CN108490953A - A kind of mower device and method based on laser radar and iBeacon - Google Patents
A kind of mower device and method based on laser radar and iBeacon Download PDFInfo
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- CN108490953A CN108490953A CN201810396287.2A CN201810396287A CN108490953A CN 108490953 A CN108490953 A CN 108490953A CN 201810396287 A CN201810396287 A CN 201810396287A CN 108490953 A CN108490953 A CN 108490953A
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- 238000000034 method Methods 0.000 title claims abstract description 16
- 244000025254 Cannabis sativa Species 0.000 claims abstract description 67
- 238000004891 communication Methods 0.000 claims abstract description 28
- 230000004888 barrier function Effects 0.000 claims abstract description 14
- 238000005516 engineering process Methods 0.000 claims description 9
- 238000004364 calculation method Methods 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims 1
- 206010000234 Abortion spontaneous Diseases 0.000 description 3
- 208000015994 miscarriage Diseases 0.000 description 3
- 208000000995 spontaneous abortion Diseases 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 241000196324 Embryophyta Species 0.000 description 1
- 238000000205 computational method Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000012216 screening Methods 0.000 description 1
- 238000004513 sizing Methods 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
- 238000009966 trimming Methods 0.000 description 1
- 238000009333 weeding Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Optics & Photonics (AREA)
- Electromagnetism (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Traffic Control Systems (AREA)
Abstract
A kind of mower device and method based on laser radar and iBeacon, including multi-line laser radar, the base stations iBeacon, grass trimmer ontology, computer system, bluetooth module, wireless module, communication and control module, driving device, cutter device.Computer system includes Data Computation Unit, location algorithm unit, position control unit.Multi-line laser radar is mounted on mower body upper rear end.When the present invention works, the base stations iBeacon send id information to surrounding, and grass trimmer receives the information of transmitting, and wirelessly sends computer system to；Location algorithm unit calculates the planning of the position and operating path of grass trimmer, and movement instruction is returned to grass trimmer；After Data Computation Unit receives point cloud data, filters noise and extract the point cluster of barrier；Position control unit calculates the revised planning path of grass trimmer avoidance and returns to communication and control module, realizes grass cutting action.
Description
Technical field
The invention patent relates to automated machine field, it is related specifically to a kind of cutting based on laser radar and iBeacon
Careless machine device and method.
Background technology
Grass trimmer is a kind of for cutting careless quilt, vegetation etc., trimming weeds and the tool for handling smooth greening lawn.With
The development and improvement of living standard of science and technology, the frequency that automatic mower occurs in people's lives are higher and higher.However from
The working environment of motor mower is more severe relative to other smart homes such as sweeping robot etc., due to meadow flatness not
Equally, it therefore can not confirm the boundary on meadow, occur so having various fortuitous events.
In recent years, there are many methods and new equipment for improving mower device.Patent of invention " intelligent grass-removing and its control
Method " obtains the colour correction of intelligent grass-removing external environment by the way that standard color part is arranged, corrects the figure after color in this way
Its true color would not be deviateed when as information, to reduce vegetation probability of miscarriage of justice.But the device does not carry out path
Planning, can lead to the reciprocal advance for carrying out multiple different directions to same meadow, can reduce the efficiency of mowing.
The technical solution adopted by the present invention can instruct the path planning of grass trimmer, and be identified using multi-line laser radar
The point cloud data of vegetation can greatly reduce vegetation probability of miscarriage of justice and improve the working efficiency of grass trimmer.
Invention content
In order to solve the problem above-mentioned, the purpose of the present invention is to provide a kind of cutting based on laser radar and iBeacon
Careless machine device and method reduces vegetation probability of miscarriage of justice and improves working efficiency to improve the intelligence degree of grass trimmer.
The content to realize the present invention, the present invention provide a kind of based on the grass trimmer of laser radar and iBeacon dress
It sets and method, including multi-line laser radar, the base stations iBeacon, grass trimmer ontology, computer system, bluetooth module, wireless mould
Block, communication and control module, driving device, cutter device, the multi-line laser radar is mounted on mower body rear end, described
The base stations iBeacon are based on BLE technologies and send id information to surrounding, and the master controller of the grass trimmer ontology is furnished with bluetooth module,
It is described communication and control module with driving device by being electrically connected, the driving device is electrically connected with cutter device, described
Computer system includes Data Computation Unit, location algorithm unit, position control unit, is passed through with the communication and control module
Wireless module transmits mutually information.
A kind of mower device and method based on laser radar and iBeacon, work step are：
Step 0) grass trimmer waits for computer system instruction in initial position；
The each base stations iBeacon of step 1) send its distinctive id information based on BLE technologies to surrounding；
Step 2) grass trimmer ontology receives the information of iBeacon Base Transmitters by bluetooth module, and passes through wireless parties
Formula transmits information to the location algorithm unit in computer system；
The location algorithm unit of step 3) computer system receives and analyzes the location information for calculating grass trimmer, and passes through
Wireless mode returns to communication and the control module of grass trimmer；
The position control unit of step 4) computer system receives the specific location of grass trimmer, and according to the grass being previously stored
Ground cartographic information plans the operating path of grass trimmer, and wirelessly returns to communication and the control mould of grass trimmer
Block；
The communication of step 5) grass trimmer and control module control grass trimmer are set according to the position control unit of computer system
Fixed path and the location information of itself is advanced after a small distance, step 2) and step 3) is repeated, subsequently into step 6)；
The communication of step 6) grass trimmer and control module judge whether to have arrived at the terminal of planning path, if then stopping
It is moving, is otherwise entering step 7)；
Multi-line laser radar on step 7) grass trimmer scans ambient enviroment, and wirelessly transmits point cloud data
To the Data Computation Unit in computer system, the Data Computation Unit of computer system receives and filters the noise data of surrounding
Point, and judge whether there are obstacles around, if so, calculating shape and the position of barrier, enter step 8), otherwise
Return to step 5)；
The position control unit of step 8) computer system receives shape and the position of barrier, calculates grass trimmer avoidance
Revised planning path, and wirelessly return to communication and the control module of grass trimmer, then repeatedly step 5)；
In the present invention, in step 7) according to barrier at a distance from laser radar and the height of barrier and position it is anti-to its
The number for the laser collection point penetrated is estimated, when the point cluster being partitioned into is within estimated value, you can filter out barrier.
The present invention is applied to grass trimmer by multi-line laser radar, utilizes the real-time position of iBeacon devices detection grass trimmer
Set so that user can the operating path of self-defined planning grass trimmer improve the working efficiency of grass trimmer, while profit
Shape and the position that ambient enviroment disturbance in judgement object is scanned with multi-line laser radar, calculate the revised planning of grass trimmer avoidance
Path.
Description of the drawings
Fig. 1 is the structure diagram of the present invention；
Fig. 2 is the connection diagram between each module of the present invention and submodule；
1 is multi-line laser radar in figure, and 2 be the base stations iBeacon, and 3 be grass trimmer ontology, and 4 be computer system, and 5 be blue
Tooth module, 6 be wireless module A, and 7 be wireless module B, and 8 be communication and control module, and 9 be driving device, and 10 be cutter device,
11 be location algorithm unit, and 12 be position control unit, and 13 be Data Computation Unit.
Specific implementation mode
As shown in the figure, this specific embodiment includes multi-line laser radar 1, the base stations iBeacon 2, grass trimmer ontology 3, meter
Calculation machine system 4, bluetooth module 5, communication and control module 8, driving device 9, cutter device 10, the multi-line laser radar 1 are pacified
Mounted in 3 upper rear end of mower body, the base stations iBeacon 2 are based on BLE technologies and send id information, the grass trimmer to surrounding
Ontology 3 equipped with bluetooth module 5 and wireless module A6, the communication and control module 8 with driving device 9 by being electrically connected, institute
It states driving device 9 to be electrically connected with cutter device 10, the computer system 4 includes location algorithm unit 11, position control list
Member 12, Data Computation Unit 13, are connected to wireless module B7, are transmitted mutually by wireless module with the communication and control module 8
Information.
The multi-line laser radar 1 of this specific embodiment is 2,010 4 line laser radars of German IBEO-LUX.Its Computer
System 4 is an industrial control computer, and concrete model is to grind magnificent IPC-610L, and the concrete model of communication and processing module is
The concrete model of STM32F103ZET6, bluetooth module are CC2541, and the concrete model of wireless module is RF1100-232, with
STM32F103ZET6 is connected by RS232 serial ports.
The quantity of the base stations iBeacon is determined according to specific environment in this specific embodiment, is set as arranging one every 40m2
A base stations iBeacon, and base stations iBeacon 3 and 3 or more.IBeacon BTS hardwares are developed using CC2541 Bluetooth chips
Design, is programmed by C language.Each base stations iBeacon send its UUID, Major, Minor based on BLE technologies to surrounding.Its
Middle UUID is set as identical identifier, indicates positioning function；It is different to distinguish that Major sets different identifiers
The base stations iBeacon；The coordinate information of each base station is set in Minor.This specific implementation is as follows：
Step 0) grass trimmer 3 waits for computer system 4 to instruct in initial position；
The each base stations iBeacon 2 of step 1) send its distinctive id information based on BLE technologies to surrounding；
Step 2) grass trimmer ontology 3 receives the information of the transmitting of the base stations iBeacon 2 by bluetooth module, and by wireless
Mode transmits information to the location algorithm unit 11 in computer system 4；
The location algorithm unit 11 of step 3) computer system 4 receives and analyzes the location information for calculating grass trimmer 3, and
Wirelessly return to communication and the control module 8 of grass trimmer 3；
The position control unit 12 of step 4) computer system 4 receives the specific location of grass trimmer 3, and according to being previously stored
Meadow cartographic information the operating path of grass trimmer 3 is planned, and wirelessly return to grass trimmer 3 communication and
Control module 8；
The communication of step 5) grass trimmer 3 and control module 8 control grass trimmer 3 and control list according to the position of computer system 4
The path of 12 setting of member and the location information of itself advance after a small distance, step 2) and step 3) are repeated, subsequently into step
It is rapid 6)；
The communication of step 6) grass trimmer 3 and control module 8 judge whether to have arrived at the terminal of planning path, if then stopping
It is only moving, is otherwise entering step 7)；
Multi-line laser radar 1 on step 7) grass trimmer 3 scans ambient enviroment, and wirelessly passes point cloud data
The Data Computation Unit 13 of the Data Computation Unit 13 being defeated by computer system 4, computer system 4 receives and filters surrounding
Noise data point, and judge whether there are obstacles around, if so, shape and the position of barrier are calculated, into step
It is rapid 8), otherwise return to step 5)；
The position control unit 12 of step 8) computer system 4 receives shape and the position of barrier, calculates grass trimmer 3
The revised planning path of avoidance, and communication and the control module 8 of grass trimmer 3 are wirelessly returned to, it then repeats to walk
It is rapid 5)；
The residence time for each dwell point being arranged in this specific embodiment is not less than 60s, and two dwell point positions do not surpass
Cross 2m so that there is time enough to carry out continuing scanning by multi-line laser radar, computer system progress operation positioning, assign finger
It enables and grass trimmer carries out weeding work.
In this specific embodiment, when multi-line laser radar 1 works, angular resolution is 0.1mard at this time, and distance resolution is
In 10m/s, scanning range is 360 ° for 0.1m and velocity resolution, and 0.25 indexing is selected to be scanned.
In this specific embodiment, position calculating is carried out using improved weighting nearest neighbor algorithm, according to reciprocal distance weighted
The thought of interpolation method determines weights.By being equipped with n point, plane coordinates is (xi, yi), vertical height zi(i=1,
2 ..., n), the interpolating function of distance weighted interpolation reciprocal is：
In this specific embodiment,It is that (x, y) point arrives (xj, yj) point horizontal distance, j=
1,2 ... n.P is a constant more than 0, referred to as weights power exponent.With reference to above-mentioned thought, determined using following algorithm
Weights：
Assuming that have n reference point, and corresponding No. i-th reference point i=1,2 ... the weights of n are wt, if there is reference point i
Euclidean distance with point to be determined (x, y) is diBe 0, then the weight w of the i reference pointst=1, the weights of other n-1 reference point
It is 0；If the Euclidean distance of any reference point and point to be determined (x, y) is not 0,：
Finally by x, y=ln { wi×(xi, yi）Obtain the fixed position of grass trimmer.
In this specific embodiment, distinguishing out obstacle object point cluster, the specific method is as follows：
(1) scanning is carried out to the point of the class cluster clustered out, obtains collection point in the information of each cluster, including class cluster
Number Nc, average distance D of all the points apart from laser radar in class clusteravgAnd the position coordinates at the edge up and down of class cluster.
(2) coarse sizing is carried out according to the information of the class cluster counted.By the number at class cluster midpoint more than 50 cluster be considered as it is non-
Grass point cluster.
(3) fine screening is carried out to the non-grass point cluster filtered out.This algorithm Use barriers object is at a distance from laser radar
The number for the laser collection point reflected it with the height of barrier and position is estimated, to filter out obstacle object point cluster.
The distance that laser radar reaches the cluster is obtained first, is denoted as r, is enabled r=DavgIf the height of barrier is Wped, WpedValue model
It is W to enclosemin＜ Wped＜ Wmax.If using r as radius, by WpedAs arc length, then there is following formula：
The corresponding central angle θ of sector region is calculated, formula is as follows：
The number of collection point is calculated using formula (5) according to the corresponding central angle θ of the angular resolution β and cluster of laser radar
pc, then the number of the corresponding point of cluster is pcOr pc+1, formula is as follows：
If the corresponding number of obstacle object point cluster is denoted as Pnum, then PnumRange estimated value the following formula of computational methods：
In this specific embodiment, WpedValue range be Wped＞ 200mm carry out the cluster after cluster according to this method
Obstacle object point cluster is distinguished out, and calculates position and the shape of barrier according to position, number and the distribution situation where cluster.
It should be understood that the foregoing is merely the exemplary descriptions of the present invention, in any form not to the present invention
Limitation.Under the premise of not departing from design concept of the present invention, those of ordinary skill in the art make technical scheme of the present invention
All variations and modifications, the protection domain of appended claims of the present invention should all be belonged to.
Claims (4)
1. a kind of mower device and method based on laser radar and iBeacon, including multi-line laser radar, iBeacon bases
Stand, grass trimmer ontology, computer system, bluetooth module, wireless module, communication and control module, driving device, cutter device,
The multi-line laser radar is mounted on mower body upper rear end, and the base stations iBeacon are based on BLE technologies and send ID to surrounding
The master controller of information, the grass trimmer ontology is furnished with bluetooth module, and the communication and control module pass through electricity with driving device
Gas phase connects, and the driving device is electrically connected with cutter device, and the computer system includes Data Computation Unit, location algorithm
Unit, position control unit transmit mutually information with the communication and control module by wireless module.
2. a kind of mower device and method based on laser radar and iBeacon according to claim 1, feature
It is, the computer system is the one of which of industrial control computer, desktop computer, tablet computer.
3. a kind of mower device and method based on laser radar and iBeacon according to claims 1 or 2,
It is characterized in that, the base stations iBeacon are communicated by sending bluetooth RSII signals with the bluetooth module.
4. a kind of mower device and method based on laser radar and iBeacon according to claims 1 or 2 or 3,
It is characterized in that, the present apparatus specifically executes following steps：
Step 0) grass trimmer waits for computer system instruction in initial position；
The each base stations iBeacon of step 1) send its distinctive id information based on BLE technologies to surrounding；
Step 2) grass trimmer ontology receives the information of iBeacon Base Transmitters by bluetooth module, and wirelessly will
Information is transferred to the location algorithm unit in computer system；
The location algorithm unit of step 3) computer system receives and analyzes the location information for calculating grass trimmer, and by wireless
Mode returns to communication and the control module of grass trimmer；
The position control unit of step 4) computer system receives the specific location of grass trimmer, and according to the meadow being previously stored
Figure information plans the operating path of grass trimmer, and wirelessly returns to communication and the control module of grass trimmer；
What the communication of step 5) grass trimmer and control module control grass trimmer were set according to the position control unit of computer system
Path and the location information of itself advance after a small distance, step 2) and step 3) are repeated, subsequently into step 6)；
The communication of step 6) grass trimmer and control module judge whether to have arrived at the terminal of planning path, if then stopping at fortune
It is dynamic, it otherwise enters step 7)；
Multi-line laser radar on step 7) grass trimmer scans ambient enviroment, and point cloud data is wirelessly transferred to meter
Data Computation Unit in calculation machine system, the Data Computation Unit of computer system receive and filter the noise data point of surrounding,
And judge whether there are obstacles around, if so, calculating shape and the position of barrier, enters step 8), otherwise return
Return step 5)；
The position control unit of step 8) computer system receives shape and the position of barrier, calculates grass trimmer avoidance amendment
Planning path afterwards, and wirelessly return to communication and the control module of grass trimmer, then repeatedly step 5).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810396287.2A CN108490953A (en) | 2018-04-17 | 2018-04-17 | A kind of mower device and method based on laser radar and iBeacon |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810396287.2A CN108490953A (en) | 2018-04-17 | 2018-04-17 | A kind of mower device and method based on laser radar and iBeacon |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109709564A (en) * | 2018-12-05 | 2019-05-03 | 交控科技股份有限公司 | A kind of shield door anti-clipping system and method based on the detection of laser radar single line |
| CN109828589A (en) * | 2019-03-08 | 2019-05-31 | 北京大成高科机器人技术有限公司 | Modularization farm machinery platform and control method |
| CN115616578A (en) * | 2022-12-05 | 2023-01-17 | 成都航空职业技术学院 | Radar detection method and device for unmanned aerial vehicle |
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Application publication date: 20180904 |