CN114578803B - Automatic walking device and regression control method thereof - Google Patents
Automatic walking device and regression control method thereof Download PDFInfo
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- CN114578803B CN114578803B CN202011376424.XA CN202011376424A CN114578803B CN 114578803 B CN114578803 B CN 114578803B CN 202011376424 A CN202011376424 A CN 202011376424A CN 114578803 B CN114578803 B CN 114578803B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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Abstract
本申请涉及自动化控制技术领域，具体公开一种自动行走设备及其回归控制方法。回归控制方法包括控制行走模块带动自动行走设备寻找边界线；当确定自动行走设备寻找到边界线后，解析接收到的第一放大信号、第二放大信号、第三放大信号以及第四放大信号；根据解析结果，调整第一行走单元和/或第二行走单元的行走速度，以使自动行走设备骑线回归。根据对几种放大信号的解析结果的复合判断结果，调整行走单元的速度，能够更快速、精确地调整自动行走设备的回归姿态，解决骑线偏差的问题，有效提高自动行走设备与充电座的对接精度和对接效率。
The present application relates to the field of automation control technology, and specifically discloses an automatic walking device and a regression control method thereof. The regression control method includes controlling a walking module to drive the automatic walking device to find a boundary line; when it is determined that the automatic walking device has found the boundary line, analyzing the received first amplified signal, second amplified signal, third amplified signal, and fourth amplified signal; according to the analysis results, adjusting the walking speed of the first walking unit and/or the second walking unit to make the automatic walking device regress on the line. According to the composite judgment result of the analysis results of several amplified signals, the speed of the walking unit is adjusted, so that the regression posture of the automatic walking device can be adjusted more quickly and accurately, the problem of riding line deviation can be solved, and the docking accuracy and efficiency of the automatic walking device and the charging stand can be effectively improved.
Description
Technical Field
The invention relates to the technical field of automatic control, in particular to automatic walking equipment and a regression control method thereof.
Background
With the continuous development of science and technology, intelligent walking devices such as sweeping robots and mowers are well known. The intelligent walking equipment greatly saves time of people and brings convenience to the work and life of people. Taking a mowing robot as an example, a general working principle is that a charging device sends pulse current to a boundary cable surrounding a working interval to enable the boundary cable to generate a magnetic field boundary signal, the mowing robot continuously detects the magnetic field signal in the working space and analyzes boundary information through a signal characteristic value, and then the position of the mowing robot is judged, so that the mowing robot works in the working interval when entering a working mode, and returns to a charging seat along the boundary line in a return mode. However, in the regression process, the mowing robot often deviates from the boundary line, so that errors occur when the mowing robot is abutted to the charging seat, and the abutting accuracy of the mowing robot and the charging seat is poor.
Disclosure of Invention
Based on the above, it is necessary to provide an automatic walking device and a regression control method thereof, aiming at the problem that the accuracy of docking with a charging stand is poor due to the deviation of a boundary line in the regression process of the automatic walking device.
An automatic walking device comprising:
A body;
the walking module comprises a first walking unit and a second walking unit which are symmetrically distributed on two sides of the machine body;
The first boundary detection module is arranged on the machine body and comprises a first signal receiving unit and a first amplifying unit, wherein the first signal receiving unit is used for detecting an electromagnetic field to obtain a first detection signal, and the first amplifying unit is used for amplifying the first detection signal by a first amplifying multiple to obtain and output a first amplifying signal;
The second boundary detection module is arranged on the machine body and comprises a second signal receiving unit and a second amplifying unit, the second signal receiving unit is used for detecting an electromagnetic field to obtain a second detection signal, the second amplifying unit is used for sequentially circularly amplifying a second amplifying time and a first amplifying time for the second detection signal to obtain and output a second amplifying signal corresponding to the second amplifying time and a fourth amplifying signal corresponding to the first amplifying time, and the second amplifying time is larger than the first amplifying time;
The third boundary detection module is arranged on the machine body and comprises a third signal receiving unit and a third amplifying unit, wherein the third signal receiving unit is used for detecting an electromagnetic field to obtain a third detection signal, the third amplifying unit is used for amplifying the third detection signal by a first amplification factor to obtain a third amplified signal, and the first signal receiving unit and the third signal receiving unit are symmetrically distributed on two sides of the second signal receiving unit;
The processing module is respectively connected with the first boundary detection module, the second boundary detection module, the third boundary detection module and the walking module and is used for controlling the walking module to drive the automatic walking equipment to search a boundary line, analyzing the received first amplified signal, the second amplified signal, the third amplified signal and the fourth amplified signal after determining that the automatic walking equipment searches the boundary line, and adjusting the walking speed of the first walking unit and/or the second walking unit according to the analysis result so as to enable the automatic walking equipment to ride the line to return.
In one embodiment, the body has a central axis, the second signal receiving unit is disposed on the central axis, the first signal receiving unit and the third signal receiving unit are symmetrically disposed about the central axis, and the first signal receiving unit, the third signal receiving unit and the second signal receiving unit are located on a vertical line of the central axis.
In one embodiment, the first walking unit is disposed adjacent to the first signal receiving unit, and the second walking unit is disposed adjacent to the third signal receiving unit.
In one embodiment, the first boundary detection module, the second boundary detection module, the third boundary detection module, and the processing module are integrated on the same circuit board.
The automatic walking equipment comprises a walking module, a first boundary detection module, a second boundary detection module, a third boundary detection module and a processing module, wherein the walking module comprises a first walking unit and a second walking unit which are symmetrically distributed on two sides of a machine body, the first boundary detection module comprises a first signal receiving unit and a first amplifying unit, the second boundary detection module comprises a second signal receiving unit and a second amplifying unit, the third boundary detection module comprises a third signal receiving unit and a third amplifying unit, the first signal receiving unit and the third signal receiving unit are symmetrically distributed on two sides of the second signal receiving unit, the first signal receiving unit is used for detecting an electromagnetic field to obtain a first detection signal, the first amplifying unit is used for amplifying the first detection signal to obtain and output a first amplification signal, the second signal receiving unit is used for detecting an electromagnetic field, the second signal receiving unit is used for sequentially circularly amplifying the second detection signal and outputting a second amplification signal to obtain a third amplification signal, the third amplification signal corresponds to the third amplification signal, the third amplification unit is used for controlling the amplification signal and the third amplification signal, and the third amplification unit is used for obtaining a third amplification signal, and the third amplification signal is used for obtaining a third amplification factor:
controlling the walking module to drive the automatic walking equipment to search a boundary line;
After the fact that the automatic walking equipment finds out the boundary line is determined, analyzing the received first amplified signal, the second amplified signal, the third amplified signal and the fourth amplified signal;
And according to the analysis result, adjusting the walking speed of the first walking unit and/or the second walking unit so as to enable the automatic walking equipment to return to riding lines.
In one embodiment, the step of analyzing the received first amplified signal, the second amplified signal, the third amplified signal, and the fourth amplified signal after determining that the walking device finds the boundary line includes:
And when the waveform direction of the boundary signal analyzed by the first amplified signal and the third amplified signal is opposite, and the current direction of the automatic walking equipment is a return direction, determining that the boundary line is found.
In one embodiment, the regression control method further comprises judging whether the current direction of the automatic walking equipment is a regression direction. Preferably, the step of determining whether the current direction of the automatic walking device is a return direction includes:
Judging whether the first signal receiving unit and the boundary line are in a first relative position relation according to the boundary signal analyzed from the first amplified signal, and judging whether the third signal receiving unit and the boundary line are in a second relative position relation according to the boundary signal analyzed from the third amplified signal;
and when the first relative position relation is between the first signal receiving unit and the boundary line and the second relative position relation is between the third signal receiving unit and the boundary line, determining that the current direction of the automatic walking equipment is a regression direction.
In one embodiment, the step of adjusting the walking speed of the first walking unit and/or the second walking unit according to the analysis result so as to enable the automatic walking device to return to the riding line includes:
And determining the speed adjustment amplitude of the first walking unit and/or the second walking unit according to the analysis result of the second amplified signal and the analysis result of the fourth amplified signal.
In one embodiment, the step of determining the adjustment amplitude of the speed of the first travelling unit and/or the second travelling unit according to the analysis result of the second amplified signal and the analysis result of the fourth amplified signal includes:
When the boundary signal is analyzed from the fourth amplified signal, the speed of the first walking unit and/or the second walking unit is adjusted by a first adjusting amplitude;
when the boundary signal is not analyzed from the fourth amplified signal, the boundary signal is analyzed from the second amplified signal, and the signal overflows, the speed of the first walking unit and/or the speed of the second walking unit are/is adjusted by a second adjusting amplitude, and the second adjusting amplitude is smaller than the first adjusting amplitude;
And when the boundary signal is not analyzed from the fourth amplified signal, the boundary signal is analyzed from the second amplified signal, and the signal does not overflow or the boundary signal is not analyzed, the current walking speeds of the first walking unit and the second walking unit are maintained.
In one embodiment, the first walking unit is disposed close to the first signal receiving unit, and the second walking unit is disposed close to the third signal receiving unit;
in the step of adjusting the speed of the first traveling unit and/or the second traveling unit by a first adjustment amplitude, and the step of adjusting the speed of the first traveling unit and/or the second traveling unit by a second adjustment amplitude,
When the waveform direction of the boundary signal analyzed from the second amplified signal or the fourth amplified signal is the same as the waveform direction of the boundary signal analyzed from the first amplified signal, when the traveling speed of the first traveling unit and/or the second traveling unit is adjusted by the first adjustment amplitude or the second adjustment amplitude, the traveling speed of the first traveling unit is adjusted to be greater than the traveling speed of the second traveling unit;
when the waveform direction of the boundary signal analyzed from the second amplified signal or the fourth amplified signal is the same as the waveform direction of the boundary signal analyzed from the third amplified signal, the traveling speed of the first traveling unit and/or the second traveling unit is adjusted to be smaller than the traveling speed of the second traveling unit when the traveling speed of the first traveling unit and/or the second traveling unit is adjusted by the first adjustment amplitude or the second adjustment amplitude.
The automatic walking equipment comprises a first boundary detection module, a second boundary detection module and a third boundary detection module, wherein the first boundary detection module is used for detecting an electromagnetic field to obtain a first detection signal, amplifying the first detection signal by a first amplification factor to obtain a first amplification signal, the third boundary detection module is used for detecting the electromagnetic field to obtain a third detection signal, amplifying the third detection signal by the first amplification factor to obtain a third amplification signal, and the second boundary detection module is used for detecting the electromagnetic field to obtain a second detection signal, and sequentially circularly amplifying the second amplification factor and the first amplification factor to the second detection signal to respectively obtain a second amplification signal and a fourth amplification signal. When the automatic walking equipment enters a regression mode, the first amplified signal, the second amplified signal, the third amplified signal and the fourth amplified signal are analyzed, and the walking speeds of the first walking units and/or the second walking units distributed on two sides of the machine body are adjusted according to analysis results, so that the regression gesture of the automatic walking equipment is adjusted, and the riding line of the automatic walking equipment is regressed. The three boundary detection modules are used for obtaining amplified signals corresponding to different positions of the machine body and amplified signals with different amplification factors in the middle position, and according to the composite judgment results of the analysis results of the amplified signals, the speed of the walking unit is adjusted, so that the regression gesture of the automatic walking equipment can be adjusted more quickly and accurately, the problem of riding deviation is solved, and the docking precision and docking efficiency of the automatic walking equipment and the charging seat are effectively improved.
Drawings
FIG. 1 is a schematic view of an application scenario in which an automatic walking device is in a working mode;
Fig. 2 is a schematic view of an application scenario in which an automatic walking device is in a regression mode;
Fig. 3 is a schematic structural view of a walking device according to the first embodiment;
fig. 4 is a schematic structural view of a walking device according to the first embodiment;
Fig. 5 is a flow chart of a regression control method of the automatic walking device according to the second embodiment;
fig. 6 is a partial flow chart of a regression control method of the automatic walking device provided in the second embodiment;
reference numerals illustrate:
10. The device comprises a machine body, 101, a central axis, 201, a first walking unit, 202, a second walking unit, 30, a first boundary detection module, 301, a first signal receiving unit, 302, a first amplifying unit, 40, a second boundary detection module, 401, a second signal receiving unit, 402, a second amplifying unit, 50, a third boundary detection module, 501, a third signal receiving unit, 502, a third amplifying unit, 60, a processing module, 70, an automatic walking device, 80, a boundary line, 90 and a stop station.
Detailed Description
In order that the application may be readily understood, a more complete description of the application will be rendered by reference to the appended drawings. Embodiments of the application are illustrated in the accompanying drawings. This application may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.
It will be understood that the terms first, second, etc. as used herein may be used to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish one element from another element.
It will be understood that when an element is referred to as being "mounted" to another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. Further, "connection" in the following embodiments should be understood as "electrical connection", "communication connection", and the like if there is transmission of electrical signals or data between objects to be connected. The terms "vertical," "horizontal," "left," "right," "upper," "lower," "front," "rear," "circumferential," and the like as used herein are based on the orientation or positional relationship shown in the drawings and are merely for convenience of description and to simplify the description, rather than to indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the invention.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
Example 1
The embodiment of the application provides automatic walking equipment which can be intelligent equipment with an automatic walking function, such as a mowing robot, a sweeping robot, a snowplow and the like.
The automatic walking equipment provided by the embodiment has a working mode and a regression mode. When in the return mode, the self-propelled device 70 moves along the boundary line 80 to the docking station 90 and interfaces with the docking station 90, as shown in fig. 2, to perform a return function. The boundary line 80 is used for defining a working area of the automatic walking device 70, and the docking station 90 is disposed on the boundary line 80 and is used for sending pulse current to the boundary line 80, so that a boundary signal is generated through the boundary line 80, and the boundary signal is a magnetic field signal.
As shown in fig. 3 and 4, the self-walking device 70 provided in the present embodiment includes a body 10, a walking module, a first boundary detection module 30, a second boundary detection module 40, a third boundary detection module 50, and a processing module 60.
The walking module is mounted on the machine body 10 and disposed at the bottom of the machine body 10, and is used for supporting the machine body 10 and driving the automatic walking device 70 to move under the action of driving force, wherein the driving force can be provided by a driving motor in practical application.
In this embodiment, the walking module includes a first walking unit 201 and a second walking unit 202 symmetrically distributed on two sides of the machine body 10. The number of the first traveling units 201 and the second traveling units 202 is not unique, and may be one or more, and in this embodiment, the first traveling units 201 and the second traveling units 202 are preferably set to be one, so that the cost is reduced and the control flow of the processing module 60 is simplified while the traveling function is satisfied.
The first traveling unit 201 and the second traveling unit 202 may be traveling rollers.
The first boundary detection module 30, the second boundary detection module 40, and the third boundary detection module 50 are all mounted on the fuselage 10, and the first boundary detection module 30, the second boundary detection module 40, and the third boundary detection module 50 may be directly connected or indirectly connected to the fuselage 10. When the automatic walking device 70 is in the working mode, the walking module drives the automatic walking device 70 to move, and the first boundary detection module 30, the second boundary detection module 40 and the third boundary detection module 50 move together with the movement and detect the boundary signal in real time.
