CN112740889A - Path planning method, system and equipment of automatic mower and automatic mower - Google Patents
Path planning method, system and equipment of automatic mower and automatic mower Download PDFInfo
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- CN112740889A CN112740889A CN202011585147.3A CN202011585147A CN112740889A CN 112740889 A CN112740889 A CN 112740889A CN 202011585147 A CN202011585147 A CN 202011585147A CN 112740889 A CN112740889 A CN 112740889A
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- automatic mower
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0265—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using buried wires
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/006—Control or measuring arrangements
- A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
Abstract
The invention discloses a path planning method, a system and equipment of an automatic mower and the automatic mower, wherein the path planning method of the automatic mower comprises the following steps that the automatic mower comprises a machine body, at least one front sensor and at least one rear sensor, wherein the at least one front sensor is arranged at the head end of the machine body, and the at least one rear sensor is arranged at the tail end of the machine body; the path planning method of the automatic mower comprises the following steps: controlling the automatic mower to quit the charging station until the loop of the outfield of the charging station is out; controlling the automatic mower to search for a guide line, wherein the guide line is laid in advance in a working area of the automatic mower defined by a boundary line; and controlling the automatic mower to straddle the guide line or follow the guide line at a random corridor interval until the automatic mower walks for a preset target distance. By utilizing the invention, the ruts generated when the automatic mower leaves along the fixed path can be avoided, and the damage to the lawn or the vegetation is reduced.
Description
Technical Field
The invention relates to the technical field of automatic mowers, in particular to a path planning method, a system and equipment of an automatic mowers and the automatic mowers.
Background
An automatic lawn mower is a garden tool for trimming lawns, vegetation, and the like, and generally includes a self-propelled mechanism, a cutter mechanism, and a power source, which may be a gasoline engine, a battery pack, and the like. The battery-driven automatic mower is widely favored by users because of low noise and zero pollution. However, due to the constraints of factors such as the energy density of the battery and the production cost of the battery, the electric quantity of the battery pack carried by the automatic mower is very limited, so that the one-time operation area of the automatic mower is small. When the lawn area is wide, the automatic mower needs to return to the charging station for charging after working for a certain time, and leaves the charging station and returns to the working area for mowing after charging is finished.
When the automatic mower leaves from the charging station and returns to the mowing area to work, most of products leave the mowing area along a fixed track, so that rutting is easy to generate, and the growth of lawns or vegetation in the rutting area is influenced; but also easily cause the same path to cut grass slightly more, thereby influencing the whole grass cutting efficiency and the beautiful appearance of the lawn.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, an object of the present invention is to provide a method, a system, a device and an automatic lawn mower for planning a path of the automatic lawn mower, which are used to solve the technical problems of rutting and over-mowing on the same path when the automatic lawn mower leaves from a charging station and returns to a mowing area for working in the prior art.
In order to achieve the above objects and other related objects, the present invention provides a path planning method for an robotic lawnmower for controlling the robotic lawnmower to leave a charging station, the robotic lawnmower comprising a main body, at least one front sensor disposed at a head end of the main body, and at least one rear sensor disposed at a rear end of the main body, respectively;
the path planning method of the automatic mower comprises the following steps:
controlling the automatic mower to quit the charging station until the loop of the outfield of the charging station is out;
controlling the automatic mower to search for a guide line, wherein the guide line is laid in advance in a working area of the automatic mower defined by a boundary line;
controlling the automatic mower to straddle the guide line or follow the guide line at a random corridor interval until the automatic mower walks for a preset target distance;
wherein the step of controlling the robotic lawnmower to seek the guide line comprises:
controlling the automatic mower to continue to walk for a random distance;
controlling the automatic mower to rotate so that the rear sensor is aligned with the traveling direction.
In an alternative embodiment, after the step of controlling the automatic mower to rotate so as to align the rear sensor with the traveling direction, the method further comprises the step of determining whether a guiding signal of the guide line is detected; when the guiding signal of the guide line is detected, the robotic lawnmower straddles the guide line or follows the guide line at a random interval until the predetermined target distance is traveled.
In an alternative embodiment, the robotic lawnmower is controlled to cease operation when the guide wire guiding signal is not detected.
In an alternative embodiment, the step of controlling the robotic lawnmower to ride the guide wire or to follow the guide wire at a random pitch until a predetermined target distance is traveled comprises:
controlling the robotic lawnmower to intersect the guide wire with the rear sensor;
and controlling the automatic mower to straddle the guide line to walk until the preset target distance is reached.
In an alternative embodiment, the step of controlling the robotic lawnmower to ride the guide wire or follow the guide wire at a random corridor pitch until a predetermined target distance is traveled includes:
controlling the tail end of the automatic mower to rotate by a random angle, wherein the distance between the rear sensor and the guide line is used as the random corridor distance;
controlling the robotic lawnmower to follow the guide line at the random corridor spacing.
In an alternative embodiment, the step of controlling the robotic lawnmower to follow the guide line at the random corridor spacing comprises:
controlling the robotic lawnmower to sample the guide wire guidance signal using the rear-mounted sensor;
controlling the automatic mower to follow the guide line with the acquired guiding signal amplitude of the guide line.
In an alternative embodiment, the front sensor comprises a magnetic induction coil and the rear sensor comprises a magnetic induction coil.
In an optional embodiment, the method for planning the path of the automatic mower further comprises controlling the automatic mower to start mowing in the working area after walking the predetermined target distance.
In an alternative embodiment, the robotic lawnmower is controlled to initiate a random mowing operation within the work area.
In an alternative embodiment, the step of controlling the robotic lawnmower to begin mowing the work area after traveling the predetermined target distance comprises:
after the automatic mower walks for the preset target distance, the automatic mower is controlled to rotate 90 degrees in any direction, and then the automatic mower is controlled to start random mowing operation in the working area.
