CN111123910B - Dual-core four-wheel drive UWB positioning mowing robot and control method thereof - Google Patents
Dual-core four-wheel drive UWB positioning mowing robot and control method thereof Download PDFInfo
- Publication number
- CN111123910B CN111123910B CN201911119851.7A CN201911119851A CN111123910B CN 111123910 B CN111123910 B CN 111123910B CN 201911119851 A CN201911119851 A CN 201911119851A CN 111123910 B CN111123910 B CN 111123910B
- Authority
- CN
- China
- Prior art keywords
- mowing
- mowing robot
- uwb
- charging
- robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 41
- 238000005520 cutting process Methods 0.000 claims abstract description 21
- 244000025254 Cannabis sativa Species 0.000 claims abstract description 8
- 230000008569 process Effects 0.000 claims description 28
- 238000003860 storage Methods 0.000 claims description 11
- 238000006073 displacement reaction Methods 0.000 claims description 9
- 239000003638 chemical reducing agent Substances 0.000 claims description 7
- 238000004891 communication Methods 0.000 claims description 7
- 230000001133 acceleration Effects 0.000 claims description 6
- 238000011065 in-situ storage Methods 0.000 claims description 4
- 210000001503 joint Anatomy 0.000 claims description 3
- 230000003993 interaction Effects 0.000 claims description 2
- 238000003032 molecular docking Methods 0.000 claims description 2
- 230000004888 barrier function Effects 0.000 claims 1
- 238000013461 design Methods 0.000 abstract description 9
- 238000005516 engineering process Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 6
- 238000004364 calculation method Methods 0.000 description 5
- 230000007547 defect Effects 0.000 description 5
- 208000037805 labour Diseases 0.000 description 4
- 239000010902 straw Substances 0.000 description 4
- 230000001360 synchronised effect Effects 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 230000002159 abnormal effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 2
- 230000009194 climbing Effects 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 238000013138 pruning Methods 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 241001494496 Leersia Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000009193 crawling Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000003337 fertilizer Substances 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003647 oxidation Effects 0.000 description 1
- 238000007254 oxidation reaction Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
Images
Classifications
-
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- 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
- G05D1/0212—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
-
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
-
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
-
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
-
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
Abstract
The invention discloses a dual-core four-wheel drive UWB positioning mowing robot and a control method thereof, wherein the mowing robot comprises a mowing robot body, a charging positioning station and a UWB auxiliary positioning base station; the mowing robot adopts a DSP + FPGA dual-core processor cooperative work design, can greatly improve the operation speed and the control precision, adopts an intelligent mowing task program based on a servo system of the latest embedded technology, establishes a mowing area grid map, carries out global coverage path planning, marks a cut area and an uncut area, can greatly improve the mowing efficiency, and reduces the grass floor cutting phenomenon.
Description
Technical Field
The invention belongs to the field of mowing robots, and particularly relates to a dual-core four-wheel drive UWB positioning mowing robot and a control method thereof.
Background
A mowing robot is a robot capable of autonomously walking to mow grass. The lawn pruning machine is generally used for lawn pruning and maintaining in families, parks, gardens, districts and 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.
The existing mowing robot generally consists of a machine body, a traveling mechanism, a cutting mechanism and a control system, a boundary line needs to be pre-buried before working, the mowing robot judges the distance between the mowing robot and the boundary by detecting the strength of a current signal on the boundary line by using an electromagnetic sensor, and a controller based on a single chip microcomputer controls two stepping motors to adjust and control the traveling path of the mowing robot. For the mowing robot, the degree of intellectualization is low, and the following defects exist in practical use: the existing mowing robot adopts a stepping motor, the phenomenon of motor desynchronization caused by pulse loss can be caused, the calculation of the mowing position is wrong, and the actual position of the mowing robot is lost. Also can make the organism generate heat than serious, need install heat abstractor additional sometimes for the whole weight of robot increases, is unfavorable for the robot to climb and mow. Even the mechanical noise in the system operation is greatly increased, which is not beneficial to environmental protection. The last point is that robot lawnmower systems are generally not suitable for high speed operation and are prone to vibration.
The existing mowing robot is usually designed by adopting single-wheel drive or double-wheel drive, although the mowing robot driven by the single wheel can well meet the decoupling requirements on speed and direction, the power of a walking motor driven by the single wheel is large, and the phenomenon that a trolley is pulled by a large horse sometimes occurs. Because only one power contact point of the single-wheel driven mowing robot and the ground is provided, the moving direction of the mowing robot is difficult to accurately control artificially, and a large direction change can be caused by slight interference. The double-wheel drive can weaken partial defects of the single-wheel drive, but when climbing or encountering ground depressions, the mowing robot needs to meet the power requirement through motor overload, the performance of the motor can be damaged by long-time operation, and the reliability of the system is greatly reduced. The mowing robot needs to be accelerated rapidly and run at a high speed in many emergency states, under the condition, the power required by the system is high, the power of a two-wheel motor which can meet the requirement of normal running cannot meet the requirement of acceleration, and the power of the system cannot meet the requirement of emergency.
In the existing design, the mowing robot uses single-core control as shown in figure 1, and needs to simultaneously process the work of path planning, navigation control, motor control and the like, so that the calculation amount is large, the calculation speed is low, and the control frequency is low and the precision is poor. Due to frequent braking and starting of the mowing robot in the running process, the workload of the single-core controller is increased, and the single-core controller cannot meet the requirements of quick starting and stopping of the mowing robot. Due to interference of unstable factors of the surrounding environment, the controller of the single-core mowing robot is often abnormal, so that the mowing robot is out of control in the driving process, and the anti-jamming capability is poor. Although the PWM control signal of the multi-axis motor can be generated based on the special servo control chip, the PWM control signal can be generated only by inputting control parameters after the communication between the main controller and the special chip is needed, so that the overall operation speed is reduced; under the influence of a servo program in a special servo control chip, the servo control PID parameter can not be changed in real time under general conditions, and the requirement of a real-time rapid servo control system of the mowing robot can not be met; the mowing robot adopts a simple linear walking and boundary turning mode, lacks global path planning and is not intelligent enough. The mowing robot walks blindly in the mowing walking process, so that the path is repeated, the energy is wasted, and the cruising ability is short. The mowing robot cannot record a cut area, the phenomenon that the same area is repeatedly cut can occur, and mowing efficiency is low. The mowing robot uses a timing working mode, a cut area and an uncut area cannot be distinguished, and after mowing operation is finished, partial areas are not cut, so that a cutting missing phenomenon is caused. The boundary line needs manual installation, and the installation is loaded down with trivial details, and the work load is great. After the boundary line is pre-buried, if the mowing area changes, the mowing area is difficult to modify. The boundary line is exposed outdoors all the year round and is easily damaged by corrosion, oxidation and animal damage. The mowing robot can only determine whether the mowing robot goes out of bounds by sensing the boundary line, and cannot obtain the accurate position of the mowing robot. The grass that cuts is bigger, still remains on the lawn, needs manual cleaning again, takes a lot of trouble and labours.
Disclosure of Invention
Aiming at the defects in the existing design, the technical scheme adopted by the invention is as follows:
a dual-core four-wheel drive UWB positioning mowing robot comprises a mowing robot body, a charging positioning station and a UWB auxiliary positioning base station; the mowing robot body comprises a machine body, a walking motor, a speed reducer, a driving wheel, a mowing motor, a cutting knife, a collision rod, a UWB positioning tag, a charging butt-joint device, a controller and a battery; the controller comprises a DSP processor and an FPGA processor;
the charging positioning station comprises a charging system and a UWB positioning base station, the charging positioning station is fixed on the lawn and can provide automatic charging for the mowing robot, and the charging positioning station is provided with a rain shed and can protect the electronic equipment of the mowing robot in rainy days.
The UWB auxiliary positioning base station is arranged at a fixed position on a grassland; the two UWB auxiliary positioning base stations and the charging positioning station are communicated through UWB, so that a UWB positioning system can be formed, and the position of the mowing robot provided with the UWB positioning tag is obtained through a triangulation positioning algorithm; the number of UWB assisted positioning base stations may be increased to improve positioning accuracy.
Furthermore, the input end of the DSP processor is respectively connected with a UWB positioning tag, an inclination sensor, a collision sensor, a rainwater sensor, a gyroscope and a control panel, the output end of the DSP processor is connected with the input end of the FPGA processor, the output end of the FPGA processor is mutually connected with a walking motor and a mowing motor, a control command is output to the walking motor and the mowing motor through the FPGA processor, and the input end of the FPGA processor also collects speed and position information of the walking motor and the mowing motor.
Furthermore, the walking motor adopts a direct-current brushless servo motor, and is sequentially connected with a speed reducer and a driving wheel; the mowing machine is characterized in that the mowing machine adopts a direct-current brushless motor, the direct-current brushless motor is connected with a cutting knife, and the cutting knife is double-layered.
Furthermore, the number of the UWB positioning tags is two, the first UWB positioning tag is arranged in the middle of the rear part of the machine body, and the second UWB positioning tag is arranged in the middle of the front part of the machine body; first UWB location label is located second UWB location label directly rear, and the line of first UWB location label and second UWB location label central line is the fuselage axis all the time, and the mounting height of first UWB location label and second UWB location label is unanimous.
Further, the UWB positioning base station, the first UWB auxiliary positioning base station and the second UWB auxiliary positioning base station form a body coordinate positioning system through UWB communication; in the coordinate positioning system of the machine body, the main control unit adopts a triangulation algorithm to respectively obtain the absolute coordinates of the first UWB positioning tag, the absolute coordinates of the second UWB positioning tag and the absolute coordinates of the machine body.
Further, the charging butt-joint device is arranged at the front part of the machine body, and the charging butt-joint device is connected with a battery to charge the battery; the battery respectively provides electric energy for the DSP processor and the FPGA processor.
A control method of a dual-core four-wheel drive UWB positioning mowing robot comprises the following steps:
s1, initializing a mowing robot after the mowing robot is started; the starting authority protection is adopted, the mowing robot can start work only by inputting an authority password, otherwise, the mowing robot waits for an authority starting command in situ;
s2, entering a main program cycle after initialization; whether the work of each module is normal is detected, whether the battery voltage is too low is detected, if the voltage is too low, the low-power and incapable work is prompted, and a charging mode is entered.
And S3, detecting whether the UWB positioning program is normal, if the UWB positioning program is lost, entering a shutdown self-locking mode, and if the UWB positioning program is normal, turning to S4.
S4, inquiring keys and zone bits of the control panel; setting basic parameters through interaction of a control panel and the mowing robot; the mowing robot will store the relevant information in the main memory and will affect the relevant flag.
S5, inquiring whether a charging station needs to be taken out or not, and if the mowing robot is in the charging station and a user needs to take the mowing robot out of the charging station, executing a charging station program by the mowing robot; the DSP (TMS 320F 28335) can automatically disconnect the connecting line from the alternating current power supply, and the mowing robot is converted into a storage battery power supply state.
S6, inquiring whether to execute the mowing task, if the mowing task needs to be executed, enabling the mowing robot to enter a mowing task working mode, and enabling the mowing robot to enter the next cycle.
S7, performing special conditions through an interruption service program, wherein the interruption flag bit is influenced by an inclination sensor, a collision sensor and a rainwater sensor; if the interrupt flag bit is enabled, the program will be saved on site and the interrupt service program will be entered.
S8, after entering an interrupt service program, checking a related flag bit; if the flag bit of the inclination sensor is enabled, the mowing robot is turned over, at the moment, the DSP (TMS 320F 28335) and the FPGA (QL 1P 100) adjust the PWM output of the DC brushless servo motors U, V, X and Y through an internal servo control program, the operation of the cutting knife motor and the walking motor is stopped immediately, software is reset, and accidents are prevented.
And S9, if the zone bit of the collision sensor is enabled, the situation that an obstacle exists in front is indicated, and an obstacle avoidance program is executed at the moment.
And S10, if the rain sensor flag bit is enabled, the situation that it rains is indicated, the wet lawn is not suitable for mowing work, and the mowing robot executes a return-to-charging-station program.
And S11, after the mowing robot returns to the charging station, the charging butt-joint device on the mowing robot is in butt joint with a charging system on the charging positioning station.
Further, the process of executing the obstacle avoidance procedure in S9 is as follows: the DSP (TMS 320F 28335) and the FPGA (QL 1P 100) adjust PWM (pulse-width modulation) output of the DC brushless servo motors U, V, X and Y through an internal servo control program, the mowing robot is controlled to stop in a safety range, and the mowing robot moves backwards for a certain distance and turns around the obstacle to the right. In the moving process of the mowing robot, the magnetoelectric sensor can constantly detect the moving speeds and displacements of the direct current brushless servo motors U, V, X and Y and feed back the moving speeds and displacements to the FPGA (QL 1P 100), and PWM (pulse width modulation) wave control signals of the direct current brushless servo motors U, V, X and Y are secondarily adjusted by the FPGA (QL 1P 100) to meet actual requirements. The mowing robot will continue to mow grass before bypassing the obstacle.
Further, the process of executing the return-to-charging-station program in S10 is: the DSP (TMS 320F 28335) converts the distance SX of the direct current brushless servo motors U, V, X and Y to be operated into an acceleration, a speed and a position reference instruction value according to a return charging station path planned by the robot, then the DSP (TMS 320F 28335) generates driving signals for driving the direct current brushless servo motors U, V, X and Y by combining the feedback of the magnetoelectric sensors of the motors U, V, X and Y, the driving signals are amplified by a power bridge and then drive the direct current brushless servo motors U, V, X and Y to move in opposite directions, the magnetoelectric sensors feed back the operation parameters of the motors to the FPGA (QL 1P 100) in real time in the moving process, PWM control signals of the motors U, V, X and Y are finely adjusted secondarily according to the feedback parameters to carry out closed-loop control, and the mowing robot can walk according to the planned path.
Further, the method for docking with the charging system on the charging positioning station in S11 includes: the DSP (TMS 320F 28335) can automatically disconnect the connecting wire from the storage battery, the mowing robot is converted into an alternating current power supply state, and the alternating current power supply charges the storage battery in the system. At the moment, the mowing robot enters a stop self-locking mode, the mowing robot is locked at a charging station and does not move under the influence of external force, and the safety and stability of the charging process are guaranteed.
The invention has the beneficial effects that:
1. aiming at the current situation in the prior art, the invention designs a dual-core four-wheel drive UWB positioning mowing robot, the mowing robot uses a UWB wireless positioning system, does not need to embed a boundary line, saves labor, can obtain the accurate position of the mowing robot, adopts the cooperative work design of a DSP + FPGA dual-core processor, greatly improves the operation speed and the control precision, adopts an intelligent mowing task program based on a servo system of the latest embedded technology, establishes a mowing area grid map, carries out global coverage path planning, marks a cut area and an uncut area, can greatly improve the mowing efficiency and reduce the grass floor drain cutting phenomenon.
2. The walking motor of the invention adopts the direct-current brushless servo motor to replace the stepping motor, so that the step-out phenomenon of the stepping motor is avoided, and the position control of the mowing robot is more accurate. The mechanical contact of the carbon brush is avoided, the working noise can be reduced, and the service life of the motor is prolonged. Meanwhile, the automatic locking function of the mowing robot can be realized, and the mowing robot can be stopped at a fixed position even if external force or slope exists under emergency, so that the safety is improved.
3. According to the invention, a DSP + FPGA dual-core processor cooperative work design is adopted, the DSP processes upper layer path planning and navigation control, the FPGA processes bottom layer work such as motor control and the like, the operation speed and the control precision are greatly improved, so that the mowing robot walks more stably and the path is more accurate; the FPGA (QL 1P 100) is used for processing the full digital servo control of the multi-axis DC brushless servo motor, thereby greatly improving the operation speed, solving the bottleneck of slow operation of a single chip microcomputer, shortening the development period and having strong program portability. Because the controller adopts FPGA (QL 1P 100) to process a large amount of multi-axis servo data and algorithms, and fully considers surrounding interference sources, the DSP (TMS 320F 28335) is liberated from complex calculation, the program is effectively prevented from running away, and the anti-interference capability is greatly enhanced. The FPGA directly produces the driving signals of the multi-axis brushless DC motor without inputting any parameters into the driving signals by the DSP, so that the processing speed of the system is increased, and the high-speed operation of the system is facilitated. The FPGA controller adjusts PID parameters of the servo control system in real time according to the peripheral environment, and the requirement of quick adjustment of the servo control system under different conditions of the electric sickbed is met.
4. The four-wheel independent four-wheel drive structure is adopted, and the motor does not need to be overloaded to meet the power requirement even if the motor encounters a large-angle slope and a hollow ground, so that the four-wheel independent four-wheel drive motor has extremely strong terrain adaptability. In an emergency state, the four motors can meet the power requirement of extreme acceleration and deceleration, and the safety of the system is improved.
5. The mowing robot adopts an intelligent mowing task program, can perform global path planning according to a working area map, and does not perform a simple random walking mode. The mowing robot has more reasonable path in the mowing walking process, rarely generates repeated paths, can reduce the power consumption and improve the cruising ability. The mowing robot records the cut areas, and if one area is cut, the area cannot be cut again, so that mowing efficiency is improved. The mowing robot can distinguish the cut area from the uncut area through recording, and in mowing operation, if part of the area is missed to be cut, the path can be planned again for additional cutting.
6. The UWB wireless positioning system is adopted, so that the wired limitation is eliminated, the metal boundary line does not need to be embedded manually, and the time and the labor are saved. If the mowing area is changed, the invention can conveniently adjust the mowing area map without digging the ground and rewiring. Due to the adoption of wireless positioning, the invention can avoid the situation that the mowing robot runs out of a mowing area or cannot work due to the damage of the boundary metal wire, and greatly improves the stability and the reliability. The invention can acquire the specific position of the mowing robot on the lawn in real time and can realize the accurate control of the mowing robot. The UWB positioning adopted by the invention can reach centimeter precision, and compared with wireless positioning modes such as GPS and Zigbee, the precision is higher and the cost is lower.
7. The invention is provided with the inclination sensor, so that the cutting knife and the walking motor can be immediately turned off under the condition that the mowing robot falls, and accidents are avoided. The invention is provided with the collision sensor, and can automatically detour after colliding with an obstacle. The invention is provided with the rainwater sensor, so that the mowing robot can automatically return to the charging station to take shelter from rain when raining. The straw cutting machine adopts the design of the double-layer cutting knife, can cut and crush the straw in sections, ensures that the cut straw is very small, can be directly used as a natural fertilizer to be left on the straw land, does not need manual secondary cleaning, is environment-friendly and saves manpower.
