CN215700310U - Automatic ground grinding machine equipment based on UWB path planning navigation - Google Patents

Abstract

The utility model relates to automatic ground grinding machine equipment based on UWB path planning navigation, which belongs to the technical field of ground grinding machine devices and comprises a walking motor, a wireless module, an obstacle avoidance device, an encoder, a double UWB tag module, an IMU inertia measurement unit, a repeater, an indicator light and a buzzer, wherein the walking motor, the wireless module, the obstacle avoidance device, the encoder, the double UWB tag module and the IMU inertia measurement unit are respectively connected with a PID controller; the two UWB tag modules are respectively arranged at two sides of the ground grinder, the obstacle avoidance device is arranged in front of the ground grinder, and the indicator light and the buzzer are arranged at the top of the ground grinder; the wireless module, the obstacle avoidance device, the encoder and the IMU inertia measurement unit are arranged in the ground grinding machine; the method has the advantages that the ground can be automatically ground according to the path set by the user through UWB positioning; after the ground grinder is started, the base station can be automatically calibrated; the ground grinder can automatically stop when meeting an obstacle during running; the grinding machine can prompt the working state of the grinding machine to a user through a three-color indicator lamp and a buzzer; the ground grinder can be configured through a mobile phone APP.

Description

Automatic ground grinding machine equipment based on UWB path planning navigation

Technical Field

The utility model relates to automatic ground grinding machine equipment based on UWB path planning navigation, and belongs to the technical field of ground grinding machine devices.

Background

The floor grinding machine is mainly used for grinding the ground, can effectively grind terrazzo terraces, concrete terraces, epoxy terraces and the like, and has the characteristics of light weight, flexibility, high working efficiency and the like. At present, ground grinding machines in the market mainly control the walking speed and the walking direction of the machines through manual hand-held operation, the labor intensity is high, and dust generated by grinding of the ground grinding machines has great influence on the body health of operators. Under the current market environment with continuously rising labor cost, the ground grinding machine capable of realizing automatic walking of path planning has great market demand. The grinder using the laser radar for navigation is expensive because the laser radar belongs to a delicate and expensive precision part, and the grinder has large dust and large vibration during grinding, so the laser radar is not suitable for the severe environment.

SUMMERY OF THE UTILITY MODEL

The utility model aims to overcome the defects in the prior art by using the automatic ground grinding machine equipment based on UWB path planning navigation.

The method is realized by the following technical scheme that four UWB base stations are arranged at the position needing ground grinding, the position and angle information of the ground grinding machine is acquired through a double UWB tag module fixed in the ground grinding machine, the error of the finally acquired angle information is +/-3 degrees, and the positioning error is smaller than 15 cm. A user can configure the running path and the running speed of the grinder through the mobile phone APP to monitor the working process of the grinder. The user also can manually control the running of the ground grinding machine through the mobile phone APP. The base station position can be automatically calibrated by the ground grinding machine after the ground grinding machine is opened, and after a user clicks a start automatic ground grinding button and waits for several seconds, the ground grinding machine can grind according to a planned path set by a user mobile phone APP.

The technical scheme of the utility model is that the device comprises a ground to be ground, a double-ground machine with a UWB tag module and a UWB base station system;

the ground grinder comprises a walking motor, a wireless module, an obstacle avoidance device, an encoder, a double UWB (ultra wide band) tag module, an IMU (inertial measurement unit), a repeater, an indicator light and a buzzer, wherein the walking motor, the wireless module, the obstacle avoidance device, the encoder, the double UWB tag module and the IMU inertial measurement unit are respectively connected with a PID (proportion integration differentiation) controller;

two UWB tag modules in the double UWB tag modules are respectively arranged at two sides of the ground grinder, the obstacle avoidance device is arranged in front of the ground grinder, and the indicator light and the buzzer are arranged at the top of the ground grinder; the wireless module, the obstacle avoidance device, the encoder and the IMU inertia measurement unit are arranged in the ground grinding machine;

the UWB base station system is four UWB base stations arranged at four corners of the ground to be ground.

The obstacle avoidance device is a photoelectric switch group and comprises at least three photoelectric switches which are arranged in front of the ground grinding machine.

The pilot lamp be the tristimulus designation lamp, including green, yellow, red, combine with bee calling organ to express the operating condition of ground machine.

The UWB base station consists of a UWB controller, a UWB module and a UWB wireless module; the controller is connected with the UWB module and the UWB wireless module respectively.

The mobile phone APP is communicated with the ground grinder through a repeater, and the repeater comprises a wireless transmission module, a Bluetooth module, a power supply and a USB interface which are respectively connected with the main controller;

the mobile phone APP is communicated with the main controller through the Bluetooth module, and meanwhile power is supplied to the repeater through the power supply;

or the communication is carried out with the mobile phone APP through the USB interface to the OTG interface.

The utility model has the advantages that firstly, the ground can be automatically ground according to the path set by the user through UWB positioning; secondly, the user does not need to measure the position information of the UWB base station, only needs to place four base stations at four corners of the position needing grinding, and the base stations can be automatically calibrated after the ground grinding machine is started; the ground grinder can automatically stop or bypass the obstacle when meeting the obstacle during running; fourthly, the grinding machine can prompt the working state of the grinding machine to a user through a three-color indicator lamp and a buzzer; the floor grinding machine can be configured by a mobile phone APP: a. the ground grinding speed and track of the ground grinding machine can be configured through the APP; b. the running, stopping and remote control of the ground grinding machine can be controlled through the APP; and c, monitoring the running state of the ground grinding machine through the ground grinding machine.

Drawings

FIG. 1 is a block diagram of the present invention.

Fig. 2 is a structural view of a floor grinding machine.

Fig. 3 is a diagram of a ground grinding machine.

Fig. 4 is a diagram of a UWB base station structure.

Fig. 5 is a structural diagram of an obstacle avoidance device.

Fig. 6 is a diagram showing a structure of a repeater.

Fig. 7 is a use state diagram.

Detailed Description

The preferred embodiment of the present invention is further explained with reference to fig. 1 to 7, which includes a ground surface 1 to be ground, a ground grinder 2 having a dual UWB tag module, and a UWB base station system 3;

the ground grinder 2 comprises a walking motor 22, a wireless module 23, an obstacle avoidance device 24, an encoder 25, a double UWB tag module 26, an IMU inertia measurement unit 27, a repeater 28 communicating with the mobile phone 4, an indicator light 29 and a buzzer 210, wherein the walking motor 22, the wireless module 23, the obstacle avoidance device 24, the encoder 25, the double UWB tag module 26 and the IMU inertia measurement unit 27 are respectively connected with a PID controller 21;

two UWB tag modules 261 in the double UWB tag module 26 are respectively arranged on two sides of the ground grinder 2, the heading and position information of the ground grinder 2 can be measured by installing the double UWB tag module 26 on the ground grinder 1, the updating frequency of the acquired heading angle is 100HZ, and the positioning error is less than 15 cm. After the course angle and the position information are obtained, the running of the ground grinder 2 can be controlled through the PID controller 21, including controlling the running speed of the ground grinder 2, controlling the steering of the ground grinder 2 and the like.

The obstacle avoidance device 24 is installed in front of the ground grinding machine 2, the obstacle avoidance device 24 is a photoelectric switch group and comprises at least three photoelectric switches 241 installed in front of the ground grinding machine 2. When any one of the photoelectric switches 241 detects an obstacle, the movement is stopped so as to avoid colliding with the obstacle, thereby improving the safety factor of the system. When the ground grinder 2 stops due to the obstacle, the user needs to issue the start command again, and the ground grinder 2 is restarted.

The indicator light 29 and the buzzer 210 are arranged at the top of the ground grinding machine; the indicator light 29 is a three-color indicator light, comprises green, yellow and red, and is combined with the buzzer 210 to express the working state of the ground grinding machine 2. The three-color indicator lamp and the buzzer 210 can prompt the user of the working state of the ground grinding machine 2, and the indicating effects of the indicator lamp 29 and the buzzer 210 in different working states of the ground grinding machine 2 are shown in the following table.

Status of indicator light	Buzzer state	Working state of ground grinding machine
			Green colour	Without rattling	Is working
Yellow colour	Without rattling	The ground grinding machine is in a stop state
			Red colour	Sound box	Ground grinding machine meets obstacle
Green flashing	Three sounds	Completion of work
			Flashing yellow light	Without rattling	Suspend operation

The wireless module 23, the obstacle avoidance device 24, the encoder 25 and the IMU inertia measurement unit 27 are arranged in the ground grinding machine;

the UWB base station system 3 is four UWB base stations 31 arranged at four corners of the ground to be ground. The UWB base station 31 is composed of a UWB controller 311, a UWB module 312, and a UWB wireless module 313; the UWB controller 311 is connected to the UWB module 312 and the UWB wireless module 313, respectively.

The UWB base station system 3 is automatically calibrated, the four UWB base stations 31 at four corners are calibrated to be base stations 0 to 3 by the reverse clock, and the steps are as follows:

step 1, when the power is just powered on, the base station 0 sends out inquiry information to each base station, and if the information returned by the other three base stations is received, the power-on initialization of the other three base stations is considered to be successful;

step 2, when all base stations are successfully electrified and initialized, the base station 1 sets itself as a label;

step 3, the base station 0 measures the distances to the other three base stations, the base station 0 sends a message to the base station 1 after the measurement is finished, the base station 1 is configured into a label, and the base station 0 is configured into a base station mode;

step 4, repeating the step 3 until the base station 3 measures the distances to other base stations;

step 5, calibrating the coordinates of the base station by a least square method and a triangle trilateral theorem;

step 6, the base station 0 detects whether the initialization of the ground grinder 2 is completed;

and 7, sending the base station position information to the ground grinding machine 2 after the ground grinding machine 2 is initialized.

