CN110221330A - Method, automatic working system are determined from mobile device and its direction - Google Patents
Method, automatic working system are determined from mobile device and its direction Download PDFInfo
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- CN110221330A CN110221330A CN201810173597.8A CN201810173597A CN110221330A CN 110221330 A CN110221330 A CN 110221330A CN 201810173597 A CN201810173597 A CN 201810173597A CN 110221330 A CN110221330 A CN 110221330A
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- mobile device
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- position data
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- 238000000034 method Methods 0.000 title claims abstract description 63
- 238000004590 computer program Methods 0.000 claims description 17
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
Method is determined from the direction of mobile device the present invention relates to a kind of, comprising: the first position data of the first antenna is obtained from the first antenna for receiving satellite-signal, the first antenna is arranged described from mobile device；The second position data of second antenna are obtained from the second antenna for receiving satellite-signal, second antenna is arranged described from mobile device, and has predetermined angular between the first antenna and the line direction and the moving direction from mobile device of second antenna；And the moving direction from mobile device is determined based on the first position data, the second position data and the predetermined angular.
Description
Technical field
The present invention relates to from mobile device, especially, be related to it is a kind of determine method from the direction of mobile device, using the party
Method from mobile device and automatic working system.
Background technique
Automatic working system, such as automatic mower system can be automatically performed the tasks such as maintenance lawn, increasingly be disappeared
The welcome of the person of expense.In automatic working system, from mobile device, such as automatic mower, it is limited in certain working region
Activity, automatic mower, which sails out of working region, may cause safety issue.In addition, there may be obstacle, barriers in working region
Hinder including pit, flowering shrubs etc., the obstacle of working region should be avoided in the automatic mower course of work, be to avoid and fallen, is stranded
Etc. accidents.In order to guarantee the safety of automatic working system, the working efficiency of automatic mower is improved, automatic mower needs energy
Enough identify working region, the obstacle in boundary and working region including identifying working region.
The method of traditional automatic mower identification working region is, can also be with along the boundary cloth boundary line of working region
Along the peripheral cloth boundary line of obstacle, boundary line transmission telecommunications number generates electromagnetic field, and the sensor on automatic mower detects electromagnetism
Field signal judges itself to be located in or beyond the region of boundary line restriction.
The shortcomings that this method is cloth boundary line trouble, and it is beautiful to influence lawn.
In order to enable automatic mower to identify working region, and the trouble of cloth boundary line can be removed from, can use and build
The method of vertical working region map, the method that one of which establishes working region map is boundary and the barrier for recording working region
Hinder equal position coordinates, establish coordinate system, generates working region map.When automatic working system works, mow by comparing automatic
The position of machine and map, to judge automatic mower whether in the working region of safety.
In this way, navigation feature is needed to have, that is to say, that the seat in addition to needing to know automatic mower itself
It is marked with outer, it is also necessary to know the direction of automatic mower itself.Therefore, another technical problem in this way is, such as
What determines the direction of automatic mower.
Summary of the invention
To overcome the shortcomings of existing technologies, a problem to be solved by this invention is, true when mobile from mobile device
Determine from the direction of mobile device.
The present invention solves technical solution used by prior art problem:
It is a kind of to determine method from the direction of mobile device, comprising: to obtain described the from the first antenna for receiving satellite-signal
The first position data of one antenna, the first antenna are arranged described from mobile device；From the second of reception satellite-signal
Antenna obtains the second position data of second antenna, and second antenna is arranged described from mobile device, and described
There is predetermined angular between first antenna and the line direction and the moving direction from mobile device of second antenna；With
And the movement from mobile device is determined based on the first position data, the second position data and the predetermined angular
Direction.
Preferably, the fore-body from mobile device is arranged in the first antenna, and second antenna is arranged
In the fuselage afterbody from mobile device.
Preferably, the first antenna and second antenna are arranged at the central axes of the fuselage from mobile device
On.
Preferably, the position data of the antenna is obtained by global position system combination inertial navigation system.
Preferably, from the moving direction of mobile device in conjunction with described in angular transducer determination.
Preferably, determine whether the signal strength of the satellite-signal is less than predetermined threshold；Believe in response to the satellite
Number signal strength be less than predetermined threshold, in conjunction with angular transducer determine described in from the moving direction of mobile device.
Preferably, the angular transducer includes compass or gyroscope.
One kind is from mobile device, comprising: first position acquiring unit, for being obtained from the first antenna for receiving satellite-signal
The first position data of the first antenna, the first antenna are arranged described from mobile device；The second position obtains single
Member, for obtaining the second position data of second antenna from the second antenna for receiving satellite-signal, second antenna is set
It sets described from mobile device, and the line direction of the first antenna and second antenna and described from mobile device
There is predetermined angular between moving direction；And direction-determining unit, for being based on the first position data, the second
It sets data and the predetermined angular determines the moving direction from mobile device.
Preferably, the fore-body from mobile device is arranged in the first antenna, and second antenna is arranged
In the fuselage afterbody from mobile device.
Preferably, the first antenna and second antenna are arranged at the central axes of the fuselage from mobile device
On.
Preferably, the position data of the antenna is obtained by global position system combination inertial navigation system.
Preferably, the direction-determining unit is used for the mobile side in conjunction with described in angular transducer determination from mobile device
To.
Preferably, further comprise: signal strength judging unit, for determine the satellite-signal signal strength whether
Less than predetermined threshold；It is used to be less than predetermined threshold in response to the signal strength of the satellite-signal with the direction-determining unit,
From the moving direction of mobile device in conjunction with described in angular transducer determination.
Preferably, the angular transducer includes compass or gyroscope.
A kind of automatic working system, including described in above-mentioned any one from mobile device, in the workspace that map limits
It moves and works in domain.
A kind of electronic equipment, comprising: memory, for storing computer executable instructions；And processor, for executing
The computer executable instructions of memory storage are stated, to execute the direction determination side described in above-mentioned any one from mobile device
Method.
A kind of computer readable storage medium, is stored thereon with computer program instructions, when the computer program instructions
When being executed by a computing apparatus, it is operable to execute described in above-mentioned any one and determines method from the direction of mobile device.
It is a kind of to determine method from the direction of mobile device, comprising: first time from receive satellite-signal first antenna
A position data of the first antenna is obtained, the first antenna is arranged described from mobile device；The second time from
The first antenna obtains the another location data of the first antenna, and second time is later than the first time；It is based on
Two position datas that at least described first time and the second time obtain carry out direction fitting, described from mobile device to determine
Moving direction.
Preferably, the acquisition frequency of the position data is 1Hz to 100Hz.
Preferably, the position data of the antenna is obtained by global position system combination inertial navigation system.
Preferably, from the moving direction of mobile device in conjunction with described in angular transducer determination.
Preferably, determine whether the signal strength of the satellite-signal is less than predetermined threshold；Believe in response to the satellite
Number signal strength be less than predetermined threshold, in conjunction with angular transducer determine described in from the moving direction of mobile device.
Preferably, the angular transducer includes compass or gyroscope.
One kind is from mobile device, comprising: position acquisition unit, in first time from receiving first day of satellite-signal
Line obtains a position data of the first antenna, and the first antenna is arranged described from mobile device；It obtains the position
Unit is taken to be also used to obtain the another location data of the first antenna from the first antenna in the second time, when described second
Between be later than the first time；Direction-determining unit, for two based on at least described first time and the acquisition of the second time
Position data carries out direction fitting, to determine the moving direction from mobile device.
Preferably, the acquisition frequency of the position data is 1Hz to 100Hz.
Preferably, the position data of the antenna is obtained by global position system combination inertial navigation system.
Preferably, the direction-determining unit is used for the mobile side in conjunction with described in angular transducer determination from mobile device
To.
Preferably, including signal strength judging unit, for determining it is pre- whether the signal strength of the satellite-signal is less than
Determine threshold value；It is used to be less than predetermined threshold in response to the signal strength of the satellite-signal with the direction-determining unit, in conjunction with institute
It states angular transducer and determines the moving direction from mobile device.
Preferably, the angular transducer includes compass or gyroscope.
A kind of automatic working system, including described in above-mentioned any one from mobile device, in the workspace that map limits
It moves and works in domain.
A kind of electronic equipment, comprising: memory, for storing computer executable instructions；And processor, for executing
The computer executable instructions of memory storage are stated, to execute the direction determination side described in above-mentioned any one from mobile device
Method.
A kind of computer readable storage medium, is stored thereon with computer program instructions, when the computer program instructions
When being executed by a computing apparatus, it is operable to execute and determines method from the direction of mobile device as described in any one of above-mentioned.
Compared with prior art, the beneficial effects of the present invention are: determining the shifting from mobile device by using position data
Dynamic direction, can accurately determine the moving direction from mobile device.Further, pass through position data combination angular transducer
Output determine from the moving direction of mobile device, on the one hand can utilize the error of position data correction sensor, another party
Face can persistently navigate in satellite-signal difference or low positioning signal precision.
Detailed description of the invention
Purpose, technical solution and the beneficial effect of invention described above can be realized by following accompanying drawings:
Fig. 1 is the automatic working system schematic diagram of one embodiment of the invention.
Fig. 2 is the automatic mower structural schematic diagram of one embodiment of the invention.
The composition schematic diagram of Fig. 3 (a), the navigation module that (b) is one embodiment of the invention.
Fig. 4 is the schematic flow chart that method is determined from the direction of mobile device of one embodiment of the invention.
Fig. 5 is the schematic block diagram from mobile device of one embodiment of the invention.
Fig. 6 is the schematic block diagram of the electronic equipment of one embodiment of the invention.
Fig. 7 is the schematic flow chart that method is determined from the direction of mobile device of one embodiment of the invention.
Specific embodiment
In the following, example embodiment according to the application will be described in detail by referring to the drawings.Obviously, described embodiment is only
It is only a part of the embodiment of the application, rather than the whole embodiments of the application, it should be appreciated that the application is not by described herein
The limitation of example embodiment.
Automatic working system is summarized
Fig. 1 is 100 schematic diagram of automatic working system of one embodiment of the invention.Automatic working system includes setting from movement
It is standby.It is automatic mower 1 from mobile device in the present embodiment, it is in other embodiments, from mobile device or automatically clear
Clean equipment, automatic-watering equipment, automatic snow cleaner etc. are suitble to unattended equipment.Automatic working system 100 further includes charging
2 are stood, for feeding electric energy for automatic mower 1.In the present embodiment, automatic working system 100 includes navigation module, for exporting
The current location of automatic mower.Specifically, navigation module includes base station 17 and movement station 15.
As shown in Figure 1, automatic working system is used to work in scheduled working region, and in the present embodiment, working region
The sub- working region being separated from each other including at least two, sub- working region are connected to by channel 400.Working region and non-active area
Between form boundary 200, including obstacle 9,11 in working region, obstacle includes trees, pit etc..
The structure of automatic mower 1 in the present embodiment is as shown in Figure 2.Automatic mower 1 include shell 3, mobile module,
Task execution module, energy module, control module etc..Wherein, mobile module includes crawler belt 5, is driven by drive motor to drive
Automatic mower 1 is mobile.Task execution module includes cutting assembly 7, executes grass cutting action.Energy module includes battery pack (figure
Do not show), electric energy is provided for the movement and work of automatic mower 1.Control module and mobile module, task execution module and the energy
Module electrical connection, control mobile module drives automatic mower 1 mobile, and control task execution module executes task.
Shown in the composition of navigation module in the present embodiment such as Fig. 3 (a), (b).Navigation module includes base station 17 and movement station
15.Base station 17 and movement station 15 receive satellite-signal, and base station 17 sends positioning revise signal to movement station 15, realize that difference is defended
Star positioning.In the present embodiment, base station 17 and movement station 15 receive GPS positioning signal, realize differential GPS positioning.Certainly, at other
In embodiment, base station 17 and movement station 15 also can receive galileo satellite navigation system or Beidou satellite navigation system or
The positioning signals such as GLONASS.
As shown in Fig. 3 (a), in the present embodiment, base station 17 includes GPS antenna 19, receives GPS positioning signal；GPS board
21, the GPS positioning signal received is handled, and generate positioning revise signal；Positioning revise signal is sent to by communication module 23
Movement station 15, in the present embodiment, communication module 23 includes radio station and radio antenna 25；Base station further includes indicator (not shown),
Indicator can export the whether good instruction of satellite-signal of current location.In the present embodiment, base station 17 is set to charging station
2, with 2 one of charging station.In other embodiments, base station 17 can also be separately positioned with charging station 2, for example, can be set
Roof etc. can preferably receive the position of satellite-signal.
In the present embodiment, movement station 15 includes shell 27；GPS antenna 29 receives GPS positioning signal；GPS board 31, place
Manage the GPS positioning signal received；Communication module 33, receives the positioning revise signal that base station 17 is sent, and communication module 33 includes
Radio station and radio antenna 35.In the present embodiment, movement station 15 is integrated with inertial navigation system (not shown), and inertial navigation system is defeated
Inertial navigation data out.It when movement station 15 works, can only be navigated using GPS positioning signal, also can use GPS positioning letter
It navigates number with fused treated the positioning signal of inertial navigation data, alternatively, when GPS signal is weak, it can also be only
It is navigated using inertial navigation data.Movement station 15 further includes indicator (not shown), exports the differential GPS signal of current location
Whether good instruction.In the present embodiment, movement station 15 is removably connect with the shell 3 of automatic mower 1.Movement station 15 wraps
Include the first interface (not shown) connecting with the shell of automatic mower 1.Movement station 15 is installed on certainly when automatic mower 1 works
The shell 3 of motor mower 1., it can be achieved that control with automatic mower 1 when movement station 15 is connect with the shell 3 of automatic mower 1
The electrical connection of module, movement station 15 export the current position coordinates of automatic mower 1, and control module is according to automatic mower 1
The movement and work of current location control automatic mower 1.Alternatively, movement station according to current position coordinates export control instruction to
Control module.In the present embodiment, movement station 15 includes independent power module 37, the shell 3 of movement station 15 and automatic mower 1
When separation, it can work independently.
Schematic direction determines method
In the navigation procedure from mobile device, other than needing to know from the coordinate of mobile device itself, it is also necessary to
Know the direction from mobile device itself.It needs to know steering direction when for example, returning, deviate preset path or encounters boundary
When be also required to know steering direction.
Traditional direction determination process is mainly by using the direct measurement direction of sensor.For example, by using gyro
Instrument etc. can obtain the variable quantity of angle, so that it is determined that direction, still, problem are that error is easy accumulation.Alternatively, by using
Compass etc. can directly obtain angle, but be easy to be influenced by environment again, and compass etc. has constant error.
It is according to an embodiment of the present invention to determine that method is believed by position from the direction of mobile device based on above-mentioned technical problem
Breath is to determine direction.
Fig. 4 is the schematic flow chart that method is determined from the direction of mobile device according to one embodiment of the invention.Such as Fig. 4
It is shown, it is according to an embodiment of the present invention to determine that method includes: S110 from the direction of mobile device, from the first of reception satellite-signal
Antenna obtains the first position data of the first antenna, and the first antenna is arranged described from mobile device；S120, from
The second antenna for receiving satellite-signal obtains the second position data of second antenna, the second antenna setting it is described from
In mobile device, and the line direction of the first antenna and second antenna and the moving direction from mobile device it
Between have predetermined angular；And S130, it is true based on the first position data, the second position data and the predetermined angular
The fixed moving direction from mobile device.
That is, being determined in method according to an embodiment of the present invention from the direction of mobile device, by being set from movement
The positions of two antennas of standby upper installation determines the moving direction from mobile device.This way it is possible to avoid above-mentioned use sensing
Device bring error problem, to accurately determine the moving direction from mobile device.
In order to more accurately determine the moving direction from mobile device, the first antenna and the second antenna are preferably each other
It is separated by a distance.That is, being determined in method according to an embodiment of the present invention from the direction of mobile device, described first
After the fore-body from mobile device is arranged in antenna, and the fuselage from mobile device is arranged in second antenna
Portion.Certainly, as long as guaranteeing that the distance between the first antenna and second antenna determine direction, the first antenna enough
It also may be mounted at the other positions from mobile device with second antenna.
In addition, the line direction of the first antenna and second antenna can be with the mobile side from mobile device
To being in predetermined angular, in this way, the line direction by determining the first antenna and second antenna, so that it may further base
The moving direction from mobile device is determined in the predetermined angular.Certainly, the predetermined angular is also possible to zero degree, also
It is to say, the first antenna can be consistent with the moving direction from mobile device with the line direction of second antenna.
In this case, it is determined in method according to an embodiment of the present invention from the direction of mobile device, described first
Antenna and second antenna can be arranged at described from the central axes of the fuselage of mobile device.
In this way, according to an embodiment of the present invention determine that method can export the shifting certainly in real time from the direction of mobile device
The moving direction of dynamic equipment.
It determines in method according to an embodiment of the present invention from the direction of mobile device, is obtained by differential satellite positioning system
Take the position data of the antenna.
In one embodiment, the first antenna and described second are obtained by differential GPS signal from mobile device
The position data of antenna.
It, can be further combined with inertial navigation system in order to assist navigating when satellite-signal is bad.
That is, determining in method according to an embodiment of the present invention from the direction of mobile device, pass through differential satellite
Positioning system combination inertial navigation system obtains the position data of the antenna.
In addition, determined in method according to an embodiment of the present invention from the direction of mobile device, it can be further combined with angle
Spend the determining moving direction from mobile device such as sensor, such as compass, gyroscope.
That is, being determined in method above-mentioned from the direction of mobile device, further comprise: true in conjunction with angular transducer
The fixed moving direction from mobile device.
Specifically, the signal strength of satellite-signal can be determined first, and is less than predetermined threshold in signal strength, that is, is believed
In the case where number bad, the moving direction from mobile device is determined in conjunction with angular transducer.
That is, being determined in method above-mentioned from the direction of mobile device, further comprise: determining the signal strength of satellite-signal
Whether predetermined threshold is less than；With, it is less than predetermined threshold in response to the signal strength of satellite-signal, it is determining certainly in conjunction with angular transducer
The moving direction of mobile device.
Also, it is determined in method above-mentioned from the direction of mobile device, angular transducer includes compass, gyroscope etc..
In one embodiment of the invention, when being determined using position data from the moving direction of mobile device, it can also lead to
It crosses and the position data of different time points is fitted, to determine the moving direction from mobile device.
That is, as shown in fig. 7, direction according to an embodiment of the present invention determines that method includes: S210, at the first time
Obtain a position data of the first antenna from the first antenna for receiving satellite-signal, the first antenna setting it is described from
In mobile device；S220, obtains from the first antenna another location data of the first antenna in the second time, and described
Two times were later than the first time；S230, two position datas obtained based on at least described first time and the second time
Direction fitting is carried out, to determine the moving direction from mobile device.
It is determined in method according to an embodiment of the present invention from the direction of mobile device, on binding time axis (mobile front and back)
Two positions be fitted direction.
That is, can be by multiple data of high-precision coordinate continuous a period of time, to correspond to time shaft progress side
To fitting, so that it is determined that from the moving direction of mobile device.
It is determined in method above-mentioned from the direction of mobile device, the acquisition frequency of the position data is 1Hz to 100Hz.
It is determined in method above-mentioned from the direction of mobile device, the acquisition frequency of the position data is 5Hz.
It is determined in method above-mentioned from the direction of mobile device, passes through differential satellite positioning system combination inertial navigation system
Obtain the position data of the antenna.
It is determined in method above-mentioned from the direction of mobile device, from the shifting of mobile device in conjunction with described in angular transducer determination
Dynamic direction.
It is determined in method above-mentioned from the direction of mobile device, it is pre- to determine whether the signal strength of the satellite-signal is less than
Determine threshold value；It is less than predetermined threshold with the signal strength in response to the satellite-signal, from shifting in conjunction with described in angular transducer determination
The moving direction of dynamic equipment.
It is determined in method above-mentioned from the direction of mobile device, the angular transducer includes compass or gyroscope.
It is determined in method above-mentioned from the direction of mobile device, the position from mobile device that can be only obtained with single antenna
To carry out direction fitting.
Schematically from mobile device and automatic working system
Fig. 5 is the schematic block diagram from mobile device of one embodiment of the invention.
As shown in figure 5, it is according to an embodiment of the present invention from mobile device 500 include: first position acquiring unit 510, use
In the first position data for obtaining the first antenna from the first antenna for receiving satellite-signal, the first antenna is arranged in institute
It states from mobile device；Second position acquiring unit 520, for being obtained described second day from the second antenna for receiving satellite-signal
The second position data of line, second antenna is arranged described from mobile device, and the first antenna and described second
There is predetermined angular between the line direction and the moving direction from mobile device of antenna；And direction-determining unit 530,
For determining the shifting from mobile device based on the first position data, the second position data and the predetermined angular
Dynamic direction.
In one example, above-mentioned from mobile device 500, the first antenna is arranged in described from mobile device
Fore-body, and the fuselage afterbody from mobile device is arranged in second antenna.
In one example, above-mentioned from mobile device 500, the first antenna and second antenna are arranged at
It is described from the central axes of the fuselage of mobile device.
In one example, above-mentioned from mobile device 500, the antenna is obtained by differential satellite positioning system
Position data.
In one example, above-mentioned from mobile device 500, pass through differential satellite positioning system combination inertial navigation system
System obtains the position data of the antenna.
In one example, above-mentioned from mobile device 500, the direction-determining unit is used to combine angular transducer
Determine the moving direction from mobile device.
In one example, further comprise from mobile device 500 above-mentioned: signal strength judging unit, for true
Whether the signal strength of the fixed satellite-signal is less than predetermined threshold；With, the direction-determining unit for being defended in response to described
The signal strength of star signal is less than predetermined threshold, from the moving direction of mobile device in conjunction with described in angular transducer determination.
In one example, above-mentioned from mobile device 500, the angular transducer includes compass, gyroscope.
Here, it will be understood by those skilled in the art that the present embodiment from the other thin of each unit in mobile device
It saves and to determine that the relevant details in method are identical from the direction of mobile device with one embodiment of the invention for describing before, this
In just repeat no more in order to avoid redundancy.
Equally, on the other hand, it is according to an embodiment of the present invention from mobile device include: position acquisition unit, for
A position data of the first antenna, the first antenna setting are obtained from the first antenna for receiving satellite-signal at the first time
Described from mobile device；The position acquisition unit is also used to obtain described first from the first antenna in the second time
The another location data of antenna, second time are later than the first time；Direction-determining unit, for based at least described
At the first time and two position datas of the second time acquisition carry out direction fitting, to determine the mobile side from mobile device
To.
Above-mentioned from mobile device, the acquisition frequency of the position data is 1Hz to 100Hz.
Above-mentioned from mobile device, the acquisition frequency of the position data is 5Hz.
Above-mentioned from mobile device, the position of the antenna is obtained by global position system combination inertial navigation system
Data.
Above-mentioned from mobile device, the direction-determining unit is used to set in conjunction with described in angular transducer determination from movement
Standby moving direction.
Above-mentioned from mobile device, including signal strength judging unit, the signal for determining the satellite-signal are strong
Whether degree is less than predetermined threshold；It is used to be less than in response to the signal strength of the satellite-signal with the direction-determining unit predetermined
Threshold value, from the moving direction of mobile device in conjunction with described in angular transducer determination.
Above-mentioned from mobile device, the angular transducer includes compass or gyroscope.
One embodiment of the invention is further to a kind of automatic working system, including as described above from mobile device,
It moves and works in the working region that map limits.
In above-mentioned automatic working system, it is described from mobile device be automatic mower.
In above-mentioned automatic working system, the automatic working system is automatic mower.
One embodiment of the invention is further to a kind of electronic equipment, comprising: memory, it is executable for storing computer
Instruction；With processor, for executing the computer executable instructions of the memory storage, to execute as described above from shifting
The direction of dynamic equipment determines method.
One embodiment of the invention is stored thereon with computer program and refers to further to a kind of computer readable storage medium
It enables, when the computer program instructions are executed by a computing apparatus, is operable to execute as described above from the side of mobile device
To the method for determination.
Compared with prior art, the beneficial effect of the embodiment of the present invention is: being determined by using position data from movement and is set
Standby moving direction can accurately determine the moving direction from mobile device.Further, pass through position data combination angle
The output of sensor determines the moving direction from mobile device, and the error of sensor on the one hand can be corrected using position data,
On the other hand it can persistently navigate in satellite-signal difference or low positioning signal precision.
Example electronic device
In the following, being described with reference to Figure 6 electronic equipment according to an embodiment of the invention.The electronic equipment can be to be moved certainly
The electronic equipment integrated in the movement station of dynamic equipment, or with the independent stand-alone device of the movement station, which can be with
Movement station is communicated, and according to an embodiment of the invention determines method from the direction of mobile device to realize.
Fig. 6 is the schematic block diagram of the electronic equipment of one embodiment of the invention.
As shown in fig. 6, electronic equipment 600 includes one or more processors 610 and memory 620.
Processor 610 can be central processing unit (CPU) or have data-handling capacity and/or instruction execution capability
Other forms processing unit, and can control the other assemblies in electronic equipment 600 to execute desired function.
Memory 620 may include one or more computer program products, and the computer program product may include
Various forms of computer readable storage mediums, such as volatile memory and/or nonvolatile memory.The volatibility is deposited
Reservoir for example may include random access memory (RAM) and/or cache memory (cache) etc..It is described non-volatile
Memory for example may include read-only memory (ROM), hard disk, flash memory etc..It can be on the computer readable storage medium
One or more computer program instructions are stored, processor 610 can run described program instruction, to realize sheet described above
Each embodiment of invention from the positioning failure alarm method of mobile device and/or other desired functions.Described
The position data of such as antenna, antenna can also be stored in computer readable storage medium relative to from the installation position of mobile device
The various contents such as set.
In one example, electronic equipment 600 can also include: input unit 630 and output device 640, these components
It is interconnected by bindiny mechanism's (not shown) of bus system and/or other forms.
For example, the input unit 630 can be for receiving user's input.
The output device 640 can the portion of directing out export various information, or control movement station sends signal.
Certainly, to put it more simply, illustrated only in Fig. 6 it is some in component related with the application in the electronic equipment 600,
The component of such as bus, input/output interface etc. is omitted.In addition to this, according to concrete application situation, electronic equipment 600
It can also include any other component appropriate.
Illustrative computer program product and computer readable storage medium
Other than the above method and equipment, embodiments herein can also be computer program product comprising meter
Calculation machine program instruction, it is above-mentioned that the computer program instructions make the processor execute this specification when being run by processor
The direction determination side from mobile device of various embodiments according to the present invention described in " exemplary direction determines method " part
Step in method.
The computer program product can be write with any combination of one or more programming languages for holding
The program code of row the embodiment of the present application operation, described program design language includes object oriented program language, such as
Java, C++ etc. further include conventional procedural programming language, such as " C " language or similar programming language.Journey
Sequence code can be executed fully on the user computing device, partly execute on a user device, be independent soft as one
Part packet executes, part executes on a remote computing or completely in remote computing device on the user computing device for part
Or it is executed on server.
In addition, embodiments herein can also be computer readable storage medium, it is stored thereon with computer program and refers to
It enables, the computer program instructions make the processor execute above-mentioned " the exemplary side of this specification when being run by processor
To the method for determination " step of various embodiments determined from the direction of mobile device in method according to the present invention described in part
Suddenly.
The computer readable storage medium can be using any combination of one or more readable mediums.Readable medium can
To be readable signal medium or readable storage medium storing program for executing.Readable storage medium storing program for executing for example can include but is not limited to electricity, magnetic, light, electricity
Magnetic, the system of infrared ray or semiconductor, device or device, or any above combination.Readable storage medium storing program for executing it is more specific
Example (non exhaustive list) includes: the electrical connection with one or more conducting wires, portable disc, hard disk, random access memory
Device (RAM), read-only memory (ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disc
Read-only memory (CD-ROM), light storage device, magnetic memory device or above-mentioned any appropriate combination.
The basic principle of the application is described in conjunction with specific embodiments above, however, it is desirable to, it is noted that in this application
The advantages of referring to, advantage, effect etc. are only exemplary rather than limitation, must not believe that these advantages, advantage, effect etc. are the application
Each embodiment is prerequisite.In addition, detail disclosed above is merely to exemplary effect and the work being easy to understand
With, rather than limit, it is that must be realized using above-mentioned concrete details that above-mentioned details, which is not intended to limit the application,.
Device involved in the application, device, equipment, system block diagram only as illustrative example and be not intended to
It is required that or hint must be attached in such a way that box illustrates, arrange, configure.As those skilled in the art will appreciate that
, it can be connected by any way, arrange, configure these devices, device, equipment, system.Such as "include", "comprise", " tool
" etc. word be open vocabulary, refer to " including but not limited to ", and can be used interchangeably with it.Vocabulary used herein above
"or" and "and" refer to vocabulary "and/or", and can be used interchangeably with it, unless it is not such that context, which is explicitly indicated,.Here made
Vocabulary " such as " refers to phrase " such as, but not limited to ", and can be used interchangeably with it.
It may also be noted that each component or each step are can to decompose in the device of the application, device and method
And/or reconfigure.These decompose and/or reconfigure the equivalent scheme that should be regarded as the application.
The above description of disclosed aspect is provided so that any person skilled in the art can make or use this
Application.Various modifications in terms of these are readily apparent to those skilled in the art, and are defined herein
General Principle can be applied to other aspect without departing from scope of the present application.Therefore, the application is not intended to be limited to
Aspect shown in this, but according to principle disclosed herein and the consistent widest range of novel feature.
In order to which purpose of illustration and description has been presented for above description.In addition, this description is not intended to the reality of the application
It applies example and is restricted to form disclosed herein.Although already discussed above multiple exemplary aspects and embodiment, this field skill
Its certain modifications, modification, change, addition and sub-portfolio will be recognized in art personnel.
Claims (17)
1. a kind of determine method from the direction of mobile device, comprising:
The first position data of the first antenna are obtained from the first antenna for receiving satellite-signal, the first antenna setting exists
It is described from mobile device；
The second position data of second antenna are obtained from the second antenna for receiving satellite-signal, the second antenna setting exists
It is described from mobile device, and the line direction of the first antenna and second antenna and the movement from mobile device
There is predetermined angular between direction；And
The shifting from mobile device is determined based on the first position data, the second position data and the predetermined angular
Dynamic direction.
2. determining method from the direction of mobile device as described in claim 1, wherein first antenna setting it is described from
The fore-body of mobile device, and the fuselage afterbody from mobile device is arranged in second antenna.
3. determining method from the direction of mobile device as claimed in claim 2, wherein the first antenna and second day described
Line is arranged at described from the central axes of the fuselage of mobile device.
4. determining method from the direction of mobile device as described in claim 1, wherein pass through global position system combination inertia
Navigation system obtains the position data of the antenna.
5. determining method from the direction of mobile device as described in claim 1, further comprise:
From the moving direction of mobile device in conjunction with described in angular transducer determination.
6. determining method from the direction of mobile device as claimed in claim 5, further comprise:
Determine whether the signal strength of the satellite-signal is less than predetermined threshold；With
It is less than predetermined threshold in response to the signal strength of the satellite-signal, from mobile device in conjunction with described in angular transducer determination
Moving direction.
7. determining method from the direction of mobile device as claimed in claim 5, wherein the angular transducer include compass,
Or gyroscope.
8. a kind of from mobile device, comprising:
First position acquiring unit, for obtaining the first position number of the first antenna from the first antenna for receiving satellite-signal
According to the first antenna is arranged described from mobile device；
Second position acquiring unit, for obtaining the second position number of second antenna from the second antenna for receiving satellite-signal
According to second antenna is arranged described from mobile device, and the line direction of the first antenna and second antenna
There is predetermined angular between the moving direction from mobile device；And
Direction-determining unit, for being determined based on the first position data, the second position data and the predetermined angular
The moving direction from mobile device.
9. as claimed in claim 8 from mobile device, wherein the fuselage from mobile device is arranged in the first antenna
Front, and the fuselage afterbody from mobile device is arranged in second antenna.
10. as claimed in claim 9 from mobile device, wherein the first antenna and second antenna are arranged at institute
It states from the central axes of the fuselage of mobile device.
11. as claimed in claim 8 from mobile device, wherein obtained by global position system combination inertial navigation system
The position data of the antenna.
12. as claimed in claim 8 from mobile device, wherein the direction-determining unit is used to combine angular transducer true
The fixed moving direction from mobile device.
13. further comprising from mobile device as claimed in claim 12:
Signal strength judging unit, for determining whether the signal strength of the satellite-signal is less than predetermined threshold；With
The direction-determining unit is used to be less than predetermined threshold in response to the signal strength of the satellite-signal, in conjunction with the angle
Sensor determines the moving direction from mobile device.
14. as claimed in claim 12 from mobile device, wherein the angular transducer includes compass or gyroscope.
15. a kind of automatic working system, including
As described in any one of claim 8 to 14 from mobile device, moved in the working region that map limits and work
Make.
16. a kind of electronic equipment, comprising:
Memory, for storing computer executable instructions；With
Processor, for executing the computer executable instructions of the memory storage, to execute as appointed in claims 1 to 7
Method is determined from the direction of mobile device described in meaning one.
17. a kind of computer readable storage medium, is stored thereon with computer program instructions, when the computer program instructions quilt
When computing device executes, it is operable to execute the direction from mobile device as described in any one of claims 1 to 7 and determines
Method.
Priority Applications (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810173597.8A CN110221330A (en) | 2018-03-02 | 2018-03-02 | Method, automatic working system are determined from mobile device and its direction |
| CN201880002313.7A CN109313253A (en) | 2017-05-26 | 2018-05-25 | Mobile object and its localization method, automatic working system, storage medium |
| EP18806939.7A EP3591421A4 (en) | 2017-05-26 | 2018-05-25 | Moving object and positioning method therefor, automated working system, and storage medium |
| US16/612,596 US11378979B2 (en) | 2017-05-26 | 2018-05-25 | Moving object and positioning method therefor, automated working system, and storage medium |
| PCT/CN2018/088518 WO2018214977A1 (en) | 2017-05-26 | 2018-05-25 | Moving object and positioning method therefor, automated working system, and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810173597.8A CN110221330A (en) | 2018-03-02 | 2018-03-02 | Method, automatic working system are determined from mobile device and its direction |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110221330A true CN110221330A (en) | 2019-09-10 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810173597.8A Pending CN110221330A (en) | 2017-05-26 | 2018-03-02 | Method, automatic working system are determined from mobile device and its direction |
Country Status (1)
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| CN (1) | CN110221330A (en) |
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