grass and non-grass and determines the state of the grass, a grass boundary line calculation unit 40 that calculates a grass boundary line based on the analysis result of the image analysis unit 20, and grass A work area designation and movement path generation unit 50 that designates a work area based on the grass boundary line calculated by the boundary line calculation unit 40 and creates a movement path for work, and a work area designation and movement path generation unit ( 50), while driving the designated area and movement path, the driving and operation control unit 60, which controls to perform the lawnmowing operation, and the operation area photographing while performing the lawnmowing operation under the control of the driving and operation control unit 60 The unit 10 continues to take pictures, and uses image processing technology and deep learning technology to learn area characteristics such as the average running speed of the area, the presence of obstacles, and the amount of grass removed, and the area A region characteristic storage and provision unit 80 that stores the region characteristics learned in the characteristic learning unit 70 and provides the driving and operation control unit 60 for control to perform a lawnmowing operation, and a work region photographing unit ( It includes an obstacle detection unit 90 for detecting an obstacle positioned on the path when the lawnmowing operation is performed, based on the image analysis result photographed in 10) and a detection signal through an ultrasonic sensor.

A method of controlling a lawnmower robot using image processing on a lawn boundary line according to the present invention will be described in detail as follows.

4 to 6 are flow charts showing a control method of a lawnmower robot using image processing for a lawn boundary line according to the present invention, and FIG. 7 is an operation of the lawnmower robot when a plant suspected of weeds is found. It is a configuration diagram showing an example.

4 shows an image analysis and grass recognition process.

First, the whole lawnmowing work area is photographed by the work area photographing unit 10 (S401), and the captured image is analyzed by the image analysis unit 20 (S401), and the image analysis unit 20 analyzes it. A step of calculating a grass boundary line based on the result (S403), a step of designating a work area based on the grass boundary line calculated by the grass boundary line calculating unit 40, and generating a moving path for the work (S404), and , While performing the lawn mowing operation, the work area photographing unit 10 continuously photographs, and the image analysis result is divided into an obstacle detecting unit 90 that detects obstacles located on the path, and the grass and non-turf, and determines the turf condition. It includes a step (S405) of transmitting to the plant characteristic determination unit 30.

5 shows a method of detecting plants other than grass and avoiding obstacles.

First, when grass is recognized by analyzing the captured image in the image analysis unit 20 (S501), the step of classifying grass in the plant characteristic determination unit 30 (S502) and detecting a grass area in the image And (S503), operating the mower in the corresponding turf area (S504), and while driving the path generated by the work area designation and movement path generation unit 50 (S505), when an obstacle is detected (S506), avoidance driving is performed. And performing a lawnmowing operation while moving to the final destination (S507).

Here, when it is determined that other plants other than the grass are found in the step S502 of classifying the grass in the plant characteristic determination unit 30, the process of removing and re-searching the heterogeneous plants shown in FIGS. 6 and 7 is performed.

In the process of removing and re-searching heterogeneous plants, as shown in FIG. 6, removing the heterogeneous plants (S601), recognizing the distance to the boundary point using the shooting point as the origin, and causing the lawnmower to move around this distance and re-searching. If other plants other than grass are found in the step (S602) and the step of re-searching, the xenogeneic plant removal process and the re-search process are performed again, and if no other plants other than the grass are found, the first heterogeneous plant discovery point Returning to and performing the lawnmowing operation again (S604).

The lawnmower robot and its control method using image processing on the lawn boundary according to the present invention described above are to generate a movement path and an active region by analyzing an image photographed in the working area, and the lawnmower is operated in the working area. This is to enable efficient driving and motion control of the lawnmower robot by applying an image processing technology that uses a camera to distinguish grass and non-grass points by itself.

As described above, it will be understood that the present invention is implemented in a modified form without departing from the essential characteristics of the present invention.

Therefore, the specified embodiments should be considered from a descriptive point of view rather than a limiting point of view, and the scope of the present invention is shown in the claims rather than the above description, and all differences within the scope equivalent thereto are included in the present invention. It will have to be interpreted.

10. Work area photographing unit 20. Image analysis unit
30. Plant characteristics judgment unit 40. Grass boundary calculation unit
50. Work area designation and movement path generation unit 60. Travel and work control unit
70. Area characteristics learning unit 80. Area characteristics storage and provision unit
90. Obstacle detection unit

Claims (13)

A work area photographing unit installed on the main body of the lawnmower to capture an entire area of the work area before starting the work;
An image analysis unit that analyzes an image captured by the work area photographing unit;
A plant characteristic determination unit for classifying plants in the lawn into lawns and non-grasses and determining a state of the lawn by using features previously learned about the lawn based on the analysis result of the image analysis unit;
A grass boundary calculation unit that calculates a grass boundary line based on the analysis result of the image analysis unit;
A work area designation and movement path generation unit that designates a work area based on the grass boundary line calculated by the grass boundary line calculation unit and generates a movement path for the work;
A lawnmower using image processing for a lawn boundary line, comprising: a driving and operation control unit that controls the operation area designation and movement path generation unit to perform a lawnmowing operation while driving the specified area and movement path. . The method of claim 1, wherein the lawn boundary calculation unit,
When the green color data of the grass index is recognized in the image taken by the working area photographing unit, only the corresponding area is recognized as grass and the grass boundary is calculated, or
When a color other than grass is detected in the image captured by the working area imaging unit, the corresponding area is recognized as an area other than grass and a grass boundary is calculated, or
A lawnmower robot using image processing for a lawn boundary line, characterized in that a lawn boundary line is calculated based on a result of dividing the plants in the lawn into grass and non-grass by the plant characteristic determination unit. The method of claim 2, wherein when a color other than grass is detected in an image photographed by the work area photographing unit,
By recognizing the distance to the boundary point with the shooting point as the origin, the lawnmower robot moves this distance as the center, and if the area point of the lawn is measured even though it reaches the measured distance, it operates again through measurement to calculate the lawn boundary A lawnmower robot using image processing for a lawn boundary line, characterized in that. The method of claim 1, wherein the work area photographing unit continuously photographs while performing the lawn mowing operation under the control of the driving and operation control unit,
An area characteristic learning unit that learns the area characteristics of the average running speed of the area, the presence of obstacles, and the amount of grass removed by using image processing technology and deep learning technology,
Using the image processing for the grass boundary, characterized in that it further comprises a region characteristic storage and provision unit that stores the region characteristic learned by the region characteristic learning unit and provides the driving and operation control unit for control to perform the lawnmowing operation. Lawn mower robot. 5. The turf field according to claim 4, wherein the region characteristic learning unit learns region change characteristics by comparing an image photographed during a previous operation of a specific region with an image photographed during a current operation. Mower robot. The method of claim 1, further comprising an obstacle detection unit for detecting an obstacle positioned on a path when a lawnmowing operation is performed based on an image analysis result captured by the work area photographing unit and a detection signal through an ultrasonic sensor. A lawnmower robot using image processing for a lawn boundary line. The method of claim 1, wherein the lawnmower robot automatically returns and starts charging and starting work according to the charging state by providing a wireless charging station in a designated area within the lawn working area. Lawn mower robot. A working area photographing step installed in the main body of the lawnmower to capture an entire area of the working area before starting the work;
An image analysis step of analyzing an image captured in the work area photographing step;
A plant characteristic determination step of classifying the plants in the lawn as grass and non-grass and determining a state of the lawn using the features learned in advance about the lawn based on the analysis result of the image analysis step;
A grass boundary calculation step of calculating a grass boundary line based on the analysis result of the image analysis step;
Designating a work area and generating a movement path for designating a work area based on the grass boundary line calculated in the grass boundary calculation step and generating a movement path for the work;
A driving and operation control step of performing a lawnmowing operation while driving a designated area and a movement path in the step of designating a work area and generating a movement path; How to control the robot. The method of claim 8, wherein the step of calculating the lawn boundary,
When the green color data of the grass index is recognized in the image taken by the working area photographing unit, only the corresponding area is recognized as grass and the grass boundary is calculated, or
When a color other than grass is detected in the image captured by the working area imaging unit, the corresponding area is recognized as an area other than grass and a grass boundary is calculated, or
A control method of a lawnmower robot using image processing for a lawn boundary line, characterized in that a lawn boundary line is calculated based on a result of dividing the plants in the lawn into grass and non-grass by the plant characteristic determination unit. The method of claim 9, wherein when a color other than grass is detected in an image photographed by the work area photographing unit,
By recognizing the distance to the boundary point with the shooting point as the origin, the lawnmower robot moves this distance as the center, and if the area point of the lawn is measured even though it reaches the measured distance, it operates again through measurement to calculate the lawn boundary A method of controlling a lawnmower robot using image processing on a lawn boundary line, characterized in that. The method of claim 8, wherein if it is determined that other plants other than grass are found in the plant characteristic determination step, the process of removing and re-searching the heterogeneous plant,
The step of removing heterogeneous plants and re-searching by recognizing the distance to the boundary point using the shooting point as the origin, and making the lawnmower move around this distance and searching again,
If more plants other than grass are found during the re-search phase, the xenogeneic plant removal process and re-search process are performed again.
If no other plants other than the grass are found, the method of controlling a lawnmower robot using image processing for a lawn boundary line, comprising the step of performing a lawnmowing operation by returning to an initial heterogeneous plant discovery point. The method of claim 8, wherein the work area photographing unit continuously photographs while performing the lawn mowing operation under the control of the driving and operation control step,
An area characteristic learning step of learning the area characteristics of the average driving speed of the area, the presence of obstacles, and the amount of grass removed by using image processing technology and deep learning technology, and
The image processing for the grass boundary line, characterized in that it further comprises the step of storing and providing the region characteristics that are provided to the driving and operation control unit for control for storing the region characteristics learned in the region characteristic learning step and performing the lawnmowing operation. A method of controlling a lawnmower robot using. The method of claim 8, further comprising detecting an obstacle positioned on a path when a lawnmowing operation is performed based on an image analysis result photographed in the work area photographing step and a detection signal through an ultrasonic sensor. A control method of a lawnmower robot using image processing for a lawn boundary line.

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