CN211856914U - Dual-mode self-walking equipment - Google Patents
Dual-mode self-walking equipment Download PDFInfo
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- CN211856914U CN211856914U CN201922320363.4U CN201922320363U CN211856914U CN 211856914 U CN211856914 U CN 211856914U CN 201922320363 U CN201922320363 U CN 201922320363U CN 211856914 U CN211856914 U CN 211856914U
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Abstract
A dual mode self-propelled device. The utility model discloses utilize positioning unit and signal line detecting element to acquire the position from the walking equipment simultaneously, utilize the position output control signal drive from the walking equipment that signal line detecting element obtained to walk or turn to from the walking equipment walking when positioning signal that positioning unit received is unreliable, perhaps the drive turns to or follows the signal line walking from the walking equipment when arbitrary unit judgement is from the walking equipment operation arrival signal line. The utility model discloses a positioning element and the double mode switching control of signal line detecting element solve the less strong or unsafe problem of self-walking equipment location that results in of interrupt of positioning signal. The utility model discloses can solve the unsatisfactory problem of the effect of mowing that single system position judgement error leads to.
Description
Technical Field
The utility model relates to a garden instrument field particularly relates to a double mode from walking equipment.
Background
Current self-propelled devices such as lawn mowing robots are moving toward intellectualization, which is capable of performing more advanced operations. For example, self-propelled devices such as current mowing robots can mow grass in a work area along a predetermined path. In order to plan and control the path of the self-propelled device in the working area, the self-propelled device needs to be positioned and navigated, and satellite positioning and navigation are generally adopted in the prior art. However, satellite positioning and navigation suffer from the following drawbacks: satellite signals are easily shielded by buildings, trees and the like, and errors can occur in positioning and navigation of self-walking equipment in places where the received satellite signals are weak and the signals are interrupted, so that the problem of inaccurate positioning is caused. Once the location navigation is inaccurate, on the one hand, the mowing effect is not ideal, and on the other hand, the problem that the self-walking equipment runs out of a working area also occurs. The entry of the self-propelled equipment into non-working areas can cause harm to public safety.
In order to solve the problems, the existing self-walking equipment is additionally provided with an inertial navigation module, and a positioning mode combining satellite positioning and inertial navigation is adopted. However, after the inertial navigation device runs for a long time, errors in the running process can be accumulated, and a large positioning error is generated. The inertial navigation is not completely reliable, and is used in a scene with lost satellite signals, and due to the error of the inertial navigation, the problems that the mowing effect is not ideal and the self-walking equipment runs out of a working area due to inaccurate positioning can still not be thoroughly solved.
SUMMERY OF THE UTILITY MODEL
The utility model discloses to prior art not enough, provide a double mode from the equipment of walking, the utility model discloses when satellite signal is unreliable, utilize the signal line to navigate in order to guarantee to walk equipment operation route reliably and stably from the equipment of walking. The utility model discloses specifically adopt following technical scheme.
First, to achieve the above object, there is provided a self-walking apparatus of a dual mode, including: the positioning unit is used for receiving a positioning signal and obtaining the position of the self-walking equipment according to the positioning signal; the signal line detection unit is used for receiving a signal line signal and obtaining the position of the self-walking equipment relative to the signal line according to the signal line signal; and the self-walking equipment walks or turns according to the position of the self-walking equipment obtained by the positioning unit and/or the signal line detection unit.
Optionally, the dual-mode self-walking device further includes a control unit, which is connected to the positioning unit and the signal line detection unit, and outputs a control signal to drive the self-walking device to walk or steer according to the position of the self-walking device obtained by the positioning unit and/or the signal line detection unit.
Optionally, the dual-mode self-propelled device of any of the above embodiments, wherein the positioning unit includes one or a combination of a GNSS satellite signal receiving unit, an RTK module, and a UWB positioning module; the GNSS satellite signal receiving unit is used for receiving satellite signals and obtaining the position of the self-walking equipment according to the satellite signals; the RTK module is used for receiving satellite signals, performing RTK resolving according to the satellite signals and obtaining the position of the self-walking equipment; the UWB positioning module is used for receiving UWB signals and obtaining the position of the self-walking equipment according to the UWB signals.
Optionally, in any of the dual-mode self-walking devices, the control unit is further connected to a threshold determining unit, and configured to determine whether a characteristic value of the positioning signal received by the positioning unit reaches a threshold; when the characteristic value of the positioning signal received by the positioning unit reaches a threshold value, the control unit outputs a control signal to drive the self-walking equipment to walk or steer according to the position of the self-walking equipment obtained by the positioning unit; and when the characteristic value of the positioning signal received by the positioning unit does not reach the threshold value, the control unit outputs a control signal to drive the self-walking equipment to walk or steer according to the position of the self-walking equipment obtained by the signal line detection unit.
Optionally, the dual-mode self-walking device of any of the above, wherein the characteristic value of the positioning signal includes: the intensity, amplitude, number of signals within a set time of the positioning signal, or a combination thereof.
Optionally, in any of the dual-mode self-walking devices, the control unit is further connected to a boundary determining unit, and determines whether the self-walking device reaches the signal line according to the position of the self-walking device obtained by the positioning unit; and the control unit outputs a control signal to drive the self-walking equipment to turn or walk along the signal line when any one of the boundary judging unit or the signal line detecting unit judges that the self-walking equipment reaches the signal line.
Optionally, after determining that the self-walking device reaches the signal line according to any one of the positioning unit and the signal line detection unit, the control unit drives the self-walking device to turn or walk along the signal line according to a position of the self-walking device obtained by determining that the self-walking device reaches the signal line first in the positioning unit or the signal line detection unit.
Advantageous effects
The utility model discloses utilize positioning element and signal line detecting element to acquire the position from the walking equipment simultaneously, utilize the position output control signal drive from the walking equipment that signal line detecting element obtained when positioning signals such as satellite signal, UWB signal that the positioning element received are unreliable to walk or turn to from the walking equipment, perhaps the drive turns to or follows the signal line walking from the walking equipment when arbitrary unit judgement is arrived from the walking equipment operation. The utility model discloses a positioning element and the double mode switching control of signal line detecting element solve the less strong or unsafe problem of self-walking equipment location that results in of interrupt of positioning signal. The utility model discloses can solve the unsatisfactory problem of the effect of mowing that single system position judgement error leads to.
Further, the utility model discloses can be according to using the scene, set up the drive of two kinds of position common control that the control unit obtained simultaneously according to positioning element and signal line detecting element to self-walking equipment, perhaps select one of them kind according to the reliable degree of the signal that positioning element and signal line detecting element received and acquire the position of self-walking equipment, control is to the drive of self-walking equipment. The utility model discloses can effectively solve the unsafe problem in location that positioning signal received the bad cause, can also overcome the influence of single signal line detection mode's error to the effect of mowing. The utility model discloses can effectively avoid walking out the work area from the walking equipment through the collaborative work of two kinds of modes.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the invention.
Drawings
The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, together with the embodiments of the invention for the purpose of explanation and not limitation of the invention. In the drawings:
fig. 1 is a block diagram of the self-walking apparatus of the present invention;
fig. 2 is a schematic view of the self-walking device of the present invention walking in a work area.
Detailed Description
In order to make the purpose and technical solution of the embodiments of the present invention clearer, the following description will clearly and completely describe the technical solution of the embodiments of the present invention by combining the drawings of the embodiments of the present invention. It is to be understood that the embodiments described are only some of the embodiments of the present invention, and not all of them. All other embodiments, which can be obtained by a person skilled in the art without any inventive work based on the described embodiments of the present invention, belong to the protection scope of the present invention.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The meaning of "and/or" in the present invention means that they exist individually or both at the same time.
The meaning of "inside and outside" in the present invention means that the direction from the signal line to the inside of the working area is inside, and vice versa, relative to the signal line itself; and not to the specific limitations of the device mechanism of the present invention.
The term "connected" as used herein may mean either a direct connection between elements or an indirect connection between elements through other elements.
Fig. 1 is a self-walking device according to the present invention, which is shown in fig. 2, and walks within a working area surrounded by a signal line to perform mowing work. The signal line is usually connected with a base station of the self-walking equipment, can output a signal of the signal line or is inducted by a signal line detection unit in the self-walking equipment, and the self-walking equipment can identify the boundary of the working area of the self-walking equipment. For avoiding walking out of the work area scope from the walking equipment, the utility model discloses a from the walking equipment specifically can set up to include:
the positioning unit is used for receiving a positioning signal and obtaining the position of the self-walking equipment according to the positioning signal;
the signal line detection unit is used for receiving a signal line signal and obtaining the position of the self-walking equipment relative to the signal line according to the signal line signal;
the control unit is simultaneously connected with the positioning unit and the signal line detection unit, and outputs a control signal to the walking driving unit of the self-walking equipment according to the position of the self-walking equipment obtained by one of the positioning unit and the signal line detection unit or simultaneously based on the position of the self-walking equipment obtained by the positioning unit and the signal line detection unit;
the walking driving unit comprises a driving circuit, a walking motor and a walking wheel. The driving circuit is connected with the control signal output end of the control unit, and outputs a driving signal to the walking motor according to the control signal correspondingly to drive the walking motor to run. The walking motor correspondingly rotates according to the current, voltage or duty ratio of the driving signal or other signal characteristics, outputs torque and drives a driving wheel connected with a motor shaft of the walking motor to operate. Therefore, the walking driving unit correspondingly drives the walking wheels of the self-walking equipment to rotate, and the self-walking equipment is driven to walk or turn.
Therefore, the utility model discloses can be when the locating signal that the locating element obtained is unstable, or when the signal line signal that the signal line detecting element detected the error appears, can correct through the position of the equipment of walking that another unit obtained, through the double mode switching control to locating element and signal line detecting element, solve the less strong or unsafe problem of the equipment location of walking that results in of interrupt of locating signal. The utility model discloses can solve the unsatisfactory problem of the effect of mowing that single system position judgement error leads to.
In particular, in some implementations, the positioning unit may be configured as one or a combination of a GNSS satellite signal receiving unit, an RTK module, a UWB positioning module. The GNSS satellite signal receiving unit directly receives satellite positioning signals such as GPS and the like, and the position of the self-walking equipment is calculated and obtained according to the satellite positioning signals. The RTK module also receives satellite signals, and can perform RTK calculation according to the satellite signals and the position signals of the reference points to obtain the accurate position of the self-walking equipment. The UWB positioning module is used for receiving UWB signals and obtaining the position of the self-walking equipment according to the UWB signals.
For further improve the utility model discloses from the discernment effect of walking equipment to signal line and work area, the utility model discloses an among the self-walking equipment, its the control unit can specifically select the position of the self-walking equipment that positioning unit and/or signal line detecting element obtained through following two kinds of modes, according to the corresponding output control signal drive of the position of its selection from the walking equipment walking or turn to.
In a first implementation:
the positioning unit of the self-walking equipment can be preferably set as an RTK module which receives the satellite signals, obtains accurate position information of the self-walking equipment through calculation and sends the position information to the control unit;
the signal line detection unit can adopt a conventional sensing element design and is used for receiving a signal of the signal line, judging the positive value and the negative value of the received signal of the signal line and sending a result to the control unit so as to identify the self-walking equipment in the range surrounded by the signal line or out of the range surrounded by the signal line;
the control unit can obtain the characteristic value of the satellite signal received by the positioning unit, such as the signal intensity, the signal quantity, the signal amplitude, the signal attenuation and the like of the satellite signal, through a threshold value judging unit arranged in the control unit or externally connected with the control unit, compares the characteristic value of the received satellite signal with a corresponding preset threshold value, if the received satellite signal is higher than or reaches the preset threshold value, the satellite signal is reliable, otherwise, the satellite signal is relatively high in interference, and the position of the self-walking equipment obtained according to the satellite signal has relatively large error. The control unit thus identifies the position of the self-propelled device on the basis of the reliable satellite signals, and controls the self-propelled device to operate in a first operating mode on the basis of this position. The first operation mode is that the self-walking equipment is positioned and navigated based on the positioning signals received by the satellite signal receiving system of the self-walking equipment, so that the operation or the action of the self-walking equipment is controlled. On the contrary, if the received satellite signals have characteristic values such as signal strength, signal quantity, signal amplitude, signal attenuation and the like which do not reach the preset threshold range, the satellite signals received from the traveling equipment at present are unreliable. The threshold judging unit outputs a signal that the satellite signal is unreliable to the control unit, and the control unit controls the self-walking device to operate according to the second operation mode. The second operation mode is to control the self-walking equipment to carry out positioning and navigation based on the signal wire signals received by the self-walking equipment, thereby controlling the operation or action of the self-walking equipment.
The threshold value judging unit can be set to receive the satellite signal in real time or according to a set period and compare the threshold value of the satellite signal. Therefore, the positioning signal source of the self-walking equipment is timely switched when the satellite signal is found to be unreliable, and once the threshold value judging unit of the self-walking equipment detects that the satellite signal is reliable again, the self-walking equipment can be timely switched to the first running mode, and the self-walking equipment is accurately positioned and navigated according to the more reliable satellite signal.
The utility model discloses a from walking equipment is including utilizing the robot lawn mower from walking technique. The lawn mower can also be provided with an inertial navigation unit, and the inertial navigation unit is used for assisting the RTK module in navigating the mowing robot.
In this way, the mowing robot can adopt the RTK module to carry out positioning and navigation in a first operation mode under the condition of good satellite signals, and adopts a second operation mode based on signal line signals and/or an inertial navigation unit as a supplement to correct errors of the satellite signals under the condition of weak satellite signals or interrupted satellite signals.
