CN112740889B - Path planning method, system and equipment for automatic mower and automatic mower - Google Patents
Path planning method, system and equipment for automatic mower and automatic mower Download PDFInfo
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- CN112740889B CN112740889B CN202011585147.3A CN202011585147A CN112740889B CN 112740889 B CN112740889 B CN 112740889B CN 202011585147 A CN202011585147 A CN 202011585147A CN 112740889 B CN112740889 B CN 112740889B
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- 238000010586 diagram Methods 0.000 description 8
- 238000005520 cutting process Methods 0.000 description 6
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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
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0265—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using buried wires
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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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- Automation & Control Theory (AREA)
- Harvester Elements (AREA)
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Abstract
The invention discloses a path planning method, a system and equipment of a self-powered mower and the self-powered mower, wherein the path planning method of the self-powered mower comprises a machine body, at least one front sensor and at least one rear sensor, wherein the at least one front sensor and the at least one rear sensor are respectively arranged at the head end and the tail end of the machine body; the path planning method of the automatic mower comprises the following steps: controlling the automatic mower to exit the charging station until the automatic mower exits the charging station outside a charging station outfield loop; controlling the robotic lawnmower to find a guide wire, wherein the guide wire is pre-laid within a working area of the robotic lawnmower defined by a boundary line; controlling the robotic lawnmower to walk astride the guide wire or to follow the guide wire at a random corridor spacing until a predetermined target distance is travelled. By utilizing the invention, ruts generated when the automatic mower goes out along a fixed path can be avoided, and the damage to lawns or vegetation is reduced.
Description
Technical Field
The invention relates to the technical field of automatic mowers, in particular to a path planning method, a system and equipment for an automatic mower and the automatic mower.
Background
A robotic lawnmower is a garden tool for trimming lawns, vegetation, etc., and typically includes a self-propelled mechanism, a cutting blade mechanism, and a power source, which may be a gasoline engine, a battery pack, etc. Battery-operated robotic lawnmowers are popular with users because of low noise and zero pollution. However, due to the limitations of battery energy density, battery production cost and other factors, the electric quantity of the battery pack carried by the automatic mower is very limited, so that the primary operation area of the automatic mower is smaller. When the lawn area is wider, the automatic mower works for a certain time and then needs to return to the charging station for charging, and after the charging is completed, the automatic mower leaves the charging station and returns to the working area for mowing.
When the automatic mower leaves from the charging station and returns to the mowing area to work, most products come out along a fixed track, which is easy to generate ruts, thereby affecting the growth of lawns or vegetation in the rut area; and more mowing on the same path is easy to cause, thereby affecting the whole mowing efficiency and the beautiful appearance of the lawn.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, an object of the present invention is to provide a method, a system, an apparatus and a robotic mower for path planning of a robotic mower, which are used for solving the technical problems that in the prior art, when the robotic mower leaves from a charging station and returns to a mowing area to work, ruts are easy to occur and mowing on the same path is too much.
To achieve the above and other related objects, the present invention provides a path planning method of a robotic mower for controlling the robotic mower to leave a charging station, the robotic mower including a main body, at least one front sensor disposed at a head end of the main body and at least one rear sensor disposed at a tail end of the main body;
the path planning method of the automatic mower comprises the following steps:
controlling the automatic mower to exit the charging station until the automatic mower exits the charging station outside a charging station outfield loop;
controlling the robotic lawnmower to find a guide wire, wherein the guide wire is pre-laid within a working area of the robotic lawnmower defined by a boundary line;
controlling the robotic lawnmower to walk astride the guide wire or to follow the guide wire at random corridor spacing until a predetermined target distance is travelled;
Wherein the step of controlling the robotic lawnmower to find the guide wire comprises:
controlling the automatic mower to continue to walk for a random distance;
the robotic lawnmower is controlled to rotate to align the rear sensor with a direction of travel.
In an alternative embodiment, after the step of controlling the robotic lawnmower to rotate to align the rear sensor with the direction of travel, the step of determining whether a guidance signal for the guide wire is detected; when the guiding signal of the guide wire is detected, the robotic lawnmower straddles the guide wire or follows the guide wire at a random pitch until walking the predetermined target distance.
In an alternative embodiment, the robotic lawnmower is controlled to cease operation when the guide signal of the guide wire is not detected.
In an alternative embodiment, the step of controlling the robotic lawnmower to walk over the guide wire or to follow the guide wire at a random pitch until a predetermined target distance is travelled comprises:
controlling the robotic lawnmower to cross the guide wire and the rear sensor;
controlling the robotic lawnmower to walk over the guide wire until the predetermined target distance is travelled.
In an alternative embodiment, the step of controlling the robotic lawnmower to walk over the guide wire or to follow the guide wire at a random corridor spacing until a predetermined target distance is travelled comprises:
controlling the tail end of the automatic mower to rotate by a random angle, wherein the distance between the rear sensor and the guide line is used as the random corridor distance;
controlling the robotic lawnmower to walk along the guide wire at the random corridor spacing.
In an alternative embodiment, the step of controlling the robotic lawnmower to follow the guide wire with the random corridor spacing comprises:
controlling the automatic mower to sample the guiding signal of the guide wire by using the rear sensor;
controlling the robotic lawnmower to follow the guide wire with the collected guide signal amplitude of the guide wire.
In an alternative embodiment, the front sensor includes a magnetically sensitive coil and the rear sensor includes a magnetically sensitive coil.
In an alternative embodiment, the path planning method of the robotic mower further comprises, after walking the predetermined target distance, controlling the robotic mower to start mowing operation in the working area.
In an alternative embodiment, the robotic lawnmower is controlled to begin a random mowing operation within the work area.
In an alternative embodiment, the step of controlling the robotic lawnmower to begin mowing in the work area after the predetermined target distance is travelled includes:
after the preset target distance is travelled, the automatic mower is controlled to rotate 90 degrees in any direction, and then the automatic mower is controlled to start random mowing operation in the working area.
In an alternative embodiment, the random distance is between 10cm and 50 cm.
In an alternative embodiment, the front sensor is disposed on a center line of a head end of the body, and the rear sensor is disposed on one side of a center line of a tail end of the body.
To achieve the above and other related objects, the present invention also provides a path planning system of a robotic mower for controlling the robotic mower to automatically leave a charging station, the robotic mower including a main body, at least one front sensor disposed at a head end of the main body and at least one rear sensor disposed at a tail end of the main body, respectively;
the path planning system of the automatic mower comprises:
The charging station exit module is used for controlling the automatic mower to exit the charging station until the automatic mower exits the charging station outside a charging station outfield loop;
a guide wire searching module for controlling the robotic mower to search a guide wire, wherein the guide wire is pre-laid in a working area of the robotic mower defined by a boundary line;
a riding and following module for controlling the robotic lawnmower to walk either straddling the guide wire or following the guide wire at a random corridor spacing until a predetermined target distance is travelled;
wherein the straddling and following module comprises:
the first walking sub-module is used for controlling the automatic mower to walk continuously for a random distance;
and the first steering sub-module is used for controlling the automatic mower to rotate so as to align the rear sensor with the travelling direction.
In an alternative embodiment, the straddling and following module further comprises a detection determination sub-module for determining whether a guiding signal of the guide wire is detected when the rear sensor is aligned with the traveling direction; when the guiding signal of the guide wire is detected, the robotic lawnmower straddles the guide wire or follows the guide wire at a random pitch until walking the predetermined target distance.
In an alternative embodiment, the straddling and following module includes:
a rotor module for controlling the robotic lawnmower to cross the guide wire and the rear sensor;
and the second walking sub-module is used for controlling the automatic mower to walk across the guide wire until the preset target distance is walked.
In an alternative embodiment, the straddling and following module includes:
the rotating sub-module is used for controlling the tail end of the automatic mower to rotate by a random angle, and taking the distance between the rear sensor and the guide line as the random corridor distance;
and a second walking sub-module, wherein the automatic mower walks along the guide line at the random corridor spacing.
In an alternative embodiment, the path planning system of the robotic mower further comprises a mowing operation module for controlling the robotic mower to start mowing operation in the working area defined by the boundary line after walking the predetermined target distance.
To achieve the above and other related objects, the present invention also provides a robotic lawnmower comprising:
a body;
at least one front sensor arranged at the front end of the machine body;
At least one rear sensor arranged at the tail end of the machine body;
the control unit is arranged on the machine body and comprises a processor and a memory which are mutually coupled, wherein the memory stores program instructions, and when the program instructions stored in the memory are executed by the processor, the path planning method of the automatic mower is realized.
To achieve the above and other related objects, the present invention also provides a storage medium including a program which, when run on a computer, causes the computer to execute the path planning method of the robotic lawnmower as set forth in any one of the above.
To achieve the above and other related objects, the present invention also provides a path planning apparatus of a robot lawnmower, comprising:
the automatic mower comprises a machine body, at least one front sensor arranged at the head end of the machine body and at least one rear sensor arranged at the tail end of the machine body;
at least one guide wire pre-laid in the working area of the robotic mower;
a boundary line pre-laid on an edge of the working area of the robotic mower;
The charging station is positioned on the boundary line, and a charging station outfield loop is arranged in the charging station;
the sensor is for sensing a guidance signal of at least one of the boundary line, the charging station outer field loop, and the combination of guide lines; the control unit is used for controlling the automatic mower to automatically leave the charging station according to the guiding signal.
In an alternative embodiment, the boundary line is fixed on the ground or buried under the ground along the edge of the working area.
In an alternative embodiment, the guide wire is fixed to the ground or buried under the ground.
In an alternative embodiment, the guidance signal comprises an alternating magnetic field; the front sensor includes a magnetically sensitive coil and the rear sensor includes a magnetically sensitive coil.
In an alternative embodiment, the path planning apparatus of the robotic lawnmower comprises a plurality of the guide wires.
In an alternative embodiment, the path planning device of the robotic mower further comprises signal generating means connected to the guide wire, the boundary wire and the charging station outfield loop, respectively.
In an alternative embodiment, the front sensor is disposed on a center line of a head end of the body, and the rear sensor is disposed on one side of a center line of a tail end of the body.
The path planning method, the system and the equipment for the automatic mower and the automatic mower can be used for planning the path of the automatic mower leaving the charging station, so that the charging station leaves the charging station along different paths each time, and ruts are prevented from being generated when the automatic mower leaves along a fixed path, and the growth of lawns or vegetation in a rut area is prevented from being influenced.
The path planning method, the system and the equipment for the automatic mower and the automatic mower can be used for planning the path of the automatic mower leaving the charging station, so that the charging station leaves the charging station along different paths each time, the automatic mower can be prevented from repeatedly mowing along the same path, the mowing efficiency is improved, and the beautiful appearance of a lawn is improved.
The path planning method, the system and the equipment for the automatic mower and the automatic mower, provided by the invention, have the advantages that the guide lines are arranged, and the guide lines can be arranged into a relatively simple shape according to the needs, so that the path planning of the automatic mower when leaving the station is simpler.
Drawings
Fig. 1 shows a schematic structure of a path planning apparatus of a robotic mower of the present invention for an outbound robotic mower.
Fig. 2 is a schematic flow chart of a path planning method of the robotic mower according to the present invention.
Fig. 3 is a schematic view showing a sub-process of step S20 in fig. 2.
Fig. 4 is a schematic view showing the robotic lawnmower of the present invention exiting a charging station and traveling a random distance out of the charging station's outfield loop.
Fig. 5a, 5b are schematic views showing the robotic lawnmower of the present invention rotated to align the rear sensor with the direction of travel.
Fig. 6a-6e show a schematic view of the robotic lawnmower of the present invention walking over the guide wire until a predetermined target distance is travelled.
