CN109845475A - The u-turn control method and system of intelligent grass-removing robot - Google Patents
The u-turn control method and system of intelligent grass-removing robot Download PDFInfo
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- CN109845475A CN109845475A CN201910156257.9A CN201910156257A CN109845475A CN 109845475 A CN109845475 A CN 109845475A CN 201910156257 A CN201910156257 A CN 201910156257A CN 109845475 A CN109845475 A CN 109845475A
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Abstract
The invention discloses a kind of u-turn control methods of intelligent grass-removing robot, comprising: determines virtual secure boundary；Monitor the positional relationship between intelligent grass-removing robot ontology and virtual secure boundary；When distance reaches first threshold between intelligent grass-removing robot ontology and virtual secure boundary, intelligent grass-removing robot turns driving direction using at least two sections of walking manners, wherein first segment walking turns to first angle with the first turning radius, second segment walking turns to second angle with the second turning radius, and first turning radius is not equal to the second turning radius.The present invention also provides a kind of u-turn control systems of intelligent grass-removing robot.The u-turn control method and system of above-mentioned intelligent grass-removing robot can guarantee that the smoothness and stationarity of u-turn can effectively be provided without leakage mowing level ground by reversing end for end region by multistage walking u-turn, and improve traveling efficiency.
Description
Technical field
The present invention relates to intelligent grass-removing robot technical field, the u-turn controlling party of specially a kind of intelligent grass-removing robot
Method and system.
Background technique
With the development of urbanization, more and more gardens, golf course etc. have been appeared in people's daily life.Cause
This, intelligent grass-removing robot is proposed out as the range of wisdom agricultural.
The one kind of intelligent grass-removing robot as gardens service robot is widely used one in agricultural robot
Class.From the eighties in last century, very big investment has all been done in the research of intelligent grass-removing by domestic and international many companies, achieves
Some great successes.The working environment of intelligent grass-removing robot is generally the region of relative closure, it is desirable that has enough intelligence
Can be carried out it is autonomous complete path planning, although the effect of mowing compares in region after our existing methods are to path planning
It is relatively satisfactory, but still there are many critical problems not to solve.With increasing for mowing area, need to carry out repeatedly to reverse end for end to turn
Curved operation, previous turning method can frequently cause more serious damage, especially high-end place such as golf to lawn
There are very strict requirements in field and private gardens etc. to mowing quality.Therefore, being badly in need of one kind can be before damaging turf quality
Put the control method for completing smoothly to reverse end for end.
Summary of the invention
The purpose of the present invention is to provide a kind of u-turn control methods of intelligent grass-removing robot, comprising:
Determine virtual secure boundary；
Monitor the positional relationship between intelligent grass-removing robot ontology and virtual secure boundary；
When distance reaches first threshold between intelligent grass-removing robot ontology and virtual secure boundary, intelligent grass-removing device
People turns driving direction using at least two sections of walking manners, and wherein first segment walking turns to first angle with the first turning radius,
Second segment walking turns to second angle with the second turning radius, and first turning radius is not equal to the second turning radius.
Further, the control method further comprises the steps of:
When distance reaches second threshold between intelligent grass-removing robot ontology and virtual secure boundary, reduces intelligence and mow
The travel speed of robot, the second threshold are greater than first threshold.
Wherein, the intelligent grass-removing robot turns driving direction using two sections of walking manners, wherein the first turning radius
Value range be 0.5-1.0 times of wheelspan, first angle value range be 60-120 degree；The value range of second turning radius is 0.1-
0.5 times of wheelspan, second angle value range are 60-120 degree, and the sum of first angle and second angle are 180 degree.
Wherein, the virtual secure boundary and the distance between lawn boundary or teaching boundary are that 0.5-1 intelligence is mowed
The length of wagon of robot body.
Wherein, intelligent grass-removing robot running speed of driving wheel during u-turn is remained above 0.
The present invention also provides a kind of u-turn control systems of intelligent grass-removing robot, comprising:
Virtual secure boundary setting module, for determining virtual secure boundary；
Position monitoring module, for monitoring the positional relationship between intelligent grass-removing robot ontology and virtual secure boundary；
Control module is reversed end for end, reaches the first threshold for working as distance between intelligent grass-removing robot ontology and virtual secure boundary
When value, intelligent grass-removing robot turns driving direction using at least two sections of walking manners, and wherein first segment walking is with the first turning
Radius turns to first angle, and second segment walking turns to second angle with the second turning radius, and first turning radius is not equal to
Second turning radius.
Further, the u-turn control system further include:
Rate control module, for when position monitoring module monitors to intelligent grass-removing robot ontology and virtual secure boundary
Between distance when reaching second threshold, reduce the travel speed of intelligent grass-removing robot, the second threshold is greater than first threshold.
Wherein, the intelligent grass-removing robot turns driving direction using two sections of walking manners, wherein the first turning radius
Value range be 0.5-1.0 times of wheelspan, first angle value range be 60-120 degree；The value range of second turning radius is 0.1-
0.5 times of wheelspan, second angle value range are 60-120 degree, and the sum of first angle and second angle are 180 degree.
Wherein, the virtual secure boundary and the distance between lawn boundary or teaching boundary are that 0.5-1 intelligence is mowed
The length of wagon of robot body.
Wherein, the rate control module is also used to keep the operating of intelligent grass-removing robot driving wheel during u-turn
Speed is greater than 0.
The u-turn control method and system of above-mentioned intelligent grass-removing robot can be completed in a relatively short time u-turn, and
And the smoothness and stationarity of u-turn can be effectively provided, and improve traveling efficiency.Secondly, held to the u-turn on boundary
When row task, the present invention can effectively reduce mowing area, and the secondary damage during executing leak repairing to lawn can be greatly reduced
Evil, increases the market competitiveness of intelligent grass-removing robot.The u-turn control method of intelligent grass-removing robot of the present invention
And the advantage of system is: first, multistage walking u-turn mode is used, the purpose is to guarantee to reverse end for end region without leakage mowing level ground；
Second, u-turn proceduredriven wheel keeps rotary state, and the purpose is to reduce damage of the wheel to lawn.
Detailed description of the invention
Fig. 1 is a kind of flow chart of the better embodiment of the u-turn control method of intelligent grass-removing robot of the present invention.
Fig. 2 is a kind of process of another better embodiment of the u-turn control method of intelligent grass-removing robot of the present invention
Figure.
Fig. 3 is a kind of process of another better embodiment of the u-turn control method of intelligent grass-removing robot of the present invention
Figure.
Fig. 4 and Fig. 5 is the operation schematic diagram of intelligent grass-removing robot.
Fig. 6 is a kind of block diagram of the better embodiment of the u-turn control system of intelligent grass-removing robot of the present invention.
Fig. 7 is a kind of box of another better embodiment of the u-turn control system of intelligent grass-removing robot of the present invention
Figure.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description.Obviously, described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
It please refers to shown in Fig. 1, for a kind of better embodiment of the u-turn control method of intelligent grass-removing robot of the present invention
Flow chart.The better embodiment of the u-turn control method of the intelligent grass-removing robot the following steps are included:
Step S1: virtual secure boundary is determined.In present embodiment, according to boundary information, it will be condensed to virtually pacify in boundary
Full boundary, this step operation can effectively provide safety guarantee with traditional mowing mode compared with, prevent in boundary switch area vehicle body and not
It collides outside the boundary known.In present embodiment, between the virtual secure boundary and lawn boundary or teaching boundary away from
From the length of wagon for 0.5-1 intelligent grass-removing robot ontology.
Step S2: the positional relationship between monitoring intelligent grass-removing robot ontology and virtual secure boundary；
Step S3: judge whether the distance between intelligent grass-removing robot ontology and virtual secure boundary reach the second threshold
Value.If the distance between intelligent grass-removing robot ontology and virtual secure boundary reach second threshold, S4 is thened follow the steps, otherwise
Return to step S3.
Step S4: the travel speed of intelligent grass-removing robot is reduced.
In present embodiment, intelligent grass-removing robot running speed of driving wheel during u-turn is remained above 0,
Intelligent grass-removing robot damage of its wheel to lawn at work can so be reduced.Certainly, above-mentioned in other embodiments
Step S3 and S4 can be omitted.
Step S5: judge whether the distance between intelligent grass-removing robot ontology and virtual secure boundary reach the first threshold
Value, wherein first threshold is less than second threshold.If the distance between intelligent grass-removing robot ontology and virtual secure boundary reach
First threshold thens follow the steps S6, otherwise returns to step S5.
Step S6: intelligent grass-removing robot turns driving direction using at least two sections of walking manners, and wherein first segment is walked
First angle is turned to the first turning radius, second segment walking turns to second angle, first turning with the second turning radius
Radius is not equal to the second turning radius.
In present embodiment, the value range of first turning radius is 0.5-1.0 times of wheelspan, and first angle value range is
60-120 degree；The value range of second turning radius is 0.1-0.5 times of wheelspan, and second angle value range is 60-120 degree, the
The sum of one angle and second angle are 180 degree.
Please continue to refer to shown in Fig. 2, for a kind of the another preferable of u-turn control method of intelligent grass-removing robot of the present invention
The flow chart of embodiment.Another better embodiment of the u-turn control method of the intelligent grass-removing robot includes following step
It is rapid:
Step S11: intelligent grass-removing robot is walked along path planning straight line.Judge the current position of intelligent grass-removing robot
Set and whether reach within the scope of specified second threshold that (wherein second threshold is threshold of this segment endpoint of path planning apart from current pose
Value), if the current position of intelligent grass-removing robot reaches within the scope of specified second threshold, then follow the steps S12.If intelligence is cut
The current position of careless robot does not reach within the scope of specified second threshold, then continues to execute step S11.
Step S12: two driving wheels for operating the intelligent grass-removing robot are carried out by boundary deceleration-operation.
Step S13: judge whether intelligent grass-removing robot reaches in first threshold range (this first threshold for very close to
Boundary end point position, and known).If the current position of intelligent grass-removing robot reaches in specified first threshold range, hold
Row step S14.If the current position of intelligent grass-removing robot does not reach in specified first threshold range, it is back to step
S13。
Step S14: the path of intelligent grass-removing robot stopping at this time following operation, carries out u-turn logic.
Step S15: judge current intelligent grass-removing robot course and current pose, in conjunction with corresponding control method,
And then execute about 90 ° of first segment walking, using 0.75 times of wheelspan as the matched curve of radius.It is risen in conjunction with the first segment of path planning
Point fits first segment curve data.
Step S16: after intelligent grass-removing robot reaches first segment matched curve data endpoint, carrying out second segment fitting,
Substantially walk about 90 °, using 0.25 times of wheelspan as radius.In conjunction with the second segment starting point of path planning, second segment curve is fitted
Data.
Step S17: in conjunction with first segment and second segment curve-fit data, to next starting when being reversed end for end in any position
The ideal camber line of one of endpoint.
Step S18: obtaining the smoothed out data of both ends curve matching, (this data combines current intelligent grass-removing robot
The information such as course pose), the left and right wheels distribution of the speed in path is carried out, and then execute the entire control logic of u-turn.
Please continue to refer to shown in Fig. 3, in more detail, the u-turn control method of the intelligent grass-removing robot includes following
Step:
Step S21: virtual secure boundary is obtained.
Step S22: the current posture information of intelligence machine human body is obtained.
Step S23: judge whether to reach virtual secure boundary.If reaching virtual secure boundary, S24 is thened follow the steps, it is no
Then return to step S22.
Step S24: load u-turn End of Curve.
Step S25: smoothed curve data are obtained.
Step S26: motion control tracking is executed to intelligent grass-removing robot.
Step S27: judge whether arrival curve terminal.If arrival curve terminal thens follow the steps S28, otherwise returns and hold
Row step S26.
Step S28: the current posture information of intelligent grass-removing robot ontology is obtained.
Step S29: the left and right wheel angles speed of fixed intelligent grass-removing robot ontology.
Step S30: the curve controlled logic that moves ahead is executed.
Step S31: judge the whether vertical next planning path of the vehicle body of intelligent grass-removing robot ontology.If intelligence is mowed
The vertical next planning path of the vehicle body of robot body, thens follow the steps S32, is otherwise back to step S30.
Step S32: two sections of curves are executed and reverse end for end control logic.
Above-mentioned steps illustrate a complete automatic reversing control process.Assuming that intelligent grass-removing robot is complete at this time
At part mowing task, the work in every parameter of robot is normal, and mowing task closes on mowing boundary at this time.The intelligence
Grass-removing robot can detect position orientation relation by self-sensor device in working region, enter the threshold for inside contracting boundary when detecting
When being worth in range, controls itself and carry out deceleration arrival.Guarantee to obtain when by proximal border preset by the reduction of speed
More accurately posture information, convenient for providing comparatively ideal data when carrying out first segment curve matching.
It please refers to shown in Fig. 4, intelligent grass-removing robot described in figure has cut the area that is over, in it arrives safe and sound
(wherein, inside contracting boundary is the entire working range of intelligent grass-removing robot, forms the behaviour area of a closure when contracting borderline region
The formation in domain, boundary can be obtained by external map loading method, can also be by carrying precise location information on working region boundary
It carries out data acquisition and is formed by series of points set).Please continue to refer to shown in Fig. 5, which show in Fig. 1 step S4 it is detailed
Process, at this time it should be noted that needing locating module to provide accurate course location information, by path planning prime direction
The accurate information in course after update is reversed end for end can accurately be obtained.
It please refers to shown in Fig. 6, for a kind of better embodiment of the u-turn control system of intelligent grass-removing robot of the present invention
Block diagram.The better embodiment of the u-turn control system of the intelligent grass-removing robot includes virtual secure boundary setting mould
Block, position monitoring module, u-turn control module, rate control module.The virtual secure boundary setting module is empty for determining
Quasi- security boundary.The position monitoring module is used to monitor the position between intelligent grass-removing robot ontology and virtual secure boundary
Relationship.The u-turn control module is used for when distance reaches the first threshold between intelligent grass-removing robot ontology and virtual secure boundary
When value, intelligent grass-removing robot turns driving direction using at least two sections of walking manners, and wherein first segment walking is with the first turning
Radius turns to first angle, and second segment walking turns to second angle with the second turning radius, and first turning radius is not equal to
Second turning radius.The rate control module is for when position monitoring module monitors to intelligent grass-removing robot ontology and virtually
When distance reaches second threshold between security boundary, the travel speed of intelligent grass-removing robot is reduced, wherein the second threshold
Greater than first threshold, the rate control module is also used to keep the operating of intelligent grass-removing robot driving wheel during u-turn
Speed is greater than 0.
In present embodiment, the intelligent grass-removing robot turns driving direction using two sections of walking manners, wherein first
The value range of turning radius is 0.5-1.0 times of wheelspan, and first angle value range is 60-120 degree；The value range of second turning radius
For 0.1-0.5 times of wheelspan, second angle value range is 60-120 degree, and the sum of first angle and second angle are 180 degree.The void
Quasi- security boundary and the distance between lawn boundary or teaching boundary are the length of wagon of 0.5-1 grass cutter human body.
It please refers to shown in Fig. 7, for a kind of another preferable implementation of the u-turn control system of intelligent grass-removing robot of the present invention
The block diagram of mode.Another better embodiment of the u-turn control system of the intelligent grass-removing robot includes that host computer is shown
Module, database storage module, computing module, motion-control module and locating module.
The host computer display module may include that cell phone application, industry control display or tablet computer etc. have human-computer interaction function
The calculation display of energy, the important human-machine interactive information such as feedback for providing abnormal working condition.The data memory module
For carrying out Refresh Data by current location of the certain time to intelligent grass-removing robot, it is also used to store virtual secure boundary letter
Breath, several preset thresholds distance and u-turn control algolithm, in present embodiment, the u-turn control algolithm is two sections of walking sides
Formula.The computing module is used for the curve track algorithm of running optimizatin.The motion-control module is used for according to the u-turn prestored
Control algolithm carries out the adjustment of posture, i.e. u-turn control.The locating module includes but not for providing accurate posture information
It is limited to the location informations such as longitude and latitude, course, rolling, pitching.
In present embodiment, the driving wheel of the intelligent grass-removing robot is two, for mentioning for entire grass-removing robot
For the selection of power and direction.The driving wheel can be located at the front or rear portion of intelligent grass-removing robot.The grass-removing robot
Kinetic energy can be the energy-provision way such as gasoline, battery, the locating module can for the radar fix of RKT difference, vision camera, swash
Optical radar, inertial navigation odometer etc..
The u-turn control method and system of above-mentioned intelligent grass-removing robot pass through the intelligent grass-removing robot energy accurately reversed end for end
There are safer u-turn control and more efficient mowing efficiency.In present embodiment, virtual boundary may be that intelligence is cut
Careless robot defines working region, and the intelligent grass-removing robot there will not be except boundary, by effective and accurate
Location information, it can be ensured that entire intelligent grass-removing robot appears in working region during entire task.Peace
Full virtual boundary is security boundary, and a part of threshold value is reserved in predominantly u-turn, is typically chosen in the length of vehicle body.The intelligence
There are two driving wheel and two universal wheels are (including but not limited to same respectively for the motion-control module carrying of the vehicle body of grass-removing robot
When in the mechanical structure of front end or rear end control robot), when driving wheel instruction it is identical when, accurate straight line number can be obtained
According to.When speed difference, ideal curved path can be obtained.The u-turn controlling party of intelligent grass-removing robot of the present invention
Method and system can not damage lawn to be cut substantially, and smoothly complete u-turn, so that completing when meeting the efficiency mowed
Ideal u-turn control, is greatly improved the market competitiveness of intelligent grass-removing robot.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (10)
1. a kind of u-turn control method of intelligent grass-removing robot, which is characterized in that the control method includes:
Determine virtual secure boundary；
Monitor the positional relationship between intelligent grass-removing robot ontology and virtual secure boundary；
When distance reaches first threshold between intelligent grass-removing robot ontology and virtual secure boundary, intelligent grass-removing robot is adopted
Turn driving direction at least two sections of walking manners, wherein first segment walking with the first turning radius turn to first angle, second
Section walking turns to second angle with the second turning radius, and first turning radius is not equal to the second turning radius.
2. the u-turn control method of intelligent grass-removing robot as described in claim 1, which is characterized in that the control method is also
Comprising steps of
When distance reaches second threshold between intelligent grass-removing robot ontology and virtual secure boundary, intelligent grass-removing device is reduced
The travel speed of people, the second threshold are greater than first threshold.
3. the u-turn control method of intelligent grass-removing robot as described in claim 1, it is characterised in that: the intelligent grass-removing
Device people turns driving direction using two sections of walking manners, wherein the value range of the first turning radius is 0.5-1.0 times of wheelspan, first
Angular range value is 60-120 degree；The value range of second turning radius is 0.1-0.5 times of wheelspan, and second angle value range is 60-
120 degree, the sum of first angle and second angle are 180 degree.
4. the u-turn control method of intelligent grass-removing robot as described in claim 1, it is characterised in that: the virtual secure side
Boundary and the distance between lawn boundary or teaching boundary are the length of wagon of 0.5-1 intelligent grass-removing robot ontology.
5. the u-turn control method of intelligent grass-removing robot as claimed in claim 2, it is characterised in that: the intelligent grass-removing
Device people running speed of driving wheel during u-turn is remained above 0.
6. a kind of u-turn control system of intelligent grass-removing robot, it is characterised in that: the u-turn control system includes:
Virtual secure boundary setting module, for determining virtual secure boundary；
Position monitoring module, for monitoring the positional relationship between intelligent grass-removing robot ontology and virtual secure boundary；
Control module is reversed end for end, reaches first threshold for working as distance between intelligent grass-removing robot ontology and virtual secure boundary
When, intelligent grass-removing robot turns driving direction using at least two sections of walking manners, and wherein first segment walking is with the first turning half
Diameter turns to first angle, and second segment walking turns to second angle with the second turning radius, and first turning radius is not equal to the
Two turning radius.
7. the u-turn control system of intelligent grass-removing robot as claimed in claim 6, which is characterized in that u-turn control system
System further include:
Rate control module, for when position monitoring module monitors are between intelligent grass-removing robot ontology and virtual secure boundary
When distance reaches second threshold, the travel speed of intelligent grass-removing robot is reduced, the second threshold is greater than first threshold.
8. the u-turn control system of intelligent grass-removing robot as claimed in claim 6, it is characterised in that: the intelligent grass-removing
Device people turns driving direction using two sections of walking manners, wherein the value range of the first turning radius is 0.5-1.0 times of wheelspan, first
Angular range value is 60-120 degree；The value range of second turning radius is 0.1-0.5 times of wheelspan, and second angle value range is 60-
120 degree, the sum of first angle and second angle are 180 degree.
9. the u-turn control system of intelligent grass-removing robot as claimed in claim 6, it is characterised in that: the virtual secure side
Boundary and the distance between lawn boundary or teaching boundary are the length of wagon of 0.5-1 intelligent grass-removing robot ontology.
10. the u-turn control system of intelligent grass-removing robot as claimed in claim 7, it is characterised in that: the speed control
Module is also used to keep the running speed of intelligent grass-removing robot driving wheel during u-turn to be greater than 0.
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| CN113348847A (en) * | 2020-03-06 | 2021-09-07 | 苏州宝时得电动工具有限公司 | Intelligent mower and mowing method thereof |
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| CN114616973A (en) * | 2020-12-11 | 2022-06-14 | 苏州宝时得电动工具有限公司 | Mower and control method of mower |
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| SE2251333A1 (en) * | 2022-11-14 | 2024-05-15 | Husqvarna Ab | Improved operation and installation for a robotic work tool |
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| CN110480639A (en) * | 2019-08-23 | 2019-11-22 | 南京埃斯顿机器人工程有限公司 | A kind of method of industrial robot monitoring area Boundary motion planning |
| CN110480639B (en) * | 2019-08-23 | 2022-03-22 | 南京埃斯顿机器人工程有限公司 | Method for planning boundary motion of industrial robot monitoring area |
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| CN113805575A (en) * | 2020-06-12 | 2021-12-17 | 颜炳郎 | Carrier system |
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| CN114616973A (en) * | 2020-12-11 | 2022-06-14 | 苏州宝时得电动工具有限公司 | Mower and control method of mower |
| CN114616973B (en) * | 2020-12-11 | 2023-10-10 | 苏州宝时得电动工具有限公司 | Mower and control method of mower |
| CN114545948A (en) * | 2022-02-28 | 2022-05-27 | 珠海一微半导体股份有限公司 | Mowing robot control method, chip and mowing robot |
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