CN111028658A - Mowing robot electronic map construction method based on GPS and online map - Google Patents
Mowing robot electronic map construction method based on GPS and online map Download PDFInfo
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- CN111028658A CN111028658A CN201911128280.3A CN201911128280A CN111028658A CN 111028658 A CN111028658 A CN 111028658A CN 201911128280 A CN201911128280 A CN 201911128280A CN 111028658 A CN111028658 A CN 111028658A
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- processor
- mowing robot
- map
- electronic map
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B29/00—Maps; Plans; Charts; Diagrams, e.g. route diagram
- G09B29/003—Maps
- G09B29/006—Representation of non-cartographic information on maps, e.g. population distribution, wind direction, radiation levels, air and sea routes
- G09B29/007—Representation of non-cartographic information on maps, e.g. population distribution, wind direction, radiation levels, air and sea routes using computer methods
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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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
Abstract
The invention discloses a mowing robot electronic map construction method based on a GPS and an online map, wherein a processor for centralized control, a positioning module and a local area network communication module which are connected with the processor are arranged in an outdoor mowing robot, the mowing robot electronic map construction method also comprises a handheld terminal which can establish communication connection with the processor, and the electronic map construction method is arranged in the processor, and comprises the following steps: (1) the processor acquires current position data; (2) the mobile terminal downloads an online map according to the position data acquired by the processor; (3) an operator draws the boundary of a working area on the mobile terminal and returns the boundary to the processor; (4) the processor scans on the online map according to the sequence from bottom to top and from left to right: selecting a coordinate point P in the working area, and obtaining the online map according to the point PThe color of (1) is determined as lawn, and (x) isi,yi,si) Storing the data into a data list A; (5) and the processor completes the construction of the electronic map.
Description
Technical Field
The invention relates to a construction method of an electronic map of a mowing robot based on a GPS and an online map, belonging to the field of mobile robots.
Background
The working process of the mobile robot requires an important data, namely an environment map. Based on the environment map, the mobile robot can realize path planning and task planning, not only can ensure the completion of tasks, but also can realize efficiency maximization. Currently, electronic maps mainly take two forms: grid maps and topological maps. The grid map is a grid which divides the working environment into one grid with equal area and maps the grid into the memory of the computer. The size of the grid map is proportional to the area of the work environment. The topological graph abstracts important components in the working environment and is connected through topological relations to form a map form irrelevant to the area of the working environment. Both map forms require measurement within the working environment range by a ranging sensor configured by a robot, are difficult to technically, take long time, and have errors.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, provides an electronic map construction method of a mowing robot based on a GPS and an online map, adopts a mode of combining the GPS and the online map to quickly establish an environment map of the mowing robot, has simple and effective algorithm and is easy to realize by a computer.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a mowing robot electronic map building method based on GPS and online map, the said outdoor mowing robot sets up the processor to carry on centralized control inside, orientation module and local area network communication module connected with said processor, also include can set up the hand-held terminal of the communication connection with said processor, and set up the electronic map building method in said processor, the said electronic map building method includes the following steps:
(1) the processor acquires current position data through the positioning module;
(2) the mobile terminal establishes communication connection with the processor through the local area network communication module and downloads an online map from a wide area network according to the position data acquired by the processor;
(3) the operator defines the working area of the outdoor mowing robot by drawing the boundary of the working area on the mobile terminal and returns the working area to the processor;
(4) the processor scans on the online map according to the sequence from bottom to top and from left to right: from left to rightIn the scanning process, when the boundary is scanned for odd times, coordinate points P (x) are selected at equal intervalsi,yi) If P (x)i,yi) If the color in the online map is green, (x) isi,yi1) storing the data in the data list A to show that the point P is the lawn area, otherwise, (x) storing the data in the data list Ai,yi0) storing the data into a data list A, wherein the point P is a non-lawn area in the working area; when even number of times of scanning reaches the boundary, coordinate point selection is not carried out;
(5) the processor completes the construction of the electronic map, namely a data list A = { (x)1,y1,s1)，(x2,y2,s2)，…(xi,yi,si) …, wherein siA value of 0 or 1 indicates whether or not it is a lawn.
