Method and device for determining the position of a mower
A determination method, the lawn mower technology, applied in the field of robotics, can solve problems such as poor flexibility, and achieve the effect of improving accuracy
Active Publication Date: 2021-06-22
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology
[0008] The invention provides a method and device for determining the position of a lawn mower, which overcomes the disadvantage of poor flexibility of the existing method for determining the moving position of a lawn mower, without external reference, and can determine the position of the lawn mower only by relying on the vehicle-mounted sensor of the lawn mower. The method is flexible, convenient, simple and efficient
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[0031] The technical solutions of the present invention will be better understood by those skilled in the art, and the present invention will be further described in detail below in connection with specific embodiments.
[0032] The embodiment of the present invention provides a method of determining a mower position, requiring a determination device of a mower position. A determination device for a mower location, such as Figure 5 As shown, including: Accelerometer, gyroscope, magnetometer, Hall element sensor, main controller, where accelerometer, gyroscope and magnetometer are placed in the axis of mowing locomotive, and is horizontally; Hall Component Sensor Placed inside the mowing motor, used to record the number of motor rotation rings, the main controller acquisition accelerometer, gyroscope, magnetometer, Hall element sensor, and operate and control.
[0033] A process diagram of a method of determining a mower location figure 1 As shown, including:
[0034] The accelerat...
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The invention discloses a method and device for determining the position of a lawn mower, which can accurately determine the straight-line driving distance and turning angle of the lawn mower without relying on external references, and determine the mowing position based on this. machine travel position. The present invention first carries out secondary integral to the accelerometer measurement value to obtain the distance calculated by the accelerometer; Utilizes the angle sensor to collect the rotation angle of the wheel of the lawn mower to obtain the wheel movement distance of the lawn mower; the distance calculated by the accelerometer and the wheel movement of the lawn mower Carry out Kalman filter fusion for the distance, and mark the fusion result as the straight-line distance of the lawn mower; use the data collected by the gyroscope, accelerometer, magnetometer, and Hall element sensor to perform Kalman filter fusion three times, and mark the final fusion result as The rotation angle of the lawn mower; according to the straight-line distance of the lawn mower and the rotation angle of the lawn mower, the position of the lawn mower relative to the origin after walking unit time is obtained.
Description
Technical field [0001] The present invention relates to the field of robots, and more particularly to a determination method and apparatus for a mower position. Background technique [0002] Intelligent mowers mainly help people complete mowing work, is a lawn mower that enables intelligent autonomous mowing. Intelligent lawn mower can be separated from human control, thereby avoiding too much human resources, saving material resources, and also has high efficiency, high security. [0003] The so-called intelligent mowing refers to: artificial prior delineation area, the lawn mower independently planned the path, walking, walking, traverses all positions in the area, thus achieving no repetition, no missing The position of the autonomous job. This mainly includes self-identification technology, intelligent path identification technology, intelligent path identification technology, intelligent path identification technology. [0004] Among them, the self-recognition technology of ...
Claims
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IPC IPC(8): A01D34/00
CPCA01D34/008
Inventor 张祥陈仁文刘川徐旺
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS