CN109313253A - 移动物体及其定位方法、自动工作系统、存储介质 - Google Patents

移动物体及其定位方法、自动工作系统、存储介质 Download PDF

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Publication number
CN109313253A
CN109313253A CN201880002313.7A CN201880002313A CN109313253A CN 109313253 A CN109313253 A CN 109313253A CN 201880002313 A CN201880002313 A CN 201880002313A CN 109313253 A CN109313253 A CN 109313253A
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CN
China
Prior art keywords
signal
mobile object
location information
reference position
satellite
Prior art date
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Pending
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CN201880002313.7A
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English (en)
Inventor
周昶
谭云
谭一云
邵勇
刘芳世
何明明
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Positec Power Tools Suzhou Co Ltd
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Positec Power Tools Suzhou Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201810163178.6A external-priority patent/CN110197519A/zh
Priority claimed from CN201810173597.8A external-priority patent/CN110221330A/zh
Application filed by Positec Power Tools Suzhou Co Ltd filed Critical Positec Power Tools Suzhou Co Ltd
Publication of CN109313253A publication Critical patent/CN109313253A/zh
Pending legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/006—Control or measuring arrangements
    • A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
    • 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
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/08—Position of single direction-finder fixed by determining direction of a plurality of spaced sources of known location
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D2101/00—Lawn-mowers

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Environmental Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Evolutionary Computation (AREA)
  • Game Theory and Decision Science (AREA)
  • Medical Informatics (AREA)
  • Artificial Intelligence (AREA)
  • Business, Economics & Management (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Navigation (AREA)

Abstract

一种自移动设备(1)的定位方法，包括以下步骤：获取自移动设备在移动过程中的当前定位信号，以及自移动设备在所述当前定位信号之前的参考定位信号；对所述参考定位信号和所述当前定位信号进行解算处理获得误差数据；根据所述误差数据及所述参考定位信号的位置信息处理获得自移动设备的当前位置信息。通过利用当前定位信号之前的参考定位信号获取误差数据并基于该误差数据及该参考定位信号的位置信息处理获得当前位置信息，并未利用自建基站或共享基站在当前时刻实时收到的卫星信号进行处理而获得当前位置信息，该方法可取消自建基站或共享基站，简化用户安装，大幅降低成本。

Description

PCT国内申请，说明书已公开。

Claims (62)

  1. PCT国内申请，权利要求书已公开。
CN201880002313.7A 2017-05-26 2018-05-25 移动物体及其定位方法、自动工作系统、存储介质 Pending CN109313253A (zh)

Applications Claiming Priority (7)

Application Number Priority Date Filing Date Title
CN201710386643 2017-05-26
CN2017103866438 2017-05-26
CN2018101631786 2018-02-26
CN201810163178.6A CN110197519A (zh) 2018-02-26 2018-02-26 地图生成过程中的信号补偿方法、装置及存储介质
CN201810173597.8A CN110221330A (zh) 2018-03-02 2018-03-02 自移动设备及其方向确定方法、自动工作系统
CN2018101735978 2018-03-02
PCT/CN2018/088518 WO2018214977A1 (zh) 2017-05-26 2018-05-25 移动物体及其定位方法、自动工作系统、存储介质

Publications (1)

Publication Number Publication Date
CN109313253A true CN109313253A (zh) 2019-02-05

Family

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Family Applications (1)

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CN201880002313.7A Pending CN109313253A (zh) 2017-05-26 2018-05-25 移动物体及其定位方法、自动工作系统、存储介质

Country Status (4)

Country Link
US (1) US11378979B2 (zh)
EP (1) EP3591421A4 (zh)
CN (1) CN109313253A (zh)
WO (1) WO2018214977A1 (zh)

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CN112230256A (zh) * 2019-07-15 2021-01-15 苏州宝时得电动工具有限公司 自主机器人及其定位校准方法、装置和存储介质
CN112484710A (zh) * 2019-09-11 2021-03-12 杭州海康微影传感科技有限公司 目标定位方法、装置及设备、存储介质
CN112702693A (zh) * 2020-12-23 2021-04-23 南京苏美达智能技术有限公司 一种自行走设备的地图构建方法及定位方法
CN112697133A (zh) * 2020-12-23 2021-04-23 南京苏美达智能技术有限公司 一种自行走设备的地图构建和定位方法
CN113475215A (zh) * 2021-06-19 2021-10-08 北京正兴鸿业金属材料有限公司 利用激光测距和定位控制的无人剪草机
CN113687396A (zh) * 2021-09-26 2021-11-23 重庆赛迪奇智人工智能科技有限公司 定位处理方法、装置、定位设备、交通工具及存储介质
CN114375676A (zh) * 2020-10-16 2022-04-22 南京德朔实业有限公司 自移动设备及其控制方法和自移动工作系统
WO2023019840A1 (zh) * 2021-08-18 2023-02-23 上海闻泰电子科技有限公司 无线定位方法、装置、电子设备和存储介质
WO2024055855A1 (en) * 2022-09-16 2024-03-21 Willand (Beijing) Technology Co., Ltd. Autonomous mobile device and method for controlling the same, and computer readable storage medium

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US12048267B2 (en) * 2018-08-08 2024-07-30 The Toro Company Handle assembly for autonomous vehicle
DE102019111315A1 (de) 2019-05-02 2020-11-05 Horsch Leeb Application Systems Gmbh Autonome landwirtschaftliche Arbeitsmaschine und Verfahren zu deren Betrieb
CN113678083B (zh) * 2019-05-24 2024-05-21 株式会社尼罗沃克 产业机械系统、管制装置、产业机械系统的控制方法以及计算机可读的记录介质
JP7256080B2 (ja) * 2019-06-20 2023-04-11 ヤンマーパワーテクノロジー株式会社 作業車両
IT201900010650A1 (it) * 2019-07-02 2021-01-02 Stiga S P A In Breve Anche St S P A Dispositivo mobile, metodo per stimare l’incertezza della posizione di tale dispositivo mobile e metodo per stimare l’orientamento di tale dispositivo mobile
GB2580991B (en) * 2019-07-22 2021-05-05 Kingdom Tech Ltd Robotic lawn mower control
CN112578780A (zh) * 2019-09-29 2021-03-30 苏州宝时得电动工具有限公司 自移动设备及其控制方法、自动工作系统
CN113534826B (zh) * 2020-04-15 2024-02-23 苏州宝时得电动工具有限公司 自移动设备的姿态控制方法、装置及存储介质
JP7409330B2 (ja) * 2021-01-28 2024-01-09 トヨタ自動車株式会社 自己位置推定精度検証方法、自己位置推定システム
US20220305658A1 (en) * 2021-03-29 2022-09-29 Husqvarna Ab Operation for a Robotic Work Tool

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Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112230256A (zh) * 2019-07-15 2021-01-15 苏州宝时得电动工具有限公司 自主机器人及其定位校准方法、装置和存储介质
CN112230256B (zh) * 2019-07-15 2024-04-09 苏州宝时得电动工具有限公司 自主机器人及其定位校准方法、装置和存储介质
CN112484710A (zh) * 2019-09-11 2021-03-12 杭州海康微影传感科技有限公司 目标定位方法、装置及设备、存储介质
CN112484710B (zh) * 2019-09-11 2023-05-26 杭州海康微影传感科技有限公司 目标定位方法、装置及设备、存储介质
CN114375676B (zh) * 2020-10-16 2023-04-21 南京泉峰科技有限公司 自移动设备及其控制方法和自移动工作系统
CN114375676A (zh) * 2020-10-16 2022-04-22 南京德朔实业有限公司 自移动设备及其控制方法和自移动工作系统
CN112697133A (zh) * 2020-12-23 2021-04-23 南京苏美达智能技术有限公司 一种自行走设备的地图构建和定位方法
CN112702693B (zh) * 2020-12-23 2023-06-23 南京苏美达智能技术有限公司 一种自行走设备的地图构建方法及定位方法
CN112697133B (zh) * 2020-12-23 2023-09-26 南京苏美达智能技术有限公司 一种自行走设备的地图构建和定位方法
CN112702693A (zh) * 2020-12-23 2021-04-23 南京苏美达智能技术有限公司 一种自行走设备的地图构建方法及定位方法
CN113475215B (zh) * 2021-06-19 2022-09-20 北京正兴鸿业金属材料有限公司 利用激光测距和定位控制的无人剪草机
CN113475215A (zh) * 2021-06-19 2021-10-08 北京正兴鸿业金属材料有限公司 利用激光测距和定位控制的无人剪草机
WO2023019840A1 (zh) * 2021-08-18 2023-02-23 上海闻泰电子科技有限公司 无线定位方法、装置、电子设备和存储介质
CN113687396A (zh) * 2021-09-26 2021-11-23 重庆赛迪奇智人工智能科技有限公司 定位处理方法、装置、定位设备、交通工具及存储介质
WO2024055855A1 (en) * 2022-09-16 2024-03-21 Willand (Beijing) Technology Co., Ltd. Autonomous mobile device and method for controlling the same, and computer readable storage medium

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Publication number Publication date
WO2018214977A1 (zh) 2018-11-29
EP3591421A4 (en) 2020-12-02
US11378979B2 (en) 2022-07-05
EP3591421A1 (en) 2020-01-08
US20210157334A1 (en) 2021-05-27

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Application publication date: 20190205