CN108490932A - A kind of control method of grass-removing robot and automatically control mowing system - Google Patents
A kind of control method of grass-removing robot and automatically control mowing system Download PDFInfo
- Publication number
- CN108490932A CN108490932A CN201810195855.2A CN201810195855A CN108490932A CN 108490932 A CN108490932 A CN 108490932A CN 201810195855 A CN201810195855 A CN 201810195855A CN 108490932 A CN108490932 A CN 108490932A
- Authority
- CN
- China
- Prior art keywords
- grass
- cut
- boundary
- removing robot
- advance
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 16
- 238000005520 cutting process Methods 0.000 claims abstract description 20
- 244000025254 Cannabis sativa Species 0.000 claims description 11
- 230000000694 effects Effects 0.000 claims description 5
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000005295 random walk Methods 0.000 description 1
Classifications
-
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Environmental Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Guiding Agricultural Machines (AREA)
- Harvester Elements (AREA)
Abstract
The invention discloses a kind of control method of grass-removing robot and automatically control mowing system.Obtain the video image on the lawn near grass-removing robot in real time first；Secondly the above video image is handled, is obtained in real time on the lawn near grass-removing robot by cutting region and not by the cut-boundary of cutting region；The cut-boundary information and certain rule or method that last basis obtains, the direction of advance of real-time control grass-removing robot carry out cutting operation.The control method of grass-removing robot is by automatically controlling what mowing system was realized including grass-removing robot, control device and image acquisition and processing device.Mowing efficiency can be improved using the present invention, substantially reduce the case where repeating to cut and omitting cutting.
Description
Technical field
The present invention relates to a kind of grass-removing robot control method and mowing system is automatically controlled, belongs to intelligent mowing apparatus skill
Art field.
Background technology
Afforestation is the important component of Chinese society Development of Urbanization, and wherein lawn is as indispensable one
Divide is even more to play considerable role in resident living area and urban afforestation garden.Lawn provides good living environment to people
While, maintenance work needs take a significant amount of time and energy, this just becomes a very important problem.In order to reduce
, there is traditional mowing instrument and intelligent grass-removing robot in the market in the time spent in safeguarding lawn and energy, and intelligence is mowed
Robot compared to have for traditional mowing instrument intelligent level is high, do not depend on manual operation, it is safer, be more suitable for it is green
The advantages that development in colour circle border.Therefore, with market development, grass-removing robot will gradually replace the non intelligent grass trimmer of tradition.
However, in practice, the low problem of mowing efficiency is to be badly in need of the problem solved in intelligent grass-removing robot application.
Existing most of grass-removing robot equipment are mowed in the boundary of lawn along random walk, are encountered boundary and are gone to or turn
It is curved, also there is part grass-removing robot to use GPS positioning or inertial navigation or other localization methods to constitute electronic map, then
Path planning is carried out to improve mowing efficiency, but due to the limitation of development cost and position error, cannot be completed well pre-
The case where fixed plan, appearance is cut again and leakage is cut.
Invention content
Goal of the invention：The present invention provides one kind and mowing efficiency can be improved, and substantially reduces the grass-removing robot for repeating cutting
Control method and corresponding automatically control mowing system.
Technical solution：A kind of control method of grass-removing robot of the present invention, includes the following steps：
(1) video image on lawn near grass-removing robot is obtained in real time；
(2) video image is handled, judges whether grass-removing robot nearby has and is cut through region and do not cut
Cross the cut-boundary in region；
(3) when grass-removing robot proceeds to fence boundary：If there is cut-boundary, determined according to the cut-boundary
Direction of advance, and the party of adjustment in real time marches forward, and executes step (4)；If without cut-boundary, along fence boundary
Direction is advanced, and step (5) is executed；
(4) advance along when front direction, when encountering fence boundary, return to step (3)；
(5) advance along when front direction, if cut-boundary can be encountered during advance, before being determined according to the cut-boundary
Into direction, and the party of adjustment in real time marches forward, return to step (3)；It is encountered not yet if advancing one week along fence boundary
Cut-boundary, then the task of mowing terminate.
Step (1) described video image mainly has using grass cutter human agent as basic point, to grass cutter human agent just before
Side " prestige is gone out " video image and using the certain point above grass cutter human agent as basic point, to grass-removing robot main direction
The video image of " prestige is gone down ".
