Summary of the invention
In view of this, the present invention proposes the new control method from mobile device return path of one kind to solve above-mentioned askTopic.
According to an aspect of the invention, there is provided a kind of paths planning method of intelligent grass-removing, the intelligence is mowedMachine includes main control module and the gyro sensor for sensing the intelligent grass-removing direction of travel, the intelligent grass-removingIt walks and works in the working region set being enclosed by boundary line, which is characterized in that the paths planning method includes:
Coordinate system is established by origin of initial position；
It controls the intelligent grass-removing and takes a round along the boundary line around the working region row, utilize gyro sensorThe angle of travel angle value of the intelligent grass-removing is obtained in real time, and records real-time moving distance value, is mowed to obtain the intelligenceThe real-time location coordinates of machine；
The full travel position coordinate structure recorded based on the intelligent grass-removing from the boundary line origin-to-destination walking processBuild global area map；
According to the global area map and the real-time location coordinates of the intelligent grass-removing, controls the intelligence and cutGrass carries out planning covering to the working region.
Preferably, planning covering the following steps are included:
The real-time range value for obtaining the intelligent grass-removing Yu the boundary line controls the real-time row of the intelligent grass-removingAnd holding pre-determined distance value A substantially parallel with the boundary line into direction, carries out first lap rectangular-ambulatory-plane according to the first clockwiseWalking；
When the intelligent grass-removing completes the walking of first lap rectangular-ambulatory-plane, the main control module controls the intelligent grass-removing rowThe position for increasing the pre-determined distance value A at a distance from the boundary line is proceeded to, continues to control the intelligent grass-removing traveling sideTo rectangular-ambulatory-plane walking substantially parallel with the boundary line, being enclosed according to first clockwise progress second；
The intelligent grass-removing is every to complete a circle rectangular-ambulatory-plane walking, and the main control module controls the intelligent grass-removing and instituteThe distance for stating boundary line increases the pre-determined distance value A, next circle rectangular-ambulatory-plane walking is executed, until completing a workspaceDomain covering.
Preferably, the intelligent grass-removing includes sideband signal detection device, and the boundary line is used to generate sideband signal,It is intelligently cut described in the Strength co-mputation for the sideband signal that the main control module is detected according to the sideband signal detection deviceThe real-time range value of careless machine and the boundary line.
Preferably, after completing a working region covering, the main control module controls the intelligent grass-removingRectangular-ambulatory-plane walking is carried out along second clockwise opposite with first clockwise, the intelligent grass-removing is every to complete oneEnclose rectangular-ambulatory-plane walking, the main control module control the intelligent grass-removing march at a distance from the boundary line increase it is described pre-If distance value B, next circle rectangular-ambulatory-plane walking is executed, until completing second time working region covering.
Preferably, the position coordinate data recorded according to each circle in rectangular-ambulatory-plane path, and global area map is carried outCorrection.
Preferably, the initial position is charging station, and the charging station is set on the boundary line.
Preferably, the planning covering includes the following steps: to be approximately perpendicular to charging along boundary line is roughly parallel toIt stands the route of axis, the linear reciprocation walking of bow font is carried out, until completing all working regions coverings, adjacent straight lineMovement routine is parallel to each other and is spaced equal predetermined width.
Preferably, planning covering include the following steps: to control the intelligent grass-removing along substantially with the boundaryThe axis of line or the charging station carries out the linear reciprocation walking of bow font, until completing whole institutes at the route of 45 degree of anglesWorking region covering is stated, adjacent linear travel paths are parallel to each other and are spaced equal predetermined width.
Preferably, after completing whole working regions covering, the main control module control the intelligent grass-removing alongWith last opposite direction, the planning covering is executed, until completing the covering of global work area domain again.
When the intelligence grass cutting action, using boundary line as the preferential judgment basis of real time position, when grass trimmer is being walkedIn the process, if sideband signal detection device detects that grass trimmer encounters boundary line, grass trimmer executes turning action and entersNext straight line walking path, and grass trimmer record encounters the point of boundary line relative to the location information of base station and with this pointUpdate position of the intelligent grass-removing in the map of global area.
