CN102902272A - Positioning control method for mowing robot and system using method - Google Patents
Positioning control method for mowing robot and system using method Download PDFInfo
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- CN102902272A CN102902272A CN2012104095410A CN201210409541A CN102902272A CN 102902272 A CN102902272 A CN 102902272A CN 2012104095410 A CN2012104095410 A CN 2012104095410A CN 201210409541 A CN201210409541 A CN 201210409541A CN 102902272 A CN102902272 A CN 102902272A
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Abstract
The invention discloses a positioning control method for a mowing robot and a system using the method. The system comprises an electronic fence line (1), the mowing robot (2), a sensor (3), a signal generation part (4), a sensed signal processing part and a circuit control part. The method comprises the following steps of: step (1): starting up; step (2): collecting a position signal, judging the position where the mowing robot is located and performing the step (4) in a working area, otherwise, performing the step (3); step (3): directly stopping the mowing robot; step (4): enabling the mowing robot to work normally, collecting the position signal, and continuously and repeatedly performing the step (4) in the working area, otherwise, performing the step (5); and step (5): calculating the distance of the mowing robot away from the working area, if the distance is larger than a distance set value, stopping the mowing robot, otherwise, performing return operation, controlling the mowing robot to return to the working area, and continuously performing the step (4). According to the method and the system, disclosed by the invention, the position where the mowing robot is located can be correctly identified, and the mowing robot can be effectively controlled to work safety and reliability in the area of an electronic fence-sealed ring.
Description
Technical field
The present invention relates to a kind of control method of grass-removing robot and the system of use the method, the system of especially a kind of grass-removing robot position control method and use the method.
Background technology
The work of inside and outside fence line closed level, all freely starting shooting of present grass-removing robot; even start work in the fence line closed level; the fence inefficacy is walked out fence line closed level outward automatically or human factor is released outside the fence line closed level but work as; grass-removing robot can also operate; can't realize automatic safe protective shutdown measure; may occur so out of controlly, be difficult to avoid thrusting into, injure the fortuitous events such as people and animals and robot self damage and occur.
Summary of the invention
Technical matters solved by the invention provides a kind of grass-removing robot position control method and use the system of the method inside and outside fence line closed level, avoid grass-removing robot in the start of inoperative zone, and leave disposal route behind the perform region, prevent that fortuitous event from occuring.
The present invention is for solving the problems of the technologies described above, and the technical scheme that adopts provides a kind of grass-removing robot position control method, comprising: step 1: start; Step 2: the collection position signal, judge the grass-removing robot position, both judged whether grass-removing robot is positioned at the perform region, in the perform region, carry out step 4, in the perform region, do not carry out step 3; Step 3: grass-removing robot is directly shut down; Step 4: the grass-removing robot normal operation, the collection position signal is judged the grass-removing robot position, has both judged whether grass-removing robot is positioned at the perform region, continues to repeat step 4 in the perform region, does not carry out step 5 in the perform region; Step 5: calculate grass-removing robot and depart from the distance of perform region, deviation distance is greater than the distance setting value as described, and grass-removing robot is shut down, otherwise, carry out return control grass-removing robot and return the perform region, and continue step 4.
Optionally, the signal that gathers in described step 2, the step 4 is sinusoidal electromagnetic wave.
Optionally, judge the grass-removing robot position by described sinusoidal electromagnetic wave signal, when the electromagnetic wave that collects makes progress for first wave mode, second wave mode is downward, and be alternate successively, judges that then grass-removing robot is positioned within the perform region, it is downward for first wave mode to collect on the contrary electromagnetic wave, second ripple makes progress, and be alternate successively, judges that then grass-removing robot is positioned at outside the perform region.
Optionally, be 0 ~ 2m apart from setting value described in the step 5.
Optionally, be 1.5m apart from setting value described in the step 5.
The present invention also provides a kind of grass-removing robot positioning control system, comprising: grass-removing robot; The fence line surrounds a closed-loop during use, in order to limit the working range of described grass-removing robot; Signal generation connects described fence line, and signal is outputed on the described fence line; Sensor is located on the described grass-removing robot, receives the signal of exporting on the described fence line; The transducing signal handling part connects described sensor, processes the signal that described sensor receives, and produces control signal; The circuit control part, receive the control signal that described transducing signal handling part produces, controlling described grass-removing robot according to described control signal operates, it is characterized in that described transducing signal handling part comprises localization process section and apart from handling part, described localization process section according to described sensor signal judge described grass-removing robot within the described fence line or outside, provide position signalling, describedly obtain the range information of described grass-removing robot and described fence line apart from handling part according to its signal operation of described sensing, described circuit control part is controlled described grass-removing robot according to aforementioned grass-removing robot position control method.
