CN112286181B - Self-walking equipment detection control method based on geomagnetism and self-walking equipment - Google Patents
Self-walking equipment detection control method based on geomagnetism and self-walking equipment Download PDFInfo
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- CN112286181B CN112286181B CN202011018577.7A CN202011018577A CN112286181B CN 112286181 B CN112286181 B CN 112286181B CN 202011018577 A CN202011018577 A CN 202011018577A CN 112286181 B CN112286181 B CN 112286181B
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- 230000005291 magnetic effect Effects 0.000 claims abstract description 43
- 239000011159 matrix material Substances 0.000 claims abstract description 26
- 238000003860 storage Methods 0.000 claims abstract description 11
- 238000001914 filtration Methods 0.000 claims description 2
- 239000000463 material Substances 0.000 abstract description 4
- 238000005516 engineering process Methods 0.000 abstract description 3
- 239000000126 substance Substances 0.000 description 11
- 230000005294 ferromagnetic effect Effects 0.000 description 10
- 230000005358 geomagnetic field Effects 0.000 description 8
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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
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
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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
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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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
- G05D1/0223—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
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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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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Abstract
The invention discloses a self-walking equipment detection control method based on geomagnetism and self-walking equipment, wherein a geomagnetism sensor group and a geomagnetism information storage module are arranged on the self-walking equipment, the geomagnetism sensor group comprises at least one geomagnetism sensor, and the method comprises the following steps: the method comprises the following steps: setting a plurality of acquisition point positions on a working boundary of self-walking equipment, acquiring geomagnetic data of the acquisition point positions through a geomagnetic sensor, and storing the geomagnetic data in a geomagnetic information storage module to form a boundary magnetic field characteristic matrix database; step two: and in the working process of the self-walking equipment, carrying out data matching on geomagnetic data acquired by the geomagnetic sensor in real time and a working area boundary magnetic field characteristic matrix database, and judging whether the boundary is reached. The method saves the material cost and the working hour cost for laying the cable, does not need to use a positioning technology with high precision positioning and related high cost, and the sensor is arranged on the machine body, so that the intelligent mower can work independently.
Description
Technical Field
The invention belongs to the technical field of equipment control, and particularly relates to a self-walking equipment detection control method based on geomagnetism and self-walking equipment.
Background
The intelligent lawn mower in the current market has multiple boundary detection modes. The main flow modes include two, one is to sense the lawn boundary by detecting a magnetic field generated by a cable which is laid on the lawn edge and is provided with alternating current through a sensor, and the other is an electronic fence based on a satellite navigation system.
By detecting the electrified boundary line, the defects of increased engineering construction amount, increased material cost, easy damage of cables and the like exist.
Due to the particularity of the use scene of the intelligent mower, the electronic fence based on the satellite navigation system needs to use a high-precision positioning module, and needs to erect a local RTK base station or use network differential positioning service. The way of erecting the RTK base station locally needs to add modules such as a wireless communication module, a high-precision positioning module, a high-performance processor, and a high-precision positioning antenna, which is high in cost and low in wireless communication reliability. GPS signals are often affected by terrain and objects. The network differential positioning function needs to be linked to different network differential servers and use different telecom operated services according to the use areas of the products, and the service fees of a GPRS communication module and an operator need to be increased, so that the material cost and the later operation cost are increased.
Disclosure of Invention
In order to solve the problems, the invention provides a self-walking equipment detection control method based on geomagnetism and self-walking equipment.
The technical solution to achieve the above object is as follows:
a self-walking equipment detection control method based on geomagnetism is characterized in that at least one group of geomagnetic sensor group and a geomagnetism information storage module are arranged on the self-walking equipment, the geomagnetic sensor group comprises at least one geomagnetic sensor,
the method comprises the following steps:
the method comprises the following steps: setting a plurality of acquisition point locations on a working boundary of the self-walking equipment, acquiring geomagnetic data of the acquisition point locations through the geomagnetic sensor, and storing the geomagnetic data in the geomagnetic information storage module to form a boundary magnetic field characteristic matrix database;
step two: and in the working process of the self-walking equipment, carrying out data matching on geomagnetic data acquired by the geomagnetic sensor in real time and a working area boundary magnetic field characteristic matrix database, and judging whether the self-walking equipment reaches a boundary.
Preferably, the first step specifically includes: when the self-walking equipment is used for the first time, the self-walking equipment is remotely controlled to walk for one circle along the boundary of a working area, the self-walking equipment stably walks at a certain speed, and geomagnetic information of current point positions is detected and stored in the geomagnetic information storage module at regular time through the geomagnetic sensor group in the running process, wherein the geomagnetic information comprises triaxial geomagnetic data Mx, my and Mz.
Preferably, the geomagnetic sensor group comprises two groups, namely a first geomagnetic sensor group and a second geomagnetic sensor group, the first geomagnetic sensor group is installed at the front part of the self-walking device, and the second geomagnetic sensor group is installed at the rear part of the self-walking device.
Preferably, the first geomagnetic sensor group and the second geomagnetic sensor group respectively include four geomagnetic sensors.
Preferably, the X-axis of four geomagnetic sensors in the first geomagnetic sensor group is in the same plane and the direction is different or the Y-axis is in the same plane and the direction is different, the X-axis of four geomagnetic sensors in the second geomagnetic sensor group is in the same plane and the direction is different or the Y-axis is in the same plane and the direction is different.
Preferably, the plurality of acquisition points are equidistantly distributed on the boundary of the working area.
Preferably, when each point data in the first step is collected, the self-walking device is stopped for a predetermined time, each geomagnetic sensor collects geomagnetic data for multiple times within the predetermined time, and the data collected by each geomagnetic sensor for multiple times are filtered by a median and a mean to remove signal noise, and then are used as the geomagnetic data of the point.
Preferably, the step two of performing data matching on the geomagnetic data acquired by the geomagnetic sensor in real time and the working area boundary magnetic field feature matrix database specifically includes: when the self-walking equipment moves forwards, matching geomagnetic data detected by a first geomagnetic sensor group installed at the front part with a boundary magnetic field characteristic matrix database; when the self-walking device retreats, geomagnetic data detected by a second geomagnetic sensor group installed at the rear part is matched with the boundary magnetic field feature matrix database.
Preferably, the step two of determining whether the self-walking device reaches the boundary specifically includes: and when the three-axis geomagnetic data of at least one sensor in at least one geomagnetic sensor group is matched with the corresponding data in the boundary magnetic field characteristic matrix database, judging that the self-walking equipment reaches the boundary.
Preferably, the data in the boundary magnetic field feature matrix database is set to a threshold range, and when data matching is performed, it is determined that the self-walking device reaches the boundary when the triaxial geomagnetic data of at least one sensor falls within the threshold range of the corresponding data.
A self-walking device comprises the geomagnetic sensor group and the geomagnetic information storage module.
Preferably, the self-walking device is an intelligent lawn mower robot.
Compared with the prior art, the invention has the beneficial effects that:
(1) In a smaller range, the differences of the magnetic fields at different positions are very small theoretically, common tools cannot detect the magnetic fields, but as the intelligent mower is mostly used in grasslands around courtyards in a use scene, and buildings near the grasslands are more, the geomagnetic field is easily interfered by metal objects, when the intelligent mower passes through a reinforced concrete structure building, the original magnetic field is interfered and distorted by metal substances in the building, so that a unique regular local magnetic field is formed near the building, the differences of the magnetic fields are improved, the building is not changed, and the local magnetic field is also fixed, the method saves the material cost and the labor cost of laying cables, and does not need to use a positioning technology with high precision positioning related high cost;
(2) When a small obstacle such as a ferromagnetic substance appears on the grassland, the small obstacle such as a ferromagnetic substance can also affect the internal magnetic field of a small area around the ferromagnetic substance, compared with the range of the influence of a building on the geomagnetic field, the range is smaller, the small obstacle is limited around the ferromagnetic substance, the small obstacle can be taken as an obstacle to bypass through a certain algorithm, if the ferromagnetic substance appears in a boundary position, the geomagnetic sensor can be used as an obstacle to process after detecting the change of the current magnetic field, the obstacle retreats and then changes the traveling direction, the ferromagnetic substance can be arranged around the obstacle aiming at the obstacle such as a nonmetal obstacle, the obstacle is calibrated, and the obstacle is judged through geomagnetic data detected by a machine.