Preferably, the intelligent grass-removing includes the driving motor of traveling wheel and the driving traveling wheel, described real-timeMoving distance value is calculated according to the revolving speed of the traveling wheel or the revolving speed of the driving motor.
The utility model has the advantages that
According to an embodiment of the invention, intelligent grass-removing can be independent of external world's reference, accurately reallyDetermine intelligent grass-removing straight-line travelling distance and turn over angle with turning, and determine the walking position of grass trimmer based on this, to workMake region and carry out efficient covering, saves the working time.
According to below with reference to the accompanying drawings becoming to detailed description of illustrative embodiments, other feature of the invention and aspectIt is clear.
Embodiment 1
Fig. 1 is the signal of an embodiment provides according to the present invention intelligent grass-removing 100, working region 5 and charging station 10Figure.As shown in Figure 1, the intelligent grass-removing 100 includes body 110, the traveling wheel (not shown) being set on body 110 is drivenThe driving motor (not shown) that dynamic traveling wheel moves forward or back.Various inductors are equipped on body 110 and inside body 110, thanSuch as gyro sensor, acceleration transducer and crash sensor, can detect travel distance, travel angle, fuselage state andBarrier etc. such as encounters wall or other barriers, can voluntarily turn, and according to different settings, and walks different routes, there is ruleGround is drawn to mow.Intelligent grass-removing 100 further includes main control module, and main control module controls intelligent grass-removing 100 independently in working region 5It is interior to walk and lawn is trimmed.
Working region 5 is surrounded by the boundary line 6 connecting with charging station 10.Specifically, boundary line 6 from charging station 10 justPole connecting terminal is drawn, and is surrounded working region 5, is then attached to the negative terminal of charging station 10.Charging station 10 includes letterNumber generation device leads in boundary line 6 for generating the pulse signal of certain frequency, is connected with the boundary line 6 of pulse signal at itSurrounding generates sideband signal, and specific sideband signal is electromagnetic signal.To four sideband signals there are two on intelligent grass-removing 100Detection device (101,101 '), is arranged in machine front two sides, and sideband signal detection device receives the electromagnetism letter that boundary line 6 issuesNumber, and judge that intelligent grass-removing 100 is located in boundary line 6 (i.e. in working region 5) or is located at by the polarity of the electromagnetic signalBoundary line 6 is outer (i.e. outside working region 5).
When sideband signal detection device is when within boundary line 6, what is received is the signal in boundary line 6；When boundary is believedWhen other than boundary line 6, what is received is in 6 external signal of boundary line for number detection device.When sideband signal detection device receivesBe in 6 external signal of boundary line, main control module control intelligent grass-removing 100 turn to, to guarantee that intelligent grass-removing 100 will notBoundary line 6 is run off, is all limited at walking in the specific working region 5 always.
In order to improve the working efficiency of intelligent grass-removing 100, the present invention provides a kind of path planning of intelligent grass-removing 100Method, comprising the following steps:
Coordinate system is established by basic point of initial position.In the present embodiment, referring to Figure 1, the initial bit of intelligent grass-removing 100Setting is 10 position of charging station, and intelligent grass-removing 100 is that basic point establishes coordinate system with charging station 10.
Control intelligent grass-removing 100 takes a round along boundary line 6 around 5 row of working region, is obtained in real time using gyro sensorThe angle of travel angle value of intelligent grass-removing 100 is taken, and records real-time moving distance value, to obtain the real-time of intelligent grass-removing 100Position coordinates.In the present embodiment, intelligent grass-removing 100 rests in charging station 10, and intelligent grass-removing 100 is walked around boundary line 6Before, it needs first to exit from charging station 10, specific movement is straight forward after intelligent grass-removing 100 turns to 180 °.Intelligence is cutCareless machine 100 uses inertial navigation algorithm, and main control module obtains intelligence by the gyro sensor carried on intelligent grass-removing 100The real-time course angle angle value of energy grass trimmer 100, and intelligent grass-removing 100 is obtained by the revolving speed of driving motor or traveling wheelReal-time moving distance value.The real-time position of intelligent grass-removing 100 is calculated by real-time angle of travel angle value and real-time moving distance valueSet coordinate.
