Full-automatic mower supporting operation path planning and autonomous navigation and control method

Abstract

The invention discloses a full-automatic mower supporting operation path planning and autonomous navigation and a control method, and the full-automatic mower comprises a high-precision positioning module which is used for providing fusion positioning service support; the high-precision visual module is used for providing fusion visual perception service; the control module is used for performing mowing operation environment perception based on the fusion positioning service and the fusion visual perception service, determining an operation area based on the mowing operation environment perception data, and planning an operation global path according to the operation area and the mowing operation environment perception data. Calling an operation module to perform full-automatic mowing operation according to the global operation path, and performing adaptive obstacle avoidance response and consistent mowing operation processing of dynamic obstacles in the full-automatic mowing operation process; the lawn mower can complete lawn trimming operation in a full-automatic manner, supports setting of the trimming height and the driving speed, and has the functions of terrain self-adaption, automatic path planning, self-diagnosis, automatic obstacle avoidance and safety.

Description

Technical Field

[0001] The present invention relates to the technical field of weeding robots, and particularly to a full-automatic lawn mower supporting operation path planning and autonomous navigation and a control method therefor. Background Art

[0002] In garden maintenance operations, lawn mowing is a crucial daily task. Traditionally, this task has mainly relied on gasoline lawn mowers carried on the back by manpower or push lawn mowers. However, this manual lawn mowing method has many deficiencies and urgently needs to be innovated.

[0003] Manpower-backpack or cross-body lawn mowers, although to a certain extent can meet the basic lawn mowing needs, their defects are obvious. First of all, workers need to carry a lawn mower weighing about 7.5 - 8 kg for operation, which not only makes the labor intensity extremely high, but also the long-term monotonous movements are likely to cause worker fatigue and physical discomfort. Secondly, when such lawn mowers are operating, due to the limitation of the blade guard, plant debris particles will fly into the air, posing a threat to the lung health and eye safety of the operator. At the same time, the noise generated by gasoline lawn mowers during operation is as high as 85 - 95 decibels (up to 107 decibels at most), which not only disturbs the residents, but also causes serious damage to the hearing of the staff. Moreover, the exhaust gas emitted by gasoline engines also seriously pollutes the environment.

[0004] Push-cart lawn mowers, although to a certain extent reduce the burden on the workers' backs, also have many problems. Due to walking on wheels, their movement terrain is limited and it is difficult to operate effectively in complex terrains. In addition, the blades of push lawn mowers are located at the bottom of the machine, and the feeding range is limited, and only simple trimming operations can be performed, which cannot meet the needs of trimming complex terrains. At the same time, the operator needs to operate the lawn mower at close range and will still be harmed by noise and plant debris particles.

[0005] In summary, the traditional manual lawn mowing method not only has a high labor intensity and high labor costs, but also has a serious impact on the health of the operator and the surrounding environment. Summary of the Invention

[0006] The purpose of the present invention is to provide a full-automatic lawn mower supporting operation path planning and autonomous navigation and a control method therefor, so as to solve all or one of the above problems existing in the prior art.

[0007] To solve the above technical problems, the specific technical solutions of the present invention are as follows:

[0008] On the one hand, the present invention provides a full-automatic lawn mower supporting operation path planning and autonomous navigation, including:

[0009] A high-precision positioning module, a high-precision vision module, an operation module, and a control module;

[0010] The high-precision positioning module is used to provide support for integrated positioning services;

[0011] The high-precision vision module is used to provide integrated vision perception services;

[0012] The control module is used to perceive the mowing operation environment based on the integrated positioning service and the integrated vision perception service, determine the operation area based on the mowing operation environment perception data, plan the global operation path according to the operation area and the mowing operation environment perception data, call the operation module to perform fully automatic mowing operations according to the global operation path, and perform adaptive obstacle avoidance response to dynamic obstacles and consistent mowing operation processing during the fully automatic mowing operation.

[0013] Furthermore, the high-precision positioning module includes: a satellite positioning unit, a millimeter-wave radar, and a lidar;

[0014] The satellite positioning unit is used to provide global positioning information;

[0015] The millimeter-wave radar is used to detect obstacles;

[0016] The lidar is used to provide auxiliary positioning information.

[0017] Furthermore, the high-precision vision module includes: a binocular camera and a thermal imager;

[0018] The binocular camera is used to collect real-time image information of the surrounding environment;

[0019] The thermal imager is used to sense the biological information of the surrounding environment by using infrared detection technology.

[0020] Furthermore, the operation module includes: a tracked vehicle chassis module, a robotic arm module, and a fully automatic cutter head module;

[0021] The tracked vehicle chassis module is used to provide support for the moving function;

[0022] The robotic arm module is installed on the vehicle body of the tracked vehicle chassis module and is used to control the ground clearance and working angle of the fully automatic cutter head module;

[0023] The fully automatic cutter head module is installed at the end of the robotic arm module, and the fully automatic cutter head module is used to perform mowing actions.

[0024] Furthermore, the control module includes: a positioning control unit, an adaptive navigation unit, an adaptive mowing unit, and a remote monitoring unit;

[0025] The positioning control unit is used to call the high-precision positioning module and the high-precision vision module by using the integrated positioning technology to provide positioning support and navigation support:

[0026] The adaptive navigation unit is used to obtain the visual image of the working area, generate an electronic map based on the visual image, determine the operation area in the electronic map, distinguish the fully automatic mowing area in the operation area, identify static obstacles in the fully automatic mowing area, and plan the operation route as the operation global path, and control the tracked vehicle chassis module to perform automatic navigation driving control according to the operation route;

[0027] The adaptive mowing unit is used to perform the uniform mowing operation process according to the crop conditions and detect and avoid dynamic obstacles in real time during the automatic navigation driving control process;

[0028] The remote monitoring unit is used to support the remote monitoring and control intervention of the operation module.

[0029] Furthermore, the adaptive navigation unit is also used to obtain the visual image of the working area by using the UAV vision mapping technology; the adaptive navigation unit performs feature extraction processing on the visual image and constructs the electronic map based on the extracted features and the position information of the features;

[0030] The adaptive navigation unit is also used to determine the operation area in the electronic map, and distinguish the fully automatic mowing area, the mixed operation area and the manual operation area in the operation area according to the boundaries, vegetation distribution, vegetation density and growth trend, terrain complexity, obstacles and operation requirement types in the working scene;

[0031] The adaptive navigation unit is also used to plan the operation global path for the mowing operation in the fully automatic mowing area, and the operation global path includes: operation start point, operation end point, operation coverage path, operation minimum turning radius and operation shortest path;

[0032] The adaptive navigation unit is also used to perform smooth optimization and obstacle avoidance inspection on the operation global path.

[0033] Furthermore, the adaptive mowing unit is also used to control the robotic arm module and the fully automatic cutter head module to perform horizontal or vertical trimming with consistent height on the lawn to be trimmed according to the visual data obtained by the high-precision vision module:

[0034] The adaptive mowing unit is also used to call the high-precision positioning module and the high-precision vision module to work together to identify dynamic obstacles in the operation global path, and control the tracked vehicle chassis module to perform guiding obstacle avoidance according to the dynamic obstacles.

[0035] Furthermore, the adaptive mowing unit is further configured to control the robotic arm module to drive the full-automatic cutter head module for three-dimensional feeding motion, match the mowing height according to the terrain during mowing, and control the traveling speed during mowing according to the crop height and density.

[0036] Furthermore, the adaptive mowing unit is further configured to control the crawler vehicle chassis module to decelerate, turn or stop when encountering the dynamic obstacle, plan an obstacle avoidance operation path according to the dynamic position information of the dynamic obstacle, and perform adaptive pause and warning of the mowing operation according to the distance between the dynamic obstacle and the blade of the full-automatic cutter head module.

[0037] On the other hand, the present invention further provides a control method for the full-automatic lawn mower supporting operation path planning and autonomous navigation. The control method includes the following steps:

[0038] Performing mowing operation environment perception based on the integrated positioning service and the integrated vision perception service;

[0039] Determining an operation area based on the mowing operation environment perception data, and planning a global operation path according to the operation area and the mowing operation environment perception data;

[0040] Invoking the operation module to perform full-automatic mowing operation according to the global operation path, and performing adaptive obstacle avoidance response to dynamic obstacles and consistent mowing operation processing during the full-automatic mowing operation.