Specifically, the first boundary detection module 30 includes a first signal receiving unit 301 and a first amplifying unit 302. The first signal receiving unit 301 is configured to detect an electromagnetic field signal in the environment, and obtain a first detection signal, where the electromagnetic field signal in the environment may include a boundary signal sent by the boundary line 80 and other electromagnetic field signals in the environment. The first amplifying unit 302 is configured to amplify the first detection signal by a first amplification factor to obtain and output a first amplified signal. The first signal receiving unit 301 may be a magnetic induction coil, and the first amplifying unit 302 may be a signal amplifier.
The second boundary detection module 40 includes a second signal receiving unit 401 and a second amplifying unit 402. The second signal receiving unit 401 is configured to detect an electromagnetic field in the environment to obtain a second detection signal, and the second amplifying unit 402 is configured to sequentially and circularly amplify the second detection signal by a second amplification factor and the first amplification factor to obtain and output a second amplified signal corresponding to the second amplification factor and a fourth amplified signal corresponding to the first amplification factor.
The second amplifying unit 402 circularly amplifies the second detection signal by a second amplification factor and the first amplification factor with a preset period, and the preset period may be set to 30ms, 40ms, 50ms, or the like, which is not particularly limited herein. In this embodiment, the second signal receiving unit 401 may be a magnetic induction coil, and the second signal amplifying unit may be a signal amplifier.
The second magnification is greater than the first magnification. The first amplification factor and the second amplification factor may be set according to actual requirements, for example, the second amplification factor may be set to about 10 times of the first amplification factor, so as to ensure that when the second boundary detection module 40 is at the second amplification factor within ten meters, a signal can be detected, and avoid that the amplified boundary signal is a headless signal when the second amplification factor is too large, so that the signal cannot be detected or the detected signal needs to be further processed.
The third boundary detection module 50 includes a third signal receiving unit 501 and a third amplifying unit 502. The third signal receiving unit 501 is configured to detect an electromagnetic field signal in the environment to obtain a third detection signal, and the third amplifying unit 502 is configured to amplify the third detection signal by a first amplification factor to obtain and output a third amplification signal. The third signal receiving unit 501 may be a magnetic induction coil, and the third amplifying unit 502 may be a signal amplifier.
The first signal receiving unit 301 and the third signal receiving unit 501 are symmetrically distributed on two sides of the second signal receiving unit 401. That is, the first signal receiving unit 301, the second signal receiving unit 401, and the third signal receiving unit 501 are provided at different positions of the body 10, and amplified signals detected at different positions of the body 10 are acquired.
The processing module 60 is respectively connected with the first boundary detection module 30, the second boundary detection module 40, the third boundary detection module 50 and the walking module, and is used for controlling the walking module to drive the automatic walking device 70 to search the boundary line 80, analyzing the received first amplified signal, second amplified signal, third amplified signal and fourth amplified signal after determining that the automatic walking device 70 searches the boundary line 80, and adjusting the walking speed of the first walking unit 201 and/or the second walking unit 202 according to the analysis result so as to enable the automatic walking device 70 to ride the line to return. The process of analyzing the amplified signal may be analyzing the boundary signal according to the signal characteristic values such as the edge (including the rising edge and the falling edge), the signal strength, the amplitude ratio (including the signal peak and trough amplitude ratio), the frequency, the period and the like.
The three boundary detection modules are used for obtaining amplified signals corresponding to different positions of the machine body 10 and amplified signals with different amplification factors in the middle position, and judging whether the automatic walking equipment 70 deviates from the boundary line 80 when returning according to the composite judgment result of the analysis results of the several amplified signals, and timely adjusting the speed of the walking unit so as to quickly and accurately adjust the returning posture of the automatic walking equipment 70, so that the automatic walking equipment 70 is in line riding regression, the problem of line riding deviation is solved, and the docking precision and docking efficiency of the automatic walking equipment 70 and the docking station 90 are effectively improved. In practical applications, the relationship between the traveling speed of the first traveling unit 201 and the traveling speed of the second traveling unit 202 is related to the traveling direction of the automatic traveling device 70, and the purpose of correcting the returning posture of the automatic traveling device 70 can be achieved by adjusting the traveling speed of the first traveling unit 201 and/or the traveling speed of the second traveling unit 202 to adjust the relationship between the traveling speeds.
In one embodiment, the body 10 has a central axis 101, the second signal receiving unit 401 is disposed on the central axis 101, the first signal receiving unit 301 and the third signal receiving unit 501 are symmetrically disposed about the central axis 101, and the first signal receiving unit 301, the second signal receiving unit 401 and the third signal receiving unit 501 are located on a straight line perpendicular to the central axis 101, but in practical application, some errors, such as a deviation of 1-2cm from the straight line, are not excluded.
When the automatic walking device 70 walks on a line or deviates from the boundary line 80, the second amplified signal and the fourth amplified signal amplified by the second detection signal received by the second signal receiving unit 401 on the central axis 101, and the first amplified signal and the third amplified signal amplified by the detection signals received by the signal receiving units on both sides of the central axis 101 will respectively present different analysis results, so that the second signal receiving unit 401 is disposed on the central axis 101, and the first signal receiving unit 301 and the third signal receiving unit 501 are symmetrically disposed on the straight line perpendicular to the central axis 101, which is helpful for the processing module 60 to determine the relative positional relationship between the automatic walking device 70 and the boundary line 80 according to the different analysis results, and further implement accurate regulation. For a specific analysis, please refer to the corresponding description in the regression control method of the walking device 70 provided in the second embodiment.
In one embodiment, the first walking unit 201 is disposed near the first signal receiving unit 301, and the second walking unit 202 is disposed near the third signal receiving unit 501. That is, the second signal receiving unit 401 is disposed on the central axis 101, the first traveling unit 201 and the first signal receiving unit 301 may be uniformly disposed at one side of the central axis 101, and the second traveling unit 202 and the third signal receiving unit 501 may be disposed at the other side of the central axis 101.
In one embodiment, the first boundary detection module 30, the second boundary detection module 40, and the third boundary detection module 50 each include a corresponding filtering unit for filtering out signals with a preset frequency in each detection signal. In practical applications, the filtering unit may filter out the signals above the upper frequency value and the signals below the lower frequency value in each detection signal. The filtering unit can preprocess the detection signals, filters out high-frequency signals and low-frequency signals, and is beneficial to reducing the internal operation amount of subsequent signal processing. Wherein, the filtering unit can select a hardware filtering circuit.
In one embodiment, the first boundary detection module 30, the second boundary detection module 40, the third boundary detection module 50, and the processing module 60 are integrated on the same circuit board, which is convenient for installation and disassembly. The processing module 60 may include only one main processor, where the main processor is connected to the first boundary detecting module 30, the second boundary detecting module 40, and the third boundary detecting module 50, respectively, and the processing module 60 may include a sub-processor and a main processor, where the first boundary detecting module 30, the second boundary detecting module 40, and the third boundary detecting module 50 are connected to the sub-processor, respectively, and the sub-processor is connected to the main processor.
Example two
The embodiment of the application provides a regression control method of automatic walking equipment, which comprises a walking module, a first boundary detection module 30, a second boundary detection module 40 and a third boundary detection module 50. The walking module comprises a first walking unit 201 and a second walking unit 202 which are symmetrically distributed on two sides of the machine body 10, the first boundary detection module 30 comprises a first signal receiving unit 301 and a first amplifying unit 302, the second boundary detection module 40 comprises a second signal receiving unit 401 and a second amplifying unit 402, the third boundary detection module 50 comprises a third signal receiving unit 501 and a third amplifying unit 502, the first signal receiving unit 301 and the third signal receiving unit 501 are symmetrically distributed on two sides of the second signal receiving unit 401, the first signal receiving unit 301 is used for detecting an electromagnetic field to obtain a first detection signal, the first amplifying unit 302 is used for amplifying the first detection signal by a first amplifying factor to obtain and output a first amplifying signal, the second signal receiving unit 401 is used for detecting the electromagnetic field to obtain a second detection signal, the second amplifying unit 402 is used for sequentially circularly amplifying the second amplifying factor and the first amplifying factor to obtain and output a second amplifying signal corresponding to the second amplifying factor and a fourth amplifying signal corresponding to the first amplifying factor, the second amplifying unit is used for amplifying the third signal to obtain a third amplifying factor to the third signal to the third amplifying factor, and the third amplifying unit is used for amplifying the third signal to obtain the third detection signal to the third amplifying factor.
The specific structure of the above self-walking device 70 can be referred to the related description in embodiment 1, and is not repeated here.
The regression control method provided in the present embodiment is applied to a regression process of the automatic walking device 70 in a regression mode, as shown in fig. 5, and includes:
step S30, the walking module is controlled to drive the automatic walking device 70 to search the boundary line 80.
Firstly, the automatic walking device 70 is controlled to enter a regression mode, namely, the walking module is controlled to drive the automatic walking device 70 to search the boundary line 80 in a random direction.
Step S32, when it is determined that the walking device 70 finds the boundary line 80, the received first amplified signal, second amplified signal, third amplified signal, and fourth amplified signal are analyzed.
In the present embodiment, it may be determined whether the walk-behind device 70 has found the boundary line 80 based on the analysis results of the first amplified signal and the third amplified signal. When it is determined that the boundary line 80 is found, the first amplified signal, the second amplified signal, the third amplified signal, and the fourth amplified signal are analyzed. The process of analyzing the amplified signal may be analyzing the boundary signal according to the signal characteristic values such as the edge (including the rising edge and the falling edge), the signal strength, the amplitude ratio (including the signal peak and trough amplitude ratio), the frequency, the period and the like.
Step S34, according to the analysis result, the walking speed of the first walking unit 201 and/or the second walking unit 202 is adjusted to make the automatic walking device 70 travel in a line to return.
The three boundary detection modules are used for obtaining amplified signals corresponding to different positions of the machine body 10 and amplified signals with different amplification factors in the middle position, and judging whether the automatic walking equipment 70 deviates from the boundary line 80 when returning according to the composite judgment result of the analysis results of the several amplified signals, and timely adjusting the speed of the walking unit so as to quickly and accurately adjust the returning posture of the automatic walking equipment 70, so that the automatic walking equipment 70 is in line riding regression, the problem of line riding deviation is solved, and the docking precision and docking efficiency of the automatic walking equipment 70 and the docking station 90 are effectively improved. In practical applications, the relationship between the traveling speed of the first traveling unit 201 and the traveling speed of the second traveling unit 202 is related to the traveling direction of the automatic traveling device 70, and the purpose of correcting the returning posture of the automatic traveling device 70 can be achieved by adjusting the traveling speed of the first traveling unit 201 and/or the traveling speed of the second traveling unit 202 to adjust the relationship between the traveling speeds.
In one embodiment, in step S32, when it is determined that the waveform direction of the boundary signal resolved from the first amplified signal and the third amplified signal is opposite, and the current orientation of the walking device 70 is the return direction, it is determined that the boundary line 80 is found.
Specifically, the first signal receiving unit 301 and the third signal receiving unit 501 are distributed on both sides of the second signal receiving unit 401, the second signal receiving unit 401 may be disposed near the central axis 101 of the body 10 or disposed on the central axis 101, the first signal receiving unit 301 and the third signal receiving unit 501 are distributed on both sides of the central axis 101, when the walking device 70 finds the boundary line 80, the central axis 101 where the second signal receiving unit 401 is located is close to the boundary line 80 or aligned with the boundary line 80, and at this time, one of the first signal receiving unit 301 and the third signal receiving unit 501 on both sides is located inside the boundary line 80, and the other is located outside the boundary line 80, i.e., the waveform directions of the boundary signals parsed by the first amplified signal and the third amplified signal should be opposite. It is thus possible to determine whether the walking device 70 walks to the boundary line 80 based on whether the waveform directions of the boundary signals analyzed by the first amplified signal and the third amplified signal are opposite. In addition, in order to avoid the walking device 70 walking in the direction opposite to the return direction, while judging the current direction of the walking device 70, when the current direction is the return direction and the waveform directions of the boundary signals analyzed by the first amplified signal and the third amplified signal are opposite, it is determined that the boundary line 80 is found. By the composite determination of the waveform direction and the current direction of the boundary signal, it can be more accurately determined whether the self-walking device 70 finds the boundary line 80.
In one embodiment, the regression control method provided in the present embodiment further includes a step of determining whether the current direction of the automatic walking device 70 is the regression direction.
Preferably, referring to fig. 6, the step of determining whether the current orientation of the walking device 70 is the return direction includes:
In step S321, it is determined whether the first signal receiving unit 301 and the boundary line 80 have the first relative positional relationship based on the boundary signal analyzed from the first amplified signal, and it is determined whether the third signal receiving unit 501 and the boundary line 80 have the second relative positional relationship based on the boundary signal analyzed from the third amplified signal.
In step S322, when the first signal receiving unit 301 and the boundary line 80 are in the first relative positional relationship, and the third signal receiving unit 501 and the boundary line 80 are in the second relative positional relationship, the current direction of the walking device 70 is determined to be the return direction.
Specifically, when the waveform directions of the boundary signals analyzed by the first amplified signal and the third amplified signal are opposite, it may be determined that one of the first signal receiving unit 301 and the second signal receiving unit 401 is located within the boundary and the other is located outside the boundary. While the returning direction is determined, assuming that the first signal receiving unit 301 is located at the left side of the forward direction of the body 10, the third signal receiving unit 501 is located at the right side of the forward direction of the body 10, when the returning direction is clockwise, the positional relationship (i.e., the first relative positional relationship) between the first signal receiving unit 301 and the boundary line 80 is that the first signal receiving unit 301 is located at the outside of the boundary line 80, and the positional relationship (i.e., the second relative positional relationship) between the third signal receiving unit 501 and the boundary line 80 is that the third signal receiving unit 501 is located at the inside of the boundary line 80. On the contrary, when the returning direction is counterclockwise, the positional relationship (i.e., the first relative positional relationship) between the first signal receiving unit 301 and the boundary line 80 is that the first signal receiving unit 301 is located inside the boundary line 80, and the positional relationship (i.e., the second relative positional relationship) between the third signal receiving unit 501 and the boundary line 80 is that the third signal receiving unit 501 is located outside the boundary line 80.
Whether the first signal receiving unit 301 and the boundary line 80 have the first relative positional relationship or not can be determined from the boundary signal analyzed from the first amplified signal, and whether the third signal receiving unit 501 and the boundary line 80 have the second relative positional relationship or not can be determined from the boundary signal analyzed from the third amplified signal. And then reversely deduces whether the current orientation of the automatic walking device 70 is the return direction according to the determined relative positional relationship.
In one embodiment, the step S34 of adjusting the walking speed of the first walking unit 201 and/or the second walking unit 202 according to the analysis result to enable the automatic walking device 70 to perform riding regression includes determining the adjustment range of the speed of the first walking unit 201 and/or the second walking unit 202 according to the analysis result of the second amplified signal and the analysis result of the fourth amplified signal.
When the automatic walking device 70 rides on a line or deviates from the boundary line 80, the second amplified signal and the fourth amplified signal amplified by the second detection signal received by the second signal receiving unit 401 may present different analysis results, and it may be determined whether the automatic walking device 70 deviates from the boundary line 80, the direction and the magnitude of the deviation from the boundary line 80, and the like through the analysis results, and further the regression posture of the automatic walking device 70 may be adjusted by adjusting the walking speed of the first walking unit 201 and/or the second walking unit 202.
In one embodiment, the step of determining the adjustment amplitude of the speed of the first travelling unit 201 and/or the second travelling unit 202 according to the analysis result of the second amplified signal and the analysis result of the fourth amplified signal includes:
in step S341, when the boundary signal is resolved from the fourth amplified signal, the speed of the first walking unit 201 and/or the second walking unit 202 is adjusted by the first adjustment amplitude.
In step S342, when the boundary signal is not resolved from the fourth amplified signal, the boundary signal is resolved from the second amplified signal and the signal overflows, the speed of the first traveling unit 201 and/or the second traveling unit 202 is adjusted by the second adjustment amplitude, and the second adjustment amplitude is smaller than the first adjustment amplitude.
In step S343, when the boundary signal is not resolved from the fourth amplified signal, the boundary signal is resolved from the second amplified signal and the signal is not overflowed, or the boundary signal is not resolved, the current traveling speeds of the first traveling unit 201 and the second traveling unit 202 are maintained.
Since the first amplification factor is smaller than the second amplification factor, when the boundary signal is resolved from the fourth amplification signal and the boundary signal is resolved from the second amplification signal and the signal overflows, it is indicated that the automatic walking device 70 deviates more from the boundary line 80, and at this time, the speed of the first walking unit 201 and/or the second walking unit 202 is adjusted by the larger first adjustment amplitude. Specifically, only the speed of the first traveling unit 201 may be adjusted, only the speed of the second traveling unit 202 may be adjusted, and the speeds of the first traveling unit 201 and the second traveling unit 202 may be simultaneously adjusted, so long as a difference or a ratio value between the traveling speeds of the first traveling unit 201 and the second traveling unit 202 is larger, so as to ensure that the traveling posture of the automatic traveling apparatus 70 is timely adjusted with a larger amplitude.
If the boundary signal is not analyzed from the fourth amplified signal, and if the boundary signal is analyzed from the second amplified signal and the signal overflows, it is indicated that the autonomous traveling apparatus 70 deviates less from the boundary line 80, and at this time, the speed of the first traveling unit 201 and/or the second traveling unit 202 is adjusted by the second adjustment range smaller than the first adjustment range, so that the traveling posture of the autonomous traveling apparatus 70 is adjusted by the smaller range.
When the boundary signal is not analyzed from the fourth amplified signal, the boundary signal can be analyzed from the second amplified signal, and the signal does not overflow or the boundary signal cannot be analyzed, it is indicated that the automatic traveling device 70 is slightly deviated from the boundary line 80 or is not deviated from the boundary line 80, and at this time, the traveling speeds of the traveling units are not adjusted, and the current traveling speeds of the first traveling unit 201 and the second traveling unit 202 are maintained.
The judgment and the speed adjustment are based on the principle that when the boundary line 80 is deviated more, the boundary signal can be analyzed from the fourth amplified signal with the smaller amplification factor, the boundary signal can be analyzed from the second amplified signal with the larger amplification factor and the signal overflows, when the boundary line 80 is deviated less, the boundary signal can be analyzed from the fourth amplified signal with the smaller amplification factor and the signal overflows, when the boundary line 80 is slightly deviated, the boundary signal can be analyzed from the fourth amplified signal with the smaller amplification factor and the boundary signal can be analyzed from the second amplified signal with the larger amplification factor and the signal does not overflow, and when the boundary line 80 is not deviated at all, the boundary signal can be analyzed from the fourth amplified signal with the smaller amplification factor and the second amplified signal with the larger amplification factor.
The following is a specific example:
If the second signal receiving unit 401 is within 2.5cm from the boundary line 80, the boundary signal is not analyzed from the fourth amplified signal, and if the second signal receiving unit 401 is beyond 2.5cm from the boundary line 80, the boundary signal is analyzed from the fourth amplified signal. The boundary signal can be resolved from the second amplified signal and the signal overflows when the distance between the second signal receiving unit 401 and the boundary line 80 is within 1cm-2.5cm, the boundary signal can be resolved from the second amplified signal and the signal overflows when the distance between the second signal receiving unit 401 and the boundary line 80 exceeds 2.5cm, the boundary signal can be resolved from the second amplified signal and the signal does not overflow when the distance between the second signal receiving unit 401 and the boundary line 80 is within 1cm, and the boundary signal cannot be resolved from the second amplified signal when the second signal receiving unit 401 is located on the boundary line 80.
Based on the above principle, when the boundary signal is analyzed from the fourth amplified signal, it is explained that the automatic traveling device 70 deviates from the boundary line 80 by more than 2.5cm, and at this time, the speed ratio of the first traveling unit 201 and the second traveling unit 202 is adjusted to be 100:95 or 95:100. If the boundary signal is not resolved from the fourth amplified signal, but the boundary signal is resolved from the second amplified signal and the signal overflows, it is indicated that the automatic traveling device 70 deviates from the boundary line 80 by 1cm to 2.5cm, and at this time, the speed ratio of the first traveling unit 201 to the second traveling unit 202 is adjusted to 100:98 or 98:100. If the boundary signal is not resolved from the fourth amplified signal, and if the signal is resolved from the second amplified signal and the signal does not overflow, it is indicated that the automatic traveling device 70 deviates from the boundary line 80 by less than 1cm, and at this time, the speed ratio of the first traveling unit 201 and the second traveling unit 202 is adjusted to 100:100. If the boundary signal is not analyzed from the fourth amplified signal and the boundary signal is not analyzed from the second amplified signal, it is indicated that the automatic traveling device 70 is not deviated from the boundary line 80, and the speed ratio of the first traveling unit 201 and the second traveling unit 202 is adjusted to 100:100.
In one embodiment, the first walking unit 201 is disposed near the first signal receiving unit 301, and the second walking unit 202 is disposed near the third signal receiving unit 501. Assuming that the first signal receiving unit 301 approaches the inside and the third signal receiving unit 501 approaches the outside when the automatic walking device 70 returns, the first walking unit 201 approaches the inside and the second walking unit 202 approaches the outside. When the speed of the first traveling unit 201 and/or the second traveling unit 202 is adjusted with the first adjustment amplitude in step S341, and the speed of the first traveling unit 201 and/or the second traveling unit 202 is adjusted with the second adjustment amplitude in step S342,
When the direction of the waveform of the boundary signal analyzed from the second amplified signal or the fourth amplified signal is the same as the direction of the waveform of the boundary signal analyzed from the first amplified signal, the traveling speed of the first traveling unit 201 is adjusted to be greater than the traveling speed of the second traveling unit 202 when the traveling speed of the first traveling unit 201 and/or the traveling speed of the second traveling unit 202 are adjusted by the first adjustment amplitude or the second adjustment amplitude.
When the direction of the waveform of the boundary signal analyzed from the second amplified signal or the fourth amplified signal is the same as the direction of the waveform of the boundary signal analyzed from the third amplified signal, the traveling speed of the first traveling unit 201 is adjusted to be smaller than the traveling speed of the second traveling unit 202 when the traveling speed of the first traveling unit 201 and/or the second traveling unit 202 is adjusted by the first adjustment amplitude or the second adjustment amplitude.
That is, after the boundary signal is analyzed from the second amplified signal or the fourth amplified signal, it is also necessary to analyze the waveform direction of the analyzed boundary signal to determine whether it is the same as the waveform direction of the boundary signal analyzed from the first amplified signal or the waveform direction of the boundary signal analyzed from the third amplified signal, and further determine the deviation direction. The adjustment direction is determined according to the deviation direction, and the adjustment direction determines the magnitude relation of the speed adjusted by the first traveling unit 201 and the second traveling unit 202.
When the direction of the boundary signal waveform analyzed from the second amplified signal or the fourth amplified signal is the same as the direction of the boundary signal waveform analyzed from the first amplified signal, it is indicated that the autonomous device 70 is deviated toward the first signal receiving unit 301 side, that is, it is indicated that the autonomous device 70 is deviated into the boundary. When the first adjustment range or the second adjustment range is used for adjustment, the walking speed of the first walking unit 201 is adjusted to be greater than that of the second walking unit 202, that is, the ratio of the walking speed of the first walking unit 201 to the walking speed of the second walking unit 202 is 100:95 or 100:98, so that the automatic walking unit moves towards the out-of-limit direction to return to the boundary line 80 to ride back. Otherwise, the ratio of the walking speed of the first walking unit 201 to the walking speed of the second walking unit 202 is 95:100 or 98:100, so that the automatic walking unit moves towards the in-boundary direction.
In the present application, the step of analyzing the boundary signal includes the step of analyzing the received signal according to signal characteristic values such as edges (including rising edges and falling edges), signal strength, amplitude ratio (including signal peak/trough amplitude ratio), frequency, and period, without receiving the corresponding signal or receiving the signal.
It should be noted that, when the function of the self-walking device provided in the foregoing embodiment is implemented, only the division of the foregoing functional modules is used as an example, and in practical application, the foregoing functional allocation may be implemented by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to implement all or part of the functions described above. In addition, the embodiments of the self-walking device 70 and the method provided in the foregoing embodiments are the same concept, and specific implementation processes thereof are detailed in the method embodiments, and are not described herein again.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
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| CN111179568B (en) * | 2019-12-25 | 2021-08-10 | 中电海康集团有限公司 | Mowing robot communication method and system based on boundary electromagnetic signals |
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| CN107608341A (en) * | 2016-07-11 | 2018-01-19 | 苏州宝时得电动工具有限公司 | Automatic working system and the rehabilitation control method from mobile gardening equipment |
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Effective date of registration: 20251203 Address after: Suzhou City, Jiangsu province 215000 Suzhou high tech Zone Xuguan District Shilin Road No. 55 Patentee after: KINGCLEAN ELECTRIC GREEN TECHNOLOGY (SUZHOU) Co.,Ltd. Country or region after: China Address before: Suzhou City, Jiangsu province 215000 Suzhou high tech Zone Xuguan District Shilin Road No. 55 Patentee before: KINGCLEAN ELECTRIC GREEN TECHNOLOGY (SUZHOU) Co.,Ltd. Country or region before: China Patentee before: KINSUZHOU KINGCLEAN PRECISION MACHINERY Co.,Ltd. |