The intelligent household electric power grinding machine also comprises an APP of a mobile phone 4 which communicates with the ground grinding machine 2 through a repeater, and the repeater 28 comprises a wireless transmission module 282, a Bluetooth module 283, a power supply 284 and a USB interface 285 which are respectively connected with the master controller 281;

the APP of the mobile phone 4 communicates with the master 281 via the bluetooth module 283 while supplying power to the repeater 28 via the power supply 284;

or the communication is carried out with the APP of the mobile phone 4 through the USB interface 285 to OTG interface. No separate power supply is required to the repeater 28 when connected to the handset 4 via the USB interface 285 to the OTG interface.

The using process of the utility model is as follows:

the first step is as follows: four UWB base stations 31 are placed at four corners of the ground to be ground in the order shown in FIG. 1, the four UWB base stations 31 at the four corners are marked from base station 0 to base station 3 against the clock, the four UWB base stations 31 are placed in a square as much as possible when placed, and the side length is at least larger than 3 m. It should be noted that the direction from the base station 0 to the base station 1 is the bow-shaped walking direction initialized by the ground grinder, and the four UWB base stations 31 can be opened after being placed;

the second step is that: turning on the floor grinding machine 2, and displaying yellow by an indicator lamp when the floor grinding machine 2 is just started;

the third step: the mobile phone 4 is connected with the repeater 28 to configure the information of the ground grinder 2, and the connection method comprises two methods:

mode 1, repeater 28 may be powered separately, bluetooth connected to repeater 28 via handset 4 to configure the ground grinder 2,

in the mode 2, the relay 28 can be connected through the OTG interface to USB interface 285 of the mobile phone 4, and then the ground grinder 2 is configured;

the fourth step: the grinding machine 2 is started by clicking the APP of the mobile phone 4, and grinding work can be carried out according to the mobile phone configuration information; the use is convenient, the efficiency is high, the safety is high, and the failure rate is low.

In summary, the advantages of the present invention include: ground grinding can be automatically carried out according to a user setting path through UWB positioning; secondly, the user does not need to measure the position information of the UWB base station, only needs to place four base stations at four corners of the position needing grinding, and the base stations can be automatically calibrated after the ground grinding machine is started; the ground grinder can automatically stop or bypass the obstacle when meeting the obstacle during running; fourthly, the grinding machine can prompt the working state of the grinding machine to a user through a three-color indicator lamp and a buzzer; the floor grinding machine can be configured by a mobile phone APP: a. the ground grinding speed and track of the ground grinding machine can be configured through the APP; b. the running, stopping and remote control of the ground grinding machine can be controlled through the APP; and c, monitoring the running state of the ground grinding machine through the ground grinding machine.

Claims (5)

1. Automatic ground grinding machine equipment based on UWB path planning navigation, its characterized in that:

a ground grinding machine with a double UWB tag module and a UWB base station system;

the ground grinder comprises a walking motor, a wireless module, an obstacle avoidance device, an encoder, a double UWB (ultra wide band) tag module, an IMU (inertial measurement unit), a repeater, an indicator light and a buzzer, wherein the walking motor, the wireless module, the obstacle avoidance device, the encoder, the double UWB tag module and the IMU inertial measurement unit are respectively connected with a PID (proportion integration differentiation) controller;

two UWB tag modules in the double UWB tag modules are respectively arranged at two sides of the ground grinder, the obstacle avoidance device is arranged in front of the ground grinder, and the indicator light and the buzzer are arranged at the top of the ground grinder; the wireless module, the obstacle avoidance device, the encoder and the IMU inertia measurement unit are arranged in the ground grinding machine;

the UWB base station system is four UWB base stations arranged at four corners of the ground to be ground.

2. The automatic ground grinding machine apparatus based on UWB path planning navigation of claim 1, wherein: the obstacle avoidance device is a photoelectric switch group and comprises at least three photoelectric switches which are arranged in front of the ground grinding machine.

3. The automatic ground grinding machine apparatus based on UWB path planning navigation of claim 1, wherein:

the pilot lamp be the tristimulus designation lamp, including green, yellow, red, combine with bee calling organ to express the operating condition of ground machine.

4. The automatic ground grinding machine apparatus based on UWB path planning navigation of claim 1, wherein:

the UWB base station consists of a UWB controller, a UWB module and a UWB wireless module; the controller is connected with the UWB module and the UWB wireless module respectively.

5. The automatic ground grinding machine apparatus based on UWB path planning navigation of claim 1, wherein:

the mobile phone APP is communicated with the ground grinder through a repeater, and the repeater comprises a wireless transmission module, a Bluetooth module, a power supply and a USB interface which are respectively connected with the main controller;

the mobile phone APP is communicated with the main controller through the Bluetooth module, and meanwhile power is supplied to the repeater through the power supply;

or the communication is carried out with the mobile phone APP through the USB interface to the OTG interface.

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