Drawings
FIG. 1 is a schematic diagram of a smart lawn mower cutting work area.
Fig. 2 is a schematic diagram of distribution of geomagnetic sensors on the intelligent lawn mower.
Fig. 3 is a schematic diagram of a combination of directions of the geomagnetic sensor group, where the direction of the arrow is the X-axis direction of the sensor.
In the figure: 1. mower, 2, charging station, 3, lawn, 4, geomagnetic boundary detection range, 5, rear driving left wheel, 6, front steering left wheel, 7, first geomagnetic sensor group, 8, second geomagnetic sensor group, 9, rear driving right wheel, 10, front steering right wheel, 11, 12, 13, 14 are a group of sensors.
Detailed Description
The present invention is described in further detail below with reference to the attached drawing figures.
In this embodiment, the automatic walking device is an intelligent mower, but in other embodiments, the automatic walking device may also be an intelligent snow sweeper, an intelligent cleaning device, or the like.
The intelligent mower boundary detection control method comprises the following steps:
step 1: and setting a plurality of acquisition point locations on the working boundary of the intelligent mower, acquiring geomagnetic data of the point locations, and forming a grassland boundary magnetic field characteristic matrix database.
As shown in fig. 1-2, when the intelligent mower 1 is used for the first time, the remote control mower 1 walks a circle along the boundary of the lawn to be maintained, the intelligent mower 1 travels stably at a certain speed, and geomagnetic information of current point locations is detected and stored regularly by geomagnetic sensor groups 7 and 8 distributed on the chassis of the mower during traveling and is respectively put into a geomagnetic information storage module.
As shown in fig. 2, the first geomagnetic sensor group 8 and the second geomagnetic sensor group 7 are respectively installed at the front and the rear of the lawnmower, and when the lawnmower travels forward in normal operation, magnetic field data detected by the first geomagnetic sensor group 8 installed at the front is matched with data of the boundary magnetic field feature matrix database. When the lawnmower is retreated, this step data detected by the geomagnetic sensor group 7 installed at the rear portion is matched with the data of the boundary magnetic field feature matrix database.
As shown in fig. 2, each point location simultaneously acquires geomagnetic data, mainly the module values of the three-axis magnetic field, by the first geomagnetic sensor group 8 and the second geomagnetic sensor group 7 installed at the front and the rear of the lawn mower. Mx, my, mz are triaxial geomagnetic data, respectively.
When each point data is collected, the machine is stopped for a certain time, and each group of data is filtered by median and mean values to remove signal noise and then is used as geomagnetic data of the point through multiple data collection in a short time.
And acquiring geomagnetic information of N point locations by bypassing the lawn boundary for a circle, wherein the N point locations are equidistantly distributed on the boundary of the lawn to form lawn boundary magnetic field characteristic matrix data, and storing the lawn boundary magnetic field characteristic matrix data into a local database. The magnetic field at each location is recorded in turn: data P1 (Mx 1, my1, mz 1), P2 (Mx 2, my2, mz 2), \ 8230;, pn (Mxn, myn, mzn). Two groups of 8 sensors record data respectively, and each point bit forms 8 groups of data (one group of data corresponds to each sensor).
Step 2: in the working process of the machine, geomagnetic data acquired by a geomagnetic sensor of the machine in real time is subjected to data matching with data of a grassland boundary magnetic field characteristic matrix database, and whether the boundary is reached is judged. Because the direction when the machine gathered data along the grassland border is different with the direction of marcing to the grassland border when normally mowing, triaxial earth magnetic sensor can be because the direction is different, and every earth magnetic vector component is different. The X-axis of each geomagnetic sensor in each geomagnetic sensor group may be arranged in the same plane and have different directions, as shown in fig. 3, four arrows of four sensors in the figure indicate the X-axis directions of the four sensors, and the four X-axes respectively point to four different directions in the same plane, so that the machine may adapt to various postures reaching the boundary. When the machine reaches the boundary, when the triaxial geomagnetic data of at least one sensor in at least one geomagnetic sensor group is matched with the corresponding data in the boundary magnetic field characteristic matrix database, the self-walking equipment is judged to reach the boundary, and the more sensors and the more data are related to judgment, the more accurate judgment is made.
