Mobile robot guidance device and method based on boundary magnetic conductor and inertial measurement unit
By integrated high -frequency boundary magnetic guide lines and the guidance system of inertia measurement units on mobile robots, the problem of inaccurate movement trajectory of mobile robots in existing technologies has been solved, and high -precision guidance and rapid return function have been achieved.
Patent Information
- Application Number
- CN202411509309.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-28
- Publication Date
- 2025-01-28
AI Technical Summary
The lack of high-precision guidance system in ground environments in existing mobile robots, resulting in inaccurate motion trajectory and difficulty in quickly guiding the robot back to its designated position.
Adopt the guidance device and methods based on the high -frequency boundary magnetic guide line and inertial measurement unit, and cooperate with the control unit on the base station unit and the control unit on the mobile robot to use the inertial measurement unit to measure the biting corner and the three -dimensional magnetic field value. And send motion instructions to ensure that the robot moves along the scheduled trajectory.
The accuracy of the movement of mobile robots can be improved quickly and accurately to guide the robot to return to the specified position, which is suitable for a wide range of ground environments.
Smart Images
Figure CN119376396A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of mobile robots, and in particular to a mobile robot guidance device and method based on a boundary magnetic wire and an inertial measurement unit. Background Art
[0002] Guidance is a technology and method to control an aircraft to fly to a target or a predetermined orbit according to a certain rule. During the guidance process, the guidance system continuously measures the relative position between the aircraft and the target or predetermined orbit, and sends guidance information to the aircraft control system to control the flight. It is divided into wired guidance, wireless guidance, infrared guidance, laser guidance, geomagnetic guidance, inertial guidance, etc.
[0003] Wired guidance and wireless guidance are a form of remote control guidance. The guidance station continuously tracks the target, forms guidance instructions, and transmits the instructions to the guided weapon in a wired form to control the trajectory. The disadvantages are: difficult operation, complex system settings, and short range. and is a technology that uses infrared detectors to capture and track the energy radiated by the target itself to achieve ground-seeking guidance. Laser guidance is a technology that uses lasers to obtain guidance information or transmit guidance instructions to fly to the target. The disadvantages of both are: high cost, poor anti-interference ability, and are not suitable for robots serving courtyards. Geomagnetic guidance refers to drawing the matching characteristic quantities of the geomagnetic field in a certain area on the pre-planned aircraft track into a reference map. When the aircraft flies over this area, the real-time coordinate position of the aircraft is determined, and the guidance computer corrects the flight trajectory in real time to achieve the guidance purpose. The disadvantage is: low guidance accuracy, and in severe cases, it is easy to deviate from the trajectory. Inertial guidance is a technology that uses the inertial principle to control and guide missiles or carrier rockets to fly to the target. The disadvantage is that the accuracy is not high for aircraft.
[0004] Existing mobile robots are widely used in various environments on the ground, such as hotels, shopping malls, restaurants, courtyards, etc. For example, the intelligent lawn mowing robot is a device that uses a highly automated control system to achieve large-scale automated mowing and maintenance of lawns. By integrating technologies such as mowing, grass collection, automatic charging, and solar energy systems, it achieves efficient, convenient, and energy-saving automated garden care. These ground mobile robots urgently need a fast-response guidance system.
[0005] Problems with the above technology: There is an urgent need to develop a guidance device and guidance method suitable for ground mobile robots. Summary of the invention
[0006] The purpose of the present invention is to provide a mobile robot guidance device and method based on a boundary magnetic wire and an inertial measurement unit to solve the problems existing in the prior art.
[0007] In order to solve the above technical problems, the present invention provides the following technical solutions: a mobile robot guidance device based on a boundary magnetic wire and an inertial measurement unit, comprising a base station unit and a control unit located on the mobile robot, wherein the base station unit comprises a current signal generator and a boundary magnetic wire, and the control unit of the mobile robot comprises An inertial measurement unit, adapted to transmit the calculated Euler angles and three-dimensional magnetic field values of the mobile robot to the controller; A controller, adapted to predict and calculate the current position of the mobile robot according to the posture Euler angles and the three-dimensional magnetic field values, thereby issuing a motion instruction; and a motion unit adapted to receive the motion instruction and drive the mobile robot to move accordingly.
[0008] Furthermore, the inertial measurement unit comprises A magnetometer, adapted to receive the boundary magnetic field generated by the boundary magnetic wire and the earth's geomagnetic field to obtain a three-dimensional magnetic field value; An accelerometer, which is suitable for measuring the acceleration of the current motion of the mobile robot; and a gyroscope, suitable for measuring the angular velocity of the current motion of the mobile robot; By confirming the acceleration and angular velocity, the current position Euler angle of the mobile robot is obtained.
[0009] In order to solve the above technical problems, the present invention also provides another technical solution: a guidance method of a mobile robot guidance device based on the above high-frequency boundary magnetic wire and inertial measurement unit, comprising the following steps: S1. Deploy base station units; S2, initialize the mobile robot; S3. Mobile robot monitors sudden magnetic field changes: The three-dimensional magnetic field value of the geomagnetic field is considered to be a normal magnetic field, and the magnetic field value of the non-geomagnetic field is considered to be a sudden magnetic field; If the mobile robot detects a normal magnetic field, it continues to stay in step S3 to keep monitoring; If the mobile robot detects a sudden change in magnetic field, it proceeds to the next step; S4, the controller of the mobile robot triggers an interrupt; S5, the inertial measurement unit measures the motion posture and calculates the posture Euler angle; S6, the controller performs position prediction calculation; S7, the controller sends motion instructions according to the trajectory planning; S8. The motion unit executes the motion instruction.
[0010] Furthermore, the step S1 is specifically as follows: the base station unit generates a high-frequency current signal through a current signal generator to generate a high-frequency magnetic field, and uses the boundary magnetic wire to construct a fully connected geometric figure to limit the motion range of the mobile robot.
[0011] Furthermore, the step S2 is specifically as follows: taking the starting position of the mobile robot as the origin of the absolute coordinate system, executing the motion instruction at a default geomagnetic field angle, so that the mobile robot moves along a fixed direction.
[0012] Furthermore, the step S4 is specifically as follows: the controller of the mobile robot interrupts the main program and enters the coordinate processing program.
[0013] Furthermore, the step S5 is specifically as follows: calculating the current posture Euler angle of the mobile robot through the three-dimensional magnetic field value data obtained by the magnetometer before the mutation, the three-dimensional acceleration data obtained by the accelerometer, and the three-dimensional gyroscope data obtained by the gyroscope; and then transmitting the data to the controller, mainly transmitting the posture Euler angle data and the three-dimensional magnetic field data.
[0014] Furthermore, the step S6 is specifically as follows: first calculate the azimuth of the mobile robot according to the posture Euler angle and the three-dimensional magnetic field data, then establish a two-dimensional azimuth coordinate model, calculate the differential of the real-time running speed of the mobile robot to estimate the position, and use it as the value of the coordinate model, one dimension is the east-west direction, two dimensions are the north-south direction, and the position that has not been reached takes a null value. As the number of two-dimensional azimuth coordinate data recorded increases, a topological structure of a closed geometric figure is constructed.
[0015] Furthermore, the step S7 is specifically as follows: sending motion instructions according to trajectory planning, turning and adjusting the direction to the direction of the next trajectory according to the route required by the process, and generating and sending motion instructions.
[0016] Furthermore, the step S8 is specifically: executing the motion instruction generated by the controller, and if a sudden change in magnetic field is detected, jumping to step S3 until the setting process is completed.
[0017] Compared with the prior art, the beneficial effects achieved by the present invention are: 1. The present invention overcomes the problem of low accuracy of single geomagnetic guidance or single inertial guidance by forming a new guidance device based on high-frequency boundary magnetic guidance and inertial measurement unit, and improves the accuracy of the motion trajectory of the mobile robot; 2. The present invention adopts a high-frequency current signal generator, which plays a role in ensuring the stability of the quality of high-frequency signal transmission; 3. The trajectory guided by the guidance method adopted by the present invention can cover the entire working area of the mowing mobile robot and is comprehensive; the guidance speed is fast and the mowing mobile robot can be quickly guided back to the originally specified position. BRIEF DESCRIPTION OF THE DRAWINGS
[0018] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings: Figure 1 It is a schematic diagram of the module structure of the guidance device of the present invention; Figure 2 It is a process schematic diagram of the guidance method of the present invention; Figure 3 It is a schematic diagram of the origin coordinate position of Example 1.
