Intelligent Mowing Robot Path Identification, Tracking And Obstacle Detection Technology

In this paper, the path identification and tracing, obstacles detecting are studied for the Intelligent Robot Mower (IRM). to cover the whole operational area.Aiming at the demands of the IRM working on the lawn and the features of the lawn, the system of optical sensor for the identification of mowing path is designed in this paper. According to the path information acquired from optical sensor system, a fuzzy controller is proposed for the robot to trace the mowing path. The strategy of path identification and tracing is of full new exploring and certainly practicality value.When the IRM is mowing on the lawn, it avoid all kinds of obstacles (for example: trees, parterre) in the lawn as well as draw up the obstacles as to achieving the biggest rate of the mowing coverage. The IRM needs to detect the distance of the obstacles exactly and make with the corresponding obstacle-avoiding strategy. Based on this instance, an ultrasonic sensor system for realizing the detecting of the obstacles is designed in the paper. Due to the measurement error of the ultrasonic sensor system, the distance measured between the IRM and the obstacles isn't exact, so the IRM couldn't avoid the obstacles safely. To solve this problem, based on the BP neural network, a new solution to fuse the information from the ultrasonic sensor, so as to reduce the measurement error is proposed.Besides, the author thinks over the factor of precision, cost and so on, and select the interrelated sensor, particularly the software/hardware design of the system of path identification, tracing and obstacles detecting.