And (4) setting the scanning distance and the coordinate selection distance from bottom to top to be K, wherein the K is set to be a distance value smaller than the half width of the mower body of the mowing robot.
The implementation of the invention has the positive effects that: 1. the GPS is adopted for position measurement, and an online map is obtained according to the position information, so that an environment map can be rapidly and reliably obtained; 2. and establishing a map based on the online map, so that a map expression form suitable for the mowing robot can be obtained.
Drawings
Fig. 1 is a schematic diagram of an electronic map of a mowing robot.
Detailed Description
The invention will now be further described with reference to the accompanying drawings in which:
referring to fig. 1, an electronic map construction method for a mowing robot based on a GPS and an online map is provided, in which a processor for performing centralized control, a positioning module and a local area network communication module are disposed inside the outdoor mowing robot, and the mowing robot further includes a handheld terminal capable of establishing communication connection with the processor. The positioning module is set as a GNSS module, namely a global navigation satellite positioning module, and can be set as a United states GPS, or Russian GLONASS, European Union GALILEO and China Beidou satellite navigation system, and the mutual combination, so that the implementation of the patent is not influenced. The local area network communication module is a WiFi or Bluetooth module and is used for being connected with the handheld terminal. The handheld terminal has the function of connecting a wide area network, is set as a mobile phone and can also be set as a pad, and the implementation of a patent is not influenced.
The electronic map building method is arranged in the processor and comprises the following steps:
(1) the processor acquires current position data through the positioning module;
due to the continuous development of the technology, the current position can be quickly and accurately obtained through the GPS positioning technology, and the positioning precision is higher and higher in the future.
(2) The mobile terminal establishes communication connection with the processor through the local area network communication module and downloads an online map from a wide area network according to the position data acquired by the processor;
and (2) in an initialization stage, the mobile terminal acquires an online map according to the position data acquired by the processor. The online map can be a hundred-degree map, a google map or a high-grade map, does not influence the implementation of patents, is set to be in a global mode and is provided with position data and an overhead image.
(3) The operator defines the working area of the outdoor mowing robot by drawing the boundary of the working area on the mobile terminal and returns the working area to the processor;
and (3) requiring an operator to participate in setting, and setting the boundary of the working area through the operation interface of the mobile terminal.
(4) The processor scans on the online map according to the sequence from bottom to top and from left to right: in the scanning process from left to right, when the odd number of times of scanning reaches the boundary, coordinate points P (x) are selected at equal intervalsi,yi) If P (x)i,yi) If the color in the online map is green, (x) isi,yi1) storing in a data columnIn Table A, point P is shown as the lawn area, otherwise (x) will bei,yi0) storing the data into a data list A, wherein the point P is a non-lawn area in the working area; when even number of times of scanning reaches the boundary, coordinate point selection is not carried out;
and (4) the processor samples and stores the internal coordinate points of the working area at equal intervals, and marks whether the lawn is the lawn according to the color in the online map.
(5) The processor completes the construction of the electronic map, namely a data list A = { (x)1,y1,s1)，(x2,y2,s2)，…(xi,yi,si) …, wherein siA value of 0 or 1 indicates whether or not it is a lawn.
The data list A is in a linear linked list format, wherein the mutual sequence relation between coordinate points is implied: and traversing is provided for the path planning of the mowing robot in a sequence from bottom to top and from left to right.
And (4) scanning the distance from bottom to top and selecting the distance from right to left as K, wherein the K is set to be smaller than the distance value of the half width of the body of the mowing robot. Therefore, the working area is divided into grids, and the coordinate points in the data list A correspond to the central positions of the grids; when the position data acquired by the processor passes through the coordinate points in the data list a during the working process of the mowing robot, it can be determined that the grid area corresponding to the coordinate points in the data list a is processed.
Claims (2)
1. A mowing robot electronic map construction method based on GPS and online map, the processor for centralized control is arranged in the outdoor mowing robot, and a positioning module and a local area network communication module which are connected with the processor are characterized in that: the system also comprises a handheld terminal which can establish communication connection with the processor, and an electronic map construction method arranged in the processor, wherein the electronic map construction method comprises the following steps:
(1) the processor acquires current position data through the positioning module;
(2) the mobile terminal establishes communication connection with the processor through the local area network communication module and downloads an online map from a wide area network according to the position data acquired by the processor;
(3) the operator defines the working area of the outdoor mowing robot by drawing the boundary of the working area on the mobile terminal and returns the working area to the processor;
(4) the processor scans on the online map according to the sequence from bottom to top and from left to right: in the scanning process from left to right, when the odd number of times of scanning reaches the boundary, coordinate points P (x) are selected at equal intervalsi,yi) If P (x)i,yi) If the color in the online map is green, (x) isi,yi1) storing the data in the data list A to show that the point P is the lawn area, otherwise, (x) storing the data in the data list Ai,yi0) storing the data into a data list A, wherein the point P is a non-lawn area in the working area; when even number of times of scanning reaches the boundary, coordinate point selection is not carried out;
(5) the processor completes the construction of the electronic map, namely a data list A = { (x)1,y1,s1)，(x2,y2,s2)，…(xi,yi,si) …, wherein siA value of 0 or 1 indicates whether or not it is a lawn.
2. The method for lawn edge definition by an outdoor mowing robot according to claim 1, wherein the method comprises the following steps: and (4) setting the scanning distance and the coordinate selection distance from bottom to top to be K, wherein the K is set to be a distance value smaller than the half width of the mower body of the mowing robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911128280.3A CN111028658A (en) | 2019-11-18 | 2019-11-18 | Mowing robot electronic map construction method based on GPS and online map |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201911128280.3A CN111028658A (en) | 2019-11-18 | 2019-11-18 | Mowing robot electronic map construction method based on GPS and online map |
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| CN111028658A true CN111028658A (en) | 2020-04-17 |
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| CN201911128280.3A Withdrawn CN111028658A (en) | 2019-11-18 | 2019-11-18 | Mowing robot electronic map construction method based on GPS and online map |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113821021A (en) * | 2020-06-19 | 2021-12-21 | 南京苏美达智能技术有限公司 | Automatic walking equipment area boundary generation method and system |
| CN113899376A (en) * | 2020-07-06 | 2022-01-07 | 苏州宝时得电动工具有限公司 | Map generation method and system for self-moving equipment and automatic working system |
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| US20190299410A1 (en) * | 2017-03-30 | 2019-10-03 | Brain Corporation | Systems and methods for robotic path planning |
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- 2019-11-18 CN CN201911128280.3A patent/CN111028658A/en not_active Withdrawn
Patent Citations (7)
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| CN106662452A (en) * | 2014-12-15 | 2017-05-10 | 美国 iRobot 公司 | Robot lawnmower mapping |
| CN106647765A (en) * | 2017-01-13 | 2017-05-10 | 深圳拓邦股份有限公司 | Planning platform based on mowing robot |
| US20190299410A1 (en) * | 2017-03-30 | 2019-10-03 | Brain Corporation | Systems and methods for robotic path planning |
| CN110243360A (en) * | 2018-03-08 | 2019-09-17 | 深圳市优必选科技有限公司 | Map structuring and localization method of the robot in moving region |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113821021A (en) * | 2020-06-19 | 2021-12-21 | 南京苏美达智能技术有限公司 | Automatic walking equipment area boundary generation method and system |
| CN113821021B (en) * | 2020-06-19 | 2024-03-29 | 南京苏美达智能技术有限公司 | Automatic walking equipment region boundary generation method and system |
| CN113899376A (en) * | 2020-07-06 | 2022-01-07 | 苏州宝时得电动工具有限公司 | Map generation method and system for self-moving equipment and automatic working system |
| CN113899376B (en) * | 2020-07-06 | 2023-10-20 | 苏州宝时得电动工具有限公司 | Self-mobile device map generation method, system and automatic working system |
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Application publication date: 20200417 |