Drawings
FIG. 1 is a schematic diagram of a conventional lawn mowing robot control;
FIG. 2 is a structural diagram of an intelligent dual-core four-wheel drive UWB positioning mowing robot;
FIG. 3 is a control schematic diagram of the intelligent dual-core four-wheel drive UWB positioning mowing robot of the invention;
FIG. 4 is a schematic diagram illustrating the principle of an algorithm for calculating the steering angle of the body according to the present invention;
FIG. 5 is a block diagram of a process of an intelligent dual-core four-wheel drive UWB positioning mowing robot according to the invention;
FIG. 6 is a block diagram of an intelligent mowing task program of the intelligent dual-core four-wheel drive UWB positioning mowing robot according to the invention;
in the figure, 1, a machine body, 2, a walking motor, 3, a speed reducer, 4, a driving wheel, 6, a mowing motor, 7, a cutting knife, 8, an impact rod, 9, a UWB positioning label, 9a, a first UWB positioning label, 9b, a second UWB positioning label, 10, a charging butt-joint device, 11, a controller, 12, a battery, 13, a charging positioning station, 14, a UWB positioning base station, 15, a charging system, 16, a UWB auxiliary positioning base station, 16a, a first UWB auxiliary positioning base station, 16b, a second UWB auxiliary positioning base station, 40 and a mowing robot.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 2 and 3, the dual-core four-wheel drive UWB positioning mowing robot of the present invention comprises: the robot mowing body 1, the charging positioning station 13 and the UWB auxiliary positioning base station 16.
The mowing robot body comprises a machine body 1, a walking motor 2, a speed reducer 3, a driving wheel 4, a mowing motor 6, a cutting knife 7, a collision rod 8, a UWB positioning label 9, a charging butt-joint device 10, a controller 11 and a battery 12. Specifically, two pairs of traveling motors 2 are arranged at the bottom of the rear part of the machine body 1; the output end of each walking motor 2 is sequentially connected with a speed reducer 3 and a driving wheel 4; in this embodiment, four traveling motors 2 are provided, which are dc brushless servo motors, and four driving wheels 4 are provided. A magnetoelectric encoder is arranged in the walking motor 2 and connected with the FPGA processor to provide the speed and position information of the motor. Two of the four driving wheels 4 are arranged at the left and right sides of the front part of the machine body, and the other two driving wheels are arranged at the left and right sides of the rear part of the machine body 1. Rubber tracks can be additionally arranged outside the driving wheel 4 and are respectively connected with the left front and rear driving wheels and the right front and rear driving wheels 4, so that four-wheel differential drive can be converted into track drive, and the obstacle crossing capability is further improved.
The machine body 1 is provided with a mowing motor 6, the mowing motor 6 adopts a direct-current brushless motor, and the mowing motor 6 is connected with a cutting knife 7 and is arranged in the middle of the machine body 1. The cutting knife 7 has double layers, and can cut the grass in sections and crush the cut grass. The walking motor 2 and the mowing motor 6 are respectively connected with a driver, the driver is connected with the FPGA processor, and a motor driving signal is provided through the driver.
The front end of the machine body 1 is respectively provided with two collision rods 8, namely a first collision rod 8a and a second collision rod 8b; and collision sensors are arranged in the two collision rods 8 and are connected with the DSP processor to provide external collision signals.
A charging dock 10 is further provided at the front end of the body 1, and the charging dock 10 is connected to a battery 12. After the mowing robot body is docked with the charging positioning station 13, the charging dock 10 is connected with a charging system in the charging positioning station to charge the battery 12. The battery 12 is respectively connected with the DSP processor, the FPGA processor and the driver and provides energy power for the main control and the motor.
The UWB positioning tag 9 is arranged on the machine body 1, the first UWB positioning tag 9a is arranged in the middle of the rear part of the machine body 1, and the second UWB positioning tag 9b is arranged in the middle of the front part of the machine body 1; first UWB location label 9a is located second UWB location label 9 b's positive rear, and the line of first UWB location label 9a and second UWB location label 9b central line is the axis of fuselage 1 all the time, and first UWB location label 9a is highly unanimous with the installation of second UWB location label 9b, and first UWB location label 9a and second UWB location label 9b connect the DSP treater respectively.
A first UWB auxiliary positioning base station 16a, a second UWB auxiliary positioning base station 16b and a charging positioning station 13 are fixedly arranged in a mowing area; the charging positioning station 13 can provide automatic charging service for the mowing robot, is provided with a canopy, and can protect electronic equipment of the mowing robot in rainy days. The charging positioning station 13 comprises a charging system 15 and a UWB positioning base station 14; the UWB positioning base station 14, the first UWB auxiliary positioning base station 16a and the second UWB auxiliary positioning base station 16b form a body coordinate positioning system through UWB communication; in the coordinate positioning system of the machine body, the main control unit respectively obtains the absolute coordinates of the first UWB positioning tag, the absolute coordinates of the second UWB positioning tag and the absolute coordinates of the machine body by adopting a triangulation algorithm; the UWB positioning base station 14, the first UWB positioning tag and the second UWB positioning tag form a machine body front positioning system through UWB communication; in the front positioning system of the machine body, the DSP processor calculates an included angle between a connecting line of the first UWB positioning label and the second UWB positioning label and the X-axis positive direction in the coordinate system as a front direction angle of the machine body, and the direction of the first UWB positioning label pointing to the second UWB positioning label is taken as the front direction of the machine body.
As shown in fig. 3, the controller includes a DSP processor, an FPGA processor, a UWB positioning tag, a driver, a tilt sensor, a collision sensor, a rain sensor, a gyroscope, and a control panel. The inclination sensor and the rainwater sensor are connected with the DSP and transmit external signals. And the gyroscope is connected with the DSP processor and provides steering angle information. And the control panel is connected with the DSP processor and interacts with a user. The UWB positioning tag is connected with the DSP processor and provides positioning information for the DSP processor. The DSP processor is connected with the FPGA processor, the FPGA processor is connected with the motor, and sends a PWM control signal of the motor to the motor.
The driver is connected with the walking motor and the mowing motor and provides a motor driving signal. The battery is connected with the single-core master control and the driver to provide energy power for the master control and the motor. The battery is connected to the charging dock 10. After the mowing robot body is docked with the charging positioning station, the charging dock 10 is connected with a charging system in the charging positioning station to charge the battery. The charging dock 10 is mounted to the front of the body.
Referring to fig. 4, in the coordinate positioning system of the fuselage, the DSP processor uses a triangulation algorithm to obtain the absolute coordinates of the first UWB positioning tag 9a, the absolute coordinates of the second UWB positioning tag 9b, and the absolute coordinates of the fuselage, respectively. The algorithm is described as follows:
let the UWB positioning base station 14 coordinate point be A (X) a ，Y a ) The coordinate point of the first UWB auxiliary positioning base station 16a is B (X) b ，Y b ) The coordinate point of the second UWB assistance-positioning base station 16b is C (X) c ，Y c ) The coordinate point of the first UWB positioning tag 9a is L 1 (X 1 ，Y 1 ) And a second UWB positioning tag 9b coordinate point is L 2 (X 2 ，Y 2 )。
For the first UWB positioning tag 9a, L can be obtained according to the UWB triangulation principle 1 Coordinates (X) of points 1 ，Y 1 ) The following system of equations is satisfied:
in the above formula, v is the propagation velocity of the pulse, t a1 For the propagation time, t, of the pulse from the UWB positioning base station 14 to the first UWB positioning tag 9a b1 For the propagation time, t, of the pulse from the first UWB auxiliary positioning base station 16a to the first UWB positioning tag 9a c1 Is the propagation time of the pulse from the second UWB assisting positioning base station 16b to the first UWB positioning tag 9 a. By solving the above system of equationsCoordinates (X) of the first UWB positioning tag 9a are obtained 1 ，Y 1 )。
For the second UWB positioning tag 9b, L can be obtained according to the UWB triangulation principle 2 Coordinates of points (X) 2 ，Y 2 ) The following system of equations is satisfied:
in the above formula, v is the propagation velocity of the pulse, t a2 For the propagation time, t, of a pulse from the UWB positioning base station 14 to the first UWB positioning tag 9a b2 For the propagation time, t, of the pulse from the first UWB auxiliary positioning base station 16a to the first UWB positioning tag 9a c2 Is the propagation time of the pulse from the second UWB assisted location base station 16b to the first UWB location tag 9 a. The coordinates (X) of the first UWB positioning tag 9a can be obtained by solving the above equation set 2 ，Y 2 )。
Calculating the coordinate of the central point L of the connecting line between the first UWB positioning tag 9a and the second UWB positioning tag 9b as
This coordinate is the coordinate of the body 1.
In the front positioning system of the body, the controller 11 calculates an included angle θ between a connecting line of the first UWB positioning tag 9a and the second UWB positioning tag 9b and the X-axis forward direction in the coordinate system as a front direction angle of the body, and takes a direction in which the first UWB positioning tag 9a points to the second UWB positioning tag 9b as a front direction of the body. The algorithm is described below in conjunction with fig. 2:
is provided with L 1 And L 2 If the angle between the connecting line and the positive direction of the X axis is theta, then theta can be calculated by the following formula:
for the mowing robot based on DSP + FPGA designed by the text, under the power supply on state, an operation panel works first, if the mowing robot is really needed to be started, a user needs to input an authority password, the mowing robot can start working, otherwise, the mowing robot waits for an authority starting command in situ. Under the normal motion state, the mowing robot reads feedback parameters of an external environment ratio through various sensors and sends the feedback parameters to a DSP processor, the DSP processor processes the feedback parameters and sends the parameters to an FPGA (QL 1P 100), the FPGA (QL 1P 100) generates synchronous control PWM signals of a four-axis differential-speed-running direct-current brushless servo motor, PWM wave signals are amplified by a driver and then drive a direct-current brushless motor U, V, X and Y to move forwards, the motion speed and the displacement of the PWM signals are fed back to the FPGA (QL 1P 100) by a corresponding magnetoelectric encoder, and the FPGA (QL 1P 100) secondarily adjusts the four-axis synchronous PWM control signals according to the operation state parameters so as to meet the actual working requirements. When the mowing robot runs, the operation panel stores and outputs the current state on line, so that data can be displayed visually.
As shown in fig. 5, the program operation of the robot lawnmower includes the following steps:
s1, in order to prevent misoperation, the starting authority protection is adopted, when the mowing robot needs to be started, an authority password needs to be input, the mowing robot can start to work, and otherwise, the mowing robot waits for an authority starting command in situ.
And S2, initializing the mowing robot after starting. In the process, whether the modules work normally or not is detected, and if abnormal conditions exist, a relevant alarm is sent out to prompt personnel to process. The mowing robot detects whether the voltage of the battery is too low, if the voltage is too low, the condition that the battery is low and cannot work is prompted, and a charging mode is entered, the alternating current power supply charges a storage battery in the system, and the mowing robot is guaranteed to have enough energy to complete a task.
And S3, entering a main program cycle after initialization. Firstly, whether a UWB positioning program is normal or not is detected, if the UWB positioning program is lost, the machine is in a shutdown self-locking mode, the mowing robot is locked in place and does not move any more until the UWB positioning is recovered to be normal. Therefore, the phenomenon of running randomly can be avoided for the mowing robot, and safety is ensured.
And S4, inquiring keys and zone bits of the control panel. The user can interact with the mowing robot using the control panel during the process, such as setting a lawn map, setting mowing modes, adjusting mowing height, setting mowing tasks, and the like. The mowing robot will store the relevant information in the main memory and will affect the relevant flag bit.
And S5, inquiring whether the robot needs to get out of the charging station or not, and if the robot is in the charging station and the user needs to get out of the charging station, executing a charging station program by the robot. The DSP (TMS 320F 28335) can automatically disconnect the connecting line from the alternating current power supply, and the mowing robot is converted into a storage battery power supply state.
S6, inquiring whether to execute the mowing task, if the mowing task needs to be executed, enabling the mowing robot to enter a mowing task working mode, and enabling the mowing robot to enter the next cycle.
And S7, special conditions are carried out through an interruption service program, such as an inclination sensor, a collision sensor and a rainwater sensor, which influence the interruption flag bit. If the interrupt flag bit is enabled, the program will save the scene and enter the interrupt service program.
And S8, after entering the interrupt service routine, checking the relevant flag bit. If the inclined sensor flag bit is enabled, the mowing robot is turned over, at the moment, the DSP (TMS 320F 28335) and the FPGA (QL 1P 100) adjust PWM (pulse width modulation) output of the DC brushless servo motors U, V, X and Y through an internal servo control program, the operation of the cutting knife motor and the walking motor is stopped immediately, and software is reset to prevent accidents.
And S9, if the collision sensor flag bit is enabled, indicating that an obstacle exists in the front, executing an obstacle avoidance program, adjusting PWM (pulse width modulation) outputs of the direct current brushless servo motors U, V, X and Y by the DSP (TMS 320F 28335) and the FPGA (QL 1P 100) through an internal servo control program, controlling the mowing robot to stop in a safety range, and retreating for a certain distance and turning to the right to bypass the obstacle. In the moving process of the mowing robot, the magnetoelectric sensor can constantly detect the moving speeds and displacements of the direct current brushless servo motors U, V, X and Y and feed back the moving speeds and displacements to the FPGA (QL 1P 100), and PWM (pulse width modulation) wave control signals of the direct current brushless servo motors U, V, X and Y are secondarily adjusted by the FPGA (QL 1P 100) to meet actual requirements. The mowing robot will continue to mow grass before bypassing the obstacle.
And S10, if the rain sensor flag bit is enabled, the situation is that the robot rains, the wet lawn is not suitable for mowing, and the mowing robot executes a return-to-charging-station program. The DSP (TMS 320F 28335) converts the distance SX of the direct current brushless servo motors U, V, X and Y to be operated into an acceleration, a speed and a position reference instruction value according to a path planned by the robot and returned to a charging station, then the DSP (TMS 320F 28335) generates driving signals for driving the direct current brushless servo motors U, V, X and Y by combining the feedback of the magnetoelectric sensors of the motors U, V, X and Y, the driving signals are amplified by a power bridge and then drive the direct current brushless servo motors U, V, X and Y to move in opposite directions, the magnetoelectric sensors feed back the operation parameters of the motors to the FPGA (QL 1P 100) in real time in the moving process, and PWM control signals of the motors U, V, X and Y are secondarily fine-tuned according to the feedback parameters to carry out closed-loop control, so that the mowing robot walks according to the planned path.
And S11, after the mowing robot returns to the charging station, the charging butt-joint device on the mowing robot is in butt joint with a charging system on the charging positioning station. The DSP (TMS 320F 28335) can automatically disconnect the connecting wire from the storage battery, the mowing robot is converted into an alternating current power supply state, and the alternating current power supply charges the storage battery in the system. At the moment, the mowing robot enters a stop self-locking mode, the mowing robot is locked at a charging station and does not move under the influence of external force, and the safety and stability of the charging process are guaranteed.
Referring to fig. 6, the intelligent mowing task program running comprises the following steps:
s1, inquiring a mowing area map, and dividing a mowing area grid.
And S2, detecting whether the electric quantity of the battery is insufficient, and executing a program of the charging station if the electric quantity is insufficient.
And S3, detecting whether the UWB positioning program is normal, if the UWB positioning program is lost, entering a stop self-locking mode, locking the mowing robot in place, and not moving any more until the UWB positioning is recovered to be normal. Therefore, the phenomenon of running randomly can be avoided for the mowing robot, and safety is ensured.
And S4, planning a path through a full coverage path algorithm according to the current position and the grid map.
And S5, advancing to the next grid according to the planned path. In the process, a DSP (TMS 320F 28335) converts a distance SX of a direct current brushless walking motor and a steering motor to be operated into an acceleration, a speed and a position reference instruction value, then the DSP (TMS 320F 28335) generates driving signals for driving the direct current brushless servo walking motor and the steering motor by combining the feedback of magnetoelectric sensors of the walking motor and the steering motor, the driving signals are amplified by a power bridge and then drive the direct current brushless servo walking motor and the steering motor to move in opposite directions, the magnetoelectric sensors feed back the operation parameters of the motors to an FPGA (QL 1P 100) in real time in the movement process, and PWM control signals of the walking motor and the steering motor are finely adjusted for the second time according to the feedback parameters to carry out closed-loop control, so that the mowing robot walks according to a planned path.
And S6, recording the actual path of the mowing robot, and marking the current grid as cut.
And inquiring whether all grids are marked as cut, if so, indicating that the mowing task is finished, executing a return charging station program by the mower, and otherwise, entering the next cycle.
In the invention, the FPGA is selected as a servo control regulator of the multi-axis DC brushless servo motor, and the DSP is released from a complex multi-axis servo control algorithm.
The invention utilizes the excellent performances to complete an intelligent dual-core four-wheel drive UWB positioning mowing robot, so as to solve the defects in the technical background.
The driving part of the mowing robot adopts a wheel type structure, and compared with walking, crawling or other non-wheel type mobile robots, the wheel type robot has the advantages of quick action, high working efficiency, simple structure, strong controllability, good safety and the like.
In order to improve the climbing and obstacle crossing capabilities of the mowing robot, the four-wheel independent four-wheel drive design is adopted, the mowing robot can easily climb a large-angle slope, and can freely walk under the condition of lawn pothole. Under the normal driving condition, in order to adjust the driving direction of the mowing robot, the direction can be changed at will by adopting a four-wheel differential mode. Because the stepping motor often encounters the phenomenon of motor step-out caused by lost pulses, the calculation of the mowing position is wrong, and the mowing robot loses the actual position.
Because the mowing robot works in a dirty environment with more dust outdoors, in order to reduce the influence of the dust on the carrying speed and displacement sensor of the motor, the invention abandons a common photoelectric encoder in the traditional system, adopts an encoder based on a magnetoelectric sensor, can effectively measure the speed and the displacement of the direct-current brushless servo motor during movement, and provides reliable feedback for four-axis synchronous three-closed-loop servo control of the mowing robot.
