Robot positioning method, mowing robot and system thereof

Abstract

The application discloses a robot positioning method, a mowing robot and a system thereof. The first positioning signal and the second positioning signal transmitted on a wire are sensed by at least two positioning sensors to obtain the first receiving signal and the second receiving signal corresponding to each positioning sensor. 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 back. The current position of the robot is determined according to the first receiving signal and the second receiving signal in response to a positioning instruction. The first positioning sensor and the second positioning sensor arranged in front and back of the robot are used to sense the magnetic field signal of the wire, more positioning data is obtained for robot positioning, the positioning accuracy is improved, and the demand of a scene with high positioning accuracy requirement is met.

Description

Technical Field

[0001] This invention relates to the field of intelligent robot technology, and in particular to robot positioning methods, lawnmower robots and their systems. Background Technology

[0002] A robot completes a predetermined task by moving within a pre-defined work area, which is typically defined by boundary cables or other conductors. In the robot system, a signal generator sends periodic pulsed current signals to the conductors that form a loop around the work area. The current signals flowing through the conductors create a magnetic field signal centered on the conductors, transmitting boundary information. The robot uses boundary sensors to detect the magnetic field signal in the work area, and a processor analyzes the signal to determine the boundary information, thereby controlling the robot's movement.

[0003] However, existing boundary sensors can only control the robot to move along the line and can only determine the work area, but cannot locate the robot. Summary of the Invention

[0004] This invention aims to at least solve the technical problems existing in the prior art. To this end, the first aspect of this invention proposes a robot localization method, comprising:

[0005] By using at least two positioning sensors to sense the first positioning signal and the second positioning signal transmitted on the sensing 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 one after the other on the robot, and the first sensing axis of the first positioning sensor and the second sensing axis of the second positioning sensor are parallel.

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

[0007] Optionally, determining the robot's current position based on the first received signal and the second received signal in response to a positioning command includes:

[0008] During the process of the robot traveling along the guide, in response to the positioning command, the position point of the first positioning sensor on the guide is calculated based on the first and second received signals obtained by the first positioning sensor as the third guide position point. At the same time, the position of the robot in the work area is obtained using the relative positioning sensor as the third relative positioning data.

[0009] In response to a positioning command, based on the first and second received signals obtained by the second positioning sensor, the position point of the second positioning sensor on the guide wire is calculated as the fourth guide wire position point, and at the same time, the position of the robot in the work area is obtained using the relative positioning sensor as the 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 work area is determined according to the third guide wire position point, the third relative positioning data, the fourth guide wire position point, and the fourth relative positioning data; wherein, the first mapping relationship is the mapping relationship between the first guide wire position point and the first relative positioning data associated with the first positioning sensor, and the second mapping relationship is the mapping relationship between the second guide wire position point and the 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 way:

[0012] In response to the line-following and mapping command, the robot enters the line-following and mapping mode and controls the robot to travel one lap along the guide wire.

[0013] During the process of the robot traveling along the guide, the first positioning sensor is used to determine several position points of the first positioning sensor on the guide as the first guide position points, and at the same time, the relative positioning sensor is used to obtain the position of the robot in the work area as the first relative positioning data, and a first mapping relationship between the first guide position points and the first relative positioning data is constructed.

[0014] During the process of the robot traveling along the guide, the second positioning sensor is used to determine several position points of the second positioning sensor on the guide as second guide position points, and at the same time, the relative positioning sensor is used to obtain the position of the robot in the work area as second relative positioning data, and a second mapping relationship between the second guide position points and the second relative positioning data is constructed.

[0015] Optionally, it also includes:

[0016] When the robot travels to the turning area of ​​the guide wire, the robot is controlled to adjust its posture so that each of the positioning sensors can operate at every position point in the turning area.

[0017] Optionally, the positioning sensor includes a first positioning sensor and a second positioning sensor, which are respectively located on the central axis of the robot, with the first positioning sensor being closer to the robot's head than the second positioning sensor.

[0018] Optionally, controlling the robot to adjust its pose so that each of the positioning sensors can operate at every position point in the turning area includes:

[0019] The robot is controlled to move forward along the current segment of the guide wire. After the second positioning sensor detects an inflection point, the robot is controlled to rotate around the inflection point as the center so that the robot faces the next guide wire segment. After the rotation is completed, the robot is controlled to move backward until the first positioning sensor detects the inflection point, and then the robot is controlled to move forward along the next guide wire segment.

[0020] Alternatively, the robot can be controlled to move forward along the current guide segment, and after the second positioning sensor detects the inflection point, the robot can be controlled to retreat until the first positioning sensor detects the inflection point. Then, the robot can be controlled to rotate around the first positioning sensor as the center so that the robot faces the next guide segment and moves forward along the next guide segment.

[0021] Optionally, it also includes:

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

[0023] At least one boundary sensor is used to sense the boundary signal transmitted on the conductor;

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

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

[0026] The mowing module is used for mowing grass;

[0027] The drive module is used to drive the lawnmower 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 drive module and the mowing module.

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

[0031] A third aspect of the present invention provides a lawnmower robot system, comprising a power line, a charging station, and a lawnmower robot as described in any of the above embodiments;

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

[0033] The charging station, located on the conductor, is used to provide power to the lawnmower robot.

[0034] Compared with existing technologies, the robot positioning method, lawnmower robot, and system disclosed in this invention utilize at least two positioning sensors to sense a first positioning signal and a second positioning signal transmitted on a guide wire, thereby obtaining a first received signal and a second received signal corresponding to each positioning sensor. The two positioning sensors include a first positioning sensor and a second positioning sensor, which are positioned front and rear on the robot. The robot's current position is determined based on the first received signal and the second received signal in response to a positioning command. Therefore, this invention utilizes the first and second positioning sensors positioned front and rear on the robot to sense the magnetic field signal of the guide wire, acquiring more positioning data for robot positioning, improving positioning accuracy, and meeting the needs of scenarios requiring high positioning precision. Attached Figure Description

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

[0036] Figure 2 This is a schematic diagram of sensor installation provided in an embodiment of the present invention;

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

[0038] Figure 4 This is a schematic diagram of signal waveform timing provided in an embodiment of the present invention;

[0039] Figure 5 This is a schematic diagram of a robot turning and moving according to an embodiment of the present invention;

[0040] Figure 6 This is another schematic diagram of a robot turning and moving according to an embodiment of the present invention;

[0041] Among them, 1. First positioning sensor; 2. Second positioning sensor; 3. First boundary sensor; 4. Second boundary sensor; 5. First collision sensor; 6. Second collision sensor; 7. First lifting sensor; 8. Second lifting sensor; 9. Cutter head; 10. First guide segment; 20. Second guide segment. Detailed Implementation

[0042] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0043] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of embodiments of this disclosure, unless otherwise stated, "a plurality of" means two or more. Furthermore, the use of "based on" or "according to" implies openness and inclusiveness, because processes, steps, calculations, or other actions "based on" or "according to" one or more of the stated conditions or values ​​may in practice be based on additional conditions or beyond the stated values.

[0044] See Figure 1 and Figure 2 , Figure 1 This is a flowchart of a robot localization method provided in an embodiment of the present invention. Figure 2 This is a schematic diagram of a sensor installation provided in an embodiment of the present invention. The method includes 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, 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 1 and a second positioning sensor 2, and the first positioning sensor 1 and the second positioning sensor 2 are arranged one in front of the other on the robot.

[0046] S12. In response to the positioning command, determine the current position of the robot based on 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. The positioning sensor obtains a first received 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. The positioning sensor obtains a second received signal by sensing the second magnetic field. 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, one at the front and one at the rear. More specifically, the first positioning sensor 1 and the second positioning sensor 2 are installed on the central axis of the mobile robot, located at the front end and the rear end of the robot's base plate, respectively. As the robot travels along the guide wire, the first positioning sensor 1 and the second positioning sensor 2 are located at different positions on the guide wire, namely the first position and the second position. Thus, 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 received signal and the second received signal, which are used to calculate the robot's current position.

[0049] Compared with the prior art, the embodiments of the present invention simultaneously utilize 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 guide wire. Compared with a single positioning sensor, when the robot walks the same distance along the guide wire, it can obtain up to twice the length of positioning data, thereby providing longer positioning data and further improving the positioning accuracy, meeting the needs of scenarios with high positioning accuracy requirements.

[0050] In one implementation, determining the robot's current position based on the first received signal and the second received signal in response to a positioning command includes:

[0051] During the process of the robot traveling along the guide, in response to the positioning command, the position point of the first positioning sensor 1 on the guide is calculated based on the first received signal and the second received signal obtained by the first positioning sensor 1 as the third guide position point. At the same time, the position of the robot in the work area is obtained using the relative positioning sensor as the third relative positioning data.

[0052] In response to a positioning command, based on the first and second received signals obtained by the second positioning sensor 2, the position point of the second positioning sensor 2 on the guide wire is calculated as the fourth guide wire position point, and at the same time, the position of the robot in the work area is obtained using the relative positioning sensor as the 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 work area is determined according to the third guide wire position point, the third relative positioning data, the fourth guide wire position point, and the fourth relative positioning data; wherein, the first mapping relationship is the mapping relationship between the first guide wire position point and the first relative positioning data associated with the first positioning sensor 1, and the second mapping relationship is the mapping relationship between the second guide wire position point and the second relative positioning data associated with the second positioning sensor 2.

[0054] In this embodiment of the invention, the position points of the guide wires detected by two positioning sensors and the relative positioning data detected by the relative positioning sensor are compared with a pre-set mapping relationship to quickly determine the current position of the robot in the work area.

[0055] In one implementation, determining the robot's current position based on the first received signal and the second received signal in response to a positioning command includes:

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

[0057] During the process of the robot traveling along the guide, in response to the positioning command, the robot calculates several position points of the first positioning sensor 1 on the guide based on the first and second received signals received by the first positioning sensor 1 within a preset travel distance, and uses them as the third guide position points. At the same time, the robot's position in the work area is obtained using the relative positioning sensor as the third relative positioning data, and a third mapping relationship between the third guide position points and the third relative positioning data is constructed.

[0058] In response to the positioning command, the second positioning sensor 2 calculates several position points on the guide wire based on the first and second received signals received within the preset travel distance to serve as the fourth guide wire position points. At the same time, the robot's position in the work area is obtained using the relative positioning sensor to serve as the fourth relative positioning data. A fourth mapping relationship between the fourth guide wire position points and the fourth relative positioning data is then constructed.

[0059] Each third traverse position point is subtracted from its corresponding first traverse position point to obtain several first position differences, and each fourth traverse position point is subtracted from its corresponding second traverse position point to obtain several second position differences; wherein, the relative positioning data of the third traverse position point and its corresponding first traverse position point are the same, and the relative positioning data of the fourth traverse position point and its corresponding second traverse position point are the same.

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

[0061] The robot's current position in the work area is calculated based on the third and fourth relative positioning data corresponding to the minimum total deviation.

[0062] It is worth noting that in practical applications, the degree of change in the robot's application scenario needs to be considered to determine the update strategy for the first and second mapping relationships. In some application scenarios with significant changes, the robot needs to update the first and second mapping relationships before each operation. However, in application scenarios with almost no changes, the generated first and second mapping relationships can be reused and updated periodically or irregularly.

[0063] In this embodiment of the invention, two positioning sensors are used to detect several guide wire position points within a preset travel distance, and a relative positioning sensor is used to detect several relative positioning data. This avoids the problem of inaccurate positioning caused by instantaneous errors. By comparing the currently detected guide wire position points with the corresponding pre-configured guide wire position points, the data with the smallest deviation of the guide wire position points is selected to find accurate relative positioning data, thereby achieving precise positioning of the robot.

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

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

[0066] In response to the line-following and mapping command, the robot enters the line-following and mapping mode and controls the robot to travel one lap along the guide wire.

[0067] During the process of the robot traveling along the guide, the first positioning sensor 1 is used to determine several position points of the first positioning sensor 1 on the guide as the first guide position points, and at the same time, the relative positioning sensor is used to obtain the position of the robot in the work area as the first relative positioning data, and a first mapping relationship between the first guide position points and the first relative positioning data is constructed.

[0068] During the process of the robot traveling along the guide, the second positioning sensor 2 is used to determine several position points of the second positioning sensor 2 on the guide as second guide position points, and at the same time, the relative positioning sensor is used to obtain the position of the robot in the work area as second relative positioning data, and a second mapping relationship between the second guide position points and the second relative positioning data is constructed.