In an alternative embodiment, the random distance is between 10cm and 50 cm.
In an optional embodiment, the front sensor is arranged on a center line of a head end of the body, and the rear sensor is arranged on one side of a center line of a tail end of the body.
In order to achieve the above objects and other related objects, the present invention further provides a path planning system for an automatic lawn mower, for controlling the automatic lawn mower to automatically leave a charging station, wherein the automatic lawn mower comprises a main body, at least one front sensor disposed at a head end of the main body, and at least one rear sensor disposed at a tail end of the main body;
the path planning system of the automatic mower comprises:
the charging station quitting module is used for controlling the automatic mower to quit the charging station until the automatic mower is out of the outfield loop of the charging station;
the guide line searching module is used for controlling the automatic mower to search a guide line, wherein the guide line is laid in advance in a working area of the automatic mower limited by a boundary line;
the riding and following module is used for controlling the automatic mower to ride the guide line to walk or follow the guide line at a random corridor interval until the automatic mower walks for a preset target distance;
wherein the straddling and following module includes:
the first walking submodule is used for controlling the automatic mower to continue walking for a random distance;
the first steering submodule is used for controlling the automatic mower to rotate so that the rear sensor is aligned with the advancing direction.
In an alternative embodiment, the straddle-and-follow module further comprises a detection determination sub-module for determining whether the guide wire guiding signal is detected after the rear sensor is aligned with the traveling direction; when the guiding signal of the guide line is detected, the robotic lawnmower straddles the guide line or follows the guide line at a random interval until the predetermined target distance is traveled.
In an alternative embodiment, the straddle and follow module comprises:
a rotation submodule for controlling the robotic lawnmower to cause the guide wire to intersect the rear sensor;
and the second walking submodule is used for controlling the automatic mower to straddle the guide line to walk until the preset target distance is reached.
In an alternative embodiment, the straddle and follow module comprises:
the rotation submodule is used for controlling the tail end of the automatic mower to rotate by a random angle, and the distance between the rear sensor and the guide line is used as the random corridor distance;
a second walking submodule, the robotic lawnmower walking with the guide line at the random corridor pitch.
In an optional embodiment, the path planning system of the robotic lawnmower further comprises a mowing operation module configured to control the robotic lawnmower to start mowing operation within the working area defined by the boundary line after walking the predetermined target distance.
To achieve the above and other related objects, the present invention also provides an automatic lawnmower comprising:
a body;
the front sensor is arranged at the front end of the machine body;
the rear sensor is arranged at the tail end of the machine body;
the control unit is arranged on the machine body and comprises a processor and a memory which are mutually coupled, the memory stores program instructions, and when the program instructions stored in the memory are executed by the processor, the path planning method of the automatic mower can be realized.
To achieve the above and other related objects, the present invention also provides a storage medium including a program which, when run on a computer, causes the computer to execute the path planning method of an automatic lawnmower according to any one of the above.
To achieve the above and other related objects, the present invention also provides a path planning apparatus for an robotic lawnmower, comprising:
the automatic mower comprises a mower body, at least one front sensor and at least one rear sensor, wherein the front sensor is arranged at the head end of the mower body, and the rear sensor is arranged at the tail end of the mower body;
at least one guide line pre-laid in the working area of the robotic lawnmower;
a boundary line pre-laid on an edge of the working area of the robotic lawnmower;
the charging station is positioned on the boundary line, and a charging station outfield loop is arranged in the charging station;
the sensor is used for sensing a guiding signal of at least one of the combination of the boundary line, the charging station external field loop and the guiding line; the control unit is used for controlling the automatic mower to automatically leave the charging station according to the guiding signal.
In an alternative embodiment, the boundary line is fixed to the ground or buried under the ground along the edge of the working area.
In an alternative embodiment, the guide wire is fixed to the ground or buried below the ground.
In an alternative embodiment, the guidance signal comprises an alternating magnetic field; the front sensor comprises a magnetic induction coil, and the rear sensor comprises a magnetic induction coil.
In an alternative embodiment, the path planning apparatus of the robotic lawnmower comprises a plurality of the guide lines.
In an optional embodiment, the path planning apparatus of the robotic lawnmower further comprises a signal generating device, and the signal generating device is respectively connected to the guide line, the boundary line, and the charging station outfield loop.
In an optional embodiment, the front sensor is arranged on a center line of a head end of the body, and the rear sensor is arranged on one side of a center line of a tail end of the body.
The path planning method, the system and the equipment of the automatic mower and the automatic mower can be used for planning the path of the automatic mower leaving the charging station, so that the charging station leaves the charging station along different paths every time, and the situation that ruts are generated along the automatic mower leaving the station along a fixed path to influence the growth of lawns or vegetation in a rut area is avoided.
The path planning method, the system and the equipment of the automatic mower and the automatic mower can be used for planning the path of the automatic mower leaving the charging station, so that the charging station leaves the charging station along different paths each time, the automatic mower can be prevented from repeatedly mowing along the same path, the mowing efficiency is improved, and the attractiveness of a lawn is improved.
According to the path planning method, the system and the equipment of the automatic mower and the automatic mower, the guide line is arranged, and the guide line can be arranged into a relatively simple shape according to the requirement, so that the path planning of the automatic mower from the station is simpler.
Drawings
FIG. 1 is a schematic diagram of the path planning apparatus of the robotic lawnmower according to the present invention.
FIG. 2 is a schematic flow chart illustrating a method for planning a path of an automatic lawn mower according to the present invention.
Fig. 3 is a sub-flowchart of step S20 in fig. 2.
FIG. 4 is a schematic view of the robotic lawnmower exiting the charging station until the robotic lawnmower travels a random distance outside the outfield loop of the charging station, according to the present invention.