[0041] The beneficial effects of the technical solution of the present invention are:

[0042] 1. The full-automatic lawn mower supporting operation path planning and autonomous navigation according to the present invention can fully automatically complete the lawn mowing operation through the mutual cooperation of functional modules, realize complex mowing through a 5-degree-of-freedom robotic arm, and support setting the mowing height and traveling speed, thereby improving work efficiency and reducing manual labor intensity; realizing zero emissions and silent operation through pure electric drive, being environmentally friendly, and having terrain adaptability, automatic path planning, self-diagnosis, automatic obstacle avoidance and safety functions; being easy to operate, controllable by mobile phone, and capable of adapting to various complex terrains.

[0043] 2. The control method according to the present invention can orderly invoke the functional modules of the full-automatic lawn mower supporting operation path planning and autonomous navigation, thereby realizing the control logic of the full-automatic lawn mower supporting operation path planning and autonomous navigation according to the present invention. Description of the Drawings

[0044] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0045] Figure 1 It is a schematic perspective view of the full-automatic lawn mower supporting operation path planning and autonomous navigation described in Embodiment 1 of the present invention;

[0046] Figure 2 It is a schematic chassis structure view of the small crawler vehicle chassis in the full-automatic lawn mower supporting operation path planning and autonomous navigation described in Embodiment 1 of the present invention;

[0047] Figure 3 It is a schematic architecture view of the full-automatic lawn mower supporting operation path planning and autonomous navigation described in Embodiment 1 of the present invention;

[0048] Figure 4 It is a schematic path planning logic view of the full-automatic lawn mower supporting operation path planning and autonomous navigation described in Embodiment 1 of the present invention;

[0049] Figure 5 It is a schematic view of the marking symbol when the full-automatic lawn mower supporting operation path planning and autonomous navigation described in Embodiment 1 of the present invention performs obstacle marking;

[0050] Figure 6 It is a schematic flowchart of the control method described in Embodiment 2 of the present invention;

[0051] The marks in the drawings are as follows:

[0052] 1. Manipulator joint; 2. Manipulator; 3. Camera; 4. Mower fixing rod; 5. Crawler vehicle chassis; 6. Mowing drive motor; 7. Mowing cutter head. Specific Embodiments

[0053] The following will elaborate on the preferred embodiments of the present invention in conjunction with the drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making the protection scope of the present invention more clearly defined.

[0054] In the description of the present invention, it should be noted that the embodiments described are some embodiments of the present invention, rather than all embodiments; based on the embodiments in the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the protection scope of the present invention.

[0055] In the description, claims and the above-mentioned drawings of this document, terms such as "first", "second", etc. are used to distinguish similar objects and do not necessarily describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances so that the embodiments of this document described here can be implemented in an order other than those illustrated or described here. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, device, product or equipment that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or equipment.

[0056] Embodiment 1

[0057] This embodiment provides a fully automatic lawn mower that supports job path planning and autonomous navigation, as Figures 1 to 5 shown, including:

[0058] A high-precision positioning module, including: a satellite positioning system, a millimeter-wave radar, and a lidar, with specific functions as follows:

[0059] (1) The satellite positioning system is used to provide global positioning information, perform outdoor positioning, and correct the drift of the SLAM system; the satellite positioning system uses the Beidou satellite navigation system to provide high-precision positioning services, with the error range controlled within the centimeter level or higher precision to ensure that this lawn mower travels along the planned path.

[0060] (2) The millimeter-wave radar is used to detect and track obstacles, and can accurately measure the distance between the obstacle in front and the radar, especially in low visibility conditions such as rain and fog, for the obstacle avoidance function.

[0061] (3) The lidar is used to determine its own position by matching the point cloud map with the pre-stored map, and assist in precise positioning with an accuracy of up to the centimeter level.

[0062] A high-precision vision module, including: a binocular camera and an infrared thermal imager, with specific functions as follows:

[0063] (1) The binocular camera is used to collect real-time image information of the surrounding environment, such as obstacles, boundaries, the growth status of grass, shrubs, and crops, etc., and then establish a 3D model of the surrounding environment and terrain; the binocular camera is also used to cooperate with the lidar to achieve the SLAM function, and cooperate with the satellite positioning system to use the RTK technology to achieve precise positioning and automatic navigation together; the binocular camera is also used to restore the three-dimensional shape of the object through parallax calculation to perform real-time modeling of the surrounding environment; the binocular camera is also used to cooperate with the millimeter-wave radar to achieve the obstacle avoidance function; the binocular camera is also used to support the obstacle recognition control of the manipulator.

