CN114237248A - Motion control method for unmanned mowing vehicle - Google Patents
Motion control method for unmanned mowing vehicle Download PDFInfo
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- CN114237248A CN114237248A CN202111550113.5A CN202111550113A CN114237248A CN 114237248 A CN114237248 A CN 114237248A CN 202111550113 A CN202111550113 A CN 202111550113A CN 114237248 A CN114237248 A CN 114237248A
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- 238000006243 chemical reaction Methods 0.000 claims abstract description 15
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/006—Control or measuring arrangements
- A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
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Abstract
A motion control method for an unmanned mowing vehicle comprises the steps of obtaining current position coordinates of the unmanned mowing vehicle, carrying out coordinate conversion on the current position coordinates according to coordinate zero points defined by a mowing operation area, obtaining an operation area through the unmanned mowing vehicle, carrying out area division and route division on the operation area, and finally finishing motion control on the unmanned mowing vehicle through mowing walking path planning. According to the invention, the current position of the unmanned mowing vehicle is obtained in real time through the self-carried orientator and the camera of the unmanned mowing vehicle, and then the processor traverses mowing walking paths corresponding to all small mowing operation quadrilateral areas to obtain mowing walking path planning, so that the unmanned mowing vehicle is guaranteed to finish autonomous operation, the mowing cost is effectively optimized, and meanwhile, the manual labor intensity is reduced.
Description
Technical Field
The invention relates to the technical field of motion control, in particular to a motion control method for an unmanned mowing vehicle.
Background
The mechanical automation level of China is continuously improved, but manual operation mechanical equipment is still used in the field of mowing, with the continuous increase of labor cost, the pressure of manual operation is higher and higher, the use requirement of unmanned equipment is more and more urgent, and the motion control of an unmanned vehicle is the key.
Disclosure of Invention
The present invention is directed to a method for controlling a movement of an unmanned mowing vehicle, so as to solve the above-mentioned problems in the related art.
The technical problem solved by the invention is realized by adopting the following technical scheme:
a motion control method for an unmanned mowing vehicle comprises the steps of obtaining coordinates of the current position of the unmanned mowing vehicle, carrying out coordinate conversion on the coordinates of the current position according to coordinate zero points defined by a mowing operation area, obtaining an operation area through the unmanned mowing vehicle, carrying out area division and route division on the operation area, and finally finishing motion control on the unmanned mowing vehicle through mowing walking path planning, wherein the specific steps are as follows:
1) coordinate transformation
The positioning instrument is arranged on the unmanned mowing vehicle, the position information of the unmanned mowing vehicle is obtained through the positioning instrument, and the position information is expressed by a terrestrial coordinate system, so that the coordinate conversion of the position information obtained by the current unmanned mowing vehicle is completed through a coordinate conversion formula, and the converted numerical value is better than the calculation;
2) obtaining mowing work area
The unmanned mowing vehicle is provided with a camera and a processor, the camera is used for acquiring position information of a mowing operation area, the processor confirms the acquired mowing operation area, the position information after coordinate conversion is combined through a linear programming algorithm, the mowing operation area is sequentially cut into a plurality of small mowing operation quadrilateral areas according to the position of a grassland obstacle, and then a mowing operation area number and a mowing walking path number are finally obtained according to the cutting width of the current unmanned mowing vehicle;
3) planning mowing walking path
The processor traverses the mowing walking paths corresponding to all the small mowing operation quadrilateral areas, and records the optimal mowing walking paths corresponding to all the small mowing operation quadrilateral areas to form mowing walking path planning;
when the unmanned mowing vehicle is in a mowing operation area, the processor acquires the mowing operation area and the mowing walking path where the unmanned mowing vehicle is located currently through the position information acquired in real time;
when the unmanned mowing vehicle performs autonomous motion control, the processor judges whether the unmanned mowing vehicle is in a mowing operation area or not in real time, and if the unmanned mowing vehicle exceeds the mowing operation area, the unmanned mowing vehicle stops running;
when the unmanned mowing vehicle performs autonomous motion control, the processor acquires position information of the unmanned mowing vehicle in real time, judges the current mowing operation area number and mowing walking path number, and controls the unmanned mowing vehicle to enter the next mowing walking path when the unmanned mowing vehicle is at the top of the mowing operation area;
when the unmanned mowing vehicle performs autonomous movement control, the processor acquires the position information of the unmanned mowing vehicle in real time, judges the current mowing operation area number and the mowing walking path number, and keeps the current movement mode when the unmanned mowing vehicle is in the mowing operation area but far away from the top of the mowing operation area.
Has the advantages that: according to the invention, the current position of the unmanned mowing vehicle is obtained in real time through the self-carried orientator and the camera of the unmanned mowing vehicle, and then the processor traverses mowing walking paths corresponding to all small mowing operation quadrilateral areas to obtain mowing walking path planning, so that the unmanned mowing vehicle is guaranteed to finish autonomous operation, the mowing cost is effectively optimized, and meanwhile, the manual labor intensity is reduced.
Drawings
Fig. 1 is a schematic diagram of coordinate transformation of an unmanned mowing vehicle in a preferred embodiment of the invention.
Fig. 2 is a schematic view of the unmanned mowing vehicle in the cutting operation area according to the preferred embodiment of the invention.
Fig. 3 is a schematic view illustrating the operation effect of the unmanned mowing vehicle in the preferred embodiment of the invention.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further explained below by combining the specific drawings.
A motion control method for an unmanned mowing vehicle comprises the steps of firstly obtaining the current position coordinate of the unmanned mowing vehicle, and then carrying out coordinate conversion on the current position coordinate according to a coordinate zero point defined by a mowing operation area, wherein the coordinate conversion is shown in figure 1; then, acquiring a working area through the unmanned mowing vehicle, and carrying out area division and route division on the working area, as shown in fig. 2; and finally, completing the motion control of the unmanned mowing vehicle through mowing walking path planning, wherein the motion effect is as shown in figure 3, and the specific steps are as follows:
1) coordinate transformation
The positioning instrument is arranged on the unmanned mowing vehicle, the position information of the unmanned mowing vehicle is obtained through the positioning instrument, and the position information is expressed by a terrestrial coordinate system, so that the coordinate conversion of the position information obtained by the current unmanned mowing vehicle is completed through a coordinate conversion formula (1), and the converted numerical value is better than the calculation;
the angle theta represents the angle of rotation around the z axis, x, y and z are current position coordinates of the unmanned mowing vehicle, and x ', y ' and z ' are position coordinates of the unmanned mowing vehicle after passing through a coordinate conversion formula (1);
2) obtaining a work area
The unmanned mowing vehicle is provided with a camera and a processor, the position information of a mowing operation area is collected through the camera, the processor confirms the obtained mowing operation area, the mowing operation area is sequentially cut into a plurality of small mowing operation quadrilateral areas according to the position of a grassland obstacle by combining the position information after coordinate conversion through a linear programming algorithm, and then a mowing path is generated according to the cutting width of the current unmanned mowing vehicle, so that a mowing operation area number and a mowing walking path number are finally obtained; the quadrangle region is that the length of the initial transverse side of the unmanned mowing vehicle is larger than that of the ending side, the unmanned mowing vehicle traverses according to the bottom edge, as shown in fig. 2, the mowing operation region is divided into 4 regions according to the actual situation, as shown in the region No. 2 in fig. 2, according to the cutting width d, the region No. 2 is equally divided according to the region D, and the path number in the mowing operation region is obtained;
3) planning mowing walking path
The processor traverses the mowing walking paths corresponding to all the small mowing operation quadrilateral areas, and records the optimal mowing walking paths corresponding to all the small mowing operation quadrilateral areas to form mowing walking path planning;
when the unmanned mowing vehicle is in a mowing operation area, the processor acquires the mowing operation area and a mowing walking path where the unmanned mowing vehicle is located at present through position information acquired by the unmanned mowing vehicle in real time;
when the unmanned mowing vehicle performs autonomous motion control, the processor judges that the unmanned mowing vehicle is in a mowing operation area state in real time, and if the unmanned mowing vehicle exceeds the mowing operation area, the unmanned mowing vehicle stops running;
when the unmanned mowing vehicle performs autonomous motion control, the processor acquires position information of the unmanned mowing vehicle in real time, judges the current mowing operation area number and mowing walking path number, and controls the unmanned mowing vehicle to enter the next mowing walking path when the unmanned mowing vehicle is at the top of the mowing operation area;
when the unmanned mowing vehicle performs autonomous movement control, the processor acquires the position information of the unmanned mowing vehicle in real time, judges the current mowing operation area number and the mowing walking path number, and keeps the current movement mode when the unmanned mowing vehicle is in the mowing operation area but far away from the top of the mowing operation area, as shown in fig. 3.
Claims (8)
1. A motion control method for an unmanned mowing vehicle is characterized by comprising the steps of firstly obtaining coordinates of the current position of the unmanned mowing vehicle, then carrying out coordinate conversion on the coordinates of the current position according to coordinate zero points defined by a mowing operation area, then obtaining the operation area through the unmanned mowing vehicle, carrying out area division and route division on the operation area, and finally finishing motion control on the unmanned mowing vehicle through mowing walking path planning.
2. The motion control method for the unmanned mowing vehicle according to claim 1, which is characterized by comprising the following specific steps of:
1) coordinate transformation
Obtaining the position information of the unmanned mowing vehicle, and then completing coordinate conversion of the position information obtained by the unmanned mowing vehicle through a coordinate conversion formula;
2) obtaining mowing work area
The processor is arranged on the unmanned mowing vehicle, after the obtained mowing operation area is confirmed by the processor, the mowing operation area is sequentially cut into a plurality of small mowing operation quadrilateral areas according to the positions of grass field obstacles by combining position information subjected to coordinate conversion through a linear programming algorithm, and then a mowing path is generated according to the cutting width of the current unmanned mowing vehicle, so that a mowing operation area number and a mowing walking path number are finally obtained;
3) planning mowing walking path
And traversing the mowing walking paths corresponding to all the small mowing operation quadrilateral areas by the processor, recording the optimal mowing walking paths corresponding to all the small mowing operation quadrilateral areas, forming mowing walking path planning, and controlling the unmanned mowing vehicle to move by the processor.
3. The method as claimed in claim 2, wherein the positioning apparatus is installed on the unmanned mowing vehicle for obtaining the position information of the unmanned mowing vehicle.
4. The motion control method for the unmanned mowing vehicle is characterized in that a camera for collecting mowing operation area position information is arranged on the unmanned mowing vehicle.
5. The motion control method for the unmanned mowing vehicle is characterized in that when the unmanned mowing vehicle is in a mowing operation area, the processor knows the mowing operation area and the mowing walking path where the unmanned mowing vehicle is located currently through the unmanned mowing vehicle position information collected in real time.
6. The method as claimed in claim 2, wherein the processor determines in real time that the unmanned mowing vehicle is in a mowing area when the unmanned mowing vehicle performs autonomous movement control, and stops the unmanned mowing vehicle if the unmanned mowing vehicle exceeds the mowing area.
7. The method as claimed in claim 2, wherein the processor obtains the position information of the unmanned mowing vehicle in real time and determines the current mowing area number and mowing path number when the unmanned mowing vehicle performs autonomous movement control, and the unmanned mowing vehicle is controlled to enter the next mowing path when the unmanned mowing vehicle is at the top of the mowing area.
8. The method of claim 2, wherein the processor obtains the position information of the unmanned mowing vehicle in real time and determines the current mowing area number and mowing path number when the unmanned mowing vehicle performs autonomous movement control, and the unmanned mowing vehicle maintains the current movement mode when the unmanned mowing vehicle is in the mowing area but away from the top of the mowing area.
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| CN202111550113.5A CN114237248A (en) | 2021-12-17 | 2021-12-17 | Motion control method for unmanned mowing vehicle |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106643719A (en) * | 2016-09-23 | 2017-05-10 | 江西洪都航空工业集团有限责任公司 | Route planning algorithm of intelligent lawn mower |
| CN110793524A (en) * | 2019-09-27 | 2020-02-14 | 南京航空航天大学 | Method for planning path of mower |
| JP2021040603A (en) * | 2019-09-13 | 2021-03-18 | 株式会社 神崎高級工機製作所 | Lawn mowing vehicle with automatic traveling function |
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- 2021-12-17 CN CN202111550113.5A patent/CN114237248A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106643719A (en) * | 2016-09-23 | 2017-05-10 | 江西洪都航空工业集团有限责任公司 | Route planning algorithm of intelligent lawn mower |
| JP2021040603A (en) * | 2019-09-13 | 2021-03-18 | 株式会社 神崎高級工機製作所 | Lawn mowing vehicle with automatic traveling function |
| CN110793524A (en) * | 2019-09-27 | 2020-02-14 | 南京航空航天大学 | Method for planning path of mower |
Non-Patent Citations (1)
| Title |
|---|
| 李广云 等: "《工业测量***原理与应用》", vol. 1, 测绘出版社, pages: 197 - 198 * |
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