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Method and system for locating weeding robot

A positioning method and robot technology, applied in the positioning and system field of weeding robots, to achieve the effect of avoiding wiring, good obstacle avoidance, and avoiding difficult to identify boundaries

Inactive Publication Date: 2019-06-18
SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In order to solve the problem of positioning the weeding robot in the prior art, the present invention provides a positioning method and system for the weeding robot

Method used

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  • Method and system for locating weeding robot
  • Method and system for locating weeding robot
  • Method and system for locating weeding robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0027] Such as figure 1 As shown, a positioning method of a robot includes the following steps:

[0028] S1: Obtain a global image of the entire working area;

[0029] S2: Determine the positions of the closed working area and the obstacles in the working area in the global image;

[0030] S3: Determine the position and direction information of the weeding robot in the closed working area according to the pixel coordinates in the global image.

[0031] Such as figure 2 As shown, it is understandable that after obtaining the above information, the following steps can be further completed:

[0032] S4: The weeding robot plans a working path.

[0033] In order to know the status of the weeding robot in real time, the information of the global image, the position and direction information of the weeding robot, and the working path can be transmitted to the cloud in real time.

[0034] In an embodiment of the present invention, the global image is acquired by a global camera ...

Embodiment 2

[0041] Such as Figure 4 As shown, a robot positioning system includes: an image acquisition unit for acquiring a global image of the entire working area; a processor unit connected to the image acquisition unit for implementing the method described in Embodiment 1; an information transmission unit , connected with the processor unit for receiving instructions and transmitting information.

[0042] Such as Figure 5As shown, in a specific embodiment, the image acquisition unit includes: a global camera 4, the global camera 4 can be erected on a camera support pole 5 at a certain distance and a certain height from the working area, and the global camera 4 can capture the entire required In the weeding area, the camera support rod 5 can be adjusted in height, and can be fixed on the grass to provide sufficient height for the global camera. It can be understood that an appropriate height can reduce the distortion of the global image under the premise of ensuring clarity. The s...

Embodiment 3

[0056] If the system integration modules / units of the weeding robot are realized in the form of software function units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the present invention realizes all or part of the processes in the methods of the above embodiments, and can also be completed by instructing related hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer When the program is executed by the processor, the steps in the above-mentioned various method embodiments can be realized. Wherein, the computer program includes computer program code, and the computer program code may be in the form of source code, object code, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a remova...

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Abstract

The invention provides a method and system for locating a weeding robot. The method includes the following steps: S1, acquiring a global image of an entire working area; S2, determining a closed working area and the location of an obstacle in the working area in the global image; and S3, determining position and orientation information of a weeding robot in the closed working area according to pixel coordinates in the global image. The global image is obtained by using the global vision positioning method of the weeding robot, so that the accurate obstacle information can be obtained and the working area can be determined. Meanwhile, the position and direction of the weeding robot can be obtained comprehensively and accurately in the global image and thus objectives of limiting the workingarea and planning a work path of the weeding robot are achieved; and thus the good obstacle avoidance effect in the weeding area can be realized.

Description

technical field [0001] The invention relates to the technical field, in particular to a positioning method and system for a weeding robot. Background technique [0002] With the improvement of living standards, people pay more and more attention to environmental construction, so the construction of urban greening gardens has been paid more and more attention. At the same time, efficient green maintenance, such as daily weeding, has gradually become a demand. Lawnmowers play an important role in daily weeding. However, due to the high noise of traditional weeding machines and the need for manual control for a long time to weed, intelligent weeding robots (autonomous lawn mowers) with autonomous working functions are gradually emerging. [0003] The weeding robot is a machine that can automatically complete the weeding work without human intervention. Its original design intention is to liberate people from the heavy daily weeding work. Common weeding robots have the charac...

Claims

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Application Information

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IPC IPC(8): G05D1/02A01D34/00
Inventor 刘厚德程淏梁斌王学谦徐峰朱晓俊
Owner SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV
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