CN108628314A - A kind of Multi computer cooperation turf-mown machine people's system and method - Google Patents
A kind of Multi computer cooperation turf-mown machine people's system and method Download PDFInfo
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- CN108628314A CN108628314A CN201810609028.3A CN201810609028A CN108628314A CN 108628314 A CN108628314 A CN 108628314A CN 201810609028 A CN201810609028 A CN 201810609028A CN 108628314 A CN108628314 A CN 108628314A
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- 230000004888 barrier function Effects 0.000 claims abstract description 14
- 230000005540 biological transmission Effects 0.000 claims abstract description 7
- 238000004891 communication Methods 0.000 claims description 19
- 238000006073 displacement reaction Methods 0.000 claims description 10
- 230000008569 process Effects 0.000 claims description 10
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- 238000005259 measurement Methods 0.000 claims description 8
- 244000025254 Cannabis sativa Species 0.000 claims description 7
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- 238000012545 processing Methods 0.000 claims description 3
- 238000012360 testing method Methods 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims 1
- 238000009966 trimming Methods 0.000 description 3
- 230000007613 environmental effect Effects 0.000 description 2
- 230000001788 irregular Effects 0.000 description 2
- 238000010008 shearing Methods 0.000 description 2
- 238000010977 unit operation Methods 0.000 description 2
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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
- G05D1/0212—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
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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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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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
- G05D1/0212—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
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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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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- Automation & Control Theory (AREA)
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Abstract
A kind of Multi computer cooperation turf-mown machine people's system and method, including ground station control system, positioning system and several robots, wherein, positioning system is for determining the size of working region and the position of barrier and robot location's information, and sends it to ground station control system；After ground station control system receives the information of positioning system transmission, user selects working region, working robot's quantity, robot ambulation speed and path planning mode by ground station control system；Ground station control system path planning goes out robot path and sends to robot；Mission Operations are carried out after robot received path message.Each robot can carry out operation to the same area simultaneously and have avoidance ability, ensure that high efficiency and the safety of work in the case where earth station is commanded.
Description
Technical field
The present invention relates to a kind of turf-mown machine people, specially a kind of Multi computer cooperation turf-mown machine people system and side
Method.
Background technology
Turf-mown machine people is integrate the multiple functions such as environment sensing, path Dynamic Programming and behaviour control comprehensive
Robot system is closed, compared with traditional turf-mown machinery, grass-removing robot is more advantageous：Can with utonomous working, have
Higher safety, more conducively environmental protection etc..But current turf-mown machine people effectively Multi computer cooperation can not complete to appoint
Business, there are still the spaces of many progress, and it is as follows specifically to there is problem.
1. turf-mown machine people can not also adapt to the different types of lawn of format, repairing for more diversified lawns can not be completed
Cut task.
2. turf-mown machine people can not cope with the barrier in working environment due to working in unstructured space outdoors
Hinder and hide problem, safety need to be improved.
3. turf-mown machine people is often unit operation, there are no Multi computer cooperations to complete mowing task jointly, improves and makees
The Multi computer cooperation grass-removing robot of industry efficiency.
Invention content
The present invention is directed to traditional turf-mown machine people can not the problem of effectively Multi computer cooperation completes task, it is therefore intended that carries
Go out a kind of Multi computer cooperation turf-mown machine people's system and method.
To achieve the above object, the present invention adopts the following technical scheme that：
A kind of Multi computer cooperation turf-mown machine people's system, including ground station control system, positioning system and several machines
People, wherein
Positioning system for determining the size of working region and the position of barrier and robot location's information, and by its
It is sent to ground station control system；
After ground station control system receives the information of positioning system transmission, user selects work by ground station control system
Make region, working robot's quantity, robot ambulation speed and path planning mode；Ground station control system path planning goes out
Robot path is simultaneously sent to robot；
Mission Operations are carried out after robot received path message.
The present invention, which further improves, to be, positioning system uses local positioning system or GPS positioning system.
The present invention, which further improves, to be, local positioning system includes three locating base stations, and setting is in working environment week
It encloses；Multiple labels are arranged in multiple robots, to detect the size of working region and the position of barrier and robot
Position.
