CN111103879A - Guiding method of self-walking equipment and self-walking equipment - Google Patents
Guiding method of self-walking equipment and self-walking equipment Download PDFInfo
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- CN111103879A CN111103879A CN201911271310.6A CN201911271310A CN111103879A CN 111103879 A CN111103879 A CN 111103879A CN 201911271310 A CN201911271310 A CN 201911271310A CN 111103879 A CN111103879 A CN 111103879A
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- 238000004364 calculation method Methods 0.000 description 3
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- 238000013459 approach Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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Abstract
A self-walking device and a guiding method thereof are provided, which guide the self-walking device in the process of entering the base station through the base station corresponding to the self-walking device and the position of a guiding position, control the self-walking device to enter the base station along the connecting line between the base station and the guiding position, and then accurately connect to a charging port of the base station to realize charging. According to the invention, by adding a virtual guide position, the accurate direction of the self-walking equipment entering the base station is accurately marked, and the guide in the process of returning the self-walking equipment to the base station is realized.
Description
Technical Field
The invention relates to the field of garden tools, in particular to a guiding method of self-walking equipment and the self-walking equipment.
Background
Existing self-propelled mowing apparatus include both bounded and unbounded versions.
A self-traveling apparatus having a boundary, which divides and discriminates a working area by using a boundary line laid on an edge of the working area, guides the working area by using the boundary line, and returns to a base station along the boundary line. However, in this manner, when the self-propelled device travels from the boundary line to the vicinity of the base station, it cannot accurately determine the relative positional relationship between the self-propelled device and the charging port in the base station. The self-walking equipment charging interface can not be accurately connected to the base station charging port for charging. Meanwhile, in the mode, the time consumed for returning the base station from the walking equipment is long, and the returning process is easily influenced by artificial arrangement of boundary lines and is easily interfered.
A borderless self-propelled device that achieves positioning, cruising, and guiding based on high precision positioning technology. The positioning mode of the self-walking device generally guides by calculating coordinates of the self-walking device and the base station, and the direction of the charging port of the base station cannot be identified.
The existing self-walking equipment cannot confirm the position of the charging port of the base station relative to the self-charging interface, so that the automatic electric connection between the charging port and the self-charging port is difficult to realize.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a self-walking equipment guiding method and self-walking equipment, which can realize the regulation and control of the self direction of the self-walking equipment according to a base station and a guiding position, so that the self-walking equipment enters the base station according to the direction of a charging port of the base station, and the butt joint of the charging port of the self-walking equipment and the charging port of the base station is realized. The invention specifically adopts the following technical scheme.
First, in order to achieve the above object, there is provided a guiding method of a self-propelled device, comprising the steps of: confirming the positions of a base station corresponding to the self-walking equipment and a guide position; and in the process of entering the base station from the self-walking equipment, adjusting the self-walking equipment to enter the base station along a connecting line between the base station and the guide position.
Optionally, in the method for guiding a self-walking device, the guiding position is located in a connection direction between a charging port of the base station and the self-walking device.
Optionally, in the method for guiding a self-walking apparatus, the guiding position is located outside the base station.
Optionally, the method for guiding the self-walking device includes the following steps in a process that the self-walking device enters the base station: and controlling the self-walking equipment to walk to the position of the guide position, adjusting the direction of the self-walking equipment, and controlling the self-walking equipment to enter the base station along the connecting line direction between the base station and the guide position.
Optionally, in the method for guiding a self-walking apparatus, the step of confirming the position of the base station and the guiding position corresponding to the self-walking apparatus includes: acquiring the position and the direction of the self-walking equipment in the state that the self-walking equipment is connected to a charging port of the base station; and confirming that the position of the self-walking equipment in the state is the position of the base station, and confirming that the position which is positioned outside the base station along the direction of the self-walking equipment in the state is the position of the guide position.
Optionally, in the guiding method of the self-walking device, a connection direction between the base station and the guiding position is a direction opposite to a direction in which the self-walking device is located in a state where the self-walking device is connected to the charging port of the base station.
Optionally, the method for guiding a self-walking apparatus further comprises a step of guiding the self-walking apparatus to a guide position of the base station.
Meanwhile, the present invention further provides a self-walking apparatus, comprising: a position acquisition unit for confirming the positions of the base station and the guide position corresponding to the self-walking equipment; and the adjusting unit is used for adjusting the self-walking equipment to enter the base station along a connecting line between the base station and the guiding position in the process of entering the base station from the self-walking equipment.
Optionally, the self-walking device further includes an inertial measurement unit and/or an RTK unit, configured to acquire a position and a direction of the self-walking device, and output the position and the direction to the control unit.
Optionally, the self-walking device further includes a control unit, where the control unit drives the two walking wheels of the self-walking device in opposite directions at the position of the guiding position, adjusts the direction of the self-walking device to a direction opposite to a connection line between the base station and the guiding position, and controls the self-walking device to enter the base station along the connection line between the base station and the guiding position.
Advantageous effects
According to the invention, the self-walking equipment is guided in the process of entering the base station through the base station corresponding to the self-walking equipment and the position of the guiding position, and is controlled to enter the base station along the connecting line between the base station and the guiding position, so that the self-walking equipment is accurately connected to the charging port of the base station, and charging is realized. According to the invention, by adding a virtual guide position, the accurate direction of the self-walking equipment entering the base station is accurately marked, and the guide in the process of returning the self-walking equipment to the base station is realized.
The guide position set by the invention is a virtual point, and no additional equipment or device is required to be added. According to the self-walking equipment disclosed by the invention, the used control unit can directly obtain the position of the virtual point through calculation of the position and the direction of the self-walking equipment in the charging process, and then the self-walking equipment is correspondingly driven to return to the base station according to the position relation between the virtual point and the base station. The invention has simple implementation mode, small calculation amount and no need of manual operation, and can improve the automation degree of self-walking equipment, so that the self-walking equipment is accurately connected with the charging port for charging when returning to the base station.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic diagram of a return from a traveling apparatus to a base station in the present invention.
Detailed Description
In order to make the purpose and technical solution of the embodiments of the present invention clearer, the technical solution of the embodiments of the present invention will be clearly and completely described below with reference to the drawings of the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention without any inventive step, are within the scope of protection of the invention.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
From walking equipment, including intelligent lawn mower. The control unit is arranged in the self-walking equipment and used for driving the walking wheels of the self-walking equipment to run according to the corresponding output driving signals of the running conditions, and controlling the self-walking equipment to realize operation, avoid obstacles or return to the base station in a working area.
When the existing self-walking equipment returns to the base station, only the coordinates of the base station can be obtained, and the direction from which the self-walking equipment should enter the base station cannot be determined. Therefore, when the existing equipment enters the base station, the charging interface of the existing equipment is difficult to align with the charging port in the base station, so that the charging cannot be carried out, or the direction of the self-walking equipment needs to be adjusted manually.
Aiming at the problem, the control unit of the self-walking equipment is arranged to realize the regulation and control of the posture and the direction of the self-walking equipment entering the base station according to the following steps, so that the self-walking equipment can enter the base station from the correct direction, the charging interface of the self-walking equipment can automatically align to the charging port of the base station when entering the base station, the reliable electric connection between the self-walking equipment and the charging port can be automatically realized, and the charging can be directly carried out.
The control unit firstly confirms the positions of a base station and a guide position corresponding to the self-walking equipment; and then adjusting the self-walking equipment to enter the base station along a connecting line between the base station and the guiding position in the process of entering the base station by the self-walking equipment. The guiding position is located in the connection direction of the charging port of the base station and the self-traveling device, and may be generally located outside the base station.
Setting the pilot location outside the base station can bring two advantages:
since the set point is outside the base station, the self-propelled device can be adjusted to the position of the guiding position during the process of entering the base station, and then the direction of the self-propelled device can be adjusted at the position of the guiding position. In this way, once the correct direction of the self-walking device is confirmed, the walking wheel of the self-walking device can be simply driven to rotate reversely or run along a single direction, and the walking wheel directly enters the base station along the direction of the connecting line between the base station and the guide position and is connected to the charging port of the base station. Therefore, the control unit can simplify the regulation and control of the direction of the self-walking equipment and the calculation process of the self-walking equipment. In this way, the control unit first performs path planning according to the relative positions of the coordinate points, and then simply turns according to the set direction. The control unit does not need to adjust the direction while planning the path, calculate a complex arc-shaped path and calculate the rotating speed difference of the walking wheels corresponding to the arc-shaped path. In order to facilitate the adjustment of the direction and the steering of the self-propelled device at this position, the distance between the guiding position and the base station can be further set to at least the minimum turning radius of the self-propelled device.
Meanwhile, the guide position is arranged outside the base station, and the guide error of the self-walking equipment can be reduced. There must be some deviation in positioning from the walking equipment. In a situation where the guide position is close to the coordinates of the base station, the deviation angle corresponding to the positioning deviation distance is relatively large. And as the distance between the guiding position and the base station increases, under the same positioning deviation distance, the connecting line from the deviation position to the base station gradually approaches to the connecting line from the correct guiding position to the base station. Therefore, the deviation of guiding the self-walking equipment can be effectively reduced, the self-walking equipment can smoothly enter the base station and is aligned to the charging port in the base station.
The adjustment of the direction of the self-walking equipment at the position of the guide position can be realized by driving different walking wheels of the self-walking equipment at a certain speed difference. To achieve a smaller turning radius, two or two pairs or pairs of road wheels of the self-walking device may be driven in opposite directions, respectively, to steer them in place, or rotate within a relatively close range, to adjust the direction of the self-walking device to the opposite direction of the line between the base station and the guiding location, to control the self-walking device to enter the base station in the direction of the line between the base station and the guiding location, connected to a charging port of the base station.
The above-mentioned guiding position can be implemented by manually measuring and calculating with reference to the principle of the boundary line, and marking with a magnetic material, a signal source, or a special signal reflection or feedback device at the front end of the base station. The self-walking device can be buried underground in advance or can be simply fixed on the ground surface, and a plurality of self-walking devices or a single self-walking device can be arranged to guide the self-walking device.
In a more preferred manner, however, the guide position can be designed as a virtual point, which is only embodied as a point or points or its coordinates in the control unit or the memory device of the self-propelled device.
The base station and the guide position can confirm the position coordinates thereof in the following modes:
acquiring the position and the direction of the self-walking equipment in the state that the self-walking equipment is connected to a charging port of the base station; then, the position of the self-traveling apparatus in this state is marked or stored as the position of the base station, and the position of the guiding position is marked or stored at one or any one of the positions located outside the base station in the direction of the self-traveling apparatus in this state. Thus, referring to fig. 1, the direction of the connection between the base station to the guiding position corresponds to the opposite direction of the direction in which the self-propelled device is in the state in which it is connected to the charging port of the base station.
In the above process, the positioning of the self-walking device, the base station and the guiding position can be realized by an Inertial Measurement Unit (IMU) and/or a dual-antenna RTK (Real-time kinematic) unit. The self-walking device can calculate and obtain the position and the direction of the self-walking device, and output the position and the direction to the control unit, so that the control unit can position the self-walking device, the base station and the guide position or mark or store the position coordinates of the self-walking device, the base station and the guide position according to the mode.
It should be noted that the number of the guide positions may be set to one simply, or may be set to any number. Under the condition of a plurality of guide positions, the self-walking equipment can determine the connection direction of the charging port of the base station according to the coordinates of each guide position, the position relation between the guide position and each guide position and the position relation between each guide position and the base station, so that when the self-walking equipment returns to the base station, the direction of the self-walking equipment is adjusted to the connection direction of the charging port of the base station and the self-walking equipment. And the connection with the charging port of the base station can be smoothly and automatically realized, and the charging is automatically carried out.
The above process is described by taking a specific application scenario as an example.
Before the self-propelled device needs to return to the base station, it is first placed in the charging base station, and the self-propelled device acquires its current direction and position via the inertial measurement unit IMU or the dual-antenna RTK or other positioning unit, e.g., GPS-RTK. On the basis, the current direction YAWr of the self-walking equipment is added by 180 degrees to obtain the base station direction YAWb = YAWr + 180, and the position of the self-walking equipment is the position of the base station.
Along the direction of the charging base station, a straight line can be determined from the base station position point, and the position on the straight line at a certain distance from the base station point, for example, the position 1m from the base station in fig. 1, is set as the return-to-base-station guiding position from the traveling apparatus.
When charging or stopping operation is needed, the self-walking equipment returns to the guiding position from the working area range of the self-walking equipment or any position in a set field through a path planning algorithm. When the self-walking equipment returns to the guiding position, software in the control unit is used for controlling the self-walking equipment to steer in place, the two walking wheels of the self-walking equipment perform reverse same-speed (-v, v) movement, and the IMU synchronously measures the course of the self-walking equipment in real time. When the self-walking device is aligned with the base station and faces YAWb, the steering is stopped, the self-walking device is controlled to move linearly along the direction of a virtual guide line marked in the figure, namely the YAWb course, and therefore the self-walking device can accurately reach the charging base station. The orientation of the self-walking equipment entering the base station is accurate in the guiding mode, and an electric contact piece of a charging interface of the self-walking equipment can be accurately butted with a plug of a charging port of the base station.
According to the invention, the guide position is arranged in the direction towards the base station, and the direction and the position of the self-walking equipment returning to the charging station are determined by utilizing the guide position, so that the self-walking equipment can be automatically and accurately connected to the charging port of the base station from the guide position. The guiding position is mainly realized by control software for positioning and guiding the self-walking equipment. The invention can control the moving track of the self-walking equipment to enable the self-walking equipment to enter the base station in a specific mode. The guiding position can be realized in a virtual position manner by a high-precision positioning system. The invention utilizes the high-precision positioning system, can make the self-walking equipment return to the charging station along the fixed track formed by two points of the guiding position and the position of the charging station of the base station through the specific guiding position, determines the direction of the self-walking equipment returning to the base station, thereby automatically butting the charging equipment in the base station,
the above are merely embodiments of the present invention, which are described in detail and with particularity, and therefore should not be construed as limiting the scope of the invention. It should be noted that, for those skilled in the art, various changes and modifications can be made without departing from the spirit of the present invention, and these changes and modifications are within the scope of the present invention.
Claims (10)
1. A method of guiding a self-propelled device, comprising the steps of:
confirming the positions of a base station corresponding to the self-walking equipment and a guide position;
and in the process of entering the base station from the self-walking equipment, adjusting the self-walking equipment to enter the base station along a connecting line between the base station and the guide position.
2. The guiding method for a self-propelled device according to claim 1, wherein the guiding position is located in a connection direction of a charging port of the base station and the self-propelled device.
3. A method of guiding a self-propelled device according to claim 2 and wherein said guiding position is located outside said base station.
4. A method for guiding a self-propelled device according to claim 3, wherein the self-propelled device entering the base station is guided by the following steps:
controlling the self-walking device to walk to the position of the guide position,
adjusting the direction of the self-walking device,
and controlling the self-walking equipment to enter the base station along the connecting direction between the base station and the guide position.
5. The guiding method of a self-walking apparatus according to claim 1, wherein the step of confirming the position of the base station and the guiding position corresponding to the self-walking apparatus comprises:
acquiring the position and the direction of the self-walking equipment in the state that the self-walking equipment is connected to a charging port of the base station;
and confirming that the position of the self-walking equipment in the state is the position of the base station, and confirming that the position which is positioned outside the base station along the direction of the self-walking equipment in the state is the position of the guide position.
6. The guiding method of a self-propelled device according to claim 5, wherein the direction of the connection between the base station and the guiding position is opposite to the direction in which the self-propelled device is located in a state where the self-propelled device is connected to the charging port of the base station.
7. The guiding method of the self-walking apparatus of claim 5, wherein the distance between the guiding position and the base station is at least up to a minimum turning radius of the self-walking apparatus.
8. A self-propelled apparatus, comprising:
a position acquisition unit for confirming the positions of the base station and the guide position corresponding to the self-walking equipment;
and the adjusting unit is used for adjusting the self-walking equipment to enter the base station along a connecting line between the base station and the guiding position in the process of entering the base station from the self-walking equipment.
9. The self-propelled device of claim 8, further comprising an inertial measurement unit and/or an RTK unit for obtaining the position and orientation of the self-propelled device and outputting to the control unit.
10. The self-propelled device of claim 8, wherein the control unit drives the two wheels of the self-propelled device in opposite directions in the position of the guiding position, respectively, adjusts the direction of the self-propelled device to a direction opposite to a direction of a line drawn between the base station and the guiding position, and controls the self-propelled device to enter the base station in the direction of the line drawn between the base station and the guiding position.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911271310.6A CN111103879A (en) | 2019-12-12 | 2019-12-12 | Guiding method of self-walking equipment and self-walking equipment |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911271310.6A CN111103879A (en) | 2019-12-12 | 2019-12-12 | Guiding method of self-walking equipment and self-walking equipment |
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| CN111103879A true CN111103879A (en) | 2020-05-05 |
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| CN111885483A (en) * | 2020-07-10 | 2020-11-03 | 南京苏美达智能技术有限公司 | Method and system for accurately positioning self-walking equipment |
| CN114788451A (en) * | 2021-01-25 | 2022-07-26 | 南京泉峰科技有限公司 | Intelligent mower system and charging station thereof |
| CN115129062A (en) * | 2022-07-22 | 2022-09-30 | 松灵机器人(深圳)有限公司 | Mowing robot recharging method and device, mowing robot and storage medium |
| WO2024017032A1 (en) * | 2022-07-22 | 2024-01-25 | 松灵机器人(深圳)有限公司 | Mowing robot recharging method, mowing robot and storage medium |
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| CN111885483B (en) * | 2020-07-10 | 2024-02-02 | 南京苏美达智能技术有限公司 | Method and system for accurately positioning self-walking equipment |
| CN114788451A (en) * | 2021-01-25 | 2022-07-26 | 南京泉峰科技有限公司 | Intelligent mower system and charging station thereof |
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| CN115129062B (en) * | 2022-07-22 | 2024-09-24 | 深圳库犸科技有限公司 | Recharging method and device for mowing robot, mowing robot and storage medium |
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Application publication date: 20200505 |