CN111707253A - Lawn mower system and mowing method based on fixed artificial ultraviolet polarized light positioning - Google Patents

Abstract

The invention discloses a lawn mower system based on fixed artificial ultraviolet polarized light positioning, comprising a lawn mower and an artificial light source. The lawn mower is provided with a wheel driving mechanism, an ultraviolet polarized light positioning module and a controller. The positioning modules are respectively electrically connected with the controller. The ultraviolet polarized light positioning module is used to collect the polarized light data of the artificial light source in the coordinate system of the lawn mower and the angle information between the lawn mower and the geographic north direction, and the controller is used to receive the ultraviolet polarized light for positioning. The information collected by the module plans the walking path of the lawn mower, and controls the lawn mower to cut grass in the work area according to the planned path. Using the stability of ultraviolet polarized light, by obtaining the change of the angle of ultraviolet polarized light during the movement of the lawn mower and the angle information between the lawn mower and the geographic north direction, the real-time position of the lawn mower is determined, and the mowing of the lawn mower is determined. The path is planned, and the position data obtained during the day and night is stable and reliable, which can be applied to the positioning of lawn mowers.

Description

Lawn mower system and mowing method based on fixed artificial ultraviolet polarized light positioning

technical field

The invention relates to the technical field of lawn mowers, in particular to a lawn mower system and a lawn mowing method based on fixed artificial ultraviolet polarized light positioning.

Background technique

Immediate positioning of lawn mowers requires a stable and accurate data source.

Most of the existing lawn mowers are positioned by means of electric wire induction. Before mowing, an insulated wire is laid along the border of the lawn. After the power is connected, the current passes through the wire to form a magnetic field. When the lawn mower encounters the wire, it senses the magnetic field signal. , the lawn mower robot is programmed to control steering to achieve the purpose of not crossing the boundary. It can determine the mowing range, but does not have positioning accuracy. Before mowing, a wire needs to be laid, which is time-consuming and labor-intensive, and needs to be powered on all the time during mowing.

Some lawn mowers using wireless tag positioning technology can accurately determine the mowing range without placing an electronic fence around the mowing area. However, when the positioning tag is blocked, it will affect the positioning accuracy of the lawn mower. The performance requirements of the system are also higher.

SUMMARY OF THE INVENTION

In order to solve the above-mentioned technical defects, the technical solution adopted in the present invention is to provide a lawn mower system based on fixed artificial ultraviolet polarized light positioning, including a lawn mower and an artificial light source for providing fixed ultraviolet polarized light, and the lawn mower is provided with an artificial light source. A wheel drive mechanism, an ultraviolet polarized light positioning module and a controller are provided. The wheel drive mechanism and the ultraviolet polarized light positioning module are respectively electrically connected to the controller. The ultraviolet polarized light positioning module is used to collect artificial The polarized light data of the light source and the angle information between the lawn mower and the geographic north direction, the controller is used to receive the information collected by the ultraviolet polarized light positioning module to plan the walking path of the lawn mower, and control the lawn mower to follow the planned path Mowing operations in the work area.

Further, the ultraviolet polarized light positioning module includes at least two polarized light sensors, a level sensor and an inertial sensor, and the polarized light sensor is used to collect the ultraviolet polarized light information of the artificial light source of the lawn mower at different positions and output the polarization azimuth angle. , the level sensor is used to adjust the polarized light sensor to a horizontal state, the inertial sensor is used to collect the angle information and attitude information between the lawnmower and the geographic north direction, the controller receives and analyzes the polarized light sensor, the level sensor and the The data collected by the inertial sensor is processed to output the latitude and longitude coordinate information of the lawn mower; the polarized light sensor, the level sensor and the inertial sensor are respectively electrically connected to the controller.

Further, it also includes a speed sensor for collecting real-time speed information of the lawn mower, the speed sensor is arranged on the lawn mower, the speed sensor is electrically connected with the controller, and the controller receives and analyzes the speed sensor, inertial The data collected by the sensors is analyzed to correct for speed and attitude errors of the mower.

