CN108040582A - A kind of automatic tracking power-operated mower based on DGPS - Google Patents
A kind of automatic tracking power-operated mower based on DGPS Download PDFInfo
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- CN108040582A CN108040582A CN201810077074.3A CN201810077074A CN108040582A CN 108040582 A CN108040582 A CN 108040582A CN 201810077074 A CN201810077074 A CN 201810077074A CN 108040582 A CN108040582 A CN 108040582A
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- Prior art keywords
- dgps
- path
- grass trimmer
- correction amount
- motor
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
- A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
- A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
- A01D34/42—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a horizontal axis, e.g. cutting-cylinders
- A01D34/56—Driving mechanisms for the cutters
- A01D34/58—Driving mechanisms for the cutters electric
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
- A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
- A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
- A01D34/76—Driving mechanisms for the cutters
- A01D34/78—Driving mechanisms for the cutters electric
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
Landscapes
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Guiding Agricultural Machines (AREA)
- Harvester Elements (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of automatic tracking power-operated mower based on DGPS, including fuselage, single chip control module, DGPS base stations, DGPS movement stations, single chip control module, motor drive module, motor, battery powered module, universal wheel, cutterhead.After the DGPS base stations on roof acquire correction amount, the DGPS movement stations that it are sent in real time on grass trimmer are modified the measurement data of grass trimmer, reach the GPS location precision of Centimeter Level.After optimal mowing track is manually set for the first time, by the other position coordinates of DGPS Centimeter Levels and course angle information, Way guidance is provided for single chip control module, control motor drive module driving motor makes grass trimmer follow optimal mowing track low-speed motion and completes grass cutting action, auto-shut-off of mowing after tracking.The present invention is positioned by the other real-time high-precision of DGPS Centimeter Levels, and control grass trimmer follows optimal mowing track low-speed motion, can automate weeding process, improve weeding ratio, reduces cost of labor.
Description
Technical field
It is particularly a kind of high-precision based on differential GPS centimetre rank the present invention relates to garden lawn processing beautification apparatus field
Spend the automatic tracking power-operated mower of positioning.
Background technology
Requirement of the modern people for good life environment improves increasingly, and the afforested areas such as gardens, lawn become in city
Indispensable part.Traditional turf-mown mode is manpower trimming or manually promotes grass trimmer trimming, takes time and effort, people
Power is of high cost, and mowing efficiency is low；Or lawn is repaired by advanced intelligent grass-removing, it realizes automation, improve trimming effect
Rate, but intelligent grass-removing needs Multi-sensor Fusion, complicated path to judge planning algorithm etc., and development cost is high, it is caused to sell
Valency is high, it is difficult to popularization and application.
The content of the invention
For above-mentioned technical problem, the present invention provides a kind of following automatically based on differential GPS Centimeter Level high accuracy positioning
Mark power-operated mower.Routing information is provided by the other real-time high-precision positioning of DGPS Centimeter Levels, is moved by the DGPS of grass trimmer
It stands after reception, is supplied to single chip control module, control grass trimmer follows optimal mowing track movement.It, can be by the present invention
While weeding process automates, improves weeding ratio and reduce cost of labor, realized with relatively low development cost automatic
It mows, so as to the popularization and application of automatic mower.
The used to solve above-mentioned technical problem technical solution of the present invention is：
A kind of automatic tracking power-operated mower based on DGPS is proposed, including fuselage, DGPS base stations, DGPS movements
It stands, single chip control module, motor drive module, motor, battery powered module, universal wheel, cutterhead；Wherein：
The fuselage is the skeleton and shape of grass trimmer, for supporting, installing each part on grass trimmer, module.
The DGPS base stations, are arranged at the roof near work lawn, and effect is known accurate using itself
Three-dimensional coordinate acquires pseudorange correction amount or position correction amount, then this correction amount is sent to DGPS movement stations in real time.
The DGPS movement stations, on grass trimmer, effect is that receiving satellite GPS data obtains position measurement
While, pseudorange correction amount or position correction amount that DGPS base stations are sent are received, by calculus of finite differences to the measurement data of itself
It calculated, corrected, obtained the other high precision position coordinate of Centimeter Level, and then a centimetre rank is provided for the tracking path of grass trimmer
Position coordinates, the location information of course angle.
The single chip control module, is made of single-chip minimum system and peripheral circuit.Major function is：1) store
The best effort path on one or more different operating lawn set by user.2) the positioning letter that DGPS movement stations provide is received
Breath, and the best effort path of storage is compared, grass trimmer is controlled along best effort path low-speed motion.3) electricity is controlled by PWM
Machine drive module realizes the movements such as advance, retrogressing, the differential steering of rotation work and grass trimmer of mowing cutterhead.4) control is cut
Startup/stopping of careless machine work.
The motor drive module for receiving the control signal of single chip control module, and controls the operation of each motor,
Including speed governing, operation, stopping etc..
The motor including left/right wheel traveling motor, mowing motor, is used to implement the advance, retrogressing, differential of grass trimmer
The operation that the movement of steering and the rotation of cutterhead are mowed.
The battery powered module controls mould for the driving power for providing motor and by pressure unit for microcontroller
Block etc. provides low-voltage supply.
The universal wheel mounted on mowing motor spindle, is used to support fuselage, keeps fuselage balance and auxiliary grass trimmer differential
It turns to.
On mowing motor, mowing is realized by rotating for the cutterhead.
According to the grass trimmer of said program, including two kinds of operational modes：Path learning pattern and grass cutting action pattern.
Grass trimmer under path learning pattern, by user's manual guidance its on the lawn mowed is needed, along using
The optimal grass cutting action path low-speed motion that person delimit.The single chip control module of grass trimmer passes through GPS satellite and DGPS at this time
The Centimeter Level high accuracy positioning signal that base station provides, records and preserves optimal grass cutting action path, until user terminates road
Footpath mode of learning.Grass trimmer can learn and preserve the optimal grass cutting action path on a plurality of different operating lawn.
According to said program, after setting for the first time, preserving optimal grass cutting action path, subsequently in use, need to will only mow
Machine is placed on the starting point roughly the same with during path learning, selects corresponding optimal grass cutting action path, starts grass trimmer, mows
Machine along the path of setting, can either complete the grass cutting action on the piece lawn in a manner of tracking.Road of the grass trimmer along setting
After whole cutting operations are completed in footpath, single chip control module, which sends instruction, makes grass trimmer stop motion, work, and makes mowing machine sowing
Putting prompt tone reminds user to complete work.
Its operation principle is：
1) under path learning pattern, the DGPS movement stations on grass trimmer receive the signal from GPS satellite and obtain
The positioning measurement data of itself, while receive the pseudorange correction amount or position correction amount of the transmission of DGPS base stations, the survey to itself
Amount data are modified, and obtain the other high accuracy positioning information of Centimeter Level.Afterwards, which is transmitted to microcontroller control
Module is recorded by single chip control module, preserves these location informations, obtains the operating path of required setting.
2) under grass cutting action pattern, the DGPS movement stations on grass trimmer receive GPS satellite signal and DGPS base stations simultaneously
The pseudorange correction amount of transmission or position correction amount, are modified the measurement data of itself, obtain the other position coordinates of Centimeter Level,
The location information of course angle.After position information is transmitted to single chip control module, position coordinates that microcontroller arrives real-time reception, boat
Position coordinates, course angle to angle and the optimal grass cutting action path that is stored in microcontroller ROM are made comparisons, and are acquired grass trimmer and are worked as
Preceding movement and the lateral deviation and heading angle deviation in setting path afterwards according to calculated deviation, calculate grass trimmer return of sening as an envoy to
Setting path works on required longitudinally, laterally Motion correction amount along setting path.Further according to Motion correction amount, to motor
Drive module sends instruction, controls startup/stopping of mowing motor and the rotating forward of left/right wheel traveling motor, reversion, differential turn
To.By the above-mentioned means, grass trimmer is enable to stop the work of mowing motor when on erroneous path, advanced by left/right wheel electric
The movement that machine is performed needed for correction amount makes grass trimmer return to setting path；The work of mowing motor can be driven when on the correct path
Make, and left/right wheel traveling motor is controlled to advance along setting path.
