CN110488822A - The operating path planing method of grass-removing robot Behavior-based control identification - Google Patents

Abstract

A kind of operating path planing method of grass-removing robot Behavior-based control identification is disclosed, setting reason device, walking mechanism, grass-mowing, careless condition identification mechanism and inertial navigation system, operating path planing method is arranged in processor, the following steps are included: grass-removing robot is arbitrarily walked, when careless condition identification mechanism identifies that current location lawn needs to handle, current location x is recorded₀, y₀；Grass-removing robot walks on, and when careless condition identification mechanism identifies that current location lawn does not need processing, records current location x₁, y₁；Grass-removing robot, which retreats certain distance, makes careless condition identification mechanism identify that current location lawn needs to handle, and then rotates clockwise 60o, walks on, and when careless condition identification mechanism identifies that current location lawn does not need processing, records current location x₂, y₂；Grass-removing robot is done spiral movement clockwise, and initial diameter D is the maximum distance between three record positions；When the radius of turn of the grass-removing robot is close to zero, return step 1.

Description

The operating path planing method of grass-removing robot Behavior-based control identification

Technical field

The present invention relates to the operating path planing methods of grass-removing robot Behavior-based control identification, belong to robot path planning Field.

Background technique

Currently, the degree of intelligence of grass-removing robot is also very low, effective path planning can not be carried out, working efficiency is caused Low, the working time is too long.Main cause be because grass-removing robot cannot observe the situation on lawn from global scope, cannot be from complete Path planning is carried out in office's range.Therefore grass-removing robot can only aimlessly work on lawn back and forth, and efficiency is very It is low, cause battery configuration also to directly enhance the cost of grass-removing robot greatly.If significantly more efficient path can be taken to advise The mode of drawing, can be solved the above problems by reasonable operating path.

Summary of the invention

To solve the above-mentioned problems, the present invention provides a kind of operating path planning side of grass-removing robot Behavior-based control identification Method is explored by the behavior of grass-removing robot itself, goes the situation on study lawn, path planning is then carried out, to provide work Make efficiency.

The technical solution adopted by the present invention to solve the technical problems is:

Central controlled place is arranged in the operating path planing method of grass-removing robot Behavior-based control identification, the grass-removing robot Device is managed, also sets up walking mechanism connect with the processor, grass-mowing, grass condition identification mechanism and inertial navigation system, Whether the careless condition identification mechanism output current location lawn needs to handle, and the inertial navigation system is described for calculating Grass-removing robot position (x, y) and direction θ, the processor operating path planing method is set, comprising the following steps:

(1) grass-removing robot described in is arbitrarily walked in working region, when the careless condition identification mechanism identifies present bit When setting lawn and needing to handle, the processor records current location, x₀=x, y₀=y；

(2) grass-removing robot described in walks on, when the careless condition identification mechanism identifies that current location lawn does not need When processing, current location x is recorded₁=x, y₁=y；

(3) grass-removing robot described in, which retreats certain distance, makes the careless condition identification mechanism identify current location lawn needs Processing, then rotates clockwise 60o, walks on, when the careless condition identification mechanism identifies that current location lawn does not need When processing, current location x is recorded₂=x, y₂=y；

(4) grass-removing robot described in is done spiral movement clockwise, initial diameter D=max (D₀, D₁, D₂), wherein max Expression is maximized, D₀=[(x₁-x₀)²+ (y₁-y₀)²]^1/2, D₁=[(x₂-x₁)²+ (y₂-y₁)²]^1/2, D₂=[(x₀-x₂)²+ (y₀-y₂)²]^1/2；

(5) when the radius of turn of the grass-removing robot is close to zero, return step 1.

Beneficial effects of the present invention are mainly manifested in: not increasing high hardware, algorithm is simple and reliable；Based on robot Behavior is explored, and the upgrowth situation on lawn is learnt, to instruct path planning, improves working efficiency.

Detailed description of the invention

Fig. 1 is operating path planing method schematic diagram.

Specific embodiment

The invention will be further described below in conjunction with the accompanying drawings:

Referring to Fig.1, the operating path planing method of grass-removing robot Behavior-based control identification, the grass-removing robot, which is arranged, to be concentrated The processor of control, also sets up the walking mechanism connecting with the processor, and grass-mowing, careless condition identification mechanism and inertia are led Boat system.The walking mechanism is using two-wheel drive and support wheel construction, it can be achieved that keeping straight on and rotating at any angle；It is described Grass-mowing be arranged in below the grass-removing robot, the grass greater than certain altitude can be cleared up；The careless condition cognitron Whether structure output current location lawn needs to handle, and the inertial navigation system is used to calculate the position of the grass-removing robot (x, y) and direction θ are set, but data x, y and θ have cumulative errors, not can be carried out absolute fix, can be competent in regional area Location estimation.

Operating path planing method is arranged in the processor, comprising the following steps:

(1) grass-removing robot described in is arbitrarily walked in working region, when the careless condition identification mechanism identifies present bit When setting lawn and needing to handle, the processor records current location, x₀=x, y₀=y；

Step 1 is the grass-removing robot by way of arbitrarily walking, and finds lawn region to be treated.Because described Grass-removing robot the means of Global localization not may be implemented, also can be to detect the energy of lawn situation in global scope Power.When encountering lawn and needing to handle, current location is only recorded.

(2) grass-removing robot described in walks on, when the careless condition identification mechanism identifies current location lawn not When needing to handle, current location x is recorded₁=x, y₁=y；

Step 2 is to measure a size on luxuriant lawn, provides data basis for next step path planning.

(3) grass-removing robot described in, which retreats certain distance, makes the careless condition identification mechanism identify current location grass Level ground needs to handle, and then rotates clockwise 60o, walks on, when the careless condition identification mechanism identifies current location lawn When not needing processing, current location x is recorded₂=x, y₂=y；

Step 3 is the size changed a direction and further measure luxuriant lawn, provides data basis for next step path planning.

(4) grass-removing robot described in is done spiral movement clockwise, initial diameter D=max (D₀, D₁, D₂), Middle max expression is maximized, D₀=[(x₁-x₀)²+ (y₁-y₀)²]^1/2, D₁=[(x₂-x₁)²+ (y₂-y₁)²]^1/2, D₂=[(x₀-x₂ )²+ (y₀-y₂)²]^1/2；

The data that step 4 is measured according to step 1-3, calculate the initial diameter of spiral motion, and calculating principle is selection position (x₀, y₀), (x₁, y₁) and (x₂, y₂) initial diameter of the maximum side of triangle as helix is formed, it in this way can maximum model Enclose covering lawn to be treated.

(5) when the radius of turn of the grass-removing robot is close to zero, return step 1.

Terminate one group of path planning, then looks for the luxuriant region in next lawn.

In conclusion this programme needs to handle the geometric dimension on lawn using the action learning of grass-removing robot, then into The planning of row operating path, covers the lawn region to greatest extent, improves work efficiency, reduce the non-productive work time.

Claims (1)

1. the operating path planing method of grass-removing robot Behavior-based control identification, the grass-removing robot setting is central controlled Processor also sets up the walking mechanism connecting with the processor, grass-mowing, careless condition identification mechanism and inertial navigation system Whether system, the careless condition identification mechanism output current location lawn need to handle, and the inertial navigation system is for calculating The position (x, y) of the grass-removing robot and direction θ, it is characterised in that: operating path planning side is arranged in the processor Method, comprising the following steps:

(1) grass-removing robot described in is arbitrarily walked in working region, when the careless condition identification mechanism identifies present bit When setting lawn and needing to handle, the processor records current location, x₀=x, y₀=y；

(2) grass-removing robot described in walks on, when the careless condition identification mechanism identifies that current location lawn does not need When processing, current location x is recorded₁=x, y₁=y；

(3) grass-removing robot described in, which retreats certain distance, makes the careless condition identification mechanism identify current location lawn needs Processing, then rotates clockwise 60o, walks on, when the careless condition identification mechanism identifies that current location lawn does not need When processing, current location x is recorded₂=x, y₂=y；

(4) grass-removing robot described in is done spiral movement clockwise, initial diameter D=max (D₀, D₁, D₂), wherein max Expression is maximized, D₀=[(x₁-x₀)²+ (y₁-y₀)²]^1/2, D₁=[(x₂-x₁)²+ (y₂-y₁)²]^1/2, D₂=[(x₀-x₂)²+ (y₀-y₂)²]^1/2；

(5) when the radius of turn of the grass-removing robot is close to zero, return step 1.