In order to overcome the defect that a common mowing robot cannot meet the actual requirements of automatic mowing operation, the invention independently develops a four-wheel differential drive mowing robot based on DSP (TMS 320F 28335) + FPGA (QL 1P 100) on the premise of absorbing the advanced control thought abroad. The robot control system takes FPGA (QL 1P 100) as a processing core to realize synchronous servo control of a four-axis DC brushless motor, and the DSP (TMS 320F 28335) realizes real-time storage of digital signals of various sensor signals, corresponds to various interrupt protection requests in real time and realizes data communication with the FPGA (QL 1P 100).
The above embodiments are only used for illustrating the design idea and features of the present invention, and the purpose of the present invention is to enable those skilled in the art to understand the content of the present invention and implement it accordingly, and the protection scope of the present invention is not limited to the above embodiments. Therefore, all equivalent changes and modifications made in accordance with the principles and concepts disclosed herein are intended to be included within the scope of the present invention.
Claims (10)
1. A dual-core four-wheel drive UWB positioning mowing robot is characterized by comprising a mowing robot body, a charging positioning station and a UWB auxiliary positioning base station; the mowing robot body comprises a machine body, a walking motor, a speed reducer, a driving wheel, a mowing motor, a cutting knife, a collision rod, a UWB positioning tag, a charging butt-joint device, a controller and a battery; the controller comprises a DSP processor and an FPGA processor;
the charging positioning station comprises a charging system and a UWB positioning base station, is fixed on the lawn, can provide automatic charging for the mowing robot, is provided with a canopy, and can protect the electronic equipment of the mowing robot in the rainy days;
the UWB auxiliary positioning base station is arranged at a fixed position on a grassland; the two UWB auxiliary positioning base stations and the charging positioning station can form a UWB positioning system through UWB communication, and the position of the mowing robot provided with the UWB positioning tag is obtained through a triangulation algorithm.
2. The dual-core four-wheel drive UWB positioning mowing robot according to claim 1, wherein an input end of the DSP is connected with the UWB positioning tag, the tilt sensor, the collision sensor, the rainwater sensor, the gyroscope and the control panel respectively, an output end of the DSP is connected with an input end of the FPGA processor, an output end of the FPGA processor is connected with the walking motor and the mowing motor, the FPGA processor outputs a control command to the walking motor and the mowing motor, and the input end of the FPGA processor also collects speed and position information of the walking motor and the mowing motor.
3. The dual-core four-wheel drive UWB positioning mowing robot according to claim 1 or 2, wherein the walking motor adopts a DC brushless servo motor, and the walking motor is sequentially connected with a speed reducer and a driving wheel; the mowing machine is characterized in that the mowing machine adopts a direct-current brushless motor, the direct-current brushless motor is connected with a cutting knife, and the cutting knife is double-layered.
4. The dual-core four-wheel drive UWB positioning mowing robot according to claim 3, wherein the UWB positioning tags are provided in two, a first UWB positioning tag is arranged in the middle of the rear part of the robot body, and a second UWB positioning tag is arranged in the middle of the front part of the robot body; first UWB location label is located second UWB location label directly rear, and the line of first UWB location label and second UWB location label central line is the fuselage axis all the time, and the mounting height of first UWB location label and second UWB location label is unanimous.
5. The dual-core four-wheel drive UWB positioning mowing robot according to claim 4, wherein the UWB positioning base station forms a body coordinate positioning system through UWB communication with the first UWB auxiliary positioning base station and the second UWB auxiliary positioning base station; in the body coordinate positioning system, the main control unit adopts a triangulation algorithm to respectively obtain the absolute coordinates of the first UWB positioning tag, the absolute coordinates of the second UWB positioning tag and the absolute coordinates of the body.
6. The dual-core four-wheel drive UWB positioning mowing robot according to claim 5, wherein the charging dock is mounted at the front of the body, and the charging dock is connected with a battery for charging the battery; the battery respectively provides electric energy for the DSP processor and the FPGA processor.
7. The dual-core four-wheel drive UWB positioning mowing robot control method based on claim 6, characterized by comprising the following steps:
s1, initializing a mowing robot after the mowing robot is started; the starting authority protection is adopted, the mowing robot can start work only by inputting an authority password, otherwise, the mowing robot waits for an authority starting command in situ;
s2, entering a main program cycle after initialization; detecting whether each module works normally, detecting whether the battery voltage is too low, and if the battery voltage is too low, prompting that the battery cannot work due to low electric quantity, and entering a charging mode;
s3, detecting whether the UWB positioning program is normal, if the UWB positioning program is lost, entering a shutdown self-locking mode, and if the UWB positioning program is normal, turning to S4;
s4, inquiring keys and zone bits of the control panel; setting basic parameters through interaction of a control panel and the mowing robot; the mowing robot stores relevant information in a main memory and influences relevant flag bits;
s5, inquiring whether a charging station needs to be taken out or not, and if the mowing robot is in the charging station and a user needs to take the mowing robot out of the charging station, executing a charging station program by the mowing robot; the DSP can automatically disconnect the connecting wire from the alternating current power supply, and the mowing robot is converted into a storage battery power supply state;
s6, inquiring whether a mowing task is executed, if the mowing task needs to be executed, enabling the mowing robot to enter a mowing task working mode, and enabling the mowing robot to enter the next cycle if the mowing task is not required to be executed;
s7, performing special conditions through an interruption service program, wherein the interruption flag bit is influenced by an inclination sensor, a collision sensor and a rainwater sensor; if the interrupt flag bit is enabled, the program is stored on site and enters an interrupt service program;
s8, after entering an interrupt service program, checking a relevant flag bit; if the flag bit of the inclination sensor is enabled, the mowing robot is turned over, at the moment, the DSP and the FPGA adjust the PWM output of the DC brushless servo motors U, V, X and Y through an internal servo control program, the operation of the cutting knife motor and the walking motor is stopped immediately, and the software is reset to prevent accidents;
s9, if the zone bit of the collision sensor is enabled, it is indicated that an obstacle exists in front, and an obstacle avoidance program is executed at the moment;
s10, if the zone bit of the rainwater sensor is enabled, it is indicated that it rains, the wet lawn is not suitable for mowing work, and the mowing robot executes a return charging station program;
and S11, after the mowing robot returns to the charging station, the charging butt-joint device on the mowing robot is in butt joint with a charging system on the charging positioning station.
