CN108762259B - Mowing robot traversal path planning method based on wireless signal intensity - Google Patents
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Abstract
The invention discloses a traversing path planning method of a mowing robot based on wireless signal intensity, wherein the mowing robot comprises a walking wheel, a walking motor connected with the walking wheel, a mowing mechanism, a mowing motor connected with the mowing mechanism, a charging electrode male end arranged at the front end of the mowing robot and a main control electronic device, a charging base comprises a charging electrode female end, a power supply jack and a charging control electronic device, the charging control electronic device is provided with a controller and a second WIFI module connected with the controller, the main control electronic device is provided with a processor and a first WIFI module connected with the processor, and the traversing path planning method is arranged in the processor, and the traversing path planning method comprises eight steps: the mowing robot moves leftwards along the wireless signal intensity contour line within the boundary range, moves a distance of the width of the vehicle body after reaching the boundary, moves rightwards along the wireless signal intensity contour line and is executed in a circulating mode; when meeting an obstacle, carrying out obstacle detouring; and when the wireless signal strength value becomes large, finishing the traversal path planning.
Description
Technical Field
The invention relates to a mowing robot traversal path planning method based on wireless signal intensity, and belongs to the field of mowing robots.
Background
Mobile robots have begun to be used in our lives, such as dust collection robots and mowing robots, and the use of robots reduces daily labor burden to some extent, which is a trend of future technology development.
The mowing robot works outdoors, the environment is wide, the illumination condition is in continuous change, the sensor for environment detection is greatly limited, for example, the visual sensor is influenced by illumination, and the mowing robot fails; the laser radar is based on the ranging principle to carry out environment detection and environment modeling, but the working environment of the mowing robot is possibly very wide, and the detection result of the laser radar has no significance. At present, a mowing robot adopts a random path and walks randomly in a working environment, and the working efficiency is very low. The wireless wifi network is already popularized to each home and office environment, the hardware cost is very low, the development data is rich, and the path planning of the mowing robot based on the strength information of the wireless wifi network signal becomes a development direction.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and the traversal path planning is carried out according to the strength information of the wireless signals in a large range, so that the working efficiency is improved on the premise of not increasing the hardware cost.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a mowing robot traversal path planning method based on wireless signal intensity is disclosed, the mowing robot comprises a walking wheel, a walking motor connected with the walking wheel, a mowing mechanism, a mowing motor connected with the mowing mechanism and a charging electrode male end arranged at the front end of the mowing robot, a main control electronic device is arranged in the mowing robot, the main control electronic device comprises a processor for performing centralized control, a walking motor driving circuit connected with the processor, the walking motor driving circuit is connected with the walking motor, the mowing motor driving circuit connected with the processor is connected with the mowing motor, the mowing motor driving circuit is connected with the mowing motor, an obstacle detection circuit connected with the processor is used for performing obstacle avoidance and path planning, and an inertial navigation system connected with the processor, the boundary detection circuit is connected with the processor and is used for detecting the boundary of a lawn, the charging circuit is connected with the processor, the charging circuit is connected with the male end of the charging electrode, the output end of the charging circuit is connected with a charging battery, the output end of the charging battery is connected with a first power supply circuit, and the first power supply circuit provides power for subsequent circuits; the charging base comprises a charging electrode female end, a power jack and a charging control electronic device, wherein the charging control electronic device is provided with a controller for carrying out centralized control, a second power circuit and a filter circuit which are connected with the power jack, and a switching tube which is connected with the filter circuit, the switching tube is controlled by the controller, outputs and is connected with a current detection circuit, the current detection circuit is connected with the charging electrode female end, the current detection circuit converts a current signal into a voltage signal and sends the voltage signal to the controller, the charging control electronic device is also provided with a boundary signal generating circuit which is connected with the controller, and a second WIFI module which is connected with the controller, the second WIFI module is set to be in an AP mode, and the master control electronic device is provided with a first WIFI module which is connected with the processor, the first WIFI module is set to be in an STA mode, the processor can acquire a wireless signal strength value RSSI received by the first WIFI module and records the wireless signal strength value RSSI as R, and the processor is provided with a traversal path planning method, wherein the traversal path planning method comprises the following steps:
(1) the processor is internally provided with an array A = { A (0), A (1) }, wherein A (i) = RiI =0,1, wherein RiRepresenting stored wireless signal strength values of the mowing robot; the mowing robot leaves the charging base and stores the current wireless signal intensity value A [0]]=R；
(2) The mowing robot rotates leftwards and walks along the wall, the walking distance d from the mowing robot to the charging base is calculated by adopting a center distance calculation algorithm, when the walking distance d is larger than W, the current wireless signal intensity value A [0] = R is stored, and the step 3 is entered, wherein W is the width of the vehicle body of the mowing robot; if the wireless signal strength value R is greater than A [0], entering step 8;
(3) the robot enters into the left tracking process, the tracking path is the wireless signal intensity contour line, namely the path with the wireless signal intensity A0; when the robot mower meets an obstacle, storing A wireless signal strength value A [1] = R, walking along the obstacle on the left side, and after | R-A [1] | >, entering step 4, wherein A threshold value close to zero is set; when the mowing robot detects a boundary through the boundary detection circuit, entering step 5;
(4) the mowing robot walks along the obstacle on the left side; when R-A1, returning to step 3;
(5) the mowing robot rotates rightwards and walks along the wall edge at the right side, the walking distance d between the mowing robot and the charging base is calculated by adopting a center distance calculation algorithm, when the walking distance d is larger than W, the current wireless signal intensity value A [0] = R is stored, and the step 6 is entered; if the wireless signal strength value R is greater than A [0], entering step 8;
(6) the robot enters into the process of tracking to the right, the tracking path is a wireless signal intensity contour line, namely a path with the wireless signal intensity of A0; when the mowing robot meets an obstacle, storing A wireless signal strength value A [1] = R, walking along the obstacle on the left side, and entering A step 7 after | R-A [1] | >; when the mowing robot detects a boundary through the boundary detection circuit, entering a step 2;
(7) the mowing robot walks along the obstacle on the left side; when R-A1, returning to step 6;
(8) and finishing the traversal path planning.
The center distance calculation algorithm is set as follows:
and the walking distance d =10^ [ (P-R)/(10 × n) ] -10^ [ (P-A [0])/(10 × n) ], wherein P is ｃA wireless signal strength value RSSI measured at ｃA position one meter away from the second WIFI module, n is an environmental parameter, and the value is set to be 2 for the family environment.
The left tracking process is set as follows: when R > A [0] +, the robot rotates left until A [0] - < R < A [0] +; when R < A < 0 > +, rotate to the right until A < 0 > - < R < A < 0 > +; keeping straight forward.
The right tracking process is set as follows: when R is greater than A0 +, the robot rotates right until A0-R < A0 +; keeping straight forward.
The implementation of the invention has the positive effects that: 1. the wireless signal coverage is wide, no accumulated error exists, and the method can be used for traversing path planning and improving the working efficiency; 2. and the environment is not required to be set and modified, and the cost is low.
Drawings
FIG. 1 is a functional block diagram of a master electronic device;
FIG. 2 is a functional block diagram of the charge control electronics;
FIG. 3 is a schematic diagram of wireless signal coverage;
fig. 4 is a schematic view of traversal path planning.
Detailed Description
The invention will now be further described with reference to the accompanying drawings in which:
referring to fig. 1-4, in the traversing path planning method of the mowing robot based on wireless signal strength, the mowing robot 23 includes a traveling wheel and a traveling motor 13 connected to the traveling wheel, a mowing mechanism and a mowing motor 11 connected to the mowing mechanism, and a charging electrode male end 6 arranged at the front end of the mowing robot 23. Based on the travelling wheels, the mowing robot 23 can move freely and can be provided with two travelling wheels and a supporting wheel; the male end 6 of the charging electrode is provided with two separated copper electrodes, and the charging is carried out when the charging electrode is connected with an external power supply.
A main control electronic device is arranged in the mowing robot 23, the main control electronic device comprises a processor 1 for performing centralized control, and the processor 1 can adopt a low-power-consumption microprocessor, specifically MSP430 of TI company, or a common processor, such as a 32-bit ARM processor STM32F103C8T6 of ST company; the traveling motor driving circuit 12 is connected with the processor 1, the traveling motor driving circuit 12 is connected with the traveling motor 13, the traveling motor driving circuit 12 drives the traveling motor 13, and the traveling motor 13 drives the traveling wheels under the control of the processor 1, so that the mowing robot 23 can move freely; a mowing motor driving circuit 10 connected with the processor 1, wherein the mowing motor driving circuit 10 is connected with the mowing motor 11, the mowing motor 11 is connected with the mowing mechanism, and the mowing mechanism can be set as a blade or a mowing rope; the obstacle detection circuit 8 is connected with the processor 1 and used for obstacle avoidance and path planning, and an ultrasonic sensor or an infrared sensor or a combination of the two sensors can be adopted; an inertial navigation system 9 connected to the processor 1, configured as an encoder mounted on the walking motor 13, for calculating the position (x, y) and direction θ of the mowing robot 23; the boundary detection circuit 7 is connected with the processor 1 and is used for detecting the boundary of the grassland, a closed cable which is electrified with direct current is arranged on the boundary, so that a magnetic field with the direction opposite to that of the inside of the cable is generated outside, the boundary detection circuit 7 is provided with two Hall sensors, the direction of the magnetic field is detected, and the mowing robot 23 can be judged to be outside, inside or on the boundary; still include with the charging circuit 5 that processor 1 connects, charging circuit 5 with the public end 6 of charging electrode connect, 5 output connection of charging circuit charging battery 4, 4 output connection second power supply circuit 2 of charging battery, second power supply circuit 2 provide the power for follow-up circuit.
