CN115443791B - Repositioning method and system for mower and readable storage medium - Google Patents
Repositioning method and system for mower and readable storage medium Download PDFInfo
- Publication number
- CN115443791B CN115443791B CN202210937772.2A CN202210937772A CN115443791B CN 115443791 B CN115443791 B CN 115443791B CN 202210937772 A CN202210937772 A CN 202210937772A CN 115443791 B CN115443791 B CN 115443791B
- Authority
- CN
- China
- Prior art keywords
- mower
- positioning information
- boundary
- repositioning
- magnetic induction
- Prior art date
- Legal status (The legal status 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 status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 31
- 230000006698 induction Effects 0.000 claims abstract description 62
- 238000013507 mapping Methods 0.000 claims abstract description 17
- 238000004590 computer program Methods 0.000 claims description 9
- 238000001514 detection method Methods 0.000 claims description 4
- 230000000875 corresponding effect Effects 0.000 description 6
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 238000003491 array Methods 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000001131 transforming effect Effects 0.000 description 1
Classifications
-
- 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
Abstract
The invention relates to a repositioning method and a repositioning system for a mower and a readable storage medium, wherein the repositioning method for the mower comprises the following steps: acquiring first positioning information of the mower at a current point from a navigation positioning module in real time; when the magnetic induction sensor detects magnetic induction data, judging whether the mower is positioned at a specific boundary position according to the magnetic induction data; when the mower is positioned at the specific boundary position, determining second positioning information of the mower at the current point according to the mapping information and the magnetic induction data; judging whether the deviation of the first positioning information and the second positioning information meets a preset condition or not; and repositioning the mower according to the second positioning information when the preset condition is met. Through this technical scheme, even the lawn mower is inaccurate in location after long-time work, still can reposition the lawn mower according to above-mentioned mode to obtain accurate location information, guarantee that mowing performance is not influenced, promote user experience.
Description
Technical Field
The present invention relates to the field of mowers, and in particular, to a repositioning method and system for a mower, and a readable storage medium.
Background
The mower detects or estimates boundary information of a mowing area by various sensors, and controls the mower to mow in a predetermined area. The existing mower generally adopts a magnetic induction sensor to detect a boundary cable buried in the boundary of a mowing area, so that boundary information is calculated.
In practical application, it is found that, after a mower mows for a long time, the position and the posture determined by the navigation positioning module of the mower deviate, and the mowing performance is reduced due to the deviation.
Disclosure of Invention
The invention aims to solve the technical problem of inaccurate positioning after long-time mowing in the prior art, and provides a repositioning method and system of a mower and a readable storage medium.
The technical scheme adopted for solving the technical problems is as follows: a repositioning method for constructing a mower, comprising:
s10, acquiring first positioning information of the mower at a current point from a navigation positioning module in real time;
s20, judging whether the mower is positioned at a specific boundary position according to the magnetic induction data when the magnetic induction sensor detects the magnetic induction data, wherein boundary cables are buried in the boundary of a mowing area in advance, and corresponding magnetic equipment is respectively installed at a plurality of specific boundary positions of the boundary cables;
s30, when the mower is positioned at the specific boundary position, determining second positioning information of the mower at the current point according to the mapping information and the magnetic induction data;
s40, judging whether the deviation of the first positioning information and the second positioning information meets a preset condition or not;
and S50, repositioning the mower according to the second positioning information when the preset condition is met.
Preferably, the plurality of magnetic devices are magnetic devices of the same shape, size, and material, and are mounted at different boundary feature points of the boundary cable line.
Preferably, the plurality of magnetic devices are magnetic devices that are not identical in shape, size, and material.
Preferably, the step S50 includes:
when the preset condition is met, modifying the navigation route, moving along the boundary cable according to the modified navigation route, and repositioning the mower according to the second positioning information in the moving process.
Preferably, the moving along the boundary cable according to the modified navigation route includes:
and moving along the boundary cable according to the modified navigation route, wherein the moving direction is opposite to the mapping direction.
Preferably, the step S40 includes:
judging whether a first deviation value of the position information in the first positioning information and the position information of the second positioning information is larger than a first preset value, judging whether a second deviation value of the gesture information in the first positioning information and the gesture information of the second positioning information is larger than a second preset value, and if the first deviation value is larger than the first preset value and/or the second deviation value is larger than the second preset value, determining that the deviation of the first positioning information and the second positioning information meets preset conditions.
The present invention also constructs a repositioning system for a lawnmower comprising:
the acquisition module is used for acquiring first positioning information of the mower at the current point from the navigation positioning module in real time;
the detection judging module is used for judging whether the mower is positioned at a specific boundary position according to the magnetic induction data when the magnetic induction sensor detects the magnetic induction data, wherein boundary cables are buried in the boundary of a mowing area in advance, and corresponding magnetic equipment is respectively arranged at a plurality of specific boundary positions of the boundary cables;
the determining module is used for determining second positioning information of the mower at the current point according to the mapping information and the magnetic induction data when the mower is positioned at the specific boundary position;
the deviation judging module is used for judging whether the deviation of the first positioning information and the second positioning information meets a preset condition or not;
and the repositioning module is used for repositioning the mower according to the second positioning information when the preset condition is met.
Preferably, the plurality of magnetic devices are magnetic devices with the same shape, size and material, and are installed at different boundary characteristic points of the boundary cable at intervals; or,
the plurality of magnetic devices are magnetic devices with non-identical shapes, sizes and materials.
The present invention also constructs a repositioning system for a lawn mower comprising a processor that when executing a stored computer program implements the steps of the repositioning method for a lawn mower described above.
The present invention preferably constitutes a readable storage medium storing a computer program which, when executed by a processor, performs the steps of the repositioning method of a lawnmower described above.
In the technical scheme provided by the invention, when the mower works normally, on one hand, the first positioning information of the mower can be obtained from the navigation positioning module in real time, on the other hand, whether the magnetic induction data are obtained from the magnetic induction sensor is always judged, if the magnetic induction data are detected by the magnetic induction sensor, the mower is judged to be positioned at a specific boundary position according to the magnetic induction data, and at the moment, the second positioning information of the current point can be determined by combining the map building information. And then judging whether the deviation of the first positioning information and the second positioning information meets the preset condition, and when the deviation meets the preset condition, considering that the first positioning information currently acquired from the navigation positioning module is not credible, and then repositioning according to the second positioning information. Therefore, even if the positioning information obtained from the navigation positioning module after the mower works for a long time is deviated from the actual situation, the mower can still be repositioned according to the mode so as to obtain accurate positioning information, thereby ensuring that the mowing performance is not affected and improving the user experience.
Drawings
In order to more clearly illustrate the embodiments of the present invention, the drawings that are required for the description of the embodiments will be briefly described below, it being apparent that the drawings in the following description are only some embodiments of the present invention and that other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art. In the accompanying drawings:
FIG. 1 is a flow chart of a first embodiment of a repositioning method for a lawnmower of the present invention;
fig. 2 is a logical block diagram of a first embodiment of a repositioning system for a lawnmower of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Fig. 1 is a flowchart of a repositioning method of a mower according to an embodiment of the present invention, the repositioning method is applied to a processor of the mower, and the mower further includes a navigation positioning module, a magnetic induction sensor, and the like. When the mower works for a long time, the positioning information acquired from the navigation positioning module may be inaccurate. For this case, when the mower is in the normal mowing mode, the following steps may be performed:
s10, acquiring first positioning information of the mower at a current point from a navigation positioning module in real time;
in this step, it should be noted that the navigation positioning module may be, for example, an inertial navigation module, which is based on newton's law of mechanics, and can obtain information of position, attitude, etc. in the navigation coordinate system by measuring acceleration of the carrier in the inertial reference system, integrating it over time, and transforming it into the navigation coordinate system.
