CN201307245Y

CN201307245Y - Navigation system for mowing robot

Info

Publication number: CN201307245Y
Application number: CNU2008201689219U
Authority: CN
Inventors: 应放天; 潘晶; 陈杭
Original assignee: Hangzhou Yinao Intelligence Technology Co Ltd
Current assignee: Hangzhou Yinao Intelligence Technology Co Ltd
Priority date: 2008-12-04
Filing date: 2008-12-04
Publication date: 2009-09-09
Anticipated expiration: 2018-12-04

Abstract

The utility model provides a navigation system for a mowing robot, which realizes the purpose of navigation through the following steps: a sensor comprising a high-frequency oscillator, an oscillation detector and a signal comparator detects the exist of a metal object, and sends relevant signals to a control chip; the control chip transmits the signals to a control motor after signal processing; and the motor drives a wheel to move. The navigation system has the advantages that the whole navigation process dispenses with energy consumption; and at the same time, the navigation system causes no electromagnetic interference to adjacent equipment during the whole project, so that the use is convenient and the performance is reliable.

Description

The grass-removing robot navigational system

Technical field

The utility model relates to a kind of navigational system, relates in particular to a kind of grass-removing robot navigational system.

Background technology

The navigational system of traditional grass-removing robot is that the navigation by a change of magnetic field strength encircles robot is remained in the limited zone to realize the guiding to the robot ambulation route.Described navigation ring need pass through the electric conductor transmission signals, this navigation ring needs pumping signal when starting working, when the approaching ring of robot, system senses this signal, and according to this signal enabling function with a specific direction guided robot, because of navigation ring need of work pumping signal, be that a kind of waste and this navigation encircle and in use generate an electromagnetic field in use to the energy, can produce electromagnetic interference (EMI) to the equipment of contiguous work, thereby reduce the reliability of total system.

Therefore need provide a kind of performance easy to use reliable system.

The utility model content

For overcoming the above-mentioned defective of prior art, the utility model grass-removing robot navigational system is by the sensor that a detectable metal object exists is set, to realize convenient and reliable navigation.

For realizing above-mentioned technical purpose, the technical solution adopted in the utility model is as follows:

A kind of grass-removing robot navigational system, it comprises leading line, sensor, control chip and control motor, described control chip is passed to the control motor after the navigation signal of autobiography sensor sensing is handled in the future, and it is characterized in that: described sensor comprises high frequency oscillator, oscillating detector and signal comparator.

The utility model grass-removing robot navigational system compared with prior art, has following beneficial effect: this grass-removing robot navigational system, it passes through by high frequency oscillator, whether the existence of the sensor detection metal object that oscillating detector and signal comparator are formed, described sensor sends to control chip with coherent signal, control chip is through after the signal Processing, signal is passed to the control motor, the driven by motor wheel moves and the realization navigation purpose, whole navigation procedure need not consumes energy while navigational system in whole engineering itself can not produce electromagnetic interference (EMI) to neighbouring device, and performance easy to use is reliable.

Description of drawings:

Fig. 1 is the utility model grass-removing robot navigational system synoptic diagram;

Fig. 2 is a sensor block diagram among Fig. 1;

Fig. 3 is the utility model navigational system action process flow diagram;

Fig. 4 is the unusual middle collision alarm figure of navigational system;

Fig. 5 is the control signal explanation block diagram of navigational system;

Fig. 6 is the searching system block diagram of a kind of metal leading line system.

Embodiment:

Below in conjunction with embodiment and accompanying drawing, the utility model is described in further detail.

As shown in Figure 1, the utility model grass-removing robot navigational system utilizes metal material to make the leading line 1 of robot, and described leading line 1 can be set to closed ring or semi-circular according to the working range of robot.

As shown in Figure 2, the utility model grass-removing robot navigational system use sensor 2 navigates, and it comprises high frequency oscillator, oscillating detector, signal comparator.Wherein said high frequency oscillator is in the threshold oscillation state, that is to say just to make the oscillator starting of oscillation.When the detecting coil in the high frequency oscillator when the metal object, because electromagnetic induction phenomenon, can in metallic conductor, produce vortex flow, energy loss in the oscillation circuit is increased, positive feedback weakens, and the oscillator vibration that is in critical state weakens, even can't keep the required minimum energy of vibration and stop vibration, this vibration that oscillating detector and signal comparator detect oscillator changes, and just can judge has the metal object existence below the detecting coil; Otherwise no metal object exists below the detecting coil.

After sensor 2 receives metal signal, signal is sent to control chip, control chip passes to the control motor through after the signal Processing with signal, 3,4 actions of driven by motor wheel.Controller drives motor action flow process, figure as shown in Figure 3.This detection signal is given software control module and is controlled in real time, exports corresponding signal and gives chip for driving, and drive motor rotates, thus the motion of control grass-removing robot, and system block diagram is as shown in Figure 5.

When grass-removing robot runs on the metal leading line limit that arranges in advance, metal detector detects metal, outputs level signals is to microprocessor, at this moment the automatic avoiding barrier program start that is provided with in the microprocessor, turn to another direction operation after the indication grass-removing robot retreats, realize hiding automatically function.

Be provided with three metal detection sensor 3 at interval side by side in the utility model, the installation site as shown in Figure 6, when carrying out walking program along the line, A, C sensor are positioned at the leading line both sides and are used for whether sideslip of detection machine people, the B sensor is used for auxiliary detection in the leading line scope, be consistent with axis and the leading line of guaranteeing grass-removing robot in the operational process along the line.Give the controller judgment processing according to the information that three sensors are collected, command next step traffic direction.Certainly the position relation that is provided with of sensor is not limited to this, and it is identical with the utility model then all within the application's protection domain to have only it that position role is set.

In the time will realizing mowing along the line and automatic charge function, microprocessor enters the self-navigation program, and grass-removing robot runs to directly over the leading line, walks automatically along the metal leading line by a plurality of sensors control grass-removing robots; As when the grass-removing robot walking is taken back, the metal detector on the right will detect stronger metal signal, each detector outputs level signals is to microprocessor, at this moment the self-navigation program start that is provided with in the microprocessor, the indication grass-removing robot advances automatically, realize the self-navigation function, vice versa.When the grass-removing robot battery electric quantity is on the low side, grass-removing robot will be opened automatic charging procedure, the indication grass-removing robot stops the machine operation of mowing, walking self-navigation (process as above) cradle of walking of reaching the standard grade again, the charging electrode that sticks on the cradle by two charging electrodes that are installed in the grass cutter dead ahead charges, at this moment battery charging management circuit is started working, charge to grass-removing robot, the slow down speed of movable motor of microprocessor control movable motor, it is slowly advanced, tightly be close to charging electrode, realize automatic charge function.

The driving circuit of motor is considered the software control mode, speed when grass-removing robot runs straight line is very fast, if take the deceleration measure during near metal wire at dolly, controller slows down motor by the duty specific energy that changes PWM, adopt specific hunting algorithm to judge, and then the control steering wheel turn to and trailing wheel.Brake gear is by a single-pole double-throw (SPDT) relay that is controlled by the controller and the work of electric drive motor.When grass-removing robot was in operate as normal, the full positive dirction of the voltage at battery two ends loaded on the motor two ends, and when grass-removing robot need slow down when curved, the actuating of relay oppositely loads on the motor two ends with the battery both end voltage, produces instant reversal.

Grass-removing robot may run into some abnormal conditions in the course of the work, as collide, fall, charging etc.The utility model also has corresponding treatment mechanism as shown in Figure 3 to these abnormal conditions.Wherein said collision situation comprises infrared crash module signal, physical impacts module by signal, drop signal, navigation signal and wheel coded signal over the ground.

When the hardware capability of grass-removing robot mainly is divided into above three big modules, and software design is mainly considered stability, anti-interference, and master routine mainly plays guiding and decision making function, and what this does to determine grass-removing robot.Various functions, motor-driven realize that described subroutine comprises by calling concrete subroutine: track, 90 turn to, straight ahead, demonstration, delay procedure etc.

Whether and with coherent signal the existence that the utility model is surveyed metal object by sensor sends to control chip, control chip is through after the signal Processing, signal is passed to the control motor, the driven by motor wheel moves and the realization navigation purpose, whole navigation procedure need not consumes energy while navigational system in whole engineering itself can not produce electromagnetic interference (EMI) to neighbouring device, and performance easy to use is reliable.

Claims

1. A mowing robot navigation system, which includes a navigation line, a sensor, a control chip and a control motor, and the control chip passes the navigation signal from sensor sensing to the control motor after processing, and it is characterized in that: the sensor includes High frequency oscillators, oscillation detectors and signal comparators.

2. The navigation system according to claim 1, wherein the navigation line is a closed ring or semi-ring metal material.

3. The navigation system according to claim 1 or 2, wherein the sensors are arranged on both sides of the navigation line.

4. The navigation system according to claim 3, further comprising a sensor disposed within the range of the guidance line to ensure that the axis of the robot is consistent with the guidance line.

5. The navigation system according to claim 4, further comprising a charging stand installed directly in front of the mowing robot.