The movement of the grass trimmer in the operational mode is tracking formula, low speed, i.e., along the mowing of user's setting
Path carries out grass cutting action to be less than the speed of 10km/h.
The present invention has following major advantage compared with prior art：
1) using the DGPS centimetre rank high accuracy positioning coordinates provided and course angle information, Centimeter Level is provided for grass trimmer
Other precise operation path, makes grass trimmer accurately complete grass cutting action.
2) planning and setting in grass cutting action path are completed with the mode of tracking, garden is realized with more easy technological means
The automation of work is trimmed on the afforested areas meadow such as woods, lawn, is improved mowing efficiency, is reduced manpower maintenance cost.
Description of the drawings
Fig. 1 is a kind of control principle schematic diagram of the automatic tracking power-operated mower based on DGPS of the present invention.
Specific embodiment
Below according to specific embodiment and with reference to Fig. 1, the present invention is described in further detail.
A kind of automation tracking formula grass trimmer based on DGPS, that is, differential GPS of the present invention, including fuselage, DGPS bases
Quasi- station, DGPS movement stations, single chip control module, motor drive module, motor, battery powered module, universal wheel, cutterhead,
In：
Fuselage is the skeleton and shape of grass trimmer, for supporting, installing each part on grass trimmer, module.
DGPS base stations are arranged at the roof near work lawn, can cover the position of working region, effect
It is, using itself known accurate three-dimensional coordinate, to acquire pseudorange correction amount or position correction amount, then this correction amount is real-time
It is sent to DGPS movement stations.
DGPS movement stations, on grass trimmer, effect is that receiving satellite GPS data obtains the same of position measurement
When, pseudorange correction amount or position correction amount that DGPS base stations are sent are received, the measurement data of itself is carried out by calculus of finite differences
It calculates, correct, obtain the other high precision position coordinate of Centimeter Level, and then provide Centimeter Level other position for the tracking path of grass trimmer
Put coordinate, the location information of course angle.
Single chip control module (includes but not limited to Freescale K60, MC9S12, STMicw Electronics by microcontroller
STM32 etc.) minimum system and peripheral circuit composition.Major function is：1) set by user one or more different works are stored
Make the optimal grass cutting action path on lawn.2) location information that DGPS movement stations provide is received, and compares the best effort of storage
Path controls grass trimmer along best effort path low-speed motion.3) motor drive module is controlled by PWM, realizes mowing cutterhead
Rotation work and grass trimmer the movements such as advance, retrogressing, differential steering.4) startup/stopping of grass trimmer work is controlled.
Motor drive module for receiving the control signal of single chip control module, and controls the operation of each motor, bag
Include speed governing, operation, stopping etc..
Motor is direct current generator, including left/right wheel traveling motor, mowing motor, be used to implement grass trimmer advance, after
It moves back, the operation that the movement of differential steering and the rotation of cutterhead are mowed.
Battery powered module, effect are storage electric energy, are single for the driving power for providing motor and by pressure unit
Piece machine control module etc. provides low-voltage supply.
Universal wheel mounted on mowing motor spindle, is used to support fuselage, fuselage balance and auxiliary grass trimmer differential is kept to turn
To.
On mowing motor, mowing is realized by rotating for cutterhead.
