CN106416587A - Mower positioning error eliminating method, device and system - Google Patents
Mower positioning error eliminating method, device and system Download PDFInfo
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- CN106416587A CN106416587A CN201510496785.0A CN201510496785A CN106416587A CN 106416587 A CN106416587 A CN 106416587A CN 201510496785 A CN201510496785 A CN 201510496785A CN 106416587 A CN106416587 A CN 106416587A
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Abstract
The invention relates to a mower positioning error eliminating method, device and system; the method comprises the following steps: the mower goes forward along a present path; when the mower detects a preset present first border line, the mower stops going forward and takes the first turn; the mower goes forwards for a distance d along the first border line direction, stops forwarding and takes a second turn, wherein 0<d<=a-[delta], a refers to the diameter of a mower cutterhead, [delta] refers to the mower inherent positioning error, the second and first turns are consistent in direction, and the sum of the first turn angle and the second turn angle is 180 degrees. The mower positioning error eliminating method, device and system can eliminate mower positioning errors, thus solving the certain grass un-trimming problems caused by positioning errors.
Description
Technical field
The present invention relates to mower art field, the position error removing method of more particularly to a kind of hay mover,
Apparatus and system.
Background technology
Intelligent grass-removing, because having the autonomous work completing to cut the grass on a lawn, artificially need not directly control and operate,
And power is low, noise is little, profile is exquisite attractive in appearance, manually operate the advantages of is greatly lowered, and is extensively made
With.Intelligent grass-removing has automatically walk function, auto-returned can charge, and carries out safety detection and electricity
Pond electric power detection, possesses certain climbing capacity, the place such as especially a kind of suitable family garden, public lawn
Carry out turf-mown maintenance.
Intelligent grass-removing, when carrying out turf-mown, needs intelligent grass-removing is accurately positioned,
Can there is certain error during positioning.Additionally, when pruning, intelligent grass-removing prunes the side in region along need
Walk in boundary line, in the process of walking, error can be accumulated, so that cumulative error is larger, to a certain degree
The pruning efficiency of upper impact intelligent grass-removing.
Content of the invention
Based on this it is necessary to there is error when being positioned for hay mover, provide a kind of hay mover
Position error removing method, apparatus and system.
The position error removing method of hay mover of the present invention, including step：
Described hay mover is advanced along current path；
When described hay mover detects predetermined current first boundary line, described hay mover stops advancing, and goes forward side by side
Row turns to for the first time；
Described hay mover is along the direction forward after travel distance d of described current first boundary line, described hay mover
Stop advancing, and carry out second steering, wherein, 0 ＜ d≤a- △, a are the straight of the cutterhead of described hay mover
Footpath, △ is the intrinsic position error of described hay mover, turns to the side turning to described first time described second
To consistent, the angle that described first time turns to and the angle sum turning to for described second are 180 degree.
Wherein in an embodiment, described current path includes first path, and described first path is second
Boundary line, described the second boundary line and described first boundary line form the working range of described hay mover.
Wherein in an embodiment, predetermined current first border is detected in hay mover described in described step
During line, described hay mover stops advancing, and carries out turning to for the first time, when described hay mover stops advancing,
The distance apart from described current first boundary line for the described hay mover be c, described apart from c be less than or equal to described mowing
The fuselage length of machine.
Wherein in an embodiment, when described hay mover fuselage length be more than 1 meter when, described apart from c
Less than or equal to 1 meter.
Wherein in an embodiment, predetermined current first border is detected in hay mover described in described step
During line, described hay mover stops advancing, and carries out turning to for the first time, and described hay mover stops advancing, and
With the rotating speed of the first rear drive sprocket of described hay mover as w1, the rotating speed of the second rear drive sprocket of described hay mover
For w2, carry out described first time steering, wherein, w1And w2Equal in magnitude, in opposite direction.
Wherein in an embodiment, the angle that described first time turns to is 90 degree.
Wherein in an embodiment, in hay mover described in described step along described current first boundary line
Direction is forward after travel distance d, and described hay mover stops advancing, and carries out in second steering, described cuts
Careless machine stops advancing, and with the rotating speed of the first rear drive sprocket of described hay mover as w3, the of described hay mover
The rotating speed of two rear drive sprockets is w4, carry out described second and turn to, wherein, w3And w4Equal in magnitude, direction
On the contrary.
The position error cancellation element of hay mover of the present invention, including：
Traveling module, advances along current path for described hay mover；
First steering module, when predetermined current first boundary line is detected for described hay mover, described cuts
Careless machine stops advancing, and carries out turning to for the first time；
Second steering module, advances forward along the direction of described current first boundary line for described hay mover
After d, described hay mover stops advancing, and carries out second steering, and wherein, 0 ＜ d≤a- △, a are
The diameter of the cutterhead of described hay mover, △ is the intrinsic position error of described hay mover, turns to for described second
Consistent with the direction that described first time turns to, angle and the angle turning to for described second that described first time turns to
Degree sum is 180 degree.
Wherein in an embodiment, described traveling module, described first steering module and described second turn
It is controlled to module by the control module in described hay mover.
The position error of hay mover of the present invention eliminates system, and including boundary, described boundary is by boundary line group
Become, for limiting the working range of automatic working system, the position error also including aforementioned hay mover eliminates dress
Put.
The position error removing method of above-mentioned hay mover, apparatus and system, hay mover is advanced along current path,
When hay mover advances to predetermined current first boundary line, when hay mover detects current first boundary line, cut
Careless machine stops advancing, and carries out turning to for the first time, then travel distance d, and hay mover stops advancing afterwards, carries out the
Secondary steering, is turned to twice by this, and the direct of travel of hay mover occurs 180 degree change, afterwards, mows
Machine continues on the current path after steering and advances, turns to, until hay mover completes the cutting to working range,
Because hay mover is before carrying out second steering, hay mover along current first boundary line travel distance d, from
And the travel path before the travel path of hay mover after ensureing to turn to twice and hay mover are turned to twice has
Overlap, the distance of this coincidence is more than intrinsic position error △ of hay mover, thus eliminating this position error △,
When advancing again after hay mover is turned to twice, the portion being caused due to position error of once advancing before elimination
The problems such as divide grass not prune.
Brief description
Fig. 1 is the schematic flow sheet of the position error removing method of hay mover of the present invention；
The structural representation that Fig. 2 advances along the first boundary line L21 for hay mover of the present invention；
Fig. 3 is that hay mover described in Fig. 2 carries out the structural representation before turning to for the first time；
Fig. 4 is that hay mover described in Fig. 3 carries out the structural representation after turning to for the first time；
Fig. 5 is that described in Fig. 4, hay mover carries out the structural representation before second steering；
Fig. 6 is that described in Fig. 5, hay mover carries out the structural representation after second steering；
Fig. 7 is the structural representation that described in Fig. 6, hay mover is advanced along boundary line L31.
Specific embodiment
With reference to Fig. 1, Fig. 1 is the schematic flow sheet of the position error removing method of the hay mover of an embodiment, bag
Include step：
S1：Hay mover is advanced along current path.
In the present embodiment, hay mover is intelligent grass-removing.Specifically, the height sensor sense in hay mover
Answer the height of lawn medium-height grass, hay mover is advanced according to current path, and the grass in lawn is cut.Deserve
Front path includes first path, and this first path is the second boundary line.
It is noted that due to the inherent character of hay mover, there is position error Δ when advancing in its positioning, should
Position error Δ includes the error caused by later stage assembling and use time passage.Therefore, work in hay mover
During, need to eliminate this position error Δ, so that mowing function preferably completes to cut work, carry
The work efficiency of high hay mover.
S2：When hay mover detects predetermined current first boundary line, hay mover stops advancing, and carries out the
Once turn to.
In the present embodiment, when hay mover is advanced along current path, the sensor sensing of hay mover arrives and makes a reservation for
Current first boundary line when, sensor sends an instruction to the control module in hay mover, and control module connects
To after instruction, hay mover brake is controlled to stop, hay mover stops advancing, now, hay mover exceeds current the
The distance of one boundary line is c.
It should be noted that the correlation such as speed apart from c and ground line gradient and hay mover.Specifically, if cutting
When the fuselage length of careless machine is more than 1 meter, after control module is connected to instruction, hay mover brake is controlled to stop, this
When, the distance that hay mover exceeds current first boundary line is less than or equal to 1 meter, it therefore meets safety requires；
If the fuselage length of hay mover is less than or equal to 1 meter, after control module is connected to instruction, control hay mover brake
Stop, now, hay mover exceeds the fuselage length less than or equal to hay mover for the distance of current first boundary line,
Therefore, also meet safety to require.
When hay mover carries out turning to for the first time, the rotating speed of the first rear drive sprocket of hay mover is w1, hay mover
The rotating speed of the second rear drive sprocket is w2, and w1And w2Equal in magnitude, in opposite direction, so that hay mover
Drive wheel axle center carries out turning to for the first time for the center of circle later.In the present embodiment, the first steering angle
For 90 degree, by the rotating speed of the first rear drive sprocket and the rotating speed of the second rear drive sprocket are set so that hay mover with
The central point of two rear drive sprockets is rotated for the center of circle, reduces the generation of error to a certain extent.
S3：Along the direction forward after travel distance d of current first boundary line, hay mover stops row to hay mover
Enter, and carry out second steering, wherein, 0 ＜ d≤a- △, a are the diameter of the cutterhead of described hay mover, △
For the intrinsic position error of described hay mover, turn to for second consistent with the direction that first time turns to, and first
The angle of secondary steering and the angle sum turning to for second are 180 degree.
In the present embodiment, hay mover, cuts forward after travel distance d along the direction of current first boundary line
Careless machine stops advancing, and hay mover Acceleration of starting, with the rotating speed of the first rear drive sprocket of hay mover as w3, mow
The rotating speed of the second rear drive sprocket of machine is w4, carry out second steering, wherein, w3And w4It is equal in magnitude,
In opposite direction, so that drive wheel axle center carries out second steering for the center of circle after hay mover.From
Understand in S2, angle when turning to for the first time is 90 degree, therefore, the second steering angle is also 90 degree.Logical
Cross the rotating speed of setting the first rear drive sprocket and the rotating speed of the second rear drive sprocket so that hay mover drives with after two
The central point of wheel pivots about, and reduces the generation of error to a certain extent.
After hay mover carries out turning to for the first time, hay mover continues on apart from d, and 0 ＜ d≤a- △, thus
Ensure twice turn to after the travel path of hay mover and hay mover turned to twice before travel path have weight
Close, the distance of this coincidence is greater than intrinsic position error △ of hay mover, thus eliminating this position error,
When hay mover is advanced after being turned to twice again, the part being caused due to position error of once advancing before elimination
Not the problems such as grass is not pruned.
Inherently fixed when hay mover 10 being worked with reference to Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6 and Fig. 7
The elimination of position error delta is further illustrated.
As shown in Fig. 2 the height sensor in hay mover 10 senses the working range medium-height grass of hay mover 10
Highly, hay mover 10 is advanced along first path (the second boundary line L21), when traveling, hay mover
On the second boundary line L21, a diameter of a of cutterhead 11, thus hay mover 10 in the center of circle of 10 cutterhead 11
The width in the region that traveling is cut also is a, and cutting zone is the region being represented by two dotted lines in Fig. 2.
Hay mover 10 is advanced along the second boundary line L21, when the sensor sensing of hay mover 10 is to the first side
During boundary line L11, instruction now is sent to the control module of hay mover 10 by sensor, and control module is connected to
After instruction, control hay mover 10 brake stop, now, hay mover 10 exceed the first boundary line L11 away from
From for c, as shown in Figure 3.In the present embodiment, because the fuselage length of hay mover 10 is less than 1 meter, control
After molding block is connected to instruction, hay mover 10 brake is controlled to stop, hay mover 10 exceeds the first boundary line L11
Apart from c be less than its fuselage length, it therefore meets safety require.
After hay mover 10 brake stops advancing, hay mover 10 Acceleration of starting, and hay mover 10 is with two rear-guards
The central point of driving wheel carries out to the right turning to for the first time for the center of circle, and the angle of the first steering is 90 degree, as Fig. 4 institute
Show, now, the straight line that hay mover 10 Handpiece Location is located and the vertical dimension of the second boundary line L21 are D1.
After hay mover 10 carries out turning to for the first time, hay mover 10 continues along the direction of the first boundary line L11
Travel distance a- △, hay mover 10 brake afterwards stops advancing, as shown in figure 5, now, hay mover 10
The straight line that Handpiece Location is located and the vertical dimension of the second boundary line L21 are D2, apart from d be apart from D2 and
Difference apart from D1.
Hay mover 10 Acceleration of starting, and hay mover 10 enters to the right with the central point of two rear drive sprockets for the center of circle
Row turns to for second, and the angle of the second steering is 90 degree, and the position of the hay mover 10 after turning to for second is such as
Shown in Fig. 6.
After second turns to, as shown in fig. 7, hay mover 10 continues on along L31, now, cut
There is coincidence, the distance of coincidence is L between path that careless machine 10 is advanced and the path that hay mover is advanced along L21,
And L is more than intrinsic position error △, thus eliminating this position error △, after hay mover is turned to twice
When advancing again, eliminate first advance due to position error cause the problems such as partly grass is not pruned.
After hay mover 10 carries out cutting for the first time along L21, hay mover 10 carries out second cutting, specifically
Ground, hay mover 10 is advanced along L31, when the sensor sensing of hay mover 10 is to the first boundary line L12,
Instruction now is sent to the control module of hay mover 10 by sensor, after control module is connected to instruction, controls
Hay mover 10 brake stops, and now, the distance that hay mover 10 exceeds the first boundary line L12 is c；Then,
Hay mover 10 Acceleration of starting, and hay mover 10 carries out with the central point of two rear drive sprockets to the left for the center of circle
Once turn to, the angle of the first steering is 90 degree；After hay mover 10 carries out turning to for the first time, hay mover 10
Direction along the first boundary line L11 continues on apart from a- △, and hay mover 10 brake afterwards stops advancing；
Hay mover 10 Acceleration of starting, and hay mover 10 carries out with the central point of two rear drive sprockets to the left for the center of circle
Secondary steering, the angle of the second steering is 90 degree.After turning to twice, hay mover 10 is along L32 row
Enter, carry out third time and cut work, L32 with L31 is parallel, and when advancing, the center of circle of cutterhead 11 is through L32.
The like, hay mover 10 carries out the 4th cutting work, and the 5th cutting work, up to hay mover 10
Complete the work that the grass in the working region being made up of L21, L11, L22 and L12 is cut.
Hay mover 10 every time along a certain path carry out cutting work when, can eliminate what this cutting was brought
Error problem, thus in the whole work process of hay mover 10, this positioning removing method can solve the problem that due to
The intrinsic position error of hay mover 10 cause the problems such as partly grass is not pruned.
Corresponding to the position error removing method of above-mentioned hay mover 10, the positioning of the hay mover 10 of an embodiment
Error concealment device includes traveling module, the first steering module and the second steering module.
Traveling module is used for hay mover 10 and advances along current path.Specifically, the height in hay mover 10
The height of sensor sensing lawn medium-height grass, hay mover 10 is advanced according to current path, and the grass in lawn is carried out
Cutting.
When first steering module detects predetermined current first boundary line for hay mover 10, hay mover 10
Stop advancing, and carry out turning to for the first time.Specifically, when hay mover 10 is advanced along current path, mow
When the sensor sensing of machine 10 is to predetermined current first boundary line, sensor sends an instruction to hay mover 10
In control module, after control module is connected to instruction, control hay mover 10 brake to stop, hay mover 10 stops
Only advance, now, the distance that hay mover 10 exceeds current first boundary line is c.Then, hay mover 10 weight
New startup, and when carrying out turning to for the first time, the rotating speed of the first rear drive sprocket of hay mover 10 is w1, hay mover
The rotating speed of 10 the second rear drive sprocket is w2, and w1And w2Equal in magnitude, in opposite direction, so that cutting
After careless machine 10, drive wheel axle center carries out turning to for the first time for the center of circle
Wherein, apart from the correlation such as speed of c and ground line gradient and hay mover 10.Specifically, if hay mover 10
Fuselage length be more than 1 meter when, after control module is connected to instruction, control hay mover 10 brake stop, now,
The distance that hay mover 10 exceeds current first boundary line is less than or equal to 1 meter, it therefore meets safety requires；If
When the fuselage length of hay mover 10 is less than or equal to 1 meter, after control module is connected to instruction, control hay mover 10
Brake stops, and now, the distance that hay mover 10 exceeds current first boundary line is less than or equal to hay mover 10
Fuselage length, therefore, also meets safety and requires.
Second steering module be used for hay mover 10 along current first boundary line direction travel distance d forward
Afterwards, hay mover 10 stops advancing, and carries out second steering, and wherein, 0 ＜ d≤a- △, a are described cutting
The diameter of the cutterhead 11 of careless machine 10, △ is the intrinsic position error of described hay mover 10, second turn to
The direction turning to for the first time is consistent, and the angle turning to for the first time and the angle sum turning to for second are 180
Degree.
In the present embodiment, hay mover 10 is along the direction of current first boundary line forward after travel distance d,
Hay mover 10 stops advancing, and hay mover 10 Acceleration of starting, with the rotating speed of the first rear drive sprocket of hay mover 10
For w3, the rotating speed of the second rear drive sprocket of hay mover 10 is w4, carry out second steering, wherein, w3With
w4Equal in magnitude, in opposite direction, so that drive wheel axle center is carried out for the center of circle after hay mover 10
Turn to for second.
The position error of one embodiment hay mover 10 eliminates system, and including boundary, described boundary is by boundary line
L11, L12, L21 and L22 form, and for limiting the working range of automatic working system, this positioning is by mistake
Difference elimination system also includes the position error cancellation element of aforementioned hay mover 10.
The position error removing method of above-mentioned hay mover 10, apparatus and system, hay mover 10 is along current road
Advance in footpath, when hay mover 10 detects predetermined current first boundary line, hay mover 10 stops advancing, and
Carry out turning to for the first time, hay mover Acceleration of starting travel distance d, hay mover 10 stops advancing afterwards, enters
Row turns to for second, is turned to twice by this, and the direct of travel of hay mover 10 occurs 180 degree change, afterwards,
Hay mover 10 continues on the current path after steering and advances, turns to, until hay mover 10 completes to work
The cutting of scope, because hay mover 10 is before carrying out second steering, hay mover 10 is along current first
Boundary line travel distance d, thus the travel path of hay mover 10 after ensureing to turn to twice and hay mover 10 enter
Travel path before row turns to twice has coincidence, and the distance of this coincidence is more than intrinsic position error △ of hay mover,
Thus eliminating this position error △, when advancing again after hay mover is turned to twice, once go before elimination
Enter due to position error △ cause the problems such as partly grass is not pruned.
Each technical characteristic of embodiment described above can arbitrarily be combined, for making description succinct, not right
The all possible combination of each technical characteristic in above-described embodiment is all described, as long as however, these skills
There is not contradiction in the combination of art feature, be all considered to be the scope of this specification record.
Embodiment described above only have expressed the several embodiments of the present invention, and its description is more concrete and detailed,
But can not therefore be construed as limiting the scope of the patent.It should be pointed out that for this area
For those of ordinary skill, without departing from the inventive concept of the premise, can also make and some deform and change
Enter, these broadly fall into protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be with appended power
Profit requires to be defined.
Claims (10)
1. a kind of position error removing method of hay mover is it is characterised in that include step：
Described hay mover is advanced along current path；
When described hay mover detects predetermined current first boundary line, described hay mover stops advancing, and goes forward side by side
Row turns to for the first time；
Described hay mover is along the direction forward after travel distance d of described current first boundary line, described hay mover
Stop advancing, and carry out second steering, wherein, 0 ＜ d≤a- △, a are the straight of the cutterhead of described hay mover
Footpath, △ is the intrinsic position error of described hay mover, turns to the side turning to described first time described second
To consistent, the angle that described first time turns to and the angle sum turning to for described second are 180 degree.
2. the position error removing method of hay mover according to claim 1 is it is characterised in that described
Current path includes first path, and described first path is the second boundary line, described the second boundary line and described
First boundary line forms the working range of described hay mover.
3. the position error removing method of hay mover according to claim 1 is it is characterised in that in institute
When stating hay mover described in step and predetermined current first boundary line is detected, described hay mover stops advancing, and
In carrying out turning to for the first time, when described hay mover stops advancing, described hay mover is apart from described current first side
The distance in boundary line is c, the described fuselage length being less than or equal to described hay mover apart from c.
4. the position error removing method of hay mover according to claim 3 is it is characterised in that work as institute
State hay mover fuselage length be more than 1 meter when, described apart from c be less than or equal to 1 meter.
5. the position error removing method of hay mover according to claim 1 is it is characterised in that in institute
When stating hay mover described in step and predetermined current first boundary line is detected, described hay mover stops advancing, and
In carrying out turning to for the first time, described hay mover stops advancing, and with the first rear drive sprocket of described hay mover
Rotating speed is w1, the rotating speed of the second rear drive sprocket of described hay mover is w2,Carry out described first time steering, its
In, w1And w2Equal in magnitude, in opposite direction.
6. the position error removing method of hay mover according to claim 5 is it is characterised in that described
The angle turning to for the first time is 90 degree.
7. the position error removing method of hay mover according to claim 1 is it is characterised in that in institute
The direction stating hay mover described in step along described current first boundary line is forward after travel distance d, described cuts
Careless machine stops advancing, and carries out in second steering, and described hay mover stops advancing, and with described hay mover
The first rear drive sprocket rotating speed be w3, described hay mover second rotating speed be w4,Carry out described second
Turn to, wherein, w3And w4Equal in magnitude, in opposite direction.
8. a kind of position error cancellation element of hay mover is it is characterised in that described device includes：
Traveling module, advances along current path for described hay mover；
First steering module, when predetermined current first boundary line is detected for described hay mover, described cuts
Careless machine stops advancing, and carries out turning to for the first time；
Second steering module, advances forward along the direction of described current first boundary line for described hay mover
After d, described hay mover stops advancing, and carries out second steering, and wherein, 0 ＜ d≤a- △, a are
The diameter of the cutterhead of described hay mover, △ is the intrinsic position error of described hay mover, turns to for described second
Consistent with the direction that described first time turns to, angle and the angle turning to for described second that described first time turns to
Degree sum is 180 degree.
9. the position error cancellation element of hay mover according to claim 8 is it is characterised in that described
Traveling module, described first steering module and described second steering module are by the control in described hay mover
Module is controlled.
10. a kind of position error of hay mover eliminates system, including：
Boundary, is made up of boundary line, for limit automatic working system working range it is characterised in that：
Also include the position error cancellation element of the hay mover any one of claim 8-9.
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| CN107743771A (en) * | 2017-10-19 | 2018-03-02 | 谢新昇 | One kind can avoidance automatic mowing robot |
| WO2019062212A1 (en) * | 2017-09-28 | 2019-04-04 | Zhejiang Geely Holding Group Co., Ltd. | Automatic lawn trimmer and automatic lawn trimming method |
| WO2019096264A1 (en) * | 2017-11-16 | 2019-05-23 | 南京德朔实业有限公司 | Smart lawn mowing system |
| WO2019153616A1 (en) * | 2018-02-07 | 2019-08-15 | Changzhou Globe Co., Ltd. | System and method docking robotic mower |
| CN110537412A (en) * | 2019-08-02 | 2019-12-06 | 宁波大叶园林设备股份有限公司 | path planning method of intelligent mower |
| CN111386772A (en) * | 2020-04-08 | 2020-07-10 | 朱鹏 | Economical and environment-friendly internet intelligent agricultural system and method |
| WO2021238001A1 (en) * | 2020-05-29 | 2021-12-02 | 苏州科瓴精密机械科技有限公司 | Robot travelling control method and system, robot, and readable storage medium |
| CN114982459A (en) * | 2022-06-07 | 2022-09-02 | 深圳拓邦股份有限公司 | Mower and mower path planning method |
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