The charging base 22 includes a female charging electrode terminal 20, a power jack, and charging control electronics. The power jack can be connected with an external power adapter to provide power for all components of the charging base 22; the female end 20 of the charging electrode is provided with two separated copper electrodes, has elasticity, corresponds to the male end 6 of the charging electrode, and has the same height of positive electrode to positive electrode and negative electrode to negative electrode.
The charging control electronic device is provided with a controller 14 for centralized control, and because the function is single, a PIC16F1503 singlechip of MICROCHIP can be adopted; the first power circuit 2 and the filter circuit 16 connected with the power jack, the switch tube 18 connected with the filter circuit 16, the switch tube 18 controlled by the controller 14, the output connected with the current detection circuit 19, the current detection circuit 19 connected with the charging electrode female terminal 20, the current detection circuit 19 converting the current signal into the voltage signal to the controller 14, the controller 14 controlling the output current and preventing the charging electrode female terminal 20 from short circuit. A boundary signal generating circuit 21 is also provided and connected to the controller 14, the boundary signal generating circuit 21 being connected to cables on grass boundaries and being capable of outputting a dc signal for generating a magnetic field recognizable by the boundary detecting circuit 7.
The charging control electronic device is provided with a second WIFI module 15 connected with the controller 14, and the second WIFI module 15 is set to be in an AP mode, that is, a wireless access point, which is a central node of a wireless network; the main control electronic device is provided with a first WIFI module 3 connected with the processor 1, the first WIFI module 3 is set to be in an STA mode, namely a wireless station which is a terminal of a wireless network, and the processor 1 can acquire a wireless signal strength value RSSI received by the first WIFI module 3 and record the wireless signal strength value RSSI as R. The first WIFI module 3 and the second WIFI module 15 can be set as IOT chips ESP8266, and have the advantages of low price and simple programming.
The processor 1 sets a traversal path planning method, and the traversal path planning method comprises the following steps:
(1) the processor 1 is internally provided with an array A = { A (0), A (1) }, wherein A (i) = RiI =0,1, wherein RiRepresenting stored wireless signal strength values of the lawn mowing robot 23; the mowing robot 23 leaves the charging base 22 and stores the current wireless signal intensity value A [0]]=R；
(2) The robot mower 23 rotates left and walks along the wall, a center distance calculation algorithm is adopted to calculate a walking distance d between the robot mower 23 and the charging base 22, when the walking distance d is greater than W, a current wireless signal strength value a [0] = R is stored, and the step 3 is entered, wherein W is the width of the robot mower 23; if the wireless signal strength value R is greater than A [0], entering step 8;
in step 2, the mowing robot 23 finishes the movement of one vehicle body width on the left side boundary to prepare for the next path planning; meanwhile, if the mowing robot 23 finishes the traversal path planning of the lawn and is located at the farthest end of the working environment, in step 2, the robot cannot finish the movement of one width of the vehicle body, but moves towards the charging base 22, so that the wireless signal strength value R becomes large, and R > a [0] is used as a judgment condition for the end of the traversal path planning.
The center distance calculation algorithm is set as follows:
the walking distance d =10^ (P-R)/(10 xn) ] -10^ (P-A [0])/(10 xn) ], wherein P is ｃA wireless signal strength value RSSI measured at ｃA position 15 m away from the second WIFI module, n is an environmental parameter, and the value is set to be 2 for the home environment; the model 10^ [ (P-R)/(10 xn) ] is a standard model of the distance from the first WIFI module 3 to the second WIFI module 15.