FIGS. 5a and 5b are schematic views showing the robotic lawnmower being rotated to align the rear sensor with the direction of travel in accordance with the present invention.
FIGS. 6a-6e are schematic views of the robotic lawnmower riding on the guide wire until traveling a predetermined target distance in accordance with the present invention.
FIG. 7 is a schematic view of the robotic lawnmower first rotating 90 degrees in either direction after traveling the predetermined target distance in accordance with the present invention.
FIG. 8 is a schematic view of the robotic lawnmower of the present invention initiating a random mowing operation within the work area.
FIG. 9 is a schematic view of the trailing end of the robotic lawnmower of the present invention rotated a random angle, with the distance between the rear sensor and the guide line being the random corridor distance.
FIG. 10 is a schematic view of the robotic lawnmower following the guide line at the random corridor spacing according to the present invention.
FIG. 11 is a block diagram of a path planning system for an robotic lawnmower according to the present invention.
Fig. 12 is a block diagram showing the structure of the control unit of the present invention.
FIG. 13 is a block diagram of the robotic lawnmower of the present invention.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention.
Please refer to fig. 1-13. It should be noted that the drawings provided in the present embodiment are only for illustrating the basic idea of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.
The embodiment of the invention discloses a path planning method, a system and equipment for an automatic mower with the automatic mower leaving a charging station, and aims to solve the problems that the automatic mower is easy to generate track when leaving the station along a fixed track and the same path is more mowed when the electric driven automatic mower needs to return to the charging station for charging and returns to a mowing area for working after being charged. Wherein, fig. 1 shows a schematic structural view of the path planning apparatus of the robotic lawnmower of the present invention; FIG. 2 illustrates a flow diagram of a path planning method of the robotic lawnmower of the present invention; FIG. 11 is a block diagram illustrating the architecture of the path planning system of the robotic lawnmower of the present invention; FIG. 13 is a block diagram of the robotic lawnmower of the present invention. It should be noted that the robotic lawnmower and the charging station are shown enlarged in fig. 1 and in subsequent fig. 4-10 to make the drawings clearer. In the present invention, the robotic lawnmower includes a self-propelled robotic lawnmower, which is an electric tool powered by a battery and requiring periodic charging. The robotic lawnmower is movable during use within a working area defined by the boundary line.
Referring to fig. 1 and 13, the path planning apparatus for an automatic mower used for the automatic mower 1 to exit includes the automatic mower 1, a guiding line 7, a boundary line 2 and a charging station 3. The robotic lawnmower 1 comprises a main body, and a control unit 6 (described in detail in the relevant section below) and at least two sensors 5, which are arranged on the main body, wherein one of the sensors 5 is arranged at the head end of the main body as a front sensor 5a, and the other sensor is arranged at the tail end of the main body as a rear sensor 5b, and the sensors 5 are used for sensing a guiding signal of at least one of the boundary line 2, the guiding line 7 and the charging station external field loop 4; the control unit 6 is used for controlling the automatic mower 1 to automatically leave the charging station 3 according to the guiding signal. The guide wire 7 is pre-laid in the working area of the robotic lawnmower 1, and the two ends of the guide wire 7 are connected to the charging station 3 and the boundary wire 2, respectively, wherein the end of the guide wire 7 connected to the charging station 3 is also connected to the boundary wire 2, such that the guide wire 7 and a relatively short portion of the boundary wire 2 located between the two ends of the guide wire 7 together form a closed loop. The charging station 3 is located on the boundary line 2, and the charging station 3 is arranged as a charging plate, so that the automatic mower 1 is positioned on a uniform and continuous plane in the butt joint process, and the butt joint process is ensured to be more accurate. In order to facilitate the recognition and location of the charging station 3 by the robotic lawnmower 1, an external charging station field loop 4 is provided within the charging station 3, and the boundary line 2 is recessed into the inner working area at the location of the charging station 3 to form an internal charging station field loop 2a that is narrower than the external charging station field loop 4 and passes through the external charging station field loop 4, the internal charging station field loop 2a being used to guide the robotic lawnmower out of the charging station.
Referring to fig. 1, the boundary line 2 may be embedded along the edge of the working area to hide the boundary line 2, for example, although the boundary line 2 may also be disposed on the ground or on the ground. The boundary line 2 is recessed into the inner working area at the position of the charging station 3 to form a charging station inner field loop 2a which is narrower than the charging station outer field loop 4 and passes through the charging station outer field loop 4. The boundary line 2 may be, for example, a single-core type metal wire (e.g., a copper wire) or a stranded wire or the like. The guide line 7 may be buried in the work area along the boundary line 2 to hide the boundary line 2, for example, but the boundary line 2 may be provided on the ground surface or the ground surface in the work area. The boundary line 2 (including the charging station internal field loop 2a), the guiding line 7 and the charging station external field loop 4 are respectively coupled to a signal generating device provided in the charging station 3, the signal generating device is configured to generate a pulse current signal with a certain frequency and input the pulse current signal into the boundary line 2, the guiding line 7 or the charging station external field loop 4 to form a guiding signal in the boundary line 2, the guiding line 7 or the charging station external field loop 4, and the guiding signal generated by the boundary line 2, the guiding line 7 and the charging station external field loop 4 needs to have a special characteristic to distinguish the three from each other, for example, the pulse current signal can be input into the boundary line 2, the guiding line 7 and the charging station external field loop 4 at intervals to generate corresponding guiding signals in different time intervals respectively for the boundary line 2, the guiding line 7 and the charging station external field loop 4 And (4) conducting signals. The sensor 5 may for example employ a magnetic field sensor 5 or a current sensor 5 for measuring a guiding signal of at least one of the boundary line 2, the guiding line 7 and the charging station external field loop 4.
Referring to fig. 1 and 13, the robotic lawnmower 1 further includes a traveling assembly 101, an operating assembly 102, and a power supply assembly 103 disposed on the mower body. The traveling assembly 101 includes driving wheels located at two sides of the main body, the driving wheels may be located in front of the main body, that is, at one side where the front sensor 5a is disposed (in other embodiments, the driving wheels may also be located behind the main body), the two driving wheels are driven by two driving motors, at least one supporting wheel is further disposed in front of the main body, the robotic lawnmower 1 is supported by the driving wheels and the supporting wheel to travel, and the supporting wheel may be a universal wheel, for example, so that the robotic lawnmower 1 can turn. The control unit 6 controls the walking direction and speed of the automatic mower 1 by controlling the rotating speeds of the two driving motors, and when the rotating speeds of the driving motors are different, the automatic mower 1 can realize turning; when the rotating speeds of the driving motors are the same, the automatic mower 1 can realize linear walking, and when the rotating speeds of the driving motors are opposite, the automatic mower 1 realizes in-situ zero steering. The working assembly 102 comprises a cutting motor and a cutting head driven by the cutting motor, the working assembly 102 is approximately positioned at the center of the automatic mower 1, the rotating shaft of the cutting motor is approximately vertical to the horizontal plane, and the working assembly 102 can be adjusted in height with the ground by an operator to realize the adjustment of the cutting height. The power supply assembly 103 includes a rechargeable battery and a charging system for supplying power to the rechargeable battery. The control unit 6 receives various signals sent to the robotic lawnmower 1 or signals collected by the sensor 5, generates corresponding control signals through the built-in processor 61, and controls the traveling unit or the working unit according to the generated control signals, so that the robotic lawnmower 1 leaves the charging station 3 along a planned route to perform mowing operations, and the robotic lawnmower 1 can leave the charging station 3 according to a path planned by a path planning method of the robotic lawnmower and a path planned by a path planning system of the robotic lawnmower, which will be described later, or can leave the charging station 3 according to a path planned by other suitable methods.
In the present invention, the guidance signal is an alternating magnetic field, and the sensor 5 is a magnetic induction coil for example, it can be understood that other suitable guidance signal forms or different types of sensors 5 can be adopted in the path planning method and system of the automatic lawn mower of the present invention. The signal generating device may input an alternating pulse current signal into the boundary line 2, the guide line 7, or the charging station external field loop 4, for example, so that an alternating magnetic field is generated around the boundary line 2, the guide line 7, or the charging station external field loop 4; the sensor 5 may be, for example, a magnetic induction coil. The sensing principle is as follows: according to the magnetic induction effect, when an alternating pulse current is input into the boundary line 2, the guide line 7 or the field outside charging station loop 4, an alternating magnetic field can be generated around the boundary line 2, the guide line 7 or the field outside charging station loop 4, and when the magnetic induction coil is positioned in the vicinity of the boundary line 2, the guide line 7 or the field outside charging station loop 4, the magnetic induction coil generates induced electromotive force in the alternating magnetic field, so that induced current is generated in the magnetic induction coil, and the induced current is sent to the control unit 6 of the robotic lawnmower 1 after being subjected to filtering and amplification processing, and the control unit 6 can determine the position and orientation of the robotic lawnmower 1 relative to the boundary line 2, the guide line 7 or the field outside charging station loop 4 according to the magnitude and polarity of the induced current. On one side of the boundary line 2, the guideline 7 or the charging station external field loop 4, the magnetic field strength is larger as the boundary line 2, the guideline 7 or the charging station external field loop 4 is closer; that is, the closer the magnetic induction coil is to the boundary line 2, the guide line 7, or the charging station external field loop 4, the larger the induced current it outputs, and since the magnetic induction coil is mounted and fixed to the robotic lawnmower 1, the distance between the robotic lawnmower 1 and the boundary line 2, the guide line 7, or the charging station external field loop 4 can be obtained according to the magnitude of the induced current. Since the directions of the magnetic fields on both sides of the boundary line 2, the guide line 7, or the charging station external field loop 4 are opposite, the polarities of the induced currents when the magnetic induction coils are on both sides of the boundary line 2, the guide line 7, or the charging station external field loop 4 are opposite (one side is positive, and the other side is negative), and therefore, whether or not the magnetic induction coil of the robotic lawnmower 1 crosses the boundary line 2, the guide line 7, or the charging station external field loop 4 can be determined based on the change in the polarity of the induced current of the magnetic induction coil. When the center of a certain magnetic induction coil is located on the boundary line 2, the guideline 7 or the out-of-charging-station field loop 4, the induced current of the magnetic induction coil is 0, and therefore, such a specific positional relationship of the magnetic induction coil with the boundary line 2, the guideline 7 or the out-of-charging-station field loop 4 can be determined. It should be noted that the alternating current pulse signal can avoid being influenced by other magnetic field interferences, and the current pulse signal allows the sensor 5 of the robotic lawnmower 1 to receive a signal (alternating magnetic field signal) at different time points, at short time intervals and only in corresponding time intervals, so that the system can filter out other magnetic field noise signals that can interfere with the functions of the robotic lawnmower 1. The following will explain the technical solution of the present invention by taking the sensor 5 as a magnetic induction coil, and the guiding signal generated by the boundary line 2, the guiding line 7 or the charging station external field loop 4 as an alternating magnetic field as an example.
