A UWB-based system and method for establishing and identifying the working boundary of a mowing robot

Abstract

The invention discloses a system and method for establishing and identifying the working boundary of a mowing robot based on UWB. The system includes a UWB base station, a positioning module, a remote configuration module and a mowing robot, wherein: the UWB base station is arranged around the mowing area at intervals The positioning module includes a UWB tag, and the positioning module moves along the edge of the mowing area, and the UWB tag regularly receives the signal of the UWB base station, and obtains the position information of the positioning module through calculation; the remote configuration module is used to receive the position information to obtain the virtual boundary; The mowing robot is detachably connected to the positioning module, the mowing robot receives the virtual boundary, and receives the current position information calculated by the positioning module in real time, and changes the running direction when the shortest distance between the calculated virtual boundary and the current position information is less than the boundary threshold . The invention aims to solve the disadvantages of the current working area establishment and identification method, and improve the intelligent ability of the mowing robot boundary establishment and boundary identification.

Description

technical field [0001] The application belongs to the field of autonomous positioning and navigation of robots, and specifically relates to a system and method for establishing and identifying working boundaries of a mowing robot based on UWB. Background technique [0002] With the rapid development of social economy, the area of ​​urban greening construction is getting larger and larger, and the investment in urban greening is increasing year by year. As an important plant material for urban afforestation, lawns need to inject a lot of manpower, material and financial resources for maintenance while bringing green to people. In the lawn maintenance process, the trimming of the lawn is the most tedious and complicated. In order to reduce its labor intensity and cost, it is a very marketable work to develop an automatic mowing robot. [0003] Among them, in order to ensure that the above-mentioned automatic mowing robot equipment does not go out of the working area, it is ne...

AI Technical Summary

Problems solved by technology

The disadvantage is that it is only suitable for a small-scale lawn area. For a large-scale lawn area, the amount of coils is large, and the material and labor costs are high. For some deformed lawn areas and sharp acute-angle areas, the effect of robot boundary recognition is relatively poor. Poor, the robot will make a mistake in judging the boundary, and the robot will be lost if it walks out of the boundary

[0006] For the second method: the boundary recognition is performed from the image signal collected by the image sensor. The advantage of this method is that no additional equipment is required, and only a camera needs to be installed on the robot. However, the application scenario requires image acquisition data training, training The amount of data required is large, and it is also greatly affected by changes in the on-site environment, which greatly interferes with the image recognition algorithm, and there are many uncertainties

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