8. The dual-core four-wheel drive UWB positioning mowing robot control method according to claim 7, wherein the process of executing the obstacle avoidance procedure in S9 is as follows: the DSP and the FPGA adjust the PWM output of the DC brushless servo motors U, V, X and Y through an internal servo control program, the mowing robot is controlled to stop in a safety range, and the mowing robot backs for a certain distance and turns right to bypass the barrier; in the moving process of the mowing robot, the magnetoelectric sensor can constantly detect the moving speeds and displacements of the DC brushless servo motors U, V, X and Y and feed back the moving speeds and displacements to the FPGA, and the FPGA secondarily adjusts PWM (pulse-width modulation) wave control signals of the DC brushless servo motors U, V, X and Y to meet actual requirements; the mowing robot will continue to mow grass before bypassing the obstacle.
9. The dual-core four-wheel drive UWB positioning mowing robot control method according to claim 7, wherein the process of executing the return to charging station program in S10 is as follows: the DSP converts the running distance SX of the direct current brushless servo motors U, V, X and Y into an acceleration, a speed and a position reference instruction value according to a return charging station path planned by the robot, then the DSP generates driving signals for driving the direct current brushless servo motors U, V, X and Y by combining the feedback of the magnetoelectric sensors of the motors U, V, X and Y, the driving signals are amplified by a power bridge and then drive the direct current brushless servo motors U, V, X and Y to move in opposite directions, the magnetoelectric sensors feed back the running parameters of the motors to the FPGA in real time in the moving process, and PWM control signals of the motors U, V, X and Y are finely adjusted secondarily according to the feedback parameters to carry out closed-loop control, so that the mowing robot walks according to the planned path.
10. The dual-core four-wheel drive UWB positioning mowing robot control method according to claim 7, wherein the method of docking with the charging system on the charging positioning station in S11 is: the DSP can automatically disconnect the connecting wire from the storage battery, the mowing robot is converted into an alternating current power supply state, and the alternating current power supply charges the storage battery in the system; at the moment, the mowing robot enters a stop self-locking mode, the mowing robot is locked at a charging station and does not move under the influence of external force, and the safety and stability of the charging process are guaranteed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911119851.7A CN111123910B (en) | 2019-11-15 | 2019-11-15 | Dual-core four-wheel drive UWB positioning mowing robot and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911119851.7A CN111123910B (en) | 2019-11-15 | 2019-11-15 | Dual-core four-wheel drive UWB positioning mowing robot and control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111123910A CN111123910A (en) | 2020-05-08 |
| CN111123910B true CN111123910B (en) | 2023-04-14 |
Family
ID=70495943
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911119851.7A Active CN111123910B (en) | 2019-11-15 | 2019-11-15 | Dual-core four-wheel drive UWB positioning mowing robot and control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111123910B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112264157B (en) * | 2020-09-17 | 2022-08-12 | 江苏东南植保有限公司 | A carry crushed aggregates mechanism for pesticide processing production |
| CN112567960A (en) * | 2020-12-02 | 2021-03-30 | 衢州学院 | Intelligent weeding robot |
| CN112706602A (en) * | 2020-12-24 | 2021-04-27 | 格力博(江苏)股份有限公司 | Electric vehicle |
-
2019
- 2019-11-15 CN CN201911119851.7A patent/CN111123910B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN111123910A (en) | 2020-05-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111045423B (en) | Intelligent four-wheel drive UWB positioning mowing robot and control method thereof | |
| CN110989578B (en) | Wireless-control dual-core four-wheel-drive UWB positioning mowing robot and control method thereof | |
| CN111123910B (en) | Dual-core four-wheel drive UWB positioning mowing robot and control method thereof | |
| US20240077885A1 (en) | Automatic working system, self-moving device, and methods for controlling same | |
| US10646997B2 (en) | Navigation for a robotic working tool | |
| US10136576B2 (en) | Navigation for a robotic working tool | |
| WO2021022728A1 (en) | Control system of land-air amphibious unmanned vehicle | |
| EP3942381B1 (en) | Smart scheduling for autonomous machine operation | |
| CN102768533A (en) | Automatic work system, automatic walking equipment and steering method thereof | |
| WO2015094054A1 (en) | Navigation for a robotic working tool | |
| CN106708061B (en) | A kind of collaboration of greenhouse movable job platform follows operation air navigation aid and device | |
| CN102880175A (en) | Automatic walking equipment | |
| CN104881027A (en) | Autonomic barrier-crossing system for wheel-track transformer station inspection robot and control method thereof | |
| CN110989545A (en) | Agricultural unmanned vehicle management system and method based on cloud platform | |
| CN109765908A (en) | A kind of six wheel drives quickly unmanned cruiser system and working method | |
| CN109572857A (en) | A kind of Mecanum wheel intelligent storage AGV and its paths planning method | |
| CN109799832A (en) | A kind of unmanned cruiser system of four-wheel drive low speed and working method | |
| CN211207169U (en) | Chassis control system of greenhouse picking robot | |
| CN211580673U (en) | Single-core four-wheel drive's robot of mowing | |
| CN108469818A (en) | A kind of four-wheel drive quickly unmanned cruiser system and working method | |
| Chang et al. | Integration of laser scanner and odometry for autonomous robotics lawn-mower | |
| CN110948490A (en) | Orchard inspection robot with autonomous navigation function | |
| CN113515113B (en) | Operation control method of automatic walking equipment and automatic walking equipment | |
| CN108490937A (en) | The unmanned cruiser system of six wheel drive low speed of one kind and working method | |
| CN114415685A (en) | Orchard autopilot tractor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20230320 Address after: Room 31, No. 2, Fengbei Road, Shuangfeng Town, Taicang City, Suzhou City, Jiangsu Province 215400 Applicant after: Suzhou Bomi Technology Co.,Ltd. Applicant after: Runtou Intelligent Science and Technology Research Institute Jiangsu Co.,Ltd. Applicant after: Nanjing mini automobile technology Co.,Ltd. Address before: Floor 1, Building C4, Jiulong Lake International Enterprise Headquarters Park, No. 19, Suyuan Avenue, Jiangning Economic Development Zone, Nanjing, Jiangsu Province, 211106 Applicant before: JIANGSU RUOBO ROBOT TECHNOLOGY Co.,Ltd. Applicant before: Runtou Intelligent Science and Technology Research Institute Jiangsu Co.,Ltd. |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |