Robot positioning method, mowing robot and system thereof

Abstract

The invention discloses a robot positioning method, a mowing robot and a system thereof, and the method comprises the steps: sensing a first positioning signal and a second positioning signal transmitted on a wire through at least two positioning sensors, so as to obtain a first receiving signal and a second receiving signal corresponding to each positioning sensor; wherein the two positioning sensors comprise a first positioning sensor and a second positioning sensor, and the first positioning sensor and the second positioning sensor are arranged on the robot front and back; and determining the current position of the robot according to the first receiving signal and the second receiving signal in response to a positioning instruction. According to the embodiment of the invention, the first positioning sensor and the second positioning sensor which are arranged in front of and behind the robot are used for sensing the magnetic field signal of the wire, more positioning data are obtained for robot positioning, the positioning accuracy is improved, and the requirements of scenes with high positioning accuracy requirements are met.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent robots, and in particular to a robot positioning method, a lawn mowing robot and a system thereof. Background Art

[0002] The robot moves within a preset working area to complete the predetermined work task. The preset working area is usually determined by wires such as boundary cables. In the robot system, the signal generator sends a periodic pulse current signal to the wire that forms a loop around the working area. The current signal flows through the wire to form a magnetic field signal centered on the wire to transmit boundary information. The robot uses a boundary sensor to detect the magnetic field signal in the working area, and analyzes the magnetic field signal through the processor to determine the boundary information, thereby controlling the movement of the robot.

[0003] However, existing boundary sensors can only control the robot to travel along the route and determine the working area, but cannot locate the robot. Summary of the invention

[0004] The present invention aims to at least solve the technical problems existing in the prior art. To this end, the present invention provides a robot positioning method in a first aspect, comprising:

[0005] Using at least two positioning sensors to sense the first positioning signal and the second positioning signal transmitted on the wire, a first receiving signal and a second receiving signal corresponding to each positioning sensor are obtained; wherein the two positioning sensors include a first positioning sensor and a second positioning sensor, the first positioning sensor and the second positioning sensor are arranged on the robot front and back, and a first sensing axis of the first positioning sensor and a second sensing axis of the second positioning sensor are parallel;

[0006] In response to a positioning instruction, a current position of the robot is determined according to the first received signal and the second received signal.

[0007] Optionally, in response to the positioning instruction, determining the current position of the robot according to the first received signal and the second received signal comprises:

[0008] In the process of the robot moving along the wire, in response to the positioning instruction, the position point of the first positioning sensor on the wire is calculated according to the first received signal and the second received signal obtained by the first positioning sensor as a third wire position point, and the position of the robot in the working area is obtained by using the relative positioning sensor as third relative positioning data;

[0009] In response to the positioning instruction, according to the first received signal and the second received signal obtained by the second positioning sensor, the position point of the second positioning sensor on the wire is calculated as a fourth wire position point, and at the same time, the relative positioning sensor is used to obtain the position of the robot in the working area as fourth relative positioning data;

[0010] Based on a preset first mapping relationship and a second mapping relationship, the current position of the robot in the working area is determined according to the third wire position point, the third relative positioning data, the fourth wire position point, and the fourth relative positioning data; wherein the first mapping relationship is a mapping relationship between a first wire position point associated with the first positioning sensor and first relative positioning data, and the second mapping relationship is a mapping relationship between a second wire position point and second relative positioning data associated with the second positioning sensor.

[0011] Optionally, the first mapping relationship and the second mapping relationship are obtained in the following manner:

[0012] In response to the line patrol and mapping instruction, entering the line patrol and mapping mode, and controlling the robot to travel one circle along the wire;

[0013] In the process of the robot traveling along the wire for one circle, the first positioning sensor is used to determine a plurality of position points of the first positioning sensor on the wire as first wire position points, and the relative positioning sensor is used to obtain the position of the robot in the working area as first relative positioning data, and a first mapping relationship between the first wire position points and the first relative positioning data is constructed;

[0014] During the process of the robot traveling along the wire for one circle, the second positioning sensor is used to determine several position points of the second positioning sensor on the wire as second wire position points, and the relative positioning sensor is used to obtain the position of the robot in the working area as second relative positioning data, and a second mapping relationship between the second wire position points and the second relative positioning data is constructed.

[0015] Optionally, it also includes:

[0016] When the robot moves to the turning area of ​​the wire, the robot is controlled to adjust its posture so that each positioning sensor can move to each position point in the turning area.

[0017] Optionally, the positioning sensor includes a first positioning sensor and a second positioning sensor, the first positioning sensor and the second positioning sensor are respectively arranged on the central axis of the robot, and the first positioning sensor is closer to the robot head than the second positioning sensor.

[0018] Optionally, controlling the robot to adjust the posture so that each positioning sensor can run to each position point in the turning area includes:

[0019] Controlling the robot to move forward along the current conductor segment of the conductor, and after the second positioning sensor detects an inflection point, controlling the robot to rotate with the inflection point as the center of a circle so that the robot faces the next conductor segment, and controlling the robot to retreat after completing the rotation until the first positioning sensor detects the inflection point, and controlling the robot to move forward along the next conductor segment;

[0020] Alternatively, the robot is controlled to move forward along the current wire segment, and after the second positioning sensor detects the turning point, the robot is controlled to move backward until the first positioning sensor detects the turning point, and the robot is controlled to rotate with the first positioning sensor as the center so that the robot faces the next wire segment, and the robot is controlled to move forward along the next wire segment.

[0021] Optionally, it also includes:

[0022] The robot is controlled to travel along the wire in the following way:

[0023] Using at least one boundary sensor to sense the boundary signal transmitted on the wire;

[0024] The robot is controlled to travel along the wire according to the boundary signal; wherein, when the number of the boundary sensors is 1, the boundary sensor is arranged on the central axis of the robot, and when the number of the boundary sensors is greater than 1, at least one boundary sensor is respectively arranged on both sides of the central axis; the sensing axis of the boundary sensor is perpendicular to the working surface of the robot, and the sensing axis of the boundary sensor is respectively perpendicular to the sensing axis of each of the positioning sensors.

[0025] A third aspect of the present invention provides a lawn mowing robot, comprising a control module, a drive module, a lawn mowing module and a sensor module, wherein the control module is communicatively connected with the drive module, the lawn mowing module and the sensor module respectively;

[0026] The mowing module is used for mowing;

[0027] The driving module is used to drive the lawn mowing robot to move;

[0028] The sensing module includes at least two positioning sensors;

[0029] The control module is used to execute the robot positioning method as described in any of the above embodiments, and the control module is also used to control the operation of the driving module and the mowing module.

[0030] Optionally, the positioning sensor includes a first positioning sensor and a second positioning sensor, and a distance between the first positioning sensor and the second positioning sensor is greater than a diameter of a blade disc of the mowing module.

[0031] A third aspect of the present invention provides a lawn mowing robot system, comprising a wire, a charging station and the lawn mowing robot according to any one of the above embodiments;

[0032] The wire is used to define the working area of ​​the lawn mowing robot. The wire is equipped with a signal generator, which is connected to both ends of the wire and is used to inject a first positioning signal into the first end of the wire and inject a second positioning signal and a boundary signal into the second end of the wire.

[0033] The charging station is arranged on the wire and is used to provide electric energy for the lawn mowing robot.

[0034] Compared with the prior art, the robot positioning method, lawn mowing robot and system disclosed in the embodiments of the present invention obtain the first receiving signal and the second receiving signal corresponding to each positioning sensor by using at least two positioning sensors to sense the first positioning signal and the second positioning signal transmitted on the wire; wherein the two positioning sensors include a first positioning sensor and a second positioning sensor, and the first positioning sensor and the second positioning sensor are arranged on the robot in front and behind; by responding to the positioning instruction, the current position of the robot is determined according to the first receiving signal and the second receiving signal. It can be seen that the embodiments of the present invention use the first positioning sensor and the second positioning sensor arranged in front and behind the robot to sense the magnetic field signal of the wire, obtain more positioning data to perform robot positioning, improve the positioning accuracy, and meet the needs of scenes with high positioning accuracy requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 A flowchart of a robot positioning method provided by an embodiment of the present invention;

[0036] Figure 2 A schematic diagram of sensor installation provided by an embodiment of the present invention;

[0037] Figure 3 A schematic diagram of signal transmission and reception provided by an embodiment of the present invention;

[0038] Figure 4 A schematic diagram of a signal waveform timing sequence provided by an embodiment of the present invention;

[0039] Figure 5 A schematic diagram of a robot turning provided by an embodiment of the present invention;

[0040] Figure 6 A schematic diagram of another robot turning and driving provided by an embodiment of the present invention;

[0041] Among them, 1. the first positioning sensor; 2. the second positioning sensor; 3. the first boundary sensor; 4. the second boundary sensor; 5. the first collision sensor; 6. the second collision sensor; 7. the first lifting sensor; 8. the second lifting sensor; 9. the cutter head; 10. the first wire segment; 20. the second wire segment. DETAILED DESCRIPTION

[0042] The following will be combined with the drawings in 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.

[0043] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present disclosure, unless otherwise specified, "multiple" means two or more. In addition, the use of "based on" or "according to" means openness and inclusiveness, because the process, steps, calculations or other actions "based on" or "according to" one or more of the conditions or values ​​may be based on additional conditions or values ​​beyond the described values ​​in practice.

[0044] See also Figure 1 and Figure 2 , Figure 1 is a flow chart of a robot positioning method provided by an embodiment of the present invention. Figure 2 This is a schematic diagram of a sensor installation provided by an embodiment of the present invention. The method comprises steps S11 to S12:

[0045] S11, using at least two positioning sensors to sense the first positioning signal and the second positioning signal transmitted on the wire, to obtain a first receiving signal and a second receiving signal corresponding to each positioning sensor; wherein the two positioning sensors include a first positioning sensor 1 and a second positioning sensor 2, and the first positioning sensor 1 and the second positioning sensor 2 are arranged on the robot front and back;

[0046] S12. In response to a positioning instruction, determine a current position of the robot according to the first received signal and the second received signal.

[0047] It is worth noting that the first positioning signal transmitted on the wire will generate a first magnetic field around the wire, and the positioning sensor obtains a first receiving signal by sensing the first magnetic field. Similarly, the second positioning signal transmitted on the wire will generate a second magnetic field around the wire, and the positioning sensor obtains a second receiving signal by sensing the second magnetic field; wherein the transmission directions of the first positioning signal and the second positioning signal are opposite.

[0048] For example, see Figure 2 The first positioning sensor 1 and the second positioning sensor 2 are arranged on the robot front and back. More specifically, the first positioning sensor 1 and the second positioning sensor 2 are installed on the central axis of the mobile robot, respectively located at the front end and the rear end of the bottom plate of the mobile robot. The robot travels along the wire. During the travel, the first positioning sensor 1 and the second positioning sensor 2 are respectively located at different positions of the wire, namely the first position and the second position. Therefore, the first positioning sensor 1 and the second positioning sensor 2 sense the first positioning signal and the second positioning signal at the first position and the second position respectively, and obtain the corresponding first receiving signal and the second receiving signal, which are used to calculate the current position of the robot.

[0049] Compared with the prior art, the embodiment of the present invention simultaneously utilizes the first positioning sensor 1 and the second positioning sensor 2 to sense the first positioning signal and the second positioning signal transmitted on the wire. Compared with one positioning sensor, when the robot walks the same distance along the wire, it can obtain positioning data of up to twice the length, thereby providing longer positioning data, further improving the positioning accuracy, and meeting the needs of scenarios with higher requirements for positioning accuracy.

[0050] In one embodiment, in response to the positioning instruction, determining the current position of the robot according to the first received signal and the second received signal includes:

[0051] In the process of the robot moving along the wire, in response to the positioning instruction, the position point of the first positioning sensor 1 on the wire is calculated as a third wire position point according to the first receiving signal and the second receiving signal obtained by the first positioning sensor 1, and the position of the robot in the working area is obtained as third relative positioning data by using the relative positioning sensor;

[0052] In response to the positioning instruction, according to the first received signal and the second received signal obtained by the second positioning sensor 2, the position point of the second positioning sensor 2 on the wire is calculated as a fourth wire position point, and at the same time, the relative positioning sensor is used to obtain the position of the robot in the working area as fourth relative positioning data;

[0053] Based on a preset first mapping relationship and a second mapping relationship, the current position of the robot in the working area is determined according to the third wire position point, the third relative positioning data, the fourth wire position point, and the fourth relative positioning data; wherein the first mapping relationship is a mapping relationship between the first wire position point and the first relative positioning data associated with the first positioning sensor 1, and the second mapping relationship is a mapping relationship between the second wire position point and the second relative positioning data associated with the second positioning sensor 2.

[0054] The embodiment of the present invention compares the wire position points detected by the two positioning sensors and the relative positioning data detected by the relative positioning sensor with a preset mapping relationship, so as to quickly determine the current position of the robot in the working area.

[0055] In one embodiment, in response to the positioning instruction, determining the current position of the robot according to the first received signal and the second received signal includes:

[0056] Acquire a first mapping relationship and a second mapping relationship; wherein the first mapping relationship is a mapping relationship between a first wire position point associated with the first positioning sensor 1 and first relative positioning data, and the second mapping relationship is a mapping relationship between a second wire position point associated with the second positioning sensor 2 and second relative positioning data;

[0057] In the process of the robot traveling along the wire, in response to a positioning instruction, a plurality of position points of the first positioning sensor 1 on the wire are calculated as third wire position points according to the first receiving signal and the second receiving signal received by the first positioning sensor 1 within a preset traveling distance, and the relative positioning sensor is used to obtain the position of the robot in the working area as third relative positioning data, and a third mapping relationship between the third wire position points and the third relative positioning data is constructed;

[0058] In response to the positioning instruction, a plurality of position points of the second positioning sensor 2 on the wire are calculated as fourth wire position points according to the first receiving signal and the second receiving signal received by the second positioning sensor 2 within the preset driving distance, and the relative positioning sensor is used to obtain the position of the robot in the working area as fourth relative positioning data, and a fourth mapping relationship between the fourth wire position point and the fourth relative positioning data is constructed;

[0059] Subtract each of the third conductor position points from the corresponding first conductor position point to obtain a plurality of first position differences, and subtract each of the fourth conductor position points from the corresponding second conductor position point to obtain a plurality of second position differences; wherein the relative positioning data of the third conductor position point and the corresponding first conductor position point are the same, and the relative positioning data of the fourth conductor position point and the corresponding second conductor position point are the same;

[0060] Calculate the total deviation at each time point using the first position difference and the second position difference at the same time point;

[0061] The current position of the robot in the working area is calculated according to the third relative positioning data and the fourth relative positioning data corresponding to the minimum total deviation.