[0019] Among them, 1. base station unit; 11. current signal generator; 12. boundary magnetic wire; 2. control unit; 21. inertial measurement unit; 22. controller; 23. motion unit; 211. magnetometer; 212. accelerometer; 213. gyroscope. DETAILED DESCRIPTION
[0020] The following will be combined with the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.
[0021] See also Figure 1 A mobile robot guidance device based on high-frequency boundary magnetic wire and inertial measurement unit includes a base station unit 1 and a control unit 2. The base station unit 1 includes a high-frequency current signal generator 11 and a boundary magnetic wire 12. The control unit 2 of the mobile robot includes an inertial measurement unit 21, a controller 22 and a motion unit 23. Among them, the inertial measurement unit 21 is used to transmit the calculated posture Euler angle and three-dimensional magnetic field value to the controller 22; the controller 22 is used to predict and calculate the current position of the mobile robot according to the posture Euler angle and the three-dimensional magnetic field value; the motion unit 23 is used to receive the motion command issued by the controller 22 according to the current position, and drive the mobile robot to move.
[0022] The inertial measurement unit 21 includes a magnetometer 211, an accelerometer 212 and a gyroscope 213. The magnetometer 211 is used to receive the boundary magnetic field generated by the boundary magnetic wire 12 and the earth's geomagnetic field to obtain a three-dimensional magnetic field value; the accelerometer 212 is used to measure the acceleration of the current movement; and the gyroscope 213 is used to measure the angular velocity of the current movement. After obtaining the acceleration and angular velocity, the current posture Euler angle of the robot can be further obtained.
[0023] The base station unit of the present invention is installed in any physical scene to be navigated. The control unit of the present invention can be installed in any mobile robot.
[0024] See also Figure 2 The above guidance method based on high-frequency boundary magnetic wire and inertial measurement unit includes the following steps: S1. Deploy base station units; S2, initialize the mobile robot; S3, mobile robot monitors sudden magnetic field; S4, the controller of the mobile robot triggers an interrupt; S5, the inertial measurement unit measures the motion posture and calculates the posture Euler angle; S6, the controller performs position prediction calculation; S7, the controller sends motion instructions according to trajectory planning; S8. The motion unit executes the motion instruction.
[0025] Example 1 The guidance device and guidance method are applied to the field of lawn mowing mobile robots in the courtyard. The current signal generator uses a high frequency range of 3MHz to X00GHz. The high-frequency signal distortion rate is small, it has strong recoverability and strong anti-interference. The high-frequency current signal generator is pre-installed in the charging pile of the lawn mowing mobile robot, the charging pile is installed in the courtyard and the circuit is connected, and the boundary magnetic wire is pre-buried according to the area range of one's own needs. The magnetometer, accelerometer, gyroscope and other sensors, such as sensors for monitoring sudden magnetic fields, are pre-installed on the control panel of the lawn mowing mobile robot.
[0026] S1. Deploy base station units: Specifically, for example, the boundary magnetic wire constructs a fully connected geometric boundary, such as a rectangle, circle or other irregular shape, and the mowing mobile robot is placed within the boundary. A high-frequency magnetic field is emitted, and the boundary magnetic wire binds electromagnetic waves, and the high-frequency electromagnetic wave signal is transmitted under controlled dissipation, thereby limiting the range of motion of the mowing mobile robot.
