CN110915409A - Single-core four-wheel drive mowing robot and control method thereof - Google Patents
Single-core four-wheel drive mowing robot and control method thereof Download PDFInfo
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- CN110915409A CN110915409A CN201911121434.6A CN201911121434A CN110915409A CN 110915409 A CN110915409 A CN 110915409A CN 201911121434 A CN201911121434 A CN 201911121434A CN 110915409 A CN110915409 A CN 110915409A
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 239000003638 chemical reducing agent Substances 0.000 claims description 9
- 230000001133 acceleration Effects 0.000 claims description 6
- 230000004888 barrier function Effects 0.000 claims description 2
- 230000008569 process Effects 0.000 abstract description 10
- 238000010586 diagram Methods 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000009966 trimming Methods 0.000 description 1
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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
- 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
- A01D34/64—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 mounted on a vehicle, e.g. a tractor, or drawn by an animal or a vehicle
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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
- A01D34/006—Control or measuring arrangements
- A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- 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
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
Abstract
The invention discloses a single-core four-wheel drive mowing robot and a control method thereof, wherein the mowing robot comprises a control unit, the control unit consists of a main control unit, an inclination sensor, a collision sensor, a rainwater sensor, a gyroscope and a control panel, and the inclination sensor, the collision sensor, the rainwater sensor, the gyroscope and the control panel are in signal connection with the main control unit; when the mowing robot meets an obstacle, turns over or rains in the process of executing tasks, the sensor acquires an external signal and sends the external signal to the main control unit, and the walking motor and the cutting knife motor are adjusted. The invention comprehensively considers various special conditions in the working process of the mowing robot, so that the working efficiency of the robot is obviously improved.
Description
Technical Field
The invention belongs to the technical field of mowing robots, and particularly relates to a single-core four-wheel drive mowing robot and a control method thereof.
Background
Mowing robots are commonly used for lawn trimming maintenance in homes, parks, gardens, communities, golf courses. The mowing robot can automatically walk and mow without manual operation, so that the labor can be reduced, the working efficiency is improved, and the mowing height and the mowing quality can be kept stable. However, mowing robots often encounter various special situations in work, such as: when the robot encounters an obstacle, the robot turns over or rains in the working process, and the existing mowing robot assists the mowing robot to handle various special conditions by installing equipment such as a depth camera and a radar.
Disclosure of Invention
In view of the above, the present invention provides a single-core four-wheel-drive lawn mowing robot and a control method thereof to better handle various situations encountered during a work process.
The invention adopts the following technical scheme to realize the technical purpose.
A single-core four-wheel drive mowing robot comprises a mowing robot body and a control unit, wherein four driving wheels are arranged at the lower part of the mowing robot body; the control unit comprises a main control unit, an inclination sensor, a collision sensor, a rainwater sensor, a gyroscope and a control panel, wherein the inclination sensor, the collision sensor, the rainwater sensor, the gyroscope and the control panel are in signal connection with the main control unit, the sensor collects external signals, the gyroscope collects auxiliary information of the steering angle of the machine body, and the control panel is used for interacting with a user.
In the technical scheme, the driving wheel is fixedly connected with the speed reducer, the speed reducer is fixedly connected with the walking motor, the walking motor is connected with the driver, and the driver is connected with the main control unit.
In the technical scheme, the collision sensor is arranged in the collision rod, and the collision rod is arranged on two sides of the front part of the machine body.
In the technical scheme, the inclination sensor, the rainwater sensor and the gyroscope are all arranged on the machine body.
A control method of a single-core four-wheel drive mowing robot comprises the steps of inputting an authority password into a control panel, starting the robot, initializing the robot, inquiring keys and zone bits of the control panel, and controlling a walking motor by a main control unit to realize control of the robot.
Further, when the robot executes a task, if special conditions are met, the robot enters external interruption.
Further, the external interrupt is specifically: when the flag bit of the inclination sensor is enabled, the main control unit closes the cutting knife motor and the walking motor; when the zone bit of the collision sensor is enabled, the main control unit adjusts PWM signal output to control the mowing robot to retreat for a certain distance to bypass the barrier; when the zone bit of the rainwater sensor is enabled, the main control unit controls the driving signal to enable the mowing robot to return to the charging station.
Furthermore, a magnetoelectric sensor is arranged in the walking motor, the magnetoelectric sensor detects the acceleration, the speed and the position of the walking motor at any time and feeds back the acceleration, the speed and the position to the main control unit, and the main control unit adjusts the PWM wave control signal of the walking motor again to meet the actual requirement.
The invention has the beneficial effects that: the invention relates to a single-core four-wheel drive mowing robot, wherein a control unit comprises an inclination sensor, a collision sensor, a rainwater sensor, a gyroscope and a control panel, when the mowing robot executes a task and encounters an obstacle, turns over or rains, various sensors collect external signals and send the external signals to a main control unit, and the main control unit adjusts the working states of a walking motor and a cutting knife motor, so that the robot can flexibly and stably process various emergency situations.
Drawings
FIG. 1 is a schematic structural diagram of a single-core four-wheel drive mowing robot according to the invention;
FIG. 2 is a schematic control diagram of a single-core four-wheel drive mowing robot according to the invention;
FIG. 3 is a control flow chart of a single-core four-wheel drive mowing robot according to the invention;
FIG. 4 is a flow chart of the interruption of the operation of a single-core four-wheel drive mowing robot according to the invention;
fig. 5 is a flow chart of the mowing robot with single-core four-wheel drive for executing mowing tasks.
Wherein: 1-a fuselage; 2-a walking motor; 3-a reducer; 4-driving wheel; 5-a mowing motor; 6-cutting knife; 7-a driver; 8-collision bar; 8 a-a first impact bar; 8 b-a second impact bar; 9-a battery; 10-a main control unit; 11-a tilt sensor; 12-a rain sensor; 13-a gyroscope; 14-control panel.
Detailed Description
The following detailed description of embodiments of the invention is provided in connection with the accompanying drawings and the detailed description.
As shown in fig. 1 and 2, a single-core four-wheel drive mowing robot comprises a body 1, a walking motor 2, a speed reducer 3, a driving wheel 4, a mowing motor 5, a cutting knife 6, a driver 7, an impact rod 8, a battery 9 and a control unit.
The control unit comprises a main control unit 10, an inclination sensor 11, a collision sensor, a rainwater sensor 12, a gyroscope 13 and a control panel 14, the inclination sensor 11, the collision sensor, the rainwater sensor 12, the gyroscope 13 and the control panel 14 are all in signal connection with the main control unit, various sensors are used for acquiring signals, the gyroscope provides auxiliary information of a steering angle of the machine body 1, and the control panel is used for interacting with a user. The collision rod 8 comprises a first collision rod 8a and a second collision rod 8b, the first collision rod 8a and the second collision rod 8b are installed on two sides of the front portion of the machine body, collision sensors are arranged in the first collision rod 8a and the second collision rod 8b, and the collision sensors are connected with the central control unit and send external collision signals. The tilt sensor 11, the rain sensor 12, and the gyroscope 13 are all provided on the body 1. The chip of the main control unit adopts STM32F405, the main frequency is 168MHz, and the chip supports single-cycle DSP instructions and floating point units, maximum SRAM capacity, network interfaces, data encryption and other more advanced external equipment.
The walking motor 2 is fixedly connected with a speed reducer 3, and the speed reducer 3 is fixedly connected with a driving wheel 4; in the embodiment, the walking motor 2 adopts a direct-current brushless servo motor with a stopping self-locking function, and four driving wheels 4 are respectively arranged at the left front part, the right front part, the left rear part and the right rear part of the lower part of the machine body 1 along the advancing direction of the mowing robot. A mowing motor 5 is arranged in the middle of the lower part of the machine body 1, and the mowing motor 5 is fixedly connected with a cutting knife 6. A driver 7, a main control unit 11 and a battery 9 are arranged in the middle of the upper part of the machine body 1, and the battery 9 is communicated with a power supply of a charging station through a charging butt-joint device 10 for charging; a canopy is arranged around the charging station. The walking motor 2 and the mowing motor 5 are both connected with a driver 7, and the driver 7 is in signal connection with a main control unit 10. The main control unit 10 provides amplified PWM control signals to the walking motor 2 through the driver 7, and the walking motor 2 controls the driving and braking of the driving wheel 4 through the speed reducer 3. The main control unit 10 provides a control signal to the mowing motor 5 through the driver 7, and the mowing motor 5 controls the action of the cutting knife 6.
