CN115885669A - Gardening three-dimensional trimming method, system, robot, equipment and medium - Google Patents
Gardening three-dimensional trimming method, system, robot, equipment and medium Download PDFInfo
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- 238000013138 pruning Methods 0.000 claims abstract description 14
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Abstract
The invention discloses a gardening three-dimensional pruning method, a gardening three-dimensional pruning system, a gardening three-dimensional pruning robot, gardening three-dimensional pruning equipment and a gardening three-dimensional pruning medium 0 ‑Y N Adjacent origin coordinate Y of the Y axis i+1 ‑Y i = W, W is the trim width of the robot; presenting the X-axis and the Y-axis of the operation coordinate point set of the robot to a user in a real scene in the lawn model to be trimmed; respectively marking an X axis and a Y axis on the lawn to be trimmed by using a first laser and a second laser to drive the robot to respectively mark Y axis and Y axis at each initial coordinate point 0 ‑Y N And advancing along the X-axis direction, updating the current X-axis coordinate in real time by the encoder, and adjusting the trimming height of the cutter head in real time according to the current Y-axis coordinate, the X-axis coordinate and the coordinate point set. Compared with the traditional full-automatic closed-loop control mode, the invention has the advantages thatAlthough the semi-automatic operation mode is adopted, the positioning is accurate, the single machine cost is lower, the maintenance is easy, and the popularization is easier.
Description
Technical Field
The invention relates to the technical field of lawn trimming, in particular to a gardening three-dimensional trimming method, system, robot, equipment and medium.
Background
The lawn robot (lawn trimmer) can reduce the operation intensity of gardeners, and meanwhile, the intelligent lawn robot can trim various gardening patterns by itself, so that the experience requirements on the gardeners are reduced. However, the automatic trimming of the lawn robot still has a limitation, that is, the trimming precision of the robot has a main influence factor of the positioning of the robot, that is, how to position the robot so that the robot can find the accurate position of the robot in the actual lawn to perform the trimming action.
Currently, GPS is used for popular product fixes. The GPS is controlled wireless positioning, the positioning precision is low, the signal delay degree is high, and the response speed of the robot control system is slow. Therefore, in the prior art, local positioning is adopted to make up for the defect of large positioning error of a GPS, for example, the invention application with the application publication number of CN108628314A and the name of "a multi-machine cooperation lawn trimming robot system and method" discloses a technical scheme of trimming a lawn by arranging a plurality of positioning base stations near the lawn to be trimmed and then assisting various sensors (incremental encoder, accelerometer, magnetometer and gyroscope) and the like, and a closed-loop algorithm is adopted in the whole trimming process to correct the defect caused by the positioning error, and the system has a complex product structure, high precision requirement, high price and is not beneficial to popularization.
Disclosure of Invention
The invention aims to provide a gardening three-dimensional pruning method which can reduce cost and omit a closed-loop control system so as to ensure precision and reduce cost.
In order to achieve the purpose, the invention adopts the following technical scheme:
a horticultural three-dimensional trimming method comprising:
s1, collecting characteristic parameters of a lawn to be trimmed, and establishing a lawn model to be trimmed;
s2, obtaining a three-dimensional design model, and mapping the three-dimensional design model in a lawn model to obtain a trimming model;
s3, unifying coordinate systems of the robot and the trimming modelGenerating a set of operation coordinate points of the robot and a height of the tool bit at each operation coordinate point, wherein the set of Y-axis starting point coordinate points of the set of operation coordinate points of the robot is Y 0 -Y N Adjacent origin coordinate Y of the Y axis i+1 -Y i = W, W is the trim width of the robot; presenting the X-axis and the Y-axis of the operation coordinate point set of the robot to a user in a real scene in the lawn model to be trimmed;
s4, marking an X axis on the lawn to be trimmed by adopting the first laser, marking a Y axis by adopting the second laser, and driving the robot to respectively mark Y axes at each initial coordinate point 0 -Y N And advancing along the X-axis direction, updating the current X-axis coordinate in real time by the robot through an encoder, and adjusting the trimming height of the cutter head in real time according to the current Y-axis coordinate, the X-axis coordinate and the coordinate point set.
Further, the robot includes a one-way trimming mode, in which a second laser is used to identify the Y-axis at the starting point of the X-axis and the ending point of the X-axis, respectively, and each starting coordinate point is Y-axis 0 -Y N The two marks are alternately distributed on the Y axis; along each starting coordinate point Y i When the coordinate value of the X axis is updated to reach the preset end point value, the user is reminded to confirm and update the initial coordinate point to Y i+1 。
Further, the robot includes a two-pass trim mode, where a second laser is used to identify the Y-axis at the X-axis start point, each start coordinate point Y 0 -Y N The array is distributed on the marked Y axis; along each starting coordinate point Y i When the coordinate value of the X axis is updated to reach the preset end point value, reminding a user to drive the vehicle to return; when the coordinate value of the X axis is updated to the preset value of the returned starting point, the user is reminded to confirm and update the starting coordinate point to Y i+1 。
Further, in S1, collecting characteristic parameters of the lawn to be trimmed, including the length, width, height and obstacles of the lawn; in S2, when the lawn to be pruned has obstacles, the pruning model is divided into a plurality of sub-pruning models according to the minimum division principle, and S3 and S4 are executed for each sub-pruning model.
Further, the step S3 includes presenting the X-axis and the Y-axis of the working coordinate point set of the robot to the user in real scene in the trimming model.
It is still another object of the present invention to provide a three-dimensional gardening trimming system, comprising:
the acquisition and modeling device is used for acquiring characteristic parameters of the lawn to be trimmed and modeling;
the graphic design device is used for acquiring a three-dimensional design model or generating the three-dimensional design model according to two-dimensional plane design, and mapping the three-dimensional design model in the lawn model to obtain a trimming model;
an algorithm conversion command device for unifying the coordinate systems of the robot and the trimming model to generate a working coordinate point set of the robot and the height of the tool bit at each working coordinate point, wherein the Y-axis starting point coordinate point set of the working coordinate point set of the robot is Y 0 -Y N Adjacent origin coordinate Y of the Y axis i+1 -Y i = W, W is the trim width of the robot;
the robot receives the instruction information of the algorithm conversion instruction device and presents the X-axis and Y-axis scenes of the operation coordinate point set to a user;
the first laser and the second laser are respectively used for marking an X axis and a Y axis on the lawn to be trimmed so that the robot can obtain reference on the lawn to be trimmed and execute instruction information for trimming the lawn.
It is still another object of the present invention to provide a robot, comprising:
a body;
the controller is used for controlling the body and acquiring instruction information from a cloud; the command information is an operation coordinate point set of the robot and the height of a tool bit at each operation coordinate point generated by the algorithm conversion command device according to a coordinate system of the unified robot and the trimming model, wherein the Y-axis starting point coordinate point set of the operation coordinate point set of the robot is Y 0 -Y N Adjacent origin coordinate Y of the Y axis i+1 -Y i = W, W is the trim width of the robot;
and the interactive panel is connected with the controller and is used for presenting the X-axis and Y-axis real scenes of the operation coordinate point set to a user.
Furthermore, the X-axis alignment device further comprises a third laser, wherein the third laser is arranged on the side edge of the body in parallel and used for aligning the body along the X-axis.
It is a further object of the invention to provide a computer device comprising a processor and a memory, said memory storing a computer program which is loaded and executed by said processor to implement the method as described above.
It is a further object of the present invention to provide a computer readable storage medium comprising one or more program instructions which, when executed, implement the method as described above.
Compared with the background art, the invention has the following advantages by adopting the technical scheme:
the invention enables the robot to be accurately positioned in the actual lawn through algorithm positioning and laser identification so as to execute the trimming action, compared with the traditional full-automatic closed-loop control mode, the invention has the advantages of accurate and efficient positioning, lower single machine cost, easy maintenance and easier popularization although the semi-automatic closed-loop control mode is a semi-automatic operation mode.
Drawings
FIG. 1 is a schematic flow diagram of the present invention;
FIG. 2 is a schematic view of the present invention;
FIG. 3 is a schematic view of the present invention;
FIG. 4 is a schematic diagram of the system of the present invention;
FIG. 5 is a top view of the robot of the present invention;
fig. 6 is a side view of the robot of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention. In addition, it should be noted that:
the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like are based on the orientations or positional relationships shown in the drawings and are only for convenience in describing and simplifying the description, but do not indicate or imply that the devices or elements of the present invention must have a specific orientation and thus should not be construed as limiting the present invention.