[0027] S2. Initialize the mobile robot: Specifically, for example, the starting position of the lawn mowing mobile robot is used as the origin of the absolute coordinate system (Fv x0 -Fv xt, F y0 ), Fv x0 Indicates the initialization of the X-axis coordinate, Fv xt Indicates the real-time coordinates after hitting the boundary, Fv y0 The cumulative Y coordinates after the decomposition of the geomagnetic field angle direction, refer to Figure 3 The magnetometer receives the boundary magnetic field generated by the boundary magnetic wire and the earth's geomagnetic field to obtain the three-dimensional magnetic field value. The control board on the mowing robot executes the motion command with the default received geomagnetic field angle of the earth, so that the mowing mobile robot moves in a fixed direction. Initializing the mowing mobile robot can accelerate its training of the image model formed by the boundary magnetic wire and improve its accuracy and stability.
[0028] S3. Mobile robot monitors sudden magnetic field changes: Specifically, for example, the magnetic field distribution inside and outside the boundary of the figure constructed by the boundary magnetic wire is different. The three-dimensional magnetic field value of the geomagnetic field received by the magnetometer is assumed to be a normal magnetic field, and the magnetic field value of the non-geomagnetic field is assumed to be a sudden magnetic field. If the magnetometer on the mowing mobile robot detects a normal magnetic field, it indicates that the mowing robot is still working, resting or charging within the image boundary, and then it continues to stay in this step to keep monitoring. If the magnetometer detects a sudden magnetic field, it indicates that the mowing robot may be located on the boundary of the figure or outside the boundary of the figure, and then enters step S4.
[0029] S4, the controller of the mobile robot triggers an interrupt: Specifically, for example, at this time the controller of the mowing mobile robot will interrupt the main program, such as the mowing mode program or the charging standby mode program, enter the coordinate processing program, and confirm the new coordinate position of the mowing mobile robot.
[0030] S5. The inertial measurement unit measures the motion posture and calculates the posture Euler angle: Specifically, for example, the inertial measurement unit on the lawn mowing robot calculates the Euler angle of the mobile robot's current posture through the three-dimensional magnetic field value data obtained by the magnetometer before the mutation, the three-dimensional acceleration data obtained by the accelerometer, and the three-dimensional gyroscope data obtained by the gyroscope; and then transmits the data to the controller, mainly transmitting the posture Euler angle data and three-dimensional magnetic field data.
[0031] S6. The controller performs position prediction calculation: Specifically, for example, the azimuth of the mowing mobile robot is first calculated based on the posture Euler angle and three-dimensional magnetic field data, and then a two-dimensional azimuth coordinate model is established. The differential of the real-time running speed of the mowing mobile robot is calculated to estimate the position, and used as the value of the coordinate model. One dimension is the east-west direction, and two dimensions are the north-south direction. Positions that have not been reached take null values. As more two-dimensional azimuth coordinate data are recorded, the topological structure of closed geometric figures is constructed, and the position of the mowing mobile robot is deeply recorded and learned.
[0032] S7. The controller sends motion instructions according to trajectory planning: Specifically, for example, the motion unit of the mowing mobile robot includes a driving motor, a driving wheel, a driven wheel and a walking belt. The controller sends a motion instruction to the driving motor according to the trajectory planning, and the driving wheel drives the driving wheel to rotate, thereby driving the driven wheel and the walking belt to move, turning according to the required route of mowing and adjusting the direction to the direction of the next trajectory.
[0033] S8, the motion unit executes the motion instruction: Specifically, for example, the mowing mobile machine that returns to the original set trajectory position continues to execute the motion instruction generated by the controller, such as mowing work. If the magnetometer on the mowing mobile robot detects a sudden change in magnetic field, it jumps to step S3 and continues to S8 until the set mowing process is completed.
[0034] The above description is only a specific embodiment of the present invention, so that those skilled in the art can understand or implement the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but should conform to the widest scope consistent with the principles and novel features invented herein.
Claims
1. A mobile robot guidance device based on a boundary magnetic wire and an inertial measurement unit, comprising a base station unit and a control unit located on the mobile robot, wherein the base station unit comprises a current signal generator and a boundary magnetic wire, and is characterized in that: The control unit of the mobile robot includes An inertial measurement unit, adapted to transmit the calculated Euler angles and three-dimensional magnetic field values of the mobile robot to the controller; A controller, adapted to predict and calculate the current position of the mobile robot according to the posture Euler angles and the three-dimensional magnetic field values, thereby issuing a motion instruction; and a motion unit adapted to receive the motion instruction and drive the mobile robot to move accordingly.
2. The mobile robot guidance device based on boundary magnetic wire and inertial measurement unit according to claim 1 is characterized in that: The inertial measurement unit comprises A magnetometer, adapted to receive the boundary magnetic field generated by the boundary magnetic wire and the earth's geomagnetic field to obtain a three-dimensional magnetic field value; An accelerometer, which is suitable for measuring the acceleration of the current motion of the mobile robot; and a gyroscope, suitable for measuring the angular velocity of the current motion of the mobile robot; By confirming the acceleration and angular velocity, the current position Euler angle of the mobile robot is obtained.
3. A guidance method for a mobile robot guidance device based on the high-frequency boundary magnetic wire and inertial measurement unit according to claim 2, characterized in that: The steps include: S1. Deploy base station units; S2, initialize the mobile robot; S3. Mobile robot monitors sudden magnetic field changes: The three-dimensional magnetic field value of the geomagnetic field is considered to be a normal magnetic field, and the magnetic field value of the non-geomagnetic field is considered to be a sudden magnetic field; If the mobile robot detects a normal magnetic field, it continues to stay in step S3 to keep monitoring; If the mobile robot detects a sudden change in magnetic field, it proceeds to the next step; S4, the controller of the mobile robot triggers an interrupt; S5, the inertial measurement unit measures the motion posture and calculates the posture Euler angle; S6, the controller performs position prediction calculation; S7, the controller sends motion instructions according to the trajectory planning; S8. The motion unit executes the motion instruction.
4. The mobile robot guidance device based on boundary magnetic wire and inertial measurement unit according to claim 3 is characterized in that: The step S1 specifically includes: the base station unit generates a current signal through a current signal generator to generate a magnetic field, and uses the boundary magnetic wire to construct a fully connected geometric figure to limit the motion range of the mobile robot.
5. The mobile robot guidance device based on boundary magnetic wire and inertial measurement unit according to claim 3 is characterized in that: The step S2 specifically includes: taking the starting position of the mobile robot as the origin of the absolute coordinate system, executing the motion instruction at the default geomagnetic field angle, and making the mobile robot move along a fixed direction.
6. The mobile robot guidance device based on boundary magnetic wire and inertial measurement unit according to claim 3 is characterized in that: The step S4 is specifically as follows: the controller of the mobile robot interrupts the main program and enters the coordinate processing program.
7. The mobile robot guidance device based on boundary magnetic wire and inertial measurement unit according to claim 3 is characterized in that: The step S5 is specifically as follows: calculating the current posture Euler angle of the mobile robot through the three-dimensional magnetic field value data obtained by the magnetometer before the mutation, the three-dimensional acceleration data obtained by the accelerometer, and the three-dimensional gyroscope data obtained by the gyroscope; and then transmitting the data to the controller, mainly transmitting the posture Euler angle data and the three-dimensional magnetic field data.
8. The mobile robot guidance device based on boundary magnetic wire and inertial measurement unit according to claim 3 is characterized in that: The step S6 is specifically as follows: firstly, the azimuth of the mobile robot is calculated according to the posture Euler angle and the three-dimensional magnetic field data, and then a two-dimensional azimuth coordinate model is established, and the differential of the real-time running speed of the mobile robot is calculated to estimate the position, and the position is used as the value of the coordinate model. One dimension is the east-west direction, and two dimensions are the north-south direction. The position that has not been reached takes a null value. As more two-dimensional azimuth coordinate data is recorded, a topological structure of a closed geometric figure is constructed.
9. The mobile robot guidance device based on boundary magnetic wire and inertial measurement unit according to claim 3 is characterized in that: The step S7 specifically includes: sending motion instructions according to the trajectory planning, turning and adjusting the direction to the direction of the next trajectory according to the route required by the process, and generating and sending motion instructions.
10. The mobile robot guidance device based on boundary magnetic wire and inertial measurement unit according to claim 3, characterized in that: The step S8 specifically includes: executing the motion instruction generated by the controller, and if a sudden change in magnetic field is detected, jumping to step S3 until the setting process is completed.