CN109845475B - Turning control method and system of intelligent mowing robot - Google Patents
Turning control method and system of intelligent mowing robot Download PDFInfo
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Abstract
The invention discloses a turning control method of an intelligent mowing robot, which comprises the following steps: determining a virtual security boundary; monitoring the position relation between the intelligent mowing robot body and the virtual safety boundary; when the distance between the intelligent mowing robot body and the virtual safety boundary reaches a first threshold value, the intelligent mowing robot turns the driving direction in at least two sections of walking modes, wherein the first section of walking turns to a first angle by a first turning radius, the second section of walking turns to a second angle by a second turning radius, and the first turning radius is not equal to the second turning radius. The invention also provides a turning control system of the intelligent mowing robot. According to the turning control method and system of the intelligent mowing robot, the lawn can be ensured to be not missed to cut in the turning area through multi-section walking turning, the smoothness and the stability of turning can be effectively improved, and the advancing efficiency is improved.
Description
Technical Field
The invention relates to the technical field of intelligent mowing robots, in particular to a method and a system for controlling turning of an intelligent mowing robot.
Background
With the development of urbanization, more and more gardens, golf courses and the like appear in daily life of people. Therefore, the intelligent lawn mowing robot is proposed as a scope of the intelligent agriculture.
The intelligent mowing robot is one of garden service robots and is widely applied to agricultural robots. Since the 80 s of the last century, many companies both at home and abroad have made great investment in the research of intelligent lawn mowers, and have achieved great achievements. The working environment of the intelligent mowing robot is generally a relatively closed area, and the intelligent mowing robot is required to have enough intelligence to autonomously complete path planning. With the increase of mowing area, the turning operation needs to be carried out for a plurality of times, the traditional turning method can frequently cause serious damage to the lawn, and particularly, strict requirements on mowing quality are provided for high-end fields such as golf courses and private gardens. Therefore, a control method capable of smoothly turning around without damaging the lawn quality is urgently needed.
Disclosure of Invention
The invention aims to provide a turning control method of an intelligent mowing robot, which comprises the following steps:
determining a virtual security boundary;
monitoring the position relation between the intelligent mowing robot body and the virtual safety boundary;
when the distance between the intelligent mowing robot body and the virtual safety boundary reaches a first threshold value, the intelligent mowing robot turns the driving direction in at least two sections of walking modes, wherein the first section of walking turns to a first angle by a first turning radius, the second section of walking turns to a second angle by a second turning radius, and the first turning radius is not equal to the second turning radius.
Further, the control method further comprises the steps of:
and when the distance between the intelligent mowing robot body and the virtual safety boundary reaches a second threshold, reducing the running speed of the intelligent mowing robot, wherein the second threshold is larger than the first threshold.
The intelligent mowing robot turns the driving direction in a two-section walking mode, wherein the range value of a first turning radius is 0.5-1.0 times of the wheel track, and the range value of a first angle is 60-120 degrees; the range value of the second turning radius is 0.1-0.5 times of the wheel base, the range value of the second angle is 60-120 degrees, and the sum of the first angle and the second angle is 180 degrees.
Wherein the distance between the virtual safety boundary and the lawn boundary or the teaching boundary is 0.5-1 of the length of the intelligent mowing robot body.
Wherein, the running speed of the driving wheel of the intelligent mowing robot is kept to be more than 0 in the turning process.
The invention also provides a turning control system of the intelligent mowing robot, which comprises the following components:
the virtual safety boundary setting module is used for determining a virtual safety boundary;
the position monitoring module is used for monitoring the position relation between the intelligent mowing robot body and the virtual safety boundary;
the turning control module is used for turning the driving direction of the intelligent mowing robot in at least two sections of walking modes when the distance between the intelligent mowing robot body and the virtual safety boundary reaches a first threshold value, wherein the first section of walking turns to a first angle by a first turning radius, the second section of walking turns to a second angle by a second turning radius, and the first turning radius is not equal to the second turning radius.
Further, the turning control system further includes:
and the speed control module is used for reducing the running speed of the intelligent mowing robot when the position monitoring module monitors that the distance between the intelligent mowing robot body and the virtual safety boundary reaches a second threshold value, wherein the second threshold value is larger than the first threshold value.
The intelligent mowing robot turns the driving direction in a two-section walking mode, wherein the range value of a first turning radius is 0.5-1.0 times of the wheel track, and the range value of a first angle is 60-120 degrees; the range value of the second turning radius is 0.1-0.5 times of the wheel base, the range value of the second angle is 60-120 degrees, and the sum of the first angle and the second angle is 180 degrees.
Wherein the distance between the virtual safety boundary and the lawn boundary or the teaching boundary is 0.5-1 of the length of the intelligent mowing robot body.
The speed control module is further used for keeping the running speed of the driving wheel of the intelligent mowing robot to be larger than 0 in the turning process.
According to the turning control method and the turning control system of the intelligent mowing robot, turning can be completed in a short time, the smoothness and the stability of turning can be effectively improved, and the advancing efficiency is improved. Secondly, when the task is executed by turning around the boundary, the intelligent mowing robot can effectively reduce the mowing area, greatly reduce the secondary damage to the lawn in the process of executing leakage repairing, and increase the market competitiveness of the intelligent mowing robot. The method and the system for controlling the turning of the intelligent mowing robot have the advantages that: firstly, a multi-section walking turning mode is adopted, and the aim is to ensure that no lawn is missed in a turning area; secondly, the driving wheel keeps rotating during turning, and the purpose is to reduce the damage of the wheel to the lawn.
Drawings
Fig. 1 is a flowchart of a method for controlling turning around of an intelligent mowing robot according to a preferred embodiment of the present invention.
Fig. 2 is a flowchart of another preferred embodiment of a method for controlling the turning around of the intelligent mowing robot according to the invention.
Fig. 3 is a flowchart of another preferred embodiment of a method for controlling the turning around of the intelligent mowing robot according to the invention.
Fig. 4 and 5 are schematic diagrams illustrating the operation of the intelligent mowing robot.
Fig. 6 is a block diagram of a preferred embodiment of a turn-around control system of an intelligent mowing robot.
Fig. 7 is a block diagram of another preferred embodiment of a turn-around control system of an intelligent lawn mowing robot.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a flowchart illustrating a method for controlling turning of an intelligent lawn mowing robot according to a preferred embodiment of the present invention. The preferred embodiment of the turning control method of the intelligent mowing robot comprises the following steps of:
step S1: a virtual security boundary is determined. In the embodiment, the boundary is retracted into the virtual safety boundary according to the boundary information, and compared with the traditional mowing mode, the operation of the step can effectively provide safety guarantee and prevent the vehicle body from colliding with the unknown boundary at the turning position of the boundary. In the embodiment, the distance between the virtual safety boundary and the lawn boundary or the teaching boundary is 0.5-1 vehicle body length of the intelligent mowing robot body.
Step S2: monitoring the position relation between the intelligent mowing robot body and the virtual safety boundary;
step S3: and judging whether the distance between the intelligent mowing robot body and the virtual safety boundary reaches a second threshold value. And if the distance between the intelligent mowing robot body and the virtual safety boundary reaches the second threshold, executing the step S4, otherwise, returning to execute the step S3.
Step S4: the driving speed of the intelligent mowing robot is reduced.
In the embodiment, the running speed of the driving wheels of the intelligent mowing robot is kept to be greater than 0 in the turning process, so that the damage of the wheels of the intelligent mowing robot to the lawn during working can be reduced. Of course, in other embodiments, the steps S3 and S4 may be omitted.
Step S5: and judging whether the distance between the intelligent mowing robot body and the virtual safety boundary reaches a first threshold value, wherein the first threshold value is smaller than a second threshold value. And if the distance between the intelligent mowing robot body and the virtual safety boundary reaches the first threshold, executing the step S6, otherwise, returning to execute the step S5.
Step S6: the intelligent mowing robot transfers the driving direction by adopting at least two sections of walking modes, wherein the first section of walking turns to a first angle by a first turning radius, the second section of walking turns to a second angle by a second turning radius, and the first turning radius is not equal to the second turning radius.
In the embodiment, the range value of the first turning radius is 0.5-1.0 times of the track width, and the range value of the first angle is 60-120 degrees; the range value of the second turning radius is 0.1-0.5 times of the wheel base, the range value of the second angle is 60-120 degrees, and the sum of the first angle and the second angle is 180 degrees.