The direction of advance of " being determined according to the cut-boundary " described in step (3) can in real time be adjusted according to cut-boundary, with
So that cutting the cutting region newly formed and the area cut before currently cut when the direction is cut
Domain has area as small as possible to be overlapped.
The invention also discloses one kind automatically controlling mowing system, including grass-removing robot, control device and Image Acquisition
Processing unit；The instruction of grass-removing robot receiving control device carries out cutting operation；Control device, to externally input information
It is handled, and coordinates to control grass-removing robot all parts activity；Image acquisition and processing device acquires near grass-removing robot
The video image in region, and the processing with the relevant information of cut-boundary is carried out to image.Wherein, controller includes microcontroller
And control circuit, microcontroller can calculate grass trimmer according to the variation of the obtained cut-boundary of image acquisition and processing device
The direction of advance of device people.
Advantageous effect：Compared with prior art, beneficial effects of the present invention：1, cutting region and uncut area are utilized
Boundary carry out grass-removing robot path planning, improve mowing efficiency, substantially reduce repeat mow and omit mow the case where；
2, mowing system is automatically controlled using with image acquisition and processing device and control device, lawn information can be obtained in real time,
Mowing path is corrected in planning in real time, avoids cutting the case where leakage is cut again.
Description of the drawings
Fig. 1 is grass-removing robot control method flow chart；
Fig. 2 is grass-removing robot control method cutting route figure；
Fig. 3 is grass-removing robot control method cutting route figure.
Specific implementation mode
This breaking-out row is further described below in conjunction with the accompanying drawings.
As shown in Figure 1, the present invention provides a kind of control methods of grass-removing robot.It obtains near grass-removing robot in real time
The video image on lawn；Video image is handled, judge grass-removing robot nearby whether have cut through region with not by
Cut through the cut-boundary in region；When mowing task starts, grass-removing robot advances along any direction, until encountering electronics hedge
Until basketry boundary.If can judge cut-boundary at this time, direction of advance is determined according to this cut-boundary, and along the direction before
Into until encountering fence boundary, then carry out the judgement of cut-boundary；If cannot judge cut-boundary at this time, cut
Careless robot advances along the direction on fence boundary；During advancing along fence boundary direction, if can judge
Go out cut-boundary, then direction of advance is determined according to this cut-boundary, and march forward along the party；If along fence boundary direction
Advance one week still without cut-boundary is judged, then the task of mowing terminates.
Fence boundary refer to the boundary line for limiting grass-removing robot zone of action, the i.e. working region of grass-removing robot not
It can be more than this boundary；Cut-boundary refers to the boundary line in the region cut through and the region not cut through.Cut-boundary can
To be judged by the difference of cutting region and the careless height and color of uncut area.
By determining direction of advance it is calculated by mowing system controller in the case where recognizing cut-boundary
Direction, this direction are to be changed according to Image Acquisition and the obtained cut-boundary of processing unit and changed, and are to need to pass through
Grass-removing robot controller is strictly calculated, and require the direction of advance of grass-removing robot centainly into accuracy rating with should
Direction is consistent.Direction of advance can in real time be adjusted according to cut-boundary and grass-removing robot cutterhead is inswept when the direction is cut
Region and the region cut it is be overlapped always, but be overlapped area it is smaller.
Fig. 2 is cutting route figure of the present invention in a simple implementation environment.Mowing task starts, grass-removing robot
From any point S, advance along any direction；When moving near a points, detect and encounter fence boundary, then into
Row J-turn acts, and is carried out at the same time the action for finding cut-boundary；Assuming that direction of turning around is clockwise, then turning over about
A determining direction can be obtained when 180 degree, then grass-removing robot moves on mowing along the direction.Work as grass cutter
It when people is moved near b points, detects and encounters fence boundary, then carry out J-turn action, be carried out at the same time searching cutting
The action on boundary；Cut-boundary cannot be judged at this time and determines direction of advance, then at this time along the direction on fence boundary
Advance；Assuming that along fence boundary by advance counterclockwise, then when moving near c points, it can be determined that go out cut-boundary,
Direction of advance is determined according to the cut-boundary at this time, and marches forward along the party and carries out mowing task, and so on, until operation
When near to d points, mowing task terminates.
Fig. 3 is cutting route figure of the present invention in another implementation environment, in figure the dash area region by
It cuts through.Mowing task starts, and grass-removing robot advances from any point S along any direction；When moving near a points
When, it detects and encounters fence boundary, then carry out J-turn action, be carried out at the same time the action for finding cut-boundary；Assuming that
Direction of turning around is clockwise, then a determining direction can be obtained when having turned over about 180 degree, then grass-removing robot along
The direction moves on mowing.When grass-removing robot moves near b points, the region cut through before encountering, thus
The new cut-boundary that region is formed determines direction of advance as shown, and direction is advanced according to this；When grass-removing robot moves to c points
It when neighbouring, detect and encounters fence boundary, then carry out J-turn action, be carried out at the same time the action for finding cut-boundary；
Cut-boundary cannot be judged at this time and determines direction of advance, then is advanced at this time along the direction on fence boundary；Assuming that edge
Fence boundary by advance counterclockwise, then when moving to d points, it can be determined that go out cut-boundary, at this time according to the cutting
Boundary determines direction of advance, and marches forward along the party and carry out mowing task, and so on, when running near e points, cut
Careless task terminates.
The present invention also provides one kind automatically controlling mowing system, and the system comprises grass-removing robot, control device and figures
As acquisition processing device；The instruction of grass-removing robot receiving control device carries out mowing activity；Control device, to external input
Information handled, and coordinate to control the activity of grass-removing robot all parts；Image acquisition and processing device acquires grass cutter
The video image of people's near zone, and the processing with the relevant information of cut-boundary is carried out to image.Wherein, controller includes micro-
Controller and control circuit, microcontroller can be calculated according to the variation of the obtained cut-boundary of image acquisition and processing device
The direction of advance of grass-removing robot.
Claims (5)
1. a kind of control method of grass-removing robot, which is characterized in that include the following steps：
(1) video image on lawn near grass-removing robot is obtained in real time；
(2) video image is handled, judges whether grass-removing robot nearby has and is cut through region and do not cut through area
The cut-boundary in domain；
(3) when grass-removing robot proceeds to fence boundary：If there is cut-boundary, is determined and advanced according to the cut-boundary
Direction, and the party of adjustment in real time marches forward, and executes step (4)；If without cut-boundary, along the direction on fence boundary
Advance, executes step (5)；
(4) advance along when front direction, when encountering fence boundary, return to step (3)；
(5) advance along when front direction, if cut-boundary can be encountered during advance, advance side is determined according to the cut-boundary
To, and the party of adjustment in real time marches forward, return to step (3)；If advance one week along fence boundary encounters cutting not yet
Boundary, then the task of mowing terminate.
2. the control method of grass-removing robot according to claim 1, which is characterized in that step (1) described video image
Mainly using grass cutter human agent as basic point, to the video image in grass cutter human agent front " prestige is gone out " and with grass trimmer
Certain point above device human agent is basic point, to the video image of grass-removing robot main direction " prestige is gone down ".
3. the control method of grass-removing robot according to claim 1, which is characterized in that described in step (3) " according to this
Cut-boundary determine " direction of advance can in real time be adjusted according to cut-boundary so that cut when the direction cut newly
The cutting region formed has area as small as possible Chong Die with the region cut before currently cut.
4. one kind automatically controlling mowing system, which is characterized in that the system comprises grass-removing robot, control device and images to adopt
Collect processing unit；The instruction of the grass-removing robot receiving control device carries out cutting operation；The control device, to outside
The information of input is handled, and coordinates to control grass-removing robot all parts activity；Described image acquisition processing device, acquisition
The video image of grass-removing robot near zone, and the processing with the relevant information of cut-boundary is carried out to image.
5. according to claim 4 automatically control mowing system, which is characterized in that the controller include microcontroller and
Control circuit, microcontroller can calculate grass cutter according to the variation of the obtained cut-boundary of image acquisition and processing device
The direction of advance of people.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810195855.2A CN108490932B (en) | 2018-03-09 | 2018-03-09 | Control method of mowing robot and automatic control mowing system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810195855.2A CN108490932B (en) | 2018-03-09 | 2018-03-09 | Control method of mowing robot and automatic control mowing system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108490932A true CN108490932A (en) | 2018-09-04 |
| CN108490932B CN108490932B (en) | 2021-01-26 |
Family
ID=63338371
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810195855.2A Active CN108490932B (en) | 2018-03-09 | 2018-03-09 | Control method of mowing robot and automatic control mowing system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108490932B (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110209154A (en) * | 2019-04-09 | 2019-09-06 | 丰疆智能科技股份有限公司 | The residual harvesting path planning system and its method of automatic harvester |
| CN110949371A (en) * | 2018-09-27 | 2020-04-03 | 卡特彼勒路面机械公司 | Autonomous field planning for autonomous construction vehicles |
| CN112433521A (en) * | 2019-08-07 | 2021-03-02 | 南京苏美达智能技术有限公司 | Control method of self-walking device, self-walking device and system |
| CN112567959A (en) * | 2019-09-12 | 2021-03-30 | 南京德朔实业有限公司 | Self-walking mowing system and method for supplementing operation of missed cutting area of self-walking mowing system |
| CN112673794A (en) * | 2020-12-24 | 2021-04-20 | 格力博(江苏)股份有限公司 | Mower and control method thereof |
| US20210176912A1 (en) * | 2019-12-16 | 2021-06-17 | Cnh Industrial America Llc | System and method for assessing agricultural operation performance based on image data of processed and unprocessed portions of the field |
| CN113485334A (en) * | 2021-07-02 | 2021-10-08 | 宁波瑞霖机械科技有限公司 | Mower control method, system and storage medium thereof |
| CN114698453A (en) * | 2022-03-14 | 2022-07-05 | 未岚大陆(北京)科技有限公司 | Cutting control method and device, cutting machine and storage medium |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102662400A (en) * | 2012-05-10 | 2012-09-12 | 慈溪思达电子科技有限公司 | Path planning algorithm of mowing robot |
| CN102771246A (en) * | 2012-07-05 | 2012-11-14 | 芜湖鸿宇智能科技有限公司 | Intelligent mower system and intelligent mowing method thereof |
| US20120290165A1 (en) * | 2011-05-09 | 2012-11-15 | Chien Ouyang | Flexible Robotic Mower |
| CN102929280A (en) * | 2012-11-13 | 2013-02-13 | 朱绍明 | Mobile robot separating visual positioning and navigation method and positioning and navigation system thereof |
| CN105612909A (en) * | 2016-02-23 | 2016-06-01 | 广东顺德中山大学卡内基梅隆大学国际联合研究院 | Vision and multisensory fusion based intelligent mowing robot control system |
| CN205692049U (en) * | 2016-06-24 | 2016-11-16 | 桑斌修 | A kind of grass-removing robot in boundless boundary line |
| CN106155053A (en) * | 2016-06-24 | 2016-11-23 | 桑斌修 | A kind of mowing method, device and system |
| CN106647765A (en) * | 2017-01-13 | 2017-05-10 | 深圳拓邦股份有限公司 | Planning platform based on mowing robot |
-
2018
- 2018-03-09 CN CN201810195855.2A patent/CN108490932B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120290165A1 (en) * | 2011-05-09 | 2012-11-15 | Chien Ouyang | Flexible Robotic Mower |
| CN102662400A (en) * | 2012-05-10 | 2012-09-12 | 慈溪思达电子科技有限公司 | Path planning algorithm of mowing robot |
| CN102771246A (en) * | 2012-07-05 | 2012-11-14 | 芜湖鸿宇智能科技有限公司 | Intelligent mower system and intelligent mowing method thereof |
| CN102929280A (en) * | 2012-11-13 | 2013-02-13 | 朱绍明 | Mobile robot separating visual positioning and navigation method and positioning and navigation system thereof |
| CN105612909A (en) * | 2016-02-23 | 2016-06-01 | 广东顺德中山大学卡内基梅隆大学国际联合研究院 | Vision and multisensory fusion based intelligent mowing robot control system |
| CN205692049U (en) * | 2016-06-24 | 2016-11-16 | 桑斌修 | A kind of grass-removing robot in boundless boundary line |
| CN106155053A (en) * | 2016-06-24 | 2016-11-23 | 桑斌修 | A kind of mowing method, device and system |
| CN106647765A (en) * | 2017-01-13 | 2017-05-10 | 深圳拓邦股份有限公司 | Planning platform based on mowing robot |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110949371A (en) * | 2018-09-27 | 2020-04-03 | 卡特彼勒路面机械公司 | Autonomous field planning for autonomous construction vehicles |
| CN110949371B (en) * | 2018-09-27 | 2023-09-26 | 卡特彼勒路面机械公司 | Autonomous field planning for autonomous construction vehicles |
| CN110209154A (en) * | 2019-04-09 | 2019-09-06 | 丰疆智能科技股份有限公司 | The residual harvesting path planning system and its method of automatic harvester |
| CN112433521A (en) * | 2019-08-07 | 2021-03-02 | 南京苏美达智能技术有限公司 | Control method of self-walking device, self-walking device and system |
| CN112567959A (en) * | 2019-09-12 | 2021-03-30 | 南京德朔实业有限公司 | Self-walking mowing system and method for supplementing operation of missed cutting area of self-walking mowing system |
| US20210176912A1 (en) * | 2019-12-16 | 2021-06-17 | Cnh Industrial America Llc | System and method for assessing agricultural operation performance based on image data of processed and unprocessed portions of the field |
| CN112673794A (en) * | 2020-12-24 | 2021-04-20 | 格力博(江苏)股份有限公司 | Mower and control method thereof |
| CN113485334A (en) * | 2021-07-02 | 2021-10-08 | 宁波瑞霖机械科技有限公司 | Mower control method, system and storage medium thereof |
| CN114698453A (en) * | 2022-03-14 | 2022-07-05 | 未岚大陆(北京)科技有限公司 | Cutting control method and device, cutting machine and storage medium |
| CN114698453B (en) * | 2022-03-14 | 2023-06-23 | 未岚大陆(北京)科技有限公司 | Cutting control method and device, cutting machine and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108490932B (en) | 2021-01-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108490932A (en) | A kind of control method of grass-removing robot and automatically control mowing system | |
| EP3698618B1 (en) | Smart lawn mowing system | |
| KR101202399B1 (en) | Agricultural mower robot and thereby method of driving guidance | |
| KR101513050B1 (en) | Lawn mower robot and Controlling Method for the same | |
| EP3613270A1 (en) | Intelligent mower based on lidar map building | |
| US20150163993A1 (en) | Autonomous gardening vehicle with camera | |
| CN106325271A (en) | Intelligent mowing device and intelligent mowing device positioning method | |
| CN113126613B (en) | Intelligent mowing system and autonomous image building method thereof | |
| CN111176282A (en) | Method and system for setting boundary and self-walking equipment | |
| US20210255638A1 (en) | Area Division and Path Forming Method and Apparatus for Self-Moving Device and Automatic Working System | |
| WO2021057909A1 (en) | Autonomous robot, travel path planning method and apparatus thereof, and storage medium | |
| DE102015222414A1 (en) | Autonomous working device | |
| WO2019228438A1 (en) | Obstacle self-learning method and new obstacle self-learning method | |
| CN104740875A (en) | Guiding method for game role move | |
| CN111103886B (en) | Method, device, equipment and computer readable storage medium for identifying narrow passage | |
| CN113448327B (en) | Operation control method of automatic walking equipment and automatic walking equipment | |
| US20230210050A1 (en) | Autonomous mobile device and method for controlling same | |
| CN116466724A (en) | Mobile positioning method and device of robot and robot | |
| CN113821021B (en) | Automatic walking equipment region boundary generation method and system | |
| CN114326743B (en) | Working map generation method, detection device and garden system | |
| WO2021139683A1 (en) | Self-moving device | |
| WO2021253698A1 (en) | Robot walking control method and system, robot, and storage medium | |
| CN110824500A (en) | Wheat seedling root cutting fertilization laser radar scanning automatic line alignment method and system | |
| CN113515113B (en) | Operation control method of automatic walking equipment and automatic walking equipment | |
| Mazzetto et al. | Integrated full line of mechanization for vineyard preparation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |