CN107102643B - large-scale intelligent mowing robot p-d type path planning method - Google Patents
large-scale intelligent mowing robot p-d type path planning method Download PDFInfo
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- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Abstract
large-scale intelligent cuttersA grass robot p-d type path planning method adopts a two-circle tangent mode to replace a traditional straight line steering mode in a steering area, and sets a large circle radius R tangent to an adjacent path according to the geometric dimension of a grass area to be mowed, the performance index of a grass mowing robot and the grass mowing coverage rate requirement1Small circular radius R tangent to an adjacent path2And the size of the distance W between the center lines of the vehicle bodies of the adjacent paths, determining straight lines by two points to list equations, and calculating the straight paths of the left to-be-cut area and the right to-be-cut area and the large circle path and the small circle path tangent to the adjacent paths through the equations to generate the p-d type path, thereby not only maintaining the advantages of the circuitous path planning algorithm, but also overcoming the defect that the circuitous path algorithm is easy to skip in a steering area.
Description
Technical Field
The invention relates to the technical field of intelligent robots, in particular to a p-d type path planning method for large intelligent mowing robots.
Background
The method for planning the operation path of the mowing robot to realize the total coverage of the basic area mainly comprises random planning, inward spiral planning and circuitous planning, wherein the circuitous planning means that the mowing robot walks in a straight line along the path at the planned position, turns around after reaching the boundary of a lawn, then linearly runs in the opposite direction, and repeatedly circuitous planning is carried out until the whole area is covered, the path planning is shown in figure 1, and the method has the characteristics of a path form system , simplicity, easiness in control of movement of the mowing robot, minimum energy consumption and the like, so the circuitous planning is an optimal path planning method for the mowing robot, but for the intelligent mowing robot for large-scale lawn operation, the minimum turning radius exists, and when the minimum turning radius is larger than half of the width of the header, the circuitous path planning method leads to missed cutting in a turning area.
Disclosure of Invention
The technical problem to be solved by the invention is to provide p-d type path planning methods for large intelligent mowing robots, so as to solve the disadvantages in the background art.
The technical problem solved by the invention is realized by adopting the following technical scheme:
large-scale intelligent mowing robot p-d type path planning methods include the following steps:
firstly, according to the geometric dimension of the area to be mowed, the performance index of the mowing robot and the mowing coverage rate requirement, a large circle radius R tangent to an adjacent path is set1Small circular radius R tangent to an adjacent path2And the dimension of the distance W between the center lines of the adjacent paths of the vehicle bodies, and the dimension parameter setting process follows the following principle:
1) in order to reduce the control difficulty and increase the mowing coverage rate, a small circle radius R is selected2Minimum turning radius R for mowing robotmin；
2) In order to ensure no missed cutting between two adjacent paths, the distance W between the center lines of the adjacent paths is smaller than the cutting breadth (D) of a cutting table of the mowing robot, and a parameter sigma is defined as D-W as the margin of the adjacent paths;
secondly, establishing a fixed reference coordinate system O '-X' Y 'of the identification window, and then combining with a ground plane coordinate system O-XY of the area to be mowed to complete coordinate transformation between the fixed reference coordinate system O' -X 'Y' and the ground plane coordinate system O-XY of the area to be mowed;
gamma is the azimuth angle of the fixed reference coordinate system O ' -X ' Y ' of the identification window, and can be obtained by a coordinate rotation transformation formula:
then, dividing the ground plane of the area to be mowed into a left area to be mowed and a right area to be mowed, enabling the intelligent mowing robot to enter from the leftmost end of the left area to be mowed and then to operate according to the path of the left area to be mowed until the intelligent mowing robot operates to the junction of the left area to be mowed and the right area to be mowed at the right end of the working area, and then operating according to the path of the right area to be mowed; combining a straight line path and a standard circle path by the left area path to be cut and the right area path to be cut;
from coordinate point (X 'for mowing robot'min，Y′min) Starting to move in the left to-be-cut area along the Y' axis direction, wherein the reciprocating times of the mowing robot are as follows:
wherein n is not more than
The largest integer of (a);
the equation of the straight line path of the ith path is as follows:
the equation of the large circle and the small circle tangent to the ith path is divided into two cases, and in the th case, when i is an odd number, the equation is as follows:
another cases are when i is even, the equation is:
the number of times of the mowing robot in the path of the right zone to be cut is as follows:
wherein m is greater than
The most recent integer of (a);
assuming that the rightmost path of the right to-be-cut area is the 1 st path, counting from right to left in sequence, the equation of the straight line path of the ith path is as follows:
the equations for the large and small circular paths tangent to the ith path fall into two broad categories, each of which falls into two cases:
when n is odd and j is odd, the equation is:
when n is odd and j is even, the equation is:
when n is even and j is odd, the equation is:
when n is an even number and j is an even number, the equation is:
and calculating straight paths of the left region to be cut and the right region to be cut and large and small circular paths tangent to adjacent paths through the equation to generate a p-d type path.
In the present invention, the angle of γ is obtained by GPS reception information provided on the mowing robot, in which γ ∈ [0 °, 360 ° ].
In the present invention, the large circle is the circle running 3/4 circumference and the small circle is the circle running 1/4 circumference.
Has the advantages that:
1) the invention adopts the principle of taking a straight path and a standard circular path as main parts, and has the characteristics of low complexity of a path planning algorithm and easy automatic generation of the path;
2) the invention is improved on the basis of the traditional circuitous path planning algorithm, not only keeps the advantages of the circuitous path planning algorithm, but also overcomes the defect that the circuitous path algorithm is easy to skip in a turning area.
Drawings
Fig. 1 is a schematic diagram of conventional detour path planning.
FIG. 2 is a schematic diagram of path planning according to the preferred embodiment of the invention.
FIG. 3 is a schematic diagram of coordinate transformation in the preferred embodiment of the present invention.
Detailed Description
In order to make the technical means, the original characteristics, the achievement purposes and the functions of the invention easy to understand, the invention is further described in combination with the detailed drawings.
Referring to the large-scale intelligent mowing robot p-d type path planning methods shown in fig. 2, a two-circle tangent mode is adopted in a turning area to replace a traditional straight line turning mode, and the straight advancing direction is kept in the working process of the mowing robot, so that the control difficulty of the mowing robot is effectively reduced, the advantages of a circuitous path planning algorithm are kept, and the defect that the circuitous path algorithm is easy to miss cutting in the turning area is overcome, and the method specifically comprises the following steps:
firstly, according to the geometric dimension of the area to be mowed, the performance index of the mowing robot and the mowing coverage rate requirement, a large circle radius R tangent to an adjacent path is set1Small circular radius R tangent to an adjacent path2And an adjacent path vehicle body centerline spacing W dimension, the dimensional parameter design process follows the following principles:
1) in order to reduce the control difficulty and increase the mowing coverage rate, a small circle radius R is selected2Minimum turning radius R for mowing robotmin；
2) In order to ensure no missed cutting between two adjacent paths, the distance W between the center lines of the adjacent paths is smaller than the cutting breadth (D) of a cutting table of the mowing robot, and a parameter sigma is defined as D-W as the margin of the adjacent paths;
secondly, establishing a fixed reference coordinate system O '-X' Y 'of the identification window, and then combining with a ground plane coordinate system O-XY of the area to be mowed to complete coordinate transformation between the fixed reference coordinate system O' -X 'Y' and the ground plane coordinate system O-XY of the area to be mowed;
gamma is the azimuth angle of a fixed reference coordinate system O ' -X ' Y ' of the identification window, and simultaneously gamma can be obtained through the received information of the GPS, wherein gamma belongs to [0 DEG, 360 DEG ] in the received information of the GPS, is defined in the clockwise direction and can be obtained by a coordinate rotation transformation formula:
then, dividing the ground plane of the area to be mowed into a left area to be mowed and a right area to be mowed, enabling the intelligent mowing robot to enter from the leftmost end of the left area to be mowed and then to operate according to the path of the left area to be mowed until the intelligent mowing robot operates to the junction of the left area to be mowed and the right area to be mowed at the right end of the working area, and then operating according to the path of the right area to be mowed; the left to-be-cut area path and the right to-be-cut area path adopt the principle of mainly taking a straight line path and a standard circle path, and have the characteristics of low complexity of a path planning algorithm and easiness in automatic generation of the paths;
the mowing robot starts from the coordinate point (X ') of FIG. 3'min，Y′min) Starting to move in the left to-be-cut area along the Y' axis direction according to the graph shown in FIG. 2, the number of the reciprocating times of the mowing robot is as follows:
wherein n is not more than
The largest integer of (a);
the equation of the straight line path of the ith path is as follows:
the path equations of the large circle (running 3/4 circle) and the small circle (running 1/4 circle) tangent to the ith path are divided into two cases, and the case is that when i is odd, the equation is:
another cases are when i is even, the equation is:
in addition, the number of times of reciprocating the mowing robot according to the path of the right zone to be cut in fig. 2 is as follows:
wherein m is greater than
The most recent integer of (a);
assuming that the rightmost path of the right to-be-cut area shown in fig. 2 is the 1 st path, and the paths are counted from right to left in sequence, the equation of the straight path of the ith path is:
the path equations of the large circle (running 3/4 circle) and the small circle (running 1/4 circle) tangent to the ith path fall into two categories, and each category is divided into two cases:
when n is an odd number and j is an odd number, the equations are respectively:
when n is odd and j is even, the equations are respectively:
when n is even and j is odd, the equations are:
when n is an even number and j is an even number, the equations are respectively:
and calculating straight paths of the left region to be cut and the right region to be cut and large and small circular paths tangent to adjacent paths through the equation to generate a p-d type path.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (5)
1, large-scale intelligent mowing robot p-d type path planning methods, characterized by, the concrete step is as follows:
firstly, according to the geometric dimension of the area to be mowed, the performance index of the mowing robot and the mowing coverage rate requirement, a large circle radius R tangent to an adjacent path is set1Small circular radius R tangent to an adjacent path2And an adjacent path body centerline spacing W dimension; meanwhile, in order to reduce the control difficulty and increase the mowing coverage rate, a small circle radius R is selected2Minimum turning radius R for mowing robotmin；
Secondly, establishing a fixed reference coordinate system O '-X' Y 'of the identification window, and then combining with a ground plane coordinate system O-XY of the area to be mowed to complete coordinate transformation between the fixed reference coordinate system O' -X 'Y' and the ground plane coordinate system O-XY of the area to be mowed;
wherein gamma is the azimuth angle of the fixed reference coordinate system O ' -X ' Y ' of the identification window, and can be obtained by a coordinate rotation transformation formula:
then, dividing the ground plane of the area to be mowed into a left area to be mowed and a right area to be mowed, enabling the intelligent mowing robot to enter from the leftmost end of the left area to be mowed and then to operate according to the path of the left area to be mowed until the intelligent mowing robot operates to the junction of the left area to be mowed and the right area to be mowed at the right end of the working area, and then operating according to the path of the right area to be mowed; combining a straight line path and a standard circle path by the left area path to be cut and the right area path to be cut;
from coordinate point (X 'for mowing robot'min，Y′min) Starting to move in the left to-be-cut area along the Y' axis direction, wherein the reciprocating times of the mowing robot are as follows:
wherein n is not more than
The largest integer of (a);
the equation of the straight line path of the ith path is as follows:
the equation of the large circle and the small circle tangent to the ith path is divided into two cases, and in the th case, when i is an odd number, the equation is as follows:
another cases are when i is even, the equation is:
the number of times of the mowing robot in the path of the right zone to be cut is as follows:
wherein m is greater than
The most recent integer of (a);
assuming that the rightmost path of the right to-be-cut area is the 1 st path, counting from right to left in sequence, the equation of the straight line path of the ith path is as follows:
the equations for the large and small circular paths tangent to the ith path fall into two broad categories, each of which falls into two cases:
when n is odd and j is odd, the equation is:
when n is odd and j is even, the equation is:
when n is even and j is odd, the equation is:
when n is an even number and j is an even number, the equation is:
and calculating straight paths of the left region to be cut and the right region to be cut and large and small circular paths tangent to adjacent paths through the equation to generate a p-d type path.
2. The p-d type path planning method for large-scale intelligent mowing robots according to claim 1, wherein the size parameter setting process follows the following principle:
1) in order to reduce the control difficulty and increase the mowing coverage, the small circle radius R2Minimum turning radius R with mowing robotminEqual;
2) in order to ensure no missed cutting between two adjacent paths, the distance W between the car body center lines of the adjacent paths is smaller than the cutting range D of the cutting table of the mowing robot, and a parameter sigma is defined as D-W as the margin of the adjacent paths.
3. The p-d type path planning method for large-scale intelligent lawn mowing robots according to claim 1, wherein the angle of γ is obtained by receiving information through a GPS provided on the lawn mowing robot.
4. The p-d type path planning method for large-scale intelligent mowing robots according to claim 3, wherein γ e [0 °, 360 ° ].
5. The p-d type path planning method for large-scale intelligent mowing robots according to claim 1, wherein the large circle is a circle running 3/4 circles, and the small circle is a circle running 1/4 circles.
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| CN107976998A (en) * | 2017-11-13 | 2018-05-01 | 河海大学常州校区 | A kind of grass-removing robot map building and path planning system and method |
| CN108759828A (en) * | 2018-03-23 | 2018-11-06 | 江苏大学 | A kind of unmanned rice transplanter paths planning method |
| CN109276191B (en) * | 2018-11-01 | 2020-06-05 | 珠海市一微半导体有限公司 | Path cleaning method, system and chip of cleaning robot |
| WO2020199149A1 (en) * | 2019-04-03 | 2020-10-08 | 深圳拓邦股份有限公司 | Evolvent spiral lawnmowing method, system, and device |
| CN113348847B (en) * | 2020-03-06 | 2023-03-10 | 苏州宝时得电动工具有限公司 | Intelligent mower and mowing method thereof |
| CN112506199B (en) * | 2020-12-12 | 2022-12-02 | 江西洪都航空工业集团有限责任公司 | Local path planning method based on dynamic window method and suitable for Ackerman model robot |
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