CN102662400A - Path planning algorithm of mowing robot - Google Patents
Path planning algorithm of mowing robot Download PDFInfo
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- CN102662400A CN102662400A CN2012101429246A CN201210142924A CN102662400A CN 102662400 A CN102662400 A CN 102662400A CN 2012101429246 A CN2012101429246 A CN 2012101429246A CN 201210142924 A CN201210142924 A CN 201210142924A CN 102662400 A CN102662400 A CN 102662400A
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- mowing
- lawn
- grass
- cradle
- removing robot
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Abstract
The invention discloses a path planning algorithm of a mowing robot. The mowing robot comprises an electronic control device, a camera system and a GPS (Global Position System) positioning module, wherein the electronic control device is used for setting a processor, the processor is used for setting the path planning algorithm, and the path planning algorithm comprises the following steps of: 1, obtaining the position data of a charging seat, starting off by starting a mowing motor, searching a lawn natural boundary leftwards through the camera system, then walking forwards along the lawn natural boundary, and collecting forward images in real time; 2, obtaining the lawn natural boundary and positioning piles from the images by the processor, and walking forwards along a non-natural boundary formed by the natural boundary and the positioning piles until walking back to the position of the charging seat; 3, starting to search a mowing boundary by the mowing robot, starting to work along the mowing boundary, working towards the center of a lawn circle by circle; and 4, judging that the mowing task is finished when the mowing robot cannot find mowing boundary, shutting down the mowing motor, and walking back to the position of the charging seat.
Description
Technical field
The present invention relates to a kind of path planning algorithm of grass-removing robot, belong to the intelligent domestic technical field of electric appliances.
Background technology
At present, artificial mode is generally used in the maintenance on lawn.This mode, intensity of workers are very big, particularly bad weather the time, need stand to expose to the weather, but also must stand irritating noise.Therefore, people bring into use automatic grass-removing robot, replace the people to accomplish warm work.Present grass-removing robot also is in the primary stage of development, has several drawbacks:
1, limits the working range of grass-removing robot through laying ground magnet-wire, not only need consume a large amount of copper cash, also need construct;
2, do not have path planning, adopt the mode of random walk, inefficiency;
3, battery capacity is big, and the lawn area that can work is little.
Summary of the invention
[0003] the objective of the invention is in order to overcome weak point of the prior art; GPS locating module and camera chain are set increases the degree of intelligence of grass-removing robot; Can discern work border and operating path; Improve mowing efficient and return charge path efficient, realize full automatic intelligence system.
The technical solution adopted for the present invention to solve the technical problems is:
The path planning algorithm of grass-removing robot, described grass-removing robot comprises the chassis, is installed in the casing on the described chassis; Drive system, mowing motor, cutter and motor cutter connector are used to place the battery compartment of rechargeable battery; And electronic-controlled installation, described casing front end is provided with collision detecting device 5 and detection of obstacles sensor, and described drive system is provided with two driving wheels; The reducer casing and the drive motor that are connected with described driving wheel; And a passive universal wheel, described electronic-controlled installation connects described drive motor, mowing motor, collision detecting device and detection of obstacles sensor, also is included as the cradle of described grass-removing robot charging; Described cradle is arranged on the natural boundary of lawn; Described lawn natural boundary is the interface portion that lawn and periphery mix earth, house sidings, hedge etc., also comprises the camera chain and the GPS locating module that are connected with described electronic-controlled installation, and described camera chain is arranged on the described casing; Described GPS locating module provides the global location data; Also comprise the nose pile that is arranged on the non-natural boundary in lawn, the non-natural boundary in described lawn, the just artificial border that is provided with in the middle of the lawn; Central controlled processor is carried out in described electronic-controlled installation setting, and described processor is provided with path planning algorithm, and described path planning algorithm may further comprise the steps:
(1) obtains the position data (X that the position obtains cradle at described cradle
s, Y
s), open described mowing motor then and set out, and seek described lawn natural boundary to the right through described camera chain, natural boundary is advanced along described lawn then, and gathers the place ahead image in real time;
(2) described processor obtains described lawn natural boundary and described nose pile in image, if get access to described nose pile, then discerns after the orientation and advances towards described nose pile, advances otherwise continue along described lawn natural boundary; Simultaneously, in the process of advancing, described processor constantly obtains the current location data (X of described grass-removing robot from described GPS locating module
r, Y
r), as the distance L=[(X of the described cradle 13 of distance
R-X
s)
2+ (Y
R-Y
s)
2]
1/2During less than preset threshold value S, described processor begins to seek described cradle, gets back to described cradle position, and continues execution in step (3), otherwise continues step (2);
(3) described grass-removing robot begins to seek the mowing border, begins after finding to start working along described mowing border, and one encloses to the lawn central task, and described mowing border is not cutting part and cutting interface portion partly of lawn;
(4) after described grass-removing robot can't find described mowing border, judgement mowing task is accomplished, and closes described mowing motor, and the record current location is end point (X
o, Y
o), return cradle then: to end point (X
o, Y
o) and described cradle position (X
s, Y
s) line direction arctan [(Y
S-Y
o)/(X
S-X
o)] advance, and the distance L=[(X of the real-time described cradle of computed range
R-X
s)
2+ (Y
R-Y
s)
2]
1/2, judge during when described distance L and to get back to the cradle position less than preset threshold value S, finish the mowing task.
Described cradle in the left side, right side and front be provided with characteristic pattern, be used for described grass-removing robot and discern.
The surface of described nose pile is provided with characteristic striped or image, can be by described grass-removing robot identification.
In step (3), the relative position on described grass-removing robot and described mowing border is set to the work circumference of described cutter and described mowing border is tangent or it is crossing to divide.
The good effect of embodiment of the present invention is: 1, work voluntarily, do not need human intervention; 2, mowing efficient is high, and repetition rate is low; 3, charging voluntarily, return path efficient is high.
Description of drawings
Fig. 1 is the structural representation of grass-removing robot;
Fig. 2 is the control principle block diagram of grass-removing robot;
Fig. 3 is the path planning synoptic diagram.
Embodiment
Combine accompanying drawing that the present invention is described further at present:
With reference to Fig. 1-3, grass-removing robot 14 comprises chassis 12, is installed in the casing on the described chassis 12; Drive system; Mowing motor 4, cutter 11 and motor cutter connector are used to place the battery compartment of rechargeable battery 1 and electronic-controlled installation 2; Described casing front end is provided with collision detecting device 5 and detection of obstacles sensor 6; Described drive system is provided with two driving wheels 9, the reducer casing and the drive motor 3 that are connected with described driving wheel 9, and a passive universal wheel 10.Described electronic-controlled installation 2 connects described drive motor 3, mowing motor 4, collision detecting device 5 and detection of obstacles sensor 6.Under the control of described electronic-controlled installation 2, described grass-removing robot 14 can walking freely, and opens described cutter 11 and just can carry out the mowing task.
Described grass-removing robot 14 adopts described rechargeable battery 1 power supply, therefore can long in tow electric wire.Also comprise cradle 13, described cradle 13 is arranged on the lawn natural boundary 16, and described lawn natural boundary 16 is the interface portion that lawn and periphery mix earth, house sidings, hedge etc.When the electric weight of described rechargeable battery 1 exhausted, described grass-removing robot 14 was got back to the position of described cradle 13, was described rechargeable battery 1 charging.Therefore, under unmanned situation of intervening, described grass-removing robot 14 can continuous firing.Simultaneously, described cradle 13 in the left side, right side and front be provided with characteristic pattern, be used for described grass-removing robot 14 and discern.
Also comprise the camera chain 7 and GPS locating module 8 that are connected with described electronic-controlled installation 2; Described camera chain 7 is arranged on the described casing; Can take the scene in described grass-removing robot 14 the place aheads, described GPS locating module 8 provides the global location data, also comprises the nose pile 15 that is arranged on the non-natural boundary 17 in lawn; The surface of described nose pile 15 is provided with characteristic striped or image, can be by described grass-removing robot 14 identifications.The non-natural boundary 17 in described lawn, the just artificial border that is provided with in the middle of the lawn.
Described electronic-controlled installation 2 is provided with and carries out central controlled processor, and described processor is provided with path planning algorithm, and described path planning algorithm may further comprise the steps:
(1) described grass-removing robot 14 obtains the position data (X of cradle 13 in the position of described cradle 13
s, Y
s), open described mowing motor 4 then and set out, and seek described lawn natural boundary 16 to the right through described camera chain 7, natural boundary 16 is advanced along described lawn then, and gathers the place ahead image in real time;
Because described cradle 13 is arranged on the lawn natural boundary 16, after described grass-removing robot 14 starts at first along described lawn natural boundary 16 advance.
(2) described processor obtains described lawn natural boundary 16 and described nose pile 15 in image; If get access to described nose pile 15; Then discern after the orientation and advance, advance otherwise continue along described lawn natural boundary 16 towards described nose pile 15; Simultaneously, in the process of advancing, described processor constantly obtains the current location data (X of described grass-removing robot 14 from described GPS locating module 8
r, Y
r), as the distance L=[(X of the described cradle 13 of distance
R-X
s)
2+ (Y
R-Y
s)
2]
1/2During less than preset threshold value S, described processor begins to seek described cradle 13, gets back to described cradle 13 positions, and continues execution in step (3), otherwise continues step (2);
In step (2), natural boundary 16 and the non-natural boundary 17 in lawn have formed the mowing vestige of a sealing around lawn work one circle to described grass-removing robot 14 along described lawn, and the reference of path planning is provided for follow-up work.
(3) described grass-removing robot 14 begins to seek the mowing border, begins after finding to start working along described mowing border, and one encloses to the lawn central task, and described mowing border is not cutting part and cutting interface portion partly of lawn;
In step (3), the relative position on described grass-removing robot 14 and described mowing border is set to the work circumference of described cutter 11 and described mowing border is tangent or it is crossing to divide.Therefore, described grass-removing robot 14 can not repeat work on the lawn of having cut, practiced thrift great amount of time and electric power, has improved work efficiency greatly.
(4) after described grass-removing robot 14 can't find described mowing border, judgement mowing task is accomplished, and closes described mowing motor 4, and the record current location is end point (X
o, Y
o), return cradle 13 then: to end point (X
o, Y
o) with the position (X of described cradle 13
s, Y
s) line direction arctan [(Y
S-Y
o)/(X
S-X
o)] advance, and the distance L=[(X of the real-time described cradle 13 of computed range
R-X
s)
2+ (Y
R-Y
s)
2]
1/2, judge during when described distance L and to get back to cradle 13 positions less than preset threshold value S, finish the mowing task.
In sum; The present invention is provided with the information acquisition ability and the self poisoning ability of camera chain 7 and GPS locating module 8 increase grass-removing robots 14 on grass-removing robot 14; Can discern work border, operating path and obtain self positional information; Path planning algorithm among the present invention has improved mowing efficient and has returned charge path efficient, realizes full automatic intelligence system.
Claims (4)
1. the path planning algorithm of grass-removing robot, described grass-removing robot comprises the chassis, is installed in the casing on the described chassis; Drive system, mowing motor, cutter and motor cutter connector are used to place the battery compartment of rechargeable battery; And electronic-controlled installation, described casing front end is provided with collision detecting device and detection of obstacles sensor, and described drive system is provided with two driving wheels; The reducer casing and the drive motor that are connected with described driving wheel; And a passive universal wheel, described electronic-controlled installation connects described drive motor, mowing motor, collision detecting device and detection of obstacles sensor, also is included as the cradle of described grass-removing robot charging; Described cradle is arranged on the natural boundary of lawn; Described lawn natural boundary is the interface portion that lawn and periphery mix earth, house sidings, hedge etc., also comprises the camera chain and the GPS locating module that are connected with described electronic-controlled installation, and described camera chain is arranged on the described casing; Described GPS locating module provides the global location data; It is characterized in that: also comprise the nose pile that is arranged on the non-natural boundary in lawn, the non-natural boundary in described lawn, the just artificial border that is provided with in the middle of the lawn; Central controlled processor is carried out in described electronic-controlled installation setting, and described processor is provided with path planning algorithm, and described path planning algorithm may further comprise the steps:
(1) obtains the position data (X of cradle in the position of described cradle
s, Y
s), open described mowing motor then and set out, and seek described lawn natural boundary to the right through described camera chain, natural boundary is advanced along described lawn then, and gathers the place ahead image in real time;
(2) described processor obtains described lawn natural boundary and described nose pile in image, if get access to described nose pile, then discerns after the orientation and advances towards described nose pile, advances otherwise continue along described lawn natural boundary; Simultaneously, in the process of advancing, described processor constantly obtains the locator data (X of the current location of described grass-removing robot from described GPS locating module
r, Y
r), as the distance L=[(X of the described cradle of distance
R-X
s)
2+ (Y
R-Y
s)
2]
1/2During less than preset threshold value S, described processor begins to seek described cradle, gets back to described cradle position, and continues execution in step (3), otherwise continues step (2);
(3) described grass-removing robot begins to seek the mowing border, begins after finding to start working along described mowing border, and one encloses to the lawn central task, and described mowing border is not cutting part and cutting interface portion partly of lawn;
(4) after described grass-removing robot can't find described mowing border, judgement mowing task is accomplished, and closes described mowing motor, and the record current location is end point (X
o, Y
o), return cradle then: to end point (X
o, Y
o) and described cradle position (X
s, Y
s) line direction arctan [(Y
S-Y
o)/(X
S-X
o)] advance, and the distance L=[(X of the real-time described cradle of computed range
R-X
s)
2+ (Y
R-Y
s)
2]
1/2, judge during when described distance L and to get back to the cradle position less than preset threshold value S, finish the mowing task.
2. the path planning algorithm of grass-removing robot as claimed in claim 1 is characterized in that: described cradle in the left side, right side and front be provided with characteristic pattern, be used for described grass-removing robot and discern.
3. the path planning algorithm of grass-removing robot as claimed in claim 1, it is characterized in that: the surface of described nose pile is provided with characteristic striped or image, can be by described grass-removing robot identification.
4. the path planning algorithm of grass-removing robot as claimed in claim 1; It is characterized in that: in step (3), the relative position on described grass-removing robot and described mowing border is set to the work circumference of described cutter and described mowing border is tangent or it is crossing to divide.
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|---|---|---|---|
| CN2012101429246A CN102662400A (en) | 2012-05-10 | 2012-05-10 | Path planning algorithm of mowing robot |
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|---|---|---|---|
| CN2012101429246A CN102662400A (en) | 2012-05-10 | 2012-05-10 | Path planning algorithm of mowing robot |
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| CN102662400A true CN102662400A (en) | 2012-09-12 |
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ID=46771905
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| CN2012101429246A Pending CN102662400A (en) | 2012-05-10 | 2012-05-10 | Path planning algorithm of mowing robot |
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