Please refer to fig. 2, which is a flowchart illustrating another preferred embodiment of a method for controlling turning around of an intelligent lawn mowing robot according to the present invention. Another preferred embodiment of the method for controlling turning around of the intelligent mowing robot comprises the following steps:
step S11: the intelligent mowing robot walks along a path planning straight line. And judging whether the current position of the intelligent mowing robot reaches a specified second threshold range (wherein the second threshold is a threshold value of the distance between the end point of the path planning section and the current pose), and if the current position of the intelligent mowing robot reaches the specified second threshold range, executing the step S12. If the current position of the intelligent mowing robot does not reach the specified second threshold range, the step S11 is continuously executed.
Step S12: and operating the two driving wheels of the intelligent mowing robot to perform boundary-approaching deceleration operation.
Step S13: it is determined whether the intelligent mowing robot reaches a first threshold range (the first threshold is very close to the boundary end point position and is known). If the current position of the intelligent mowing robot reaches the specified first threshold range, the step S14 is executed. If the current position of the intelligent mowing robot does not reach the specified first threshold range, the process returns to step S13.
Step S14: at the moment, the intelligent mowing robot stops the path following operation and performs turn-around logic.
Step S15: and judging the current course and the current pose of the intelligent mowing robot, and executing a fitting curve with the radius of 0.75 times of the wheel track and the walking of about 90 degrees in the first section by combining a corresponding control method. And fitting the first section of curve data by combining the first section of starting point of the path plan.
Step S16: and after the intelligent mowing robot reaches the end point of the data of the first section of fitting curve, performing second section fitting, wherein the second section fitting is approximately walking by about 90 degrees and takes 0.25 times of wheel track as the radius. And fitting the second section of curve data by combining the second section of starting point of the path plan.
Step S17: and combining the curve fitting data of the first segment and the second segment to obtain an ideal arc line from the next starting endpoint when the head is turned at any position.
Step S18: and obtaining data (the data combines the information such as the course pose of the current intelligent mowing robot) after curve fitting and smoothing at two ends, distributing the left wheel and the right wheel of the speed of the path, and further executing the whole control logic of turning around.
Referring to fig. 3, in more detail, the method for controlling the turning of the intelligent mowing robot comprises the following steps:
step S21: a virtual security boundary is obtained.
Step S22: and acquiring the current pose information of the intelligent robot body.
Step S23: and judging whether the virtual safety boundary is reached. If the virtual security boundary is reached, go to step S24, otherwise go back to step S22.
Step S24: and loading the end point of the turning curve.
Step S25: smoothed curve data is obtained.
Step S26: and executing motion control tracking on the intelligent mowing robot.
Step S27: and judging whether the curve end point is reached. If the curve end point is reached, the step S28 is executed, otherwise, the step S26 is executed.
Step S28: and acquiring the current pose information of the intelligent mowing robot body.
Step S29: and the angular speed of the left wheel and the right wheel of the intelligent mowing robot body is fixed.
Step S30: forward curve control logic is executed.
Step S31: and judging whether the body of the intelligent mowing robot body is vertical to the next planned path or not. And if the vehicle body of the intelligent mowing robot body is vertical to the next planned path, executing the step S32, otherwise, returning to the step S30.
Step S32: and executing two-section curve turning control logic.
The above steps show a complete automatic turn-around control process. Assuming that the intelligent mowing robot finishes part of mowing tasks at the moment, all working parameters of the robot are normal, and the mowing tasks are close to mowing boundaries at the moment. The intelligent mowing robot can detect the pose relation in a working area through a sensor of the intelligent mowing robot, and when the intelligent mowing robot is detected to enter a threshold range of a retraction boundary, the intelligent mowing robot controls the intelligent mowing robot to slow down to reach the target. The speed is reduced to ensure that when the boundary is close to the preset point, accurate pose information can be obtained, and ideal data can be provided when the first section of curve fitting is carried out.
Referring to fig. 4, when the intelligent mowing robot cuts a part of the area, it safely reaches the retracted boundary area (where the retracted boundary is the entire working range of the intelligent mowing robot, forming a closed active area, the boundary can be formed by external map loading or a series of point sets formed by data acquisition carried with accurate positioning information at the boundary of the working area). Please continue to refer to fig. 5, which shows the detailed process of step S4 in fig. 1, at this time, it should be noted that the positioning module is required to provide accurate heading positioning information, so that the accurate information of the heading after the turn-around update can be accurately obtained through the initial direction of the path planning.
