Mowing robot control system and method and mowing robot

Abstract

The invention provides a mowing robot control system and method and a mowing robot. The mowing robot control system comprises the steps that two-way visual perception systems located at the front end and the rear end of a machine body are used for obtaining scene information around the machine body; a navigation positioning system is used for positioning the position of the mowing robot according to the surrounding scene information, and a work navigation path is created according to positioning information; the central control system sends a control signal to the two-way advancing module according to the working navigation path, and the two-way advancing module controls the chassis system to advance in a two-way switching mode in the working process. Through mutual assistance of the two-way visual perception system, the navigation positioning system and the two-way advancing module, the mowing robot has the front-back two-way advancing function, space occupation and efficiency loss caused by frequent U-turn operation in the one-way advancing process are avoided, and the flexibility of the robot working in a complex site is improved; damage to grassland in the operation process is reduced, and guarantee is provided for high-precision and high-requirement mowing operation.

Description

Technical Field

[0001] The present invention relates to the field of automation control technology, and in particular to a lawn mowing robot control system, method and lawn mowing robot. Background Art

[0002] A lawn mower robot is a type of gardening equipment that can automatically identify areas that need mowing through built-in sensors and navigation systems. It usually has functions such as scheduled work, random walking, and obstacle avoidance. Therefore, lawn mower robots are increasingly replacing manual or ordinary mechanical equipment and becoming an important part of smart home and gardening maintenance automation equipment.

[0003] In the prior art, although the various automatic control functions of lawn mower robots are being improved, the existing lawn mower robots generally adopt a two-wheel drive or rear-wheel drive structure and only support one-way forward operation. In the application process, in order to complete the turning or U-turn operation on the path, such robots often need to take up extra space and time, and repeated U-turns will also lead to reduced work efficiency. In addition, when working in complex terrain and narrow areas, lawn mower robots need to have higher mobility and higher adaptability, otherwise not only will the work efficiency be low, but the probability of equipment failure and safety risks will also increase.

[0004] Therefore, the prior art needs to be further improved. Summary of the invention

[0005] In view of the above-mentioned deficiencies in the prior art, an object of the present invention is to provide a lawn mowing robot control system, method and lawn mowing robot to solve the defect that the lawn mowing robot in the prior art only supports one-way forward operation.

[0006] In a first aspect, the present application provides a lawn mowing robot control system, which includes: a chassis system, a two-way travel module, a two-way visual perception system, a navigation and positioning system, and a central control system;

[0007] The chassis system is arranged at the bottom of the robot body and is used to receive the driving signal sent by the two-way travel module and execute forward travel or backward travel;

[0008] The bidirectional visual perception system comprises: a front visual sensor located at the front end of the fuselage and a rear visual sensor located at the rear end of the fuselage; the front visual sensor and the rear visual sensor are used to obtain scene information around the fuselage;

[0009] The navigation and positioning system acquires the surrounding scene information collected by the two-way visual perception system, locates the position of the lawn mowing robot, and creates a working navigation path according to the positioning information;

[0010] The central control system sends a control signal to the two-way travel module according to the working navigation path, so that the two-way travel module controls the chassis system to switch and travel in two directions during the working process.

[0011] Optionally, the chassis system includes: a chassis drive module, a power control module and a suspension module connected to each other;

[0012] The power control module receives the driving signal sent by the two-way moving module to drive the chassis driving module to perform two-way switching and moving forward;

[0013] The suspension module is used to adaptively adjust the height and travel angle of the lawn mowing robot.

[0014] Optionally, the chassis drive module includes two front-drive wheels and two rear-drive wheels, and the front-drive wheels and rear-drive wheels are each correspondingly connected to an independent power control module, and each of the front-drive wheels and each of the rear-drive wheels rotates under the drive of the correspondingly connected power control module.

[0015] Optionally, the chassis driving module includes tracks and track wheels, and the power control module controls the track wheels to drive the tracks to move.

[0016] Optionally, the bidirectional travel module includes a reverse switching motor and a bidirectional drive switching unit; the bidirectional drive switching unit controls the rotation direction of the reverse switching motor according to a received drive signal to control the travel direction of the chassis drive module.

[0017] Optionally, the bidirectional visual perception system further includes an image processing module;

[0018] The image processing module is used to correct the working navigation path according to the acquired surrounding scene information, and send the corrected working navigation path to the central control system, so that the central control system sends a control signal according to the corrected working navigation path.

[0019] Optionally, the navigation and positioning system further includes: a first positioning module and a second positioning module;

[0020] The first positioning module is used to extract terrain features from the surrounding scene information, generate an environment map through a SLAM algorithm, and create a working navigation path based on the environment map;

[0021] The second positioning module is used to locate the position of the lawn mowing robot by using RTK positioning technology.

[0022] Optionally, a mowing system is further provided on the fuselage; the mowing system is arranged at the bottom of the fuselage, and is provided with a plurality of blades and an electric lifting device for controlling the height and position of each blade.

[0023] In a second aspect, the present application further provides a lawn mowing robot control method, which is applied to the lawn mowing robot control system, and the control method includes:

[0024] Use the two-way visual perception system located at the front and rear ends of the fuselage to obtain scene information around the fuselage;

[0025] Using a navigation and positioning system to locate the position of the mowing robot according to the surrounding scene information, and creating a working navigation path according to the positioning information;

[0026] The central control system sends a control signal to the bidirectional travel module according to the working navigation path;

[0027] The two-way travel module controls the chassis system to switch between two directions during operation.

[0028] Optionally, the bidirectional travel module includes a reverse switching motor; the steps of the bidirectional travel module controlling the chassis system to switch bidirectional travel during operation include:

[0029] The bidirectional travel module controls the rotation direction of the reverse switching motor according to the received driving signal, so that the chassis driving module moves forward or reversely under the drive of the reverse switching motor.

[0030] In a third aspect, this embodiment further discloses a lawn mowing robot, which includes the lawn mowing robot control system.

[0031] Beneficial effect: The present invention provides a lawn mowing robot control system, method and lawn mowing robot, which obtains scene information around the body by using a two-way visual perception system located at the front and rear ends of the body; uses a navigation and positioning system to locate the location of the lawn mowing robot according to the surrounding scene information, and creates a working navigation path according to the positioning information; the central control system sends a control signal to the two-way travel module according to the working navigation path, and the two-way travel module controls the chassis system to switch to two-way travel during operation. The method of this embodiment realizes the lawn mowing robot's forward and backward two-way travel function through the mutual assistance of the two-way visual perception system, the navigation and positioning system and the two-way travel module, thereby avoiding the space occupation and efficiency loss caused by frequent U-turns during one-way travel, improving the flexibility of the robot when working in complex sites, reducing the damage to the grass during operation, and providing a guarantee for high-precision and high-demand lawn mowing operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a structural principle block diagram of the lawn mowing robot system provided by the present invention;

[0033] Figure 2is a side view of the lawn mowing robot provided by the present invention;

[0034] Figure 3 is a front view of the lawn mowing robot provided by the present invention;

[0035] Figure 4 It is a structural schematic diagram of the suspension system in the lawn mowing robot provided by the present invention;

[0036] Figure 5 It is a structural schematic diagram of a lawn mowing device in a lawn mowing robot provided by the present invention;

[0037] Figure 6 The present invention is a flowchart of the mowing control method of the mowing robot provided by the present invention. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solution and advantages of the present invention clearer and more specific, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0039] With the development of intelligent and automated technologies, mowing robots have become an important part of smart home and gardening maintenance automation equipment. Mowing robots perform lawn mowing by combining artificial intelligence, sensor devices, and navigation systems. Since mowing robots replace manual lawn mowing, they improve work efficiency and are particularly suitable for the maintenance of large lawns.

[0040] Lawn mower robots in the prior art can be divided into two categories according to their application scope: household and commercial. Household lawn mower robots are characterized by miniaturization and intelligence, suitable for home lawns, generally controllable by applications, and equipped with functions such as path planning and intelligent obstacle avoidance. Commercial lawn mower robots are usually used in football fields, golf courses and public greening, and are characterized by high efficiency and continuous working performance.

[0041] Although the automatic control technology of lawn mower robots continues to improve, lawn mower robots in the prior art generally adopt a two-wheel drive or rear-wheel drive structure and only support one-way forward operation. In the application process, in order to complete the turning or U-turn operation on the path, this one-way forward operation lawn mower robot often needs to take up extra space and time, and the repeated U-turn action not only reduces the working efficiency, but also does not have the ability to cope with complex terrain and narrow areas.

[0042] In order to solve the above problems in the prior art, the present application provides a lawn mowing robot control system, method and lawn mowing robot, the control system includes: a chassis system, a two-way travel module, a two-way visual perception system, a navigation and positioning system and a central control system. The chassis system receives the driving signal sent by the two-way travel module and executes forward travel or backward travel; the two-way visual perception system obtains the scene information around the fuselage; the navigation and positioning system obtains the surrounding scene information, and locates the position of the lawn mowing robot according to the surrounding scene information, and creates a working navigation path according to the positioning information; the central control system sends a control signal to the two-way travel module according to the working navigation path, so that the two-way travel module controls the chassis system to switch to two-way travel during the working process. The system and method provided by the present application are controlled by the two-way travel of the lawn mowing robot, so that the lawn mowing robot does not need to turn around, which not only improves the working efficiency and reduces the space occupation, but also can effectively avoid the lawn wear problem caused by frequent turning around, better protect the health of the lawn, and improve the flexibility and intelligence of the lawn mowing robot.

[0043] A lawn mowing robot control system, method and lawn mowing robot provided by this embodiment will be further described in detail below with reference to the accompanying drawings.

[0044] In a first aspect, the present application provides a lawn mowing robot control system, such as Figure 1 As shown, it includes: a chassis system 101, a two-way travel module 102, a two-way visual perception system 103, a navigation and positioning system 104 and a central control system 105.

[0045] The chassis system 101 is disposed at the bottom of the robot body and is used to receive the driving signal sent by the bidirectional moving module 102 to execute forward moving or backward moving.

[0046] The bidirectional visual perception system 103 includes: a front visual sensor located at the front end of the fuselage and a rear visual sensor located at the rear end of the fuselage; the front visual sensor and the rear visual sensor are used to obtain scene information around the fuselage. In one implementation, the front visual sensor and the rear visual sensor can be a laser scanner, a linear or planar CCD camera or a TV camera, or a digital camera, which includes one or two image sensors, can convert an object image into a digital signal, and can process and analyze the image.

[0047] The navigation and positioning system 104 obtains the surrounding scene information collected by the two-way visual perception system 103, locates the position of the mowing robot, and creates a working navigation path according to the positioning information;

[0048] The central control system 105 sends a control signal to the bidirectional travel module 102 according to the working navigation path, so that the bidirectional travel module 102 controls the chassis system 101 to switch and travel in bidirectional directions during the working process.

[0049] The above-mentioned chassis system, two-way travel module, two-way visual perception system, navigation and positioning system and central control system are all arranged on the body of the lawn mowing robot, and are communicatively connected or electrically connected to each other to realize information transmission between various systems or modules.

[0050] The bidirectional travel module in this embodiment receives the control signal transmitted by the central control system, and switches the travel direction of the chassis system by controlling the driving signal of the reverse switching motor, thereby realizing the bidirectional movement of the lawn mowing robot.

[0051] Furthermore, combined with Figure 3 As shown, the two-way visual perception system is provided with a front visual sensor 1031 and a rear visual sensor 1032. The front visual sensor 1031 is located at the front end of the top of the robot body, and is used to collect the surrounding environment information in front of the body. The rear visual sensor 1032 is located at the rear end of the top of the robot body, and is used to collect the surrounding environment information behind the body. Since the front visual sensor 1031 obtains the surrounding environment information of the front part of the body, and the rear visual sensor 1032 obtains the surrounding environment information of the rear part of the body, the surrounding environment information obtained from the front and rear parts is spliced ​​to obtain the entire surrounding environment information of the robot body, thereby eliminating the perception blind spot and improving the safety of the robot operation process.

[0052] The navigation and positioning system can locate the position of the mowing robot based on the surrounding environment information collected by multiple sets of visual sensors, and create a working navigation path based on the surrounding environment information. The mowing robot can perform corresponding mowing operations according to the created working navigation path.

[0053] The navigation positioning information sends the created working navigation path to the central control system, and the central control system can send control signals to the two-way travel module and the two-way visual perception system of the lawn mowing robot according to the working navigation path, so as to realize the two-way travel module controlling the chassis system to move in the control direction.

[0054] Furthermore, combined with Figure 2 As shown, the chassis system is located at the bottom of the fuselage, in contact with the ground, and is used to drive the fuselage forward or backward. Specifically, the chassis system 101 includes: a chassis drive module, a power control module, and a suspension module connected to each other.

