Robot Mower Vision Control for Timely Missed Grass Cutting
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Solution Overview
Problem
Visual self-moving devices, such as monocular visual robot mowers, often operate in a random mowing mode, leading to missed grass that is not efficiently processed, which can grow taller and spread, requiring manual intervention.
Innovation Solution
The robot mower captures images using a binocular visual module to identify missed grass by processing images for parallax, edge extraction, and color segmentation, adjusting its direction to cut the missed areas effectively and timely.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a random mowing mode is adopted, then the device can operate simply without complex path planning, but the traversal efficiency is low and missed grass is not processed
Solution Approach 1:
The system uses ultrasonic modules to detect missed grass and feeds this information back to the control unit, which then adjusts the mowing path dynamically. This feedback mechanism enables the robot to respond to actual mowing conditions and process missed grass efficiently without requiring complex pre-planned paths.
Solution Approach 2:
The mowing mode transitions from a static random pattern to a dynamic adaptive path. The control unit continuously adjusts the mowing trajectory based on real-time detection of missed grass, allowing the system to adapt its behavior to actual conditions while maintaining operational simplicity.
2Measurement precision
If ultrasonic module is used to detect missed grass, then missed grass can be identified, but the grass must grow tall enough to be detected
Solution Approach 1:
The system performs preliminary detection of missed grass during the mowing process itself, rather than waiting for grass to grow tall after mowing. By detecting missed grass immediately when it occurs, the system prevents the time delay and subsequent spreading of missed grass.
Solution Approach 2:
The ultrasonic module acts as an intermediary sensor that detects missed grass by measuring the height difference between cut and uncut grass. This intermediary detection mechanism enables early identification of missed grass before it becomes too tall or spreads.
3Productivity
If missed grass is not processed timely, then the mowing operation continues uninterrupted, but the missed grass grows taller and spreads to surrounding areas
Solution Approach 1:
The control unit receives feedback from ultrasonic detectors about missed grass locations and dynamically adjusts the mowing path to process these areas. This feedback loop ensures that missed grass is addressed promptly, preventing it from growing and spreading while maintaining overall operational efficiency.
Solution Approach 2:
The system converts the potentially harmful effect of missed grass (which could spread and require manual intervention) into a benefit by using the ultrasonic detection to guide subsequent mowing operations. The missed grass becomes a target for automated re-processing rather than a problem requiring manual attention.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The robot mower effectively and timely addresses the missed grass by determining and processing the missed grass, thereby improving its efficiency and reducing operational costs.
Implementation Method 1
The robot mower captures images using a binocular visual module to identify missed grass by processing images for parallax
Implementation Method 2
processing images for parallax, edge extraction, and color segmentation
Implementation Method 3
processing images for parallax, edge extraction, and color segmentation
Data Source
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AI summary
Disclosed are a control method for a self-moving device and a self-moving device. The method for controlling the self-moving device to move in a designated area to process a predetermined object in the designated area includes: obtaining, in the moving process of the self-moving device, an image of an area in a forward direction of the self-moving device; and determining, according to the image, whether the predetermined object in the area in the forward direction of the self-moving device includes a specific predetermined object, so as to control the moving direction of the self-moving device, where the specific predetermined object and the predetermined object have at least one different feature parameter. Through the technical solutions of the present invention, missed grass can be processed in an effective and timely manner, and the missed grass can be effectively prevented from being recognized as obstacles by ultrasonic waves after growing to some height.