Step S20, judging whether the mower is positioned at a specific boundary position according to the magnetic induction data when the magnetic induction sensor detects the magnetic induction data, and if so, executing step S30; if not, executing step S60, wherein boundary cables are buried in the boundary of the mowing area in advance, and corresponding magnetic devices are respectively installed on a plurality of specific boundary positions of the boundary cables;
in this step, boundary cables are buried in advance in boundary lines of the mowing area, and corresponding magnetic devices (for example, magnetic rings) are mounted at a plurality of specific boundary positions (for example, corners, vertexes, intermediate positions of a certain side, and the like) on the boundary cables, respectively. When the mower is used for drawing, when the mower moves along the boundary cable, the magnetic induction sensor can detect magnetic induction data, and the magnetic induction data detected by the magnetic induction sensor are different when the mower moves to different positions of the boundary cable. When entering a magnetic field area of a certain magnetic device, the detected magnetic induction data are data obtained by superposing a magnetic field of a boundary cable and a magnetic field of the magnetic device; when entering other areas (magnetic field areas of non-magnetic devices), the detected magnetic induction data are only the magnetic field data of the boundary cable. It is thus possible to determine from the detected magnetic induction data whether it is at a specific boundary position. In addition, when mapping, positioning information (such as position and gesture) at the current position is recorded from the navigation positioning module. Thus, magnetic induction data (detected by magnetic induction sensors) and positioning information (recorded by a navigation positioning module) at the same location (specific boundary locations) can be correlated at the time of mapping.
In normal mowing, if the magnetic induction sensor detects magnetic induction data, it is indicated that the mower is currently located at the boundary of the mowing area, and whether the mower is located at a specific boundary position (installation position of the magnetic device) can be further judged according to the detected magnetic induction data.
S30, determining second positioning information of the mower at the current point according to the mapping information and the magnetic induction data;
in this step, it should be noted that, since the magnetic induction data (detected by the magnetic induction sensor) and the positioning information (recorded by the navigation positioning module) at the same specific boundary position are already associated during the mapping, if the mower determines that the mower is currently at the specific boundary position according to the magnetic induction data currently detected by the magnetic induction sensor, the second positioning information of the current point, that is, the first positioning information of the position point recorded by the navigation positioning module during the mapping, can be determined by combining the mapping information and the magnetic induction data currently detected.
S40, judging whether the deviation of the first positioning information and the second positioning information meets a preset condition, and if yes, executing a step S50; if not, executing step S60;
s50, repositioning the mower according to the second positioning information;
and S60, mowing is continued according to the current navigation route.
By the technical scheme of the embodiment, boundary cable wires are buried in the boundary of the mowing area in advance, magnetic equipment is respectively arranged at a plurality of specific positions on the boundary cable wires, and magnetic induction data and positioning information when the mower moves to the positions of the magnetic equipment respectively are recorded when the mower is used for drawing. When the mower works normally, on one hand, the first positioning information of the mower can be obtained from the navigation positioning module in real time, on the other hand, whether the magnetic induction data are obtained from the magnetic induction sensor is always judged, if the magnetic induction data are detected by the magnetic induction sensor, the mower is judged to be positioned at a specific boundary position according to the magnetic induction data, and at the moment, the second positioning information of the current point can be determined by combining the map building information. And then judging whether the deviation of the first positioning information and the second positioning information meets the preset condition, and when the deviation meets the preset condition, considering that the first positioning information currently acquired from the navigation positioning module is not credible, and then repositioning according to the second positioning information. Therefore, even if the positioning information obtained from the navigation positioning module has larger deviation from the actual situation after the mower works for a long time, the mower can still be repositioned according to the mode so as to obtain accurate positioning information, thereby ensuring that the mowing performance is not affected and improving the user experience.
Further, in an alternative embodiment, the plurality of magnetic devices are magnetic devices of the same shape, size, and material, and the plurality of magnetic devices are mounted at different boundary feature points of the boundary cable, for example, at the corners, vertices, etc. of the boundary cable, and at the middle of a certain side. When the mower moves to the magnetic field area of each magnetic device, although the magnetic field intensity of each magnetic device is the same, since they are installed at different boundary feature points of the boundary cable, the magnetic induction data (corresponding positions) detected by the magnetic induction sensor is not the same.
In another alternative embodiment, the plurality of magnetic devices are magnetic devices that are not identical in shape, size, material, i.e., the magnetic field strength of each magnetic device is different. When the magnetic field of the magnetic device is overlapped with the magnetic field of the boundary cable, the magnetic induction data detected by the magnetic induction sensor are not identical.
Further, in an alternative embodiment, step S50 includes: when the preset condition is met, modifying the navigation route, moving along the boundary cable according to the modified navigation route, and repositioning the mower according to the second positioning information in the moving process. In this embodiment, if it is determined that the deviation between the first positioning information and the second positioning information meets the preset condition, it is indicated that the positioning information currently acquired from the navigation positioning module is not reliable, and at this time, the navigation route during normal mowing needs to be modified, so that the mower moves along the boundary cable according to the modified navigation route, and the mower is repositioned along the boundary line according to the second positioning information during the moving process. In addition, the mower may or may not mow during repositioning.
Still further, when the navigation route is modified, the moving direction of the navigation route can be opposite to the mapping direction, so that the mower can move along the boundary cable according to the modified navigation route, and the moving direction is opposite to the mapping direction. This way the accuracy of the repositioning can be further improved. Of course, in other embodiments, the moving direction of the modified navigation route may be kept the same as the mapping direction.
Further, in an alternative embodiment, the positioning information includes position information and posture information, and step S40 includes: judging whether a first deviation value of the position information in the first positioning information and the position information of the second positioning information is larger than a first preset value, judging whether a second deviation value of the gesture information in the first positioning information and the gesture information of the second positioning information is larger than a second preset value, and if the first deviation value is larger than the first preset value and/or the second deviation value is larger than the second preset value, determining that the deviation of the first positioning information and the second positioning information meets preset conditions.
FIG. 2 is a logical block diagram of a first embodiment of a repositioning system for a lawnmower of the present invention, the repositioning system of the embodiment comprising: the device comprises an acquisition module 10, a detection judging module 20, a determining module 30, a deviation judging module 40 and a repositioning module 50. The acquisition module 10 is used for acquiring first positioning information of the mower at a current point from the navigation positioning module in real time; the detection and judgment module 20 is configured to judge whether the mower is at a specific boundary position according to the magnetic induction data when the magnetic induction sensor detects the magnetic induction data, wherein a boundary cable is embedded in advance on a boundary of a mowing area, and corresponding magnetic devices are respectively installed on a plurality of specific boundary positions of the boundary cable; the determining module 30 is configured to determine, when the mower is at the specific boundary position, second positioning information of the mower at a current point according to the mapping information and the magnetic induction data; the deviation judging module 40 is configured to judge whether a deviation between the first positioning information and the second positioning information meets a preset condition; the repositioning module 50 is configured to reposition the mower according to the second positioning information when a preset condition is met.
In an alternative embodiment, the plurality of magnetic devices are magnetic devices of the same shape, size, and material, and are mounted at different boundary feature points of the boundary cable line at intervals. In another alternative embodiment, the plurality of magnetic devices are magnetic devices that are not identical in shape, size, material.
The present invention also constructs a repositioning system for a lawn mower comprising a processor, and the processor, when executing a stored computer program, implements the steps of the repositioning method for a lawn mower described above.
It should be appreciated that in embodiments of the present application, the processor may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. The general-purpose processor may be a microprocessor, any conventional processor, or the like.
In addition, since the processor can implement the steps of the repositioning method of any mower provided by the embodiment of the present invention when executing the computer program, the repositioning method of any mower provided by the embodiment of the present invention can implement the beneficial effects that can be implemented by the repositioning method of any mower, which are detailed in the previous embodiments and are not described herein.
The present invention also constructs a readable storage medium storing a computer program which, when executed by a processor, implements the steps of the repositioning method of a lawnmower described above.
It should be appreciated that the readable storage medium may include: a usb disk, a removable hard disk, a Read-Only Memory (ROM), a magnetic disk, or an optical disk, or other various computer-readable storage media capable of storing program codes. Moreover, since the computer program stored in the readable storage medium can implement the steps of the repositioning method of any mower provided in the embodiment of the present invention when being executed, the beneficial effects that can be achieved by the repositioning method of any mower provided in the embodiment of the present invention can be achieved, which are detailed in the previous embodiments and are not described herein.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any such modifications, equivalents, and improvements that fall within the spirit and principles of the present invention are intended to be covered by the following claims.
Claims (10)
1. A method of repositioning a lawnmower, comprising:
s10, acquiring first positioning information of the mower at a current point from a navigation positioning module in real time;
s20, judging whether the mower is positioned at a specific boundary position according to the magnetic induction data when the magnetic induction sensor detects the magnetic induction data, wherein boundary cables are buried in the boundary of a mowing area in advance, and corresponding magnetic equipment is respectively installed at a plurality of specific boundary positions of the boundary cables;
s30, when the mower is positioned at the specific boundary position, determining second positioning information of the mower at the current point according to the mapping information and the magnetic induction data;
s40, judging whether the deviation of the first positioning information and the second positioning information meets a preset condition or not;
and S50, repositioning the mower according to the second positioning information when the preset condition is met.
2. The repositioning method of a lawn mower of claim 1, wherein the plurality of magnetic devices are magnetic devices of the same shape, size, and material, and the plurality of magnetic devices are mounted at different boundary feature points of the boundary cable.
3. The repositioning method of a lawnmower of claim 1, wherein the plurality of magnetic devices are magnetic devices that are not identical in shape, size, and material.
4. The repositioning method of a lawnmower of claim 1, wherein the step S50 comprises:
when the preset condition is met, modifying the navigation route, moving along the boundary cable according to the modified navigation route, and repositioning the mower according to the second positioning information in the moving process.
5. The repositioning method of a lawnmower of claim 4, wherein the moving along the boundary cable according to the modified navigation route comprises:
and moving along the boundary cable according to the modified navigation route, wherein the moving direction is opposite to the mapping direction.
6. The repositioning method of a lawnmower according to claim 1, wherein the step S40 comprises:
judging whether a first deviation value of the position information in the first positioning information and the position information of the second positioning information is larger than a first preset value, judging whether a second deviation value of the gesture information in the first positioning information and the gesture information of the second positioning information is larger than a second preset value, and if the first deviation value is larger than the first preset value and/or the second deviation value is larger than the second preset value, determining that the deviation of the first positioning information and the second positioning information meets preset conditions.
7. A repositioning system for a lawnmower, comprising:
the acquisition module is used for acquiring first positioning information of the mower at the current point from the navigation positioning module in real time;
the detection judging module is used for judging whether the mower is positioned at a specific boundary position according to the magnetic induction data when the magnetic induction sensor detects the magnetic induction data, wherein boundary cables are buried in the boundary of a mowing area in advance, and corresponding magnetic equipment is respectively arranged at a plurality of specific boundary positions of the boundary cables;
the determining module is used for determining second positioning information of the mower at the current point according to the mapping information and the magnetic induction data when the mower is positioned at the specific boundary position;
the deviation judging module is used for judging whether the deviation of the first positioning information and the second positioning information meets a preset condition or not;
and the repositioning module is used for repositioning the mower according to the second positioning information when the preset condition is met.
8. The repositioning system for a lawnmower of claim 7,
the plurality of magnetic devices are magnetic devices with the same shape, size and material, and are arranged at different boundary characteristic points of the boundary cable at intervals; or,
the plurality of magnetic devices are magnetic devices with non-identical shapes, sizes and materials.
9. A repositioning system for a lawn mower comprising a processor, characterized in that the processor, when executing a stored computer program, implements the steps of the repositioning method for a lawn mower according to any of claims 1-6.
10. A readable storage medium storing a computer program, characterized in that the computer program, when executed by a processor, implements the steps of the repositioning method of a lawn mower according to any of claims 1-6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210937772.2A CN115443791B (en) | 2022-08-05 | 2022-08-05 | Repositioning method and system for mower and readable storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210937772.2A CN115443791B (en) | 2022-08-05 | 2022-08-05 | Repositioning method and system for mower and readable storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115443791A CN115443791A (en) | 2022-12-09 |
| CN115443791B true CN115443791B (en) | 2024-03-29 |
Family
ID=84296367
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210937772.2A Active CN115443791B (en) | 2022-08-05 | 2022-08-05 | Repositioning method and system for mower and readable storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115443791B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| BE1003540A3 (en) * | 1991-06-04 | 1992-04-14 | Colens Andre | Continuous and independent mowing system |
