A mowing robot control system, method and mowing robot

Abstract

The application provides a mowing robot control system, method and mowing robot, which acquires surrounding scene information of a machine body by using a bidirectional visual perception system located at both ends of the machine body; positions the location of the mowing robot according to the surrounding scene information by using a navigation positioning system, and creates a working navigation path according to the positioning information; a central control system sends a control signal to a bidirectional travel module according to the working navigation path, and the bidirectional travel module controls a chassis system to switch bidirectionally during the working process. The application realizes the function of bidirectional travel of the mowing robot by mutual assistance of the bidirectional visual perception system, the navigation positioning system and the bidirectional travel module, avoids space occupation and efficiency loss caused by frequent turning operations in the process of unidirectional travel, improves the flexibility of the robot when working in a complex site, reduces damage to the grassland in the working process, and provides a guarantee for high-precision and high-demand mowing operations.

Description

Technical Field

[0001] This 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 Technology

[0002] A lawnmower is a gardening device that uses built-in sensors and a navigation system to automatically identify areas that need mowing. It typically has functions such as timed operation, random movement, and obstacle avoidance. As a result, lawnmowers are increasingly replacing manual labor or ordinary mechanical equipment and have become an important component of smart home and garden maintenance automation equipment.

[0003] While the automated control functions of lawnmowers are improving, current lawnmowers generally employ a two-wheel drive or rear-wheel drive structure, supporting only unidirectional forward operation. During application, these robots often require additional space and time to complete turning or U-turns along the path, and repeated turning maneuvers reduce operational efficiency. Furthermore, when working in complex terrain and narrow areas, lawnmowers need greater maneuverability and responsiveness; otherwise, not only will work efficiency be low, but the probability of equipment failure and safety risks will also increase.

[0004] Therefore, the existing technology needs further improvement. Summary of the Invention

[0005] In view of the shortcomings of the prior art, the purpose 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 unidirectional forward operation.

[0006] In a first aspect, this application provides a lawnmower robot control system, which includes: a chassis system, a bidirectional travel module, a bidirectional vision perception system, a navigation and positioning system, and a central control system;

[0007] The chassis system is located at the bottom of the lawnmower robot and is used to receive drive signals from the bidirectional travel module to perform forward or backward travel.

[0008] The bidirectional visual perception system includes a front visual sensor located at the front of the fuselage and a rear visual sensor located at the rear of the fuselage; the front visual sensor and the rear visual sensor are used to acquire scene information around the fuselage.

[0009] The navigation and positioning system acquires the surrounding scene information collected by the bidirectional visual perception system, locates the position of the lawnmower robot, and creates a work navigation path based on the location information.

[0010] The central control system sends control signals to the bidirectional travel module according to the working navigation path, so that the bidirectional travel module controls the chassis system to switch travel in both directions during operation.

[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 drive signal from the bidirectional travel module and drives the chassis drive module to perform bidirectional switching forward movement;

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

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

[0015] Optionally, the chassis drive 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 the received drive signal, so as 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 based on the acquired surrounding scene information, and send the corrected working navigation path to the central control system so that the central control system can issue a control signal based on 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 the 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 lawnmower robot using RTK positioning technology.

[0022] Optionally, the machine body is also equipped with a mowing system; the mowing system is located at the bottom of the machine body and is equipped with multiple blades and an electric lifting device for controlling the height and position of each blade.

[0023] Secondly, this application also provides a lawnmower robot control method, wherein the control method is applied to the lawnmower robot control system and includes:

[0024] The system utilizes a two-way visual perception system located at both the front and rear ends of the fuselage to acquire information about the surrounding environment.

[0025] The navigation and positioning system is used to locate the position of the lawnmower robot based on the surrounding scene information, and a work navigation path is created based on the positioning information;

[0026] The central control system sends control signals to the bidirectional travel module according to the work navigation path;

[0027] The bidirectional travel module controls the chassis system to switch between bidirectional travel during operation.

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

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

[0030] Thirdly, this embodiment also discloses a lawn mowing robot, which includes the aforementioned lawn mowing robot control system.

[0031] Beneficial effects: This invention provides a lawnmower robot control system, method, and lawnmower robot. It utilizes a bidirectional visual perception system located at both the front and rear ends of the robot to acquire information about the surrounding environment. A navigation and positioning system locates the robot's position based on this information and creates a navigation path. A central control system sends control signals to a bidirectional movement module based on the navigation path, allowing the chassis system to switch between bidirectional movement during operation. This embodiment achieves bidirectional movement for the lawnmower robot through the cooperation of the bidirectional visual perception system, navigation and positioning system, and bidirectional movement module. This avoids the space occupation and efficiency loss caused by frequent turning operations during unidirectional movement, improves the robot's flexibility in complex environments, reduces damage to the grass during operation, and ensures high-precision and high-requirement lawnmower operations. Attached Figure Description

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

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

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

[0035] Figure 4 This is a schematic diagram of the suspension system in the lawnmower robot provided by the present invention;

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

[0037] Figure 6 This is a flowchart of the lawn mowing robot control method provided by the present invention. Detailed Implementation

[0038] To make the objectives, technical solutions, and advantages of this invention clearer and more explicit, the invention will be 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 are not intended to limit the invention.

[0039] With the development of intelligent and automated technologies, lawnmower robots have become an important component of smart home and garden maintenance automation equipment. Lawnmower robots perform lawn mowing by combining artificial intelligence, sensors, and navigation systems. Because lawnmower robots replace manual lawn mowing, they improve work efficiency, making them particularly suitable for maintaining large lawns.

[0040] Existing lawn mowing robots can be broadly categorized into two types based on their application: home-use and commercial. Home-use lawn mowing robots are characterized by their miniaturization and intelligence, making them suitable for family lawns. They are generally controllable via an app and feature functions such as path planning and intelligent obstacle avoidance. Commercial lawn mowing robots are typically used on football fields, golf courses, and public green spaces, and are characterized by their high efficiency and continuous operation.

[0041] Although the automatic control technology of lawnmowers continues to advance, existing lawnmowers generally adopt a two-wheel drive or rear-wheel drive structure, supporting only unidirectional forward operation. In application, in order to complete turning or U-turn operations on the path, these unidirectional lawnmowers often require additional space and time. Moreover, repeated U-turns not only reduce work efficiency but also lack the ability to work in complex terrain and narrow areas.

[0042] To address the aforementioned problems in the prior art, this application provides a lawnmower robot control system, method, and lawnmower robot. The control system includes: a chassis system, a bidirectional movement module, a bidirectional vision perception system, a navigation and positioning system, and a central control system. The chassis system receives drive signals from the bidirectional movement module and performs forward or backward movement. The bidirectional vision perception system acquires information about the surrounding environment. The navigation and positioning system acquires surrounding environment information, locates the lawnmower robot's position based on this information, and creates a work navigation path based on the location information. The central control system sends control signals to the bidirectional movement module according to the work navigation path, enabling the bidirectional movement module to control the chassis system to switch between bidirectional movement during operation. The system and method provided in this application control the lawnmower robot through bidirectional movement, eliminating the need for turning around. This not only improves work efficiency and reduces space occupation but also effectively avoids lawn wear caused by frequent turning around, better protecting the health of the lawn and improving the flexibility and intelligence of the lawnmower robot.

[0043] The following description, in conjunction with the accompanying drawings, provides a more detailed account of a lawnmower control system, method, and lawnmower robot provided in this embodiment.

[0044] Firstly, this application provides a lawnmower robot control system, such as... Figure 1 As shown, it includes: chassis system 101, bidirectional travel module 102, bidirectional visual perception system 103, navigation and positioning system 104, and central control system 105.

[0045] The chassis system 101 is located at the bottom of the lawnmower robot and is used to receive the drive signal sent by the bidirectional travel module 102 to perform forward or backward travel.

[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 and rear visual sensors are used to acquire scene information around the fuselage. In one implementation, the front and rear visual sensors can be laser scanners, linear or area array CCD cameras, or TV cameras, or digital cameras, which include one or two image sensors capable of converting object images into digital signals and processing and analyzing the images.

[0047] The navigation and positioning system 104 acquires the surrounding scene information collected by the bidirectional visual perception system 103, locates the position of the lawnmower robot, and creates a work navigation path based on the location information.

[0048] The central control system 105 sends control signals 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 travel in both directions during operation.

[0049] The aforementioned chassis system, bidirectional travel module, bidirectional vision perception system, navigation and positioning system, and central control system are all mounted on the body of the lawnmower robot and are interconnected or electrically connected to each other to enable information transmission between the various systems or modules.

[0050] In this embodiment, the bidirectional movement module receives control signals transmitted from the central control system and controls the drive signals of the reverse switching motor to switch the direction of travel of the chassis system, thereby realizing the bidirectional movement of the lawnmower robot.

[0051] Furthermore, combined Figure 3 As shown, the bidirectional visual perception system includes a front vision sensor 1031 and a rear vision sensor 1032. The front vision sensor 1031 is located at the front end of the top of the lawnmower robot and is used to collect information about the surrounding environment in front of the robot. The rear vision sensor 1032 is located at the rear end of the top of the lawnmower robot and is used to collect information about the surrounding environment behind the robot. Since the front vision sensor 1031 acquires information about the surrounding environment in front of the robot and the rear vision sensor 1032 acquires information about the surrounding environment in rear of the robot, the information from the two parts can be stitched together to obtain information about the entire surrounding environment of the lawnmower robot. This eliminates blind spots and improves the safety of the lawnmower robot during operation.

[0052] The navigation and positioning system can locate the lawnmower robot's position 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 lawnmower robot can then perform the corresponding lawnmower operation according to the created working navigation path.

[0053] The navigation and positioning information will send the created work navigation path to the central control system. The central control system can send control signals to the two-way travel module and the two-way vision perception system of the lawnmower robot according to the work navigation path, so as to realize the two-way travel module to control the chassis system to move in the control direction.

[0054] Furthermore, combined Figure 2 As shown, the chassis system is located at the bottom of the fuselage, in contact with the ground, and is used to propel 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 drive signal from the bidirectional travel module and drives the chassis drive module to perform bidirectional switching forward movement;

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

[0057] In one embodiment, the chassis drive module adopts a four-wheel all-wheel drive design, driving the four wheels through an independently controlled power transmission system to move the chassis forward and backward. Specifically, the chassis drive module includes two front drive wheels and two rear drive wheels, and each of the front drive wheels and rear drive wheels is connected to an independent power control module. Each of the front drive wheels and each of the rear drive wheels rotates under the drive of the corresponding connected power control module. Figure 2 and Figure 3 As shown, the chassis drive module includes four wheels 1011, located around the perimeter of the lawnmower robot, corresponding to two front-drive wheels and two rear-drive wheels. When the robot moves forward, the motor's drive signal is transmitted through the transmission system to the two front-drive wheels and two rear-drive wheels, causing them to rotate forward under power. When the lawnmower robot needs to move backward, the motor's drive signal is transmitted through the transmission system to the two front-drive wheels and two rear-drive wheels, causing them to rotate backward under power. These front-drive and rear-drive wheels are all-drive wheels, so the motor's drive signal can be directly transmitted to all four wheels. Since all four wheels can provide power, the vehicle's traction and maneuverability are enhanced.

[0058] It is conceivable that the chassis drive module can also achieve bidirectional movement in another way. Specifically, the chassis drive module includes tracks and track wheels, and the power control module controls the track wheels to drive the tracks. Using a tracked chassis to replace the all-wheel drive four-wheel chassis system can also achieve bidirectional movement, improving the robot's reliability in complex terrain and increasing operational efficiency.

[0059] The power control module can independently control and optimize the allocation of power to each wheel, thereby improving the overall active safety and dynamic performance of the lawnmower robot and enhancing the smoothness of its movement.

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

[0061] like Figure 4As shown, the suspension module 1013, used for adaptively adjusting the height and travel angle of the mower, is independently installed between the wheels and the chassis of the mower to adapt to uneven terrain, such as grasslands, slopes, and potholes. In one implementation, to enable the lawnmower to adapt to different terrain conditions and operational needs, the suspension module can be equipped with sensors and a control system. The sensors detect the ground condition and the mower's movement in real time, and based on the sensor monitoring results, 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, so as to control the travel direction of the chassis drive module.

[0063] The bidirectional movement module controls the rotation direction and speed of the reverse-switching motor based on control signals sent from the central control system, allowing the lawnmower robot to flexibly avoid obstacles. The reverse-switching motor is a type of motor capable of changing its rotation direction by altering the direction of the current or the power phase sequence, thus meeting the directional change requirements of the chassis drive module during movement. In the bidirectional movement module, the reverse-switching motor provides power and changes its rotation direction based on the received signals. The bidirectional drive switching unit is an electronic control unit responsible for receiving control signals from the central control system and controlling the motor's rotation direction based on the logic state of the control signals (such as high or low level). Specifically, when the control signal is in a specific logic state, such as high, the bidirectional drive switching unit drives the reverse-switching motor to rotate in one direction; conversely, when the drive signal is in another logic state, such as low, it drives 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, judges its logical state, and then sends a corresponding rotation direction control signal to the reverse switching motor based on the judged logical state result to change its rotation direction. The travel direction control of the lawnmower robot is based on the change in the rotation direction of the reverse switching motor, which directly affects the travel direction of the chassis drive module. Therefore, by controlling the rotation direction of the reverse switching motor, precise control of the travel direction of the chassis drive module can be achieved.

[0065] To enable more precise control of the lawnmower robot during its 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 based on the acquired surrounding scene information, and send the corrected working navigation path to the central control system so that the central control system can issue a control signal based on the corrected working navigation path.

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

[0068] Specifically, the bidirectional visual perception system employs 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 omnidirectional environmental perception, ensuring the safety and efficiency of lawn mowing operations. In one implementation, the bidirectional visual perception system includes front and rear wide-angle camera modules. Each module consists of a wide-angle imaging unit installed at the front and rear of the lawnmowing robot, and each module includes a CMOS camera assembly 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 extracts terrain features from the surrounding scene information, generates an environmental map using a SLAM algorithm, and creates a navigation path based on the environmental map. This first positioning module works in conjunction with a two-way visual perception system. The two-way visual perception system acquires information about the surrounding environment of the device, while the first positioning module acquires the environmental information acquired by the two-way visual perception system and uses a SLAM algorithm to generate a real-time, high-precision terrain model, ensuring accurate positioning of the device in complex environments. By incorporating two-way perception technology, the first positioning module ultimately achieves real-time perception and detour around obstacles in both forward and backward directions, significantly improving the overall reliability of the navigation system.

[0071] The second positioning module is used to locate the position of the lawnmower robot using RTK (Real Time Kinetic) positioning technology.

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

[0073] The two different navigation and positioning technologies provided by the first and second positioning modules can complement each other, enabling the lawnmower robot to maintain high navigation accuracy in environments with signal obstruction, heavy interference, or dynamic changes.

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

[0075] The navigation and positioning system provided in this embodiment combines the visual perception capabilities of a two-way visual perception system, the centimeter-level precision of RTK positioning technology, and the SLAM algorithm to ensure accurate navigation even in complex environments or under signal interference, thereby achieving highly reliable and intelligent autonomous lawn mowing operations. The central control system includes a main control chip and a power management module. The core control unit within the main control chip processes all sensor data from the lawnmower robot and synchronously coordinates with the chassis system, two-way travel system, and two-way visual perception system to generate control commands. The power management module, with its built-in lithium battery pack, provides power to the lawnmower robot's control system. Furthermore, the power management module's built-in lithium battery pack supports intelligent power regulation and remaining power prediction, and also features automatic return to a charging station for recharging when the battery is low.

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

[0077] Furthermore, the electric lifting device, driven by a motor, achieves rapid response and precise control. When the operator issues a control command to adjust the blade height, the electric lifting device, based on the received command, drives the internal transmission mechanism via the motor to change the relative height of the blade to the ground. The electric lifting device can adjust the blade height in real time and continuously, thereby controlling the blade to maintain the optimal position under different terrains and grass lengths.

[0078] The lawnmower control system disclosed in this embodiment acquires environmental information around the robot body through a two-way vision perception system, and creates a working navigation path based on the positioning information and / or surrounding environmental information using a navigation and positioning system. The central control system sends control commands to the two-way movement module based on the working navigation path, and the two-way movement module performs two-way movement control on the chassis system based on the control commands, thereby enabling the lawnmower robot provided in this application to have the function of moving forward and backward in both directions.

[0079] Secondly, based on the aforementioned lawnmower robot control system, this application also provides a lawnmower robot control method, such as... Figure 6 As shown, the control method applied to the lawnmower robot control system includes:

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

[0081] In this step, the front and rear vision sensors, located at the top front of the lawnmower robot, first acquire environmental information from the front and rear of the robot, respectively, to identify different types of obstacles. This allows for dynamic adjustments to the path planning through environmental modeling. Since both the front and rear vision sensors can simultaneously acquire omnidirectional environmental information and possess real-time image processing capabilities, they can combine deep learning algorithms to identify and judge different obstacle types, thereby improving perception capabilities. Especially when alternating between forward and backward directions, this avoids blind spots and improves the safety of lawnmower operations.

[0082] Step S2: Use the navigation and positioning system to locate the position of the lawnmower robot based on the surrounding scene information, and create a work navigation path based on the positioning information.

[0083] The navigation and positioning information can be based on the comprehensive environmental information obtained from the two-way visual perception system to accurately locate the lawnmower robot and to plan the precise lawnmower operation path according to the surrounding environmental information. It can also flexibly adjust the forward and backward movement path in complex environmental scenarios.

[0084] Step S3: The central control system sends control signals to the bidirectional travel module according to the work navigation path.

[0085] The central control system executes the corresponding mowing operation based on 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 bidirectional travel module based on the data received from various sensors on the machine or the operation instructions of the operator.

[0086] Step S4: The bidirectional travel module controls the chassis system to switch between bidirectional travel during operation based on the received control signal.

[0087] The bidirectional movement module receives control signals from the central control system to control the chassis system of the lawnmower robot to move forward or backward during operation, thereby switching the direction of movement and adjusting the path of movement.

[0088] Furthermore, the bidirectional travel module includes a reversing switching motor; the steps by which the bidirectional travel module controls the chassis system to switch travel bidirectionally during operation include:

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

[0090] The control method disclosed in this embodiment uses a bidirectional travel mode, which allows the robot to adjust its path without having to turn around repeatedly. This avoids the problem of turning around taking up extra space and time, and greatly improves work efficiency, especially in narrow areas and environments with dense obstacles, where it exhibits greater flexibility.

[0091] Thirdly, this embodiment also discloses a lawnmower robot, including the lawnmower robot control system.

[0092] Because the lawn mowing robot is equipped with the lawn mowing robot control system provided in this embodiment, it effectively avoids the space occupation and efficiency loss caused by frequent turning operations, effectively reduces the damage to the lawn caused by turning and rolling the same area during lawn mowing operations, and improves the flexibility of the lawn mowing robot in narrow areas and environments with dense obstacles.

[0093] Furthermore, the lawnmower robot disclosed in this embodiment adopts an all-wheel drive four-wheel chassis design, which significantly improves the robot's ability to pass through complex terrains such as slopes, potholes, and slippery grass, and ensures efficient operation in complex environments. The application of bidirectional visual perception technology enables all-round environmental perception capabilities, improving safety during operation. This embodiment also combines RTK centimeter-level positioning technology with bidirectional visual positioning (SLAM algorithm) technology, solving the problem of insufficient navigation accuracy of traditional GPS navigation systems under signal interference or obstruction, and achieving high-precision path planning and autonomous navigation in complex dynamic environments. Moreover, visual perception and RTK complement each other, achieving integrated environmental perception, precise positioning, and dynamic navigation, ensuring navigation accuracy and the continuity of lawnmower operations under complex working conditions.

[0094] This invention provides a lawnmower robot control system, method, and lawnmower robot. It utilizes a bidirectional visual perception system located at both the front and rear ends of the robot to acquire information about the surrounding environment. A navigation and positioning system locates the robot's position based on this information and creates a navigation path. A central control system sends control signals to a bidirectional movement module based on the navigation path. This module controls the chassis system to switch between bidirectional movement during operation. This embodiment achieves bidirectional movement for the lawnmower robot by the mutual assistance of the bidirectional visual perception system, navigation and positioning system, and bidirectional movement module. This avoids the space occupation and efficiency loss caused by frequent turning operations during unidirectional movement, improves the robot's flexibility in complex environments, reduces damage to the grass during operation, and ensures high-precision and high-requirement lawnmower operations.

[0095] It is understood that those skilled in the art can make equivalent substitutions or modifications to the technical solution and inventive concept of the present invention, and all such substitutions or modifications should fall within the protection scope of the appended claims.

Claims

1. A lawnmower robot control system, characterized in that, include: Chassis system, two-way travel module, two-way vision perception system, navigation and positioning system, and central control system; The chassis system is located at the bottom of the lawnmower robot and is used to receive drive signals from the bidirectional travel module to perform forward or backward travel. The bidirectional visual perception system includes: a front visual sensor located at the front of the fuselage and a rear visual sensor located at the rear of the fuselage; the front visual sensor and the rear visual sensor are used to acquire scene information around the fuselage; the bidirectional visual perception system also includes an image processing module; The image processing module is used to correct the working navigation path based on the acquired surrounding scene information, and send the corrected working navigation path to the central control system so that the central control system can issue a control signal based on the corrected working navigation path. The navigation and positioning system acquires the surrounding scene information collected by the bidirectional visual perception system, locates the position of the lawnmower robot, and creates a working navigation path based on the location information. The central control system sends control signals to the bidirectional travel module according to the working navigation path, so that the bidirectional travel module controls the chassis system to switch travel in both directions during operation; 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, so as to control the travel direction of the chassis drive module, so that the chassis system can switch travel in both directions during operation. 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 the 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 lawnmower robot using RTK positioning technology; When the bidirectional travel module receives a control signal from the central control system, the bidirectional drive switching unit first receives the control signal, judges 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 judged logic state result to change its rotation direction; the travel direction control of the lawnmower robot is based on the change in the rotation direction of the reverse switching motor, which directly causes the travel direction of the chassis drive module. 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 drive signal from the bidirectional travel module and drives the chassis drive module to perform bidirectional switching forward movement; The suspension module is used to adaptively adjust the height and travel angle of the lawnmower robot; The chassis drive module includes two front drive wheels and two rear drive wheels, and each front drive wheel and each rear drive wheel is connected to an independent power control module. Each front drive wheel and each rear drive wheel rotates under the drive of the corresponding connected power control module. The power control module independently controls and optimizes the allocation of power to each wheel. Each wheel is driven by a separate motor. The power control module communicates with each motor and receives feedback signals from sensors installed on the wheels to achieve precise control of each wheel. 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 lawnmower robot and coordinates with the chassis system, bidirectional travel system and bidirectional vision perception system to generate control commands. The chassis drive module includes tracks and track wheels, and the power control module controls the track wheels to drive the tracks to move. The machine body is also equipped with a mowing system; the mowing system is located at the bottom of the machine body and is equipped with multiple blades and an electric lifting device for controlling the height and position of each blade; when the operator issues a control command to adjust the blade height, the electric lifting device, according to the received command, changes the relative height of the blades with respect to the ground by driving the internal transmission mechanism through the motor; the electric lifting device adjusts the blade height in real time and continuously. The suspension module is equipped with sensors and a control system. The sensors detect the ground condition and the movement state of the lawnmower robot in real time, and automatically adjust the stiffness and damping of the suspension module based on the monitoring results. The bidirectional visual perception system employs 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 omnidirectional environmental perception. The bidirectional visual perception system includes front and rear wide-angle camera modules and an image processing unit. The front and rear wide-angle camera modules are installed at the front and rear of the lawnmower robot, respectively, with each module containing a CMOS camera assembly for capturing high-definition environmental images. The image processing unit performs image preprocessing, feature extraction, and stereo matching on the image information captured by the cameras. The navigation and positioning system also includes a fusion positioning module, which is used to switch GPS positioning to visual positioning and combine it with SLAM and a global path planning algorithm when GPS signals are interfered with, so as to ensure the continuity and accuracy of navigation. The two different navigation and positioning technologies provided by the first positioning module and the second positioning module complement each other, enabling the lawnmower robot to maintain high navigation accuracy in environments with signal obstruction, heavy interference, or dynamic changes. The navigation and positioning system combines the visual perception capabilities of a two-way visual perception system, RTK positioning technology, and SLAM algorithm to achieve accurate navigation in complex environments or when signals are interfered with. The power management module has a built-in lithium battery pack, supports intelligent power regulation and remaining power prediction, and also has the function of automatically returning to the charging station for charging when the battery is low.

2. A control method for a lawnmower robot, characterized in that, The control method, applied to the lawnmower robot control system as described in claim 1, comprises: The system utilizes a two-way visual perception system located at both the front and rear ends of the fuselage to acquire information about the surrounding environment. The navigation and positioning system is used to locate the position of the lawnmower robot based on the surrounding scene information, and a work navigation path is created based on the positioning information; The central control system sends control signals to the bidirectional travel module according to the work navigation path; The bidirectional travel module controls the chassis system to switch between bidirectional travel during operation.

3. A lawnmower robot, characterized in that, Includes the lawnmower robot control system as described in claim 1.

Images