[0062] It is worth noting that in practical applications, it is necessary to consider the degree of change of the robot application scenario and decide on the update strategy of the first mapping relationship and the second mapping relationship. In some application scenarios with large changes, the robot needs to update the first mapping relationship and the second mapping relationship before each work. For application scenarios with almost no changes, the generated first mapping relationship and the second mapping relationship can be reused and updated regularly / irregularly.

[0063] The embodiment of the present invention respectively uses two positioning sensors to detect a plurality of wire position points within a preset driving distance, and uses a relative positioning sensor to detect a plurality of relative positioning data, which can avoid the problem of inaccurate positioning caused by instantaneous errors. By comparing the currently detected wire position points with the pre-configured corresponding wire position points, the data with the smallest deviation of the wire position points are screened out to find accurate relative positioning data, thereby realizing precise positioning of the robot.

[0064] Furthermore, the relative positioning sensor is an odometer, which is arranged on the robot and can be used to realize real-time estimation of posture. It is worth noting that the relative positioning sensor is not limited to the odometer, but can also be other sensors, which is not limited here.

[0065] In one implementation, the first mapping relationship and the second mapping relationship are obtained in the following manner:

[0066] In response to the line patrol and mapping instruction, entering the line patrol and mapping mode, and controlling the robot to travel one circle along the wire;

[0067] In the process of the robot traveling along the wire for one circle, the first positioning sensor 1 is used to determine a plurality of position points of the first positioning sensor 1 on the wire as first wire position points, and the relative positioning sensor is used to obtain the position of the robot in the working area as first relative positioning data, and a first mapping relationship between the first wire position points and the first relative positioning data is constructed;

[0068] During the process of the robot traveling along the wire for one circle, the second positioning sensor 2 is used to determine several position points of the second positioning sensor 2 on the wire as second wire position points, and the relative positioning sensor is used to obtain the position of the robot in the working area as second relative positioning data, and a second mapping relationship between the second wire position points and the second relative positioning data is constructed.

[0069] Exemplarily, the generation and application process of the first mapping relationship and the second mapping relationship is as follows:

[0070] After the robot starts from the starting point, it is controlled to enter the line patrol and mapping mode. In this mode, the robot is controlled to travel one circle along the wire. During the robot's travel along the wire:

[0071] (1) using the first positioning sensor 1 to obtain a plurality of position points of the first positioning sensor 1 on the wire (first wire position points); and simultaneously using the relative positioning sensor to obtain the position of the robot in the working area (first relative positioning data), and establishing a mapping relationship between the position of the robot on the wire and the relative positioning data in a rectangular coordinate system, i.e., a first mapping relationship (the position of the robot on the wire is the vertical axis, and the relative positioning data is the horizontal axis);

[0072] (2) The second positioning sensor 2 is used to obtain multiple position points of the second positioning sensor 2 on the conductor (second conductor position points), and the relative positioning sensor is used to obtain the position of the robot in the working area (second relative positioning data). A mapping relationship between the position of the robot on the conductor and the relative positioning data is established in a rectangular coordinate system, i.e., a second mapping relationship (the position of the robot on the conductor is the vertical axis, and the relative positioning data is the horizontal axis).

[0073] When the robot travels the preset distance along the wire again:

[0074] (3) using the first positioning sensor 1 to obtain multiple position points of the first positioning sensor 1 on the wire (third wire position points); and simultaneously using the relative positioning sensor to obtain the position of the robot in the working area (third relative positioning data), and establishing a mapping relationship between the position of the robot on the wire and the relative positioning data in a rectangular coordinate system, that is, a third mapping relationship (the position of the robot on the wire is the vertical axis, and the relative positioning data is the horizontal axis);

[0075] (4) using the second positioning sensor 2 to obtain multiple position points of the second positioning sensor 2 on the wire (fourth wire position points); and simultaneously using the relative positioning sensor to obtain the position of the robot in the working area (fourth relative positioning data), and establishing a mapping relationship between the position of the robot on the wire and the relative positioning data in a rectangular coordinate system, i.e., a fourth mapping relationship (the position of the robot on the wire is the vertical axis, and the relative positioning data is the horizontal axis);

[0076] Method to obtain the position of the robot in the working area:

[0077] (5) Subtract the vertical axis of the first mapping relationship from the vertical axis of the third mapping relationship, and subtract the vertical axis of the second mapping relationship from the vertical axis of the fourth mapping relationship. When the sum of the two differences (or the square of the differences) reaches a minimum value, it is the relative positioning data corresponding to the position of the robot on the wire. The position of the robot in the working area is calculated based on the relative positioning data and the data obtained by inertial sensor monitoring.

[0078] It is worth noting that the method of determining the position of the robot in the working area according to the first mapping relationship, the second mapping relationship, the third mapping relationship and the fourth mapping relationship is not limited to the above specific examples, and can also be other methods, which are not limited here.

[0079] In an embodiment of the present invention, by configuring a first mapping relationship for the first positioning sensor 1 and a second mapping relationship for the second positioning sensor 2 in the line patrol and mapping mode for subsequent robot positioning, the robot can achieve fast and accurate positioning.

[0080] Specifically, the following describes in detail how to determine the position of the positioning sensor (the first positioning sensor 1 or the second positioning sensor 2) on the wire according to the first received signal and the second received signal:

[0081] like Figure 3 and Figure 4As shown, assuming that the signal generator is set at the base station, the base station sends a first positioning signal s1 to the right wire segment L2 in the T0 period, and the first positioning signal s1 is transmitted on the wire. In the T2 period, the second positioning signal s2 is sent to the left wire segment L1, and the second positioning signal s2 is transmitted on the wire. The positioning sensor obtains a first receiving signal s1' in the T1 period and a second receiving signal s2' in the T3 period. Figure 4 As shown, the x-axis represents time and the y-axis represents the amplitude of the wave. Figure 4 The four sine waves from left to right shown in the figure are the first positioning signal s1, the first receiving signal s1', the second positioning signal s2, and the second receiving signal s2'. The process of calculating the position of the robot on the wire is as follows:

[0082] Obtain a first receiving time of the first received signal and a second receiving time of the second received signal; obtain a first sending time of the first positioning signal and a second sending time of the second positioning signal;

[0083] Based on the receiving time difference (T3-T1) (or phase difference) between the first receiving time and the second receiving time, the sending time difference (T2-T0) (or phase difference) between the first sending time and the second sending time, the first propagation speed of the first positioning signal and the second propagation speed of the second positioning signal, the wire lengths of the right wire segment L2 and the left wire segment L1 are determined; wherein the second propagation speed is equal to the first propagation speed.

[0084] The specific calculation formula for the wire length is as follows:

[0085] L1-L2=[T3-T1-(T2-T0)]*V;

[0086] L1+L2=L 总长 ;

[0087] Wherein, L1 and L2 represent the wire length of the left wire segment and the wire length of the right wire segment respectively, (T3-T1) represents the reception time difference between the first reception time and the second reception time, (T2-T0) represents the transmission time difference between the first transmission time and the second transmission time, V represents the propagation speed of the first positioning signal and the second positioning signal in the wire, L 总长 Indicates the total length of the wire.

[0088] In one embodiment, it further includes:

[0089] When the robot moves to the turning area of ​​the wire, the robot is controlled to adjust its posture so that each positioning sensor can move to each position point in the turning area.

[0090] In one embodiment, the positioning sensor includes a first positioning sensor 1 and a second positioning sensor 2, the first positioning sensor 1 and the second positioning sensor 2 are respectively arranged on the central axis of the robot, the first positioning sensor 1 is closer to the robot head than the second positioning sensor 2; the first sensing axis of the first positioning sensor 1 and the second sensing axis of the second positioning sensor 2 are parallel.

[0091] Specifically, the first positioning sensor 1 and the second positioning sensor 2 are inductive sensors, which contain sensing coils. The first positioning sensor 1 includes a first sensing coil having a first sensing axis; the second positioning sensor 2 includes a second sensing coil having a second sensing axis; the first sensing axis is parallel to the second sensing axis.

[0092] Exemplarily, taking the first positioning sensor 1 as an example, the first positioning signal and the second positioning signal will generate a magnetic field around them during the transmission process along the wire. When the robot travels along the wire, the change of the magnetic field around the first sensing axis triggers the change of the current in the first sensing coil. The first positioning sensor 1 collects the current signal and fits the collected current signal to obtain a signal with a change rule (the first receiving signal and the second receiving signal). It is worth noting that the first positioning signal, the second positioning signal, the first receiving signal and the second receiving signal can be a sinusoidal signal or other types of signals, which are not limited here. Similarly, the acquisition principle of the first receiving signal and the second receiving signal by the second positioning sensor 2 is the same as that of the first positioning sensor 1, which is not repeated here. It can be understood that since the first sensing axis is parallel to the second sensing axis, the first positioning sensor 1 and the second positioning sensor 2 can sense the first positioning signal and the second positioning signal from the same direction at the first position and the second position, respectively, to provide the robot with richer positioning information.