(3) The robot 23 enters into the left tracking process, the tracking path is the wireless signal intensity contour line, i.e. the path with the wireless signal intensity A0; when the robot mower 23 encounters an obstacle, storing A wireless signal strength value A [1] = R, walking along the obstacle on the left side, and after | R- A [1] | >, proceeding to step 4, where A threshold value close to zero is set; when the mowing robot 23 detects a boundary through the boundary detection circuit 7, the process goes to step 5;
the left tracking process is set as follows: when R > A [0] +, the robot rotates left until A [0] - < R < A [0] +; when R < A < 0 > +, rotate to the right until A < 0 > - < R < A < 0 > +; keeping straight forward.
Because the wireless signal is radiated outwards by taking the emission source as the center, the signal intensity is reduced along with the increase of the distance, the mowing robot 23 walks along the wireless signal intensity contour line, and the traversing path planning can be realized by keeping a distance of a vehicle body width between the two wireless signal intensity contour lines.
In step 3, when the robot 23 encounters an obstacle, it needs to leave the current position, | R- A [1] | >, and then enters the obstacle detouring step; when the mowing robot 23 encounters a boundary, the boundary detection circuit 7 outputs a valid signal, and a step of moving the mowing robot by one vehicle body width is performed.
(4) The mowing robot 23 walks along the obstacle on the left side; when R-A1, returning to step 3;
in step 4, the robot 23 walks around the obstacle and returns to step 3 when it returns to the wireless signal strength contour line a [1 ].
(5) The mowing robot 23 rotates to the right and walks along the wall at the right side, the walking distance d between the mowing robot 23 and the charging base 22 is calculated by adopting a center distance calculation algorithm, when the walking distance d is larger than W, the current wireless signal intensity value A [0] = R is stored, and the step 6 is entered; if the wireless signal strength value R is greater than A [0], entering step 8;
and step 2, moving the vehicle body by one width, and detecting the condition of the end of the traversal path planning.
(6) The robot 23 enters into the process of tracking to the right, the tracking path is the contour line of wireless signal intensity, namely the path of wireless signal intensity A0; when the robot mower 23 encounters an obstacle, storing A wireless signal strength value A [1] = R, walking along the obstacle on the left side, and after | R- A [1] | > entering step 7; when the mowing robot 23 detects a boundary through the boundary detection circuit 7, the step 2 is executed;
the right tracking process is set as follows: when R is greater than A0 +, the robot rotates right until A0-R < A0 +; keeping straight forward.
And 3, in the process of leftward tracking, detecting the obstacles and the boundaries.
(7) The mowing robot 23 walks along the obstacle on the left side; when R-A1, returning to step 6;
in step 7, the robot 23 walks around the obstacle and returns to step 6 when it returns to the wireless signal strength contour line a [1 ].
(8) And finishing the traversal path planning.
Claims (4)
1. A mowing robot traversal path planning method based on wireless signal intensity is disclosed, the mowing robot comprises a walking wheel, a walking motor connected with the walking wheel, a mowing mechanism, a mowing motor connected with the mowing mechanism and a charging electrode male end arranged at the front end of the mowing robot, a main control electronic device is arranged in the mowing robot, the main control electronic device comprises a processor for performing centralized control, a walking motor driving circuit connected with the processor, the walking motor driving circuit is connected with the walking motor, the mowing motor driving circuit connected with the processor is connected with the mowing motor, the mowing motor driving circuit is connected with the mowing motor, an obstacle detection circuit connected with the processor is used for performing obstacle avoidance and path planning, and an inertial navigation system connected with the processor, the boundary detection circuit is connected with the processor and is used for detecting the boundary of a lawn, the charging circuit is connected with the processor, the charging circuit is connected with the male end of the charging electrode, the output end of the charging circuit is connected with a charging battery, the output end of the charging battery is connected with a first power supply circuit, and the first power supply circuit provides power for subsequent circuits; the charging base comprises a charging electrode female end, a power jack and a charging control electronic device, wherein the charging control electronic device is provided with a controller for carrying out centralized control, a second power circuit and a filter circuit which are connected with the power jack, and a switching tube which is connected with the filter circuit, the switching tube is controlled by the controller, outputs and is connected with a current detection circuit, the current detection circuit is connected with the charging electrode female end, the current detection circuit converts a current signal into a voltage signal and sends the voltage signal to the controller, the charging control electronic device is also provided with a boundary signal generating circuit which is connected with the controller, and a second WIFI module which is connected with the controller, the second WIFI module is set to be in an AP mode, and the master control electronic device is provided with a first WIFI module which is connected with the processor, the first WIFI module is set to be in an STA mode, the processor can acquire a wireless signal strength value RSSI received by the first WIFI module and is recorded as R, and the wireless signal strength value RSSI is characterized in that: the processor is provided with a traversal path planning method, and the traversal path planning method comprises the following steps:
(1) the processor is internally provided with an array A = { A (0), A (1) }, wherein A (i) = RiI =0,1, wherein RiRepresenting stored wireless signal strength values of the mowing robot; the mowing robot leaves the charging base and stores the current wireless signal intensity value A [0]]=R；
(2) The mowing robot rotates leftwards and walks along the wall, the walking distance d from the mowing robot to the charging base is calculated by adopting a center distance calculation algorithm, when the walking distance d is larger than W, the current wireless signal intensity value A [0] = R is stored, and the step 3 is entered, wherein W is the width of the vehicle body of the mowing robot; if the wireless signal strength value R is greater than A [0], entering step 8;
(3) the robot enters into the left tracking process, the tracking path is the wireless signal intensity contour line, namely the path with the wireless signal intensity A0; when the robot mower meets an obstacle, storing A wireless signal strength value A [1] = R, walking along the obstacle on the left side, and after | R-A [1] | >, entering step 4, wherein A threshold value close to zero is set; when the mowing robot detects a boundary through the boundary detection circuit, entering step 5;
(4) the mowing robot walks along the obstacle on the left side; when R-A1, returning to step 3;
(5) the mowing robot rotates rightwards and walks along the wall edge at the right side, the walking distance d between the mowing robot and the charging base is calculated by adopting a center distance calculation algorithm, when the walking distance d is larger than W, the current wireless signal intensity value A [0] = R is stored, and the step 6 is entered; if the wireless signal strength value R is greater than A [0], entering step 8;
(6) the robot enters into the process of tracking to the right, the tracking path is a wireless signal intensity contour line, namely a path with the wireless signal intensity of A0; when the mowing robot meets an obstacle, storing A wireless signal strength value A [1] = R, walking along the obstacle on the left side, and entering A step 7 after | R-A [1] | >; when the mowing robot detects a boundary through the boundary detection circuit, entering a step 2;
(7) the mowing robot walks along the obstacle on the left side; when R-A1, returning to step 6;
(8) and finishing the traversal path planning.
2. The method for planning the traversing path of the mowing robot based on the wireless signal strength as claimed in claim 1, wherein the method comprises the following steps: the center distance calculation algorithm is set as follows:
and the walking distance d =10^ [ (P-R)/(10 × n) ] -10^ [ (P-A [0])/(10 × n) ], wherein P is ｃA wireless signal strength value RSSI measured at ｃA position one meter away from the second WIFI module, n is an environmental parameter, and the value is set to be 2 for the family environment.
3. The method for planning the traversing path of the mowing robot based on the wireless signal strength as claimed in claim 1, wherein the method comprises the following steps: the left tracking process is set as follows: when R > A [0] +, the robot rotates left until A [0] - < R < A [0] +; when R < A < 0 > +, rotate to the right until A < 0 > - < R < A < 0 > +; keeping straight forward.
4. The method for planning the traversing path of the mowing robot based on the wireless signal strength as claimed in claim 1, wherein the method comprises the following steps: the right tracking process is set as follows: when R is greater than A0 +, the robot rotates right until A0-R < A0 +; keeping straight forward.
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| CN109258060B (en) * | 2018-08-24 | 2020-04-21 | 宁波市德霖机械有限公司 | Map construction intelligent mower based on special image identification recognition |
| CN111158356B (en) * | 2018-11-08 | 2021-08-10 | 苏州宝时得电动工具有限公司 | Automatic mower and control method thereof |
| 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 |
| CN110234175B (en) * | 2019-06-28 | 2022-06-10 | 炬星科技（深圳）有限公司 | Ad hoc network coordination method, device, system, equipment and storage medium |
| CN112578775A (en) * | 2019-09-12 | 2021-03-30 | 苏州宝时得电动工具有限公司 | Automatic working system and control method thereof |
| CN112857368B (en) * | 2019-11-12 | 2024-04-09 | 苏州宝时得电动工具有限公司 | Mower navigation method and device and mower |
| CN114489034A (en) * | 2020-11-13 | 2022-05-13 | 苏州科瓴精密机械科技有限公司 | Automatic robot charging method and system, robot and storage medium |
| CN112544205A (en) * | 2020-12-03 | 2021-03-26 | 桂林航天工业学院 | Unmanned aerial vehicle mows and intelligent system of mowing thereof |
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