CN106647765B - Planning platform based on mowing robot - Google Patents
Planning platform based on mowing robot Download PDFInfo
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- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
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- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
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Abstract
The invention is suitable for the field of robots, and provides a planning platform based on a mowing robot, which comprises: the image boundary identification device is used for acquiring an image of the area to be planned, processing the image to identify the boundary of the area to be planned and outputting the information of the boundary image formed after processing to the control device; the positioning device is used for acquiring main positioning data of the platform to form first positioning information and outputting the first positioning information to the control device; the inertial device is used for acquiring inertial data in the motion process of the platform, processing the inertial data into second positioning information of the platform and outputting the second positioning information to the control device; and the control device processes the boundary image information, the second positioning information and the first positioning information to form a map of the area to be planned, plans a path according to the map and controls the platform to move according to the planned path. The invention has low requirement on an operation field, less construction amount, reduced equipment complexity, reduced cost, higher mowing efficiency and higher mowing coverage rate.
Description
Technical Field
The invention belongs to the field of robots, and particularly relates to a planning platform based on a mowing robot.
Background
With the development of economy, the area of the lawn is rapidly increased in China, the lawn must be mowed regularly, otherwise the overall attractiveness of the lawn is affected, and regular mowing can promote tillering of the lawn, so that the lawn is denser, and the influence of inhabitation of insects, snakes and other animals on human health is avoided.
One common scheme for boundary identification of mowing areas today is: the lawn electric heating device is characterized in that wires are buried in the lawn boundary and the periphery of the obstacle, two ends of each wire are connected with a charging station, and the charging stations conduct alternating current with certain frequency to the wires to enable the wires to generate electromagnetic signals. An electromagnetic signal can be sensed when the mowing robot approaches the wire so that the boundary can be identified. Still another is to provide a signal emitting device on the boundary, and when the mowing robot approaches the boundary, the signal of the emitting device is received so as to identify the boundary. However, in the mode, the wires need to be embedded and constructed, and the engineering quantity is large under the conditions that the lawn area is large and the boundary is complex; if the boundary condition of the lawn is changed, construction needs to be carried out again, the original conducting wire can not be used again, and the flexibility is poor; for the condition of longer boundary, a large number of wires are needed, the cost is higher, and the power is always on when the power is used, so that the energy is not saved and the environment is protected; due to the limitations of the power supply of the charging station and the internal resistance of the conductor itself, the total length of the laid conductor is limited, and the application of a relatively large total boundary length is limited.
The other scheme is as follows: the signal transmitting device arranged on the boundary also needs certain construction, the cost of the signal transmitting device is higher, and the maintenance cost of the signal transmitting device is also higher. If the signal transmitting device adopts the battery to supply power, the battery needs to be replaced regularly, and if the cable is adopted to supply power, the laying of the cable per se needs a relatively large project.
Therefore, the existing mowing robots have the common disadvantages that: the construction amount is large, the flexibility is poor, the laying and maintenance cost is high, and accurate and intelligent mowing operation cannot be carried out.
Disclosure of Invention
The embodiment of the invention provides a planning platform based on a mowing robot, and aims to solve the problems of large construction amount, poor flexibility, high laying and maintenance cost and incapability of accurate and intelligent mowing operation.
The embodiment of the invention is realized in such a way that a planning platform based on a mowing robot comprises: the image boundary identification device, the inertia device, the positioning device and the control device;
the image boundary identification device can be used for acquiring an image of the area to be planned, processing the image to identify the boundary of the area to be planned and outputting the information of the boundary image formed after processing to the control device;
the inertial device can be used for acquiring inertial data in the motion process of the platform, processing the inertial data into second positioning information of the platform and outputting the second positioning information to the control device;
the positioning device can be used for acquiring main positioning data of the platform, forming first positioning information and outputting the first positioning information to the control device;
the control device can process the boundary image information, the second positioning information and the first positioning information to form a map of an area to be planned, plan a path according to the map, and control the platform to move according to the planned path.
The embodiment of the invention determines the boundary of the area to be planned in an image recognition mode, and obtains the positioning information through the combination of the inertial device and the positioning device, thereby forming a map of the area to be planned and carrying out path planning and movement control; by adopting the planning platform based on the mowing robot, the lawn does not need to be buried with wires, the requirement on an operation field is further reduced, the construction amount is less, the complexity of applying the mowing robot is reduced, the laying and maintenance cost is greatly reduced, the equipment can automatically identify the boundary of a mowing area, automatically generate a map and plan a movement path, the mowing robot can construct the map of the lawn and determine the position of the mowing robot, the mowing efficiency of the mowing robot is greatly improved, and the mowing coverage rate is improved.
