This invention discloses a method and
system for full-coverage path control of a lawnmower
robot, belonging to the field of
robotics technology. The method includes: acquiring
centimeter-level global positioning data, the lawnmower
robot's
pose information, collision sensor status, and 3D
point cloud data of the work area; capturing real-
time changes in the lawnmower
robot's motion state, assisting in correcting deviations in the
centimeter-level global positioning data due to short-term
signal fluctuations, obtaining
centimeter-level global coordinate data and the corrected
pose information of the lawnmower robot; constructing an RTK electronic fence and a centimeter-level high-precision grid map; forming an obstacle information
database; forming a complete full-coverage path; during the
path tracking stage, real-time acquisition of the corrected
pose information of the lawnmower robot, calculation of the lawnmower robot's deviation, real-time adjustment of the lawnmower robot's walking direction and speed, and extraction of
terrain slope features to achieve adaptive operation adjustment. This invention achieves unmanned, high-precision, and full-coverage
lawn mowing operations.