Fig. 2 shows a path planning method for an robotic lawnmower with an robotic lawnmower 1 away from a charging station 3 according to the present invention, the robotic lawnmower 1 is away from the charging station 3 by sensing the guidance signals of the boundary line 2 and the external field loop 4 of the charging station by two magnetic induction coils (respectively, a front sensor 5a and a rear sensor 5b) provided at the front end and the rear end of the robotic lawnmower 1, wherein the magnetic induction coil as the front sensor 5a may be provided, for example, on the center line of the head end of the main body, and the magnetic induction coil as the rear sensor 5 may be provided, for example, on one side of the center line of the rear end of the main body. The path planning method of the automatic mower comprises the following steps: step S10, controlling the automatic mower 1 to quit the charging station 3 until the charging station outfield loop 4 is out; step S20, controlling the automatic mower 1 to search for a guide line 7, wherein the guide line 7 is pre-laid in the working area of the automatic mower 1; step S30, controlling the robotic lawnmower 1 to straddle the guide line 7 or follow the guide line 7 at a random corridor interval until the robotic lawnmower travels a predetermined target distance; and step S40, after the automatic mower is controlled to walk for the preset target distance, the automatic mower 1 is controlled to start mowing in the working area. Fig. 4-10 are schematic diagrams respectively corresponding to the position and the orientation of the robotic lawnmower 1 in the working area in different steps of the path planning method for the robotic lawnmower. The path planning method of the robotic lawnmower of the present invention will be described with reference to fig. 4-10.
First, step S10 is executed to control the robotic lawnmower 1 to exit the charging station 3 according to the guiding signal of the field loop 4 sensed by the rear sensor 5 b. After the charging of the automatic mower 1 is completed, the automatic mower needs to exit the charging station 3 and keep a certain distance from the charging station 3. Specifically, as shown in fig. 1, when the charging is completed, the robotic lawnmower 1 starts to exit from the charging station 3, and when the rear sensor 5b senses that the polarity of the guiding signal of the charging station external field loop 4 is reversed (the polarity of the induced current of the rear sensor 5b is reversed), it indicates that the robotic lawnmower 1 exits from the charging station external field loop 4.
Next, step S20 is executed to control the robotic lawnmower 1 to search for the guide wire 7 by searching for the guide wire 7 based on the guide signal of the guide wire 7 sensed by the rear sensor 5 b. As shown in FIG. 3, step S20 may further include steps S21-S23. In step S21, as shown in fig. 4, the robotic lawnmower 1 stops after continuing to walk straight for a random distance, which may be, for example, a random value between 10cm and 50cm, such as 10cm, 20cm, 30cm, 4cm, and 50cm, although other values outside the above range may be selected according to actual needs. In step S22, as shown in fig. 5a and 5b, the robotic lawnmower 1 is rotated to align the rear sensor 5b with the traveling direction, so that the traveling direction of the robotic lawnmower 1 can be directed away from the charging station 7, and the direction of the steering can be determined according to the polarity of the sensing signal of the rear sensor 5 b. In step S23, it is also necessary to detect the guide signal of the guide wire 7 by the rear sensor 5b (of course, the front sensor 5a or both of them may be used), determine whether the guide signal of the guide wire is detected, and stop the operation of the robotic lawnmower 1 if the guide signal of the guide wire 7 cannot be detected; and when the guiding signal of the guide wire 7 can be detected, the subsequent steps are continued.
Then, step S30 is executed to start measuring the walking distance of the robotic lawnmower 1, and the robotic lawnmower 1 is controlled to straddle or follow the guide line 7 according to the guiding signal of the guide line 7 sensed by the front sensor 5a and the rear sensor 5b until the robotic lawnmower travels a predetermined target distance. Step S30 may be further divided into two parallel sub-steps S31 and S32, and a mode may be selected to operate during actual operation.
In step S31, as shown in fig. 6a to 6e, the guide wire 7 is straddled to a predetermined target distance according to the guide signal of the guide wire 7 sensed by the front sensor 5a and the rear sensor 5 b. Specifically, first, as shown in fig. 6a, the robotic lawnmower 1 crosses the guide line 7 and the rear sensor 5 b; next, as shown in FIGS. 6b-6e, the robotic lawnmower 1 travels over the guide line 7 until the predetermined target distance is traveled.
In order to avoid rutting when the guide line 7 is ridden for multiple times, repeated rolling to form ruts is avoided to influence the growth of lawns or vegetation in the rutting area. In step S32, as shown in fig. 9 and 10, the robotic lawnmower 1 follows the guide wire 7 according to the guide signal of the guide wire 7 sensed by the front sensor 5a and the rear sensor 5 b. Specifically, as shown in fig. 9, the tail end of the robotic lawnmower 1 is first controlled to rotate by a random angle, which can be determined according to the distance between the rear sensor 5b and the guide line 7, and the distance between the rear sensor 5b and the guide line 7 is taken as the random corridor distance; next, as shown in fig. 9, the robotic lawnmower 1 samples the guide signal of the guide wire 7 using a rear sensor 5 b; finally, as shown in fig. 10, the robotic lawnmower 1 follows the guide wire 7 with the amplitude of the guiding signal of the guide wire 7 acquired.
Finally, step S40 is executed, as shown in fig. 7 and 8, when it is detected that the total travel distance of the robotic lawnmower 1 is the same as the predetermined target distance, which indicates that the robotic lawnmower 1 reaches the target location, and at this time, the robotic lawnmower 1 is controlled to stop straddling or to follow the guide line 7; the robotic lawnmower 1 is first rotated 90 in either direction (although other suitable angles are possible) and then starts to cut grass within the working area defined by the boundary line 2. As an example, the robotic lawnmower 1 can perform a grass cutting operation in a random manner in the working area, for example, the robotic lawnmower 1 can rotate randomly by 360 ° during the random grass cutting, when the robotic lawnmower 1 rotates randomly by one random direction to cut grass forward, the robotic lawnmower 1 travels in a straight line direction until reaching the boundary line 2 (whether the boundary line 2 is crossed or not can be determined by the polarity of an induced current generated by the front sensor 5a in response to a guide signal of the boundary line 2), and when the boundary line 2 is reached, the robotic lawnmower 1 rotates inward by one random angle to cut grass.