With reference to shown in Fig. 1, the specific embodiment of the said program course of work and principle：
Grass trimmer under path learning pattern, by user promotes and guides it on the lawn for needing to mow manually, along
The optimal grass cutting action path movement that user delimit.The single chip control module of grass trimmer passes through GPS satellite and DGPS at this time
The Centimeter Level high accuracy positioning signal that base station provides, records and preserves optimal grass cutting action path, until user terminates road
Footpath mode of learning.Grass trimmer can learn and preserve the optimal grass cutting action path on a plurality of different operating lawn.First setting,
It is follow-up in use, grass trimmer need to be only placed on to roughly the same with during path learning rise after preserving optimal grass cutting action path
Point selects corresponding optimal grass cutting action path, starts grass trimmer, grass trimmer can either be along the path of setting, with tracking
Mode completes the grass cutting action on the piece lawn.After grass trimmer completes whole cutting operations along the path of setting, microcontroller control
Module, which sends instruction, makes grass trimmer stop motion, work, and makes grass trimmer playing alert tones that user be reminded to complete work.
Its operation principle is：
1) under path learning pattern, the DGPS movement stations on grass trimmer receive the signal from GPS satellite and obtain
The positioning measurement data of itself, while receive the pseudorange correction amount or position correction amount of the transmission of DGPS base stations, the survey to itself
Amount data are modified, and obtain the high accuracy positioning information of Centimeter Level.Afterwards, which is transmitted to microcontroller control mould
Block is recorded by single chip control module, preserves these location informations into microcontroller ROM, obtains the operating path of required setting.
2) under grass cutting action pattern, the DGPS movement stations on grass trimmer receive GPS satellite signal and DGPS base stations simultaneously
The pseudorange correction amount of transmission or position correction amount, are modified the measurement data of itself, obtain the other position coordinates of Centimeter Level,
The location information of course angle.After location information is transmitted to single chip control module, position coordinates that microcontroller arrives real-time reception,
The position coordinates in course angle and the optimal grass cutting action path that is stored in microcontroller ROM, course angle are made comparisons, and acquire grass trimmer
Current kinetic and the lateral deviation and heading angle deviation in setting path afterwards according to calculated deviation, calculate grass trimmer of sening as an envoy to and return
It goes back to setting path or works on required longitudinally, laterally Motion correction amount along setting path.Further according to Motion correction amount, to electricity
Machine drive module sends instruction, controls startup/stopping of mowing motor and the rotating forward of left/right wheel traveling motor, reversion, differential
It turns to.By the above-mentioned means, grass trimmer is enable to stop the work of mowing motor when on erroneous path, advanced by left/right wheel
The movement that motor is performed needed for correction amount makes grass trimmer return to setting path；The work of mowing motor can be driven when on the correct path
Make, and left/right wheel traveling motor is controlled to advance along setting path.
Obviously, the above embodiment is merely an example for clearly illustrating the present invention, and is not to the present invention
The restriction of embodiment.For those of ordinary skill in the art, it can also be made on the basis of the above description
Its various forms of variation or variation.There is no necessity and possibility to exhaust all the enbodiments.And these belong to this hair
The obvious changes or variations that bright spirit is extended out is still in the protection scope of this invention.
