CN105353758A - Precise automatic lawnmower distributed beacon laser positioning and trajectory control system - Google Patents
Precise automatic lawnmower distributed beacon laser positioning and trajectory control system Download PDFInfo
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- CN105353758A CN105353758A CN201510761992.4A CN201510761992A CN105353758A CN 105353758 A CN105353758 A CN 105353758A CN 201510761992 A CN201510761992 A CN 201510761992A CN 105353758 A CN105353758 A CN 105353758A
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Abstract
The present invention provides a precise automatic lawnmower distributed beacon laser positioning and trajectory control system. In the aspect of hardware, a distributed communication structure formed by an RS485 bus and a radio frequency module is employed, each module internal algorithm runs independently, the data traffic of the system is reduced greatly, the communication block is eliminated, and the system processing speed is improved. In the aspect of software, the functions of laser automatic scanning, distributed beacon distance measurement, motion trend judgment, ultrasonic distance measurement, wireless communication, trajectory control, automatic collision prevention are combined together, the precise automatic mowing function of the intelligent precise automatic lawnmower is realized, and the requirements of beautifying a lawn and the purpose of saving energy and protecting environment are achieved through intelligent precise and automatic lawn mowing. The system is also applicable to the automatic navigation and track control of an automated guided vehicle (AGV).
Description
Technical field
The present invention relates to location and the trajectory motion control technology of automatic guided vehicle, seek position in particular to automatic precision mower distributed beaconing laser scanning location navigation, car body corner displacement attitude, position coordinates and angular displacement compensate Intelligent track control, ultrasonic distance measurement and crashproof control technology.Be suitable for high-grade lawn precision mow and beautify the higher occasion of requirement to lawn.
Background technology
The navigation positioning system of tradition automatic guided vehicle adopts to lay the positioning and guiding method that electromagnetic wire or colour band are navigation marker mostly, this aiming means is fixed, programming is simple, automatic guided vehicle along the orbiting motion of default wire or colour band, can only lack the dirigibility of trajectory motion control.
Green lawn is made up of " biological carpet " countless vivifying little grass, accurate object of mowing is under the prerequisite not injuring lawn turf and root tissue, realize lawn finishing and beautify, laying electromagnetic wire with therefore digging or on lawn, paste the location and the guiding that guide mark to be not suitable for accurate automatic mower.The invention provides a kind of the distributed beaconing laser positioning and the tracking control system that are suitable for accurate automatic mower, the self-navigation of accurate automatic mower and the needs of movement locus control can be met.
Summary of the invention
1, invention target
(1) the present invention is in bus structure, adopt the distributed bus structure be made up of fieldbus and radio communication, each module is separate, under the prerequisite bearing independently task, common share communication interface, this bus structure can reduce amount of communication data and the development amount of system.
(2) application claims system integrates figure pre-service, beacon distribution type laser Scan orientation, automatic orbit controls, ultrasonic ranging is crashproof and beautify lawn, reaches the object of beautifying lawn and energy-conserving and environment-protective
(3) the present invention is also applicable to self-navigation and and the TRAJECTORY CONTROL of automatic guided vehicle (AGV) etc.
2, control principle
Ensure the accuracy of TRAJECTORY CONTROL, stability and reliability, first the corner of mower body and the real-time measurement of coordinate is carried out, and the result measured is fed back in time the CSRC module of mower, by the motion state of CSRC module according to mower, perform motion closed loop control algorithm, carry out the automatic deviation correction to mower coordinate, realize the Based Intelligent Control of mower orbiting motion.
(1) based on laser level scanning position measurement of coordinates principle
As Fig. 1, Intelligent precise automatic mower body (1) is placed plot, lawn OABC any position, remote beacon (50) and remote beacon (51) stand upright on respectively an O (0,0) and some A (0, c).D (x, y) be mower laser scanning transceiver (36) rotation center coordinate, be defined herein as the particle postition coordinate of mower body (1), DO, DA are the horizontal range of mower position D to some beacon respectively, respectively by laser scanning and ranging Real-time Obtaining, DO=a
1, DA=a
2.