[0093] In one embodiment, controlling the robot to adjust the posture so that each positioning sensor can run to each position point in the turning area includes:

[0094] Control the robot to move forward along the current conductor segment of the conductor, and after the second positioning sensor 2 detects an inflection point, control the robot to rotate with the inflection point as the center of a circle so that the robot faces the next conductor segment, and control the robot to retreat after completing the rotation until the first positioning sensor 1 detects the inflection point, and control the robot to move forward along the next conductor segment;

[0095] Alternatively, the robot is controlled to move forward along the current wire segment, and after the second positioning sensor 2 detects the turning point, the robot is controlled to move backward until the first positioning sensor 1 detects the turning point, and the robot is controlled to rotate with the first positioning sensor 1 as the center so that the robot faces the next wire segment, and the robot is controlled to move forward along the next wire segment.

[0096] Exemplarily, the turning area includes a first wire segment 10 (current wire segment) and a second wire segment 20 (next wire segment) connected to each other. The robot has two turning methods in the turning area. Figure 5 The robot turns as shown in the schematic diagram. The specific process of the robot turning is that the robot moves forward on the first wire segment 10 until the second positioning sensor 2 detects the turning point. After the second positioning sensor 2 detects the turning point, the robot is controlled to rotate in the direction of the second wire segment 20 with the second positioning sensor 2 as the rotation center. After the robot rotates, it moves backward along the second wire segment 20 until the first positioning sensor 1 detects the signal of the turning point, and then the robot is controlled to move normally on the second wire segment 20. The second turning method: see Figure 6 The schematic diagram of the robot turning is shown. The specific process of the robot turning is that the robot moves forward on the first wire segment 10 until the second positioning sensor 2 detects the turning point. After the second positioning sensor 2 detects the turning point, the robot is controlled to move backward along the first wire segment 10 until the first positioning sensor 1 detects the turning point. The robot is controlled to rotate in the direction of the second wire segment 20 with the first positioning sensor 1 as the rotation center. Finally, the robot is controlled to move normally on the second wire segment 20.

[0097] In an embodiment of the present invention, by controlling the robot to perform operations such as rotation and backward movement, the first positioning sensor 1 and the second positioning sensor 2 on the robot can run to each position point in the turning area, so that the constructed first mapping relationship and the second mapping relationship can cover all position points on the wire, which is conducive to realizing fast and accurate positioning of the robot.

[0098] In one embodiment, it further includes:

[0099] The robot is controlled to travel along the wire in the following way:

[0100] Using at least one boundary sensor to sense the boundary signal transmitted on the wire;

[0101] The robot is controlled to travel along the wire according to the boundary signal; wherein, when the number of the boundary sensors is 1, the boundary sensor is arranged on the central axis of the robot, and when the number of the boundary sensors is greater than 1, at least one boundary sensor is respectively arranged on both sides of the central axis; the sensing axis of the boundary sensor is perpendicular to the working surface of the robot, and the sensing axis of the boundary sensor is respectively perpendicular to the sensing axis of each of the positioning sensors.

[0102] Exemplarily, assuming that there is only one boundary sensor, the boundary sensor is set on the central axis of the robot, and the distance between the boundary sensor and the first positioning sensor 1 is smaller than the distance between the boundary sensor and the second positioning sensor 2. Assuming that the number of boundary sensors is 2, including the first boundary sensor 3 and the second boundary sensor 4, the first boundary sensor 3 and the second boundary sensor 4 are as follows: Figure 1 As shown, they are respectively arranged on both sides of the central axis of the robot; a low-frequency boundary signal is transmitted on the wire. When the wire is located between the first boundary sensor 3 and the second boundary sensor 4, the magnetic field signals felt by the first boundary sensor 3 and the second boundary sensor 4 are in opposite directions, and the magnetic field strengths are equivalent. When the wire is located outside the robot, the magnetic field directions felt by the first boundary sensor 3 and the second boundary sensor 4 are the same, and the magnetic field strength felt by one of the boundary sensors closer to the boundary wire is larger. The robot is controlled to move along the wire through the above signal characteristics.

[0103] It is worth noting that the boundary sensor is not limited to one or two, and can be set according to actual conditions. The sensing axis of the boundary sensor is perpendicular to the working surface of the robot, and the sensing axis of the boundary sensor is perpendicular to the sensing axis of each positioning sensor.

[0104] An embodiment of the present invention further provides a robot positioning device, comprising:

[0105] A positioning sensor is arranged on the robot and is used to sense a first positioning signal and a second positioning signal transmitted on a wire to obtain a first receiving signal and a second receiving signal; wherein the positioning sensor at least includes a first positioning sensor 1 and a second positioning sensor 2, the first positioning sensor 1 and the second positioning sensor 2 are arranged on the robot front and back, and a first sensing axis of the first positioning sensor and a second sensing axis of the second positioning sensor are parallel.

[0106] A controller is used to execute the robot positioning method as described in any of the above embodiments.

[0107] It is worth noting that the specific working process of the robot positioning device can refer to the working process of the robot positioning method described in the above embodiment, which will not be repeated here.

[0108] The embodiment of the present invention further provides a lawn mowing robot, comprising a control module, a driving module, a lawn mowing module and a sensing module, wherein the control module is communicatively connected with the driving module, the lawn mowing module and the sensing module respectively;

[0109] The mowing module is used for mowing;

[0110] The driving module is used to drive the lawn mowing robot to move;

[0111] The sensing module includes at least two positioning sensors;

[0112] The control module is used to execute the robot positioning method as described in any of the above embodiments, and the control module is also used to control the operation of the driving module and the mowing module.

[0113] Specifically, the mowing module includes elements for mowing, the driving module includes a driving wheel and a driving motor; the sensing module includes at least two positioning sensors, a boundary sensor, a collision sensor ( Figure 2 The first collision sensor 5 and the second collision sensor 6 shown in FIG. Figure 2 The first lifting sensor 7 and the second lifting sensor 8 shown in the figure) are used to detect whether the body is hit, and can detect the direction of the collision on the body, so as to accurately control the robot to move in the opposite direction; the lifting sensor is used to detect whether the body is off the ground. When the robot is lifted by external force and is off the ground, the photoelectric switch is triggered, and the mowing module and the driving module are controlled to stop working. The control module is used to communicate with the mowing module, the driving module, and the sensing module. The control module is configured to operate the mowing module and the driving module in response to the positioning information, collision information, lifting information, etc. of the mowing robot obtained from the sensing module.

[0114] In one embodiment, Figure 2 As shown, the positioning sensor includes a first positioning sensor 1 and a second positioning sensor 2. The distance between the first positioning sensor 1 and the second positioning sensor 2 is greater than the diameter of the blade 9 of the mowing module, so that a longer signal segment can be obtained, thereby increasing the positioning accuracy.

[0115] It is worth noting that the specific working process of the lawn mowing robot can refer to the working process of the robot positioning method described in the above embodiment, which will not be repeated here.

[0116] An embodiment of the present invention further provides a lawn mowing robot system, comprising a wire, a charging station and a lawn mowing robot as described in any of the above embodiments;

[0117] The wire is used to define the working area of ​​the lawn mowing robot. The wire is equipped with a signal generator, which is connected to both ends of the wire and is used to inject a first positioning signal into the first end of the wire and inject a second positioning signal and a boundary signal into the second end of the wire.

[0118] The charging station is arranged on the conducting wire and is used to provide electric energy for the lawn mowing robot.

[0119] For example, Figure 3 As shown, assuming that the signal generator is installed on the base station, the first end of the signal generator sends a high-frequency first positioning signal to the first signal output end of the wire, and then at an interval of 3 to 10 microseconds, the second signal output end of the signal generator sends a high-frequency second positioning signal to the second end of the wire, and then at an interval of 150 to 400 microseconds, the third signal output end of the signal generator sends a low-frequency boundary signal to the first end or the second segment of the wire, and then at an interval of 3 to 10 microseconds. The boundary signal is used to control the robot to travel on the wire.

[0120] It is worth noting that the time interval for sending the positioning signal and the boundary signal is not limited to the above-mentioned specific values, and can be set according to actual conditions. The first signal output terminal and the third signal output terminal can be the same port or different ports, and the second signal output terminal and the fourth signal output terminal can be the same port or different ports, which are not limited here.

[0121] Compared with the prior art, the robot positioning method, lawn mowing robot and system disclosed in the embodiment of the present invention obtain the first receiving signal and the second receiving signal corresponding to each positioning sensor by using at least two positioning sensors to sense the first positioning signal and the second positioning signal transmitted on the wire; wherein the two positioning sensors include a first positioning sensor 1 and a second positioning sensor 2, and the first positioning sensor 1 and the second positioning sensor 2 are arranged on the robot in front and behind; by responding to the positioning instruction, the current position of the robot is determined according to the first receiving signal and the second receiving signal. It can be seen that the embodiment of the present invention uses the first positioning sensor 1 and the second positioning sensor 2 arranged in front and behind the robot to sense the magnetic field signal of the wire, obtain more positioning data to perform robot positioning, improve the positioning accuracy, and meet the needs of scenes with high positioning accuracy requirements.

[0122] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in the present application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0123] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present disclosure are indicated by the following claims.

[0124] The above is a preferred embodiment of the present invention. It should be pointed out that a person skilled in the art can make several improvements and modifications without departing from the principle of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A robot positioning method, characterized in that: include: Using at least two positioning sensors to sense the first positioning signal and the second positioning signal transmitted on the wire, a first receiving signal and a second receiving signal corresponding to each positioning sensor are obtained; wherein the two positioning sensors include a first positioning sensor and a second positioning sensor, the first positioning sensor and the second positioning sensor are arranged on the robot front and back, and a first sensing axis of the first positioning sensor and a second sensing axis of the second positioning sensor are parallel; In response to a positioning instruction, a current position of the robot is determined according to the first received signal and the second received signal.