[0069] For example, the process of generating and applying the first and second mapping relationships is as follows:

[0070] After the robot starts from the starting point, the robot enters the line-following and mapping mode. In this mode, the robot travels one revolution along the guide wire. During the robot's one revolution along the guide wire:

[0071] (1) Use the first positioning sensor 1 to obtain multiple position points of the first positioning sensor 1 on the guide wire (first guide wire position points); and at the same time use the relative positioning sensor to obtain the position of the robot in the working area (first relative positioning data), and establish a mapping relationship between the position of the robot on the guide wire and the relative positioning data in the rectangular coordinate system, namely the first mapping relationship (the position of the robot on the guide wire is the vertical axis, and the relative positioning data is the horizontal axis).

[0072] (2) Use the second positioning sensor 2 to obtain multiple position points of the second positioning sensor 2 on the guide wire (second guide wire position points), and at the same time use the relative positioning sensor to obtain the position of the robot in the working area (second relative positioning data). Establish a mapping relationship between the position of the robot on the guide wire and the relative positioning data in the rectangular coordinate system, namely the second mapping relationship (the position of the robot on the guide wire is the vertical axis, and the relative positioning data is the horizontal axis).

[0073] During the process of the robot traveling the preset distance along the guide wire again:

[0074] (3) Use the first positioning sensor 1 to obtain multiple position points of the first positioning sensor 1 on the guide wire (third guide wire position points); and at the same time use the relative positioning sensor to obtain the position of the robot in the working area (third relative positioning data), and establish a mapping relationship between the position of the robot on the guide wire and the relative positioning data in the rectangular coordinate system, namely the third mapping relationship (the position of the robot on the guide wire is the vertical axis, and the relative positioning data is the horizontal axis).

[0075] (4) Use the second positioning sensor 2 to obtain multiple position points of the second positioning sensor 2 on the guide wire (fourth guide wire position points); and at the same time use the relative positioning sensor to obtain the position of the robot in the working area (fourth relative positioning data), and establish a mapping relationship between the position of the robot on the guide wire and the relative positioning data in the rectangular coordinate system, namely the fourth mapping relationship (the position of the robot on the guide wire is the vertical axis, and the relative positioning data is the horizontal axis).

[0076] Methods for obtaining the robot's position in the work 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 subtractions (or the square of the subtractions) reaches the minimum value, it is the relative positioning data corresponding to the position of the robot on the guide wire. The position of the robot in the working area is calculated based on the relative positioning data and the data monitored by the inertial sensor.

[0078] It is worth noting that the method of determining the robot's position in the work area based on the first, second, third, and fourth mapping relationships is not limited to the specific examples mentioned above; other methods can also be used, which are not limited here.

[0079] In this embodiment of the 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-following mapping mode for subsequent robot positioning, the robot can achieve fast and accurate positioning.

[0080] Specifically, the following provides a detailed explanation of how to determine the position of the positioning sensor (first positioning sensor 1 or second positioning sensor 2) on the conductor based on the first received signal and the second received signal:

[0081] like Figure 3 and Figure 4As shown, assuming the signal generator is located at the base station, the base station sends a first positioning signal s1 to the right direction of conductor segment L2 during time period T0. The first positioning signal s1 is transmitted along the conductor. During time period T2, a second positioning signal s2 is sent to the left direction of conductor segment L1. The second positioning signal s2 is transmitted along the conductor. The positioning sensor receives the first received signal s1' during time period T1 and the second received signal s2' during time period T3. Figure 4 As shown, the x-axis represents time, and the y-axis represents the wave amplitude. Figure 4 The four sine waves shown from left to right are the first positioning signal s1, the first received signal s1', the second positioning signal s2, and the second received signal s2', respectively. The robot's position calculation process on the guide wire is as follows:

[0082] Acquire the first reception time of the first received signal and the second reception time of the second received signal; acquire the first transmission time of the first positioning signal and the second transmission time of the second positioning signal.

[0083] Based on the reception time difference (T3-T1) (or phase difference) between the first reception time and the second reception time, the transmission time difference (T2-T0) (or phase difference) between the first transmission time and the second transmission 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 formula for calculating the conductor length is as follows:

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

[0086] L1 + L2 = L 总长 ;

[0087] Where L1 and L2 represent the lengths of the left and right conductor segments, respectively; (T3-T1) represents the reception time difference between the first and second reception times; (T2-T0) represents the transmission time difference between the first and second transmission times; V represents the propagation speed of the first and second positioning signals in the conductor; and L... 总长 This indicates the total length of the conductor.

[0088] In one implementation, it further includes:

[0089] When the robot travels to the turning area of ​​the guide wire, the robot is controlled to adjust its posture so that each of the positioning sensors can operate at every 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, which are respectively disposed on the central axis of the robot. The first positioning sensor 1 is closer to the head of the robot 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, each containing a sensing coil. The first positioning sensor 1 includes a first sensing coil and has a first sensing axis; the second positioning sensor 2 includes a second sensing coil and has a second sensing axis; the first sensing axis and the second sensing axis are parallel.

[0092] For example, taking the first positioning sensor 1 as an example, the first positioning signal and the second positioning signal generate a magnetic field around them during transmission along the wire. When the robot moves along the wire, the change in the magnetic field around the first sensing axis causes a change in the current in the first sensing coil. The first positioning sensor 1 collects the current signal and fits the collected current signal to obtain the signal with the changing pattern (first received signal and second received signal). It is worth noting that the first positioning signal, the second positioning signal, the first received signal, and the second received signal can be sinusoidal signals or other types of signals, which are not limited here. Similarly, the second positioning sensor 2 obtains the first received signal and the second received signal in the same way as the first positioning sensor 1, which will not be elaborated 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 respectively sense the first positioning signal and the second positioning signal from the same direction at the first position and the second position, providing the robot with richer positioning information.

[0093] In one implementation, controlling the robot to adjust its pose so that each of the positioning sensors can operate at every position point in the turning area includes:

[0094] The robot is controlled to move forward along the current segment of the guide wire. After the second positioning sensor 2 detects the inflection point, the robot is controlled to rotate around the inflection point to face the next guide wire segment. After the rotation is completed, the robot is controlled to move backward until the first positioning sensor 1 detects the inflection point, and then the robot is controlled to move forward along the next guide wire segment.

[0095] Alternatively, the robot can be controlled to move forward along the current guide segment. After the second positioning sensor 2 detects the inflection point, the robot can be controlled to retreat until the first positioning sensor 1 detects the inflection point. Then, the robot can be controlled to rotate around the first positioning sensor 1 as the center so that the robot faces the next guide segment and moves forward along the next guide segment.

[0096] For example, the turning area includes a first guide segment 10 (the current guide segment) and a second guide segment 20 (the next guide segment) connected to each other. The robot has two turning methods in the turning area. First turning method: See [link / reference] Figure 5 The diagram illustrates the robot's turning motion. The specific process is as follows: The robot moves forward on the first guide segment 10 until the second positioning sensor 2 detects the turning point. After the second positioning sensor 2 detects the turning point, the robot rotates around the second positioning sensor 2 as the center of rotation towards the second guide segment 20. After rotating, the robot retreats along the second guide segment 20 until the first positioning sensor 1 detects the turning point signal. Then, the robot continues to move normally on the second guide segment 20. A second turning method: See [link / reference]. Figure 6 The diagram shown illustrates the robot's turning motion. The specific process for the robot turning is as follows: The robot moves forward on the first guide 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 guide segment 10 until the first positioning sensor 1 detects the turning point. The robot is then controlled to rotate around the first positioning sensor 1 as the center of rotation towards the second guide segment 20. Finally, the robot is controlled to move normally on the second guide segment 20.

[0097] In this embodiment of the 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 move to every 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 guide, which is beneficial to achieving rapid and accurate positioning of the robot.

[0098] In one implementation, it further includes:

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

[0100] At least one boundary sensor is used to sense the boundary signal transmitted on the conductor;

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

[0102] For example, assuming there is only one boundary sensor, it is positioned on the robot's central axis, and the distance between this boundary sensor and the first positioning sensor 1 is less than the distance between this boundary sensor and the second positioning sensor 2. Alternatively, assuming there are two boundary sensors, including a first boundary sensor 3 and a second boundary sensor 4, the first boundary sensor 3 and the second boundary sensor 4 are as follows... Figure 1 As shown, the boundary sensors are respectively set on both sides of the robot's central axis; low-frequency boundary signals are transmitted on the wire. When the wire is between the first boundary sensor 3 and the second boundary sensor 4, the magnetic field signals sensed by the first boundary sensor 3 and the second boundary sensor 4 are in opposite directions and the magnetic field strength is equal. When the wire is outside the robot, the magnetic field sensed by the first boundary sensor 3 and the second boundary sensor 4 are in the same direction, and the magnetic field strength sensed by the boundary sensor closer to the boundary wire is greater. The robot is controlled to move along the wire by the above signal characteristics.

[0103] It is worth noting that the boundary sensors are not limited to one or two, but can be set according to the actual situation. 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] This invention also provides a robot positioning device, comprising:

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

[0106] A controller for performing the robot localization 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 be referred to the working process of the robot positioning method described in the above embodiments, and will not be repeated here.

[0108] This invention also provides a lawnmower robot, including a control module, a drive module, a mowing module, and a sensing module, wherein the control module is communicatively connected to the drive module, the mowing module, and the sensing module.

[0109] The mowing module is used for mowing grass;

[0110] The drive module is used to drive the lawnmower 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 drive module and the mowing module.

[0113] Specifically, the mowing module includes components for mowing, the drive module includes drive wheels and a drive motor, and the sensing module includes at least two positioning sensors, a boundary sensor, and a collision sensor. Figure 2 The first collision sensor 5 and the second collision sensor 6 shown) and the lift sensor (as shown) Figure 2 The first lift sensor 7 and the second lift sensor 8 shown are included; the collision sensor is used to detect whether the robot body has been collided with, and can detect the direction of the collision, thereby precisely controlling the robot to move in the opposite direction; the lift sensor is used to detect whether the robot body is off the ground. When the robot is lifted off the ground by an external force, a photoelectric switch is triggered, which controls the mowing module and the drive module to stop working. The control module is used to communicate with the mowing module, the drive module, and the sensor module. The control module is configured to operate the mowing module and the drive module in response to the positioning information, collision information, lift information, etc. of the mowing robot obtained from the sensor module.

[0114] In one implementation, such as 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, which can obtain a longer signal segment and increase the positioning accuracy.

[0115] It is worth noting that the specific working process of the lawnmower robot can be referred to the working process of the robot positioning method described in the above embodiments, and will not be repeated here.

[0116] This invention also provides a lawnmower robot system, including a power line, a charging station, and a lawnmower robot as described in any of the above embodiments;

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

[0118] The charging station, located on the conductor, is used to provide power to the lawnmower robot.

[0119] For example, such as Figure 3 As shown, assuming 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. Then, after 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. Then, after 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. Then, after an interval of 3 to 10 microseconds, the boundary signal is used to control the robot to move on the wire.

[0120] It is worth noting that the time interval between the positioning signal and the boundary signal is not limited to the specific values ​​mentioned above and can be set according to the actual situation. 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. No limitation is made here.

[0121] Compared with existing technologies, the robot positioning method, lawnmower robot, and system disclosed in this invention utilize at least two positioning sensors to sense a first positioning signal and a second positioning signal transmitted on a guide wire, thereby obtaining a first received signal and a second received signal corresponding to each positioning sensor. The two positioning sensors include a first positioning sensor 1 and a second positioning sensor 2, which are positioned front and rear on the robot. The robot's current position is determined based on the first received signal and the second received signal in response to a positioning command. Therefore, this invention utilizes the first positioning sensor 1 and the second positioning sensor 2 positioned front and rear on the robot to sense the magnetic field signal of the guide wire, obtaining more positioning data for robot positioning, improving positioning accuracy, and meeting the needs of scenarios requiring high positioning accuracy.

[0122] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. This computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this 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. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and RAMbus dynamic RAM (RDRAM), etc.

[0123] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the following claims.

[0124] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A robot localization method, characterized in that, include: At least two positioning sensors are used to sense a first positioning signal and a second positioning signal transmitted on a wire to obtain a first received signal and a second received signal corresponding to each positioning sensor; 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 one behind the other on the robot, the first sensing axis of the first positioning sensor and the second sensing axis of the second positioning sensor are parallel; the triggering of the first positioning signal and the second positioning signal has a transmission time difference; the transmission directions of the first positioning signal and the second positioning signal are opposite; In response to a positioning command, the current position of the robot is determined based on the first received signal and the second received signal; The step of determining the current position of the robot in response to a positioning command, based on the first received signal and the second received signal, includes: determining the current position of the robot in response to a positioning command, based on the transmission time difference between the first positioning information and the second positioning signal, and the reception time difference between the first received signal and the second received signal.

2. The robot localization method as described in claim 1, characterized in that, The step of determining the robot's current position based on the first received signal and the second received signal in response to a positioning command includes: During the process of the robot traveling along the guide, in response to the positioning command, the position point of the first positioning sensor on the guide is calculated based on the first and second received signals obtained by the first positioning sensor as the third guide position point. At the same time, the position of the robot in the work area is obtained using the relative positioning sensor as the third relative positioning data. In response to a positioning command, based on the first and second received signals obtained by the second positioning sensor, the position point of the second positioning sensor on the guide wire is calculated as the fourth guide wire position point, and at the same time, the position of the robot in the work area is obtained using the relative positioning sensor as the fourth relative positioning data. Based on a preset first mapping relationship and a second mapping relationship, the current position of the robot in the work area is determined according to the third guide wire position point, the third relative positioning data, the fourth guide wire position point, and the fourth relative positioning data; wherein, the first mapping relationship is the mapping relationship between the first guide wire position point and the first relative positioning data associated with the first positioning sensor, and the second mapping relationship is the mapping relationship between the second guide wire position point and the second relative positioning data associated with the second positioning sensor.

3. The robot localization method as described in claim 2, characterized in that, The first mapping relationship and the second mapping relationship are obtained in the following way: In response to the line-following and mapping command, the robot enters the line-following and mapping mode and controls the robot to travel one lap along the guide wire. During the process of the robot traveling along the guide, the first positioning sensor is used to determine several position points of the first positioning sensor on the guide as the first guide position points, and at the same time, the relative positioning sensor is used to obtain the position of the robot in the work area as the first relative positioning data, and a first mapping relationship between the first guide position points and the first relative positioning data is constructed. During the process of the robot traveling along the guide, the second positioning sensor is used to determine several position points of the second positioning sensor on the guide as second guide position points, and at the same time, the relative positioning sensor is used to obtain the position of the robot in the work area as second relative positioning data, and a second mapping relationship between the second guide position points and the second relative positioning data is constructed.

4. The robot localization method as described in any one of claims 1 to 3, characterized in that, Also includes: When the robot travels to the turning area of ​​the guide wire, the robot is controlled to adjust its posture so that each of the positioning sensors can operate at every position point in the turning area.

5. The robot localization method as described in claim 4, characterized in that, The positioning sensor includes a first positioning sensor and a second positioning sensor, which are respectively located on the central axis of the robot. The first positioning sensor is closer to the head of the robot than the second positioning sensor.

6. The robot localization method as described in claim 5, characterized in that, The control of the robot to adjust its pose so that each of the positioning sensors can operate at every position point in the turning area includes: The robot is controlled to move forward along the current segment of the guide wire. After the second positioning sensor detects an inflection point, the robot is controlled to rotate around the inflection point as the center so that the robot faces the next guide wire segment. After the rotation is completed, the robot is controlled to move backward until the first positioning sensor detects the inflection point, and then the robot is controlled to move forward along the next guide wire segment. Alternatively, the robot can be controlled to move forward along the current guide segment, and after the second positioning sensor detects the inflection point, the robot can be controlled to retreat until the first positioning sensor detects the inflection point. Then, the robot can be controlled to rotate around the first positioning sensor as the center so that the robot faces the next guide segment and moves forward along the next guide segment.

7. The robot localization method according to any one of claims 1 to 3, characterized in that, Also includes: At least one boundary sensor is used to sense the boundary signal transmitted on the conductor; The robot is controlled to travel along the guide wire according to the boundary signal; wherein, when the number of boundary sensors is 1, the boundary sensor is set on the central axis of the robot, and when the number of boundary sensors is greater than 1, at least one boundary sensor is set on each side 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 perpendicular to the sensing axis of each positioning sensor.

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

9. The lawnmower robot as described in claim 8, characterized in that, The positioning sensor includes a first positioning sensor and a second positioning sensor, and the distance between the first positioning sensor and the second positioning sensor is greater than the diameter of the blade of the mowing module.

10. A lawnmowing robot system, characterized in that, Includes power lines, charging stations, and the lawnmower robot as described in claim 8 or 9; The guide wire is used to define the working area of ​​the lawnmower robot. The guide wire is equipped with a signal generator, which is connected to both ends of the guide wire. The signal generator is used to inject a first positioning signal into the first end of the guide wire and inject a second positioning signal and a boundary signal into the second end of the guide wire. The charging station, located on the conductor, is used to provide power to the lawnmower robot.

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