Optionally, described signal generation is the alternating current output unit.
Optionally, described alternating current output unit is the sinusoidal wave generating means with current-limiting function.
Optionally, described fence line is the rubber-insulated wire of metal-cored wire diameter more than 0.5mm.
Optionally, described sensor is the magnetic core inductance.
The present invention makes it compared with prior art owing to adopted technique scheme, has following advantage and good effect:
1) described current output device is the alternating current output unit, and described sensor is the magnetic core inductance, and this apparatus structure is simple, and consumptive material is economized;
2) according to the characteristic of first electromagnetic wave opposite direction inside and outside the fence line closed level, identification grass-removing robot position is implemented convenient and reliable;
3) first electromagnetic wave direction signal that gathers according to described sensor; through the signal conditioning package identifying processing; can not initially the start shooting work of grass-removing robot beyond fence line closed level; grass-removing robot is in the work of normally initially starting shooting in the fence line closed level; and lasting identification grass-removing robot external position situation in the fence line; when grass-removing robot because of artificial or unexpected factor; walking out fence line closed level external enwergy controls it and automatically returns to work in the fence line closed level; in the time of beyond grass-removing robot is walked out 1.5M zone, the fence line closed level outside; energy instruction grass-removing robot hard stop has really been realized the omnidistance intelligent and safe control to grass-removing robot.
Description of drawings
Fig. 1 is mowing robot control system synoptic diagram of the present invention
Fig. 2 is grass-removing robot position control method of the present invention schematic flow sheet in an embodiment
Embodiment
Below in conjunction with the drawings and specific embodiments the grass-removing robot position control method of the present invention's proposition and the system of use the method are described in further detail.
Please refer to Fig. 1, the synoptic diagram of the grass-removing robot positioning control system that Fig. 1 provides for the embodiment of the invention, as shown in Figure 1, the grass-removing robot positioning control system that provides of the embodiment of the invention comprises: fence line 1, grass-removing robot 2, sensor 3, signal generation 4, transducing signal handling part and circuit control part.
Fence line 1 is the rubber-insulated wire of metal-cored wire diameter more than 0.5MM, the two ends of line connect signal generation 4, form a closed-loop, are the perform region of grass-removing robot 2 in the ring, signal generation 4 is the alternating current output unit, produces electromagnetic signal to 1 power supply of fence line.Signal generation 4 is for having the sinusoidal wave generating means of current-limiting function in the present embodiment, signal generation 4 leads to alternating current at fence line 1, produce sinusoidal wave electromagnetic wave signal, this signal has the characteristic at first inside and outside electromagnetic wave waveform opposite direction of fence line 1 closed level.
Sensor 3 is located on the described grass-removing robot 2, receives the signal of output on the described fence line 1, and sensor 3 is the magnetic core inductance in the present embodiment, can respond to the sinusoidal wave electromagnetic wave signal that fence line 1 sends.
The transducing signal handling part connects described sensor 3, processes the signal that described sensor 3 receives, and produces control signal, and described transducing signal handling part comprises localization process section and apart from handling part.
Described localization process section according to the described signal that receives from sensor 3 judge described grass-removing robot 2 within the described fence line 1 or outside, provide position signalling.Particularly be exactly in fence line 1 closed level, to collect the electromagnetic wave wave mode by sensor 3 and judge that grass-removing robot 2 is whether within the perform region.Sensor 3 collects electromagnetic wave and makes progress for first wave mode in fence line 1 closed level, second wave mode is downward, alternate successively, it is downward for first wave mode that sensor 3 collects electromagnetic wave in the fence line 1 closed level outside, second ripple makes progress, alternate successively, like this, the different wave modes that sensor 3 in the grass-removing robot 2 will collect are sent to the transducing signal handling part, and described transducing signal handling part is judged grass-removing robot 2 residing positions according to the 1st wave line of propagation.
The described range information that obtains described grass-removing robot 2 and described fence line 1 apart from handling part according to described sensor signal computing, its mainly be collect signal by sensor 3 power by conversion, calculate the actual range of grass-removing robot 2 and fence line 1.
The circuit control part, receive the control signal that described transducing signal handling part produces, comprise the whether position signalling in fence line 1 of grass-removing robot 2, and the range information of grass-removing robot 2 and described fence line 1, control described grass-removing robot according to these control signals and operate.Under the control of circuit control part, grass-removing robot 2 carries out work along operating path 5 in the perform region.
Concrete control method illustrates in conjunction with Fig. 2, may further comprise the steps:
Step 1, start.
Step 2: sensor 3 gathers electromagnetic wave signals, identifies grass-removing robot 2 through localization process section and is positioned at beyond fence line 1 closed level or fence line 1 closed level; Alternating current output unit 4 leads to alternating current at fence line 1, produce sinusoidal wave electromagnetic wave, sensor 3 collects electromagnetic wave and makes progress for first wave mode in fence line 1 closed level, second wave mode is downward, alternate successively, it is downward for first wave mode that sensor 3 collects electromagnetic wave in the fence line 1 closed level outside, second ripple makes progress, alternate successively, like this, the different wave modes that the sensors 3 in the grass-removing robot 2 will collect are sent to localization process section, and grass-removing robot 2 residing positions are judged according to the 1st wave line of propagation by described localization process section, be sent to the circuit control part, control grass-removing robot 2 duties.Downward when sensor 3 first waveform that collects, grass-removing robot 2 is described beyond fence line 1 closed level, the circuit control part makes grass-removing robot 2 transfer step 3 to; First waveform makes progress when sensor 3 collects, and grass-removing robot 2 is described in fence line 1 closed level, and the circuit control part makes grass-removing robot 2 transfer step 4 to.
Step 3: grass-removing robot 2 is directly shut down.
Step 4: grass-removing robot 2 normal initial starts and path planning are mowed; Simultaneously; sensor 3 continuous collecting electromagnetic wave informations; be sent to localization process section identification and judge, by the circuit control part according to grass-removing robot 2 whether the position signalling fence line 1 in control grass-removing robot 2 and work or auto stops, protect safety.To collect first waveform of electromagnetic wave downward when sensor 3, judges that through the identification of localization process section grass-removing robot 2 goes to fence line 1 closed level exterior lateral area, carries out step 5, otherwise continue step 4.
Step 5: the grass-removing robot 2 that circuit control part receiving range handling part transmits and the range information of described fence line 1, control described grass-removing robot 2 according to these control signals and operate.When if grass-removing robot 2 is walked out beyond fence line 1 outside 1.5M scope, circuit control part instruction grass-removing robot 2 hard stops; When if grass-removing robot 2 is walked out the outer 1.5M scope of fence line 1 closed level with inner region, circuit control part instruction grass-removing robot 2 is automatically homeward in the fence line closed level on lawn, continues path planning work.The distance of 1.5M described in this step is a preferred value in the present embodiment, can certainly be made as 0 to this distance, and grass-removing robot 2 one leaves fence line 1 closed level and will shut down so.Perhaps be made as 2M or other specific values.
Above description of the preferred embodiment of the present invention is in order to illustrate and to describe, be not to want limit of the present invention or be confined to disclosed concrete form, obviously, may make many modifications and variations, these modifications and variations may be obvious to those skilled in the art, should be included within the scope of the present invention by the appended claims definition.
Claims (10)
1. grass-removing robot position control method comprises:
Step 1: start;
Step 2: the collection position signal, judge the grass-removing robot position, both judged whether grass-removing robot is positioned at the perform region, in the perform region, carry out step 4, in the perform region, do not carry out step 3;
Step 3: grass-removing robot is directly shut down;
Step 4: the grass-removing robot normal operation, the collection position signal is judged the grass-removing robot position, has both judged whether grass-removing robot is positioned at the perform region, continues to repeat step 4 in the perform region, does not carry out step 5 in the perform region;
Step 5: calculate grass-removing robot and depart from the distance of perform region, deviation distance is greater than the distance setting value as described, and grass-removing robot is shut down, otherwise, carry out return control grass-removing robot and return the perform region, and continue step 4.
2. grass-removing robot position control method according to claim 1 is characterized in that the signal that gathers in described step 2, the step 4 is sinusoidal electromagnetic wave.
3. grass-removing robot position control method according to claim 2, it is characterized in that judging the grass-removing robot position by described sinusoidal electromagnetic wave signal, when the electromagnetic wave that collects makes progress for first wave mode, second wave mode is downward, and be alternate successively, judges that then grass-removing robot is positioned within the perform region, it is downward for first wave mode to collect on the contrary electromagnetic wave, second ripple makes progress, and be alternate successively, judges that then grass-removing robot is positioned at outside the perform region.
4. according to claim 1,2,3 described grass-removing robot position control methods, it is characterized in that being 0 ~ 2m apart from setting value described in the step 5.
5. grass-removing robot position control method according to claim 4 is characterized in that described in the step 5 being 1.5m apart from setting value.
6. grass-removing robot positioning control system comprises:
Grass-removing robot;
The fence line is in order to limit the working range of described grass-removing robot;
Signal generation connects described fence line, and signal is outputed on the described fence line;
Sensor is located on the described grass-removing robot, receives the signal of exporting on the described fence line;
The transducing signal handling part connects described sensor, processes the signal that described sensor receives, and produces control signal;
The circuit control part receives the control signal that described transducing signal handling part produces, and control described grass-removing robot according to described control signal and operate,
It is characterized in that
Described transducing signal is processed and is comprised localization process section and apart from handling part, described localization process section according to described sensor signal judge described grass-removing robot within the described fence line or outside, provide position signalling, describedly obtain the range information of described grass-removing robot and described fence line apart from handling part according to its signal operation of described sensing, described circuit control part is controlled described grass-removing robot to 5 arbitrary described methods according to claim 1.
7. grass-removing robot positioning control system according to claim 6 is characterized in that described signal generation is the alternating current output unit.
8. grass-removing robot positioning control system according to claim 7 is characterized in that described alternating current output unit is the sinusoidal wave generating means with current-limiting function.
9. grass-removing robot positioning control system according to claim 6 is characterized in that described fence line is the rubber-insulated wire of metal-cored wire diameter more than 0.5mm.
10. according to claim 6,7,8 or 9 described grass-removing robot positioning control systems, it is characterized in that described sensor is the magnetic core inductance.
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| CN2012104095410A CN102902272A (en) | 2012-10-24 | 2012-10-24 | Positioning control method for mowing robot and system using method |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103839069A (en) * | 2014-03-11 | 2014-06-04 | 浙江理工大学 | Lawn miss cutting recognition method based on image analysis |
| CN105094126A (en) * | 2014-05-22 | 2015-11-25 | 苏州宝时得电动工具有限公司 | Outdoor self-walking robot system |
| CN105988472A (en) * | 2015-02-16 | 2016-10-05 | 苏州宝时得电动工具有限公司 | Intelligent lawn trimming system, intelligent lawn trimmer and edge trimming method thereof |
| CN106406301A (en) * | 2015-07-29 | 2017-02-15 | 苏州宝时得电动工具有限公司 | Automatic mowing apparatus and safe self-start system and method |
| CN106576570A (en) * | 2016-11-30 | 2017-04-26 | 深圳市阳邦电子股份有限公司 | Drive circuit of automatic mowing machine |
| WO2018107536A1 (en) * | 2016-12-12 | 2018-06-21 | 苏州宝时得电动工具有限公司 | Automatic working system, self-moving device and control method therefor |
| CN108829100A (en) * | 2018-06-06 | 2018-11-16 | 杭州晶智能科技有限公司 | Indoor mobile robot traverse path planing method based on wireless network and Geomagnetic signal |
| CN113382905A (en) * | 2019-02-01 | 2021-09-10 | 采埃孚股份公司 | Autonomous operation of a vehicle in a safe working area |
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| CN102187289A (en) * | 2008-10-20 | 2011-09-14 | 罗伯特·博世有限公司 | Method and system for recognizing the working range of a mobile tool |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103839069A (en) * | 2014-03-11 | 2014-06-04 | 浙江理工大学 | Lawn miss cutting recognition method based on image analysis |
| CN103839069B (en) * | 2014-03-11 | 2017-04-12 | 浙江理工大学 | Lawn miss cutting recognition method based on image analysis |
| CN105094126A (en) * | 2014-05-22 | 2015-11-25 | 苏州宝时得电动工具有限公司 | Outdoor self-walking robot system |
| CN105988472A (en) * | 2015-02-16 | 2016-10-05 | 苏州宝时得电动工具有限公司 | Intelligent lawn trimming system, intelligent lawn trimmer and edge trimming method thereof |
| CN106406301A (en) * | 2015-07-29 | 2017-02-15 | 苏州宝时得电动工具有限公司 | Automatic mowing apparatus and safe self-start system and method |
| CN106576570A (en) * | 2016-11-30 | 2017-04-26 | 深圳市阳邦电子股份有限公司 | Drive circuit of automatic mowing machine |
| WO2018107536A1 (en) * | 2016-12-12 | 2018-06-21 | 苏州宝时得电动工具有限公司 | Automatic working system, self-moving device and control method therefor |
| US11169527B2 (en) | 2016-12-12 | 2021-11-09 | Positec Power Tools (Suzhou) Co., Ltd. | Automatic working system, self-moving device and control method therefor |
| CN108829100A (en) * | 2018-06-06 | 2018-11-16 | 杭州晶智能科技有限公司 | Indoor mobile robot traverse path planing method based on wireless network and Geomagnetic signal |
| CN108829100B (en) * | 2018-06-06 | 2021-01-12 | 杭州晶一智能科技有限公司 | Indoor mobile robot traversal path planning method based on wireless network and geomagnetic signals |
| CN113382905A (en) * | 2019-02-01 | 2021-09-10 | 采埃孚股份公司 | Autonomous operation of a vehicle in a safe working area |
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Application publication date: 20130130 |