It should be noted that, the steps of the above methods are divided for clarity, and the implementation may be combined into one step or split some steps, and the steps are divided into multiple steps, and as long as the steps contain the same logical relationship, the steps are within the scope of the present patent; it is within the scope of the patent to add insignificant modifications to the algorithms or processes or to introduce insignificant design changes to the core design without changing the algorithms or processes.
As shown in fig. 11, the embodiment of the present invention further introduces a path planning system of an automatic mower for implementing the path planning method of the automatic mower. The path planning system of the automatic lawn mower comprises a charging station exit module 10, a guideline seeking module 20, a straddle and follow module 30 and a mowing operation module 40. The charging station quitting module 10 is used for controlling the automatic mower 1 to quit the charging station 4 until the charging station outfield loop 4 is out; the guide line searching module 20 is used for controlling the robotic lawnmower 1 to search for a guide line 7, wherein the guide line 7 is pre-laid in a working area of the robotic lawnmower 1; the riding and following module 30 is used for controlling the automatic mower 1 to ride the guide line 7 or follow the guide line 7 at a random corridor interval until the automatic mower walks for a preset target distance; the mowing operation module 40 is configured to control the automatic mower 1 to start mowing operation in the working area after walking the predetermined target distance.
Referring to fig. 11, the guide line searching module 20 includes a walking sub-module 21, a steering sub-module 22, and a detection and determination sub-module 23; the walking submodule 21 is used for controlling the automatic mower 1 to continue walking for a random distance; the steering submodule 22 is used for controlling the automatic mower 1 to rotate so as to align the rear sensor 5b with the travelling direction; the detection determination submodule 23 is configured to determine whether or not the guide signal of the guide line 7 is detected after the rear sensor 5b is aligned with the traveling direction, and when the guide signal of the guide line 7 is detected, the robotic lawnmower 1 straddles the guide line 7 or follows the guide line 7 at a random pitch until the predetermined target distance is traveled.
Referring to fig. 11, the straddling and following module 30 further includes a straddling submodule 31 and a following submodule 32; the straddle walking submodule 31 is configured to control the robotic lawnmower 1 to intersect the guide line 7 with the rear sensor 5b, and control the robotic lawnmower 1 to straddle the guide line 7 until the robotic lawnmower travels the predetermined target distance; the following submodule is used for controlling the tail end of the automatic mower 1 to rotate by a random angle, the distance between the rear sensor 5b and the guide line 7 is used as the random corridor distance, and the automatic mower 1 follows the guide line 7 to walk at the random corridor distance.
It should be noted that the path planning system of the automatic mower of the present invention is a system corresponding to the path planning method of the automatic mower, and the functional modules or functional sub-modules in the path planning system of the automatic mower respectively correspond to corresponding steps in the path planning method of the automatic mower. The path planning system of the automatic mower can be implemented by being matched with the path planning method of the automatic mower. The relevant technical details mentioned in the path planning method of the automatic mower of the present invention are still valid in the path planning system of the automatic mower, and are not repeated herein in order to reduce repetition. Accordingly, the related technical details mentioned in the path planning system of the robotic lawnmower of the present invention can also be applied to the path planning method of the robotic lawnmower described above.
It should be noted that, all or part of the functional modules or functional sub-modules described above may be integrated into one physical entity or may be physically separated in actual implementation. And these units can be implemented entirely in software, invoked by a processing element; or may be implemented entirely in hardware; and part of the units can be realized in the form of calling software by the processing element, and part of the units can be realized in the form of hardware. In addition, all or part of the units can be integrated together or can be independently realized. The processing element described herein may be an integrated circuit having signal processing capabilities. In implementation, the steps of the above method or the above modules may be implemented by hardware integrated logic circuits in the elements of the processor 61 or instructions in the form of software.
It should be noted that, as shown in fig. 13, the path planning method for the robotic lawnmower according to the present invention can also be implemented by a control unit 6 disposed on the body of the robotic lawnmower 1, where the control unit 6 includes a memory 63 and a processor 61 connected to each other, the memory 63 stores program instructions, and the program instructions are executed by the processor 61 to implement the path planning method for the robotic lawnmower. It should be noted that, when communication with the outside is required, the control unit 6 further includes a communicator 62, and the communicator 62 is connected to the processor 61.
The processor 61 may be a general-purpose processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; or may be a Digital Signal processor 61 (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component; the Memory 63 may include a Random Access Memory (RAM), and may further include a Non-volatile Memory (Non-volatile Memory), such as at least one disk Memory.
It should be noted that the memory 63 in the control unit 6 can be implemented in the form of a software functional unit and can be stored in a computer readable storage medium when sold or used as a stand-alone product. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, an electronic device, or a network device) to perform all or part of the steps of the method according to the embodiments of the present invention.
The present invention may also provide a storage medium storing a program that, when executed by the processor 61, implements the path planning method for an automatic lawnmower described above; the storage medium includes all forms of non-volatile memory, media and memory devices, including, for example: semiconductor memory devices such as EPROM, EEPROM, and flash memory devices; magnetic disks, such as internal hard disks or removable disks; magneto-optical disks; and CD-ROM and DVD-ROM disks.
In summary, the method, the system, the equipment and the automatic mower for planning the path of the automatic mower can be used for planning the path of the automatic mower leaving the charging station, so that the charging station leaves the charging station along different paths every time, and thus, rutting generated along the automatic mower leaving the station along a fixed path is avoided, and growth of lawns or vegetation in a rutting area is influenced. The path planning method, the system and the equipment of the automatic mower and the automatic mower can be used for planning the path of the automatic mower leaving the charging station, so that the charging station leaves the charging station along different paths each time, the automatic mower can be prevented from repeatedly mowing along the same path, the mowing efficiency is improved, and the attractiveness of a lawn is improved. According to the path planning method, the system and the equipment of the automatic mower and the automatic mower, the guide line is arranged, and the guide line can be arranged into a relatively simple shape according to the requirement, so that the path planning of the automatic mower from the station is simpler.
In the description herein, numerous specific details are provided, such as examples of components and/or methods, to provide a thorough understanding of embodiments of the invention. One skilled in the relevant art will recognize, however, that an embodiment of the invention can be practiced without one or more of the specific details, or with other apparatus, systems, assemblies, methods, components, materials, parts, and/or the like. In other instances, well-known structures, materials, or operations are not shown or described in detail to avoid obscuring aspects of embodiments of the invention.
It will also be appreciated that one or more of the elements shown in the figures can also be implemented in a more separated or integrated manner, or even removed for inoperability in some circumstances or provided for usefulness in accordance with a particular application.
Additionally, any reference arrows in the drawings/figures should be considered only as exemplary, and not limiting, unless otherwise expressly specified. Further, as used herein, the term "or" is generally intended to mean "and/or" unless otherwise indicated. Combinations of components or steps will also be considered as being noted where terminology is foreseen as rendering the ability to separate or combine is unclear.
The above description of illustrated embodiments of the invention, including what is described in the abstract of the specification, is not intended to be exhaustive or to limit the invention to the precise forms disclosed herein. While specific embodiments of, and examples for, the invention are described herein for illustrative purposes only, various equivalent modifications are possible within the spirit and scope of the present invention, as those skilled in the relevant art will recognize and appreciate. As indicated, these modifications may be made to the present invention in light of the foregoing description of illustrated embodiments of the present invention and are to be included within the spirit and scope of the present invention.
The systems and methods have been described herein in general terms as the details aid in understanding the invention. Furthermore, various specific details have been given to provide a general understanding of the embodiments of the invention. One skilled in the relevant art will recognize, however, that an embodiment of the invention can be practiced without one or more of the specific details, or with other apparatus, systems, assemblies, methods, components, materials, parts, and/or the like. In other instances, well-known structures, materials, and/or operations are not specifically shown or described in detail to avoid obscuring aspects of embodiments of the invention.
Thus, although the present invention has been described herein with reference to particular embodiments thereof, a latitude of modification, various changes and substitutions are intended in the foregoing disclosures, and it will be appreciated that in some instances some features of the invention will be employed without a corresponding use of other features without departing from the scope and spirit of the invention as set forth. Thus, many modifications may be made to adapt a particular situation or material to the essential scope and spirit of the present invention. It is intended that the invention not be limited to the particular terms used in following claims and/or to the particular embodiment disclosed as the best mode contemplated for carrying out this invention, but that the invention will include any and all embodiments and equivalents falling within the scope of the appended claims. Accordingly, the scope of the invention is to be determined solely by the appended claims.
Claims (26)
1. The path planning method of the automatic mower is characterized in that the automatic mower comprises a mower body, at least one front sensor and at least one rear sensor, wherein the at least one front sensor is arranged at the head end of the mower body, and the at least one rear sensor is arranged at the tail end of the mower body;
the path planning method of the automatic mower comprises the following steps:
controlling the automatic mower to quit the charging station until the loop of the outfield of the charging station is out;
controlling the automatic mower to search for a guide line, wherein the guide line is laid in advance in a working area of the automatic mower defined by a boundary line;
controlling the automatic mower to straddle the guide line or follow the guide line at a random corridor interval until the automatic mower walks for a preset target distance;
wherein the step of controlling the robotic lawnmower to seek the guide line comprises:
controlling the automatic mower to continue to walk for a random distance;
controlling the automatic mower to rotate so that the rear sensor is aligned with the traveling direction.
2. The method for path planning for an robotic lawnmower according to claim 1, further comprising, after the step of controlling the robotic lawnmower to rotate so as to align the rear sensor with the direction of travel, the step of determining whether a guide signal for the guide line is detected; when the guiding signal of the guide line is detected, the robotic lawnmower straddles the guide line or follows the guide line at a random interval until the predetermined target distance is traveled.
3. The method for path planning for an robotic lawnmower according to claim 2, wherein the robotic lawnmower is controlled to cease operation when the guide wire guiding signal is not detected.
4. The method for path planning for an robotic lawnmower according to claim 1, wherein the step of controlling the robotic lawnmower to either ride the guide wire or follow the guide wire at a random pitch until a predetermined target distance is traveled comprises:
controlling the robotic lawnmower to intersect the guide wire with the rear sensor;
and controlling the automatic mower to straddle the guide line to walk until the preset target distance is reached.
5. The method for path planning for an robotic lawnmower according to claim 1, wherein the step of controlling the robotic lawnmower to either ride the guide wire or follow the guide wire at a random corridor spacing until a predetermined target distance is traveled comprises:
controlling the tail end of the automatic mower to rotate by a random angle, wherein the distance between the rear sensor and the guide line is used as the random corridor distance;
controlling the robotic lawnmower to follow the guide line at the random corridor spacing.
6. The method for path planning for an robotic lawnmower according to claim 5, wherein the step of controlling the robotic lawnmower to follow the guide line at the random corridor spacing comprises:
controlling the robotic lawnmower to sample the guide wire guidance signal using the rear-mounted sensor;
controlling the automatic mower to follow the guide line with the acquired guiding signal amplitude of the guide line.
7. The method for path planning for an robotic lawnmower according to claim 1, wherein the front sensor comprises a magnetic coil and the rear sensor comprises a magnetic coil.