In △ OAD, can be obtained by the cosine law:
Cos(γ
1)＝(c
2+a
1 2-a
2 2)/2ca
1
Then, mower position coordinates: D (x, y)=(a
1× sin (γ 1), a
1× cos (γ 1))
DO and DA distance is obtained by laser ranging, can calculate D (x, y) coordinate thus.
(2) mower organism level outer corner measurement principle (Fig. 1)
As Fig. 1, mower body center axis (52) is by some D (x, y) and parallel with mower body dual-side.
The corner α of mower body is defined as the angle in mower body center axis (52) and Y-axis vertical movement direction, and its algorithm is as follows:
β
1＝90°-γ
1
α＝β2-β1
Here, α <0, represents that mower body center line rotates counterclockwise α angle,
α >0, represents that mower body center line rotates clockwise α angle,
α=0, represents that mower body center line is vertical with y-axis.
β 2 is by rotary encoder A, B, Z pulse Real-time Obtaining on The Cloud Terrace vertical type servo motor.
(3) laser The Cloud Terrace vertical plane swings compensatory control principle
As Fig. 2, laser scanning transceiver (36) Emission Lasers is in remote beacon (50), remote beacon feedback laser is to laser transceiver (36), and described laser transceiver (36) measures the horizontal range a that it arrives remote beacon
i.Due to the out-of-flatness on ground, lawn, mower is in motion process, and mower body angular deflection can occur in vertical plane, and this deflection angle is detected by the electronic compass be arranged in control box.
Distance measured by guarantee laser scanning is the horizontal range between beacon and laser transceiver, laser scanner transceiver (36) must be made in vertical plane to compensate angle, ensure laser scanning Transceiver Transmit horizontal laser light ray, ensure that laser beam is irradiated on beacon and built-in laser inductor array (53) thereof, ensure the laser signal receiving horizontal reflection.Concrete compensation method is: when electronic compass measures mower body counterclockwise deflection angle θ 1, under the control of laser scanning controller, horizontal servo driven by motor crank and rocker mechanism in laser The Cloud Terrace, control laser scanning transceiver (36) offset angle θ 2 in the other direction, θ 2=-θ 1, guarantee that laser scanning transceiver (36) keeps horizontality, meet scanning emission level laser and require and receive horizontal laser light semaphore request, ensure a
imeasuring accuracy.Meanwhile, laser scanning transceiver, at the swing compensatory control of vertical plane, is convenient to the interscan of laser significant height scope to remote beacon (50).The built-in laser inductor array (53) of beacon, for sensing scanning laser in time.Laser inductor array (53) is formed by stacking by 4 laser inductors, to adapt to the height change of laser scanning transceiver, guarantees range data a
ivalidity.The induced signal of 4 laser inductors is by logical "or" computing, and operation result represents that this beacon is scanned, a now for " 1 "
ibe the distance value that present beacon reflects laser is surveyed.
(4) mower universal wheel angle displacement measurement principle
The angular displacement of measuring mower universal wheel is to judge that the corner trend of mower provides auxiliary data support, for movement locus correction control algolithm provides reference.Mower universal wheel obtains by the absolute encoder be arranged on universal wheel wheel shaft relative to the angular displacement of mower body, according to the corner of mower body, can calculate universal wheel in real time relative to vertical Y axle direction of motion angle
.The angular displacement recorded in real time is converted into the pulse of A, B phase by absolute encoder, carry out counting and rotating judgement according to pulsed frequency and order, by the result recorded, be sent in the impulse meter of motion-control module, through bus interface, be sent in the storer of CSRC module.
(3) technical scheme
According to invention target and principle of work, one provided by the invention accurate automatic mower distributed beaconing laser positioning and tracking control system comprise hardware and software.
Preferably, described hardware is divided into three parts, 7 modules.Part I is arranged on the car body of mower, comprises CSRC, motion control, laser positioning navigation and ultrasound wave and controls 4 modules, and by RS485 bus composition master-slave mode interface between each module, wherein, CSRC module is main frame, and all the other are from machine.Described Part II comprises hand-held remote control module 1, by infrared interface and CSRC module communication.Described Part III comprises distributed remote beacon control module 2, wherein: a remote beacon control module is arranged in remote beacon device (50), and another remote beacon control module is arranged in remote beacon device (51).Each remote beacon control module sets up data communication by respective wireless radio interface and laser positioning navigation module.
Preferably, described remote beacon control module comprises the peripheral circuits such as remote beacon, Beacon control, laser reflection inductor array and Radio-Frequency Wireless Communication interface.
Preferably, described software systems comprise CSRC subsystem, distributed beaconing laser scanning positioning subsystem, ultrasonic measurement and avoidance obstacle subsystem and trajectory motion control subsystem.
Preferably, described CSRC subsystem comprises reception user instruction, acquisition state data, runs control algolithm, sends instruction.
Preferably, described reception user instruction comprises by bus interface and user interface reception user instruction, receives steering order by hand-held remote control plate.
Preferably, described image data state comprise gather from the guiding mechanism of motion-control module angular displacement, gather from mechanism's navigation control module, gather the position coordinates from laser positioning navigation control module and corner displacement, collection and monitor is from the distance of obstacle of ultrasonic control module.
Preferably, described operation control algolithm comprises system autodiagnosis program, task coordinate and point subroutine, velocity location rectifies a deviation TRAJECTORY CONTROL algorithm routine, run ultrasonic obstacle protects routine, communication cycle and data acquisition routine, monitors routine etc.
Preferably, described monitoring routine comprises monitoring mower actual speed, displacement, angle, track data state.
Preferably, described transmission instruction comprises to motion-control module transmission Differential Control and real-time corner displacement acquisition instructions; Timing observing and controlling order is sent to ultrasonic control module; Collection position data command is sent to laser positioning navigation control module.
Preferably, described distributed beaconing laser scanning positioning subsystem comprises reception instruction and data message, the motion control of laser scanning The Cloud Terrace and data processing.
Preferably, described reception instruction and information comprise the laser position test instruction receiving CSRC module, the laser scanning receiving remote beacon control module to beacon signal, the pendulum angle in vertical plane receiving reflects laser, reception electronic compass, to measure the distance between laser head and beacon.
Preferably, the motion control of described laser scanning The Cloud Terrace and data processing comprise 360 degree, The Cloud Terrace surface level rotation control, the upper and lower 30 degree of scale oscillation control of The Cloud Terrace vertical plane, control based on the car body viewing angle compensation of electronic compass.
Preferably, the closed loop moving that described The Cloud Terrace horizontal 360-degree rotation controls to be made up of servomotor, incremental encoder, sleeve, bearing and rotary support controls.
Preferably, the closed loop moving that the vertical 30 degree of scale oscillation of described The Cloud Terrace control to be made up of servomotor, incremental encoder, crank and rocker mechanism controls.
Preferably, described ultrasonic measurement and avoidance obstacle subsystem are measured automatically according to the distance of ultrasonic sensor to front and back barrier, by threshold value thresholding control crashproof, keep away barrier.
Preferably, described motion control subsystem comprises the DC speed regulation control of cutterhead rotary motion, the servomotor motion control of cutterhead automatic lifting, the Serve Motor Control of body movement track Differential Driving.
With the location navigation of existing automatic mower compared with Track Control Technology, of the present invention being benefited is:
(1) lawn image can be realized to movement locus coordinate digital.Beautify the customized mowing pattern of index according to user lawn, by computer graphical processing, lawn parameter matching, generates lawn trajectory coordinates, through serial communication interface, downloads the CSRC module of lawn trajectory coordinates to accurate automatic mower.
(2) self diagnosis of system can be realized.Start CSRC, beacon controls, the observing and controlling of laser positioning navigation position, ultrasound wave control and the self diagnosis of related communication.
(3) mower completes intelligent periodic duty task automatically.Mower, after attitude and position initialization, starts " intelligence mow " button by remote control, and mower is walked the starting point of predetermined movement track automatically.Mower adjusts cutterhead height automatically, starts cutterhead and rotates, and starts to enter the circulation of accurate grass cutting action automatically.In the automatic walking process of mower, automatically measure real-time location coordinates and corner displacement, judge movement tendency, automatic deviation correction and TRAJECTORY CONTROL is carried out according to desired guiding trajectory coordinate, realize mower TRAJECTORY CONTROL target, prune out default trace graphics, reach the pruning on lawn and beautify.After mower completes orbiting motion, automatically return to the track starting point of mowing and original corner displacement, complete epicycle and automatically to mow cycle task.
Accompanying drawing explanation
Fig. 1 is accurate automatic mower horizontal coordinate of the present invention and angle displacement measuring principle figure;
Fig. 2 is accurate automatic mower The Cloud Terrace vertical angle compensation principle figure of the present invention
Fig. 3 is accurate automatic mower hardware structure diagram of the present invention
Fig. 4 is accurate automatic mower functional module exploded view of the present invention
Fig. 5 is that accurate automatic mower of the present invention monitors process flow diagram in real time
Fig. 6 is distributed beaconing laser positioning control flow chart of the present invention
Embodiment
As Fig. 3, system provided by the invention is divided into three parts, 7 modules.Described Part I is arranged on the car body of mower, comprise CSRC, motion control, laser positioning navigation and ultrasound wave and control 4 modules, by RS485 bus composition master-slave mode interface between each module, wherein, CSRC module is main frame, and all the other are from machine.Described Part II comprises hand-held remote control module 1, by infrared interface and CSRC module communication.Described Part III comprises distributed remote beacon control module 2, wherein: a remote beacon control module is arranged in remote beacon device 1, and another one remote beacon control module is arranged in remote beacon device 2.Two functions of modules structures are identical.Each remote beacon control module sets up data communication connection by respective wireless radio interface and laser positioning navigation module.
(2) decomposition module (Fig. 4)
1) CSRC module
Described CSRC module hardware comprises central processing unit, program storage, data-carrier store, RS232 interface, RS485 interface, based on LCD touch screen man-machine interface and infrared interface.This module is the control axis of whole lawn mower system.
Described CSRC module software comprises reception instruction and image data, executing arithmetic, transmission instruction and data.
Described reception instruction and image data are comprised and receive PC predetermined movement track data by serial line interface, are arranged associ-ated motion parameters by man-machine interface, receive the steering order of hand-held remote control plate, gather the angular displacement of the guiding mechanism from motion-control module, gather from the mower displacement coordinate of laser positioning navigation module and angle position, collection from the distance of obstacle of ultrasonic control module.
Described executing arithmetic comprises system autodiagnosis program, task coordinate and point subroutine, velocity location rectifies a deviation TRAJECTORY CONTROL algorithm routine, run ultrasonic obstacle protects routine, communication cycle and data acquisition routine, monitors routine etc.Monitoring mower actual speed, displacement, angle, track data state.
Described transmission instruction and data comprise and send Differential Control and real-time corner displacement acquisition instructions to motion-control module, send timing observing and controlling order to ultrasonic control module, send collection position data command to laser positioning navigation module.Send instruction to modules, to receive the status data of each submodule, status data comprises mower angular displacement, position, universal wheel corner displacement and ultrasonic obstacle distance etc.
2) laser positioning navigation module
Described laser positioning navigation module hardware comprises controller, electronic compass, servo motion controller 4, servo-driver 4, vertical type servo motor (carrying scrambler), servo motion controller 5, servo-driver 5, horizontal servo motor (carrying scrambler), laser scanning transceiver, Radio-Frequency Wireless Communication interface, RS485 communication interface etc.
Described laser positioning navigation control module software comprises reception information, the motion control of laser scanning The Cloud Terrace and data processing.Described reception information comprises the laser position test instruction receiving CSRC module, the laser scanning receiving remote beacon control module to beacon signal, the pendulum angle in vertical plane receiving reflects laser, reception electronic compass, to measure the distance between laser head and beacon.
The motion control of described laser scanning The Cloud Terrace and data processing comprise 360 degree, The Cloud Terrace surface level rotate control, the upper and lower 30 degree of scale oscillation of The Cloud Terrace vertical plane control, control based on the car body viewing angle compensation of electronic compass, the reception of laser scanning beacon signal and laser ranging.
360 degree, described The Cloud Terrace surface level rotates control: produce control signal by servo motion controller 4, send to servo-driver 4, controlling vertical type servo motor (carrying incremental encoder 4) drives laser scanning transceiver to horizontally rotate, and controls laser scanning transceiver scans to the beacon of specifying.
The upper and lower 30 degree of scale oscillation of described The Cloud Terrace vertical plane control to be the data according to received electronic compass, servo motion controller 5 produces servo control signal, send to servo-driver 5, control horizontal servo motor (carrying incremental encoder 5) driving crank endplay device, realize the swing of laser scanning transceiver, guarantee Laser emission line direction maintenance level.
The described car body viewing angle compensation based on electronic compass controls: be arranged on by electronic compass on laser positioning Navigation Control plate, control panel is embedded in control box, car body can obtain with electronic compass in the angular displacement of the upper downwards angle of visibility of vertical plane, the magnetic deviation displacement of electronic compass is read in controller timing, be stored in data-carrier store, send to servo motion controller 5, servo motion controller 5 is according to the angular displacement of electronic compass, control The Cloud Terrace and realize the control of vertical plane swing compensating motion, the corner displacement carrying out laser scanning transceiver compensates, control Laser emission line and surface level keeping parallelism.Improve " in rate " of laser scanning and the accuracy of laser level measuring distance.
The reception of described laser scanning beacon signal is: first, laser scanning Transceiver Transmit laser, timing acquiring laser reflection signal and laser scanning marking signal.When laser scanning is to regulation beacon, laser scanning marking signal by set, otherwise is " 0 ".
Described laser ranging is: the horizontal range a between mower transceiver and beacon
imeasurement be by laser transceiver Emission Lasers, scanning for beacon, reflects laser scans marking signal to carry out.When laser transceiver captures a
iafter, the parameter recorded stores by controller in time.A measured by the beacon that controller in laser positioning navigation control module arrives according to twice sweep
ivalue, calculates the corner of laser transceiver position D (x, y) and mower body, for CSRC module provides mower body location status data message timely.
3) remote beacon control module
Remote beacon control module hardware comprises the peripheral circuits such as remote beacon, Beacon control, laser reflection inductor array and Radio-Frequency Wireless Communication interface.
Described laser inductor array is the laser induced receiving trap having multiple amorphous silicon battery plate to be formed by stacking, and is built in remote beacon, and covers with semitransparent thin film, prevents other light sources to be irradiated on plate, and maloperation occurs.
Described servo motion controller 4 is used to control The Cloud Terrace and swings back and forth between two remote distributed beacons, when the laser scanning transceiver on it faces one of them long-range remote beacon, this remote beacon reflection levels direction laser signal, simultaneously, laser inductor array in laser reflection post is because receiving laser firing signals, its voltage raises
The state that described Beacon control is used for receiving laser inductor voltage signal changes, laser scanning mark is to signal set, after laser guide module reads this marking signal, start the distance value measured and catch between laser scanning transmitter and beacon, efficiently solve pseudo-range finding problem and ensure real-time accuracy.
Described remote beacon control software design responds to by laser inductor the laser firing signals received, Beacon control timing acquiring laser reflection signal, stores and send laser scanning marking signal.
4) ultrasonic control module
Ultrasonic control module hardware comprises ultrasonic sensor, ultrasonic wave controller and communication interface.
The software of ultrasonic control module is automatically measured by the distance of ultrasonic sensor to barrier, by threshold value thresholding control crashproof, keep away barrier.
5) motion-control module
Motion-control module comprises cutterhead motion control, cutterhead automatic lifting, the differential walking movement control of car body and angle sheave corner measurement and control unit.
Described cutterhead motion control unit hardware comprises DC speed regulation controller, DC driver, direct current generator, shaft coupling and cutterhead etc.
Described cutterhead motion control software controls the rotational speed of direct current generator by the PWM asymmetric square waves of DC speed regulator, for mowing main motion provides main cutting force.
Described cutterhead automatic lifting unit hardware comprises servo motion controller 3, servo-driver 3, lift servo motor (carrying incremental encoder 3), pinion and rack.
Described cutterhead automatic lifting unit software is by the closed-loop control of servomotor and incremental encoder, and control gear rack mechanism, then the elevating movement being guided cutterhead by moving sets guiding, realize the adjustment to the mowing depth.
Described car body differential walking movement control module hardware comprises 2 servo motion control unit, and the differential motion controlling 2 wheels respectively drives.Wherein, revolver control module comprises servo motion controller 1, servo-driver 1, revolver servomotor (carrying incremental encoder 1), Timing Belt speed reduction unit 1, left wheel etc., for controlling and drive the rotation of left wheel.Control principle, the structure of right wheel control module are identical with left wheel control module with number of devices.
Described car body differential walking movement control module software is that two controllers are under the unified coordination of CSRC instruction, in conjunction with coordinate displacement and the corner displacement of predetermined movement track and current mower body, carry out differential control motion by coordinated signals, realize the track feed motion of mower.
Described angle sheave corner measurement and control unit hardware comprises absolute encoder and decoding counter etc.
Described angle sheave corner measurement and control unit software measures car body by absolute encoder to rotate relative displacement, produce A, B bidirectional pulse, and be sent to the Puled input point of 16 decoding counters, there are 4 frequencys multiplication and direction finding function in decoding counter inside, can directly receive A, B two-phase pulse, and A, B are converted into digital corner displacement amount, be sent to CSRC module by RS485 interface.When the central processing unit of CSRC module detects the position of scrambler, regularly can read the physical location of scrambler from decoding counter, then send orbiting motion order to servo controller.
(3) realization of Control System Software workflow
1) realization of CSRC subsystem work flow process
CSRC subsystem is the issue of mower live task instruction, data communication and state data acquisition, key algorithm and calculating, and the coordination center that monitoring interface realizes, its workflow as shown in Figure 5.First, pretreated trajectory coordinates downloads in the storer of the central monitoring system of automatic precision mower by computing machine by RS232 interface, so that programming movement track, then the initiation parameter setting of mower modules is carried out by user interface, restarting systems, System self-test program brings into operation, system hardware state is diagnosed, guarantee that the state of hardware and storer thereof is ready, after system autodiagnosis terminates, associated control parameters is inputted by interface, as: mower acceleration, speed, mode of operation, cutter maximum (top) speed etc.After Operation system setting is effective, whether system starts to diagnose each module communication normal, if it is abnormal to communicate, then provide guide of dealing with problems, if communication is normal, the control task of mower is given telepilot and is controlled, now, user uses a teleswitch button, selects automatic or manual mode of operation.If selection manual work pattern, then the button used a teleswitch is to the switching of the TRAJECTORY CONTROL and speed that realize mower, if select automatic operation mode, then the TRAJECTORY CONTROL of mower is run by the self-navigation of system and trajectory motion control program and carried out.At this moment, system gathers successively by high priority on earth: ultrasonic obstacle information, current vehicle displacement body coordinate, car body corner displacement, universal wheel corner displacement, calculate current body speed of vehicle and acceleration, to judge movement tendency and the movement locus coordinate offset situation of car body, then central controller sends order to motion-control module, start cutterhead to rotate, start cutterhead jacking system.System is with the highest priority collection and judge ultrasonic obstacle range information, so that system judges whether to start avoidance obstacle program, again revises trajectory coordinates, keeps away barrier, crashproof operation to perform.After system does not have obstacle or problem on obstacle solves, system starts to start automatic orbit compensating motion intelligent control algorithm, and send differential trajectory motion control order to motion-control module in time, mower is according to the track of program setting, realize the orbiting motion in mowing process, meet orbiting motion and run by desired guiding trajectory coordinate.When mower does not reach final on trajectory, turn back to the data acquisition of previous step, the order of real-time data acquisition remains to be measured preferentially from avoiding obstacles by supersonic wave.When mower arrives final on trajectory, system program is finished, and now, whether system, by telepilot interface prompt user, return initial position.If user selects to return by button, then system controls cutterhead lifting reset automatically, and the main motion of cutterhead stops, system auto-returned initial position.If user selects not return initial position, at this moment, system transfers MANUAL CONTROL mode to, performs associative operation by user by telepilot.
2) distributed beaconing laser positioning subsystem work flow process realizes
As Fig. 6, distributed beaconing laser positioning subsystem is made up of 1 laser positioning navigation control module and 2 remote distributed remote beacon control modules, remote beacon control module and laser positioning navigation module adopt long distance wireless radio communication, detect to realize Distance geometry corner displacement between beacon and laser scanning transceiver.Laser positioning navigation module is the primary module of DWCS, and 2 remote beacon control modules are from module.First the realization of communication is independently initiated by primary module, and primary module independently sends communication instruction to two from module, and carry out communications status diagnosis, diagnostic result returns to primary module.Main working process is as follows:
(a) laser transceiver angle of oscillation compensatory control.Electronic compass induction mower body is in the angular displacement of vertical plane, send to the controller of laser positioning navigation control module, controller generates angular displacement compensating instruction according to corner displacement, and send to servo motion controller 5, servo motion controller 5 performs PID closed loop control algorithm, the vertical angle bit shift compensation realizing laser transceiver controls, and ensures laser transceiver horizontal emission laser.
B () laser transceiver horizontally rotates work scanning.Controller sends motion control instruction to servo motion controller 4, and servo motion controller 4 performs PID closed loop control algorithm, and the level angle controlling laser transceiver swings, to scan remote beacon successively.
C () laser transceiver emission scan is found range with seizure.Laser transceiver oscillatory scanning Emission Lasers, remote beacon control module waits for laser scanning ray signal, Laser emission is in remote beacon, remote beacon reflects laser receives to laser transceiver, now, beacon inductor in remote beacon receive laser irradiate and voltage raise, Beacon control by laser scanning to marking signal set, and by wireless radio interface transmission laser scanning to marking signal to laser positioning navigation control module.When the controller of laser positioning navigation module receives the set of laser scanning marking signal, verify this beacon number, and clearly by Current Scan to marking signal " 0 " simultaneously, suspend servomotor to rotate, to facilitate the laser beam accurately receiving remote beacon reflection, laser transceiver sends and catches the order of laser scanning distance, and laser transceiver is according to the Time Calculation horizontal laser light range finding a of Laser emission and reception
iif lock-on range Signal Fail, then repeat previous step, if success, store this horizontal range a
i.
D () calculates laser transceiver present co-ordinate position and corner displacement.First the controller of laser scanning module checks the beacon number of Current Scan, if beacon number is 1, that show this time test is the distance a of laser scanning transceiver to beacon 1
1, also need the distance a scanning and capture remote beacon 2 again
2.If this time circulate a
1, a
2measure, then calculate the corner displacement of laser transceiver rectangular coordinate D (x, y) and mower body.Here illustrate, the velocity of rotation due to vertical type servo motor is far longer than the speed of the walking of mower, postpones to ignore to the sweep time of mower.The turn marking clear " 0 " of vertical type servo motor and set are the forward and backward marks of horizontal stage electric machine.
E () sends mower body changing coordinates and corner displacement.The current position coordinates D (x, y) calculated and corner displacement are saved in storer by the controller of laser scanning module, and are sent to CSRC module by RS485 interface, to provide real time data support for trajectory motion control algorithm.
Result of use is analyzed
Distributed beaconing laser positioning and tracking control system provide the master-slave mode distributed architecture that RS485 bus and radio communication are formed, and solve remote distributed data processing and communication issue.Described structure makes each module separate, shares unified, open communication interface again.Each module independent processing data, an exchange instruction and result, greatly reduce data traffic, improves the efficiency of system processing speed and data processing.In addition, adopt this structure, software programming adopts the mode of functional module object encapsulation, significantly reduces the workload of the exploitation of program.
System under CSRC module unified is coordinated, achieve that trajectory parameters is preset, remote manual control, the function such as laser scanning navigation and precision measurement, corner displacement observing and controlling, positional deviation correction and trajectory motion control, ultrasonic ranging and crashproof control, cutterhead elevating control, the control of cutterhead rotating speed.Achieve accurate mower self-navigation and control, reach and automatically to be mowed the requirement that lawn beautifies by precision.
Claims (10)
1. accurate automatic mower distributed beaconing laser positioning and tracking control system; it is characterized in that; comprise the control hardware and software that realize accurate automatic mower distributed beaconing location and tracking control system; system is also applicable to self-navigation and the control of automatic guided vehicle (AGV) etc.; as automatic guided vehicle adopts location navigation proposed by the invention and Track Control Technology, also belong to the scope of this patent protection.
2. the control hardware required by right 1, is characterized in that, comprises three parts, 7 modules.Wherein, Part I is arranged on the car body of mower, comprises CSRC, motion control, laser positioning navigation, ultrasonic control module; Part II comprises hand-held remote control module 1, by infrared interface and CSRC module communication; Part III comprises remote beacon control module 2, and each beacon control module realizes distributed data by respective wireless radio interface with laser positioning navigation module and communicates.
3. the control software design required by right 1, is characterized in that, comprises CSRC subsystem, distributed beaconing laser scanning positioning subsystem, ultrasonic measurement and avoidance obstacle subsystem and trajectory motion control subsystem.
4. the CSRC module required by right 2, is characterized in that, comprises central processing unit, program storage, data-carrier store, data-interface, based on LCD touch screen man-machine interface and infrared interface.
5. the motion-control module required by right 2, is characterized in that, comprises cutterhead motion control, cutterhead automatic lifting, the differential walking movement control of car body and angle sheave corner measurement and control unit.
6. the laser positioning navigation module required by right 2, it is characterized in that, comprise controller, electronic compass, servo motion controller 4, servo-driver 4, vertical type servo motor (carrying scrambler), servo motion controller 5, servo-driver 5, horizontal servo motor (carrying scrambler), laser scanning transceiver, Radio-Frequency Wireless Communication interface, communication interface etc.
7. the remote beacon control module required by right 2, is characterized in that, comprises the peripheral circuits such as remote beacon, Beacon control, laser reflection inductor array and Radio-Frequency Wireless Communication interface.
8. the CSRC subsystem required by right 3, is characterized in that, comprises and receives user instruction, acquisition state data, operation control algolithm, transmission instruction.
9. the distributed beaconing laser scanning positioning subsystem required by right 3, is characterized in that, comprises and receives instruction and data message, the motion control of laser scanning The Cloud Terrace and data processing.
10. the trajectory motion control subsystem required by right 3, is characterized in that, comprises the DC speed regulation control of cutterhead rotation main motion, the servomotor motion control of cutterhead automatic lifting, the Serve Motor Control of body movement track Differential Driving.
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Application publication date: 20160224 |