Fig. 7 is a schematic view showing the robotic lawnmower rotated 90 ° in either direction after walking the predetermined target distance according to the present invention.
Fig. 8 shows a schematic view of the robotic lawnmower of the present invention starting a random mowing operation within the work area.
Fig. 9 is a schematic view showing that the tail end of the robotic mower of the present invention is rotated by a random angle, and the distance between the rear sensor and the guide line is taken as the random corridor distance.
Fig. 10 shows a schematic view of the robotic lawnmower of the present invention following the guide wire at the random corridor spacing.
Fig. 11 shows a block diagram of a path planning system for a robotic lawnmower of the present invention.
Fig. 12 shows a block diagram of the control unit of the present invention.
Fig. 13 shows a block diagram of a robotic lawnmower of the present invention.
Detailed Description
Other advantages and effects of the present invention will become apparent to those skilled in the art from the following disclosure, which describes the embodiments of the present invention with reference to specific examples. The invention may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present invention.
Please refer to fig. 1-13. It should be noted that, the illustrations provided in the present embodiment merely illustrate the basic concept of the present invention by way of illustration, and only the components related to the present invention are shown in the drawings and are not drawn according to the number, shape and size of the components in actual implementation, and the form, number and proportion of the components in actual implementation may be arbitrarily changed, and the layout of the components may be more complex.
The embodiment of the invention discloses a path planning method, a system and equipment for a robotic mower, which are used for enabling the robotic mower to leave a charging station in order to avoid the problems that the robotic mower is easy to track when going out along a fixed track and mowing on the same path and more mowing on the same path when the robotic mower needs to return to the charging station frequently to charge and leave the charging station to return to a mowing area for working after being charged. Wherein fig. 1 shows a schematic structural diagram of a path planning apparatus of a robotic lawnmower of the present invention; FIG. 2 shows a flow diagram of a path planning method of the robotic lawnmower of the present invention; FIG. 11 shows a block diagram of the path planning system of the robotic lawnmower of the present invention; fig. 13 shows a block diagram of a robotic lawnmower of the present invention. In fig. 1 and the following fig. 4 to 10, the robotic mower and the charging station are shown enlarged for clarity of the drawings. In the invention, the automatic mower comprises a self-propelled automatic mower, and is an electric tool which is powered by a battery and needs to be charged periodically. The robotic lawnmower may be moved during use to work within a work area defined by the boundary line.
Referring to fig. 1 and 13, in the present invention, a path planning apparatus for a robotic mower 1, which is outbound from the robotic mower, includes the robotic mower 1, a guide wire 7, a boundary line 2, and a charging station 3. The robotic lawnmower 1 comprises a fuselage, and a control unit 6 (described in detail in the relevant section below) and at least two sensors 5 arranged on the fuselage, one of the sensors 5 being arranged at the head end of the fuselage as a front sensor 5a and the other sensor being arranged at the tail end of the fuselage as a rear sensor 5b, the sensor 5 being arranged to sense a guiding signal of at least one of the boundary line 2, the guide line 7 and the charging station outfield loop 4; the control unit 6 is used for controlling the robotic mower 1 to automatically leave the charging station 3 according to a guiding signal. The guide wire 7 is pre-laid in the working area of the robotic lawnmower 1, both ends of the guide wire 7 are connected to the charging station 3 and the boundary line 2, respectively, wherein the end of the guide wire 7 connected to the charging station 3 is also connected to the boundary line 2, so that the guide wire 7 and a relatively short part of the boundary line 2 between both end points of the guide wire 7 together form a closed loop. The charging station 3 is located on the boundary line 2, and the charging station 3 is set as a charging plate, so that the automatic mower 1 is located on a uniform and continuous plane in the docking process, and the docking process is ensured to be more accurate. In order to facilitate the recognition of the position of the positioning charging station 3 by the robotic mower 1, a charging station outer field loop 4 is provided in the charging station 3, and the boundary line 2 is recessed in the position of the charging station 3 into the working area to form a charging station inner field loop 2a which is narrower than the charging station outer field loop 4 and passes through the charging station outer field loop 4, the charging station inner field loop 2a being used for guiding the robotic mower out of the charging station.
Referring to fig. 1, the boundary line 2 may be buried along the edge of the working area to hide the boundary line 2, and the boundary line 2 may be disposed on the ground or the ground. The boundary line 2 is recessed in the charging station 3 into the working area to form a charging station inner field loop 2a which is narrower than the charging station outer field loop 4 and passes through the charging station outer field loop 4. The boundary line 2 may be, for example, a single-core metal wire (e.g., copper wire) or a stranded wire. The guide line 7 may be embedded in the working area, for example, to conceal the boundary line 2, although the boundary line 2 may be provided on the ground surface or on the ground surface in the working area. The boundary line 2 (including the charging station inner field loop 2 a), the guide line 7 and the charging station outer field loop 4 are respectively coupled with signal generating devices arranged in the charging station 3, the signal generating devices are used for generating pulse current signals with certain frequency and inputting the pulse current signals into the boundary line 2, the guide line 7 or the charging station outer field loop 4 so as to form guide signals in the boundary line 2, the guide line 7 or the charging station outer field loop 4, and the guide signals generated by the boundary line 2, the guide line 7 and the charging station outer field loop 4 need to have special characteristics so as to distinguish the boundary line 2, the guide line 7 and the charging station outer field loop 4, for example, pulse current signals can be respectively input into the boundary line 2, the guide line 7 and the charging station outer field loop 4 in a spacing mode, so that the boundary line 2, the guide line 7 and the charging station outer field loop 4 respectively generate corresponding guide signals in different time intervals. The sensor 5 may for example employ a magnetic field sensor 5 or a current sensor 5 for detecting a guidance signal of at least one of the boundary line 2, the guide line 7 and the charging station outer field loop 4.
Referring to fig. 1 and 13, the robotic mower 1 of the present invention further includes a walking assembly 101, a working assembly 102 and a power supply assembly 103 disposed on the machine body. The walking assembly 101 includes driving wheels located at two sides of the machine body, where the driving wheels may be, for example, located in front of the machine body, that is, on one side where the front sensor 5a is located (in other embodiments, may be located at the rear of the machine body), the two driving wheels are driven by two driving motors respectively, at least one supporting wheel is further located in front of the machine body, and the robotic mower 1 is supported by the driving wheels and the supporting wheels to walk, and the supporting wheels may be, for example, universal wheels, so that the robotic mower 1 turns. The control unit 6 controls the walking direction and speed of the automatic mower 1 by controlling the rotation speeds of the two driving motors, and when the rotation speeds of the driving motors are different, the automatic mower 1 can realize turning; when the rotation speeds of the driving motors are the same, the automatic mower 1 can realize straight line walking, and when the rotation speeds of the driving motors are opposite, the automatic mower 1 realizes in-situ zero-position steering. The working assembly 102 comprises a cutting motor and a cutting head driven by the cutting motor, the working assembly 102 is approximately positioned at the center of the automatic mower 1, the rotation axis of the cutting motor is approximately perpendicular to the horizontal plane, and the height between the working assembly 102 and the ground can be adjusted by an operator so as to realize adjustment of the cutting height. The power supply assembly 103 includes a rechargeable battery and a charging system that powers the rechargeable battery. The control unit 6 receives various signals sent to the robotic mower 1 or signals collected by the sensor 5, generates corresponding control signals through the built-in processor 61, and controls the walking unit or the working unit according to the generated control signals, so that the robotic mower 1 leaves the charging station 3 along a planned route to perform mowing operation, and the robotic mower 1 can leave the charging station 3 according to a path planning method of the robotic mower or a path planned by a path planning system of the robotic mower, or can leave the charging station 3 according to a path planned by other suitable methods.
In the present invention, the guiding signal is taken as an alternating magnetic field, and the sensor 5 is taken as a magnetic induction coil for example, it is understood that other suitable guiding signal forms or different types of sensors 5 can be adopted in the path planning method and system of the automatic mower of the present invention. The signal generating means may, for example, input an alternating pulse current signal into the boundary line 2, the guide line 7 or the charging station outer field loop 4, so that an alternating magnetic field is generated around the boundary line 2, the guide line 7 or the charging station outer field loop 4; the sensor 5 may for example employ a magnetically sensitive coil. The sensing principle is as follows: according to the magnetic induction effect, when an alternating pulse current is input into the boundary line 2, the guide line 7 or the charging station external field loop 4, an alternating magnetic field can be generated around the boundary line 2, the guide line 7 or the charging station external field loop 4, and when a magnetic induction coil is positioned near the boundary line 2, the guide line 7 or the charging station external field loop 4, an induced electromotive force is generated in the alternating magnetic field by the magnetic induction coil, thereby generating an induced current in the magnetic induction coil, the induced current is sent to the control unit 6 of the automatic mower 1 after the filtering and amplifying process, and the control unit 6 can determine the position and the orientation of the automatic mower 1 relative to the boundary line 2, the guide line 7 or the charging station external field loop 4 according to the magnitude and the polarity of the induced current. The closer to the boundary line 2, the guide line 7 or the charging station external field loop 4, the greater the magnetic field strength is on the side of the boundary line 2, the guide line 7 or the charging station external field loop 4; that is, the closer the magnetic induction coil is to the boundary line 2, the guide line 7, or the charging station external field loop 4, the larger the induced current it outputs, and since the magnetic induction coil is mounted and fixed on the robotic mower 1, the distance of the robotic mower 1 from the boundary line 2, the guide line 7, or the charging station external field loop 4 can be obtained according to the magnitude of the induced current. Since the directions of the magnetic fields at both sides of the boundary line 2, the guide line 7, or the charging station external field loop 4 are opposite, the polarities of the induced currents when the magnetic induction coils are at both sides of the boundary line 2, the guide line 7, or the charging station external field loop 4 are opposite (one side is positive, and the other side is negative), it is possible to determine whether the magnetic induction coils of the robotic mower 1 cross the boundary line 2, the guide line 7, or the charging station external field loop 4 according to the polarity change of the induced currents of the magnetic induction coils. When the center of a certain magnetically induced coil is located on the boundary line 2, the guide line 7 or the charging station outer field loop 4, the induced current of the magnetically induced coil is 0, and therefore, it is possible to determine such a specific positional relationship of the magnetically induced coil with the boundary line 2, the guide line 7 or the charging station outer field loop 4. It should be noted that the use of alternating current pulse signals can avoid being affected by additional magnetic field disturbances, since the current pulse signals allow the sensor 5 of the robotic mower 1 to receive signals (alternating magnetic field signals) at different time points, at short time intervals and only during corresponding time intervals, the system can filter out other magnetic field noise signals that would interfere with the functioning of the robotic mower 1. The technical solution of the present invention will be described below by taking the sensor 5 as a magnetic induction coil and the guiding signal generated by the boundary line 2, the guiding line 7 or the charging station external field loop 4 as an alternating magnetic field as an example.
Fig. 2 shows a path planning method of the present invention for a robotic mower 1 to leave a charging station 3, the robotic mower 1 to leave the charging station 3 being implemented by sensing the guiding signals of a boundary line 2 and a charging station external field loop 4 by two magnetic induction coils (as a front sensor 5a and a rear sensor 5b, respectively) provided at the front end and the rear end of the robotic mower 1, wherein the magnetic induction coil as the front sensor 5a may be provided on the center line of the head end of the fuselage, for example, and the magnetic induction coil as the rear sensor 5 may be provided on one side of the center line of the rear end of the fuselage, for example. The path planning method of the automatic mower comprises the following steps: step S10, controlling the automatic mower 1 to exit the charging station 3 until the automatic mower exits the charging station outer field loop 4; step S20, controlling the automatic mower 1 to find a guide wire 7, wherein the guide wire 7 is laid in the working area of the automatic mower 1 in advance; step S30, controlling the robotic mower 1 to walk astride the guide wire 7 or follow the guide wire 7 at a random corridor pitch until a predetermined target distance is travelled; step S40, after walking the predetermined target distance, controlling the robotic mower 1 to start mowing operation in the working area. Fig. 4 to 10 are schematic diagrams of the position and the orientation of the robotic mower 1 in the working area in different steps of the path planning method of the robotic mower. The path planning method of the robotic lawnmower of the present invention will be described with reference to fig. 4-10.
