Multi-machine cooperative mowing robot dynamic global shared map construction and updating method

Abstract

The application relates to the field of lawn mower map construction, and discloses a multi-machine cooperative lawn mower robot dynamic global shared map construction and updating method. The application constructs an accurate three-dimensional digital map under a unified coordinate system through the steps of aerial mapping by a UAV, ground radar scanning mapping, multi-source data fusion, heterogenous data conflict detection and weight correction, image feature extraction and obstacle updating, and also supports global shared map construction and consistency checking during multi-machine cooperative operation. The lawn cutting path is planned in a manner of combining the covering path planning and the obstacle avoidance algorithm based on the map, is issued to the lawn mower robot for execution, and meanwhile, the environment change can be monitored in real time, and the map and the path are updated. The application improves the mapping accuracy and obstacle recognition reliability, realizes autonomous, full-coverage lawn mowing and real-time obstacle avoidance of the lawn mower robot, greatly improves the operation efficiency and safety, and is suitable for autonomous walking robot operation scenes such as garden lawn maintenance and farmland weeding.

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