In a second implementation:
the control unit in the self-walking equipment can receive the position information sent by the positioning unit through the boundary judgment unit arranged in the control unit or externally connected with the control unit, compares the position information with the signal line coordinate information of the working area map, and judges whether the self-walking equipment runs and touches the signal line. Meanwhile, the control unit also receives signal wire signal information sent by the signal wire detection unit, judges whether the self-walking equipment reaches the signal wire or not through the signal wire signal information, and controls the walking driving unit to drive the walking wheel of the self-walking equipment to drive the self-walking equipment to turn or walk along the signal wire to return to the base station after the control unit senses the signal which touches the signal wire firstly.
From this, under this kind of implementation, the utility model discloses a RTK and signal line dual system move simultaneously, run from the walking equipment by the signal control who touches the signal line at first response, and its reliability is high, and the signal line detection mode that can avoid single system is unstable, leads to running out work area's problem from the walking equipment.
The above description is only for the embodiments of the present invention, and the description is specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several changes and modifications can be made, which all fall within the scope of the present invention.
Claims (7)
1. A dual mode self-propelled device, comprising:
the positioning unit is used for receiving a positioning signal and obtaining the position of the self-walking equipment according to the positioning signal; the signal line detection unit is used for receiving a signal line signal and obtaining the position of the self-walking equipment relative to the signal line according to the signal line signal;
and the self-walking equipment walks or turns according to the position of the self-walking equipment obtained by the positioning unit and/or the signal line detection unit.
2. The dual mode self-propelled device according to claim 1, further comprising a control unit which is connected to both the positioning unit and the signal line detecting unit, and outputs a control signal for driving the self-propelled device to travel or turn according to the position of the self-propelled device obtained by the positioning unit and/or the signal line detecting unit.
3. The dual mode self-propelled device of claim 1, wherein the positioning unit comprises one of a GNSS satellite signal receiving unit, an RTK module, a UWB positioning module, or a combination thereof;
the GNSS satellite signal receiving unit is used for receiving satellite signals and obtaining the position of the self-walking equipment according to the satellite signals;
the RTK module is used for receiving satellite signals, performing RTK resolving according to the satellite signals and obtaining the position of the self-walking equipment;
the UWB positioning module is used for receiving UWB signals and obtaining the position of the self-walking equipment according to the UWB signals.
4. The dual mode self-propelled device according to claim 2, wherein the control unit is further connected with a threshold value judging unit that judges whether or not a characteristic value of the positioning signal received by the positioning unit reaches a threshold value;
when the characteristic value of the positioning signal received by the positioning unit reaches a threshold value, the control unit outputs a control signal to drive the self-walking equipment to walk or steer according to the position of the self-walking equipment obtained by the positioning unit;
and when the characteristic value of the positioning signal received by the positioning unit does not reach the threshold value, the control unit outputs a control signal to drive the self-walking equipment to walk or steer according to the position of the self-walking equipment obtained by the signal line detection unit.
5. The dual mode self-propelled device of claim 4, wherein the characteristic values of the positioning signal comprise: the intensity, amplitude, number of signals within a set time of the positioning signal, or a combination thereof.
6. The dual mode self-propelled device according to claim 2, wherein the control unit is further connected with a boundary judging unit that judges whether the self-propelled device reaches the signal line based on the position of the self-propelled device obtained by the positioning unit;
and the control unit outputs a control signal to drive the self-walking equipment to turn or walk along the signal line when any one of the boundary judging unit or the signal line detecting unit judges that the self-walking equipment reaches the signal line.
7. The dual mode self-walking apparatus according to claim 6, wherein the control unit drives the self-walking apparatus to turn or walk along the signal line according to a position of the self-walking apparatus obtained by judging the arrival of the self-walking apparatus to one of the signal lines first in the positioning unit or the signal line detecting unit, after judging the arrival of the self-walking apparatus to the signal line based on either the positioning unit or the signal line detecting unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922320363.4U CN211856914U (en) | 2019-12-23 | 2019-12-23 | Dual-mode self-walking equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922320363.4U CN211856914U (en) | 2019-12-23 | 2019-12-23 | Dual-mode self-walking equipment |
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| Publication Number | Publication Date |
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| CN211856914U true CN211856914U (en) | 2020-11-03 |
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| CN201922320363.4U Active CN211856914U (en) | 2019-12-23 | 2019-12-23 | Dual-mode self-walking equipment |
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| CN (1) | CN211856914U (en) |
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