[0064] (2) Thermal imager, which is used to receive the infrared radiation energy emitted by the target object by means of an infrared detector and an optical imaging objective lens, convert it into an infrared thermal image, display the temperature distribution on the surface of the object through the infrared thermal image, and then sense people and animals to perform corresponding obstacle avoidance.

[0065] Operation module, including: small crawler chassis, 5-axis articulated robotic arm and fully automatic mowing cutter head. The specific functions are as follows:

[0066] (1) Small crawler chassis, which is used to provide mobile function support, adopts a lightweight design and is driven by a motor; the small crawler chassis has a self-weight of 100 kg, and the crawlers are made of rubber crawlers, so as to evenly distribute the weight and reduce the pressure on the ground lawn, reducing damage to the lawn; in addition, the crawler chassis can also make this mower adapt to different types of terrains, including but not limited to wetlands, steep slopes and irregularly shaped grasslands, etc., improving the applicable range of this mower, enabling this mower to operate efficiently under various environmental conditions without being restricted by terrain; the crawler chassis supports the flexible control of machine learning algorithms and artificial intelligence technologies to realize the autonomous driving of this mower and perform autonomous operations without manual intervention.

[0067] (2) 5-axis articulated robotic arm, which controls the distance and angle between the mowing cutter head and the lawn, supports multi-degree-of-freedom motion control in the up, down, left, right, front and back directions, and keeps the terrain height consistent after mowing;

[0068] (3) Fully automatic mowing cutter head, whose head is installed at the end of the 5-axis articulated robotic arm, supports manual angle adjustment from 0 to 90°; the fully automatic mowing cutter head is driven by an electric motor to cut lawns and vegetation.

[0069] Control module, including: positioning control unit, adaptive navigation unit, adaptive mowing unit and remote monitoring unit. The specific functions are as follows:

[0070] (1) Positioning control unit, which is used to call the high-precision positioning module and the high-precision vision module by means of integrated positioning technology to achieve the precise positioning and navigation of this mower: among them, the positioning control unit determines the position in a large range through the GPS positioning system, identifies the target objects in the working scene through the vision system (such as identifying grass, shrubs, obstacles, etc.), and constructs a three-dimensional model of the surrounding environment through the lidar; based on the integrated positioning technology, it can still distinguish between tree occlusion, building shadows, etc. when the GPS signal is interfered, complete accurate positioning, and assist this mower to complete the mowing task efficiently and accurately;

[0071] (2) Adaptive navigation unit, used for: obtaining the visual image of the working area, analyzing the electronic map based on the visual image, differentiating the fully automatic mowing area in the electronic map, identifying static obstacles in the fully automatic mowing area, planning the operation route, and performing automatic navigation driving control according to the operation route, specifically as follows:

[0072] (2.1) Using the unmanned aerial vehicle (UAV) vision mapping technology, obtaining the topographic information image of the operation area, extracting the feature points of the topographic information by using the improved SURF algorithm and Harris algorithm, refining the feature points by using the Grid-KNN and RANSAC algorithms, and establishing a transformation matrix to extract the lawn boundary and obstacles; generating the corresponding boundary position information and obstacle position information according to the GPS information corresponding to the topographic information image, and finally marking them in the topographic information image to generate a high-precision electronic map, which can provide prior information for the operation path planning and obstacle perception of this lawn mower; marking the operation area, blank areas (such as ponds, non-mowing areas, ornamental plant areas, etc.), obstacles, and boundaries, etc. in the map; specifically, in the operation area, using the UAV aerial machine vision to identify various stationary items and obstacles in the operation area, including but not limited to buildings, corridors, paths, trees, rocks, ponds, ditches, etc., and marking these stationary items and obstacles in the electronic map, and the specific marking symbols are as Figure 5 shown;

[0073] (2.2) According to the boundaries, vegetation distribution, vegetation density and growth trend, terrain complexity, obstacles, and operation requirement types (such as mowing or pruning) in the scene, differentiating the fully automatic mowing area, mixed operation area, and manual operation area in the operation area, and having different operation modes in different operation areas. The specific operation mode classification table is as follows:

[0074]

[0075]

[0076] (2.3) Planning the global path of the mowing operation, including but not limited to: starting point and target point, coverage path, minimum turning radius, and shortest path; among them, determining the starting point and ending point of the mowing operation, and using the wavefront expansion method, scanning path method, or spiral path method to plan the working path covering each operation area in the operation area. When determining the path, calculating the turning radius of this lawn mower to the minimum and planning the total working path length to the shortest;

[0077] (2.4) Optimize the generated path above, including but not limited to: smoothing the generated path for the purpose of adapting to the kinematic characteristics of this lawn mower; reviewing whether the obstacles in the operation area are completely avoided in the path, and adjusting the path in real time according to dynamic obstacles during the operation; automatically planning the optimal mowing path based on information such as the shape, size of the lawn and the distribution of obstacles, so that the mowing path covers every corner of the mowing area;

[0078] (2.5) In other embodiments, it supports manual setting of the mowing path, and controls this lawn mower to perform mowing operations according to the set mowing path.

[0079] (3) Adaptive mowing unit, used for: during the automatic navigation driving process, performing adaptive trimming according to the crop conditions to ensure the uniformity and consistency of trimming. At the same time, during the mowing operation, dynamically detect obstacles in real time and avoid them in real time, specifically as follows:

[0080] (3.1) With the assistance of machine vision based on a high-precision vision module, control the 5-axis articulated robotic arm and the full-automatic mowing cutter head in the operation module to cooperate and automatically execute mowing and trimming actions, including but not limited to:

[0081] Control the robotic arm to drive the full-automatic mowing cutter head to perform 3D feeding motion. Through the high-speed rotation of the cutter head for cutting, complete the horizontal and vertical trimming of the lawn; during horizontal trimming, automatically control the full-automatic mowing cutter head to move left and right for mowing by the robotic arm, observe the terrain height based on machine vision, and perform mowing operations according to the preset lawn height; during vertical trimming, automatically control the height of the full-automatic mowing cutter head from the ground by the robotic arm, control its up and down movement or keep the height unchanged for mowing, observe the terrain height based on machine vision, and perform mowing operations according to the preset lawn height; under the control of machine vision, the robotic arm control system can automatically match the height according to the terrain to keep the trimmed lawn height consistent;

[0082] During mowing operations, emit radar waves to the crops through the millimeter-wave radar, and judge the crop height and density according to the reflected signals, intensity and time difference; automatically reduce the driving speed in areas with a large crop density to ensure that all crops are harvested; increase the driving speed in areas with a small crop density to improve the operation efficiency.

[0083] (3.2) During the mowing and trimming actions, call the high-precision positioning module and the high-precision vision module to work together to identify obstacles (such as people, animals and other obstacles) in the mowing path, and control the small tracked vehicle chassis to avoid obstacles. The obstacle avoidance operations include but not limited to:

[0084] Automatically decelerate, turn or stop when encountering obstacles to avoid collision and damage;

[0085] Bypass small obstacles directly and choose other paths for large obstacles;

[0086] According to the dynamic position information (distance, speed, and azimuth information) of dynamic obstacles, perform obstacle avoidance operation path planning (for example, when a relatively high stone is detected ahead, adjust the driving direction or stop moving forward in a timely manner based on the radar feedback information, then re-plan the path to bypass it. After re-bypassing, match the self-positioning with the global path and resume the mowing operation under the global path);

[0087] When a dynamic obstacle is identified as a person or an animal, use ultrasonic waves for distance analysis. When the distance between the person or animal and the blade of the fully automatic mowing cutter head is less than 0.2 m, pause the operation, give an automatic alarm, and at the same time, detour to avoid harm to people and animals; during the mowing operation, flash a yellow light for warning.

[0088] (4) Remote monitoring unit, used for: establishing a remote monitoring platform, which facilitates operators to monitor the status of this mowing machine and perform necessary interventions in the remote monitoring platform.

[0089] In addition, this mowing machine also includes the following modules to support other necessary functions, such as:

[0090] (1) Self-check module, used for periodic diagnosis of its own hardware, judging error situations such as cutter head damage and battery power shortage, and giving an automatic alarm;

[0091] (2) Tipping module, used for monitoring the tilt angle and center of gravity change of this mowing machine by using a millimeter-wave radar; giving a warning signal for situations where the tilt angle is too large or the center of gravity is unstable during the driving or operation of this mowing machine, reminding the operator or the control system to take corresponding measures to prevent mechanical tipping accidents;

[0092] (3) Automatic upgrade module, used for supporting the OTA one-key upgrade function and supporting the wireless upgrade system software function of this mowing machine.

[0093] In addition, in the manual mode, this mowing machine supports the operator to stand on the mowing machine body and manually operate the robotic arm to perform mowing actions; or it supports the operator to remotely control the mowing machine for long-distance mowing by using a remote controller. The operator only needs to control the front, back, left, and right movement of the chassis, and the robotic arm automatically controls the mowing height.

[0094] In a preferred embodiment, the performance parameters of this mowing machine are as follows:

[0095]

[0096]

[0097]

[0098] In a preferred embodiment, the performance parameter table of the small crawler chassis of this lawn mower is as follows:

[0099]

[0100]

[0101] In a preferred embodiment, the performance parameter table of the 5-axis articulated robotic arm of this lawn mower is as follows:

[0102]

[0103] It should be noted that the above examples are only for explaining the present invention and cannot limit the protection scope of the present invention accordingly.

[0104] Example 2

[0105] Based on the same inventive concept as the fully automatic lawn mower supporting operation path planning and autonomous navigation described in Example 1, this embodiment provides a control method, as Figure 6 shown, including the following steps:

[0106] S100. Perform lawn mowing operation environment perception based on the integrated positioning service and the integrated vision perception service;

[0107] S200. Determine the operation area based on the lawn mowing operation environment perception data, and plan the global operation path according to the operation area and the lawn mowing operation environment perception data;

[0108] S300. Call the operation module to perform fully automatic lawn mowing operation according to the global operation path, and perform adaptive obstacle avoidance response to dynamic obstacles and consistent lawn mowing operation processing during the fully automatic lawn mowing operation.

[0109] Those skilled in the art can clearly understand that for the convenience and conciseness of description, the specific logical process of the method described above can refer to the corresponding working processes of the system, device and unit in the foregoing method embodiments, and will not be elaborated herein.

[0110] Different from the prior art, by using the fully automatic lawn mower and control method supporting operation path planning and autonomous navigation of this application, the lawn trimming operation can be completed fully automatically, complex trimming can be realized through a 5-degree-of-freedom robotic arm, and setting the trimming height and traveling speed is supported, improving work efficiency and reducing manual labor intensity; zero emission and silent operation are achieved through pure electric drive, which is environmentally friendly, and it has functions such as terrain adaptability, automatic path planning, self-diagnosis, automatic obstacle avoidance and safety; the operation is simple, can be controlled by mobile phone, and can adapt to various complex terrains.

[0111] It should be understood that in various embodiments of this document, the sequence numbers of the above processes do not imply the order of execution, and the order of execution of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of this document.

[0112] It should also be understood that in the embodiments of this document, the term "and / or" is merely a description of the association relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this document generally represents an "or" relationship between the associated objects before and after.

[0113] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed in this document can be implemented by electronic hardware, computer software, or a combination of the two. To clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described according to functions in the above description. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of this document.

[0114] In several embodiments provided in this document, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division, and there can be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed couplings or direct couplings or communication connections to each other can be indirect couplings or communication connections through some interfaces, devices, or units, and can also be electrical, mechanical, or other forms of connection.

[0115] The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they can be located in one place, or can be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiments of this document.

[0116] In addition, the functional units in each embodiment of this document can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above integrated units can be implemented in the form of hardware or in the form of software functional units.

[0117] When the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of this article, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this article. The aforementioned storage medium includes: various media that can store program codes such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs.

[0118] The above are only the embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of the present invention.

Claims

1. A fully automatic lawn mower supporting operation path planning and autonomous navigation, characterized in that: include: High-precision positioning module, high-precision vision module, operation module and control module; The high-precision positioning module is used to provide fusion positioning service support; The high-precision visual module is used to provide fusion visual perception services; The control module is used to perceive the mowing operation environment based on the fused positioning service and the fused visual perception service, determine the operation area based on the mowing operation environment perception data, plan the global operation path according to the operation area and the mowing operation environment perception data, call the operation module to perform fully automatic mowing operations according to the global operation path, and perform adaptive obstacle avoidance response to dynamic obstacles and consistent mowing operation processing during the fully automatic mowing operation.

2. The fully automatic lawn mower supporting operation path planning and autonomous navigation according to claim 1, characterized in that: The high-precision positioning module includes: a satellite positioning unit, a millimeter-wave radar and a laser radar; The satellite positioning unit is used to provide global positioning information; The millimeter wave radar is used to detect obstacles; The laser radar is used to provide auxiliary positioning information.

