阅读说明：本技术 基于固定人造紫外偏振光定位的割草机系统及割草方法 (Mower system based on fixed artificial ultraviolet polarized light positioning and mowing method ) 是由 应卫强 罗仕鉴 于 2020-07-08 设计创作，主要内容包括：本发明公开了基于固定人造紫外偏振光定位的割草机系统,包括割草机和人造光源,割草机上设有车轮驱动机构、紫外偏振光定位模块和控制器,车轮驱动机构、紫外偏振光定位模块分别与控制器电连接,紫外偏振光定位模块用于采集在割草机坐标系下人造光源的偏振光数据和割草机与地理北向的夹角信息,控制器用于接收紫外偏振光定位模块采集的信息对割草机的行走路径进行规划,并控制割草机按照规划的路径在工作区域内进行割草操作。利用紫外偏振光的稳定性,通过获取割草机在运动过程中紫外偏振光角度的变化和割草机与地理北向的夹角信息,确定割草机的实时位置,对割草机的割草路径进行规划,白天和夜间获取的位置数据稳定可靠,可应用于割草机的定位。(The invention discloses a mower system based on fixed artificial ultraviolet polarized light positioning, which comprises a mower and an artificial light source, wherein the mower is provided with a wheel driving mechanism, an ultraviolet polarized light positioning module and a controller, the wheel driving mechanism and the ultraviolet polarized light positioning module are respectively and electrically connected with the controller, the ultraviolet polarized light positioning module is used for acquiring polarized light data of the artificial light source and information of an included angle between the mower and the geographical north direction in a mower coordinate system, and the controller is used for receiving the information acquired by the ultraviolet polarized light positioning module to plan a walking path of the mower and controlling the mower to perform mowing operation in a working area according to the planned path. The method comprises the steps of determining the real-time position of the mower by utilizing the stability of ultraviolet polarized light and acquiring the change of the angle of the ultraviolet polarized light of the mower in the moving process and the information of an included angle between the mower and the geographical north direction, planning the mowing path of the mower, and obtaining stable and reliable position data in the daytime and at night, and can be applied to positioning of the mower.)

1. The utility model provides a lawn mower system based on fixed artificial ultraviolet polarized light location which characterized in that: the ultraviolet polarized light intelligent mowing system comprises a mowing machine (1) and an artificial light source (2) used for providing fixed ultraviolet polarized light, wherein a mowing machine driving mechanism (3), an ultraviolet polarized light positioning module and a controller (4) are arranged on the mowing machine (1), the mowing machine driving mechanism (3) and the ultraviolet polarized light positioning module are respectively electrically connected with the controller (4), the ultraviolet polarized light positioning module is used for collecting polarized light data of the artificial light source (2) and information of an included angle between the mowing machine (1) and the geographical north direction under a coordinate system of the mowing machine (1), and the controller (4) is used for receiving the information collected by the ultraviolet polarized light positioning module to plan a walking path of the mowing machine (1) and controlling the mowing machine (1) to perform mowing operation in a working area according to the planned path.

2. The fixed artificial ultraviolet polarized light positioning based mower system of claim 1 further characterized by: the ultraviolet polarized light positioning module comprises at least two polarized light sensors (5), a horizontal sensor (6) and an inertial sensor (7), wherein the polarized light sensors (5) are used for acquiring ultraviolet polarized light information of the artificial light source (3) of the mower (1) at different positions and outputting polarization azimuth angles, the horizontal sensor (6) is used for adjusting the polarized light sensors (5) to be in a horizontal state, the inertial sensor (7) is used for acquiring included angle information and posture information between the mower (1) and the geographical north direction, and the controller (4) receives and processes data acquired by the polarized light sensors (5), the horizontal sensor (6) and the inertial sensor (7) so as to output longitude and latitude coordinate information of the mower (1); the polarized light sensor (5), the horizontal sensor (6) and the inertial sensor (7) are respectively and electrically connected with the controller (4).

3. The fixed artificial ultraviolet polarized light positioning based mower system of claim 1 or 2 further characterized by: the intelligent mower is characterized by further comprising a speed sensor (8) used for collecting real-time speed information of the mower (1), wherein the speed sensor (8) is arranged on the mower (1), the speed sensor (8) is electrically connected with the controller (4), and the controller (4) receives and analyzes data collected by the speed sensor (8) and the inertial sensor (7) so as to correct speed and attitude errors of the mower (1).

4. The fixed artificial ultraviolet polarized light positioning based mower system of claim 1 or 2 further characterized by: the intelligent lawn mower is characterized by further comprising an auxiliary positioning assembly, the auxiliary positioning assembly comprises a positioning rod and an image acquisition module (9), the image acquisition module (9) is arranged on the positioning rod or the lawn mower (1), the image acquisition module (9) is electrically connected with the controller (4), the image acquisition module (9) is used for acquiring real-time image information of the lawn mower (1) or the positioning rod, and the controller (4) receives and analyzes data acquired by the image acquisition module (9) to output real-time coordinate information of the lawn mower (1).

5. The fixed artificial ultraviolet polarized light positioning based mower system of claim 1 or 2 further characterized by: still include wireless communication module (10) and host computer (11), wireless communication module (10) are connected with controller (4), host computer (11) respectively, wireless communication module (10) are used for giving host computer (11) with the operating condition real-time transmission of lawn mower (1).

6. The fixed artificial ultraviolet polarized light positioning based mower system of claim 1 or 2 further characterized by: the artificial light source (2) is an ultraviolet germicidal lamp.

7. The fixed artificial ultraviolet polarized light positioning based mower system of claim 6 further comprising: the ultraviolet germicidal lamp is located above the working area, and the height of the ultraviolet germicidal lamp is 1-4 m.

8. A mowing method based on fixed artificial ultraviolet polarized light positioning is characterized in that: the method comprises the following steps:

the polarized light sensor (5) is adjusted to be horizontal through the horizontal sensor (6), the mower (1) is controlled to manually run for a circle at a constant speed along the boundary of the lawn area, the ultraviolet polarized light positioning module collects ultraviolet polarized light data of the artificial light source (3) in the moving process of the mower (1), information of an included angle between the mower (1) and the geographical north direction and attitude information, the controller (4) calculates and obtains position coordinates of each point in the testing process of the mower (1) according to the collected information, and the position coordinates are sequentially connected through continuous broken lines or curves to generate a virtual boundary of a mowing working area;

according to the set virtual boundary, the mower (1) is controlled to carry out mowing operation in a mowing working area, longitude and latitude coordinate information of the real-time position of the mower (1) is obtained, the controller (4) carries out data fitting according to the obtained coordinate information of the mower (1), included angle information of geographical north directions and posture information, a walking path is planned for the mower (1), and whether the current position of the mower (1) is in the mowing working area or not is judged by adopting an ray method.

9. The method of mowing based on fixed artificial ultraviolet polarized light positioning of claim 8, wherein: also comprises the following steps:

and acquiring speed information and attitude information of the position of the mower (1), and correcting the speed and attitude error of the mower (1) according to the test speed and attitude information of the mower (1) stored in the controller (4).

10. The method of mowing based on fixed artificial ultraviolet polarized light positioning of claim 8, wherein: also comprises the following steps:

the positioning rod is arranged in the lawn working area or outside the lawn working area, the controller (2) obtains the relative distance and angle information between the mower (1) and the positioning rod, analyzes the information to obtain the coordinate information of the position of the mower (1), and plans the auxiliary walking path for the mower (1).

Technical Field

The invention relates to the technical field of mowers, in particular to a mower system based on fixed artificial ultraviolet polarized light positioning and a grass cutting method.

Background

The positioning instantaneity of the mower requires a stable and high-precision data source.

Most of existing lawn mowers are positioned in a mode of wire energization induction, before mowing, insulated wires are laid along the boundary of a lawn, after a power supply is connected, current passes through the wires to form a magnetic field, when the mowing robot meets the wires, magnetic field signals are induced, and the mowing robot turns to achieve the purpose of not crossing the boundary through program control. The mowing range can be determined, but the mowing range does not have positioning accuracy, wires need to be laid before mowing, time and labor are wasted, and the mowing operation needs to be powered on all the time.

And the part adopts the lawn mower of wireless tag location technique, and it can confirm the scope of mowing accurately, need not to place the fence around the area of mowing, but when the location label was sheltered from, can influence the positioning accuracy of lawn mower, and is also higher to the performance requirement of control system.

Disclosure of Invention

In order to solve the technical defects, the invention adopts the technical scheme that a mower system based on fixed artificial ultraviolet polarized light positioning is provided, and the mower system comprises a mower and an artificial light source used for providing fixed ultraviolet polarized light, wherein the mower is provided with a wheel driving mechanism, an ultraviolet polarized light positioning module and a controller, the wheel driving mechanism and the ultraviolet polarized light positioning module are respectively and electrically connected with the controller, the ultraviolet polarized light positioning module is used for collecting polarized light data of the artificial light source in a mower coordinate system and information of an included angle between the mower and the geographical north direction, and the controller is used for receiving the information collected by the ultraviolet polarized light positioning module to plan a traveling path of the mower and controlling the mower to perform mowing operation in a working area according to the planned path.

Furthermore, the ultraviolet polarized light positioning module comprises at least two polarized light sensors, a horizontal sensor and an inertial sensor, the polarized light sensors are used for acquiring ultraviolet polarized light information of the artificial light source of the mower at different positions and outputting a polarized azimuth angle, the horizontal sensor is used for adjusting the polarized light sensors to be in a horizontal state, the inertial sensor is used for acquiring included angle information and attitude information between the mower and the geographical north direction, and the controller receives and processes data acquired by the polarized light sensors, the horizontal sensor and the inertial sensor to output longitude and latitude coordinate information of the mower; the polarized light sensor, the horizontal sensor and the inertial sensor are respectively and electrically connected with the controller.