And under the normal operation state of the machine, performing real-time geomagnetic data detection through the geomagnetic sensor. Because the mowing machine is in a moving state, a moving average filtering mode is adopted for data processing, and the method can improve the smoothness and the real-time performance of data acquisition.
And comparing the processed data with data of a boundary magnetic field characteristic matrix database stored in the machine, making a certain threshold range according to the data read in the machine when matching the data, relaxing the boundary matching requirement, and determining that the machine detects the lawn boundary when matching the data.
The invention provides a boundary detection control method based on a geomagnetic field. The geomagnetic field boundary control technology is based on a vector field, and because of the trend of the geomagnetic field, the geomagnetic field may exhibit different geomagnetic characteristics, such as three-axis magnetic field strength, at different geographic locations.
When the mowing robot is installed and debugged, the remote control intelligent mowing machine walks along the lawn boundary needing to be repaired, magnetic field information of the lawn boundary position is collected through a geomagnetic sensor installed on a machine body, a lawn boundary magnetic field characteristic matrix is formed through processing, and the lawn boundary magnetic field characteristic matrix is stored in a machine database. After the installation and debugging are completed, the current position of the intelligent mower is judged by comparing the current geomagnetic information collected by the mower with the data stored in the machine database in real time, so that the mower always works in a boundary range, and the boundary control of the intelligent mower is further realized.
The method of the invention also comprises the following further applications:
in view of the uniqueness of geomagnetic data, after the boundary data of the mower is successfully collected, the inertial navigation module can be combined to perform function development of path planning, traversal mowing and the like of the mower.
The ferromagnetic substance is placed in a close vicinity around the geomagnetic sensor, and interferes with the local geomagnetic field, causing abrupt change of the magnetic field data, and because the geomagnetic field has tendency, the ferromagnetic substance can be used to detect obstacles on the lawn containing the ferromagnetic substance (for example, when the geomagnetic data has abrupt change, the ferromagnetic substance is considered to possibly exist).
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A self-walking equipment detection control method based on geomagnetism is characterized in that at least one group of geomagnetic sensor group and a geomagnetism information storage module are arranged on the self-walking equipment, the geomagnetic sensor group comprises at least one geomagnetic sensor,
characterized in that the method comprises the following steps:
the method comprises the following steps: setting a plurality of acquisition point locations on a working boundary of the self-walking equipment, acquiring geomagnetic data of the acquisition point locations through the geomagnetic sensor, and storing the geomagnetic data in the geomagnetic information storage module to form a boundary magnetic field characteristic matrix database;
step two: when the self-walking equipment works, geomagnetic data acquired by the geomagnetic sensor in real time is matched with a working area boundary magnetic field characteristic matrix database to judge whether the self-walking equipment reaches a boundary or not,
the geomagnetic sensor groups comprise two groups, namely a first geomagnetic sensor group (8) and a second geomagnetic sensor group (7), the first geomagnetic sensor group (8) is arranged at the front part of the self-walking equipment, the second geomagnetic sensor group (7) is arranged at the rear part of the self-walking equipment,
in the second step, the step of performing data matching on the geomagnetic data acquired by the geomagnetic sensor in real time and the working area boundary magnetic field characteristic matrix database specifically comprises the following steps: when the self-walking equipment advances forwards, geomagnetic data detected by a first geomagnetic sensor group (8) arranged at the front part is matched with a boundary magnetic field characteristic matrix database; when the self-walking device moves backwards, geomagnetic data detected by a second geomagnetic sensor group (7) installed at the rear part is matched with the boundary magnetic field characteristic matrix database.
2. The geomagnetic-based self-walking equipment detection control method according to claim 1, wherein the first step specifically comprises: when the self-walking equipment is used for the first time, the self-walking equipment is remotely controlled to walk for one circle along the boundary of a working area, the self-walking equipment stably walks at a certain speed, and geomagnetic information of current point positions is detected and stored in the geomagnetic information storage module at regular time through the geomagnetic sensor group in the running process, wherein the geomagnetic information comprises triaxial geomagnetic data Mx, my and Mz.
3. The self-walking device detection control method based on geomagnetism according to claim 2, wherein the first geomagnetic sensor group (8) and the second geomagnetic sensor group (7) include four geomagnetic sensors, respectively.
4. A self-walking device detection control method based on geomagnetism according to claim 3, wherein the X-axes of the four geomagnetic sensors in the first geomagnetic sensor group (8) are in the same plane and have different directions or the Y-axes are in the same plane and have different directions, and the X-axes of the four geomagnetic sensors in the second geomagnetic sensor group (7) are in the same plane and have different directions or the Y-axes are in the same plane and have different directions.
5. The self-walking apparatus detection control method based on geomagnetism according to claim 4, wherein the plurality of collection points are equidistantly distributed on a boundary of a working area.
6. A geomagnetic based self-walking apparatus detection control method according to any one of claims 3 to 5, wherein in the step one, when each point data is collected, the self-walking apparatus is stopped for a predetermined time, each geomagnetic sensor collects geomagnetic data for a plurality of times within the predetermined time, and the data collected by each geomagnetic sensor for a plurality of times is used as the geomagnetic data of the point after signal noise is removed through median and mean filtering.
7. The geomagnetism-based self-walking equipment detection control method according to claim 6, wherein the step two of determining whether the self-walking equipment reaches the boundary specifically includes: and when the three-axis geomagnetic data of at least one sensor in at least one geomagnetic sensor group is matched with the corresponding data in the boundary magnetic field characteristic matrix database, judging that the self-walking equipment reaches the boundary.
8. The geomagnetism-based self-propelled device detection control method according to claim 7, wherein data in the boundary magnetic field feature matrix database is set to a threshold range, and when data matching is performed, it is determined that the self-propelled device reaches the boundary when triaxial geomagnetic data of at least one sensor falls within the threshold range of the corresponding data.
9. A self-walking apparatus, characterized in that it comprises the geomagnetic sensor group and geomagnetic information storage module according to any one of claims 1 to 8.
10. The self-propelled device of claim 9, wherein the self-propelled device is a smart lawn mower robot.
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| CN106767771A (en) * | 2016-12-02 | 2017-05-31 | 华中科技大学 | A kind of sensor device and magnetic ground drawing generating method for indoor navigation |
| CN110829513A (en) * | 2018-08-08 | 2020-02-21 | 苏州宝时得电动工具有限公司 | Self-moving equipment, charging docking system and charging docking method |
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| JPH064128A (en) * | 1992-06-17 | 1994-01-14 | Kubota Corp | Border detecting device for lawn mowing machine |
| US5528888A (en) * | 1993-12-27 | 1996-06-25 | Fuji Jukogyo Kabushiki Kaisha | Autonomous mowing vehicle and apparatus for detecting boundary of mowed field |
| CN105973246A (en) * | 2016-04-29 | 2016-09-28 | 海尔优家智能科技（北京）有限公司 | Drawing method and apparatus of geomagnetic map, and robot |
| CN106123892A (en) * | 2016-06-22 | 2016-11-16 | 武汉科技大学 | A kind of robot localization method based on wireless sensor network Yu earth magnetism map |
| CN108829100B (en) * | 2018-06-06 | 2021-01-12 | 杭州晶一智能科技有限公司 | Indoor mobile robot traversal path planning method based on wireless network and geomagnetic signals |
| CN108801275B (en) * | 2018-06-11 | 2021-11-16 | 西安天图测绘信息技术有限公司 | Indoor mobile robot fingerprint map establishing method based on wireless network and geomagnetic signals |
| CN109115205A (en) * | 2018-07-20 | 2019-01-01 | 上海工程技术大学 | A kind of indoor fingerprint positioning method and system based on geomagnetic sensor array |
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| CN106448276A (en) * | 2016-07-28 | 2017-02-22 | 南京航空航天大学 | Airport surface moving target detection and speed sequence acquisition method |
| CN106767771A (en) * | 2016-12-02 | 2017-05-31 | 华中科技大学 | A kind of sensor device and magnetic ground drawing generating method for indoor navigation |
| CN110829513A (en) * | 2018-08-08 | 2020-02-21 | 苏州宝时得电动工具有限公司 | Self-moving equipment, charging docking system and charging docking method |
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