Intelligent mower straight line walking control system based on inertial/magnetic sensor MARG attitude detection

Abstract

The invention discloses an intelligent mower straight line walking control system based on inertial/magnetic sensor MARG attitude detection. The execution mechanism comprises an MARG attitude detection module, a mower main control unit and a motor driving module, wherein the MARG attitude detection module is in charge of real-time calculating the mower attitude information according to sensing data acquired by the MARG sensor; the mower main control unit is in charge of executing a mower heading adjustment control system to control the mower to walk in a straight line according to the calculated attitude information and generating driving control signals for driving the motor; and the motor driving module is in charge of driving the motor to rotate according to the control signals provided by the main control unit. During a straight line walking process in a certain section by the mower, the attitude of the mower is calculated in real time through the sensing data acquired by the inertial/magnetic sensor MARG, the yaw in the attitude angles is used for controlling the heading of the mower, a roll angle is used for judging the road wheel of the mower, and thus, the motor rotation speed when the mower carries out heading adjustment on a slope can be compensated. The straight line walking of the mower can be effectively controlled, the attitude of the mower is detected in real time, roll-over of the mower can be prevented, and a foundation is laid for a parallel reciprocating mowing motion executed by the mower and improved working efficiency.

Description

technical field [0001] The invention belongs to the fields of miniature sensor application and intelligent robot control, and in particular relates to a linear walking control system of an intelligent lawn mower used for lawn maintenance. Background technique [0002] Urban greening is an essential part of the urbanization process, and lawns have many advantages such as vacuuming, noise reduction, moisturizing, water and soil conservation, and environmental purification, and occupy a pivotal position in urban greening. With the increase of the area of ​​urban lawns, the daily maintenance and maintenance of lawns has become a major task in front of people, especially gardeners. This kind of work is labor-intensive and repetitive. Traditional mechanical mowing Lawn maintenance by machine not only consumes a lot of manpower and material resources, but also produces a lot of noise, which is not conducive to protecting the environment. [0003] With the development of informatio...

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Problems solved by technology

[0006] The purpose of the present invention is to solve the problem in the prior art that the lawn mower cannot walk in a straight line due to the difference in the parameters of the drive motor and the drive wheel of the lawn mower, the slope of the road surface, and the power supply, and the electromagnetic induction and photoelectric coding based on the energized wire. In order to solve the problem of unsatisfactory control effects on the linear movement of lawn mowers on outdoor lawns such as sensors and visual navigation, a linear movement control system for lawn mowers based on inertial / magnetic sensor MARG attitude detection is provided

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