8. The method of claim 1, further comprising controlling the robotic lawnmower to begin mowing the work area after traveling the predetermined target distance.
9. The path planning method for an robotic lawnmower according to claim 8, wherein the robotic lawnmower starts a random mowing operation within the working area.
10. The method for path planning for an robotic lawnmower according to claim 8, wherein the step of controlling the robotic lawnmower to initiate mowing within the work area after walking the predetermined target distance comprises:
after the automatic mower walks for the preset target distance, the automatic mower is controlled to rotate 90 degrees in any direction, and then the automatic mower is controlled to start random mowing operation in the working area.
11. The method for path planning for an robotic lawnmower according to claim 1, wherein the random distance is between 10cm and 50 cm.
12. The path planning method for an automatic mower according to any one of claims 1 to 11, wherein said front sensor is disposed on a center line of a head end of said main body, and said rear sensor is disposed on one side of a center line of a tail end of said main body.
13. The path planning system of the automatic mower is characterized in that the automatic mower comprises a mower body, at least one front sensor and at least one rear sensor, wherein the at least one front sensor is arranged at the head end of the mower body, and the at least one rear sensor is arranged at the tail end of the mower body;
the path planning system of the automatic mower comprises:
the charging station quitting module is used for controlling the automatic mower to quit the charging station until the automatic mower is out of the outfield loop of the charging station;
the guide line searching module is used for controlling the automatic mower to search a guide line, wherein the guide line is laid in advance in a working area of the automatic mower limited by a boundary line;
the riding and following module is used for controlling the automatic mower to ride the guide line to walk or follow the guide line at a random corridor interval until the automatic mower walks for a preset target distance;
wherein the guideline finding module includes:
the walking submodule is used for controlling the automatic mower to continue walking for a random distance;
and the steering submodule is used for controlling the automatic mower to rotate so as to enable the rear sensor to be aligned with the advancing direction.
14. The path planning system according to claim 13, wherein the guideline-finding module further includes a detection-determining sub-module for determining whether a guiding signal of the guideline is detected after the rear-mounted sensor is aligned with the direction of travel; when the guiding signal of the guide line is detected, the robotic lawnmower straddles the guide line or follows the guide line at a random interval until the predetermined target distance is traveled.
15. The robotic lawnmower path planning system according to claim 13, wherein the ride-and-follow module comprises a ride sub-module to control the robotic lawnmower to intersect the guide wire and the rear sensor, and to control the robotic lawnmower to ride the guide wire until the predetermined target distance is traveled.
16. The path planning system according to claim 13, wherein the straddle and follow module includes a follow submodule for controlling the trailing end of the robotic lawnmower to rotate a random angle, taking the distance of the rear sensor from the guide line as the random corridor distance, the robotic lawnmower following the guide line at the random corridor pitch.
17. The path planning system according to claim 13, further comprising a mowing operation module configured to control the robotic lawnmower to begin mowing within the working area defined by the boundary line after traveling the predetermined target distance.
18. An robotic lawnmower, comprising:
a body;
the front sensor is arranged at the front end of the machine body;
the rear sensor is arranged at the tail end of the machine body;
a control unit disposed on the machine body, the control unit comprising a processor and a memory coupled to each other, the memory storing program instructions, the program instructions stored in the memory when executed by the processor implementing the path planning method for the robotic lawnmower according to any one of claims 1-11.
19. A storage medium, characterized by comprising a program which, when run on a computer, causes the computer to execute the path planning method of an robotic lawnmower according to any one of claims 1-11.
20. A path planning apparatus for an robotic lawnmower, comprising:
the automatic mower comprises a mower body, at least one front sensor and at least one rear sensor, wherein the front sensor is arranged at the head end of the mower body, and the rear sensor is arranged at the tail end of the mower body;
at least one guide line pre-laid in the working area of the robotic lawnmower;
a boundary line pre-laid on an edge of the working area of the robotic lawnmower;
the charging station is positioned on the boundary line, and a charging station outfield loop is arranged in the charging station;
the sensor is used for sensing a guiding signal of at least one of the combination of the boundary line, the charging station external field loop and the guiding line; the control unit is used for controlling the automatic mower to automatically leave the charging station according to the guiding signal.
21. The path planning apparatus for an robotic lawnmower according to claim 20, wherein the boundary line is fixed to the ground or buried below the ground along an edge of the working area.
22. The path planning apparatus for an robotic lawnmower according to claim 20, wherein the guide wire is fixed to the ground or buried below the ground.
23. The robotic lawnmower path planning apparatus according to claim 20, wherein the guidance signal comprises an alternating magnetic field; the front sensor comprises a magnetic induction coil, and the rear sensor comprises a magnetic induction coil.
24. The robotic lawnmower path planning apparatus according to claim 20, comprising a plurality of the guide lines.
25. The robotic lawnmower path planning apparatus according to claim 20, further comprising signal generating means connected to the guide line, the boundary line, and the charging station outfield loop, respectively.
26. The path planning apparatus for an robotic lawnmower according to any one of claims 20-25, wherein the front sensor is positioned on a centerline of the head end of the body, and the rear sensor is positioned to one side of a centerline of the tail end of the body.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011585147.3A CN112740889B (en) | 2020-12-25 | 2020-12-25 | Path planning method, system and equipment for automatic mower and automatic mower |
| EP21816705.4A EP4147555A4 (en) | 2020-06-03 | 2021-06-03 | Automatic lawn mower and path-planning method, system and device thereof |
| PCT/CN2021/098045 WO2021244593A1 (en) | 2020-06-03 | 2021-06-03 | Automatic lawn mower and path-planning method, system and device thereof |
| US17/989,713 US20230085538A1 (en) | 2020-06-03 | 2022-11-18 | Robotic mower and method, system and device of path planning thereof |
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