Drawings
FIG. 1 is a diagram of an implementation environment provided by an embodiment of the invention;
FIG. 2 is a block diagram of a planning platform based on a mowing robot according to an embodiment of the invention;
fig. 3 is a structural diagram of another planning platform based on a mowing robot according to an embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The embodiment of the invention determines the boundary of the area to be planned in an image recognition mode, and obtains the positioning information through the combination of the inertial device and the positioning device, thereby forming a map of the area to be planned and carrying out path planning and movement control; by adopting the planning platform based on the mowing robot, the lawn does not need to be buried with wires, the requirement on an operation field is further reduced, the construction amount is less, the complexity of applying the mowing robot is reduced, the laying and maintenance cost is greatly reduced, the equipment can automatically identify the boundary of a mowing area, automatically generate a map and plan a movement path, the mowing robot can construct the map of the lawn and determine the position of the mowing robot, the mowing efficiency of the mowing robot is greatly improved, and the mowing coverage rate is improved.
As shown in fig. 1, in an embodiment of the present invention, a planning platform based on a mowing robot may move in a certain direction (e.g., counterclockwise) along a boundary by using an image boundary identification method, and position the robot in real time by positioning calculation and correction calculation during the movement, and record position information of the boundary to form a boundary path; and when the mowing robot finishes a complete circle, the whole grassland/lawn map is drawn.
The charging station in the figure can provide electric energy supplement so as to ensure the endurance of the planning platform.
Fig. 2 is a structural diagram of a planning platform based on a mowing robot according to an embodiment of the present invention, where the planning platform includes: an image boundary recognition device 1, a positioning device 2, an inertial device 3, and a control device 4.
The image boundary identifying device 1 may be configured to acquire an image of an area to be planned, process the image to identify a boundary of the area to be planned, and output boundary image information formed after the processing to the control device 4. The boundary image information here includes at least the relevant position information of the already identified boundary. It can be understood that the area to be planned in the present invention mainly refers to a lawn, and the boundary of the lawn mainly includes: transition zones for lawn and non-lawn areas (e.g., fences, cement lands, etc.); or the intersection of a cut lawn area with an uncut lawn area; or the boundary between a lawn area where grass has been cut and a lawn area where grass has not been cut, etc. The image boundary recognition device can recognize the boundary of each state, and output the recognized boundary image information to the control device 4 for further processing.
And the positioning device 2 can be used for acquiring main positioning data of the platform, forming first positioning information and outputting the first positioning information to the control device 4.
The inertia device 3 can be used for acquiring inertia data in the motion process of the platform, processing the inertia data into second positioning information of the platform and outputting the second positioning information to the control device 4.
The control device 4 can process the boundary image information, the second positioning information and the first positioning information to form a map of the area to be planned, plan a path according to the map, and control the platform to move according to the planned path.
In the embodiment of the present invention, the control device 4 may be, but is not limited to, a microprocessor or a microcontroller, an STM32f4 microcontroller of ruyi method semiconductor corporation, and the like, and may also be other types of single-chip microcomputers, DSPs, FPGAs, and the like, which are not limited specifically.
As shown in fig. 3, in an embodiment of the present invention, the control device 4 further includes: a modification unit 41 and a planning processing unit 42.
The correction unit 41 is coupled to the inertial device and the positioning device, and configured to process the second positioning information and the first positioning information according to a preset correction algorithm to obtain third positioning information including position information of the platform.
And the planning processing unit 42 is used for constructing a map of the area to be planned according to the third positioning information of the correction unit and the boundary image information of the image boundary identification device, planning a path and controlling the platform to move according to the planned path.
In the embodiment of the present invention, the modification unit 41 and the planning processing unit 42 may be integrated modules on the control device 4, or may be separate chips, and the functions thereof may be implemented by software, hardware, or a combination thereof, and the specific implementation form is not limited.
The planning platform based on the mowing robot provided by the embodiment of the invention further reduces the requirements on an operation field, has less construction amount, greatly reduces the laying and maintenance cost, can automatically identify the boundary of a mowing area, automatically generates a map and plans a movement path, and has the advantages of flexible operation, accurate positioning and higher intelligent degree.
As an embodiment of the present invention, the image boundary recognition apparatus 1 recognizes the boundary of the lawn by using a visual boundary recognition method, and includes: an image acquisition unit 11 and an image processing unit 12.
The image acquisition unit 11 is configured to acquire an image of an area to be planned. The image processing unit 12 is configured to perform preprocessing, effective information extraction, and calculation on an image of the region to be planned, form boundary image information, and output the boundary image information to the control device.
It is understood that the image acquisition unit 11 may be a camera, such as a CCD camera or a CMOS camera, etc. For example, in a specific implementation environment, a CCD camera or a CMOS camera may be mounted on the upper portion of the mowing robot, and image acquisition may be performed on the area in front of the robot at a certain frequency.
The image processing unit 12 performs preprocessing, such as filtering, on the image acquired by the image acquisition unit 11, which may include distortion correction, noise reduction, image enhancement, and the like.
Of course, as an important functional module of the present invention, the image processing unit 12 is also used for extracting and calculating effective information from the image. In detail, the extraction of the effective information may be feature information extraction, where the image corresponding to the boundary of the lawn is mainly captured and extracted, and the image processing unit 12 acquires color information, brightness information, and the like in the image and performs processing according to a preset rule. For example, the image processing unit 12 may count the color information in the image and calculate the distribution of the colors, for example, the dominant color of the lawn is green, which can be distinguished from other objects in the environment, so that the probability of green appearing in all colors can be calculated in the RGB color mode, and whether the color is a lawn boundary can be determined according to the probability distribution. Of course, in the present invention, whether the image is a boundary may be determined by the texture of the lawn, for example, the image processing unit 12 may count up the shading information in the image, calculate the distribution of the shading, and further determine whether the image includes the boundary information of the lawn based on the distribution. Secondly, the image processing unit 12 may also calculate the relative position of the boundary of the area to be planned (lawn) and the planning platform.
In the embodiment of the present invention, the positioning device 2 may be configured to collect main positioning data of the platform to form first positioning information, and output the first positioning information to the control device 4 for processing by the control device 4; the main positioning data collected by the positioning device 2 can determine the position information of the planning platform, and the control device 4 can determine the position of the planning platform according to the data and record the position so as to facilitate subsequent map construction and path planning.
In an embodiment of the present invention, the positioning device 2 is a GPS positioning unit 201, and the main positioning data is GPS positioning data. The GPS positioning unit 201 can acquire the current GPS positioning data of the platform in real time, process the GPS positioning data into first positioning information including the position information of the platform, and output the first positioning information to the correction unit 41 of the control device 4.
In another embodiment of the present invention, the positioning device 2 is a binocular positioning unit 202, which can acquire image information of markers preset on the boundary of the area to be planned, wherein the main positioning data is the image information of the markers preset on the boundary of the area to be planned. Therefore, the binocular positioning unit 202 may be configured to acquire and recognize image information of a marker preset on a boundary of the area to be planned, and form first positioning information including at least position information of the platform to be output to the correction unit 41 of the control device.
In an embodiment of the present invention, an inertial device 3 is further introduced into the planning platform to collect and process the motion state information of the planning platform.
In a conventional robot, an inertial system is generally not used as an independent positioning means, because the inherent integral accumulated error of the inertial system can only ensure positioning accuracy in a short time, and if a corresponding auxiliary positioning method or a corresponding accumulated error correction measure is not available, the inertial system cannot be independently used as a positioning device in the general robot. The inertial device 3 is introduced, and the characteristics of high short-time positioning accuracy and stable and continuous data of the inertial device 3 are utilized, so that short-time positioning interference which may occur when the planning platform is positioned by the GPS positioning unit 201 or the binocular positioning unit 202 can be solved. Specifically, for example, when the GPS positioning unit 201 is used for positioning, a situation (such as multipath effect) may occur where a GPS signal is not good or local area interference is large, which may cause unstable positioning, and thus the system may not work properly. Or, when the positioning is performed by the binocular positioning unit 202, the shooting view field is often blocked by other objects (such as trees) due to image acquisition by the camera, so that the marker cannot be normally captured.