Further, it also includes an auxiliary positioning assembly, the auxiliary positioning assembly includes a positioning rod and an image acquisition module, the image acquisition module is set on the positioning rod or the lawn mower, the image acquisition module is electrically connected to the controller, and the image acquisition module is electrically connected to the controller. The collection module is used to collect real-time image information of the lawn mower or the positioning rod, and the controller receives and analyzes the data collected by the image collection module to output real-time coordinate information of the lawn mower.

Further, it also includes a wireless communication module and a host computer, the wireless communication module is respectively connected with the controller and the host computer, and the wireless communication module is used to transmit the working state of the lawn mower to the host computer in real time.

Further, the artificial light source is an ultraviolet germicidal lamp.

Further, the ultraviolet germicidal lamp is located above the working area, and the height of the ultraviolet germicidal lamp is 1m-4m.

The present invention also provides a mowing method based on fixed artificial ultraviolet polarized light positioning, comprising the following steps:

Adjust the polarized light sensor to the level through the level sensor, and manually control the lawn mower to drive around the lawn at a constant speed. The ultraviolet polarized light positioning module collects the ultraviolet polarized light data of the artificial light source during the movement of the lawn mower and the lawn mower. With the angle information and attitude information of the geographic north direction, the controller calculates the position coordinates of each point in the lawn mower test process according to the above information collected, and connects the position coordinates in turn through continuous polylines or curves to generate the mowing work area. virtual border;

According to the set virtual boundary, the lawn mower is controlled to perform mowing operations in the mowing work area, and the latitude and longitude coordinate information of the real-time position of the lawn mower is obtained. The controller obtains the coordinate information of the lawn mower and the angle between the geographic north direction Information and attitude information are used for data fitting, the walking path of the lawn mower is planned, and the ray method is used to determine whether the current position of the lawn mower is within the mowing work area.

Further, it also includes the following steps:

Acquire the speed information and attitude information of the location of the lawn mower, and correct the speed and attitude errors of the lawn mower according to the test speed and attitude information of the lawn mower stored by the controller.

Further, it also includes the following steps:

A positioning rod is set in the lawn working area or outside the lawn working area. The controller obtains the relative distance and angle information between the lawn mower and the positioning rod, analyzes and obtains the coordinate information of the position of the lawn mower, and plans the auxiliary walking path for the lawn mower. .

Compared with the prior art, the beneficial effects of the technical solution of the present invention are:

1. The lawnmower system based on the fixed artificial ultraviolet polarized light positioning provided by the present invention utilizes the stability of the ultraviolet polarized light to obtain the change of the angle of the ultraviolet polarized light and the angle information with the geographic north direction during the movement of the lawnmower. , determine the real-time position of the lawn mower, and plan the mowing path of the lawn mower. The position data obtained during the day and at night is stable and reliable, and it can be applied to the positioning of the lawn mower without considering the change of light due to time.

2. The polarized light sensor is used to obtain the ultraviolet polarization information of the artificial light source, which not only has the function of instant positioning, but also can fix the data, and does not need to measure the acceleration positioning without accumulating errors. It has stable positioning ability and can provide a stable working area for the lawn mower. Control capability to address mowing accuracy and control complexity.

3. Set the speed sensor and inertial sensor to compensate the speed and attitude error of the lawn mower to improve the accuracy of real-time positioning and meet the needs of adapting to different environments.

4. Set the positioning rod and the graphic acquisition module, and obtain the relative distance and position of the positioning rod and the lawn mower by changing the pixel size of the positioning rod or the lawn mower at different distances. Combined with the artificial ultraviolet polarized light positioning method, Improve the positioning accuracy and efficiency of your lawnmower system.

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present invention more clearly, the following briefly introduces the accompanying drawings used in the description of the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained from these drawings without creative effort.

1 is a schematic structural diagram of a mowing system based on fixed artificial ultraviolet polarized light positioning provided by an embodiment of the present invention;

Fig. 2 is the polarization direction distribution model diagram of a certain point in the sky in the mowing method based on fixed artificial ultraviolet polarized light positioning provided by the embodiment of the present invention;

FIG. 3 is a flowchart of a lawn mowing method based on fixed artificial ultraviolet polarized light positioning provided by an embodiment of the present invention.

Among them, the reference numerals are:

1. Lawn mower, 2. Artificial light source, 3. Wheel drive mechanism, 4. Controller, 5. Polarized light sensor, 6. Level sensor, 7. Inertial sensor, 8. Speed sensor, 9. Graphic acquisition module, 10 , wireless communication module, 11, upper computer, 12, light intensity information acquisition module, 13, A/D conversion module.

Detailed ways

The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

Example 1

1-3, the present invention provides a lawn mower system based on fixed artificial ultraviolet polarized light positioning, including a lawn mower 1 and an artificial light source 2 for providing fixed ultraviolet polarized light, the lawn mower 1 is provided with The wheel drive mechanism 3, the ultraviolet polarized light positioning module and the controller 4, the wheel drive mechanism 3 and the ultraviolet polarized light positioning module are respectively electrically connected with the controller 4, and the ultraviolet polarized light positioning module is used for collecting artificial The polarized light data of the light source 2 and the angle information between the lawn mower 1 and the geographic north direction, the controller 4 is used to receive the information collected by the ultraviolet polarized light positioning module, plan the walking path of the lawn mower 1, and control the lawn mower 1 Follow the planned path to mow the work area. Among them, the controller 2 is an STM32 chip.

Using the stability of the ultraviolet polarized light, by obtaining the change of the angle of the ultraviolet polarized light during the movement of the lawn mower 1 and the angle information between the lawn mower 1 and the geographic north direction, the real-time position of the lawn mower 1 is determined, and the information on the lawn mower 1 is determined. The mowing path of 1 is planned, and the position data obtained during the day and night is stable and reliable, regardless of the change of light due to time, which can be applied to the precise positioning of lawn mower 1.

Specifically, the artificial light source 2 is an ultraviolet germicidal lamp. The ultraviolet germicidal lamp can not only provide fixed artificial ultraviolet polarized light, but also kill mosquitoes, but it is harmful to the eyes and skin, so the lawn mower 1 is suitable for operation in the lawn mowing work area away from the crowd.

In order to minimize unnecessary damage, the ultraviolet germicidal lamp is located above the mowing work area, and the height of the ultraviolet germicidal lamp is set at 1m-4m.

Preferably, the ultraviolet polarized light positioning module includes at least two polarized light sensors 5, a level sensor 6 and an inertial sensor 7, and the polarized light sensor 5 is used to collect the ultraviolet polarized light information of the artificial light source 3 at different positions of the lawn mower 1 and output the polarized light Azimuth, the level sensor 6 is used to adjust the polarized light sensor 5 to the horizontal state, the inertial sensor 7 is used to collect the angle information and attitude information between the lawnmower 1 and the geographic north direction, the controller 4 receives and analyzes the polarized light sensor 5, the horizontal The data collected by the sensor 6 and the inertial sensor 7 are processed to output the latitude and longitude coordinate information of the lawn mower 1 ; the polarized light sensor 5 , the level sensor 6 and the inertial sensor 7 are respectively electrically connected to the controller 4 .

Using the polarized light sensor 5 to obtain the ultraviolet polarization information of the artificial light source 3 not only has the function of real-time positioning, but also can fix the data, and does not need to measure the acceleration positioning without accumulating errors, has stable positioning ability, and can provide stable work for the lawn mower 1 Area control capability to solve the problem of mowing precision and control complexity.

Specifically, the polarized light sensor 5 , the level sensor 6 and the inertial sensor 7 are all arranged on the lawn mower 1 , and the inertial sensor 7 is an electronic compass. There are preferably 3 polarized light sensors, and the controller 4 collects multiple polarization azimuth data synchronously. Even if the polarization degree in a certain direction is 0 or the polarization direction vector is parallel or a certain collection direction is disturbed, the lawn mower system can work normally. Simultaneous measurement in multiple directions can improve the stability of the polarized light real-time positioning system.

Specifically, the ultraviolet polarized light positioning module further includes a plurality of light intensity information collection modules 12 and A/D conversion modules 13. The light intensity information collection module 12 is electrically connected to the A/D conversion module 13, and the A/D conversion module 13 is electrically connected to the A/D conversion module 13. The controller 4 is electrically connected, the light intensity information collection module 12 is used to collect sunlight intensity information at different positions and output a current signal, the A/D conversion module 13 is used to receive the current signal transmitted by the sun information collection module 12 and convert it into a voltage signal, The controller 2 receives and processes the voltage signal value transmitted by the A/D conversion module 13 to determine the direction of the sun direction vector.

According to the positive and negative values of the output voltage, the interval of the coordinate system where the sun position is located can be judged, and the direction of the sun direction vector can be judged instead of the human eye, which can improve the real-time performance of the polarized light positioning of the lawn mower system.

Specifically, the ultraviolet polarized light positioning module is arranged on the lawn mower 1 .

Preferably, it also includes a speed sensor 8 for collecting real-time speed information of the lawn mower 1, the speed sensor 8 is arranged on the lawn mower 1, the speed sensor 8 is electrically connected with the controller 4, and the controller 4 receives and analyzes the speed sensor 8. 8. The data collected by the inertial sensor 7 is analyzed to correct the speed and attitude errors of the lawn mower 1 . For example, the speed of movement of the lawnmower 1 when steered on a slope is compensated.

A speed sensor 8 and an inertial sensor 7 are provided to compensate the speed and attitude errors of the lawn mower 1, so as to improve the accuracy of real-time positioning and meet the needs of adapting to different environments.

Preferably, an auxiliary positioning assembly is also included. The auxiliary positioning assembly includes a positioning rod and an image acquisition module 9. The image acquisition module 9 is set on the positioning rod or the lawn mower 1. The image acquisition module 9 is electrically connected to the controller 4. The image acquisition module 9 is used to collect real-time image information of the lawn mower 1 or the positioning rod. The controller 4 receives and analyzes the data collected by the image collection module 9 to output real-time coordinate information of the lawn mower 1 . Wherein, the positioning rod is located in the lawn mowing work area or outside the lawn mowing work area, and the image acquisition module 12 is preferably arranged on the lawn mower 1.

The relative distance and position of the positioning rod and the lawn mower 1 can be obtained by changing the size of the pixel points of the positioning rod or the lawn mower 1 at different distances. Combined with the positioning method of artificial ultraviolet polarized light, the positioning accuracy of the lawn mower system can be improved. and efficiency.

Preferably, the wireless communication module 10 and the host computer 11 are also included. The wireless communication module 10 is connected to the controller 4 and the host computer 11 respectively. The wireless communication module 10 is used to transmit the working status of the lawn mower 1 to the host computer 11 in real time. The upper computer 11 performs real-time monitoring and remote control of the lawn mower 1 .

The present invention also provides a mowing method based on fixed artificial ultraviolet polarized light positioning, comprising the following steps:

S1: Adjust the polarized light sensor 5 to the level through the horizontal sensor 6, establish a horizontal coordinate system on the lawn mower 1, manually control the lawn mower 1 to drive around the border of the lawn at a constant speed, and the ultraviolet polarized light positioning module collects the lawn mower 1. The ultraviolet polarized light data of the artificial light source 3 and the angle information and attitude information of the lawn mower 1 and the geographic north direction during the moving process. coordinates, and connect the position coordinates in sequence through continuous polylines or curves to generate the virtual boundary of the mowing work area;

Among them, according to the collected polarized light data of the sun and the angle information between the lawnmower 1 and the geographic north direction, the principle of calculating the position coordinates of each point during the movement of the lawnmower 1 is as follows:

The polarization direction distribution model of a certain point in the sky is shown in Figure 2. In the figure, point W represents the observed point, point O represents the observation point on the earth, point S represents the position of the sun at a certain moment, and point Z represents the zenith. The polarization direction of the observation point at point W is parallel to the normal vector of the plane WOS formed by the position of the sun, the observation point on the earth and the observed point.

The polarization direction vector P is expressed as:

P=k(cosθ, sinθ, 0); (1)

Wherein, θ is the polarization azimuth angle measured by the polarized light sensor 5 , and k takes a value of 1 or -1, which is determined by the voltage value output by the A/D conversion module 13 .

Since the polarized light distributed in the sky has a certain law, that is, the distribution of polarized light is stable at a certain time and place, so theoretically, it can be calculated by the cross product of two non-parallel polarization direction vectors P ₁ and P ₂ . The direction vector S ₀ of the sun emerges, and the direction of the sun direction vector S ₀ is judged by the sun direction vector judgment component 8 .

The polarized light sensor 5 is used to collect the angle between the lawnmower 1 and the solar meridian at the time of T1 and T2, that is, the polarization azimuth angles θ1 and θ2, and the electronic compass is used to collect the angle between the lawnmower 1 and the geographic north direction, that is, the angle of the lawnmower 1. heading angle H;

In the horizontal coordinate system, the corresponding polarization direction vectors are P ₁ , P ₂ , and S ₀ can be expressed as:

S ₀ =(S _x S _y S _z ) ^T =k(P ₁ ×P ₂ ) ^T : (2)

Among them, S _x , S _y , and S _z represent the coordinate values of the direction vector of the sun on the X-axis, Y-axis, and Z-axis of the horizontal coordinate system, respectively; P ₁ , P ₂ represent the two observed points W1, W2 in the sky. Polarization direction vector.

Define the height angle of the sun as h _s , the angle between the projection of the sun's direction vector in the horizontal coordinate system and the X-axis in the horizontal coordinate system is the pseudo-azimuth angle of the sun A _s ', and the clockwise direction represents the positive direction of the angle, The angle between the projection of the direction vector of the sun in the horizontal coordinate system and true north is the azimuth angle A _s of the sun;

In the horizontal coordinate system, the following formula is obtained from the direction vector of the sun:

Among them, when k is 1, the altitude and pseudo azimuth of the sun obtained by formula (3) are h _s and A _s ′ respectively; when k is -1, the sun's altitude obtained by formula (3) The elevation and pseudo-azimuth angles are -h _s and 180+ _As ', respectively.

Obtained from the astronomical triangle:

为地理纬度，ω为太阳时角。where δ is the declination of the sun,

is the geographic latitude, and ω is the solar hour angle.

The solar angle ω is expressed as:

ω=η+15(UT1+E)-180; (5)

Among them, η is the geographic longitude, UT1 is the universal time (referring to the standard time of the location of Greenwich), and E is the time difference.

The deviation between Universal Time and Coordinated Universal Time UTC is within 0.9s. The conversion of 0.9s into hours is very small and has little impact on subsequent calculations. Therefore, UTC replaces UT1, so formula (4) is expressed as:

ω=η+15(UTC+E)-180: (6)

In the plane coordinate system, A _s is expressed as:

_As = _As +H+D; (7)

查表得到，这三个参数的关系表示为：Among them, H is the angle between the geomagnetic north pole and the axis of the electronic compass body, D is the magnetic declination angle of the measured location, according to the geographic longitude η and geographic latitude

Looking up the table, the relationship between these three parameters is expressed as:

From formulas (4), (6), (7), (8), we can get:

Among them, the solar declination δ and the time difference E can be obtained by looking up the ephemeris, the UTC is provided by the host computer 11, H is collected by the electronic compass, and A _s ′ and h _s are obtained from the direction vector of the sun.

The combination of latitude and longitude coordinates and magnetic declination can achieve the purpose of positioning the lawn mower. The angle between the lawn mower 1 and the true north direction is α _North , where α _North = H+D, to achieve the purpose of orientation.

S2: According to the set virtual boundary, control the lawn mower 1 to perform the mowing operation in the mowing work area, obtain the latitude and longitude coordinate information of the real-time position of the lawn mower 1, and use the ray method to determine whether the current position of the lawn mower 1 is mowing In the grass working area, the controller 4 performs data fitting according to the obtained coordinate information and heading angle information of the lawn mower 1 , and plans a walking route for the lawn mower 1 .

Among them, the ray method is used to judge whether the current position of the lawn mower 1 is in the mowing work area. By observing the number of intersections between the ray and the polymorph, if the number of intersections is an odd number, the point is in the polygon, and if it is an even number, it is in the polygon. outside the polygon. Calculated as follows:

x=(y0-p1.y)*(p2.x-p1.x)/(p2.y-p1.y)+x0; (10)

Wherein, P is the position of the lawn mower 1, x0 is the abscissa of point P, y0 is the ordinate of point P, and P1 and P2 represent two adjacent sides in the polygon.

S3: Acquire the speed information and attitude information of the position where the lawn mower 1 is located, and according to the test speed and attitude information of the lawn mower 1 stored by the controller 4, use the minimum root mean square error algorithm to determine the speed and attitude error of the lawn mower 1 Make corrections.

The lawnmower 1 is preset to move at a constant speed during the mowing process, but it may have different speeds during the actual movement, such as the speed of the course adjustment on a slope, so the lawnmower 1 needs to be moved. The speed and attitude errors in the process are compensated to adapt to different outdoor environments.

Among them, the root mean square error is used to describe the accuracy of the speed, heading angle, and attitude angle of the inertial sensor 7, and is recorded as RMS. Under the circumstance that the number of measurements is limited, the root mean square error can be obtained by the following formula:

Among them, n is the number of valid trials; m _i is the number of sampling points of the i-th trial; j is the j-th sampling moment of the i-th trial; x _ij is the measured value of the j-th sampling moment of the i-th trial; x _0ij is the true value at the jth sampling of the ith trial.

S4: A positioning rod is set in the mowing work area or outside the mowing work area. The controller 2 obtains the relative distance and angle information between the lawn mower 1 and the positioning rod, and analyzes the coordinate information of the position of the lawn mower 1. The lawn mower 1 assists in planning the walking route.

The preferred embodiments of the present invention have been described in detail above. It should be understood that those skilled in the art can make numerous modifications and changes based on the concept of the present invention without creative effort. Therefore, any technical solutions that can be obtained by those skilled in the art through logical analysis, reasoning or limited experiments on the basis of the prior art according to the concept of the present invention shall fall within the protection scope determined by the claims.

Claims (10)

1. a lawnmower system based on fixed artificial ultraviolet polarized light positioning, is characterized in that: comprise lawnmower (1) and be used to provide the artificial light source (2) of fixed ultraviolet polarized light, described lawnmower (1) ) is provided with a wheel driving mechanism (3), an ultraviolet polarized light positioning module and a controller (4), the wheel driving mechanism (3) and the ultraviolet polarized light positioning module are respectively electrically connected with the controller (4), and the ultraviolet polarized light positioning module is electrically connected to the controller (4). The polarized light positioning module is used for collecting polarized light data of the artificial light source (2) in the coordinate system of the lawnmower (1) and information on the included angle between the lawnmower (1) and the geographic north direction, and the controller (4) is used for The information collected by the ultraviolet polarized light positioning module is received to plan the walking path of the lawn mower (1), and the lawn mower (1) is controlled to perform mowing operations in the working area according to the planned path. 2. The lawnmower system based on fixed artificial ultraviolet polarized light positioning as claimed in claim 1, wherein the ultraviolet polarized light positioning module comprises at least two polarized light sensors (5), a level sensor (6) and an inertial sensor (7), the polarized light sensor (5) is used to collect ultraviolet polarized light information of the artificial light source (3) of the lawn mower (1) at different positions and output the polarization azimuth angle, and the horizontal sensor (6) is used for In order to adjust the polarized light sensor (5) to a horizontal state, the inertial sensor (7) is used to collect the angle information and attitude information between the lawnmower (1) and the geographic north direction, and the controller (4) receives and polarizes the sensor (4). The data collected by the light sensor (5), the level sensor (6) and the inertial sensor (7) are processed to output the longitude and latitude coordinate information of the lawn mower (1); the polarized light sensor (5), the level sensor (6) and the The inertial sensors (7) are respectively electrically connected to the controller (4). 3. the lawnmower system based on fixed artificial ultraviolet polarized light positioning as claimed in claim 1 or 2, is characterized in that: also comprises the speed sensor (8) that is used for collecting the real-time speed information of lawnmower (1), The speed sensor (8) is arranged on the lawn mower (1), the speed sensor (8) is electrically connected with the controller (4), and the controller (4) receives and analyzes the speed sensor (8), inertial The data collected by the sensor (7) is analyzed to correct the speed and attitude errors of the lawnmower (1). 4. The lawnmower system based on fixed artificial ultraviolet polarized light positioning according to claim 1 or 2, characterized in that: further comprising an auxiliary positioning assembly, the auxiliary positioning assembly comprising a positioning rod and an image acquisition module (9), The image acquisition module (9) is arranged on the positioning rod or the lawn mower (1), the image acquisition module (9) is electrically connected with the controller (4), and the image acquisition module (9) is used to acquire cuttings. The real-time image information of the lawn mower (1) or the positioning rod, the controller (4) receives and analyzes the data collected by the image acquisition module (9) to output real-time coordinate information of the lawn mower (1). 5. The lawnmower system based on fixed artificial ultraviolet polarized light positioning as claimed in claim 1 or 2, characterized in that: further comprising a wireless communication module (10) and a host computer (11), the wireless communication module (10) ) are respectively connected with the controller (4) and the host computer (11), and the wireless communication module (10) is used for transmitting the working state of the lawn mower (1) to the host computer (11) in real time. 6. The lawnmower system based on fixed artificial ultraviolet polarized light positioning according to claim 1 or 2, wherein the artificial light source (2) is an ultraviolet germicidal lamp. 7 . The lawnmower system based on fixed artificial ultraviolet polarized light positioning according to claim 6 , wherein the ultraviolet germicidal lamp is located above the working area, and the height of the ultraviolet germicidal lamp is 1m-4m. 8 . 8. a lawn mowing method based on fixed artificial ultraviolet polarized light positioning, is characterized in that: comprise the following steps: The polarized light sensor (5) is adjusted to the level by the level sensor (6), the lawn mower (1) is manually controlled to drive at a constant speed along the border of the lawn, and the ultraviolet polarized light positioning module collects the moving process of the lawn mower (1). The ultraviolet polarized light data of the medium artificial light source (3) and the angle information and attitude information of the lawnmower (1) and the geographic north direction, the controller (4) calculates and obtains the lawnmower (1) test process according to the above information collected The position coordinates of each point in the middle, and the position coordinates are sequentially connected by continuous polylines or curves to generate the virtual boundary of the mowing work area; According to the set virtual boundary, the lawn mower (1) is controlled to perform the mowing operation in the mowing work area, and the latitude and longitude coordinate information of the real-time position of the lawn mower (1) is obtained, and the controller (4) according to the obtained lawn mower The coordinate information of (1) and the angle information and attitude information of the geographic north direction are fitted to the data, the walking path of the lawn mower (1) is planned, and the ray method is used to judge whether the current position of the lawn mower (1) is mowing. within the area. 9. the mowing method based on fixed artificial ultraviolet polarized light positioning as claimed in claim 8, is characterized in that: also comprises the steps: Acquire the speed information and attitude information of the position where the lawn mower (1) is located, and perform the speed and attitude error of the lawn mower (1) according to the test speed and attitude information of the lawn mower (1) stored in the controller (4). Correction. 10. the mowing method based on fixed artificial ultraviolet polarized light positioning as claimed in claim 8, is characterized in that: also comprises the steps: A positioning rod is arranged in the lawn working area or outside the lawn working area, and the controller (2) obtains the relative distance and angle information between the lawn mower (1) and the positioning rod, and analyzes to obtain the coordinate information of the position of the lawn mower (1), Plan an auxiliary walking path for the lawn mower (1).

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