The full travel position coordinate building recorded based on intelligent grass-removing 100 from 6 origin-to-destination walking process of boundary line is completeOffice's area map.In the present embodiment, please continue to refer to Fig. 1, charging station 10 is arranged on boundary line 6, at the beginning of intelligent grass-removing 100On charging station 10, intelligent grass-removing 100 is exited from charging station 10 for beginning position, 180 degree is turned to, along boundary line 6 around workspaceDomain 5 is walked, and until returning to charging station 10, in intelligent grass-removing 100 along 6 walking process of boundary line, record intelligence is mowed in real timeThe position coordinates of machine 100, with the full travel position coordinate building global area of 6 origin-to-destination walking process of boundary line recordFigure.
According to global area map and the real-time location coordinates of intelligent grass-removing 100, controls intelligence and mow to workspaceDomain 5 carries out planning covering.Here planning covering refers to, covers according to preset path planning to working region 5.
Fig. 2 shows an embodiment provided by the invention planning covering walking path, wherein planning covering include withLower step:
The real-time range value of intelligent grass-removing 100 and boundary line 6 is obtained, the real-time traveling side of intelligent grass-removing 100 is controlledTo substantially parallel with boundary line 6, and pre-determined distance value A is kept, carries out the walking of first lap h1 rectangular-ambulatory-plane according to the first clockwise；When intelligent grass-removing 100 completes the walking of first lap h1 rectangular-ambulatory-plane, main control module control intelligent grass-removing 100 marches to and boundary line6 distance increases the position of pre-determined distance value A, i.e., remains twice of pre-determined distance value A at a distance from boundary line 6, continue to control100 direction of travel of intelligent grass-removing processed is substantially parallel with boundary line 6, and the rectangular-ambulatory-plane of the second circle h2 is carried out according to the first clockwiseWalking；And so on, intelligent grass-removing 100 carries out third circle h3, the 4th circle h4, the walking of the 5th circle h5, intelligent grass-removing 100Every to complete a circle rectangular-ambulatory-plane walking, main control module control intelligent grass-removing 100 increases pre-determined distance value A at a distance from boundary line 6,Covering until completing first pass working region 5, the distance between adjacent rectangular-ambulatory-plane path are pre-determined distance value A.
Preferably, intelligent grass-removing 100 includes sideband signal detection device (101,101 '), and boundary line 6 is for generating sideSector signal, intelligent grass-removing 100 can pass through the intensity for the sideband signal that sideband signal detection device (101,101 ') detectJudge that distance of the grass trimmer apart from boundary line 6, sideband signal detection device receive in the position from 6 different distance of boundary lineTo the intensity of electromagnetic signal be different.According to the intensity of the electromagnetic signal, sideband signal detection device (101,101 ') canTo calculate intelligent grass-removing with a distance from boundary line 6, thus auxiliary positioning.Main control module is according to sideband signal detection deviceThe Strength co-mputation intelligent grass-removing 100 for the sideband signal that (101,101 ') detect and the real-time range value of boundary line 6.
In the present embodiment, in order to enhance the ability that intelligent grass-removing 100 detects sideband signal, in intelligent grass-removing 1002 sideband signal detection devices are respectively set in middle line two sides, i.e., 2 sideband signal detection devices 101, right side setting is arranged in left side2 sideband signal detection devices 101 ' can increase the accurate reliability to sideband signal detection in this way, thus more accuratelyIt calculates at a distance from boundary line 6, assists the positioning of intelligent grass-removing 100.
After completing first pass working region 5 and covering, cause in order to prevent due to positioning not smart or other various factorsLeakage cutting, main control module control intelligent grass-removing 100 carry out second time planning covering, second time planning covering and first pass ruleDraw covering the difference is that: intelligent grass-removing 100 is according to opposite with the first clockwise the second clockwise progress Back WordShape walking, the distance between adjacent rectangular-ambulatory-plane path remains pre-determined distance value B.Here preset at distance value B can with it is defaultDistance value A is identical to be can also be different, in order to make up the leakage cutting area between adjacent path, it is preferred that pre-determined distance value B is differedIn pre-determined distance value A.In the present embodiment, pre-determined distance value B and pre-determined distance value A are substantially equal to the machine of intelligent grass-removing 100The width of body 110.
Fig. 3 is referred to, second time planning covering is specifically includes the following steps: obtain intelligent grass-removing 100 and boundary line 6Real-time range value；The real-time direction of travel for controlling intelligent grass-removing 100 is substantially parallel with boundary line 6, and keeps pre-determined distance valueB carries out the walking of first lap H1 rectangular-ambulatory-plane according to second clockwise opposite with the first clockwise；When intelligent grass-removing 100The walking of first lap H1 rectangular-ambulatory-plane is completed, main control module control intelligent grass-removing 100, which marches to increase at a distance from boundary line 6, to be presetThe position of distance value B remains twice of pre-determined distance value B at a distance from boundary line 6, continue to control intelligent grass-removing 100Direction of travel is substantially parallel with boundary line 6, walks according to the rectangular-ambulatory-plane for carrying out the second circle H2 with the second clockwise；Successively classIt pushes away, intelligent grass-removing 100 carries out third circle H3, and the 4th circle H4, the walking of the 5th circle H5, intelligent grass-removing 100 is every to complete a circleRectangular-ambulatory-plane walking, main control module control intelligent grass-removing 100 increase the pre-determined distance value B at a distance from boundary line 6, carry out downOne circle rectangular-ambulatory-plane walking, covers until completing working region 5.
The first clockwise is that clockwise, the second clockwise is counterclockwise in the present embodiment.Certainly, firstClockwise and the second clockwise can be interchanged.
In the method for the rectangular-ambulatory-plane walking path of the present embodiment, main control module is detected according to sideband signal detection deviceDistance of the intelligent grass-removing 100 apart from boundary line 6 controls intelligent grass-removing 100 in each circle in rectangular-ambulatory-plane path, all protects alwaysHold the equidistant walking with boundary line 6；Since boundary line 6 is fixed setting, the opposite of each circle in rectangular-ambulatory-plane path is allowed forPosition precision is relatively high, and overlay errors can be greatly lowered.Meanwhile each circle of rectangular-ambulatory-plane path walking, due to being and sideBoundary line 6 is equidistant, and path data can be compared and correct with initial global working map, to help to improve initialThe precision of global area map.
The overall situation in the present embodiment, according to the recorded position coordinate data of each circle in rectangular-ambulatory-plane path, with initial constructionArea map is compared, and is corrected to global area map.Specifically, the position coordinates number recorded according to each circleAccording to, and the distance value kept with boundary line 6, virtual 6 position coordinates of boundary line are calculated, using the virtual boundary line 6Coordinate pair global area map is set to be corrected.This Strength co-mputation intelligent grass-removing 100 using sideband signal and boundary line 6Real-time range, be then compared with 6 coordinate of boundary line in the map of global area, can be to the global area initially set upMap is corrected, and prevents the positioning as caused by accumulated time error inaccurate.
Fig. 4 shows the paths planning method of the provided by the invention second real-time example, the real-time example and first embodiment baseThis is identical, the difference is that the path of planning covering is different, the present embodiment planning covering includes the following steps: along substantially flatRow is approximately perpendicular to the route of 10 axis of charging station in boundary line 6, carries out the linear reciprocation walking of bow font, complete until completingThe covering of working region 5 described in portion, adjacent linear travel paths are parallel to each other and are spaced equal predetermined width.It is whole when completingAfter working region 5 covers, the main control module controls the intelligent grass-removing 100 along the direction opposite with the last time, holdsProfessional etiquette draws covering, covers until completing global work area domain 5 again.
Fig. 5 shows the paths planning method of the real-time example of third provided by the invention, the real-time example and first embodiment baseThis is identical, the difference is that the path of planning covering is different, planning covering includes the following steps: to control the intelligent grass-removing100, along substantially with the axis of the boundary line 6 or the charging station 10 at the route of 45 degree of angles, carry out the straight line of bow fontReciprocal walking is covered until completing all working regions 5, and adjacent linear travel paths are parallel to each other and are spaced equalPredetermined width.After completing whole working regions 5 and covering, the main control module control the intelligent grass-removing 100 along withLast opposite direction, Execution plan covering are covered until completing global work area domain 5 again.
In second and third real-time mode, it is preferred that the track form of arc type is covered, and includes the following steps: to be based onFirst direction marches to the first turning point by first straight line movement routine；It turns around to march to adjacent second from the first turning pointThe starting point of linear travel paths；Based on second direction opposite to the first direction, marched to by second straight line movement routineSecond turning point；Turn around to march to the starting point of adjacent third linear travel paths from the second turning point again；Based on first direction,Third turning point is marched to by third linear travel paths；It turns around to march to adjacent the 4th by arching trajectory from third turning pointThe starting point of linear travel paths；Based on second direction opposite to the first direction, by the 4th linear travel paths rowProceed to base-leg turn point；The rest may be inferred；Wherein, adjacent linear travel paths are parallel to each other and are spaced equal predetermined width.It sets predetermined width to the width of 100 body 110 of intelligent grass-removing, makes intelligent grass-removing 100 in the covering for carrying out arc typeWhen mode, may be implemented just covering seamless connection, i.e., there is no between adjacent linear travel paths leakage cutting orThe case where cutting is repeated, cutting efficiency is thus improved.
The paths planning method that intelligent grass-removing 100 in the present invention uses can relative to stochastic path planning methodIt increases substantially the coverage rate in the unit time and reduces the overlapping coverage rate in full working region 5, greatly improve intelligenceThe working efficiency of grass trimmer 100.Its use using gyro sensor as the inertial navigation algorithm of core, borrow existing useThe gyro sensor that the intelligent grass-removing 100 of stochastic path planning inherently configures, so intelligent grass-removing 100 of the invention is simultaneouslyIt does not need to add special navigation equipment, not will increase the design cost of intelligent grass-removing 100.
Grass trimmer in the present invention has positioning function, (e.g., being applied to 300-3000 square metres), in global areaScheme after (also referred to as electronic map) generate, do not correct position error before going back to base station being discharged each time, i.e., grass trimmer eachBase station repositioning is not needed back in discharge cycles.Duplicate paths during mowing are allowed in such design, reduce or prevent leakageIt cuts.
Grass trimmer in the present invention is in the same primary electric discharge course of work, and the turning action of grass trimmer machine is not by global areaDomain map (also referred to as electronic map) decision, but to encounter boundary line as condition；The track spacing of machine is also during the turnIt is realized by control driving motor.Global area map is served only for guaranteeing correct course and coarse positioning that (i.e. grass trimmer is in the overall situationPosition Approximate in area map).
It is that track is turned and promoted to foundation with boundary line, i.e., it is with boundary line when grass trimmer in the present invention worksAs the preferential judgment basis of real time position, when grass trimmer in the process of walking, if sideband signal detection device detects mowingMachine encounters boundary line, and detection device will test the control mechanism that signal feeds back to grass trimmer, and control mechanism control grass trimmer is heldRow deliberate action (e.g., turning action) simultaneously enters next (straight line) walking path, and at this moment grass trimmer record encounters boundary lineIt puts the location information relative to base station and the intelligent grass-removing is updated in the map of global area with this point (location information)Position.The track spacing of grass trimmer passes through control driving motor during the turn and realizes.Grass trimmer discharges each time, only does oneA routing algorithm；If the place mowed is small, this routing algorithm is repeated before being discharged；If place is excessive, electric discharge (is cut next timeCareless machine work) continue；Until working region is completely covered in this routing algorithm.
Grass trimmer in the present invention is that it can preferably cover mowing region, be applied to for a long time and greatly apart from when, according toPhysical location deviates, this deviation can have an impact to the grass trimmer position read in electronic map.At this moment it uses centainlyFrequency, to encounter the position of the point of boundary line in electronic map relative to base station as the machine location refreshed in electronic mapData.
The above embodiments merely illustrate the technical concept and features of the present invention, and its object is to allow person skilled in the artIt cans understand the content of the present invention and implement it accordingly, it is not intended to limit the scope of the present invention.It is all to lead according to the present inventionThe modification for wanting the Spirit Essence of technical solution to be done, should be covered by the protection scope of the present invention.