As shown in fig. 3, a method for controlling a single-core four-wheel drive mowing robot includes the following steps:
step (1), when the mowing robot needs to be started, the authority password is input into the control panel 14, the mowing robot starts to work, and otherwise, the mowing robot waits for an authority starting command in situ.
Step (2), initialization: the main control unit 10 detects whether the modules work normally, and if abnormal conditions exist, an alarm is sent out through the control panel 14 to prompt personnel to process; the main control unit 10 detects whether the voltage of the battery 9 is too low, if the voltage is too low, the situation that the robot cannot work due to low electric quantity is prompted, the robot is controlled to travel to a charging station, the battery 9 is connected with an external power supply through a charging butt joint device, the battery is charged through an alternating current power supply, and the fact that the mowing robot has enough electric energy to complete tasks is guaranteed.
Step (3), after entering the main program, inquiring keys and flag bits of the control panel 14: the user interacts with the mowing robot using the control panel 14, such as setting a lawn map, setting a mowing mode, adjusting a mowing height, setting a mowing task, and the like, and the mowing robot sets the associated flag.
Step (4), judging whether the robot needs to get out of the charging station: if the mowing robot is in the charging station and the user needs to take the mowing robot out of the charging station, the main control unit controls the charging butt-joint device to disconnect the battery 9 from the alternating current power supply, and the mowing robot is converted into a battery power supply state.
And (5) judging whether to execute a mowing task: if the mowing task needs to be executed, the mowing robot executes the mowing task, and the other person exits from the current cycle and enters into the next cycle.
As shown in fig. 4, the robot mower may enter an external interrupt when encountering a special situation, and includes the following steps:
step (1), entering interruption: the associated flag bit is checked.
And (2) if the flag bit of the inclination sensor 11 is enabled, the mowing robot is turned over, at the moment, the main control unit 10 adjusts PWM (pulse-width modulation) signal output through internal servo control, immediately closes the cutting knife motor 5 and the walking motor 2, and resets software to prevent accidents.
Step (3), if the collision sensor flag bit is enabled, it is indicated that there is an obstacle in front, the main control unit 10 adjusts the PWM signal output of the traveling motor 2 through internal servo control, controls the mowing robot to stop in a safe range, and the mowing robot will retreat a distance and turn right around the obstacle; in the moving process of the mowing robot, a magnetoelectric sensor arranged in a walking motor 2 can constantly detect the acceleration, the speed and the position of the walking motor and feed back to a main control unit 10, and the main control unit 10 secondarily adjusts a PWM (pulse width modulation) wave control signal of the walking motor 2 to meet the actual requirement; the mowing robot will continue the previous mowing work after bypassing the obstacle.
And (4) if the zone bit of the rainwater sensor 12 is enabled, it is indicated that the robot is raining, the wet grassland is not suitable for mowing, the main control unit 10 converts the running distance of the walking motor 2 into an acceleration reference instruction value, a speed reference instruction value and a position reference instruction value according to a path which is planned by the robot and returns to a charging station, then the main control unit 10 generates a driving signal for driving the walking motor 2 by combining the feedback of the magnetoelectric sensor of the walking motor 2, the driving signal is amplified by a power bridge and then drives the walking motor 2 to move in the opposite direction, the magnetoelectric sensor feeds back the running parameters of the motor to the main control unit 10 in real time in the movement process, and the main control unit 10 finely adjusts the PWM control signal of the walking motor 2 secondarily according to the feedback parameters to carry out closed-loop control.
And (5) after the mowing robot returns to the charging station, a charging butt connector on the mowing robot is butted with a charging system, the mowing robot is converted into an alternating current power supply state, and the alternating current power supply charges the battery. At the moment, the mowing robot enters a stopping self-locking mode, the mowing robot is locked at a charging station and can not move under the influence of external force, and the safety and stability of the charging process are guaranteed.
As shown in fig. 5, the mowing robot performs a mowing task, including the steps of:
step (1), the main control unit 10 judges whether the electric quantity of the battery 9 is insufficient, and if the electric quantity is insufficient, the robot is controlled to return to a charging station for charging; if the charge is sufficient, the next step is entered.
Step (2), the main control unit 10 judges whether the current position of the robot is close to the boundary, if so, the main control unit 10 controls the walking motor 2 to realize the steering of the robot; otherwise, the next step is carried out.
And (3) converting the running distance of the walking motor 2 into an acceleration, a speed and a position reference instruction value by the main control unit 10, then generating a driving signal for driving the walking motor 2 by the main control unit 10 by combining the feedback of a magnetoelectric sensor of the walking motor, amplifying the driving signal by a power bridge, driving the walking motor 2 to move in opposite directions, feeding the running parameters of the motor back to the main control unit by the magnetoelectric sensor in real time in the moving process, and carrying out closed-loop control by the main control unit 10 according to the PWM control signal of the walking motor 2 finely adjusted secondarily by the feedback parameters so as to enable the mowing robot to walk for a distance forwards.
And (4) judging whether the mowing working time is longer than the set working time or not by the main control unit 10, if so, finishing the mowing task, controlling the person of the mower to return to the charging station, and otherwise, exiting the current cycle and entering the next cycle.
The above embodiments are only for illustrating the technical solutions of the present invention and not for limiting the same, and the workers in the technical field can make equivalent substitutions on some technical features, and any modifications, equivalent substitutions, improvements and the like within the spirit and principle of the present invention should be covered within the technical solution of the present invention.
Claims (8)
1. A single-core four-wheel drive robot mower is characterized in that: the mowing robot comprises a mowing robot body and a control unit, wherein four driving wheels (4) are arranged at the lower part of a mowing robot body (1); the control unit comprises a main control unit (10), an inclination sensor (11), a collision sensor, a rainwater sensor (12), a gyroscope (13) and a control panel (14), wherein the inclination sensor, the collision sensor, the rainwater sensor, the gyroscope (13) and the control panel (14) are in signal connection with the main control unit, the sensors collect signals, the gyroscope (13) collects auxiliary information of steering angles of the machine body (1), and the control panel (14) is used for interacting with a user.
2. The mono-nuclear four-wheel drive lawn mowing robot of claim 1, wherein: the driving wheel (4) is fixedly connected with the speed reducer (3), the speed reducer (3) is fixedly connected with the walking motor (2), the walking motor (2) is connected with the driver (7), and the driver (7) is connected with the main control unit (10).
3. The mono-nuclear four-wheel drive lawn mowing robot of claim 1, wherein: the collision sensor is arranged in a collision rod (8), and the collision rod (8) is arranged on two sides of the front part of the machine body.
4. The mono-nuclear four-wheel drive lawn mowing robot of claim 1, wherein: the inclination sensor (11), the rainwater sensor (12) and the gyroscope (13) are all arranged on the machine body (1).
5. A control method of a single-core four-wheel drive mowing robot is characterized by comprising the following steps: the method comprises the steps of inputting an authority password into a control panel (14), starting the robot, initializing the robot, inquiring keys and zone bits of the control panel (14), and controlling a walking motor (2) by a main control unit (10) to realize the control of the robot.
6. The control method of a mono-nuclear four-wheel drive lawn mowing robot according to claim 5, characterized in that: when the robot executes a task, if special conditions are met, the robot enters external interruption.
7. The method of controlling a single-core four-wheel-drive lawn mowing robot according to claim 6, wherein: the external interrupt is specifically: when the flag bit of the inclination sensor (11) is enabled, the main control unit (10) closes the cutting knife motor (5) and the walking motor (2); when the zone bit of the collision sensor is enabled, the main control unit (10) adjusts PWM signal output to control the mowing robot to retreat for a certain distance to bypass the barrier; when the zone bit of the rainwater sensor (12) is enabled, the main control unit (10) controls a driving signal to enable the mowing robot to return to a charging station.
8. The control method of a mono-nuclear four-wheel drive lawn mowing robot according to claim 7, characterized in that: be equipped with magnetoelectric sensor in walking motor (2), magnetoelectric sensor detects walking motor's acceleration, speed and position constantly to feed back to main control unit (10), main control unit (10) adjust walking motor's PWM ripples control signal once more in order to satisfy actual demand.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201911121434.6A CN110915409A (en) | 2019-11-15 | 2019-11-15 | Single-core four-wheel drive mowing robot and control method thereof |
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| CN201911121434.6A CN110915409A (en) | 2019-11-15 | 2019-11-15 | Single-core four-wheel drive mowing robot and control method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114698454A (en) * | 2022-04-26 | 2022-07-05 | 深圳华芯信息技术股份有限公司 | Method, apparatus and computer storage medium for controlling mowing robot |
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