First, step S10 is performed to control the robotic lawnmower 1 to exit the charging station 3 based on the guidance signal of the charging station external field loop 4 sensed by the rear sensor 5 b. After the automatic mower 1 is charged, the automatic mower needs to exit the charging station 3 and keep a certain distance from the charging station 3. Specifically, as shown in fig. 1, when the charging is completed, the robotic mower 1 starts to exit the charging station 3, and when the post sensor 5b senses that the polarity of the guiding signal of the charging station external field loop 4 is reversed (the polarity of the induced current of the post sensor 5b is reversed), the robotic mower 1 is indicated to exit the charging station external field loop 4.
Next, step S20 is performed to control the robotic lawnmower 1 to find the guide wire 7 according to the guide signal of the rear sensor 5b sensing the guide wire 7 to find the guide wire 7. As illustrated in fig. 3, step S20 may further include steps S21-S23. In step S21, as shown in fig. 4, the robotic mower 1 continues to travel straight for a random distance, for example, a random value between 10cm and 50cm, such as 10cm, 20cm, 30cm, 4cm and 50cm, and may be selected according to practical needs. In step S22, as shown in fig. 5a and 5b, the robotic mower 1 rotates to align the rear sensor 5b with the traveling direction, so that the traveling direction of the robotic mower 1 may be directed away from the charging station 7, and the direction of the steering may be determined according to the polarity of the sensing signal of the rear sensor 5 b. In step S23, it is also necessary to detect the guiding signal of the guide wire 7 by the rear sensor 5b (of course, the front sensor 5a may be used or both of them) and determine whether the guiding signal of the guide wire 7 is detected, and if the guiding signal of the guide wire 7 cannot be detected, the automatic mower 1 stops working; and when the guiding signal of the guide wire 7 can be detected, the subsequent steps are continued.
Next, step S30 is performed to start measuring the walk distance of the robotic lawnmower 1, and the robotic lawnmower 1 is controlled to walk over or along the guide wire 7 according to the guidance signals of the front sensor 5a and the rear sensor 5b, which are sensed by the guide wire 7, until a predetermined target distance is walked. Step S30 may be further divided into two parallel sub-steps S31 and S32, one of which may be selected to operate during actual operation.
In step S31, as shown in fig. 6a to 6e, the guide wire 7 is straddled to walk according to the guide signals sensed by the front sensor 5a and the rear sensor 5b until a predetermined target distance. Specifically, first, as shown in fig. 6a, the robotic lawnmower 1 crosses the guide wire 7 and the rear sensor 5 b; next, as shown in fig. 6b-6e, the robotic lawnmower 1 walks over the guide wire 7 until the predetermined target distance is travelled.
In order to avoid rutting during multiple passes over the guide wire 7, repeated rolling is avoided to form ruts which affect the growth of lawns or vegetation in the rut area. In step S32, as shown in fig. 9 and 10, the robotic lawnmower 1 walks along the guide wire 7 according to the guide signals sensed by the front sensor 5a and the rear sensor 5b of the guide wire 7. Specifically, as shown in fig. 9, the tail end of the robotic lawnmower 1 is first controlled to rotate by a random angle, which can be determined based on the distance between the rear sensor 5b and the guide wire 7, taking the distance between the rear sensor 5b and the guide wire 7 as the random corridor distance; next, as shown in fig. 9, the robotic lawnmower 1 samples the guiding signal of the guide wire 7 with a rear sensor 5 b; finally, as shown in fig. 10, the robotic lawnmower 1 walks along the guide wire 7 with the acquired guide signal amplitude of the guide wire 7.
Finally, as shown in fig. 7 and 8, when it is detected that the total travel distance of the robotic lawnmower 1 is the same as the predetermined target distance, which means that the robotic lawnmower 1 reaches the target location, the robotic lawnmower 1 is controlled to stop riding or following the guide wire 7; the robotic lawnmower 1 is first rotated 90 ° in either direction (although other suitable angles are possible) and then begins to perform a mowing operation within the work area defined by the boundary line 2. As an example, the robotic lawnmower 1 may perform mowing operation in the working area, for example, in a random manner, the robotic lawnmower 1 may randomly rotate through 360 ° when performing random mowing, the robotic lawnmower 1 may walk in a straight direction until reaching the boundary line 2 when the robotic lawnmower 1 randomly rotates forward in a random direction (whether the boundary line 2 is crossed may be determined by the polarity of an induced current generated by the front sensor 5a in response to a guidance signal of the boundary line 2), and the robotic lawnmower 1 may randomly inwardly rotate through an angle when the boundary line 2 is reached.
It should be noted that, the above steps of the methods are divided, for clarity of description, and may be combined into one step or split into multiple steps when implemented, so long as they contain the same logic relationship, and they are all within the protection scope of the present patent; it is within the scope of this patent to add insignificant modifications to the algorithm or flow or introduce insignificant designs, but not to alter the core design of its algorithm and flow.
As shown in fig. 11, an embodiment of the present invention further introduces a path planning system for a robotic mower for implementing the path planning method for a robotic mower. The path planning system of the robotic lawnmower includes a charging station exit module 10, a guide wire finding module 20, a riding and following module 30, and a mowing operation module 40. The charging station exit module 10 is used for controlling the robotic mower 1 to exit the charging station 4 until the charging station is outside the charging station outfield loop 4; the guide wire searching module 20 is used for controlling the robotic mower 1 to search for a guide wire 7, wherein the guide wire 7 is pre-paved in a working area of the robotic mower 1; the straddling and following module 30 is used for controlling the robotic mower 1 to walk straddling the guide wire 7 or to follow the guide wire 7 at random corridor intervals until a preset target distance is travelled; the mowing operation module 40 is configured to control the robotic mower 1 to start mowing operation in the working area after walking the predetermined target distance.
Referring to fig. 11, the guide wire searching module 20 includes a walking sub-module 21, a steering sub-module 22, and a detection and judgment sub-module 23; the walking sub-module 21 is used for controlling the automatic mower 1 to walk continuously for a random distance; the steering sub-module 22 is used for controlling the automatic mower 1 to rotate so as to align the rear sensor 5b with the travelling direction; the detection determination sub-module 23 is configured to determine whether or not the guiding signal of the guide wire 7 is detected after the rear sensor 5b is aligned with the traveling direction, and when the guiding signal of the guide wire 7 is detected, the robotic lawnmower 1 straddles the guide wire 7 or follows the guide wire 7 at a random pitch until traveling the predetermined target distance.
Referring to fig. 11, the straddle and following module 30 further includes a straddle sub-module 31 and a following sub-module 32; the straddling sub-module 31 is for controlling the robotic lawnmower 1 to cross the guide wire 7 and the rear sensor 5b, and controlling the robotic lawnmower 1 to walk straddling the guide wire 7 until the predetermined target distance is travelled; the following sub-module is used for controlling the tail end of the automatic mower 1 to rotate by a random angle, the distance between the rear sensor 5b and the guide wire 7 is used as the random corridor distance, and the automatic mower 1 follows the guide wire 7 to walk at the random corridor distance.
It should be noted that, the path planning system of the automatic mower according to the present invention is a system corresponding to the path planning method of the automatic mower, and the functional modules or the functional sub-modules in the path planning system of the automatic mower respectively correspond to corresponding steps in the path planning method of the automatic mower. The path planning system of the automatic mower can be matched with the path planning method of the automatic mower. The related technical details mentioned in the path planning method of the automatic mower of the present invention are still valid in the path planning system of the automatic mower, and are not repeated here for the sake of reducing repetition. Accordingly, the related technical details mentioned in the path planning system of the robotic mower of the present invention may also be applied in the path planning method of the robotic mower.
The above-described functional modules or functional sub-modules may be integrated in whole or in part into one physical entity or may be physically separated. And these units may all be implemented in the form of software calls through the processing element; or can be realized in hardware; the method can also be realized in a form that a part of units are called by processing elements to be software, and the other part of units are realized in a form of hardware. Furthermore, all or part of these units may be integrated together or may be implemented independently. The processing element described herein may be an integrated circuit having signal processing capabilities. In implementation, each step of the above method or each module above may be implemented by an integrated logic circuit of hardware in the processor 61 element or an instruction in the form of software.
It should be noted that, as shown in fig. 13, the path planning method of the robotic mower of the present invention may also be implemented by an on-board control unit 6 provided on the body of the robotic mower 1, where the control unit 6 includes a memory 63 and a processor 61 connected to each other, and the memory 63 stores program instructions that when executed by the processor 61 implement the path planning method of the robotic mower. When communication with the outside is required, the control unit 6 further includes a communicator 62, and the communicator 62 is connected to the processor 61.
The processor 61 may be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also digital signal processor 61 (Digital Signal Processing, DSP for short), application specific integrated circuit (Application Specific Integrated Circuit, ASIC for short), field-programmable gate array (Field-Programmable Gate Array, FPGA for short) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components; the Memory 63 may include a random access Memory (Random Access Memory, abbreviated as RAM), and may further include a Non-volatile Memory (Non-volatile Memory), such as at least one magnetic disk Memory.
It should be noted that the memory 63 in the control unit 6 may be implemented in the form of a software functional unit and may be stored in a computer readable storage medium when sold or used as a separate product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, an electronic device, or a network device, etc.) to perform all or part of the steps of the method of the various embodiments of the present invention.
The present invention may also provide a storage medium storing a program which, when executed by the processor 61, implements the path planning method of the robotic lawnmower described above; the storage media includes all forms of non-volatile memory, media, and memory devices including, for example: semiconductor memory devices such as EPROM, EEPROM, and flash memory devices; magnetic disks, such as internal hard disks or removable disks; magneto-optical disk; CD-ROM and DVD-ROM discs.
In summary, the path planning method, system and equipment for the automatic mower and the automatic mower can be used for planning the path of the automatic mower leaving the charging station, so that the charging station leaves the charging station along different paths each time, and ruts are avoided when the automatic mower leaves along a fixed path, and the growth of lawns or vegetation in a rut area is prevented from being influenced. The path planning method, the system and the equipment for the automatic mower and the automatic mower can be used for planning the path of the automatic mower leaving the charging station, so that the charging station leaves the charging station along different paths each time, the automatic mower can be prevented from repeatedly mowing along the same path, the mowing efficiency is improved, and the beautiful appearance of a lawn is improved. The path planning method, the system and the equipment for the automatic mower and the automatic mower, provided by the invention, have the advantages that the guide lines are arranged, and the guide lines can be arranged into a relatively simple shape according to the needs, so that the path planning of the automatic mower when leaving the station is simpler.
In the description herein, numerous specific details are provided, such as examples of components and/or methods, to provide a thorough understanding of embodiments of the invention. One skilled in the relevant art will recognize, however, that an embodiment of the invention can be practiced without one or more of the specific details, or with other apparatus, systems, components, methods, components, materials, parts, and so forth. In other instances, well-known structures, materials, or operations are not specifically shown or described in detail to avoid obscuring aspects of embodiments of the invention.
It will also be appreciated that one or more of the elements shown in the figures may also be implemented in a more separated or integrated manner, or even removed because of inoperability in certain circumstances or provided because it may be useful depending on the particular application.
In addition, any labeled arrows in the drawings/figures should be considered only as exemplary, and not limiting, unless otherwise specifically indicated. Furthermore, the term "or" as used herein is generally intended to mean "and/or" unless specified otherwise. Combinations of parts or steps will also be considered as being noted where terminology is foreseen as rendering the ability to separate or combine is unclear.
The above description of illustrated embodiments of the invention, including what is described in the abstract, is not intended to be exhaustive or to limit the invention to the precise forms disclosed herein. Although specific embodiments of, and examples for, the invention are described herein for illustrative purposes only, various equivalent modifications are possible within the spirit and scope of the present invention, as those skilled in the relevant art will recognize and appreciate. As noted, these modifications can be made to the present invention in light of the foregoing description of illustrated embodiments of the present invention and are to be included within the spirit and scope of the present invention.
The systems and methods have been described herein in general terms as being helpful in understanding the details of the present invention. Furthermore, various specific details have been set forth in order to provide a thorough understanding of embodiments of the invention. One skilled in the relevant art will recognize, however, that an embodiment of the invention can be practiced without one or more of the specific details, or with other apparatus, systems, assemblies, methods, components, materials, parts, and/or the like. In other instances, well-known structures, materials, and/or operations are not specifically shown or described in detail to avoid obscuring aspects of embodiments of the invention.
Thus, although the invention has been described herein with reference to particular embodiments thereof, a latitude of modification, various changes and substitutions are intended in the foregoing disclosures, and it will be appreciated that in some instances some features of the invention will be employed without a corresponding use of other features without departing from the scope and spirit of the invention as set forth. Therefore, many modifications may be made to adapt a particular situation or material to the essential scope and spirit of the present invention. It is intended that the invention not be limited to the particular terms used in following claims and/or to the particular embodiment disclosed as the best mode contemplated for carrying out this invention, but that the invention will include any and all embodiments and equivalents falling within the scope of the appended claims. Accordingly, the scope of the invention should be determined only by the following claims.
Claims (26)
1. The path planning method of the automatic mower is characterized in that the automatic mower comprises a machine body, at least one front sensor and at least one rear sensor, wherein the front sensor and the rear sensor are respectively arranged at the head end and the tail end of the machine body;
the path planning method of the automatic mower comprises the following steps:
Controlling the automatic mower to exit the charging station until the automatic mower exits the charging station outside field loop, wherein the automatic mower is determined to exit the automatic mower outside the charging station outside field loop according to the fact that the post sensor senses that the polarity of a guiding signal of the charging station outside field loop is reversed;
controlling the robotic lawnmower to find a guide wire, wherein the guide wire is pre-laid within a working area of the robotic lawnmower defined by a boundary line;
controlling the robotic lawnmower to walk astride the guide wire or to follow the guide wire at random corridor spacing until a predetermined target distance is travelled;
wherein the step of controlling the robotic lawnmower to find the guide wire comprises:
controlling the automatic mower to continue to walk for a random distance;
the robotic lawnmower is controlled to rotate such that the rear sensor is aligned with the direction of travel, thereby enabling the direction of travel of the robotic lawnmower to be directed away from the charging station.
2. The path planning method of a robotic lawnmower of claim 1, further comprising the step of determining whether a guidance signal of the guide wire is detected after the step of controlling the robotic lawnmower to rotate to align the rear sensor with the direction of travel; when the guiding signal of the guide wire is detected, the robotic lawnmower straddles the guide wire or follows the guide wire at a random pitch until walking the predetermined target distance.
3. The path planning method of a robotic lawnmower of claim 2, wherein the robotic lawnmower is controlled to cease operation when the guide signal of the guide wire is not detected.
4. The path planning method of a robotic lawnmower of claim 1, wherein the step of controlling the robotic lawnmower to walk over the guide wire or to follow the guide wire at a random pitch until a predetermined target distance is travelled comprises:
controlling the robotic lawnmower to cross the guide wire and the rear sensor;
controlling the robotic lawnmower to walk over the guide wire until the predetermined target distance is travelled.
5. The path planning method of a robotic lawnmower of claim 1, wherein the step of controlling the robotic lawnmower to walk either astride the guide wire or following the guide wire at a random corridor spacing until a predetermined target distance is travelled comprises:
controlling the tail end of the automatic mower to rotate by a random angle, wherein the distance between the rear sensor and the guide wire is used as the distance;
controlling the robotic lawnmower to walk along the guide wire at the random corridor spacing.
6. The path planning method of a robotic lawnmower of claim 5, wherein the step of controlling the robotic lawnmower to follow the guide wire with the random corridor spacing comprises:
controlling the automatic mower to sample the guiding signal of the guide wire by using the rear sensor;
controlling the robotic lawnmower to follow the guide wire with the collected guide signal amplitude of the guide wire.
7. The path planning method of a robotic lawnmower of claim 1, wherein the front sensor comprises a magnetically sensitive coil and the rear sensor comprises a magnetically sensitive coil.
8. The path planning method of a robotic lawnmower of claim 1, further comprising controlling the robotic lawnmower to begin mowing operations within the work area after walking the predetermined target distance.
9. The path planning method of a robotic lawnmower of claim 8, wherein the robotic lawnmower begins a random mowing operation within the work area.
10. The path planning method of a robotic lawnmower of claim 8, wherein the step of controlling the robotic lawnmower to begin mowing operations within the work area after walking the predetermined target distance comprises:
After the preset target distance is travelled, the automatic mower is controlled to rotate 90 degrees in any direction, and then the automatic mower is controlled to start random mowing operation in the working area.
11. The path planning method of a robotic lawnmower of claim 1, wherein the random distance is between 10cm and 50 cm.
12. The path planning method of a robotic lawnmower of any one of claims 1-11, wherein the front sensor is disposed on a centerline of a head end of the fuselage and the rear sensor is disposed on a side of a centerline of a tail end of the fuselage.
13. The path planning system of the automatic mower is characterized in that the automatic mower comprises a machine body, at least one front sensor and at least one rear sensor, wherein the front sensor and the rear sensor are respectively arranged at the head end and the tail end of the machine body;
the path planning system of the automatic mower comprises:
a charging station exit module for controlling the robotic mower to exit a charging station out of a charging station outfield loop, wherein the robotic mower is determined to exit out of the charging station outfield loop according to the post sensor sensing a reversal in polarity of a guidance signal of the charging station outfield loop;
A guide wire searching module for controlling the robotic mower to search a guide wire, wherein the guide wire is pre-laid in a working area of the robotic mower defined by a boundary line;
a riding and following module for controlling the robotic lawnmower to walk either straddling the guide wire or following the guide wire at a random corridor spacing until a predetermined target distance is travelled;
wherein, the guide wire searching module comprises:
the walking sub-module is used for controlling the automatic mower to continue to walk for a random distance;
and the steering sub-module is used for controlling the automatic mower to rotate so as to enable the rear sensor to be aligned with the travelling direction, and therefore the travelling direction of the automatic mower can be enabled to be far away from the charging station.
14. The path planning system of a robotic lawnmower of claim 13, wherein the guide wire finding module further comprises a detection decision sub-module for deciding whether a guidance signal of the guide wire is detected when the rear sensor is aligned with the direction of travel; when the guiding signal of the guide wire is detected, the robotic lawnmower straddles the guide wire or follows the guide wire at a random pitch until walking the predetermined target distance.
15. The path planning system of a robotic lawnmower of claim 13, wherein the straddle and follow module comprises a straddle sub-module for controlling the robotic lawnmower to cross the guide wire and the rear sensor, and for controlling the robotic lawnmower to ride the guide wire until the predetermined target distance is travelled.
16. The robotic mower path planning system of claim 13, wherein the ride-on and follow module includes a follow sub-module for controlling the robotic mower tail to turn a random angle, the robotic mower following the guide wire at the random corridor spacing with the rear sensor distance from the guide wire as the spacing.
17. The path planning system of a robotic lawnmower of claim 13, further comprising a mowing operation module configured to control the robotic lawnmower to begin mowing operations within the work area defined by the boundary line after traveling the predetermined target distance.
18. A robotic lawnmower, the robotic lawnmower comprising:
A body;
at least one front sensor arranged at the front end of the machine body;
at least one rear sensor arranged at the tail end of the machine body;
the control unit is arranged on the machine body, and comprises a processor and a memory which are mutually coupled, wherein the memory stores program instructions, and when the program instructions stored in the memory are executed by the processor, the path planning method of the automatic mower is realized.
19. A storage medium comprising a program which, when run on a computer, causes the computer to perform the path planning method of the robotic lawnmower of any one of claims 1-11.
20. A path planning apparatus of a robotic mower, the path planning apparatus of a robotic mower comprising:
the robotic lawnmower of claim 18, comprising a body, a control unit disposed on the body, and at least one front sensor and at least one rear sensor disposed at a head end and a tail end of the body, respectively;
at least one guide wire pre-laid in the working area of the robotic mower;
A boundary line pre-laid on an edge of the working area of the robotic mower;
the charging station is positioned on the boundary line, and a charging station outfield loop is arranged in the charging station;
the sensor is for sensing a guidance signal of at least one of the boundary line, the charging station outer field loop, and the combination of guide lines; the control unit is used for controlling the automatic mower to automatically leave the charging station according to the guiding signal.
21. The path planning apparatus of a robotic lawnmower of claim 20, wherein the boundary line is fixed to the ground or buried below the ground along an edge of the work area.
22. The path planning apparatus of a robotic lawnmower of claim 20, wherein the guide wire is fixed to the ground or buried beneath the ground.
23. The path planning apparatus of a robotic lawnmower of claim 20, wherein the guidance signal comprises an alternating magnetic field; the front sensor includes a magnetically sensitive coil and the rear sensor includes a magnetically sensitive coil.
24. The path planning apparatus of a robotic lawnmower of claim 20, wherein the path planning apparatus of a robotic lawnmower comprises a plurality of the guide wires.
25. The path planning apparatus of a robotic lawnmower of claim 20, further comprising signal generating means connected to the guide wire, the boundary line, and the charging station outfield loop, respectively.
26. The path planning apparatus of a robotic lawnmower of any one of claims 20-25, wherein the front sensor is disposed on a centerline of a head end of the fuselage and the rear sensor is disposed on a side of a centerline of a tail end of the fuselage.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011585147.3A CN112740889B (en) | 2020-12-25 | 2020-12-25 | Path planning method, system and equipment for automatic mower and automatic mower |
| PCT/CN2021/098045 WO2021244593A1 (en) | 2020-06-03 | 2021-06-03 | Automatic lawn mower and path-planning method, system and device thereof |
| EP21816705.4A EP4147555A4 (en) | 2020-06-03 | 2021-06-03 | Automatic lawn mower and path-planning method, system and device thereof |
| US17/989,713 US20230085538A1 (en) | 2020-06-03 | 2022-11-18 | Robotic mower and method, system and device of path planning thereof |
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| CN202011585147.3A CN112740889B (en) | 2020-12-25 | 2020-12-25 | Path planning method, system and equipment for automatic mower and automatic mower |
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| WO2021244593A1 (en) * | 2020-06-03 | 2021-12-09 | 格力博(江苏)股份有限公司 | Automatic lawn mower and path-planning method, system and device thereof |
| WO2021244594A1 (en) * | 2020-06-03 | 2021-12-09 | 格力博(江苏)股份有限公司 | Automatic lawn mower and path planning method, system, and device thereof |
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