[0055] The power control module receives the driving signal sent by the two-way moving module to drive the chassis driving module to perform two-way switching and moving forward;

[0056] The suspension module is used to adaptively adjust the height and travel angle of the lawn mowing robot.

[0057] In one embodiment, the chassis drive module adopts a four-wheel drive design, and drives four wheels through an independently controlled power transmission system to drive the fuselage to move forward and backward. Specifically, the chassis drive module includes two front drive wheels and two rear drive wheels, and the front drive wheels and rear drive wheels are connected to independent power control modules, and each of the front drive wheels and each of the rear drive wheels rotates under the drive of the correspondingly connected power control module. Figure 2 and Figure 3 As shown, the chassis drive module includes four wheels 1011, which are respectively located around the body of the lawn mower robot and correspond to two front-drive wheels and two rear-drive wheels. When the body moves forward, the driving signal of the motor is transmitted to the two front-drive wheels and the two rear-drive wheels through the transmission system, so that the front-drive wheels and the rear-drive wheels rotate forward under the drive of power. When the lawn mower robot needs to move backward, the driving signal of the motor is transmitted to the two front-drive wheels and the two rear-drive wheels through the transmission system, so that the front-drive wheels and the rear-drive wheels rotate backward under the drive of power. The front-drive wheels and the rear-drive wheels are all-wheel drive wheels, so the driving signal of the motor can be directly transmitted to the four wheels. Since the four wheels can provide power, the traction and passability of the vehicle are enhanced.

[0058] It is conceivable that the chassis drive module can also adopt another implementation method to achieve bidirectional travel. Specifically, the chassis drive module includes tracks and track wheels, and the power control module controls the track wheels to drive the tracks to move. Using a tracked chassis instead of an all-wheel drive four-wheel chassis system can also achieve bidirectional travel, improve the reliability of the robot in complex terrain, and improve the operating efficiency.

[0059] The power control module can independently control and optimize the distribution of each wheel, thereby improving the overall active safety performance and dynamic performance of the lawn mower robot and improving the smoothness of the lawn mower robot during movement.

[0060] Since each wheel is driven by a separate motor, the power control module needs to communicate with each motor separately and receive feedback signals from sensors installed on the wheels to achieve precise control of each vehicle.

[0061] like Figure 4As shown, the suspension module 1013 is used to adaptively adjust the height and travel angle of the machine body, is arranged between the wheels and the chassis of the machine body, and is independently installed to adapt to uneven terrain, such as grass, slopes and potholes. In one implementation, in order to enable the lawn mower to adapt to different terrain conditions and operating requirements, the suspension module can be configured with sensors and a control system, and the sensors are used to detect the ground state and the motion state of the lawn mower in real time. According to the monitoring results of the sensors, the control system can automatically adjust the stiffness and damping of the suspension module to adapt to different terrain conditions.

[0062] Specifically, the bidirectional travel module includes a reverse switching motor and a bidirectional drive switching unit; the bidirectional drive switching unit controls the rotation direction of the reverse switching motor according to the received drive signal to control the travel direction of the chassis drive module.

[0063] The two-way travel module is used to control the rotation direction and speed of the reverse switching motor according to the control signal sent by the central control system, so that the mowing robot can flexibly avoid obstacles. The reverse switching motor is a motor that can change the direction of rotation. It realizes forward and reverse rotation by changing the current direction of the motor or the phase sequence of the power supply, thereby meeting the direction change requirements of the chassis drive module during the travel process. In the two-way travel module, the reverse switching motor is responsible for providing power and changing the rotation direction according to the received signal. The two-way drive switching unit is an electronic control unit that is responsible for receiving the control signal sent by the central control system and controlling the rotation direction of the motor according to the logical state of the control signal (such as high level or low level). Specifically, when the control signal is in a certain specific logical state, such as a high level, the two-way drive switching unit will drive the reverse switching motor to rotate in one direction, and when the drive signal is in another logical state, such as a low level, it will drive the motor to rotate in the opposite direction.

[0064] Furthermore, when the bidirectional travel module receives a control signal from the central control system, the bidirectional drive switching unit first receives the control signal, determines the logic state of the received control signal, and then sends a corresponding rotation direction control signal to the reverse switching motor according to the determined logic state result to change its rotation direction. The travel direction control of the mowing robot is directly caused by the change of the rotation direction of the reverse switching motor, so by controlling the rotation direction of the reverse switching motor, the travel direction of the chassis drive module can be accurately controlled.

[0065] In order to more accurately control the lawn mowing robot during movement, the bidirectional visual perception system also includes an image processing module.

[0066] The image processing module is used to correct the working navigation path according to the acquired surrounding scene information, and send the corrected working navigation path to the central control system, so that the central control system sends a control signal according to the corrected working navigation path.

[0067] The two-way visual perception system can not only capture image information from two different angles to perceive the scene information around the mowing robot, but also has an image processing unit that can perform image preprocessing, feature extraction, stereo matching and other steps on the image information in the scene captured by the camera to cope with mowing operations and obstacle avoidance in complex scenes.

[0068] Specifically, the two-way visual perception system uses independent front and rear wide-angle sensor modules, combined with deep learning technology and environmental modeling capabilities, to achieve dynamic obstacle recognition, path optimization and all-round environmental perception, ensuring the safety and efficiency of mowing operations. In one implementation, the two-way visual perception system includes front and rear wide-angle camera modules. The front and rear wide-angle camera modules are a set of wide-angle imaging units installed on the front and rear of the mowing robot, each of which includes: a CMOS camera component for capturing high-definition environmental images.

[0069] Furthermore, the navigation and positioning system also includes: a first positioning module and a second positioning module.

[0070] The first positioning module is used to extract terrain features from the surrounding scene information, generate an environmental map through the SLAM algorithm, and create a working navigation path based on the environmental map. The first positioning module cooperates with the two-way visual perception system. The two-way visual perception system obtains the surrounding environment information of the fuselage. The first positioning module obtains the surrounding environment information obtained by the two-way visual perception system, and uses the SLAM algorithm to generate real-time high-precision terrain modeling to ensure the accurate positioning of the equipment in complex environments. The first positioning module, combined with the two-way perception technology, ultimately realizes the real-time perception and detour of obstacles in the front and rear directions, greatly improving the overall reliability of the navigation system.

[0071] The second positioning module is used to locate the position of the lawn mowing robot by using RTK (Real Time Keymat ic, real-time dynamic carrier phase difference technology) positioning technology.

[0072] The second positioning module uses RTK positioning technology, which uses the relative position difference between two or more global navigation satellite system receivers to correct the position data in real time. Through a high-precision carrier phase differential algorithm, RTK can reduce the error of traditional satellite positioning from several meters to centimeters.

[0073] The two different navigation and positioning technologies provided by the first positioning module and the second positioning module can complement each other, so that the lawn mowing robot can still maintain high navigation accuracy in an environment with signal shielding, high interference or dynamic changes.

[0074] Furthermore, the navigation and positioning system also includes a fusion positioning module, which is used to ensure the continuity and accuracy of navigation by switching GPS positioning to visual positioning and SLAM in conjunction with a global path planning algorithm when the GPS signal is interfered.

[0075] The navigation and positioning system provided in this embodiment combines the visual perception capability of the two-way visual perception system, the centimeter-level positioning technology of the RTK positioning technology, and the SLAM algorithm, which can ensure accurate navigation in complex environments or when the signal is interfered, thereby achieving highly reliable and intelligent autonomous mowing operations. The central control system includes a main control chip and a power management module. The core control unit in the main control chip processes all sensor data on the robot mower, and synchronously coordinates the chassis system, the two-way travel system, and the two-way visual perception system to generate control instructions. The power management module has a built-in lithium battery pack to provide power for the control system of the robot mower. In addition, the power management module has a built-in lithium battery pack to support intelligent power control and remaining power prediction, and also has the function of automatically returning to the charging station for charging when the power is low.

[0076] Combination Figure 5 As shown, the machine body is also provided with a mowing system 51. The mowing system is arranged at the bottom of the machine body and is provided with a plurality of blades and an electric lifting device for controlling the height and position of each blade.

[0077] Furthermore, the electric lifting device is driven by a motor to achieve fast response and precise control. When the operator issues a control command to adjust the blade height, the electric lifting device will drive the internal transmission mechanism through the motor according to the received command, thereby changing the relative height of the blade to the ground. The electric lifting device can adjust the blade height in real time and continuously, so that the blade can be controlled to maintain the best position under different terrains and grass lengths.