The speed sensor is arranged on the mower and electrically connected with the controller, and the controller receives and analyzes data collected by the speed sensor and the inertial sensor so as to correct speed and attitude errors of the mower.

The intelligent lawn mower is characterized by further comprising an auxiliary positioning assembly, wherein the auxiliary positioning assembly comprises a positioning rod and an image acquisition module, the image acquisition module is arranged on the positioning rod or the mower and is electrically connected with the controller, the image acquisition module is used for acquiring real-time image information of the mower or the positioning rod, and the controller receives and analyzes data acquired by the image acquisition module so as to output real-time coordinate information of the mower.

Further, still include wireless communication module and host computer, wireless communication module is connected with controller, host computer respectively, wireless communication module is used for giving the host computer with the operating condition real-time transmission of lawn mower.

Further, the artificial light source is an ultraviolet germicidal lamp.

Further, the ultraviolet germicidal lamp is located above the working area, and the height of the ultraviolet germicidal lamp is 1m-4 m.

The invention also provides a mowing method based on fixed artificial ultraviolet polarized light positioning, which comprises the following steps:

the method comprises the steps that a polarized light sensor is adjusted to be horizontal through a horizontal sensor, a mower is manually controlled to run for a circle at a constant speed along the boundary of a lawn area, an ultraviolet polarized light positioning module collects ultraviolet polarized light data of an artificial light source in the moving process of the mower, included angle information and posture information of the mower and the geographical north direction, a controller calculates position coordinates of all points in the testing process of the mower according to the collected information, and the position coordinates are sequentially connected through a continuous broken line or a curve to generate a virtual boundary of a mowing working area;

according to the set virtual boundary, the mower is controlled to carry out mowing operation in a mowing working area, longitude and latitude coordinate information of the real-time position of the mower is obtained, the controller carries out data fitting according to the obtained coordinate information of the mower, included angle information of geographical north direction and posture information, a walking path is planned for the mower, and whether the current position of the mower is in the mowing working area or not is judged by adopting a ray method.

Further, the method also comprises the following steps:

and acquiring speed information and posture information of the position of the mower, and correcting the speed and posture error of the mower according to the test speed and posture information of the mower stored by the controller.

Further, the method also comprises the following steps:

and arranging a positioning rod in the lawn working area or outside the lawn working area, and acquiring the relative distance and angle information between the mower and the positioning rod by the controller, analyzing the information to obtain the coordinate information of the position of the mower, and planning the auxiliary walking path of the mower.

Compared with the prior art, the technical scheme of the invention has the beneficial effects that:

1. according to the mower system based on fixed artificial ultraviolet polarized light positioning, the real-time position of the mower is determined by utilizing the stability of ultraviolet polarized light and acquiring the change of the angle of ultraviolet polarized light and the information of the included angle between the ultraviolet polarized light and the geographical north direction in the moving process of the mower, the mowing path of the mower is planned, the position data acquired in the daytime and at night are stable and reliable, the change of light due to time is not required to be considered, and the mower system based on fixed artificial ultraviolet polarized light positioning can be applied to positioning of the mower.

2. The polarized light sensor is adopted to obtain the ultraviolet polarization information of the artificial light source, so that the system not only has an instant positioning function and can fix data, but also can not accumulate errors in positioning without measuring acceleration, has stable positioning capability, can provide stable working area control capability for the mower, and solves the problems of mowing precision and control complexity.

3. A speed sensor and an inertial sensor are arranged to compensate the speed and attitude errors of the mower, so that the precision of real-time positioning is improved, and the requirements of different environment adaptation are met.

4. The positioning rod and the graph acquisition module are arranged, the relative distance and the position of the positioning rod and the mower are obtained through the change of the pixel points of the positioning rod or the mower at different distances, and the positioning precision and the positioning efficiency of the mower system are improved by combining an artificial ultraviolet polarized light positioning mode.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a schematic structural diagram of a mowing system based on fixed artificial ultraviolet polarized light positioning according to an embodiment of the invention;

fig. 2 is a model diagram of polarization direction distribution at a certain point in the sky in the mowing method based on fixed artificial ultraviolet polarized light positioning according to the embodiment of the invention;

fig. 3 is a flowchart of a mowing method based on fixed artificial ultraviolet polarized light positioning according to an embodiment of the present invention.

Wherein the reference numerals are:

1. the intelligent control system comprises a mower, 2, an artificial light source, 3, a wheel driving mechanism, 4, a controller, 5, a polarized light sensor, 6, a horizontal sensor, 7, an inertial sensor, 8, a speed sensor, 9, a graph acquisition module, 10, a wireless communication module, 11, an upper computer, 12, a light intensity information acquisition module, 13 and an A/D conversion module.

Detailed Description

The invention is further described with reference to the following figures and specific examples.