Research On Grassland Visual Recognition And Path Planning Technology Of Mowing Robot

The research of mowing robot technology is the collection of mechanical automation, intelligent control, mechanical and electrical integration technology for new product technology development. This article departs from the aspect of meeting the demand of market, reducing the human intervention and optimizing the product design is to develop high performance, high efficiency, low energy consumption of the products as the goal. On the basis of preliminary establishment of the general assembly structure and the control system scheme, mainly on the visual boundary recognition of grass, autonomous path planning and the information fusion of multi-sensor control system software.Firstly, This article introduces the development of present situation and future trend about domestic and foreign existing mower machine and robot vision, and points out the direction and points of innovation which need to be improved in the process of design, from all aspects such as cost saving, low carbon envirommental protection, and put forward the mowing robot should reach the design features and technical parameters.Secondly, in order to insure the mowing robot can meet the requirements of design and finish the design of control system, and determine to take the embedded micro-controller based on microprocessor STM32F103ZE kernel, selecting corresponding peripheral electronic components. According to the characteristics of the mowing robot's work,using multi-sensor coordination to control robot to avoid obstacle, path planning and identify the boundary of grass autonomously. At the same time, from the perspective of improving system's real-time and flexibility, take uC/OS-? operating system as the platform for the design of software.Then, Through repeated experiments, collect data to acquire the inner parameters of camera.In this way to accomplish the calibration of mowing robot's camera. collecting the image and processing to acquire extract grass boundary. At the same time, in the process of designing, make hardware circuit board and write each peripheral hardware drivers.Finally,On the basis of the extraction grass border, through the method of calculate image pixel to compute the distance between mowing robot and boundary, solving the problem of mowing robot decision-making real time. At the same time, combined with ultrasound ranging, electronic compass sensors,and to realize mowing robot autonomous path planning. Set up the experimental platform and make a experimental research of the mowing robot prototype, reduce the coordinate conversion time and test each function module and system coordination control.