2. The robot positioning method according to claim 1, characterized in that: The step of determining the current position of the robot according to the first received signal and the second received signal in response to the positioning instruction comprises: In the process of the robot moving along the wire, in response to the positioning instruction, the position point of the first positioning sensor on the wire is calculated according to the first received signal and the second received signal obtained by the first positioning sensor as a third wire position point, and the position of the robot in the working area is obtained by using the relative positioning sensor as third relative positioning data; In response to the positioning instruction, according to the first received signal and the second received signal obtained by the second positioning sensor, the position point of the second positioning sensor on the wire is calculated as a fourth wire position point, and at the same time, the relative positioning sensor is used to obtain the position of the robot in the working area as fourth relative positioning data; Based on a preset first mapping relationship and a second mapping relationship, the current position of the robot in the working area is determined according to the third wire position point, the third relative positioning data, the fourth wire position point, and the fourth relative positioning data; wherein the first mapping relationship is a mapping relationship between a first wire position point associated with the first positioning sensor and first relative positioning data, and the second mapping relationship is a mapping relationship between a second wire position point and second relative positioning data associated with the second positioning sensor.

3. The robot positioning method according to claim 2, characterized in that: The first mapping relationship and the second mapping relationship are obtained in the following manner: In response to the line patrol and mapping instruction, entering the line patrol and mapping mode, and controlling the robot to travel one circle along the wire; In the process of the robot traveling along the wire for one circle, the first positioning sensor is used to determine a plurality of position points of the first positioning sensor on the wire as first wire position points, and the relative positioning sensor is used to obtain the position of the robot in the working area as first relative positioning data, and a first mapping relationship between the first wire position points and the first relative positioning data is constructed; During the process of the robot traveling along the wire for one circle, the second positioning sensor is used to determine several position points of the second positioning sensor on the wire as second wire position points, and the relative positioning sensor is used to obtain the position of the robot in the working area as second relative positioning data, and a second mapping relationship between the second wire position points and the second relative positioning data is constructed.

4. The robot positioning method according to any one of claims 1 to 3, characterized in that: Also includes: When the robot moves to the turning area of ​​the wire, the robot is controlled to adjust its posture so that each positioning sensor can move to each position point in the turning area.

5. The robot positioning method according to claim 4, characterized in that: The positioning sensor includes a first positioning sensor and a second positioning sensor. The first positioning sensor and the second positioning sensor are respectively arranged on the central axis of the robot. The first positioning sensor is closer to the robot head than the second positioning sensor.

6. The robot positioning method according to claim 5, characterized in that: The controlling the robot to adjust the posture so that each positioning sensor can move to each position point in the turning area includes: Controlling the robot to move forward along the current conductor segment of the conductor, and after the second positioning sensor detects an inflection point, controlling the robot to rotate with the inflection point as the center of a circle so that the robot faces the next conductor segment, and controlling the robot to retreat after completing the rotation until the first positioning sensor detects the inflection point, and controlling the robot to move forward along the next conductor segment; Alternatively, the robot is controlled to move forward along the current wire segment, and after the second positioning sensor detects the turning point, the robot is controlled to move backward until the first positioning sensor detects the turning point, and the robot is controlled to rotate with the first positioning sensor as the center so that the robot faces the next wire segment, and the robot is controlled to move forward along the next wire segment.

7. The robot positioning method according to any one of claims 1 to 3, characterized in that: Also includes: Using at least one boundary sensor to sense the boundary signal transmitted on the wire; The robot is controlled to travel along the wire according to the boundary signal; wherein, when the number of the boundary sensors is 1, the boundary sensor is arranged on the central axis of the robot, and when the number of the boundary sensors is greater than 1, at least one boundary sensor is respectively arranged on both sides of the central axis; the sensing axis of the boundary sensor is perpendicular to the working surface of the robot, and the sensing axis of the boundary sensor is respectively perpendicular to the sensing axis of each of the positioning sensors.

8. A lawn mowing robot, characterized in that: It includes a control module, a driving module, a mowing module and a sensing module, wherein the control module is respectively connected to the driving module, the mowing module and the sensing module for communication; The mowing module is used for mowing; The driving module is used to drive the lawn mowing robot to move; The sensing module includes at least two positioning sensors; The control module is used to execute the robot positioning method according to any one of claims 1 to 7, and the control module is also used to control the operation of the driving module and the mowing module.

9. The lawn mowing robot according to claim 8, characterized in that: The positioning sensor includes a first positioning sensor and a second positioning sensor, and a distance between the first positioning sensor and the second positioning sensor is greater than a diameter of a blade disc of the mowing module.

10. A lawn mowing robot system, characterized in that: comprising a wire, a charging station and a lawn mowing robot as claimed in claim 8 or 9; The wire is used to define the working area of ​​the lawn mowing robot. The wire is equipped with a signal generator, which is connected to both ends of the wire and is used to inject a first positioning signal into the first end of the wire and inject a second positioning signal and a boundary signal into the second end of the wire. The charging station is arranged on the conducting wire and is used to provide electric energy for the lawn mowing robot.

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