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Path planning method of intelligent mower

A path planning, lawn mower technology, applied in the direction of motor vehicles, two-dimensional position/channel control, vehicle position/route/height control, etc., can solve the problem of long cutting time, low cost performance, missed cutting and repetition of areas and corners Cutting and other problems to achieve the effect of saving working time

Inactive Publication Date: 2019-07-16
NINGBO DAYE GARDEN EQUIP
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  • Abstract
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  • Claims
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AI Technical Summary

Problems solved by technology

[0003] At present, most of the smart lawn mowers currently on the market use random path coverage without precise positioning. The coverage of the working area is low, it takes a long time, and the efficiency is low. It is prone to missed cutting and repeated cutting in some areas and corners. and cutting takes a long time
The sweeping robot that uses the improved algorithm planning optimizes the bow cutting mode, but because there is no positioning in the implementation method, it is still random in nature, the price is high, and the cost performance is low

Method used

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  • Path planning method of intelligent mower

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Embodiment 1

[0035] figure 1 It is a schematic diagram of an intelligent lawnmower 100, a working area 5 and a charging station 10 provided according to an embodiment of the present invention. Such as figure 1 As shown, the intelligent lawnmower 100 includes a body 110 , road wheels (not shown) arranged on the body 110 , and a drive motor (not shown) that drives the road wheels forward or backward. Various sensors are arranged on the body 110 and inside the body 110, such as gyroscope sensors, acceleration sensors and collision sensors, etc., which can detect the travel distance, travel angle, body status and obstacles, such as bumping into walls or other obstacles. , will turn on its own, and take different routes according to different settings, mowing grass in a planned way. The intelligent lawn mower 100 also includes a main control module, which controls the intelligent lawn mower 100 to independently walk in the working area 5 and trim the lawn.

[0036] The working area 5 is boun...

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Abstract

The invention discloses a path planning method of an intelligent mower, which comprises the following steps: establishing a coordinate system by taking an initial position as an original point; controlling the intelligent mower to walk around the working area for a circle along the boundary line, acquiring a traveling angle value of the intelligent mower in real time by using a gyroscope sensor, and recording a real-time moving distance value to obtain a real-time position coordinate of the intelligent mower; constructing a global area map based on the whole-course position coordinates recorded in the process of walking from the starting point to the finishing point of the boundary line of the intelligent mower; and controlling the intelligent mower to plan and cover the working area according to the global area map and the real-time position coordinates of the intelligent mower. The invention discloses a path planning method for the position of an intelligent mower, which can accurately determine the straight-line running distance and the turning angle of the intelligent mower without depending on external reference, and determine the real-time position coordinate of the mower onthe basis of the straight-line running distance and the turning angle.

Description

technical field [0001] The invention relates to the field of automatic control, in particular to a path planning method for an intelligent mower. Background technique [0002] Smart lawn mowers are widely used in the maintenance of family garden lawns and the trimming of large grasslands. The platform of the smart lawn mower integrates technologies such as motion control, multi-sensor fusion, and path planning. In order to realize the predetermined function of the intelligent lawn mower, it is necessary to plan the full-area coverage of the path of the mowing robot so that it can completely cover all barrier-free areas in the working environment. According to different strategies, the full-area coverage path planning can be divided into There are two types of random path planning and non-random path planning. [0003] At present, most of the smart lawn mowers currently on the market use random path coverage without precise positioning. The coverage of the working area is l...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0219G05D1/027G05D1/0274G05D1/0265
Inventor 朱典悝叶坚泽叶晓波
Owner NINGBO DAYE GARDEN EQUIP
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