| Intelligent lawn mower can realize unmanned maintenance,automatic cutting grass,its application is more and more widely.At present,the intelligent lawn mower generally has the problems of the precision of the system heading Angle and the motion following,resulting in the lawn mower can not accurately walk straightly and turn precisely,which affects the path planning effect of the lawn mower,and then leads to the low efficiency,low coverage rate,high repetition rate.Accurate path following system not only requires accurate heading Angle,but also depends on the motor drive control system which can cope with a variety of complex working conditions.It can give different instructions to speed regulation according to different working conditions in practical application to improve the motion following accuracy of the mower,and truly realize the path following of the mower.Aiming at the accuracy of heading Angle of intelligent lawn mower system,this paper proposes a measurement scheme based on INS and magnetometer integrated navigation.Firstly,N-long sliding filtering is carried out on inertial navigation sensor to eliminate static drift error,and then the pitch Angle and roll Angle obtained by inertial navigation are used to compensate the magnetometer and calculate the magnetic heading Angle.Finally,data fusion is carried out on multiple sensors.The final output is accurate and reliable course Angle.In this paper,an intelligent lawn mower system based on INS/ magnetometer navigation and fuzzy PD control of two-wheel differential motor is designed,aiming at the motion following problem of intelligent lawn mower system,using integrated navigation to obtain precise heading Angle and combining with motor drive control system.In this paper,the hardware design of the intelligent lawn mower system uses the main control module to schedule the functions of each sub-module.The software design uses the multi-task architecture under the real-time operating system.The software and hardware are combined to realize the functions of lawn mowing,straight walking and path planning.It is convenient for users to remotely control and view the running data and status of the mower in real time.The precision of integrated navigation is tested by different working environments and comparative experiments.The test results show that the proposed algorithm can realize 0 drift in static state under the condition of motion state monitoring.The intelligent lawn mower walks in a straight line in a 35 m flat corridor,and the heading deviation is <0.5°.Based on the heading Angle data obtained by integrated navigation,this paper combined the motion model of intelligent mower and complex working environment,and adopted the fuzzy PD control algorithm and the traditional PID control algorithm to control the two-wheel differential drive.The comparative test results show that the fuzzy PD control algorithm adopted in this paper has a more accurate control effect on motion following,and the deviation center line of the intelligent lawn mower is <0.2m in the 35 m flat corridor and <0.45 m in the 20 m complex road condition lawn. |
