CN109032147A - The method for generating grass-removing robot virtual boundary based on satellite positioning signal - Google Patents
The method for generating grass-removing robot virtual boundary based on satellite positioning signal Download PDFInfo
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- CN109032147A CN109032147A CN201811051107.3A CN201811051107A CN109032147A CN 109032147 A CN109032147 A CN 109032147A CN 201811051107 A CN201811051107 A CN 201811051107A CN 109032147 A CN109032147 A CN 109032147A
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- 238000013480 data collection Methods 0.000 claims abstract description 13
- 230000008569 process Effects 0.000 claims abstract description 5
- 238000012545 processing Methods 0.000 claims description 15
- 238000009499 grossing Methods 0.000 claims description 8
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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
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Abstract
The present invention provides a kind of methods for generating grass-removing robot virtual boundary based on satellite positioning signal；The following steps are included: providing satellite positioning signal receiver, satellite positioning signal receiver includes data collection system, for recording the location coordinate information of satellite positioning signal receiver, satellite positioning signal receiver is along the grass cutting action zone boundary of grass-removing robot by moving clockwise or counterclockwise one week, acquire the position coordinates of each point in satellite positioning signal moving process point by point by data collection system, the error of position coordinates is verified, reject the biggish position coordinates of error, rest position coordinate after rejecting the biggish position coordinates of error is sequentially connected to the virtual boundary for generating grass-removing robot grass cutting action regional edge by continuous broken line or curve.Using the method for generating grass-removing robot virtual boundary based on satellite positioning signal in the present invention, the virtual boundary of grass-removing robot can be fast and accurately generated, labor intensity is reduced.
Description
Technical field
The present invention relates to grass-removing robot fields, more particularly to a kind of satellite positioning signal that is based on to generate grass-removing robot void
The method on quasi- boundary.
Background technique
Currently, the determination of grass-removing robot moving boundaries mainly uses following two method:
1, Wound-rotor type: a pile bucket is followed closely in lawn center, guide line one is wound on stake bucket, and one is fixed on grass cutter
On people, grass-removing robot is guided line constraint, advances along involute motion, completes cutting operation while advancing.Using
The shortcomings that this method is: (1) mowing region is limited to guidance line length, and shape is similar to circular arc and surrounds the circle to be formed
Domain, corner can not be handled；(2) cutting operation requires nail stake bucket every time, installs guide line, complicated for operation；(3) thick grass is excessively high
When, guide line will receive obstruction, influence normal cutting operation.
2, wire type fence: before mowing, insulated conductor is laid along lawn boundary, electric current passes through conducting wire after accessing power supply
Magnetic field is formed, when grass-removing robot encounters conducting wire, senses that magnetic field signal, grass-removing robot are turned to by process control to reach
Not across the purpose on boundary.In this way the shortcomings that, is: (1) laying wire is needed before mowing, it is time-consuming and laborious；(2) in lawn
When there are trees, pond, artificial hillock in portion, conductor laying path is complicated, and technical requirements are higher；(3) after cutting operation, conducting wire is recycled
It is also an endeavor, disposable words, it is beautiful that the conducting wire being layered on around lawn will affect lawn.
In order to solve disadvantages mentioned above in the prior art, it is necessary to design a kind of generation side on grass-removing robot mowing boundary
Method fictionalizes the boundary in grass cutting action region according to practical mowing region for simplifying operating procedure.
Summary of the invention
In view of the foregoing, grass-removing robot virtual boundary is generated based on satellite positioning signal the present invention provides a kind of
Method can quickly generate the virtual boundary in mowing region.
To achieve the above object, the invention discloses one kind generates grass-removing robot virtual boundary based on satellite positioning signal
Method, comprising the following steps:
Satellite positioning signal receiver is provided, the satellite positioning signal receiver includes data collection system, for remembering
Record the location coordinate information of the satellite positioning signal receiver；
The satellite positioning signal receiver is held along the grass cutting action zone boundary of grass-removing robot by clockwise or inverse
Hour hands are one week mobile, and the position of each point in the satellite positioning signal receiver moving process is recorded by the data collection system
Set coordinate；
The error of the position coordinates is verified, the biggish position coordinates of error are rejected；
The rest position coordinate after the biggish position coordinates of error will be rejected, life is sequentially connected by continuous broken line or curve
At the virtual boundary in grass-removing robot grass cutting action region.
The beneficial effects of the present invention are: it is moved using satellite positioning signal receiver along grass cutting action zone boundary and real
When acquisition moving process in each point position coordinates, then by rejecting the biggish position coordinates point of error in position coordinates,
It can guarantee the precision of the virtual boundary ultimately generated.
A kind of further improvements in methods for generating grass-removing robot virtual boundary based on satellite positioning signal of the present invention exist
In: in holding the satellite positioning signal receiver along the grass cutting action zone boundary of grass-removing robot by the clockwise or inverse time
It further include step before mobile one week step of needle,
Differential positioning reference station is provided, it is precisely fixed to carry out for the position coordinates to the satellite positioning signal receiver
Position, the satellite positioning signal receiver are connected in the differential positioning reference station；
The differential positioning reference station is placed in grass-removing robot grass cutting action region.
By using Differential positioning method, satellite positioning signal receiver location positioning accuracy, Ke Yida are further increased
To the positioning accuracy of Centimeter Level.
A kind of further improvements in methods for generating grass-removing robot virtual boundary based on satellite positioning signal of the present invention exist
In, it is verified in the error to the position coordinates, further includes in the rejecting biggish position coordinates step of error, selection mowing
The borderline multiple characteristic points in working region carry out error correction to the relative distance between each characteristic point, and reject mistake
Difference is more than the position coordinates of allowable error 8cm.For reducing the error between the virtual boundary generated and actual boundary, guarantee most
Throughout one's life at virtual boundary precision.
A kind of further improvements in methods for generating grass-removing robot virtual boundary based on satellite positioning signal of the present invention exist
In further including providing processing module, and the residue after the biggish position coordinates of error will be rejected in virtual boundary step in generating
Position coordinates are transmitted in the processing module, and the data collection system is connected in the processing module, the processing module
In be preset with drawing program.Each position coordinate is connected into a closed figure by straight line or curve in drawing program, i.e.,
For required virtual boundary.
A kind of further improvement for the method that grass-removing robot virtual boundary is generated based on satellite positioning signal of the present invention
It is, further includes step after generating virtual boundary step, Smoothing fit is carried out to the virtual boundary.Improve the virtual of generation
The aesthetics and precision on boundary.
A kind of further improvement for the method that grass-removing robot virtual boundary is generated based on satellite positioning signal of the present invention
It is, is also preset with curve fitting procedure in the processing module.
Detailed description of the invention
Fig. 1 is the flow chart for generating the method for grass-removing robot virtual boundary in the present invention based on satellite positioning signal.
Fig. 2 is the virtual boundary before the cutting operation segment smoothing fitting of grass-removing robot in the present invention.
Fig. 3 is the virtual boundary after the cutting operation segment smoothing fitting of grass-removing robot in the present invention.
Specific embodiment
For the benefit of to understanding of the invention, it is illustrated with reference to the accompanying drawings and embodiments.
Refering to fig. 1 to Fig. 3 it is found that the invention discloses one kind to generate grass-removing robot fictitious line based on satellite positioning signal
The method on boundary, comprising the following steps:
Step 101: providing satellite positioning signal receiver, satellite positioning signal receiver includes data collection system, is used
In the location coordinate information of record satellite positioning signal receiver；
Step 102: hand-held satellite positioning signal receiver is along the grass cutting action zone boundary of grass-removing robot by clockwise
Or it is one week mobile counterclockwise, it is sat by the position that data collection system records each point in satellite positioning signal receiver moving process
Mark；
Step 103: the error of position coordinates being verified, the biggish position coordinates of error are rejected；
Step 104: will reject the rest position coordinate after the biggish position coordinates of error by continuous broken line or curve according to
Secondary connection generates the virtual boundary in grass-removing robot grass cutting action region.
In the present invention, by satellite positioning signal receiver along the grass cutting action zone boundary of grass-removing robot by clockwise
Or it is mobile counterclockwise, record the location coordinate information of satellite positioning signal receiver in real time using data collection system, pass through by
Rest position coordinate after rejecting the biggish position coordinates of error connects into a closed figure, i.e. generation grass-removing robot is mowed
The virtual boundary on working region side.By rejecting the biggish position coordinates of fractional error, it is ensured that the virtual boundary of generation
Accuracy complies with required error precision requirement, and grass-removing robot when later period cutting operation is avoided accidentally to pass through actual boundary.
Preferably, verifying in the error to position coordinates, rejecting in the biggish position coordinates step of error further includes choosing and mowing
The borderline multiple characteristic points in working region carry out error correction to the relative distance between each characteristic point, and it is super to reject error
Cross the position coordinates of allowable error 8cm.Specifically, can choose important feature when the screening biggish position coordinates point of error
Point (such as turning point, at least four), verifies its position coordinates, judge its position precision whether within a certain error range,
Linear distance error is no more than 8cm.
Offer differential positioning reference station is further comprised the steps of: before step 102, for the position to satellite positioning signal receiver
It sets coordinate and carries out precise positioning, satellite positioning signal receiver is connected in differential positioning reference station, differential positioning reference station is put
It sets in grass-removing robot grass cutting action region.In the present embodiment, by using differential positioning reference station, Differential positioning is utilized
Method, improves the position positioning accuracy of satellite positioning signal receiver, and precision reaches Centimeter Level.Specifically, in the present embodiment,
Using RTK (Real-time kinematic) carrier phase dynamic real-time difference technology, differential positioning reference station passes through data-link
By the data transmission of observation to mobile base station, mobile base station receives the data from base station by data link, adopts simultaneously on road
Collection navigation satellite (GPS or Beidou) observation data simultaneously are implemented to handle, and provide centimeter-level positioning result.
It further, further include providing processing module, and the biggish position of error will be rejected and sat in step 104 step
Rest position coordinate after mark is transmitted in processing module, and data collection system is connected in processing module, is preset in processing module
There is drawing program.Each position coordinate is connected into a closed figure (hand drawn) in drawing program, as required is virtual
Boundary.
Further, further include step after step 104, Smoothing fit is carried out to virtual boundary；It is virtual for improving
The precision and aesthetics of boundary entirety.In the present invention, curve fitting procedure is also preset in processing module, for virtual boundary
Smoothing fit.
In the present embodiment, using satellite positioning tech (such as GPS or Beidou) to the coordinate of satellite positioning signal receiver
Position is positioned, and satellite positioning signal receiver is used to show and record the position coordinates signal of itself.It actually generates virtual
In the step of boundary, (dynamic) of satellite positioning signal receiver can be recorded in real time by manually recorded or data collection system
Position coordinate data.Specifically, position data format is (x, y, z), wherein respectively corresponding the latitude of geographical coordinate, longitude and height
Journey.
A kind of beneficial effect of method for generating grass-removing robot virtual boundary based on satellite positioning signal of the present invention includes:
1. record satellite positioning signal receiver is clockwise or inverse along the grass cutting action zone boundary of grass-removing robot in real time
The position coordinates of each point during hour hands are one week mobile；By the way that position precision error in position coordinates is greater than within a certain error range
Position coordinates point is rejected, it is ensured that the error precision of the virtual boundary of generation meets actual requirement.
2. by carrying out Smoothing fit to virtual boundary, so that the shape of the virtual boundary after Smoothing fit more meets reality
Boundary shape improves the precision of the virtual boundary of generation, and grass-removing robot when later period cutting operation is avoided accidentally to pass through practical side
Boundary.
3. it is compared with prior art, easy to operate, without outdoor works such as wiring, installation stake buckets, needed for can quickly generating
The virtual boundary of grass cutting action zone boundary.
4. structure is simple, convenient for operation.
The above is only presently preferred embodiments of the present invention, not do limitation in any form to the present invention, although this
Invention has been disclosed in a preferred embodiment above, and however, it is not intended to limit the invention, any person skilled in the art,
In the range of not departing from technical solution of the present invention, when the technology contents using the disclosure above make a little change or are modified to
With the equivalent embodiment of variation, but anything that does not depart from the technical scheme of the invention content, according to the technical essence of the invention to
Any simple modification, equivalent change and modification made by upper embodiment, all of which are still within the scope of the technical scheme of the invention.
It should be noted that this specification structure depicted in this specification institute accompanying drawings, ratio, size etc., only to cooperate
The bright revealed content of book is not intended to limit the invention enforceable limit so that those skilled in the art understands and reads
Fixed condition, therefore do not have technical essential meaning, the modification of any structure, the change of proportionate relationship or the adjustment of size, not
It influences still fall in disclosed technology contents under the effect of present invention can be generated and the purpose that can reach
In the range of capable of covering.
Claims (6)
1. a kind of method for generating grass-removing robot virtual boundary based on satellite positioning signal, which is characterized in that including following step
It is rapid:
Satellite positioning signal receiver is provided, the satellite positioning signal receiver includes data collection system, for recording
State the location coordinate information of satellite positioning signal receiver；
The satellite positioning signal receiver is held along the grass cutting action zone boundary of grass-removing robot by clockwise or counterclockwise
It is one week mobile, it is sat by the position that the data collection system records each point in the satellite positioning signal receiver moving process
Mark；
The error of the position coordinates is verified, the biggish position coordinates of error are rejected；
The rest position coordinate after the biggish position coordinates of error will be rejected generation is sequentially connected by continuous broken line or curve and cut
The virtual boundary in careless robot grass cutting action region.
2. the method for generating grass-removing robot virtual boundary based on satellite positioning signal according to claim 1, feature exist
In: in holding the satellite positioning signal receiver along the grass cutting action zone boundary of grass-removing robot by clockwise or counterclockwise
It further include step before mobile one week step,
Differential positioning reference station is provided, carries out precise positioning, institute for the position coordinates to the satellite positioning signal receiver
It states satellite positioning signal receiver and is connected in the differential positioning reference station；
The differential positioning reference station is placed in grass-removing robot grass cutting action region.
3. the method for generating grass-removing robot virtual boundary based on satellite positioning signal according to claim 1, feature exist
In: it is verified in the error to the position coordinates, rejecting in the biggish position coordinates step of error further includes choosing and mowing
The borderline multiple characteristic points in working region carry out error correction to the relative distance between each characteristic point, and reject mistake
Difference is more than the position coordinates of allowable error 8cm.
4. the method for generating grass-removing robot virtual boundary based on satellite positioning signal according to claim 1, feature exist
In: it further include providing processing module, and the residue after the biggish position coordinates of error will be rejected in virtual boundary step in generating
Position coordinates are transmitted in the processing module, and the data collection system is connected in the processing module, the processing module
In be preset with drawing program.
5. the method for generating grass-removing robot virtual boundary based on satellite positioning signal according to claim 4, feature exist
In: further include step after generating virtual boundary step, Smoothing fit is carried out to the virtual boundary.
6. the method for generating grass-removing robot virtual boundary based on satellite positioning signal according to claim 5, feature exist
In: curve fitting procedure is also preset in the processing module.
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111096138A (en) * | 2019-12-30 | 2020-05-05 | 中电海康集团有限公司 | UWB-based mowing robot working boundary establishing and identifying system and method |
| CN111176282A (en) * | 2019-12-31 | 2020-05-19 | 南京苏美达智能技术有限公司 | Method and system for setting boundary and self-walking equipment |
| CN111168679A (en) * | 2020-01-09 | 2020-05-19 | 上海丛远机械有限公司 | Walking robot, method of controlling walking robot, and walking robot system |
| CN112034846A (en) * | 2020-08-13 | 2020-12-04 | 深圳拓邦股份有限公司 | Virtual boundary operation method, system, mobile terminal and storage medium |
| CN112824937A (en) * | 2019-11-20 | 2021-05-21 | 苏州宝时得电动工具有限公司 | Route generation method and device and mower |
| CN112857368A (en) * | 2019-11-12 | 2021-05-28 | 苏州宝时得电动工具有限公司 | Mower navigation method and device and mower |
| WO2021110415A1 (en) * | 2019-12-06 | 2021-06-10 | Husqvarna Ab | Robotic work tool system, and method for defining a working area perimeter |
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| CN113359695A (en) * | 2020-03-06 | 2021-09-07 | 苏州宝时得电动工具有限公司 | Working method and automatic working system of self-moving equipment |
| CN113485334A (en) * | 2021-07-02 | 2021-10-08 | 宁波瑞霖机械科技有限公司 | Mower control method, system and storage medium thereof |
| WO2021240408A1 (en) * | 2020-05-27 | 2021-12-02 | R-Go Robotics Ltd. | System and method for improved boundary detection for robotic mower system |
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| CN112857368A (en) * | 2019-11-12 | 2021-05-28 | 苏州宝时得电动工具有限公司 | Mower navigation method and device and mower |
| CN112857368B (en) * | 2019-11-12 | 2024-04-09 | 苏州宝时得电动工具有限公司 | Mower navigation method and device and mower |
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| CN112824937A (en) * | 2019-11-20 | 2021-05-21 | 苏州宝时得电动工具有限公司 | Route generation method and device and mower |
| WO2021110415A1 (en) * | 2019-12-06 | 2021-06-10 | Husqvarna Ab | Robotic work tool system, and method for defining a working area perimeter |
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| CN111096138A (en) * | 2019-12-30 | 2020-05-05 | 中电海康集团有限公司 | UWB-based mowing robot working boundary establishing and identifying system and method |
| CN111176282A (en) * | 2019-12-31 | 2020-05-19 | 南京苏美达智能技术有限公司 | Method and system for setting boundary and self-walking equipment |
| CN111168679B (en) * | 2020-01-09 | 2023-08-22 | 上海山科机器人有限公司 | Walking robot, method of controlling walking robot, and walking robot system |
| CN111168679A (en) * | 2020-01-09 | 2020-05-19 | 上海丛远机械有限公司 | Walking robot, method of controlling walking robot, and walking robot system |
| CN113359695A (en) * | 2020-03-06 | 2021-09-07 | 苏州宝时得电动工具有限公司 | Working method and automatic working system of self-moving equipment |
| WO2021240408A1 (en) * | 2020-05-27 | 2021-12-02 | R-Go Robotics Ltd. | System and method for improved boundary detection for robotic mower system |
| CN112034846A (en) * | 2020-08-13 | 2020-12-04 | 深圳拓邦股份有限公司 | Virtual boundary operation method, system, mobile terminal and storage medium |
| CN113485334A (en) * | 2021-07-02 | 2021-10-08 | 宁波瑞霖机械科技有限公司 | Mower control method, system and storage medium thereof |
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