Therefore, for the reasons mentioned above, the embodiment of the present invention performs combined positioning by the inertial device 3 and the GPS positioning unit 201 or the binocular positioning unit 202, so that the system can obtain highly accurate and stable positioning information even when some of the above-mentioned abnormal factors occur.
In one embodiment of the invention, the inertial device 3 comprises:
the inertial data acquisition unit 31 is used for acquiring inertial data formed by the planning platform in the motion process; and
the inertial data processing unit 32 is configured to process the inertial data to form second positioning information including the motion state information and the position information of the planning platform, and output the second positioning information to the control device 4.
In an embodiment of the present invention, inertial data includes, but is not limited to: acceleration data, angular velocity data, and geomagnetic data. Accordingly, the inertial data acquisition unit 31, which may be an inertial sensor, may include:
the acceleration acquisition module for acquiring the acceleration data of the platform can be an acceleration sensor, such as a MEMS accelerometer and the like;
the angular velocity acquisition module for acquiring the angular velocity data of the platform can be an angular velocity sensor, such as a MEMS gyroscope and the like; and
the geomagnetic acquisition module for acquiring geomagnetic data of the platform may be a magnetic sensor, such as a MEMS magnetometer.
The above modules of the inertial data acquisition unit 31 realize measurement of the acceleration, the geomagnetism, and the angular velocity of the planning platform, and the measured data is further sent to the inertial data processing unit 32, and the inertial data processing unit 32 further processes the data into second positioning information including orientation information, attitude information, and velocity information of the planning platform, so that the inertial data processing unit 32 further includes:
and the data fusion module is configured to perform fusion processing on the inertial data to obtain second positioning information including orientation information, attitude information, speed information, and position information of the platform, output the second positioning information to the correction unit 41, perform fusion and correction processing on the second positioning information and the first positioning information to obtain stable third positioning information with higher positioning accuracy, and output the third positioning information to the planning processing unit 42.
For the fusion and correction processing of data or information, in detail, when the GPS positioning device 201 is used, for example, the position information of the platform based on inertial measurement, the position information based on GPS positioning data measured by the GPS positioning device 201, and the accurate position information of the platform by fusing the two position information by a certain data fusion algorithm can be obtained by performing secondary integration on the processed acceleration data.
For another example, when the binocular positioning apparatus 202 is used, the position information of the robot can be obtained by performing a quadratic integration on the processed acceleration to obtain the position information of the platform based on inertial measurement, obtaining the position information based on the binocular camera based on the binocular distance measurement, and fusing the two position information by a certain data fusion algorithm, for example.
The following illustrates a calculation method for fusing inertial data and GPS positioning data according to an embodiment of the present invention:
1. and (3) state prediction:
X(k|k-1)＝AX(k-1|k-1)+BU(k)
where X (k | k-1) is a prediction of the current state based on the state at the previous time, U (k) is the current input, and in this embodiment, the state takes the position and velocity in two directions on a horizontal plane, and the input is the corrected acceleration on the horizontal plane, i.e., the acceleration
X＝(Px Py Vx Vy)T
U＝(ax ay)T
A is a state transition matrix, B is a control input matrix, and Δ t is a sampling time interval
2. And (3) error prediction:
P(k|k-1)＝AP(k-1|k-1)AT+Q(k)
in the formula, P (k | k-1) is the prediction estimation of the current error based on the error of the last time, and Q (k) is the error covariance matrix of the system process, and is determined according to the process model of the system.
3. Kalman gain calculation:
where kg (k) is the kalman gain matrix at the current time, H is the observation matrix, r (k) is the observation error covariance matrix, where we select the observation vector as the position and velocity on the horizontal plane for GPS measurements, then:
Y＝(Px Py Vx Vy)T
because the state vector is consistent with the observation vector, the observation matrix is an identity matrix, and the observation error covariance matrix is determined according to the measurement error of the GPS.
4. And (3) updating the state:
X(k|k)＝X(k|k-1)+Kg(k)(Y(k)-HX(k|k-1))
5. and (3) error updating:
P(k|k)＝(I-Kg(k)H)P(k|k-1)
in the formula, I is an identity matrix.
Of course, the above description is only an example of a calculation rule that can be used by the present invention, and is used to embody the realizability of the solution provided by the embodiment of the present invention, and is not limited specifically.
Then, the planning processing unit 42 acquires the third positioning information, constructs a map of the area to be planned according to the third positioning information and the boundary image information of the image boundary recognition device 1, plans a path, and controls the platform to move according to the planned path.
Therefore, the embodiment of the invention determines the boundary of the area to be planned in an image recognition mode, and obtains accurate positioning information through the inertia auxiliary positioning device, so as to form a map of the area to be planned and carry out path planning and movement control; by adopting the planning platform based on the mowing robot, the lawn does not need to be buried with wires, the requirement on an operation field is further reduced, the construction amount is less, the complexity of applying the mowing robot is reduced, the laying and maintenance cost is greatly reduced, the equipment can automatically identify the boundary of a mowing area, automatically generate a map and plan a movement path, the mowing robot can construct the map of the lawn and determine the position of the mowing robot, the mowing efficiency of the mowing robot is greatly improved, and the mowing coverage rate is improved.
In a preferred embodiment of the present invention, the control device 4 further comprises:
and the multi-task control unit controls the platform to move to the next to-be-planned area without executing operation according to the preset task information and the positioning information of the to-be-planned area if the current to-be-planned area is operated completely. For example, after the mowing robot carrying the planning platform finishes mowing on a certain lawn, if the task information in the task list has mowing tasks of other lawns, the mowing robot automatically moves forward to the next lawn to execute mowing operation according to the GPS positioning information of the lawn until all mowing operations are finished, the intelligent degree is high, and the user experience is good.
In a preferred embodiment of the present invention, the control device 4 further comprises:
and the electric quantity control unit is used for charging the charging station according to the preset position information of the charging station and the positioning information of the platform if the electric quantity is insufficient in the operation process of the platform.
In an embodiment of the present invention, if the positioning device 2 is a GPS positioning unit 201, the mowing robot having the planning platform provided in the above embodiment of the present invention is implemented by performing the following steps of image boundary recognition and positioning:
A1. after the mowing robot is started, the position of the mowing robot is determined according to the GPS positioning unit 201, then whether a map of the current lawn exists or not is detected, if not, the step B1 is executed, otherwise, the step C1 is executed;
B1. the mowing robot searches for the boundary along a certain fixed direction (such as north), and after the boundary is found, the mowing robot walks for a circle along the boundary in a certain direction (such as anticlockwise), and the position information of the boundary is recorded while walking. After one turn, the control device 4 determines whether the border is the outer border of the lawn or the border of an obstacle (e.g. a central flower bed, etc.) in the lawn. The judgment method is that according to whether the mowing robot is in the closed boundary or outside the closed boundary, if the mowing robot is in the closed boundary, the boundary is indicated to be the outer boundary of the lawn, and otherwise, the boundary is the boundary of an obstacle in the lawn. If the found boundary is the boundary of an obstacle, the mowing robot changes direction (e.g., south facing), and step B1 is repeated until the outer boundary of the lawn is found;
C1. the mowing robot plans a mowing path according to the shape of the lawn and then executes mowing operation according to the planned path;
preferably, the method further comprises the following two steps:
D1. after the mowing robot finishes mowing operation of a certain lawn, if mowing tasks of other lawns exist in the task list, the mowing robot automatically goes to the next lawn to execute mowing operation according to the GPS coordinates of the lawn until all mowing operations are finished;
E1. in the process of executing the mowing task by the mowing robot, if the electric quantity is insufficient, the mowing robot can automatically go to charge according to the recorded position of the charging station.
In another embodiment of the present invention, the positioning device 2 is a binocular positioning unit 202, and the mowing robot having the planning platform provided in the above embodiment of the present invention is implemented by performing the following steps of image boundary identification and positioning (in the example, the number of benches is 2):
A2. after the mowing robot is started, whether a map of the current lawn exists or not is detected, if not, the step B2 is executed, otherwise, the step C2 is executed;
B2. the binocular camera holder of the mowing robot scans for a circle in a rotating manner, searches for a marker post (the marker post is used as a marker), finds a marker post which is closest to the marker post, and measures the distance between the mowing robot and the other marker post according to a binocular distance measuring principle. Then walking along the boundary in a certain direction (such as anticlockwise) by an image boundary identification method, positioning the robot in real time by a positioning calculation and correction unit in the walking process, and simultaneously recording the position information of the boundary; when the mowing robot finishes a complete circle, the whole lawn is mapped;
C2. the mowing robot plans a mowing path according to the shape of the lawn and then executes mowing operation according to the planned path;
preferably, the method further comprises the following two steps:
D2. in the process of executing the mowing task by the mowing robot, if the electric quantity is insufficient, the mowing robot can automatically go to charge according to the recorded position of the charging station.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. A robot lawnmower-based planning platform, comprising: the image boundary identification device, the inertia device, the positioning device and the control device;
the image boundary identification device can be used for acquiring an image of the area to be planned, processing the image to identify the boundary of the area to be planned and outputting the information of the boundary image formed after processing to the control device;
the positioning device can be used for acquiring main positioning data of the platform to form first positioning information and outputting the first positioning information to the control device;
the inertial device can be used for acquiring inertial data in the motion process of the platform, processing the inertial data into second positioning information of the platform and outputting the second positioning information to the control device;
the control device can process the boundary image information, the second positioning information and the first positioning information to form a map of an area to be planned, plan a path according to the map and control the platform to move according to the planned path;
the control device comprises a multi-task control unit, a positioning unit and a control unit, wherein the multi-task control unit is used for controlling the platform to move to the next to-be-planned area which does not execute the operation according to the preset task information and the positioning information of the to-be-planned area until all the mowing operations are finished if the current to-be-planned area is operated completely;
the control device is further configured to:
when the mowing robot searches for a boundary along a certain fixed direction, walking a circle along the boundary in the certain direction when the boundary is found, and recording position information of the boundary while walking; after one circle is finished, judging that the boundary is the outer boundary of the area to be planned according to the condition that the mowing robot is in the closed boundary; and when the mowing robot is outside the closed boundary, judging that the boundary is the boundary of the barrier in the area to be planned, and controlling the mowing robot to change the direction until the outer boundary of the area to be planned is found.
2. The platform of claim 1, wherein the control means comprises:
the correction unit is coupled with the inertial device and the positioning device and used for processing the second positioning information and the first positioning information according to a preset correction algorithm to obtain third positioning information containing the position information of the platform;
and the planning processing unit is used for constructing a map of the area to be planned according to the third positioning information of the correction unit and the boundary image information of the image boundary identification device, planning a path and controlling the platform to move according to the planned path.
3. The platform of claim 1, wherein the boundary identifying means comprises: the device comprises an image acquisition unit and an image processing unit;
the image acquisition unit is used for acquiring an image of an area to be planned; and
and the image processing unit is used for preprocessing the image of the area to be planned, extracting and calculating effective information, forming boundary image information and outputting the boundary image information to the control device.
4. The platform of claim 2, wherein the positioning device comprises a GPS positioning unit, the primary positioning data being GPS positioning data;
and the GPS positioning unit is used for acquiring the GPS positioning data of the platform, processing the GPS positioning data into first positioning information containing the position information of the platform and outputting the first positioning information to the correction unit of the control device.
5. The platform of claim 2, wherein the positioning means comprises a binocular positioning unit which collects image information of markers preset on the boundary of the area to be planned;
and the binocular positioning unit is used for acquiring and identifying image information of the markers preset on the boundary of the area to be planned, and forming first positioning information at least comprising the position information of the platform so as to output the first positioning information to the correction unit of the control device.
6. The platform of claim 1, wherein the inertial device comprises:
the inertial data acquisition unit is used for acquiring inertial data formed in the motion process of the platform; and
and the inertial data processing unit is used for processing the inertial data to form second positioning information comprising the motion state information and the position information of the platform and outputting the second positioning information to the control device.
7. The platform of claim 6, wherein the inertial data comprises: acceleration data, angular velocity data, and geomagnetic data;
the inertial data acquisition unit includes:
the acceleration acquisition module is used for acquiring acceleration data of the platform;
the angular velocity acquisition module is used for acquiring angular velocity data of the platform; and
and the geomagnetic acquisition module is used for acquiring geomagnetic data of the platform.
8. The platform of claim 2 or 6, wherein the motion state information comprises: orientation information, attitude information, speed information;
the inertial data processing unit includes:
and the data fusion module is used for carrying out fusion processing on the inertial data to obtain second positioning information comprising orientation information, attitude information, speed information and position information of the platform, and outputting the second positioning information to the correction unit.
9. The platform of claim 1, wherein the control means further comprises:
and the electric quantity control unit is used for charging the charging station according to the preset position information of the charging station and the positioning information of the platform if the electric quantity is insufficient in the operation process of the platform.
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