The present invention, which further improves, to be, ground station control system includes human-computer interaction end and path planning module；
Human-computer interaction end, for the size of user's setting working region, robot quantity, robot ambulation speed, path
Planning mode and monitoring to robotary；
Path planning module, the route planning information for automatically generating robot, and by wireless transport module by road
Diameter planning information is transmitted as robot.
The present invention, which further improves, to be, robot includes：Wireless communication module, turf-mown mechanism and robot
Control terminal；
Wireless communication module, including wireless data transmission receiving terminal and transmitting terminal, for satellite receiver control system
Route planning information, and send to robot, while by the Position And Velocity information of robot and be sent to robot control terminal；
Turf-mown mechanism, for the turf-mown work in robot moving process；
Robot control terminal, for controlling robot and realizing route planning.
The present invention further improve is, robot control terminal include motor control panel, robot master board and
Robot pose adjusts module；
Motor control panel, the movement for controlling robot, and by the rotating speed and displacement information of the mobile motor of robot
It transfers and gives robot master board；
Robot master board is used for RX path planning information, realizes the machine that moves and cut the grass on a lawn of control robot
The operation of structure；It is additionally operable to receive the information of motor control panel and pose adjustment module, realizes that the movement of control robot is repaiied with lawn
Shearing machine structure is run, and the information received is fed back to earth station system；
Robot pose adjust module, including be arranged in robot electronic gyroscope, magnetometer, accelerometer and
Incremental encoder for direction, speed and the displacement in robot measurement moving process, and feeds back to robot main control
Plate.
A kind of Multi computer cooperation turf-mown method, includes the following steps：
Step 1：Positioning system obtains the location information of robot, and location information is transferred to ground station control system；
Step 2：After ground station control system receives the location information of positioning system feedback, user passes through ground station control system
Operation interface of uniting completes the division to working region, determines overall and each weed-eradicating robot working region range, and pass through
Determining working region range information is transferred to each robot by wireless communication module；
Step 3：Robot receives the message sent from ground station control system by wireless communication module and completes to appoint
Business.
The present invention, which further improves, to be, robot is received by wireless communication module and sent out from ground station control system
The message the sent and detailed process for completing task is：Robot includes motor control panel, robot master board and robot
Pose adjustment module, it includes the electronic gyroscope being arranged in robot, magnetometer, accelerometer that robot pose, which adjusts module,
And incremental encoder；
Robot master board receives the message from ground station control system, first by incomplete message and error message
It removes, the correct message of reception is subjected to classification processing, specially：If what robot received is condition monitoring message, machine
Device people feeds back the current position coordinates of robot, movement speed, turf-mown motor speed；If what robot received is path
Plan point coordinates message, then coordinate points are stored and are converted into the order of robotically-driven motor by robot successively；If robot
What is received is startup or braking messages, then is converted into startup and the brake command of motor.
The present invention, which further improves, to be, coordinate points are stored and are converted into robotically-driven motor by robot successively
After order, lawn people waits for the enabled instruction that earth station sends, after receiving startup order, the general mistake of robot control terminal
Motor driving plate driving wheel motor and the rotation of mowing motor, while the location information of locating module transmission is received and recording, judge
Whether target point is reached；When reaching target point, robot control terminal control motor driving plate power-off makes robot complete braking；
When not reaching target point, robot control terminal first calls the angle information of deposit；Meanwhile module is adjusted more by robot pose
New angle, robot control terminal calculating need rotational angle and control motor completion turning；The path planning point of deposit is called to sit
Message is marked, is calculated by the displacement needed for changing coordinates to target point；Then robot master board control motor completes robot
It is mobile.
The present invention, which further improves, to be, robot movement deviation is excessive in order to prevent, and setting safe distance L is
Whether 30cm, setting robot measure primary distance every 10s, judge distance objective point distance in 30cm；If L<30cm,
Robot control terminal reduces motor speed, and robot speed reduces, and incremental encoder, robot measurement is called to move on position
It is considered as arrival target point when moving L, braking stops robot movement, and is transformed into next target point；Work as L>When 30cm, electronic gyroscope
Instrument update current angular information, judge robot whether deviation route, then call incremental encoder, make robot straight trip arrive
Next test point.
Compared with prior art, the device have the advantages that：
For the obstacle avoidance problem occurred in non-structured working environment and real work, this system is in earth station
The path planning module carried in control system can solve.The working region for obtaining entire environment by positioning system first is big
It is small, the location information of barrier in working region shape, working region.Then ground station control system can be according to path planning mould
The path planning algorithm set in block handles the irregular obstacle body of working region, makes robot at work can be along
Irregular obstacle body carries out turf-mown, while passage path planning makes robot avoid the barrier in environment when moving, pacifies
Full performance is good.
For the turf-mown problem of previous unit operation, this method in such a way that Multi computer cooperation completes task jointly,
Improve working efficiency.Quantity and the work side of working robot can be arranged in user in the command window in ground station control system
Working region can be divided into the multiple small-sized areas equal with robot quantity when task divides by formula, ground station control system
Domain, each small-sized working region can be completed by single turf-mown machine people, and multiple robots are simultaneously to multiple small-sized workspaces
Domain carries out operation, and the working efficiency of whole turf-mown can be improved.Each robot is under ground station control system commander, Ke Yitong
When to the same area carry out operation and have avoidance ability, ensure that high efficiency and the safety of work.
Description of the drawings
Fig. 1 is basic framework figure.
Fig. 2 is flow chart when turf-mown machine people specifically executes task.
Fig. 3 is earth station's user control interface figure.
Fig. 4 robot paths execute figure.
Fig. 5 robot hardware's control system figures.
Specific implementation mode
Present invention will now be described in detail with reference to the accompanying drawings..
Referring to Fig. 1, a kind of Multi computer cooperation turf-mown machine people's system of the invention, mainly by ground station control system,
Positioning system and several robots composition.Ground station control system is used to complete task distribution and path rule to multiple robots
It draws, positioning system makes robot pass through wireless transport module and learn respective work for making robot learn self-position
Region and routing information complete respective turf-mown.Specifically, 1. positioning systems are used to determine the size and barrier of working region
Hinder position and the robot location's information of object, and sends it to ground station control system.2. user passes through ground station control
The parameters such as Systematic selection working region, working robot's quantity, robot ambulation speed and path planning mode.3. earth station
Control system path planning goes out robot path and sends to robot.4. carrying out task work after robot received path message
Industry.
First, by positioning system obtain working region size and barrier position and with turf-mown machine people
Location information；Positioning system transmits information to ground station control system；Positioning system is fixed using local positioning system or GPS
Position system.Local positioning system includes three locating base stations, is arranged around working environment；Multiple labels are arranged in multiple machines
On people, to detect the size of working region and the position of barrier and the position of robot.GPS positioning system is airborne
GPS receiver end, for receiving GPS positioning information.
Secondly, user manipulate ground station control system receive after the information of positioning system to the size of entire working region into
Row divides, and sets the quantity and path planning mode of turf-mown machine people, then carries out path planning and by path planning
Information pass to robot.
Ground station control system includes：
Human-computer interaction end, for the size of user's setting working region, robot quantity, robot ambulation speed, path
The parameters such as planning mode and monitoring to robotary.
Path planning module, the route planning information for automatically generating robot, and by wireless transport module by road
Diameter planning information is transmitted as robot.
Finally, the information of robot RX path planning module, and complete actual task.
Robot includes：Wireless communication module, turf-mown mechanism and robot control terminal；It is specific as follows：
Wireless communication module, containing wireless data transmission receiving terminal and transmitting terminal, for satellite receiver control system
Routing information, and send to robot, while by the Position And Velocity information of robot and be sent to robot control terminal；
Turf-mown mechanism, for the turf-mown work in robot moving process.Cut the grass on a lawn mechanism in the present invention
For the mowing motor of model BTS7960.
Robot control terminal, for controlling robot and realizing route planning, control terminal robot of robot control terminal packet
Include motor control panel, robot master board and robot pose adjustment module；
Motor control panel, the movement for controlling robot, and by the rotating speed and displacement information of the mobile motor of robot
It transfers and gives robot master board.The mobile motor of robot is the driving wheel motor of model BTS7960.
Robot master board is used for RX path planning information, realizes the machine that moves and cut the grass on a lawn of control robot
The operation of structure；It is additionally operable to receive the information of motor control panel and pose adjustment module, realizes that the movement of control robot is repaiied with lawn
Shearing machine structure is run, and the information received is fed back to earth station system；
The mechanism that cuts the grass on a lawn in the present invention is the mowing motor of model BTS7960.
Robot pose adjust module, including be arranged in robot electronic gyroscope, magnetometer, accelerometer and
Incremental encoder for direction, speed and the displacement in robot measurement moving process, and feeds back to robot main control
Plate.
It please refers to Fig.1 and Fig. 2, Multi computer cooperation turf-mown method of the invention, specific implementation step is as follows：
Step 1：Positioning system obtains the location information of turf-mown machine people, and location information is transferred to earth station's control
System processed.
In the present invention, using GPS positioning or local positioning both of which, local positioning is positioned using UWB ultra-broadband rangings,
Main includes the base station sensor demarcated for region and barrier and airborne reception end sensor.Cardinal principle is ultra wide band electrically
Distance between signal measurement two sensors can be established relative coordinate system and be positioned by mutual distance measurement between multiple sensors.It is main
It is staking-out work region and obstacle in region to want function, establishes contacting between real work region and control system, demarcates area
The relative position of obstacle and robot in domain, basis is provided for path planning.UWB local location signal receiver transmitters, in real time
To the position data of control system earth station part distribution of machine people.Ground station control system part is or local positioning system
Signal receiving end.Initial position message and environmental information for receiving robot.
When using GPS patterns, airborne end GPS receiver is needed, receives GPS satellite signal, completes positioning.
Step 2：After ground station control system receives the location information of positioning system feedback, user passes through ground station control system
Operation interface of uniting completes the division to working region, determines overall and each weed-eradicating robot working region range.And pass through
Determining working region range information is transferred to each robot by wireless communication module.
As shown in figure 3, ground station control system operation interface includes title, electronic map, generates path data viewing area
And command window；Wherein, electronic map interface displays for a user cartographic information.User can be grasped by ground station control system
Make interface whole system is controlled and monitored.
When positioning system is GPS, ground station control system can be introduced directly into GPS satellite map and be positioned, and use
When local positioning system, user is needed to carry out map area division according to the size of local positioning system in command window, such as
UWB local positioning modules employed in the present invention need that three to four base station sensings are arranged in the environment in practical operation
Device makes base station sensor be put in the actual environment according to coordinate system, and by each base station sensor of user's actual set
Coordinate, then user need input coordinate value conduct of the base station sensor in actual environment coordinate first in command window
Standard value in ground station control system is used for robot localization.By the coordinate and reality in electronic map in electronic map interface
After the correspondence of environment, user need to delimit working range and calibration obstacle in electronic map interface.Later again in command window
Middle setting working robot quantity and path planning mode.Finally, ground station control system is built-in with path planning module, will use
Robot home position that working region and obstacle boundaries condition, the positioning system of family setting are transmitted, path planning mode these
Parameter carries out path planning and is covered with path.This system path planning uses traditional ant group algorithm, path covering to use ridge formula
Path covering algorithm.The working region that user in electronic map interface is demarcated carries out path planning, show that each lawn is repaiied
The operating path information of robot is cut, routing information is then transferred to by each weed-eradicating robot, Ge Geji by communication module
Device people realizes weeding.User's passage path generates the path coordinate letter that the data that data field is shown monitor each robot in real time
Breath.If error, user can change, delete, redefine；Quantity, path coverage mode of robot etc. can also be made by oneself
Justice；Rational region segmentation path planning is carried out according to the information defined, the path planned can modify.Urgent feelings
Under condition, user can also assign brake command by command window to robot, it is ensured that safety.
For the requirement of different types of turf-mown, user can pass through control circle of ground station control system in the present invention
The command window in face completes the trimming to various lawn.User can according to the trim mode on lawn, the height of turf-mown and
The order to cut the grass on a lawn is configured, and will be allocated in advance to task according to these requirements by ground station control system can
The task of different height turf-mown is completed by multiple robots for carrying different height lawn mower；Machine can have been planned in advance
The turf-mown order of device people；It can also be according to the route for freely changing lawn people trimming according to user's requirement；It completes more
The turf-mown task of pattern.
Step 3：Referring to Fig. 4 and Fig. 5, robot is sent by wireless communication module reception from ground station control system
Message simultaneously completes task, and detailed process is as follows：
First, turf-mown machine people receives the message sent from ground station control system simultaneously by wireless communication module
Completion task.Referring to Fig. 5, the robot control panel for carrying wireless communication module receives the message from ground station control system,
First incomplete message and error message are removed, the correct message of reception is subjected to classification processing, detailed process is：If machine
What the ground station control system that people receives was sent is condition monitoring message, then the current position of robot feedback robot is sat
The status informations such as mark, movement speed, turf-mown motor speed；If what robot received is path planning point coordinates message,
Then coordinate points are stored and are converted into the order of robotically-driven motor by robot successively；If robot receive be start or
Person's braking messages are then converted into startup and the brake command of motor.
After coordinate points are stored and are converted into the order of robotically-driven motor by robot successively, lawn people can wait for
The enabled instruction that earth station sends, after receiving startup order, robot control terminal uses ardunio control panels, ardunio controls
Making sheet crosses motor driving plate driving wheel motor and the rotation of mowing motor by general, while receiving and recording the position that locating module is sent
Information judges whether to reach target point.When reaching target point, ardunio control panels control motor driving plate power-off, make robot
Complete braking.
When not reaching target point, ardunio control panels first call the angle information of deposit.Meanwhile containing gyroscope, magnetic force
The pose adjustment module update angle of meter, accelerometer, the calculating of ardunio control panels need rotational angle and control motor completion
Turning.The path planning point coordinates message of deposit is called, is calculated by the displacement needed for changing coordinates to target point.Ardunio is controlled
Making sheet controls motor and completes robot movement.
Robot movement deviation is excessive in order to prevent, the present invention be also provided with safe distance L (present invention set L as
30cm).It sets robot and measures primary distance every 10s, judge distance objective point distance whether in 30cm.If L<
30cm, control panel reduce motor speed, and robot speed reduces, and incremental encoder, robot measurement is called to move on position
It is considered as arrival target point when moving L, braking stops robot movement, and is transformed into next target point.Work as L>When 30cm, electronic gyroscope
Instrument update current angular information, judge robot whether deviation route, then call incremental encoder, make robot straight trip arrive
Next test point.
The system of the present invention can be with multiple grass cutter person cooperative works, the common trimming for completing large area lawn.System
Including earth station, multiple grass-removing robots and positioning system.Earth station can carry out operating area division, operating area is demarcated,
Barrier is planned, the running orbit of each robot is planned and track is sent to the functions such as each grass-removing robot.It is each to mow
Robot includes robot body, master board, mowing-apparatus, positioning device, sensing module and communication module etc., and master control borad is
The control section of entire robot, is responsible for the control and coordination of other each sections；Robot body can move, mowing-apparatus dress
On the body, positioning device is used to help earth station's staking-out work regional extent and measure the position of grass-removing robot, sensing module
Barrier and specific objective can be detected, communication module is responsible for the communication of master control borad and earth station, i.e., is uploaded to changing coordinates
Earth station, and receive the planned trajectory position sequence from earth station and instruction.Each robot is in the case where earth station is commanded, Ke Yitong
When to the same area carry out operation and have avoidance ability, ensure that high efficiency and the safety of work.
Claims (10)
1. a kind of Multi computer cooperation turf-mown machine people's system, which is characterized in that including ground station control system, positioning system and
Several robots, wherein
Positioning system is sent to for determining the size of working region and the position of barrier and robot location's information
To ground station control system；
After ground station control system receives the information of positioning system transmission, user selects workspace by ground station control system
Domain, working robot's quantity, robot ambulation speed and path planning mode；Ground station control system path planning goes out machine
People path is simultaneously sent to robot；
Mission Operations are carried out after robot received path message.
2. a kind of Multi computer cooperation turf-mown machine people's system according to claim 1, which is characterized in that positioning system is adopted
With local positioning system or GPS positioning system.
3. a kind of Multi computer cooperation turf-mown machine people's system according to claim 2, which is characterized in that local positioning system
System includes three locating base stations, is arranged around working environment；Multiple labels are arranged in multiple robots, to detect work
The size in region and the position of barrier and the position of robot.
4. a kind of Multi computer cooperation turf-mown machine people's system according to claim 1, which is characterized in that ground station control
System includes human-computer interaction end and path planning module；
Human-computer interaction end, for the size of user's setting working region, robot quantity, robot ambulation speed, path planning
Mode and monitoring to robotary；
Path planning module, the route planning information for automatically generating robot, and advised path by wireless transport module
It draws information and is transmitted as robot.
5. a kind of Multi computer cooperation turf-mown machine people's system according to claim 1, which is characterized in that robot packet
It includes：Wireless communication module, turf-mown mechanism and robot control terminal；
Wireless communication module, including wireless data transmission receiving terminal and transmitting terminal are used for the path of satellite receiver control system
Planning information, and send to robot, while by the Position And Velocity information of robot and be sent to robot control terminal；
Turf-mown mechanism, for the turf-mown work in robot moving process；
Robot control terminal, for controlling robot and realizing route planning.
6. a kind of Multi computer cooperation turf-mown machine people's system according to claim 5, which is characterized in that robot controls
End includes motor control panel, robot master board and robot pose adjustment module；
Motor control panel, the movement for controlling robot, and the rotating speed of the mobile motor of robot is transferred with displacement information
Give robot master board；
Robot master board is used for RX path planning information, realizes the mechanism that moves and cut the grass on a lawn of control robot
Operation；It is additionally operable to receive the information of motor control panel and pose adjustment module, realizes the movement of control robot and lawn mower
Structure is run, and the information received is fed back to earth station system；
Robot pose adjusts module, including electronic gyroscope, magnetometer, accelerometer and the increment being arranged in robot
Formula encoder for direction, speed and the displacement in robot measurement moving process, and feeds back to robot master board.
7. a kind of Multi computer cooperation turf-mown method, which is characterized in that include the following steps：
Step 1：Positioning system obtains the location information of robot, and location information is transferred to ground station control system；
Step 2：After ground station control system receives the location information of positioning system feedback, user is grasped by ground station control system
Make division of the interface completion to working region, determines overall and each weed-eradicating robot working region range, and by wireless
Determining working region range information is transferred to each robot by communication module；
Step 3：Robot receives the message sent from ground station control system by wireless communication module and completes task.
8. a kind of Multi computer cooperation turf-mown method according to claim 7, which is characterized in that robot passes through channel radio
News module receives the message sent from ground station control system and the detailed process for completing task is：Robot includes motor control
Making sheet, robot master board and robot pose adjust module, and it includes being arranged in robot that robot pose, which adjusts module,
On electronic gyroscope, magnetometer, accelerometer and incremental encoder；
Robot master board receives the message from ground station control system, first that incomplete message and error message is clear
It removes, the correct message of reception is subjected to classification processing, specially：If what robot received is condition monitoring message, machine
People feeds back the current position coordinates of robot, movement speed, turf-mown motor speed；If what robot received is path rule
Point coordinates message is drawn, then coordinate points are stored and are converted into the order of robotically-driven motor by robot successively；If robot connects
What is received is startup or braking messages, then is converted into startup and the brake command of motor.
9. a kind of Multi computer cooperation turf-mown method according to claim 8, which is characterized in that robot by coordinate points according to
Secondary storage and after being converted into the order of robotically-driven motor, lawn people waits for the enabled instruction that earth station sends, and receives
To after starting order, robot control terminal is general to cross motor driving plate driving wheel motor and the rotation of mowing motor, while receiving simultaneously
The location information that locating module is sent is recorded, judges whether to reach target point；When reaching target point, robot control terminal control electricity
Machine driving plate powers off, and robot is made to complete braking；When not reaching target point, robot control terminal first calls the angle of deposit to believe
Breath；Meanwhile module is adjusted by robot pose and updates angle, robot control terminal calculating needs rotational angle and controls motor
Complete turning；The path planning point coordinates message of deposit is called, is calculated by the displacement needed for changing coordinates to target point；Then machine
Device people's master board controls motor and completes robot movement.
10. a kind of Multi computer cooperation turf-mown method according to claim 9, which is characterized in that robot in order to prevent
Movement deviation is excessive, and setting safe distance L is 30cm, and setting robot measures primary distance every 10s, judges distance objective point
Whether distance is in 30cm；If L<30cm, robot control terminal reduce motor speed, and robot speed reduces, and calls increment
Formula encoder, robot measurement are considered as arrival target point when moving on displacement L, braking stops robot movement, and is transformed into
Next target point；Work as L>When 30cm, electronic gyroscope update current angular information, judge robot whether deviation route, then
Incremental encoder is called, makes robot straight trip to next test point.
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| TWI828136B (en) * | 2022-05-03 | 2024-01-01 | 優式機器人股份有限公司 | Environmental finishing control method and system |
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