3. The fully automatic lawn mower supporting operation path planning and autonomous navigation according to claim 1, characterized in that: The high-precision visual module includes: a binocular camera and a thermal imager; The binocular camera is used to collect image information of the surrounding environment in real time; The thermal imager is used to sense biological information of the surrounding environment using infrared detection technology.

4. The fully automatic lawn mower supporting operation path planning and autonomous navigation according to claim 1, characterized in that: The operation module includes: a crawler chassis module, a mechanical arm module and a fully automatic cutter head module; The crawler vehicle chassis module is used to provide mobility support; The mechanical arm module is installed on the body of the crawler vehicle chassis module and is used to control the ground clearance and working angle of the fully automatic cutter head module; The fully automatic blade module is installed at the end of the mechanical arm module, and the fully automatic blade module is used to perform mowing actions.

5. The fully automatic lawn mower supporting operation path planning and autonomous navigation according to claim 4, characterized in that: The control module includes: a positioning control unit, an adaptive navigation unit, an adaptive mowing unit and a remote monitoring unit; The positioning control unit is used to use fusion positioning technology to call the high-precision positioning module and the high-precision vision module to perform positioning support and navigation support: The adaptive navigation unit is used to obtain a visual image of the working area, generate an electronic map based on the visual image, determine the working area in the electronic map, distinguish the fully automatic mowing area in the working area, identify static obstacles in the fully automatic mowing area and plan a working route as the global working path, and control the crawler chassis module to perform automatic navigation driving control according to the working route; The adaptive mowing unit is used to perform the uniform mowing operation according to the crop conditions and to detect and avoid dynamic obstacles in real time during the automatic navigation driving control process; The remote monitoring unit is used to support remote monitoring and control intervention of the operation module.

6. The fully automatic lawn mower supporting operation path planning and autonomous navigation according to claim 5, characterized in that: The adaptive navigation unit is further used to obtain a visual image of the working area using drone visual mapping technology; the adaptive navigation unit performs feature extraction processing on the visual image, and constructs the electronic map based on the extracted features and location information of the features; The adaptive navigation unit is further used to determine the operation area in the electronic map, and distinguish the fully automatic mowing area, the mixed operation area and the manual operation area in the operation area according to the boundaries, grass distribution, grass density growth, terrain complexity, obstacles and operation requirement types in the work scene; The adaptive navigation unit is further used to plan the global operation path of the mowing operation in the fully automatic mowing area, wherein the global operation path includes: an operation starting point, an operation end point, an operation coverage path, an operation minimum turning radius, and an operation shortest path; The adaptive navigation unit is also used to perform smooth optimization and obstacle avoidance inspection on the global operation path.

7. The fully automatic lawn mower supporting operation path planning and autonomous navigation according to claim 5, characterized in that: The adaptive mowing unit is further used to control the mechanical arm module and the fully automatic blade module to perform highly consistent horizontal or vertical mowing on the lawn to be mowed according to the visual data obtained by the high-precision visual module: The adaptive mowing unit is also used to call the high-precision positioning module and the high-precision vision module to work together to identify dynamic obstacles in the global operation path, and control the crawler vehicle chassis module to guide and avoid obstacles according to the dynamic obstacles.

8. The fully automatic lawn mower supporting operation path planning and autonomous navigation according to claim 7, characterized in that: The adaptive mowing unit is also used to control the mechanical arm module to drive the fully automatic cutter disc module to perform three-dimensional feeding movement, match the mowing height according to the terrain during mowing, and control the driving speed during mowing according to the crop height and density.

9. The fully automatic lawn mower supporting operation path planning and autonomous navigation according to claim 7, characterized in that: The adaptive mowing unit is also used to control the crawler chassis module to slow down, turn or stop when encountering the dynamic obstacle, plan the obstacle avoidance operation path according to the dynamic position information of the dynamic obstacle, and adaptively pause and warn the mowing operation according to the distance between the dynamic obstacle and the blade of the fully automatic cutter disc module.

10. A control method for a fully automatic lawn mower supporting operation path planning and autonomous navigation as claimed in any one of claims 1 to 9, characterized in that: The control method comprises the following steps: Mowing environment perception based on fusion positioning service and fusion visual perception service; Determine the operation area based on the mowing operation environment perception data, and plan the global operation path according to the operation area and the mowing operation environment perception data; The operation module is called to perform fully automatic mowing operations according to the global operation path, and adaptive obstacle avoidance response to dynamic obstacles and consistent mowing operation processing are performed during the fully automatic mowing operation.

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