Claims (5)
1. a kind of automatic tracking power-operated mower based on DGPS, it is characterised in that：It is moved including fuselage, DGPS base stations, DGPS
Dynamic station, single chip control module, motor drive module, motor, battery powered module, universal wheel, cutterhead；Wherein：
The DGPS base stations, are arranged at the roof near work lawn, and effect is to utilize itself known accurate three-dimensional
Coordinate acquires pseudorange correction amount or position correction amount, then this correction amount is sent to DGPS movement stations in real time；
The DGPS movement stations, on grass trimmer, effect is that receiving satellite GPS data obtains the same of position measurement
When, pseudorange correction amount or position correction amount that DGPS base stations are sent are received, the measurement data of itself is carried out by calculus of finite differences
It calculates, correct, obtain the other high precision position coordinate of Centimeter Level, provide Centimeter Level other position seat for the tracking path of grass trimmer
Mark, the location information of course angle；
The single chip control module, is made of single-chip minimum system and peripheral circuit, and the function of realizing includes：1) store
The best effort path on one or more different operating lawn set by user；2) the positioning letter that DGPS movement stations provide is received
Breath, and the best effort path of storage is compared, grass trimmer is controlled along best effort path low-speed motion；
DGPS base stations, DGPS movement stations, single chip control module, motor drive module, motor are sequentially connected；The motor is
Direct current generator, including revolver traveling motor, right wheel traveling motor, mowing motor, revolver traveling motor, right wheel traveling motor difference
It is connected with universal wheel, mowing motor is connected with cutterhead；Battery powered module is other each module for power supply.
2. a kind of automatic tracking power-operated mower based on DGPS according to claim 1, it is characterised in that：Including two kinds of fortune
Row pattern：Path learning pattern and grass cutting action pattern.
3. a kind of automatic tracking power-operated mower based on DGPS according to claim 2, it is characterised in that：It learns in the path
Under habit pattern, the DGPS movement stations on grass trimmer receive the signal from GPS satellite and obtain the positioning measurement number of itself
According to, while the pseudorange correction amount or position correction amount of the transmission of DGPS base stations are received, the measurement data of itself is modified, is obtained
To the other high accuracy positioning information of Centimeter Level, afterwards, which is transmitted to single chip control module, is controlled by microcontroller
Module record preserves these location informations, obtains the operating path of required setting.
4. a kind of automatic tracking power-operated mower based on DGPS according to Claims 2 or 3, it is characterised in that：It is described to cut
Under careless operating mode, the DGPS movement stations on grass trimmer receive the pseudorange that GPS satellite signal and DGPS base stations are sent and repair simultaneously
Positive quantity or position correction amount, are modified the measurement data of itself, obtain the positioning of Centimeter Level other position coordinates, course angle
Information, after location information is transmitted to single chip control module, position coordinates, course angle and storage that microcontroller arrives real-time reception
The position coordinates in the optimal grass cutting action path in microcontroller ROM, course angle are made comparisons, and acquire grass trimmer current kinetic with setting
Determine the lateral deviation and heading angle deviation in path, afterwards according to calculated deviation, calculating send as an envoy to grass trimmer return setting path or
It works on required longitudinally, laterally Motion correction amount along setting path, further according to Motion correction amount, is sent out to motor drive module
Instruction is sent, controls startup/stopping of mowing motor and rotating forward, reversion, the differential steering of left and right wheel traveling motor.
5. a kind of automatic tracking power-operated mower based on DGPS according to claim 4, it is characterised in that：The grass trimmer
Movement in the operational mode is tracking formula, low speed, i.e., the mowing path set along user is to be less than 10km/h's
Speed carries out grass cutting action.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810077074.3A CN108040582A (en) | 2018-01-26 | 2018-01-26 | A kind of automatic tracking power-operated mower based on DGPS |
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| CN201810077074.3A CN108040582A (en) | 2018-01-26 | 2018-01-26 | A kind of automatic tracking power-operated mower based on DGPS |
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| CN201810077074.3A Pending CN108040582A (en) | 2018-01-26 | 2018-01-26 | A kind of automatic tracking power-operated mower based on DGPS |
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Cited By (5)
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| CN110083152A (en) * | 2019-04-08 | 2019-08-02 | 浙江亚特电器有限公司 | More lawn working methods for intelligent grass-removing |
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| CN112605987B (en) * | 2020-11-25 | 2022-06-03 | 深圳拓邦股份有限公司 | Robot navigation working method and device and robot |
| CN112772108A (en) * | 2021-02-01 | 2021-05-11 | 上海筱珈数据科技有限公司 | Lawn robot-based grass cutting method |
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