Research On Key Technologies Of Intelligent Mowing Robot

The mowing robot can realize the mowing task independently and intelligently,and save people from the monotonous and increasingly heavy manual labor.It is becoming more and more popular,and the key technology has become the hot spot of the present research.Therefore,the three key technologies of autonomous location,boundary recognition and full coverage path planning are studied in this paper.First of all,the mowing robot selects the lower cost UWB,IMU and the mileage sensor to carry on the combined positioning,analyzes the principle of the flight calculation of the mileage,and corrections the cumulative error caused by the skidding factors of the mileage through the single base station positioning mode of UWB/IMU,and uses the combined Calman filtering algorithm.The two positioning methods are information fusion,and the feasibility of the location algorithm is verified by simulation,which lays a foundation for the study of the boundary establishment and full coverage path planning of mowers.Secondly,the method of establishing and identifying the boundary of the unmarked work area is adopted.In the case of no auxiliary identification,the robot can collect the information of the lawn boundary first,and form the virtual electronic boundary map to store.In the whole area coverage path planning,the robot keeps the current position coordinates and storage.The boundary coordinates of ordered linear tables are queried and matched,so that boundary information can be identified.Then,the A* algorithm is combined with the reciprocating algorithm and applied to the whole area coverage path planning of mowing robot.The mower first builds a grid map based on the boundary information obtained from the boundary to establish a grid map and delimit the molecular area,and then overlay in the subregions.When the blocking point is encountered,the nearest grid is found,and the shortest link path is planned by the A* algorithm,and moving to the cover grid to continue to work.It overcomes the problem of using the reciprocating algorithm alone to encounter the dead point of the blocking point.Finally,the overall design of the mower robot and the construction of the experimental platform are completed,including the sensor system,the mowing mechanism and the control system,and the hardware circuit and the software development part are designed in detail with the idea of modularization.The experiment on the integrated navigation and positioning method of UWB/IMU/ mileage is carried out,and the boundary recognition experiment of the mower robot is completed.At the same time,the comparison experiments of the reciprocating full coverage path planning method based on A* algorithm and the random type and internal spiral are carried out to verify the validity and reliability of this method.