Development Of Intelligent Mower Control System With Non-beacon Boundary Recognition

With the development of economy and the progress of science and technology,the intelligent lawn mower with the aim of replacing artificial mowing operation is becoming more and more popular.In this paper,an intelligent mower with non-beacon boundary recognition is designed,and the application of boundary recognition without beacon in the automatic charging of intelligent mower is also studied.Firstly,the software and hardware platform of the intelligent mower is designed.According to the requirement of intelligent mower control system,the modular design philosophy is adopted in this paper,the hardware system based on ARM cortex-a9 processor is designed.Based on the multitasking and state machine programming ideas,the software system based on embedded Linux system is designed,the transplantation and configuration of the embedded Linux system are completed,application software and driver software are developed,the self-operating and autonomous charging process of the intelligent mower is realized,the detection and processing of the collision,elevation,tilting and overturning states of the intelligent mower are realized,and the remote control of the intelligent mower is realized.Secondly,aiming at the problem of boundary identification of intelligent mower,an imagebased non-beacon boundary recognition scheme is proposed in this paper.The methods of image binarization based on threshold segmentation and template matching are proposed for the two working scenes of intelligent mower.The boundary line is extracted from the binary image using the weighted least square method.The real-time performance of the algorithm is analyzed and tested.Finally,the application of non-beacon boundary recognition in the autonomous charging of intelligent mower is studied,and the self-charging of intelligent mower is realized by controlling the intelligent mower along the edge of the lawn and returning to the charging station.Aiming at the guidance problem of the intelligent mower near the charging station,the existing charging station is improved,and the Central Line extraction algorithm of charging station is proposed.The trapezoidal distortion of the camera is corrected and the correction effect is verified by experiment.The path tracking algorithm of intelligent mower based on proportional control is proposed.