[0078] The lawn mowing robot control system disclosed in this embodiment obtains the surrounding environment information of the fuselage through a two-way visual perception system, and uses the navigation and positioning system to create a working navigation path according to the positioning information and / or the surrounding environment information. The central control system sends a control instruction to the two-way travel module based on the working navigation path, and the two-way travel module performs two-way travel control on the chassis system based on the control instruction, so that the lawn mowing robot provided by this application has the function of forward and backward two-way travel.

[0079] In the second aspect, the present application discloses the above-mentioned lawn mowing robot control system and further provides a lawn mowing robot control method, such as Figure 6 As shown, the control method is applied to the lawn mowing robot control system, and includes:

[0080] Step S1: Using the two-way visual perception system located at the front and rear ends of the fuselage to obtain the scene information around the fuselage.

[0081] In this step, the front vision sensor and rear vision sensor installed at the top front of the robot body are first used to obtain environmental information in front of and behind the robot body, respectively, to identify different types of obstacles around, thereby dynamically adjusting the path planning through environmental modeling. Since the front vision sensor and the rear vision sensor can not only obtain all-round environmental information at the same time, but also have real-time image processing capabilities, they can be combined with deep learning algorithms to identify and judge different types of obstacles, thereby improving perception capabilities. Especially when it is necessary to switch between the front and rear directions alternately, perception blind spots can be avoided and the safety of mowing operations can be improved.

[0082] Step S2: Utilize the navigation and positioning system to locate the position of the mowing robot according to the surrounding scene information, and create a working navigation path according to the positioning information.

[0083] The navigation and positioning information can be based on the all-round environmental information obtained from the two-way visual perception system to achieve accurate positioning of the mowing robot, and according to the surrounding environmental information, accurate mowing operation path planning can be achieved, and flexible adjustment of the forward and backward travel paths can be achieved in complex environmental scenes.

[0084] Step S3: The central control system sends a control signal to the two-way travel module according to the working navigation path.

[0085] The central control system performs the corresponding mowing operation according to the working navigation path created in the navigation and positioning system in the above steps. At the same time, the central control system can also send control signals to the two-way travel module according to the data received from various sensors on the machine or the operation instructions of the operator.

[0086] Step S4: The two-way moving module controls the chassis system to switch and move in two directions during operation according to the received control signal.

[0087] The bidirectional travel module obtains the control signal sent by the central control system to control the chassis system of the mowing robot to move forward or backward during the working process, so as to switch the travel direction and adjust the travel path.

[0088] Furthermore, the two-way travel module includes a reverse switching motor; the steps of the two-way travel module controlling the chassis system to switch between two directions during operation include:

[0089] The bidirectional travel module controls the rotation direction of the reverse switching motor according to the received driving signal, so that the chassis driving module moves forward or reversely under the drive of the reverse switching motor.

[0090] The control method disclosed in this embodiment uses a two-way travel mode, and the robot can adjust its path without repeated U-turns, avoiding the problem of U-turn operations taking up extra space and time, greatly improving work efficiency, especially showing higher flexibility in narrow areas and obstacle-dense environments.

[0091] In a third aspect, this embodiment further discloses a lawn mowing robot, including the lawn mowing robot control system.

[0092] Since the lawn mower robot is installed with the lawn mower robot control system provided by this embodiment, the space occupation and efficiency loss caused by frequent U-turn operations are effectively avoided, the damage to the lawn caused by turning and crushing the same area during mowing operations is effectively reduced, and the flexibility of the lawn mower robot in narrow areas and obstacle-dense environments is improved.

[0093] Furthermore, the lawn mowing robot disclosed in this embodiment adopts an all-wheel drive four-wheel chassis design, which significantly improves the robot's ability to pass and stability in complex terrains such as slopes, potholes, and slippery grass, ensuring efficient operation in complex environments. The application of two-way visual perception technology can achieve all-round environmental perception capabilities and improve safety during the operation process. The lawn mowing robot of this embodiment also combines RTK centimeter-level positioning technology and two-way visual positioning (SLAM algorithm) technology to solve the problem of insufficient navigation accuracy of traditional GPS navigation systems under signal interference or occlusion, and realizes high-precision path planning and autonomous navigation in complex dynamic environments. Moreover, visual perception and RTK complement each other to achieve the integration of environmental perception, precise positioning and dynamic navigation, ensuring navigation accuracy and continuity of mowing operations under complex working conditions.

[0094] The present invention provides a lawn mowing robot control system, method and lawn mowing robot, which obtains scene information around the body by using a two-way visual perception system located at the front and rear ends of the body; uses a navigation and positioning system to locate the location of the lawn mowing robot according to the surrounding scene information, and creates a working navigation path according to the positioning information; a central control system sends a control signal to a two-way travel module according to the working navigation path, and the two-way travel module controls the chassis system to switch and travel in two directions during operation. The method of this embodiment realizes the lawn mowing robot's forward and backward two-way travel function through the mutual assistance of the two-way visual perception system, the navigation and positioning system and the two-way travel module, thereby avoiding the space occupation and efficiency loss caused by frequent U-turn operations during one-way travel, improving the flexibility of the robot when working in complex sites, reducing the damage to the grass during operation, and providing a guarantee for high-precision and high-demand lawn mowing operations.

[0095] It is understandable that those skilled in the art can make equivalent substitutions or changes based on the technical solution and inventive concept of the present invention, and all these changes or substitutions should fall within the protection scope of the claims attached to the present invention.

Claims

1. A lawn mowing robot control system, characterized in that: include: Chassis system, two-way travel module, two-way visual perception system, navigation and positioning system and central control system; The chassis system is arranged at the bottom of the robot body and is used to receive the driving signal sent by the two-way travel module and execute forward travel or backward travel; The bidirectional visual perception system comprises: a front visual sensor located at the front end of the fuselage and a rear visual sensor located at the rear end of the fuselage; The front vision sensor and the rear vision sensor are used to obtain scene information around the fuselage; The navigation and positioning system acquires the surrounding scene information collected by the two-way visual perception system, locates the position of the lawn mowing robot, and creates a working navigation path according to the positioning information; The central control system sends a control signal to the two-way travel module according to the working navigation path, so that the two-way travel module controls the chassis system to switch and travel in two directions during the working process.

2. The lawn mowing robot control system according to claim 1, characterized in that: The chassis system includes: a chassis drive module, a power control module and a suspension module connected to each other; The power control module receives the driving signal sent by the two-way moving module to drive the chassis driving module to perform two-way switching and moving forward; The suspension module is used to adaptively adjust the height and travel angle of the lawn mowing robot.

3. The lawn mowing robot control system according to claim 2, characterized in that: The chassis drive module includes two front-drive wheels and two rear-drive wheels, and the front-drive wheels and the rear-drive wheels are correspondingly connected to independent power control modules, and each of the front-drive wheels and each of the rear-drive wheels rotates under the drive of the correspondingly connected power control module.

4. The lawn mowing robot control system according to claim 2, characterized in that: The chassis driving module includes tracks and track wheels, and the power control module controls the track wheels to drive the tracks to move.

5. The lawn mowing robot control system according to claim 1, characterized in that: The bidirectional travel module includes a reverse switching motor and a bidirectional drive switching unit; the bidirectional drive switching unit controls the rotation direction of the reverse switching motor according to a received drive signal to control the travel direction of the chassis drive module.

6. The lawn mowing robot control system according to claim 1, characterized in that: The bidirectional visual perception system also includes an image processing module; The image processing module is used to correct the working navigation path according to the acquired surrounding scene information, and send the corrected working navigation path to the central control system, so that the central control system sends a control signal according to the corrected working navigation path.

7. The lawn mowing robot control system according to claim 1, characterized in that: The navigation and positioning system further includes: a first positioning module and a second positioning module; The first positioning module is used to extract terrain features from the surrounding scene information, generate an environment map through a SLAM algorithm, and create a working navigation path based on the environment map; The second positioning module is used to locate the position of the lawn mowing robot by using RTK positioning technology.

8. The lawn mowing robot control system according to any one of claims 1 to 7, characterized in that: The machine body is also provided with a mowing system; the mowing system is arranged at the bottom of the machine body and is provided with a plurality of blades and an electric lifting device for controlling the height and position of each blade.

9. A lawn mowing robot control method, characterized in that: Applied to the lawn mowing robot control system according to any one of claims 1 to 8, the control method comprises: Use the two-way visual perception system located at the front and rear ends of the fuselage to obtain scene information around the fuselage; Using a navigation and positioning system to locate the position of the lawn mowing robot according to the surrounding scene information, and creating a working navigation path according to the positioning information; The central control system sends a control signal to the bidirectional travel module according to the working navigation path; The two-way travel module controls the chassis system to switch between two directions during operation.

10. A lawn mowing robot, characterized in that: It comprises a lawn mowing robot control system as described in any one of claims 1 to 8.

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