CN110197519A - Method for compensating signal, device and storage medium in map generating process - Google Patents
Method for compensating signal, device and storage medium in map generating process Download PDFInfo
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- CN110197519A CN110197519A CN201810163178.6A CN201810163178A CN110197519A CN 110197519 A CN110197519 A CN 110197519A CN 201810163178 A CN201810163178 A CN 201810163178A CN 110197519 A CN110197519 A CN 110197519A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T11/00—2D [Two Dimensional] image generation
- G06T11/20—Drawing from basic elements, e.g. lines or circles
- G06T11/206—Drawing of charts or graphs
Abstract
The present invention proposes method for compensating signal, device and the storage medium in a kind of map generating process, and this method includes determining current positioning signal during generating map to mobile object, and the first positioning signal collected before current positioning signal；It determines the location information of current positioning signal and as first location information, and determines the location information of the first positioning signal and as second location information；When the first location information of current positioning signal meets preset condition, compensated according to first location information of the second location information of the first positioning signal to current positioning signal.Influence caused by shelter in map generating process can effectively be weakened through the invention, map is promoted and generate effect.
Description
Technical field
The present invention relates in electronic information technical field more particularly to a kind of map generating process method for compensating signal,
Device and storage medium.
Background technique
From mobile device, such as automatic mower, the tasks such as maintenance lawn can be automatically performed, increasingly by the joyous of user
It meets.In practical work process, it is movable to be limited in certain working region for it.
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.This method, cloth boundary line trouble, and influence lawn beauty
It sees.
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.
During actually generating map, may there are shelter, the shelter can be, for example, a water tower,
Bushes, building etc..Under this kind of scene, when the working region of mobile object is close to shelter, the region letter that is blocked
Number reception condition is poor, and the location information (for example, position coordinates) of the positioning signal of positioning device record is likely to occur biggish
Offset, therefore, it is necessary to be compensated in these cases to signal.
Summary of the invention
The present invention is directed to solve at least some of the technical problems in related technologies.
For this purpose, an object of the present invention is to provide the method for compensating signal in a kind of map generating process, Neng Gouyou
Effect weakens influence caused by shelter in map generating process, promotes map and generates effect.
It is another object of the present invention to the signal compensation apparatus proposed in a kind of map generating process.
It is another object of the present invention to propose a kind of non-transitorycomputer readable storage medium.
It is another object of the present invention to propose a kind of computer program product.
In order to achieve the above objectives, the signal compensation side in map generating process that first aspect present invention embodiment proposes
Method, comprising: determine current positioning signal during generating map to mobile object, and before the current positioning signal
First positioning signal collected；Determine the location information of the current positioning signal and as first location information, and really
Determine the location information of first positioning signal and as second location information；Believe in the first position of the current positioning signal
When breath meets preset condition, according to the second location information of first positioning signal to first of the current positioning signal
Confidence breath compensates.
The method for compensating signal in map generating process that first aspect present invention embodiment proposes, by determining to shifting
Animal body generates current positioning signal during map, and the first positioning signal collected before current positioning signal,
It determines the location information of current positioning signal and as first location information, and determines the location information of the first positioning signal simultaneously
As second location information, when the first location information of current positioning signal meets preset condition, according to the first positioning signal
Second location information the first location information of current positioning signal is compensated, can effectively weaken in map generating process
Influence caused by shelter promotes map and generates effect.
In order to achieve the above objectives, the signal compensation dress in the map generating process that second aspect of the present invention embodiment proposes
It sets, comprising: the first determining module, for determining positioning signal current during generating map to mobile object, and in institute
First positioning signal collected before stating current positioning signal；Second determining module, for determining the current positioning letter
Number location information and as first location information, and determine the location information of first positioning signal and as the second position
Information；Compensating module, for when the first location information of the current positioning signal meets preset condition, according to described first
The second location information of positioning signal compensates the first location information of the current positioning signal.
The signal compensation apparatus in map generating process that second aspect of the present invention embodiment proposes, by determining to shifting
Animal body generates current positioning signal during map, and the first positioning signal collected before current positioning signal,
It determines the location information of current positioning signal and as first location information, and determines the location information of the first positioning signal simultaneously
As second location information, when the first location information of current positioning signal meets preset condition, according to the first positioning signal
Second location information the first location information of current positioning signal is compensated, can effectively weaken in map generating process
Influence caused by shelter promotes map and generates effect.
In order to achieve the above objectives, the non-transitorycomputer readable storage medium that third aspect present invention embodiment proposes,
When the instruction in the storage medium is performed by the processor of mobile terminal, so that mobile terminal is able to carry out a kind of map
Method for compensating signal in generating process, which comprises determine and work as prelocalization during generating map to mobile object
Signal, and the first positioning signal collected before the current positioning signal；Determine the current positioning signal
Location information and as first location information, and determine the location information of first positioning signal and as second confidence
Breath；When the first location information of the current positioning signal meets preset condition, according to the second of first positioning signal
Location information compensates the first location information of the current positioning signal.
The non-transitorycomputer readable storage medium that third aspect present invention embodiment proposes, by determining to movement
Object generates current positioning signal during map, and the first positioning signal collected before current positioning signal, really
The location information of positioning signal before settled and as first location information, and determine the location information and work of the first positioning signal
For second location information, when the first location information of current positioning signal meets preset condition, according to the first positioning signal
Second location information compensates the first location information of current positioning signal, can effectively weaken and hide in map generating process
Influence caused by block material promotes map and generates effect.
In order to achieve the above objectives, the computer program product that fourth aspect present invention embodiment proposes, when the computer
When instruction in program product is executed by processor, the method for compensating signal in a kind of map generating process, the method are executed
Comprise determining that current positioning signal during generating map to mobile object, and the institute before the current positioning signal
First positioning signal of acquisition；It determines the location information of the current positioning signal and as first location information, and determines
The location information of first positioning signal and as second location information；In the first location information of the current positioning signal
When meeting preset condition, according to the second location information of first positioning signal to the first position of the current positioning signal
Information compensates.
The computer program product that fourth aspect present invention embodiment proposes is generating map to mobile object by determining
Current positioning signal in the process, and the first positioning signal collected before current positioning signal, determine current positioning
The location information of signal and as first location information, and determine the location information of the first positioning signal and as second confidence
Breath, when the first location information of current positioning signal meets preset condition, according to the second location information of the first positioning signal
The first location information of current positioning signal is compensated, can effectively be weakened in map generating process caused by shelter
It influences, promotes map and generate effect.
The additional aspect of the present invention and advantage will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect and advantage of the invention will become from the following description of the accompanying drawings of embodiments
Obviously and it is readily appreciated that, in which:
Fig. 1 is the flow diagram of the method for compensating signal in the map generating process that one embodiment of the invention proposes；
Fig. 2 is the schematic diagram of a scenario of signal compensation in the embodiment of the present invention；
Fig. 3 is the location information schematic diagram of signal compensation in the embodiment of the present invention；
Fig. 4 is the flow diagram of the method for compensating signal in the map generating process that another embodiment of the present invention proposes；
Fig. 5 is the flow diagram of the method for compensating signal in the map generating process that another embodiment of the present invention proposes；
Fig. 6 is the running track schematic diagram in the embodiment of the present invention after the disposal of gentle filter；
Fig. 7 is updated running track schematic diagram in the embodiment of the present invention；
Fig. 8 is the structural schematic diagram of the signal compensation apparatus in the map generating process that one embodiment of the invention proposes；
Fig. 9 is the structural schematic diagram of the signal compensation apparatus in the map generating process that another embodiment of the present invention proposes.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and for explaining only the invention, and is not considered as limiting the invention.On the contrary, this
The embodiment of invention includes all changes fallen within the scope of the spiritual and intension of attached claims, modification and is equal
Object.
In the embodiment of the present invention, automatic working system includes from mobile device, in the working region that map limits independently
It is mobile, and movement station is positioned, the movement station passes through the position in the Boundary Moving along the working region and collecting work region
Information is set, to generate map.
It wherein, can be automatic mower, automatic cleaning equipment, automatic-watering equipment, automatic snow cleaner from mobile device
Etc. being suitble to unattended equipment.
Further, automatic working system can also include base station.Wherein, base station and movement station receive satellite-signal,
Base station sends positioning revise signal to movement station, to realize that differential satellite positions.For example, base station and movement station can receive entirely
Ball positioning system (Global Position System, abbreviation GPS) positioning signal realizes Differential Global Positioning System
(Differential Global Positioning System, abbreviation DGPS) positioning, alternatively, base station and movement station can also be with
Receive galileo satellite navigation system, Beidou satellite navigation system, Global Navigation Satellite System (Global Navigation
Satellite System, abbreviation GLONASS) etc. positioning signals, the embodiment of the present invention to this with no restriction.
The embodiment of the present invention receives GPS positioning signal example with base station and movement station.
In the embodiment of the present invention, base station may include satellite signal receiver, for receiving the GPS positioning letter of satellite transmission
Number；Signal processor, the positioning signal for being received according to satellite signal receiver generate positioning revise signal；Without line number
According to transmission module, for sending positioning revise signal to movement station；Indicator, for export current location satellite-signal whether
Good instruction.
Wherein, wireless data transfer module may include radio station and radio antenna, further, in order to guarantee base station and move
Reliability between dynamic station in remote transmission, wireless data transfer module can also include Sub-1G, WIFI, 2G/3G/
4G/5G module, with no restriction to this.
Optionally, base station can be set in charging station, be base station progress so as to pass through charging station with charging station one
Power supply.Certainly, base station can also be separately positioned with charging station, for example, can be set can preferably receive satellite on roof etc.
The position of signal.
Correspondingly, movement station also may include shell；Satellite signal receiver, for receiving the GPS positioning of satellite transmission
Signal；Signal processor, the positioning signal that processing satellite signal receiver receives；Wireless data transfer module, for receiving
The positioning revise signal that base station is sent, wherein wireless data transfer module may include radio station and radio antenna；Indicator is used
The whether good instruction of satellite-signal in output current location.
In the embodiment of the present invention, movement station can also integrate inertial nevigation apparatus, and inertial nevigation apparatus is for exporting inertial navigation data.
When movement station work, it can only be navigated using GPS positioning signal, also can use GPS positioning signal and inertial navigation number
It navigates according to fused treated positioning signal, alternatively, can also only utilize inertial navigation number when GPS signal is weak
According to navigating.The error of inertial navigation data can accumulate at any time.
In the embodiment of the present invention, movement station can removably be connect with the shell from mobile device.Specifically, movement station
It may include the first interface being connect with the shell from mobile device.When from mobile device, at work, movement station is installed on certainly
The shell of mobile device.When movement station is connect with the shell from mobile device, it can be achieved that with the control module from mobile device
Electrical connection, movement station exports from the current position coordinates of mobile device, so that control module can be according to from mobile device
Current location controls the movement and work from mobile device.Alternatively, movement station exports control instruction according to current position coordinates, from
The control module of mobile device is based on the control instruction and controls mobile from mobile device or work.
It should be noted that movement station may include independent power module in the embodiment of the present invention, when movement station and certainly
When the shell separation of mobile device, it can work independently.
Fig. 1 is the flow diagram of the method for compensating signal in the map generating process that one embodiment of the invention proposes, is moved
The dynamic location point information stood through the Boundary Moving along the working region and acquisition moves through, to generate map.
The present embodiment is configured as the signal in map generating process with the method for compensating signal in the map generating process
It is illustrated in compensation device.
Signal compensation apparatus in the present embodiment in map generating process can be set in the server, or can also set
Set in the mobile stations, the embodiment of the present application to this with no restriction.
Wherein, electronic equipment is, for example, PC (Personal Computer, PC), and cloud device or movement are set
It is standby, mobile device such as smart phone or tablet computer etc..
It should be noted that the executing subject of the embodiment of the present application, can be, for example, server or electronics on hardware
Central processing unit (Central Processing Unit, CPU) in equipment, on software can be, for example, server or
Back-stage management service in electronic equipment, with no restriction to this.
The embodiment of the present application carries out example with the signal compensation apparatus setting in map generating process in the mobile stations.
Referring to Fig. 1, this method comprises:
S101: determining current positioning signal during generating map to mobile object, and current positioning signal it
Preceding first positioning signal collected.
Mobile object therein can be, for example, movement station, with no restriction to this.
The map wherein generated can be used as the working region of mobile object, with no restriction to this.
It is understood that the mode for generating map can be for example, user irises out automatic mower on Google Maps
Working region；Movement station and automatic mower integrated setting, automatic mower are enclosed along working region operation one, such as can
To be that user pushes automatic mower to run, the Remote Control Automatic grass trimmer operation of user, the rail that automatic mower follows user mobile
Mark, automatic mower automatic running etc., with no restriction to this.
Separately positioned with automatic mower with movement station in the embodiment of the present invention, user holds movement station along working region
One circle of operation generates map and carries out example, do not limit this according to positioning signal data collected in movement station operational process
System.
During actually generating map, referring to fig. 2, Fig. 2 is the scene signal of signal compensation in the embodiment of the present invention
Figure, including shelter 21 and working region 22, which can be, for example, water tower, bushes, a building etc..
Under this kind of scene, when the working region of mobile object 22 is close to shelter 21, the regional signal reception condition being blocked is poor,
The location information (for example, position coordinates) of the positioning signal of movement station record may be as shown in figure 3, referring to Fig. 3, and Fig. 3 is this
The location information schematic diagram of signal compensation in inventive embodiments, including there are the corresponding location information modules 31 of shelter, therefrom
As can be seen that biggish offset occurs in the location information of positioning signal, therefore, the embodiment of the present invention is proposed in these cases
Signal is compensated, map can be effectively promoted and generate effect.
The embodiment of the present invention is during specific execute, it is first determined current during generating map to mobile object
Positioning signal, and the first positioning signal collected before current positioning signal, the quantity of the first positioning signal are at least
Two, the implementation procedure of the present embodiment is to be in real time, or every prefixed time interval, if real-time, then in user hand
It holds during movement station runs along working region, is determined during generating map to mobile object in real time when prelocalization is believed
Number, if every prefixed time interval, then determined every prefixed time interval current during generating map to mobile object
Positioning signal, with no restriction to this.
It further include three the first positioning signals 32 and current positioning signal 33 referring to Fig. 3, in Fig. 3, it is to be understood that with
The passage of time, current positioning signal 33 is in continuous updating, can be by institute on current point in time really until map generation finishes
Surely the positioning signal obtained is as current positioning signal.
S102: determining the location information of current positioning signal and as first location information, and determines the first positioning letter
Number location information and as second location information.
First location information/second location information therein can be, for example, position coordinates, former according to the work of movement station
Reason, can hold movement station along in the operational process of working region in user, acquire the position of current positioning signal in real time
Information, the location information can be referred to as first location information, acquire the location information of the first positioning signal, which can
To be referred to as second location information.
By determining that the position of the first positioning signal collected before current positioning signal is believed in the embodiment of the present invention
Breath determines the location information of the first positioning signal, and subsequent realize carries out signal compensation according to location information, realizes simple, data
Acquisition is easier, can acquire the data using existing device, therefore, will not expend excessive hardware cost.
S103: when the first location information of current positioning signal meets preset condition, according to the of the first positioning signal
Two location informations compensate the first location information of current positioning signal.
Optionally, preset condition includes: the first accuracy value of current positioning signal less than the first default precision threshold；Or
Difference between person's first location information and second location information is greater than preset threshold.Specifically, first according to current positioning
First accuracy value of signal is less than the first default precision threshold, then according between first location information and second location information
Difference is greater than preset threshold, and judgement meets preset condition.
First default precision threshold and preset threshold therein can be set by user according to practical application request, or
Person can also be preset, with no restriction to this by the factory program of the signal compensation apparatus in map generating process.
The embodiment of the present invention can be determined during specific execute using precision measure algorithm in the related technology
The accuracy value of current positioning signal, the accuracy value can be referred to as the first accuracy value, with no restriction to this.
In the embodiment of the present invention, when the first location information for detecting current positioning signal meets preset condition, ability root
The first location information of current positioning signal is compensated according to the second location information of the first positioning signal, otherwise, is not triggered
Signal compensation is carried out, memory source consumption caused by unnecessary trigger signal compensation is can be avoided, promotes compensation efficiency.
It is alternatively possible to determine the operation of mobile object according to the second location information of at least two the first positioning signal
Trace information and as the first running track information, believes according to first position of the first running track information to current positioning signal
Breath compensates.
Referring to Fig. 3, by three the first positioning signals 32 therein and current positioning signal 33, in signal compensation process,
The second location information of each first positioning signal 32 in three the first positioning signals 32 can be determined (that is, position is sat first
Mark), determine that (running track information can be believed by three first positioning in connection figure 3 for the running track information of mobile object
Numbers 32 lines indicate), which can be referred to as the first running track information.
It is understood that assuming to need to carry out signal compensation to current positioning signal 33, then it is fixed currently to assume that
At the position coordinates of position signal 33, there are a shelters, and still, three first acquired before current positioning signal 33 are fixed
At the position coordinates of position signal 32, and shelter is not present, therefore it may be referred to which the first running track information before is to current
The location information of positioning signal 33 carries out signal compensation, can with the reference value of effective guarantee signal compensation reference data, thus,
The precision of promotion signal compensation.
In the present embodiment, by determining positioning signal current during generating map to mobile object, and current
First positioning signal collected before positioning signal determines the location information of current positioning signal and believes as first position
Breath, and determine the location information of the first positioning signal and as second location information, believe in the first position of current positioning signal
Breath is when meeting preset condition, according to the second location information of the first positioning signal to the first location information of current positioning signal into
Row compensation, can effectively weaken influence caused by shelter in map generating process, promote map and generate effect.
Fig. 4 is the flow diagram of the method for compensating signal in the map generating process that another embodiment of the present invention proposes.
Referring to fig. 4, this method comprises:
S401: determining current positioning signal during generating map to mobile object, and current positioning signal it
Preceding first positioning signal collected.
The embodiment of the present invention determines during specific execute and works as prelocalization during generating map to mobile object
Signal, and the first positioning signal collected before current positioning signal, the quantity of the first positioning signal are at least two,
Implementation procedure of the invention is to be in real time, or every prefixed time interval.
It further include that three the first positioning signals 32 and current positioning signal 33, arrow 34, second are positioned referring to Fig. 3, in Fig. 3
Signal 35 (the second positioning signal 35 is the subsequent positioning signal collected of current positioning signal 33), it is to be understood that with
The passage of time, current positioning signal 33 can will be determined in continuous updating until map generation finishes on current point in time
Obtained positioning signal is as current positioning signal.
S402: determining the location information of current positioning signal and as first location information, and determines the first positioning letter
Number location information and as second location information.
First location information/second location information therein can be, for example, position coordinates, former according to the work of movement station
Reason, can hold movement station along in the operational process of working region in user, acquire the position of current positioning signal in real time
Information, the location information can be referred to as first location information, acquire the location information of the first positioning signal, which can
To be referred to as second location information.
S403: judging whether the first location information of current positioning signal meets preset condition, if so, execute S405 and
Otherwise its subsequent step executes S404.
Optionally, preset condition includes: the first accuracy value of current positioning signal less than the first default precision threshold；Or
Difference between person's first location information and second location information is greater than preset threshold.Specifically, first according to current positioning
First accuracy value of signal is less than the first default precision threshold, then according between first location information and second location information
Difference is greater than preset threshold, and judgement meets preset condition.First default precision threshold and preset threshold therein can be by users
It is set according to practical application request, alternatively, can also be by the factory program of the signal compensation apparatus in map generating process
It presets, with no restriction to this.
S404: it does not trigger and the first location information of current positioning signal is compensated.
S405: determine that the running track of mobile object is believed according to the second location information of at least two the first positioning signal
It ceases and as the first running track information.
Referring to Fig. 3, by three the first positioning signals 32 therein and current positioning signal 33, the positioning letter of arrow 34, second
Numbers 35 (the second positioning signal 35 is the subsequent positioning signal collected of current positioning signal 33), can in signal compensation process
To determine the second location information (that is, position coordinates) of each first positioning signal 32 in three the first positioning signals 32 first,
Determining the running track information of mobile object, (running track information can be by three the first positioning signals 32 in connection figure 3
Lines indicate), which can be referred to as the first running track information.
It is understood that assuming to need to carry out signal compensation to current positioning signal 33, then it is fixed currently to assume that
At the position coordinates of position signal 33, there are a shelters, and still, three first acquired before current positioning signal 33 are fixed
At the position coordinates of position signal 32, and shelter is not present, therefore it may be referred to which the first running track information before is to current
The location information of positioning signal 33 carries out signal compensation, can with the reference value of effective guarantee signal compensation reference data, thus,
The precision of promotion signal compensation.
S406: the target position of current positioning signal is determined according to the first running track information.
In the embodiment of the present invention, can be determined according to the first running track information current positioning signal along this first
The position that running track information should occur, and using the position as above-mentioned target position.
It is understood that due to the continuity of data boundary in map generating process, in determining for working region boundary
Position signal location information have regulations to abide by, and and it is unlikely be a random location information, therefore, in the embodiment of the present invention
The target position of current positioning signal can be determined according to running track information before.
S407: directly by the corresponding position of the first location information of current positioning signal, it is adjusted to target position.
Referring to Fig. 3, the corresponding position of location information of current positioning signal 33 can be adjusted along the direction of arrow 34
Whole is target position, which is located at such as (dashed bars institute in Fig. 3 in Fig. 3 on the extended line in the first running track direction
Show).
Lines and dashed bars in the embodiment of the present invention in above-mentioned Fig. 3, not necessarily straight line, specifically, can be with
It for a smooth lines, realizes that compensated position signal can seamlessly transit, reduces determining for generated map as much as possible
Position error.
It in the present embodiment, realizes and signal compensation is carried out according to location information, realize that simply, data acquisition is easier, utilizes
Existing device can acquire the data, therefore, will not expend excessive hardware cost.Detecting the of current positioning signal
When one location information meets preset condition, just according to the second location information of the first positioning signal to the first of current positioning signal
Location information compensates, and otherwise, does not trigger carry out signal compensation, can be avoided caused by unnecessary trigger signal compensation
Memory source consumption, promotes compensation efficiency.The location information of running track information before can referring to current positioning signal
Signal compensation is carried out, it can be with the reference value of effective guarantee signal compensation reference data.Map generating process can effectively be weakened
Influence caused by middle shelter promotes map and generates effect.
Fig. 5 is the flow diagram of the method for compensating signal in the map generating process that another embodiment of the present invention proposes.
Referring to Fig. 5, after above-mentioned S103, this method can also include:
S501: it obtains in subsequent second positioning signal collected of current positioning signal.
It, can be in the subsequent positioning signal collected of current positioning signal 33 referring to the second positioning signal 35 in above-mentioned Fig. 3
Referred to as the second positioning signal.It, can in the embodiment of the present invention after being compensated to the positioning signal on multiple and different time points
Using by the positioning signal on the multiple and different time points compensated as above-mentioned compensated current positioning signal, in reference
State Fig. 3, it is assumed that at corresponding three different time points, there is that there are three current positioning signals, then can work as prelocalization for three
The subsequent positioning signal collected of signal, as the second positioning signal.
S502: determining the second accuracy value of the second positioning signal, and determines that compensated current positioning signal and second is determined
Position signal between running track information and as the second running track information.
The embodiment of the present invention can be determined during specific execute using precision measure algorithm in the related technology
The accuracy value of second positioning signal, the accuracy value can be referred to as the second accuracy value, with no restriction to this.
Then, the running track information between compensated current positioning signal and the second positioning signal is determined.
S503: if the second accuracy value is more than or equal to the second default precision threshold, to the first running track information and
Second running track information carries out the disposal of gentle filter.
S504: if the second accuracy value is transported less than the second default precision threshold, according to the first running track information to second
Row trace information is updated.
It is together the running track schematic diagram in the embodiment of the present invention after the disposal of gentle filter, figure referring to Fig. 6 and Fig. 7, Fig. 6
7 be updated running track schematic diagram in the embodiment of the present invention, includes three the first positioning signals 61 and three differences in Fig. 6
(three the second positioning signals 63 are that three are not or not 62, three the second positioning signals 63 of time point corresponding compensated positioning signal
The corresponding compensated subsequent positioning signal collected of positioning signal 62 with time point), it include that three first positioning are believed in Fig. 7
Numbers 71 and 72, three 73 (three second positioning of the second positioning signals of the corresponding compensated positioning signal of three different time points
Signal 73 is the corresponding compensated subsequent positioning signal collected of positioning signal 72 of three different time points).
Second default precision threshold therein can be set by user according to practical application request, alternatively, can also be with
It is preset by the factory program of the signal compensation apparatus in map generating process, with no restriction to this.
In the embodiment of the present invention, when the second accuracy value is more than or equal to the second default precision threshold, the can be determined
Two positioning signals are high-precision signal, at this point it is possible to no longer carry out signal compensation to second positioning signal, can be transported to first
Row trace information and the second running track information carry out the disposal of gentle filter, referring to above-mentioned Fig. 6, in the second accuracy value less than second
When default precision threshold, determine that the second positioning signal is low precision signal, at this point it is possible to according to the first running track information to the
Two running track information are updated, specifically, can by among the corresponding compensated positioning signal of three different time points,
A positioning signal of the time point after is as high-precision signal, the subsequent second running track information of the high-precision signal,
It is deviated according to the first running track information, referring to above-mentioned Fig. 7.
The present invention is generally inclined to working region outside there are the positioning signal of shelter in practical map generating process
It moves, therefore, compensated positioning signal in the embodiment of the present invention, position coordinates are to working region internal blas, to work
Region internal blas can be avoided automatic mower and be driven out to working region, and therefore, the embodiment of the present invention can be carried out in conjunction with practical
Signal compensation.
Further, user can observe institute during record location signal in real time in the embodiment of the present invention
The map of generation, that is, local display can be carried out to map generated over time, and carry out signal in real time
Compensation.
Further, reminding module can also be set in the mobile stations in the embodiment of the present invention, for reminding user current
Positioning signal quality condition, allows user according to current positioning signal quality condition, and adjustment generates the row during map
The region and route that object influences that be blocked to be abandoned, alternatively, can also be by human-edited for example, running to the good direction of signal
Mode improve map generated, with no restriction to this.
In the present embodiment, by obtaining in subsequent second positioning signal collected of current positioning signal, determine that second is fixed
Second accuracy value of position signal, and determine the running track information between compensated current positioning signal and the second positioning signal
And as the second running track information, if the second accuracy value is more than or equal to the second default precision threshold, run to first
Trace information and the second running track information carry out the disposal of gentle filter, if the second accuracy value less than the second default precision threshold,
Then the second running track information is updated according to the first running track information, realizes that compensated position signal can be smooth
Transition reduces the position error of generated map as much as possible.
Fig. 8 is the structural schematic diagram of the signal compensation apparatus in the map generating process that one embodiment of the invention proposes.
Referring to Fig. 8, which includes:
First determining module 801, for determining current positioning signal, Yi Ji during generating map to mobile object
First positioning signal collected before current positioning signal.
Second determining module 802, for determining the location information of current positioning signal and as first location information, and
Determine the location information of the first positioning signal and as second location information.
Compensating module 803, for being determined according to first when the first location information of current positioning signal meets preset condition
The second location information of position signal compensates the first location information of current positioning signal.
Optionally, preset condition includes: the first accuracy value of current positioning signal less than the first default precision threshold；Or
Difference between person's first location information and second location information is greater than preset threshold.Specifically, first according to current positioning
First accuracy value of signal is less than the first default precision threshold, then according between first location information and second location information
Difference is greater than preset threshold, and judgement meets preset condition.
Optionally, in some embodiments, referring to Fig. 9, the quantity of the first positioning signal is at least two, compensating module 803,
Include:
Determine submodule 8031, the second location information for the first positioning signal according at least two determines motive objects
The running track information of body and as the first running track information.
Compensate submodule 8032, for according to the first running track information to the first location information of current positioning signal into
Row compensation.
Optionally, in some embodiments, submodule 8032 is compensated, is specifically used for:
The target position of current positioning signal is determined according to the first running track information；
Directly by the corresponding position of the first location information of current positioning signal, it is adjusted to target position.
Optionally, in some embodiments, referring to Fig. 9, the device 800 further include:
Module 804 is obtained, for obtaining in subsequent second positioning signal collected of current positioning signal.
Third determining module 805, for determining the second accuracy value of the second positioning signal, and it is determining compensated current fixed
Position signal and the second positioning signal between running track information and as the second running track information.
Compensating module 803 is also used to transport when the second accuracy value is more than or equal to the second default precision threshold to first
Row trace information and the second running track information carry out the disposal of gentle filter, in the second accuracy value less than the second default precision threshold
When, the second running track information is updated according to the first running track information.
It should be noted that the method for compensating signal embodiment in earlier figures 1- Fig. 7 embodiment in map generating process
Explanation be also applied for the signal compensation apparatus 800 in the map generating process of the embodiment, realization principle is similar, this
Place repeats no more.
In the present embodiment, by determining positioning signal current during generating map to mobile object, and current
First positioning signal collected before positioning signal determines the location information of current positioning signal and believes as first position
Breath, and determine the location information of the first positioning signal and as second location information, believe in the first position of current positioning signal
Breath is when meeting preset condition, according to the second location information of the first positioning signal to the first location information of current positioning signal into
Row compensation, can effectively weaken influence caused by shelter in map generating process, promote map and generate effect.
In order to realize above-described embodiment, the present invention also proposes a kind of non-transitorycomputer readable storage medium, works as storage
When instruction in medium is executed by the processor of terminal, enable the terminal to execute the signal compensation in a kind of map generating process
Method, method include:
It determines current positioning signal during generating map to mobile object, and is adopted before current positioning signal
First positioning signal of collection；
It determines the location information of current positioning signal and as first location information, and determines the position of the first positioning signal
Confidence ceases and as second location information；
When the first location information of current positioning signal meets preset condition, according to the second position of the first positioning signal
Information compensates the first location information of current positioning signal.
Non-transitorycomputer readable storage medium in the present embodiment is generating map mistake to mobile object by determining
Current positioning signal in journey, and the first positioning signal collected before current positioning signal determine current positioning letter
Number location information and as first location information, and determine the location information of the first positioning signal and as second confidence
Breath, when the first location information of current positioning signal meets preset condition, according to the second location information of the first positioning signal
The first location information of current positioning signal is compensated, can effectively be weakened in map generating process caused by shelter
It influences, promotes map and generate effect.
In order to realize above-described embodiment, the present invention also proposes a kind of computer program product, when in computer program product
Instruction when being executed by processor, execute the method for compensating signal in a kind of map generating process, method includes:
It determines current positioning signal during generating map to mobile object, and is adopted before current positioning signal
First positioning signal of collection；
It determines the location information of current positioning signal and as first location information, and determines the position of the first positioning signal
Confidence ceases and as second location information；
When the first location information of current positioning signal meets preset condition, according to the second position of the first positioning signal
Information compensates the first location information of current positioning signal.
Computer program product in the present embodiment works as prelocalization during generating map to mobile object by determining
Signal, and the first positioning signal collected before current positioning signal, determine the location information of current positioning signal
And as first location information, and determine the location information of the first positioning signal and as second location information, works as prelocalization
When the first location information of signal meets preset condition, according to the second location information of the first positioning signal to current positioning signal
First location information compensate, can effectively weaken influence caused by shelter in map generating process, promote map
Generate effect.
It should be noted that in the description of the present invention, term " first ", " second " etc. are used for description purposes only, without
It can be interpreted as indication or suggestion relative importance.In addition, in the description of the present invention, unless otherwise indicated, the meaning of " multiple "
It is two or more.
Any process described otherwise above or method description are construed as in flow chart or herein, and expression includes
It is one or more for realizing specific logical function or process the step of executable instruction code module, segment or portion
Point, and the range of the preferred embodiment of the present invention includes other realization, wherein can not press shown or discussed suitable
Sequence, including according to related function by it is basic simultaneously in the way of or in the opposite order, Lai Zhihang function, this should be of the invention
Embodiment person of ordinary skill in the field understood.
It should be appreciated that each section of the invention can be realized with hardware, software, firmware or their combination.Above-mentioned
In embodiment, software that multiple steps or method can be executed in memory and by suitable instruction execution system with storage
Or firmware is realized.It, and in another embodiment, can be under well known in the art for example, if realized with hardware
Any one of column technology or their combination are realized: having a logic gates for realizing logic function to data-signal
Discrete logic, with suitable combinational logic gate circuit specific integrated circuit, programmable gate array (PGA), scene
Programmable gate array (FPGA) etc..
Those skilled in the art are understood that realize all or part of step that above-described embodiment method carries
It suddenly is that relevant hardware can be instructed to complete by program, the program can store in a kind of computer-readable storage medium
In matter, which when being executed, includes the steps that one or a combination set of embodiment of the method.
It, can also be in addition, each functional unit in each embodiment of the present invention can integrate in a processing module
It is that each unit physically exists alone, can also be integrated in two or more units in a module.Above-mentioned integrated mould
Block both can take the form of hardware realization, can also be realized in the form of software function module.The integrated module is such as
Fruit is realized and when sold or used as an independent product in the form of software function module, also can store in a computer
In read/write memory medium.
Storage medium mentioned above can be read-only memory, disk or CD etc..
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
Centainly refer to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be any
One or more embodiment or examples in can be combined in any suitable manner.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, modifies, replacement and variant.
Claims (14)
1. the method for compensating signal in a kind of map generating process, which comprises the following steps:
It determines current positioning signal during generating map to mobile object, and is adopted before the current positioning signal
First positioning signal of collection；
It determines the location information of the current positioning signal and as first location information, and determines first positioning signal
Location information and as second location information；
When the first location information of the current positioning signal meets preset condition, according to the second of first positioning signal
Location information compensates the first location information of the current positioning signal.
2. the method for compensating signal in map generating process as described in claim 1, which is characterized in that wherein,
The preset condition includes: the first accuracy value of the current positioning signal less than the first default precision threshold.
3. the method for compensating signal in map generating process as described in claim 1, which is characterized in that wherein,
The preset condition includes: that the difference between the first location information and the second location information is greater than default threshold
Value.
4. the method for compensating signal in map generating process as described in claim 1, which is characterized in that the first positioning letter
Number quantity be at least two, the second location information according to first positioning signal is to the current positioning signal
First location information compensates, comprising:
The running track information of the mobile object is determined simultaneously according to the second location information of at least two the first positioning signal
As the first running track information；
It is compensated according to first location information of the first running track information to the current positioning signal.
5. the method for compensating signal in map generating process as claimed in claim 4, which is characterized in that described according to described
One running track information compensates the first location information of the current positioning signal, comprising:
The target position of the current positioning signal is determined according to the first running track information；
Directly by the corresponding position of first location information of the current positioning signal, it is adjusted to the target position.
6. the method for compensating signal in map generating process as described in claim 4 or 5, which is characterized in that further include:
It obtains in current subsequent second positioning signal collected of positioning signal；
It determines the second accuracy value of second positioning signal, and determines the compensated current positioning signal and described second
Running track information between positioning signal and as the second running track information；
If second accuracy value is more than or equal to the second default precision threshold, to the first running track information and institute
It states the second running track information and carries out the disposal of gentle filter；
If second accuracy value is less than the described second default precision threshold, according to the first running track information to described
Second running track information is updated.
7. the signal compensation apparatus in a kind of map generating process characterized by comprising
First determining module is worked as determining current positioning signal during generating map to mobile object, and described
First positioning signal collected before prelocalization signal；
Second determining module, for determining the location information of the current positioning signal and as first location information, and really
Determine the location information of first positioning signal and as second location information；
Compensating module, for when the first location information of the current positioning signal meets preset condition, according to described first
The second location information of positioning signal compensates the first location information of the current positioning signal.
8. the signal compensation apparatus in map generating process as claimed in claim 7, which is characterized in that wherein,
The preset condition includes: the first accuracy value of the current positioning signal less than the first default precision threshold.
9. the signal compensation apparatus in map generating process as claimed in claim 7, which is characterized in that wherein,
The preset condition includes: that the difference between the first location information and the second location information is greater than default threshold
Value.
10. the signal compensation apparatus in map generating process as claimed in claim 7, which is characterized in that first positioning
The quantity of signal is at least two, the compensating module, comprising:
Determine submodule, the second location information for the first positioning signal according at least two determines the mobile object
Running track information and as the first running track information；
Compensate submodule, for according to the first running track information to the first location information of the current positioning signal into
Row compensation.
11. the signal compensation apparatus in map generating process as claimed in claim 10, which is characterized in that the compensation submodule
Block is specifically used for:
The target position of the current positioning signal is determined according to the first running track information；
Directly by the corresponding position of first location information of the current positioning signal, it is adjusted to the target position.
12. the signal compensation apparatus in map generating process as described in claim 10 or 11, which is characterized in that further include:
Module is obtained, for obtaining in current subsequent second positioning signal collected of positioning signal；
Third determining module for determining the second accuracy value of second positioning signal, and determines described compensated current
Running track information between positioning signal and second positioning signal and as the second running track information；
The compensating module is also used to when second accuracy value is more than or equal to the second default precision threshold, to described
First running track information and the second running track information carry out the disposal of gentle filter, are less than institute in second accuracy value
When stating the second default precision threshold, the second running track information is updated according to the first running track information.
13. a kind of non-transitorycomputer readable storage medium, is stored thereon with computer program, which is characterized in that the program
It realizes when being executed by processor such as the method for compensating signal in map generating process of any of claims 1-6.
14. a kind of computer program product executes one kind when the instruction in the computer program product is executed by processor
Method for compensating signal in map generating process, which comprises
It determines current positioning signal during generating map to mobile object, and is adopted before the current positioning signal
First positioning signal of collection；
It determines the location information of the current positioning signal and as first location information, and determines first positioning signal
Location information and as second location information；
When the first location information of the current positioning signal meets preset condition, according to the second of first positioning signal
Location information compensates the first location information of the current positioning signal.
Priority Applications (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810163178.6A CN110197519A (en) | 2018-02-26 | 2018-02-26 | Method for compensating signal, device and storage medium in map generating process |
| 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 |
| EP18806939.7A EP3591421A4 (en) | 2017-05-26 | 2018-05-25 | Moving object and positioning method therefor, automated working system, and storage medium |
| CN201880002313.7A CN109313253A (en) | 2017-05-26 | 2018-05-25 | Mobile object and its localization method, automatic working system, storage medium |
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| CN201810163178.6A CN110197519A (en) | 2018-02-26 | 2018-02-26 | Method for compensating signal, device and storage medium in map generating process |
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| CN201810163178.6A Pending CN110197519A (en) | 2017-05-26 | 2018-02-26 | Method for compensating signal, device and storage medium in map generating process |
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