Dual-core four-wheel drive UWB positioning mowing robot capable of being wirelessly controlled and control method of dual-core four-wheel drive UWB positioning mowing robot

Abstract

The invention discloses a dual-core four-wheel drive UWB positioning mowing robot capable of being wirelessly controlled and a control method of the dual-core four-wheel drive UWB positioning mowing robot. The mowing robot uses the UWB wireless positioning system; pre-embedded boundary line can be avoided, manpower saving is achieved, a self-precise position can be avoided, a DSP + FPGA dual-coreprocessor cooperative work design is adopted. The operation speed and the control precision are greatly improved; a WIFI wireless transmission module is adopted, the mowing robot can be accessed to the Internet; even if a user is traveling outside, the work of the mowing robot at home can be monitored and controlled anytime and anywhere; the mowing robot is more practical and convenient, based ona servo system of the latest embedded technology, an intelligent mowing task program is adopted, a mowing area grid map is established, global coverage path planning is carried out, a mowed area and an unmowed area are marked, the mowing efficiency can be greatly improved, and the phenomenon of missing mowing of grassland is reduced.

Description

technical field [0001] The invention belongs to the field of mowing robots, in particular to a wireless controllable dual-core four-wheel drive UWB positioning mowing robot and a control method thereof. Background technique [0002] A lawn mowing robot is a robot that can mow grass autonomously. It is usually used for grass trimming and maintenance in homes, parks, gardens, communities, and golf courses. Because the lawn mowing robot can walk and mow automatically without manual operation, it can reduce manpower, improve work efficiency, and keep the height and quality of mowing stable. [0003] my country's research and development in the field of mowing robots is relatively lagging behind, and the overall level is not high. The current mowing robots are generally composed of fuselage, walking mechanism, cutting mechanism, and control system. Before work, the boundary line needs to be embedded. By using the electromagnetic sensor to detect the strength of the current signa...

AI Technical Summary

Problems solved by technology

For this type of lawn mowing robot, the degree of intelligence is low, and there are the following deficiencies in actual use: the existing lawn mowing robot uses a stepping motor, which will cause the motor to lose synchronization when it encounters missing pulses, resulting in the calculation of the mowing position. An error occurred and the mowing robot lost its actual position

It will also make the body heat more seriously, and sometimes it is necessary to install a cooling device, which will increase the overall weight of the robot, which is not conducive to the robot climbing and mowing

Even the mechanical noise of the system operation is greatly increased, which is not conducive to environmental protection

The last point is that mowing robot systems are generally not suitable for high-speed operation and are prone to vibration

[0004] The current design of lawn mowing robots usually adopts single-wheel drive or two-wheel drive. Although the lawn mowing robot with single-wheel drive can satisfy the decoupling of speed and direction well, the power of the walking motor with single-wheel drive is relatively large. It will cause the phenomenon of big horses and small carts

Since there is only one power contact point between the power of the single-wheel-driven lawn mowing robot and the ground, it is difficult for humans to precisely control the direction of its movement, and a slight disturbance can cause a large direction change.

Two-wheel drive can weaken some of the disadvantages of single-wheel drive, but the mowing robot needs to overload the motor to meet the power requirements when climbing a slope or encountering potholes on the ground. Long-term operation will damage the performance of the motor and cause system reliability. greatly reduced sex

The lawn mowing robot needs to accelerate rapidly and run at a high speed in many emergency situations. Under such conditions, the power required by the system is relatively large, and the power of the two-wheel motor that meets the normal driving cannot meet the acceleration requirements, and the system cannot meet the emergency conditions. power requirements

[0005] Existing designs of lawnmowing robots use a single-core control such as figure 1 , need to process path planning, navigation control, motor control and other work at the same time, the amount of calculation is large, resulting in slow calculation speed, low control frequency and poor precision

Due to the frequent braking and starting of the mowing robot during operation, the workload of the single-core controller is increased, and the single-core controller cannot meet the requirements of fast start and stop of the mowing robot

Due to the interference of unstable factors in the surrounding environment, the controller of the single-core lawn mowing robot often has abnormalities, causing the lawn mowing robot to lose control during driving, and the anti-interference ability is poor

Although the PWM control signal of the multi-axis motor can be generated based on the dedicated servo control chip, it needs to be realized by inputting control parameters after the main controller communicates with the dedicated chip, resulting in a decrease in the overall computing speed; affected by the internal servo program of the dedicated servo control chip, In general, the servo control PID parameters cannot be changed in real time, which cannot meet the requirements of the real-time fast servo control system of the mowing robot; the motion mode of the mowing robot adopts a simple straight line walking and turning when encountering a boundary, lacks global path planning, and is not intelligent enough

The mowing robot walks blindly during the mowing process, resulting in repeated paths, wasting energy, and short battery life

The mowing robot cannot record the area that has been mowed, and the same area will be mowed repeatedly, and the mowing efficiency is low

The lawn mowing robot uses a timing work mode, which cannot distinguish the areas that have been mowed from those that have not been mowed. After the mowing operation is completed, some areas are often not mowed, resulting in missed mowing.

The boundary line needs to be installed manually, which is cumbersome and requires a lot of work

After the boundary line is pre-embedded, it is difficult to modify if the mowing area changes

The boundary line is exposed to the outdoors all year round and is easily damaged by corrosion, oxidation, and animal damage

The mowing robot can only determine whether it is out of bounds by sensing the boundary line, but cannot get its own precise position

The cut grass is relatively large, and it is still left on the lawn, which needs to be cleaned manually again, which is labor-intensive

[0006] In addition, the lawn mowing robot needs to be started locally by pressing the button, and it cannot mow the lawn if the person is not at home

All the operation information of the mowing robot is processed locally, and the outside world cannot know the operation status and mowing progress

If the mowing robot breaks down or other emergencies, personnel need to go to the scene to check and control, which is not conducive to the development of mowing automation

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