WO2020199149A1 - Procédé, système et dispositif de tonte de gazon en spirale évolutive - Google Patents

Procédé, système et dispositif de tonte de gazon en spirale évolutive Download PDF

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Publication number
WO2020199149A1
WO2020199149A1 PCT/CN2019/081213 CN2019081213W WO2020199149A1 WO 2020199149 A1 WO2020199149 A1 WO 2020199149A1 CN 2019081213 W CN2019081213 W CN 2019081213W WO 2020199149 A1 WO2020199149 A1 WO 2020199149A1
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WIPO (PCT)
Prior art keywords
robot
mowing
spiral
involute
information
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Ceased
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PCT/CN2019/081213
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English (en)
Chinese (zh)
Inventor
伍浩文
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Shenzhen Topband Co Ltd
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Shenzhen Topband Co Ltd
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Priority to PCT/CN2019/081213 priority Critical patent/WO2020199149A1/fr
Priority to CN201980000613.6A priority patent/CN110199234A/zh
Publication of WO2020199149A1 publication Critical patent/WO2020199149A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS

Definitions

  • the invention belongs to the field of robot control, and particularly relates to a spiral involute mowing method, system and device.
  • the purpose of the embodiments of the present invention is to provide a method, system and device for helical involute mowing, which aims to solve the problem of cutting when the lawnmower robot encounters obstacles or crosses boundaries during the use of the existing lawnmower robot.
  • the problem of grass task failure is to provide a method, system and device for helical involute mowing, which aims to solve the problem of cutting when the lawnmower robot encounters obstacles or crosses boundaries during the use of the existing lawnmower robot. The problem of grass task failure.
  • the embodiment of the present invention is implemented in this way, a spiral involute mowing method, the method includes the following steps:
  • the robot is controlled to make a U-turn and drive along the involute spiral path.
  • the abnormal state information includes collision information or out-of-bounds information.
  • step of controlling the U-turn of the robot specifically includes:
  • the method further includes:
  • the robot If the abnormal state information is the collision information, control the robot to retreat a preset distance.
  • Another object of the embodiments of the present invention is to provide a spiral involute mowing system, the system includes:
  • An information receiving module for receiving abnormal state information fed back by a sensor set on the robot
  • the steering control module is used to control the robot to make a U-turn and drive according to the involute spiral travel path.
  • the abnormal state information includes collision information or out-of-bounds information.
  • steering control module is also used for:
  • system further includes:
  • the back control module is configured to control the robot to back a preset distance when the abnormal state information is the collision information.
  • Another object of the embodiments of the present invention is to provide a spiral involute mowing device, including a storage device and a processor, the storage device is used to store a computer program, and the processor runs the computer program to enable the The spiral involute mowing device executes the above-mentioned spiral involute mowing method.
  • Another object of the embodiments of the present invention is to provide a storage medium characterized in that it stores a computer program used in the above-mentioned spiral involute mowing device, and the computer program realizes the above-mentioned spiral when executed by a processor. Steps of involute mowing method.
  • the abnormal state information is received to accurately determine whether to control the robot to perform the U-turn operation, and the design of controlling the robot to perform the U-turn operation effectively prevents the robot from encountering obstacles.
  • the failure of the mowing task guarantees the mowing efficiency of the robot, and by controlling the robot to follow a spiral involute driving path, the robot is controlled to perform the mowing task in a spiral involute way, which effectively prevents.
  • the failure of the mowing task or the reduction of mowing efficiency caused by the phenomenon of the robot crossing the boundary or encountering obstacles further guarantees the mowing efficiency of the robot.
  • Fig. 1 is a flowchart of a spiral involute mowing method provided by a first embodiment of the present invention
  • FIG. 2 is a schematic diagram of a spiral involute mowing path provided by the first embodiment of the present invention
  • FIG. 3 is a schematic diagram of another spiral involute mowing path provided by the first embodiment of the present invention.
  • FIG. 4 is a flowchart of a spiral involute mowing method provided by a second embodiment of the present invention.
  • FIG. 5 is a flowchart of a spiral involute mowing method provided by a third embodiment of the present invention.
  • Figure 6 is a flowchart of a spiral involute mowing method provided by a fourth embodiment of the present invention.
  • Fig. 7 is a flowchart of a spiral involute mowing method provided by a fifth embodiment of the present invention.
  • FIG. 8 is a schematic structural diagram of a spiral involute mowing system provided by a sixth embodiment of the present invention.
  • Fig. 9 is a schematic structural diagram of a spiral involute mowing device provided by a seventh embodiment of the present invention.
  • the present invention controls the robot to turn around and follow the spiral
  • the design of the involute driving path effectively prevents the failure of the mowing task or the reduction of mowing efficiency caused by the robot's cross-border or obstacle phenomenon, and ensures the robot's mowing efficiency.
  • FIG. 1, Fig. 2 and Fig. 3 are the flowcharts of the spiral involute mowing method provided by the first embodiment of the present invention, including the steps:
  • Step S10 receiving abnormal state information fed back by a sensor set on the robot;
  • the abnormal state information includes collision information or out-of-bounds information.
  • the abnormal information is the collision information, it is determined that the robot is currently in an obstacle state.
  • the abnormal information is out-of-bounds information, it is determined that the robot is currently Cross-border state, that is, the robot has traveled out of the mowing task area;
  • the out-of-bounds state can be used to determine the out-of-bounds state of the robot by GPS positioning.
  • the robot is in the out-of-bounds state, it is determined that the robot has currently traveled out of the area of the mowing task;
  • Step S20 controlling the robot to make a U-turn, and drive along the involute spiral travel path
  • the abnormal state information is received to accurately determine whether to control the robot to perform a U-turn operation, and the design of controlling the robot to perform a U-turn operation effectively prevents obstacles caused by the robot.
  • the failure of the mowing task guarantees the mowing efficiency of the robot, and by controlling the robot to follow a spiral involute driving path, the robot is controlled to perform the mowing task in a spiral involute way, which effectively prevents
  • the failure of the mowing task or the reduction of mowing efficiency caused by the phenomenon of the robot crossing the boundary or encountering obstacles further guarantees the mowing efficiency of the robot.
  • FIG. 4 is a flowchart of the spiral involute mowing method provided by the second embodiment of the present invention, including the steps:
  • Step S11 receiving abnormal state information fed back by a sensor set on the robot;
  • the abnormal state information includes collision information or out-of-bounds information.
  • the abnormal information is the collision information, it is determined that the robot is currently in an obstacle state.
  • the abnormal information is out-of-bounds information, it is determined that the robot is currently Cross-border state, that is, the robot has traveled out of the mowing task area;
  • the out-of-bounds state can be used to determine the out-of-bounds state of the robot by GPS positioning.
  • the robot is in the out-of-bounds state, it is determined that the robot has currently traveled out of the area of the mowing task;
  • Step S21 if the abnormal state information is the collision information, control the robot to back a preset distance
  • the continuous collision time is stored in the collision information, and when the continuous collision time is greater than a time threshold, it is determined that the collision information is valid information;
  • the collision information also stores a collision intensity value, and when it is determined that the collision intensity value is greater than the intensity threshold at the same time, it is determined that the collision information is valid information;
  • Step S31 if the abnormal state information is the out-of-bounds information, control the robot to rotate in place and turn to the direction of the involute travel path in accordance with the spiral;
  • the spiral involute method is used to control the robot to perform the subsequent mowing task
  • the spiral involute degree of the travel path of each spiral involute is greater than the spiral involute degree of the previous travel path, so that the travel path of the robot after optimization is increased sequentially, thereby effectively preventing the same obstacle
  • the phenomenon of continuous encountering obstacles caused by objects, thereby ensuring the mowing efficiency of the robot, preferably, in other embodiments, the spiral involute degree of each driving path may be equal;
  • the abnormal state information is received to accurately determine whether to control the robot to perform a U-turn operation, and the design of controlling the robot to perform a U-turn operation effectively prevents obstacles caused by the robot.
  • the failure of the mowing task guarantees the mowing efficiency of the robot, and by controlling the robot to follow a spiral involute driving path, the robot is controlled to perform the mowing task in a spiral involute way, which effectively prevents
  • the failure of the mowing task or the reduction of mowing efficiency caused by the phenomenon of the robot crossing the boundary or encountering obstacles further guarantees the mowing efficiency of the robot.
  • FIG. 5 is a flowchart of the spiral involute mowing method provided by the third embodiment of the present invention, including the steps:
  • Step S13 receiving abnormal state information fed back by a sensor provided on the robot;
  • the abnormal state information includes motor current, motor voltage, motor speed, and motor torque.
  • the motor current, motor voltage, and motor speed are all output values.
  • the corresponding process is performed by setting sensors. Storing the abnormal state information, and completing the transmission of the abnormal state information by using wireless signals, so as to improve data transmission efficiency;
  • Step S23 judging whether the robot is in a state to be optimized according to the abnormal state information
  • the state to be optimized includes obstacle to be optimized and cross-boundary to be optimized. Specifically, when the robot is in the obstacle state, the resistance it receives will increase, which will cause the current in the mowing motor to increase. Therefore, this step ,
  • the judging conditions used to judge whether the robot is in the state to be optimized may be: judging current, judging voltage, judging speed, or judging power.
  • the judgment Conditions can be set independently according to user needs;
  • the cross-border to be optimized can be used to determine the cross-border state of the robot by GPS positioning.
  • the robot is in the cross-border state, it is determined that the robot has currently traveled out of the area of the mowing task;
  • step S33 is executed
  • Step S33 Obtain the mowing strategy of the robot, optimize the mowing strategy, and control the robot to perform the mowing operation according to the optimized mowing strategy;
  • the mowing strategy includes a mowing path and a mowing motion mode.
  • the mowing motion mode is a continuous forward motion, a reciprocating forward motion, a gradual forward motion or a U-turn motion, and the continuous forward motion is based on a preset driving direction.
  • the weeding motion is performed at a constant speed.
  • the reciprocating motion is to control the robot to perform a backward motion within a certain time according to the first preset time interval during the forward process of the robot, for example, when the robot is detected to be traveling forward for the second preset time Or at the first preset distance, control the robot to travel backward for the second preset time or the second preset distance, and control the robot to travel backwards reciprocally according to the preset time interval, and control the robot to reciprocate to make effective control
  • the robot is in a state of encountering obstacles, and prevents the mowing motor from stopping work caused by being in a high resistance environment for a long time;
  • the driving direction when driving backwards in the reciprocating forward motion can be independently set according to user requirements; preferably, the mowing path is a straight path, a spiral path, or a curved path;
  • the robot is effectively prevented from stopping work when the robot is in a state of high resistance and encountering obstacles for a long time, and the mowing efficiency of the robot is guaranteed.
  • the optimized design of the mowing motion mode enables the robot to perform cutting from the outside to the inside using the edge of the mowing task area as the mowing track, which effectively guarantees the mowing efficiency of the robot.
  • FIG. 6 is a flowchart of the spiral involute mowing method provided by the fourth embodiment of the present invention, including the steps:
  • Step S14 receiving the abnormal state information fed back by the sensor provided on the robot, and obtaining the motor current value stored in the abnormal state information;
  • the abnormal state information is stored correspondingly by setting a sensor, and the transmission of the abnormal state information is completed by using a wireless signal to improve the efficiency of data transmission.
  • the abnormal state information is also Including motor current, motor voltage, motor speed, motor torque, the motor current, motor voltage and motor speed are all output values;
  • Step S24 judging whether the motor current value is greater than the current threshold
  • the judgment of the obstacle state of the robot can also be carried out by judging the magnitude of voltage, judging the magnitude of rotation speed or judging the magnitude of power. It is understandable that in this embodiment, the judgment condition can be autonomously based on user needs.
  • a comparator or a comparison circuit can be used to determine the magnitude between the motor current value and the current threshold, and the current threshold is set in the comparator or the comparison circuit, When the comparator or the comparison circuit determines that the motor current value is greater than the current threshold value, it issues a control instruction, which is used to trigger subsequent control steps;
  • step S24 When it is determined in step S24 that the current value of the motor is greater than the current threshold value, it is determined that the robot is in the treatment disorder state, and step S34 is executed;
  • Step S34 controlling the robot to rotate on the spot, and turn to the direction of the involute travel path in accordance with the spiral;
  • the robot is effectively prevented from stopping work when the robot is in a state of high resistance and encountering obstacles for a long time, and the mowing efficiency of the robot is guaranteed.
  • the optimized design of the mowing motion mode enables the robot to perform cutting from the outside to the inside using the edge of the mowing task area as the mowing track, which effectively guarantees the mowing efficiency of the robot.
  • FIG. 7 is a flowchart of the spiral involute mowing method provided by the fifth embodiment of the present invention, including the steps:
  • Step S15 receiving abnormal state information fed back by a sensor set on the robot;
  • Step S25 judging whether the robot is currently in an out-of-bounds state according to the abnormal state information
  • step S35 is executed
  • Step S35 controlling the robot to rotate on the spot and turn to the direction of the driving path that is involute in accordance with the spiral;
  • Step S45 Obtain the image to be weeded in the mowing task, calculate the center coordinates of the image to be weeded, and draw a spiral line with the center coordinates as the origin to obtain an optimized path;
  • the step of drawing a spiral line with the center coordinate as the origin includes:
  • Step S55 controlling the robot to travel on a corresponding path according to the optimized path
  • the helical involute degree of each optimized path is greater than the helical involute degree of the optimized path in the previous time, so that the travel path of the robot after optimization is sequentially increased, thereby effectively preventing the same obstacle from causing
  • the phenomenon of continuous encountering obstacles further guarantees the mowing efficiency of the robot.
  • the spiral involute degree of each optimized path may be equal;
  • the abnormal state information is received to accurately determine whether to control the robot to perform a U-turn operation, and the design of controlling the robot to perform a U-turn operation effectively prevents obstacles caused by the robot.
  • the failure of the mowing task guarantees the mowing efficiency of the robot, and by controlling the robot to follow a spiral involute driving path, the robot is controlled to perform the mowing task in a spiral involute way, which effectively prevents
  • the failure of the mowing task or the reduction of mowing efficiency caused by the phenomenon of the robot crossing the boundary or encountering obstacles further guarantees the mowing efficiency of the robot.
  • FIG. 8 is a schematic structural diagram of a spiral involute mowing system 100 according to a sixth embodiment of the present invention, including:
  • the information receiving module 10 is configured to receive abnormal state information fed back by a sensor provided on the robot, wherein the abnormal state information includes collision information or out-of-bounds information, and when the abnormal information is the collision information, it is determined The robot is currently in an obstacle state, and when the abnormal information is out-of-bounds information, it is determined that the robot is in an out-of-bounds state at this time, that is, the robot has traveled out of the mowing task area;
  • the out-of-bounds state can be used to determine the out-of-bounds state of the robot through GPS positioning.
  • the robot is in the out-of-bounds state, it is determined that the robot has currently traveled out of the area of the mowing task.
  • the collision information stores a continuous collision time, and when the continuous collision time is greater than a time threshold, it is determined that the collision information is valid information. Further, the collision information also contains The collision intensity value is stored, and when it is determined that the collision intensity value is greater than the intensity threshold at the same time, it is determined that the collision information is valid information.
  • the steering control module 12 is used to control the robot to make a U-turn and drive according to the involute spiral travel path. Further, the steering control module 12 is also used to control the robot to rotate on the spot and turn to the direction of the travel path that is involute in accordance with the spiral.
  • system further includes:
  • the back control module 11 is configured to control the robot to back a preset distance when the abnormal state information is the collision information.
  • the abnormal state information is received to accurately determine whether to control the robot to perform a U-turn operation, and the design of controlling the robot to perform a U-turn operation effectively prevents obstacles caused by the robot.
  • the failure of the mowing task guarantees the mowing efficiency of the robot, and by controlling the robot to follow a spiral involute driving path, the robot is controlled to perform the mowing task in a spiral involute way, which effectively prevents
  • the failure of the mowing task or the reduction of mowing efficiency caused by the phenomenon of the robot crossing the boundary or encountering obstacles further guarantees the mowing efficiency of the robot.
  • FIG. 9 is a helical involute mowing device 101 provided by a seventh embodiment of the present invention, which includes a storage device and a processor.
  • the helical involute mowing device 101 is electrically connected to the mowing robot.
  • the storage device is used to store a computer program, and the processor runs the computer program to cause the spiral involute mowing device 101 to execute the above-mentioned spiral involute mowing method.
  • This embodiment also provides a storage medium on which a computer program used in the above-mentioned spiral involute mowing device is stored.
  • the method includes the following steps:
  • the robot is controlled to make a U-turn and drive along the involute spiral path.
  • the storage medium such as ROM/RAM, magnetic disk, optical disk, etc.
  • the above functions can be allocated to different functional units or Module completion, that is, the internal structure of the storage device is divided into different functional units or modules to complete all or part of the functions described above.
  • the functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist alone physically, or two or more units can be integrated into one unit.
  • the above-mentioned integrated units can be hardware-based Formal realization can also be realized in the form of software functional units.
  • the specific names of the functional units and modules are only used to facilitate distinguishing each other, and are not used to limit the protection scope of the present application.
  • composition structure shown in FIG. 8 does not constitute a limitation on the spiral involute mowing system of the present invention, and may include more or less components than shown in the figure, or combine certain components, Or different component arrangements, and the spiral involute mowing method in Figs. 1-5 also adopts more or fewer components shown in Fig. 8, or a combination of some components, or different component arrangements.
  • the unit, module, etc. referred to in the present invention refers to a series of computer programs that can be executed by the processor (not shown) in the spiral involute mowing system and can perform specific functions. Stored in the storage device (not shown) of the spiral involute mowing system.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Harvester Elements (AREA)

Abstract

Cette invention concerne un procédé de tonte de gazon en spirale évolutive. Le procédé comprend les étapes consistant à : recevoir des informations d'état anormal transmises en retour par un capteur disposé sur un robot ; et commander le robot pour qu'il fasse demi-tour et pour qu'il se déplace selon un trajet de déplacement en spirale évolutive. Le procédé, en commandant au robot de faire demi-tour, empêche efficacement l'échec d'une tâche de tonte due au fait que le robot est bloqué par un obstacle ; en commandant au robot de se déplacer selon le trajet de déplacement en spirale évolutive, empêche efficacement l'échec de la tâche de tonte en raison due au fait que le robot dépasse des limites ou est bloqué par un obstacle, garantissant ainsi l'efficacité de tonte du robot. L'invention concerne en outre un système de tonte de gazon, un appareil de tonte de gazon et un support de stockage correspondant.
PCT/CN2019/081213 2019-04-03 2019-04-03 Procédé, système et dispositif de tonte de gazon en spirale évolutive Ceased WO2020199149A1 (fr)

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PCT/CN2019/081213 WO2020199149A1 (fr) 2019-04-03 2019-04-03 Procédé, système et dispositif de tonte de gazon en spirale évolutive
CN201980000613.6A CN110199234A (zh) 2019-04-03 2019-04-03 一种螺旋线渐开割草方法、系统及装置

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CN112405524B (zh) * 2020-10-20 2022-11-11 深圳拓邦股份有限公司 机器人碰撞检测方法、装置及机器人
CN112932367B (zh) * 2021-03-05 2022-06-17 深圳拓邦股份有限公司 一种清洁设备的定点清扫方法与清洁设备
WO2024221787A1 (fr) * 2023-04-28 2024-10-31 深圳乐动机器人股份有限公司 Procédé de commande de déplacement et robot de tonte

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