When an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are intended to be inclusive and mean, for example, that they may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or may be connected through the interconnection of two elements or through the interaction of two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to specific situations.
Examples
Referring to fig. 1, the present invention discloses a three-dimensional gardening trimming method, which includes:
s1, collecting characteristic parameters of a lawn to be trimmed, and establishing a lawn model to be trimmed;
the collected characteristic parameters of the lawn to be trimmed comprise the length, the width, the height and special obstacles of the lawn to be trimmed, and modeling is carried out after the characteristic parameters are collected to obtain a lawn model to be trimmed.
In this application, the parameter acquisition and modeling of the lawn to be trimmed belong to the prior art (such as laser point cloud acquisition), and this application is not repeated.
S2, obtaining a three-dimensional design model, and mapping the three-dimensional design model in a lawn model to obtain a trimming model;
the three-dimensional design model can be directly obtained, and the two-dimensional plane design pattern can also be used as input to generate the three-dimensional design model. And (4) adapting the final three-dimensional design model according to the size, the height parameter and the obstacle information of the lawn model to generate a trimming model.
S3, unifying a coordinate system of the robot and the trimming model, and generating a working coordinate point set of the robot and the height of the tool bit at each working coordinate point, wherein the Y-axis starting point coordinate point set of the working coordinate point set of the robot is Y 0 -Y N Adjacent origin coordinate Y of the Y axis i+1 -Y i = W, W is the trim width of the robot; and presenting the X axis and the Y axis of the operation coordinate point set of the robot to a user in a real scene in the lawn model to be trimmed.
Therefore, by obtaining a Y-axis starting point coordinate point set, namely planning a plurality of trimming paths on a plane (namely an XY plane) of the lawn to be trimmed according to the trimming width of the robot, the cutter head of the robot can be controlled to move along the Z axis to trim the pattern only by identifying the driving distance of the robot on each trimming path and determining that the robot does not deviate from the driving path.
S4, marking an X axis on the lawn to be trimmed by adopting the first laser, marking a Y axis by adopting the second laser, and driving the robot to respectively mark Y axes at each initial coordinate point 0 -Y N And advancing along the X-axis direction, updating the current X-axis coordinate in real time by the robot through an encoder, and adjusting the trimming height of the cutter head in real time according to the current Y-axis coordinate, the X-axis coordinate and the coordinate point set.
The X axis and the Y axis of the real scene in the S3 are respectively marked in the actual lawn through the first laser and the second laser, and the initial coordinate point Y is obtained through the laser intersection point of the first laser and the second laser 0 At this time, from the start coordinate point Y 0 Starting along the X axis, the current driving distance is collected through an encoder, namely the X axis change value, at the moment, the Y axis coordinate is known, the X axis coordinate is known, the Z axis value at the moment can be obtained from the coordinate point in a centralized mode, namely the cutter head feeding value of the coordinate point, and therefore trimming can be completed. In the following, the edge of the previous trimming trace is used as the X-axis reference, and so on.
Herein, the trimming mode includes a one-way trimming modeAnd a two-pass trimming mode in which the start coordinate point Y is set 0 -Y N Different.
Referring to FIG. 2, when the single-pass trimming mode is used, the two second lasers respectively identify the Y-axis at the starting point of the X-axis and the ending point of the X-axis, and each starting coordinate point is Y 0 -Y N And the two marks are alternately distributed on the Y axis. At this time, the user drives the robot to reciprocate, i.e., from X 0 Y 0 Walk to X M Y 0 Then, the robot is switched to X M Y 1 Continuing to trim, and so on until the robot walks to the end point (when N is even, the end point is X) 0 Y N (ii) a When N is an odd number, the end point is X M Y N )。
In this process, along each starting coordinate point Y i When the coordinate value of the X axis is updated to reach the preset end point value, the user is reminded to confirm and update the initial coordinate point to Y i+1 。
E.g. along Y 0 Walking when the X-axis coordinate is from the starting point X 0 Change to X M At the moment, the robot outputs a prompt to remind a user whether the current initial coordinate is Y or not 1 And updating, if the user confirms and updates, then along Y 1 And performing operation, otherwise stopping, and preventing misoperation caused by positioning missing or errors.
Referring to FIG. 3, when the double-pass trimming mode is adopted, it includes rough trimming and fine trimming modes, in which a second laser is used to mark Y-axis at the starting point of X-axis, and each starting coordinate point Y is marked 0 -Y N The array is distributed on the marked Y axis; along each starting coordinate point Y i When the coordinate value of the X axis is updated to reach the preset end point value, reminding a user to drive the vehicle to return; when the coordinate value of the X axis is updated to the preset value of the returned starting point, the user is reminded to confirm and update the starting coordinate point to Y i+1 。
E.g. along Y 0 The first rough shearing is finished by walking, and when the X-axis coordinate is from the starting point X 0 Change to X M At the moment, the robot outputs a prompt to remind a user to back and finish, and a small amount of vegetation which cannot be trimmed in place for the first time is trimmed for the second time. When the X-axis coordinate value is updated to returnWhen the starting point preset value is returned, the user is reminded to confirm and the starting coordinate point is changed from Y 0 Is updated to Y 1 . And so on until Y is completed 0 -Y N The operation of (2).
Referring to fig. 2, when there is an obstacle in the lawn to be trimmed, the trimming model is divided into a plurality of sub-trimming models in S2 according to the minimum division principle, and S3 and S4 are performed for each sub-trimming model.
Specifically, if the number of obstacles is 1 in fig. 3, the hatched area in the drawing is defined as the secondary work area B, and the remaining area is defined as the primary work area a, and the work of S2 to S4 is performed for each of the two areas. The obstacle edge portion is manually trimmed.
Referring to fig. 4, another objective of the present invention is to provide a gardening three-dimensional trimming system, which includes a collecting and modeling device, a graphic design device, an algorithm conversion command device, and a robot.
The lawn trimming device comprises a collecting and modeling device, a trimming device and a trimming device, wherein the collecting and modeling device is used for collecting characteristic parameters of a lawn to be trimmed and modeling; the acquisition unit can be a backpack data acquisition modeling device, the acquisition mode can be three-dimensional laser point cloud acquisition, and the lawn model to be trimmed is obtained by processing the acquired point cloud data, which belongs to the prior art and is not described herein.
And the graphic design device is used for acquiring the three-dimensional design model or generating the three-dimensional design model according to the two-dimensional plane design, and mapping the three-dimensional design model in the lawn model to obtain the trimming model. Such a graphic design apparatus belongs to the prior art, and is not described in detail in the present application.
And the algorithm conversion instruction device is used for unifying the coordinate systems of the robot and the trimming model. Namely, the robot is calibrated in the trimming model according to the size of the robot, and the motion track of the robot in the trimming model is acquired to obtain the operation coordinate point set (X, Y and Z values) and the tool bit height corresponding to each operation coordinate point. Wherein the Y-axis starting point coordinate point set of the operation coordinate point set of the robot is Y 0 -Y N Adjacent origin coordinate Y of the Y axis i+1 -Y i And = W, W being the trim width of the robot.
The robot 300 receives the instruction information of the algorithm conversion instruction device, and presents the X-axis and Y-axis live views of the operation coordinate point set to the user.
The first laser 100 and the second laser 200 are respectively used for marking the X axis and the Y axis on the lawn to be trimmed, so that the robot 300 obtains a reference on the lawn to be trimmed and executes instruction information for trimming the lawn.
For the system embodiment, since it basically corresponds to the method embodiment, reference may be made to the partial description of the method embodiment for relevant points. The above-described system embodiments are merely illustrative, and the apparatuses described as separate parts may or may not be physically separate, and parts displayed as apparatuses may or may not be physical modules, may be located in one place, or may be distributed on a plurality of modules. Some or all of the modules can be selected according to actual needs to achieve the purpose of the disclosed solution. One of ordinary skill in the art can understand and implement it without inventive effort.
For example, in the aforementioned embodiment, the collecting and modeling device may be an independent backpack data collecting and modeling device, the graphic design device and the algorithm conversion command device may be an integrated cloud computer, and the first laser 100 and the second laser 200 are onboard (robot) devices.
Referring to fig. 5 and 6, another objective of the present invention is to provide a robot, which includes a body 310, a controller (not shown) disposed in the body, and an interactive panel 320.
The body 310 includes a tool bit assembly 311, the tool bit assembly 311 includes a plurality of independent tool bits, and each of the independent tool bits controls the Z-axis feeding through an independent Z-axis feeding unit. This is the basic structure of the robot and is not described in detail in the present application.
And a controller, which is mounted on the robot 300, and is used for controlling the operation of the main body 310, for example, monitoring the change of the value of the encoder to update the X-axis coordinate, and controlling the operation of the tool bit assembly 311 according to a preset Z-axis feeding value.
The instruction information is obtained from the cloud, the instruction information is an operation coordinate point set of the robot and the height of a tool bit at each operation coordinate point generated by the algorithm conversion instruction device according to a coordinate system of the unified robot and the trimming model, wherein the Y-axis starting point coordinate point set of the operation coordinate point set of the robot 300 is Y 0 -Y N Adjacent origin coordinate Y of the Y axis i+1 -Y i = W, W is the trim width of the robot.
And an interactive panel 320, connected to the controller, for presenting the X-axis and Y-axis scenes of the operation coordinate point set (i.e., the coordinate points marked by the actual lawn model) to the user, and providing an interface for the user to confirm the relevant information or operation.
To prevent vehicle drift, the present application further includes a third laser 330. A third laser 330 is disposed in parallel on the side of the body 310 for alignment of the body 310 along the X-axis. With the third laser 330, the user can see the eye farther, and through whether the laser of the third laser 330 is coincident with or parallel to the laser of the first laser 100 or the lawn trimming edge, compared with the sighting device type calibration, the sighting device type calibration is more beneficial to amplifying the deviation angle when the vehicle direction is deviated, and is easy to identify and convenient to calibrate.
It should also be noted that, compared with the prior art, the present application adopts a semi-automatic form, so that when partial columns (in the X-axis direction) need to be pruned, the present application can pass the mark Y i Point, inputting a starting point Y in the interactive panel i And (5) dotting and re-trimming. In this case, if there is any trimming edge mark, the trimming edge mark can be used as a reference for the X-axis, and if there is no trimming edge mark, the first laser is used in the Y-axis i The points identify the X-axis.
When the function is single-pass trimming, two third lasers 330 are distributed on two sides of the robot body; when the function is two-way pruning, the third laser 330 and the handlebar 340 thereof can be reversely adjusted, that is, the equipment is not required to turn around at the moment, the reverse driving can be realized only by switching the station and the direction of the third laser 330 and the direction of the handlebar 340 by people, the turning is not required in the whole process, and the positioning precision is ensured.
Accordingly, it is a further object of the present invention to provide a computer device comprising a processor and a memory, said memory storing a computer program which is loaded and executed by said processor to implement the method as described above.
Accordingly, it is a further object of the present invention to provide a computer readable storage medium comprising one or more program instructions which, when executed, implement the method as previously described.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein. Computer-usable storage media include permanent and non-permanent, removable and non-removable media, and may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of the storage medium of the computer include, but are not limited to: phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technologies, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic tape storage or other magnetic storage devices, or any other non-transmission medium, may be used to store information that may be accessed by a computing device.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It should be noted that in the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
In the description of the present invention, it is to be understood that the terms "first", "second" and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature "under," "beneath," and "under" a second feature may be directly under or obliquely under the second feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description of the specification, reference to the description of "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the terminology used in the description presented above should not be understood as necessarily referring to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are exemplary and not to be construed as limiting the present invention, and that changes, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. A horticultural three-dimensional trimming method, comprising:
s1, collecting characteristic parameters of a lawn to be trimmed, and establishing a lawn model to be trimmed;
s2, acquiring a three-dimensional design model, and mapping the three-dimensional design model in a lawn model to obtain a trimming model;
s3, unifying a coordinate system of the robot and the trimming model, and generating a working coordinate point set of the robot and the height of the tool bit at each working coordinate point, wherein the Y-axis starting point coordinate point set of the working coordinate point set of the robot is Y 0 -Y N Adjacent origin coordinate Y of the Y axis i+1 -Y i = W, W is the trim width of the robot;presenting the X-axis and the Y-axis of the operation coordinate point set of the robot to a user in a real scene in the lawn model to be trimmed;
s4, marking an X axis on the lawn to be trimmed by adopting the first laser, marking a Y axis by adopting the second laser, and driving the robot to respectively mark Y axes at each initial coordinate point 0 -Y N And advancing along the X-axis direction, updating the current X-axis coordinate in real time by the robot through an encoder, and adjusting the trimming height of the cutter head in real time according to the current Y-axis coordinate, the X-axis coordinate and the coordinate point set.
2. A horticultural three-dimensional trimming method according to claim 1, characterised in that:
the robot includes a single pass trim mode in which a second laser is used to identify the Y-axis at the starting point of the X-axis and the ending point of the X-axis, respectively, and each starting coordinate point is Y 0 -Y N The two marks are alternately distributed on the Y axis;
along each starting coordinate point Y i When the coordinate value of the X axis is updated to reach the preset end point value, the user is reminded to confirm and update the initial coordinate point to Y i+1 。
3. A horticultural three-dimensional trimming method in accordance with claim 1, characterised in that:
the robot includes a two-pass trimming mode, in which a second laser is used to identify the Y-axis at the X-axis start point, each start coordinate point being Y 0 -Y N The array is distributed on the marked Y axis;
along each starting coordinate point Y i When the coordinate value of the X axis is updated to reach the preset end point value, reminding a user to drive the vehicle to return; when the coordinate value of the X axis is updated to the preset value of the returned starting point, the user is reminded to confirm and update the starting coordinate point to Y i+1 。
4. A horticultural three-dimensional trimming method according to claim 1, characterised in that:
s1, collecting characteristic parameters of a lawn to be trimmed, including the length, width, height and obstacles of the lawn;
in S2, when the lawn to be pruned has obstacles, the pruning model is divided into a plurality of sub-pruning models according to the minimum division principle, and S3 and S4 are executed for each sub-pruning model.
5. A horticultural three-dimensional trimming method according to claim 1, characterised in that:
and S3, the X axis and the Y axis of the working coordinate point set of the robot are presented to the user in a real scene mode in the pruning model.
6. A horticultural three-dimensional trimming system, comprising:
the acquisition and modeling device is used for acquiring characteristic parameters of the lawn to be trimmed and modeling;
the image design device is used for acquiring a three-dimensional design model or generating the three-dimensional design model according to two-dimensional plane design, and mapping the three-dimensional design model in the lawn model to obtain a trimming model;
an algorithm conversion command device for unifying the coordinate systems of the robot and the trimming model to generate a working coordinate point set of the robot and the height of the tool bit at each working coordinate point, wherein the Y-axis starting point coordinate point set of the working coordinate point set of the robot is Y 0 -Y N Adjacent origin coordinate Y of the Y axis i+1 -Y i = W, W is the trim width of the robot;
the robot receives the instruction information of the algorithm conversion instruction device and presents the X-axis and Y-axis scenes of the operation coordinate point set to a user;
and the first laser and the second laser are respectively used for marking an X axis and a Y axis on the lawn to be trimmed so that the robot can obtain reference on the lawn to be trimmed and execute instruction information for trimming the lawn.
7. A robot, characterized by comprising:
a body;
the controller is used for controlling the body and acquiring instruction information from a cloud; the command information is an operation coordinate point set of the robot generated by the algorithm conversion command device according to the unified coordinate system of the robot and the trimming model and the operation coordinate pointsWherein the Y-axis starting point coordinate point set of the operation coordinate point set of the robot is Y 0 -Y N Adjacent origin coordinate Y of the Y axis i+1 -Y i = W, W is the trim width of the robot;
and the interactive panel is connected with the controller and is used for presenting the X-axis and Y-axis real scenes of the operation coordinate point set to a user.
8. The robot of claim 7, wherein: the laser alignment device further comprises a third laser, wherein the third laser is arranged on the side edge of the body in parallel and used for aligning the body along the X axis.
9. A computer arrangement, characterized in that the computer arrangement comprises a processor and a memory, the memory storing a computer program which is loaded and executed by the processor to implement the method according to any of claims 1-7.
10. A computer-readable storage medium comprising one or more program instructions that, when executed, implement the method of any one of claims 1-7.
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