Referring to fig. 6, a block diagram of a turn-around control system of an intelligent lawn mowing robot according to a preferred embodiment of the present invention is shown. The preferred embodiment of the turning control system of the intelligent mowing robot comprises a virtual safety boundary setting module, a position monitoring module, a turning control module and a speed control module. The virtual security boundary setting module is used for determining a virtual security boundary. The position monitoring module is used for monitoring the position relation between the intelligent mowing robot body and the virtual safety boundary. The turning control module is used for turning the driving direction of the intelligent mowing robot in at least two sections of walking modes when the distance between the intelligent mowing robot body and the virtual safety boundary reaches a first threshold value, wherein the first section of walking turns to a first angle by a first turning radius, the second section of walking turns to a second angle by a second turning radius, and the first turning radius is not equal to the second turning radius. The speed control module is used for reducing the running speed of the intelligent mowing robot when the position monitoring module monitors that the distance between the intelligent mowing robot body and the virtual safety boundary reaches a second threshold value, wherein the second threshold value is larger than the first threshold value, and the speed control module is further used for keeping the running speed of a driving wheel of the intelligent mowing robot to be larger than 0 in the turning process.
In the embodiment, the intelligent mowing robot turns the driving direction in a two-section walking mode, wherein the range value of the first turning radius is 0.5-1.0 times of the wheel track, and the range value of the first angle is 60-120 degrees; the range value of the second turning radius is 0.1-0.5 times of the wheel base, the range value of the second angle is 60-120 degrees, and the sum of the first angle and the second angle is 180 degrees. The distance between the virtual safety boundary and the lawn boundary or the teaching boundary is 0.5-1 of the length of the lawn mowing robot body.
Fig. 7 is a block diagram of another preferred embodiment of a turning control system of an intelligent lawn mowing robot according to the present invention. The other preferred embodiment of the turning control system of the intelligent mowing robot comprises an upper computer display module, a database storage module, an operation module, a motion control module and a positioning module.
The upper computer display module can comprise a mobile phone APP, an industrial control display or a tablet personal computer and other computing displays with a human-computer interaction function, and is used for providing important human-computer interaction information such as feedback of abnormal working conditions. The data storage module is used for refreshing data of the current position of the intelligent mowing robot according to a certain time, and is also used for storing virtual safety boundary information, a plurality of preset threshold distances and a turning control algorithm. The operation module is used for operating an optimized curve tracking algorithm. And the motion control module is used for adjusting the posture according to a pre-stored turning control algorithm, namely turning control. The positioning module is used for providing accurate pose information including, but not limited to, longitude and latitude, heading, roll, pitch and other positioning information.
In this embodiment, the number of the driving wheels of the intelligent mowing robot is two, and the two driving wheels are used for providing power and selecting directions for the whole mowing robot. The drive wheel may be located at the front or rear of the intelligent lawn mowing robot. The kinetic energy of the mowing robot can be supplied with energy by gasoline, batteries and the like, and the positioning module can be RKT differential radar positioning, a visual camera, a laser radar, an inertial navigation odometer and the like.
The intelligent mowing robot with the accurate turning control method and the system can have safer turning control and more efficient mowing efficiency. In this embodiment, the virtual boundary may also define a working area for the intelligent mowing robot, the intelligent mowing robot will not appear outside the boundary, and the whole intelligent mowing robot can be ensured to appear in the working area in the whole working task process through effective and accurate positioning information. The safety virtual boundary is a safety boundary, a part of threshold values are reserved for turning around, and the length of the vehicle body is generally selected. The motion control module of the intelligent mowing robot body is provided with two driving wheels and two universal wheels (including but not limited to a mechanical structure control robot which is respectively and simultaneously arranged at the front end or the rear end), and when the driving wheels have the same instruction, accurate straight line data can be obtained. When the speeds are different, an ideal curved path can be obtained. The method and the system for controlling the turning of the intelligent mowing robot can smoothly complete turning without basically damaging a lawn to be mowed, so that ideal turning control is completed under the condition of meeting mowing efficiency, and the market competitiveness of the intelligent mowing robot is greatly improved.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (5)
1. A method for controlling the turning of an intelligent mowing robot is characterized by comprising the following steps:
determining a virtual security boundary;
monitoring the position relation between the intelligent mowing robot body and the virtual safety boundary;
when the distance between the intelligent mowing robot body and the virtual safety boundary reaches a first threshold value, the intelligent mowing robot turns the driving direction in at least two sections of walking modes, wherein the first section of walking turns to a first angle by a first turning radius, the second section of walking turns to a second angle by a second turning radius, and the first turning radius is not equal to the second turning radius;
the intelligent mowing robot turns the driving direction in a two-section walking mode, wherein the range value of a first turning radius is 0.5-1.0 times of the wheel track, and the range value of a first angle is 60-120 degrees; the range value of the second turning radius is 0.1-0.5 times of the wheel track, the range value of the second angle is 60-120 degrees, and the sum of the first angle and the second angle is 180 degrees;
the running speed of the driving wheel of the intelligent mowing robot is kept to be greater than 0 in the turning process.
2. The method for controlling turning around of an intelligent robot lawnmower according to claim 1, wherein said method for controlling further comprises the steps of:
and when the distance between the intelligent mowing robot body and the virtual safety boundary reaches a second threshold, reducing the running speed of the intelligent mowing robot, wherein the second threshold is larger than the first threshold.
3. The method for controlling the turning around of the intelligent mowing robot according to claim 1, wherein: the distance between the virtual safety boundary and the lawn boundary or the teaching boundary is 0.5-1 of the length of the intelligent mowing robot body.
4. The utility model provides an intelligence robot that mows's turn around control system which characterized in that: the turn-around control system comprises:
the virtual safety boundary setting module is used for determining a virtual safety boundary;
the position monitoring module is used for monitoring the position relation between the intelligent mowing robot body and the virtual safety boundary;
the turning control module is used for turning the driving direction of the intelligent mowing robot in at least two sections of walking modes when the distance between the intelligent mowing robot body and the virtual safety boundary reaches a first threshold value, wherein the first section of walking turns to a first angle by a first turning radius, the second section of walking turns to a second angle by a second turning radius, and the first turning radius is not equal to the second turning radius;
the speed control module is used for reducing the running speed of the intelligent mowing robot when the position monitoring module monitors that the distance between the intelligent mowing robot body and the virtual safety boundary reaches a second threshold value, wherein the second threshold value is larger than the first threshold value;
the intelligent mowing robot turns the driving direction in a two-section walking mode, wherein the range value of a first turning radius is 0.5-1.0 times of the wheel track, and the range value of a first angle is 60-120 degrees; the range value of the second turning radius is 0.1-0.5 times of the wheel track, the range value of the second angle is 60-120 degrees, and the sum of the first angle and the second angle is 180 degrees;
the speed control module is also used for keeping the running speed of the driving wheel of the intelligent mowing robot to be greater than 0 in the turning process.
5. The turn-around control system of an intelligent lawn mowing robot according to claim 4, wherein: the distance between the virtual safety boundary and the lawn boundary or the teaching boundary is 0.5-1 of the length of the intelligent mowing robot body.
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| SE2251333A1 (en) * | 2022-11-14 | 2024-05-15 | Husqvarna Ab | Improved operation and installation for a robotic work tool |
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| CN110480639B (en) * | 2019-08-23 | 2022-03-22 | 南京埃斯顿机器人工程有限公司 | Method for planning boundary motion of industrial robot monitoring area |
| CN113115621B (en) * | 2019-12-30 | 2023-05-12 | 南京泉峰科技有限公司 | Intelligent mowing system and autonomous image building method thereof |
| 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 |
| CN113805575B (en) * | 2020-06-12 | 2024-07-05 | 颜炳郎 | Carrier system |
| TWI737348B (en) * | 2020-06-12 | 2021-08-21 | 國立臺灣大學 | Supporting vehicle system |
| CN114616973B (en) * | 2020-12-11 | 2023-10-10 | 苏州宝时得电动工具有限公司 | Mower and control method of mower |
| CN114545948A (en) * | 2022-02-28 | 2022-05-27 | 珠海一微半导体股份有限公司 | Mowing robot control method, chip and mowing robot |
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| CN101100058A (en) * | 2006-07-07 | 2008-01-09 | 南京理工大学 | Intelligent grass-removing robot |
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