| CN106416587A (en) * | 2015-08-13 | 2017-02-22 | 苏州宝时得电动工具有限公司 | Mower positioning error eliminating method, device and system |
| CN106470603A (en) * | 2015-06-05 | 2017-03-01 | 美国iRobot公司 | Magnetic oriented and navigation |
| CN106550611A (en) * | 2015-07-23 | 2017-03-29 | 美国iRobot公司 | Beacon is matched with mobile robot |
| CN109005874A (en) * | 2017-06-09 | 2018-12-18 | 安德烈·斯蒂尔股份两合公司 | Autonomous afforested areas maintaining robot |
| CN111670675A (en) * | 2020-07-08 | 2020-09-18 | 浙江大学 | Mower system based on solar polarized light positioning and mowing method |
| CN112147886A (en) * | 2019-06-27 | 2020-12-29 | 深圳拓邦股份有限公司 | Self-adaptive method for boundary signal of mower system and mower system |
| WO2021093474A1 (en) * | 2019-11-12 | 2021-05-20 | 苏州宝时得电动工具有限公司 | Lawn mower navigation method and apparatus, and lawn mower |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6080887B2 (en) * | 2015-03-27 | 2017-02-15 | 本田技研工業株式会社 | Charging station and unmanned work vehicle charging station guidance device |
| SE541895C2 (en) * | 2018-01-31 | 2020-01-02 | Husqvarna Ab | System and method for navigating a robotic lawnmower into a docking position |
-
2022
- 2022-08-05 CN CN202210937772.2A patent/CN115443791B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| BE1003540A3 (en) * | 1991-06-04 | 1992-04-14 | Colens Andre | Continuous and independent mowing system |
| CN106470603A (en) * | 2015-06-05 | 2017-03-01 | 美国iRobot公司 | Magnetic oriented and navigation |
| CN106550611A (en) * | 2015-07-23 | 2017-03-29 | 美国iRobot公司 | Beacon is matched with mobile robot |
| CN106416587A (en) * | 2015-08-13 | 2017-02-22 | 苏州宝时得电动工具有限公司 | Mower positioning error eliminating method, device and system |
| CN109005874A (en) * | 2017-06-09 | 2018-12-18 | 安德烈·斯蒂尔股份两合公司 | Autonomous afforested areas maintaining robot |
| CN112147886A (en) * | 2019-06-27 | 2020-12-29 | 深圳拓邦股份有限公司 | Self-adaptive method for boundary signal of mower system and mower system |
| WO2021093474A1 (en) * | 2019-11-12 | 2021-05-20 | 苏州宝时得电动工具有限公司 | Lawn mower navigation method and apparatus, and lawn mower |
| CN111670675A (en) * | 2020-07-08 | 2020-09-18 | 浙江大学 | Mower system based on solar polarized light positioning and mowing method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115443791A (en) | 2022-12-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP3366100B1 (en) | Robotic garden tool | |
| US20230079730A1 (en) | Control device, scanning system, control method, and program | |
| CN105988471B (en) | Intelligent mowing system and mowing control method of mower | |
| JP4728095B2 (en) | Navigation device | |
| JP6169945B2 (en) | Navigation device and elevated vertical path determination method | |
| CN110673115A (en) | Combined calibration method, device, equipment and medium for radar and integrated navigation system | |
| EP2950292A1 (en) | Driving support device, driving support method, and recording medium storing driving support program | |
| JP6330471B2 (en) | Wireless positioning device | |
| CN110411435B (en) | Robot positioning method and device and robot | |
| KR102599588B1 (en) | How to estimate the location of a vehicle on a map | |
| CN109816981B (en) | Automatic driving method, device and storage medium | |
| JP6736931B2 (en) | Three-dimensional object detection method and three-dimensional object detection device | |
| CN110135278A (en) | A kind of obstacle detection method, device and electronic equipment | |
| CN111709322A (en) | Method and device for calculating lane line confidence | |
| US20190360817A1 (en) | Method, Device and System for Localizing a Moving Object | |
| CN112034846A (en) | Virtual boundary operation method, system, mobile terminal and storage medium | |
| CN115443791B (en) | Repositioning method and system for mower and readable storage medium | |
| CN110109165B (en) | Method and device for detecting abnormal points in driving track | |
| JP5871536B2 (en) | Position specifying device, position specifying method, and program | |
| CN112605987A (en) | Robot navigation working method and device and robot | |
| CN112445221B (en) | Automatic working system and regression method | |
| JPWO2021214812A5 (en) | ||
| CN114096930B (en) | Self-moving device and automatic moving and working method thereof | |
| CN114090905A (en) | Alert line position identification method and device, computer equipment and storage medium | |
| EP2535683B1 (en) | Electronic level |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |