CN115443792A - Method and system for establishing image of mower and readable storage medium - Google Patents
Method and system for establishing image of mower and readable storage medium Download PDFInfo
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- CN115443792A CN115443792A CN202210968641.0A CN202210968641A CN115443792A CN 115443792 A CN115443792 A CN 115443792A CN 202210968641 A CN202210968641 A CN 202210968641A CN 115443792 A CN115443792 A CN 115443792A
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- 238000000034 method Methods 0.000 title claims abstract description 31
- 238000013507 mapping Methods 0.000 claims description 29
- 238000004590 computer program Methods 0.000 claims description 8
- 238000010276 construction Methods 0.000 abstract description 7
- 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
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Classifications
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- 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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3804—Creation or updating of map data
- G01C21/3833—Creation or updating of map data characterised by the source of data
- G01C21/3841—Data obtained from two or more sources, e.g. probe vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
Abstract
The invention relates to a method and a system for constructing a picture of a mower and a readable storage medium, wherein the method for constructing the picture of the mower comprises the following steps: acquiring the GPS coordinates of the current position point in real time from a GPS module, and acquiring the position information of the current position point from a navigation positioning module; when the mower enters a high-precision area from a sheltering area, re-determining the GPS coordinates of each position point in the sheltering area according to the GPS coordinates and the position information of at least one position point in the high-precision area; and establishing a map according to the GPS coordinates of each position point in the high-precision area and the re-determined GPS coordinates of each position point in the shielding area. Through the technical scheme, even if the mower enters the shielding area during drawing construction, the accurate GPS coordinates of each position point in the shielding area can be obtained, the drawing construction information accuracy is improved, and the mowing efficiency and the mowing performance (avoiding missed mowing) of the mower during working are improved. Moreover, repeated attempts by an installer to install the charging base station can be avoided.
Description
Technical Field
The invention relates to the field of mowers, in particular to a method and a system for constructing a picture of a mower and a readable storage medium.
Background
The lawn mower is provided with a satellite positioning module to position the lawn mower, but the positioning precision of the satellite positioning module is not high, the error is usually within 2-3 meters, and therefore, a fixed reference station is usually required to be arranged near the lawn mower. The reference station receives satellite signals from a satellite positioning system and generates corresponding differential messages from the satellite signals and provides them to a satellite positioning module (i.e., a mobile station) on the lawn mower. After the mobile station receives the differential telegraph text sent by the reference station, the satellite signal received by the mobile station is corrected according to the received differential telegraph text, so that the positioning accuracy of the mower is improved. This positioning method is a differential positioning (RTK) method, and the positioning accuracy is about 2 cm.
When the lawn mower is used for the first time, the current working environment needs to be mapped. While in mapping, the following often occurs:
1. trees, buildings and obstacles are often present in the working area of the mower, and shielded areas with weak satellite signals are easily formed around the trees, the buildings and the obstacles. When the mower enters the sheltering area, the satellite signal is sheltered, so that the positioning accuracy of the mower is low.
2. The lawn mower is usually set up from a charging base station, and the charging base station is usually installed near a wall, so that the received satellite signals may be poor due to the shielding of the wall when the lawn mower is just out of the station, which also affects the positioning accuracy of the lawn mower. In order to avoid this, when the charging base station is installed, an installer needs to adjust the position of the charging base station repeatedly, which increases the difficulty of the installer.
For the reasons, the map of the lawn mower may be incorrectly positioned, and the incorrect positioning directly affects the accuracy of the map information, and further affects the mowing efficiency and the mowing performance (which may cause missed mowing) of the lawn mower during operation.
Disclosure of Invention
The invention aims to solve the technical problem of providing a drawing construction method and system of a mower and a readable storage medium aiming at the defect that drawing construction information is deviated due to inaccurate positioning when the mower is used for drawing construction in the prior art.
The technical scheme adopted by the invention for solving the technical problem is as follows: a method of constructing a map of a lawnmower comprising:
s10, acquiring a GPS coordinate of the current position point in real time from a GPS module, and acquiring position information of the current position point from a navigation positioning module;
s20, when the mower enters a high-precision area from a sheltering area, re-determining the GPS coordinates of each position point in the sheltering area according to the GPS coordinates and the position information of at least one position point in the high-precision area;
and S30, drawing according to the GPS coordinates of each position point in the high-precision area and the GPS coordinates of each position point re-determined in the shielding area.
Preferably, the re-determining the GPS coordinates of each location point in the occlusion region according to the GPS coordinates and the location information of at least one point in the high-precision region includes:
and respectively performing reverse thrust on the position information of each position point in the shielding area according to the GPS coordinate and the position information of at least one point in the high-precision area so as to obtain the GPS coordinate of each position point in the shielding area.
Preferably, the step S10 further includes:
the method comprises the steps of acquiring an RTK state of a current position point from a GPS module in real time, and determining whether a mower is in a sheltering zone or a high-precision zone according to the RTK state, wherein the RTK state comprises the following steps: a fixed solution state, a non-fixed solution state, and the non-fixed solution state includes: a floating point solution state, a differential solution state, a single point solution state.
Preferably, in the step S10, the navigation positioning module is an inertial navigation module.
Preferably, in step S20, the re-determining the GPS coordinates of each location point in the occlusion area according to the GPS coordinates and the location information of at least one location point in the high-precision area includes:
and re-determining the GPS coordinates of each position point in the shielding area according to the GPS coordinates and the position information of the first position point entering the high-precision area.
The invention also constructs a mapping system of a mower, comprising:
the coordinate and position acquisition module is used for acquiring the GPS coordinate of the current position point from the GPS module in real time and acquiring the position information of the current position point from the navigation positioning module;
the coordinate re-determination module is used for re-determining the GPS coordinates of each position point in the occlusion area according to the GPS coordinates and the position information of at least one position point in the high-precision area when the mower enters the high-precision area from the occlusion area;
and the mapping module is used for mapping according to the GPS coordinates of each position point in the high-precision area and the GPS coordinates of each position point re-determined in the shielding area.
Preferably, the coordinate re-determination module is configured to perform back-stepping on the position information of each position point in the occlusion area according to the GPS coordinate and the position information of at least one point in the high-precision area, so as to obtain the GPS coordinate of each position point in the occlusion area.
Preferably, the method further comprises the following steps:
the zone determination module is used for acquiring an RTK state of a current position point from the GPS module in real time and determining whether the mower is in a sheltering zone or a high-precision zone according to the RTK state, wherein the RTK state comprises the following steps: a fixed solution state, a non-fixed solution state, and the non-fixed solution state includes: a floating point solution state, a differential solution state, a single point solution state.
The invention also constructs a mapping system for a lawnmower comprising a processor which, when executing a stored computer program, carries out the steps of the mapping method for a lawnmower according to any one of the above.
The invention also constitutes a readable storage medium storing a computer program which, when executed by a processor, carries out the steps of the method of mapping a lawn mower as described in any one of the above.
In the technical scheme provided by the invention, the GPS coordinates of each position point in the shielding area can be re-determined by using the GPS coordinates and the position information of the position point in the high-precision area to replace the GPS coordinates acquired from the GPS module, so that even if the mower enters the shielding area during construction of the map, the accurate GPS coordinates of each position point in the shielding area can be acquired, the accuracy of the map construction information is improved, and the mowing efficiency and the mowing performance (avoiding missing cutting) of the mower during working are improved. Moreover, repeated attempts of installers to install the charging base station can be avoided, and user experience is improved.
Drawings
In order to illustrate the embodiments of the invention more clearly, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the description below are only some embodiments of the invention, and that other drawings may be derived from them by a person skilled in the art without inventive effort. In the drawings:
FIG. 1 is a flow chart of a first embodiment of a method for constructing a map of a lawnmower of the present invention;
FIG. 2 is a flow chart of a second embodiment of the method of constructing a lawn mower of the present invention;
FIG. 3 is a logic structure diagram of a first embodiment of a graphic system of the lawn mower.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
FIG. 1 is a flowchart of a first embodiment of a mapping method of a lawn mower according to the present invention, which is applied to a processor of the lawn mower, and the lawn mower further includes a GPS module and a navigation positioning module. The method for creating the image of the mower of the embodiment specifically comprises the following steps:
s10, acquiring a GPS coordinate of the current position point in real time from a GPS module, and acquiring position information of the current position point from a navigation positioning module;
in this step, it should be noted that when the GPS coordinates of the current location point are acquired from the GPS module, the location information of the current location point is acquired through the navigation and positioning module.
Preferably, the navigation positioning module is an inertial navigation (inertial navigation) module, which is based on newton's law of mechanics, and can obtain information such as velocity, yaw angle, and position in the navigation coordinate system by measuring the acceleration of the carrier in the inertial reference system, integrating it with time, and transforming it into the navigation coordinate system.
S20, when the mower enters a high-precision area from a sheltering area, re-determining the GPS coordinates of each position point in the sheltering area according to the GPS coordinates and the position information of at least one position point in the high-precision area;
in this step, it should be noted that the shielded area may be an area where the reference station is shielded by a wall immediately after the mower leaves the station, or an area where trees, buildings, obstacles, and the like shield the work area of the mower. When the mower is in the sheltered area, the GPS coordinates acquired from the GPS module are inaccurate, and accurate map building cannot be carried out, so that the GPS coordinates of each position point in the sheltered area can be re-determined by using the GPS coordinates and the position information of the position point in the high-precision area to replace the GPS coordinates acquired from the GPS module.
And S30, drawing according to the GPS coordinates of each position point in the high-precision area and the GPS coordinates of each position point re-determined in the shielding area.
In the step, the GPS coordinates of each position point which is re-determined in the shielding area after re-determination can be utilized, and the GPS coordinates of each position point in the high-precision area are combined to build a map, so that accurate map building information can be obtained, and the mowing efficiency and the mowing performance of the mower during working are improved (missed mowing is avoided). Moreover, even if the satellite signal of the mobile station is shielded by the charging base station when the mower just leaves the station, the accurate GPS coordinates of each position point in the area can still be obtained, so that repeated attempts of installers to install the charging base station can be avoided, and the user experience is improved.
Further, in an optional embodiment, in step S20, the GPS coordinates of each location point in the occlusion region may be re-determined according to the following manner: and respectively performing reverse thrust on the position information of each position point in the shielding area according to the GPS coordinate and the position information of at least one point in the high-precision area so as to obtain the GPS coordinate of each position point in the shielding area.
In one embodiment, the reverse may be performed according to the following: firstly, the position coordinate output by the navigation positioning module when the mower is at a certain position (the position is made to be a first position) in the high-precision area is subtracted from the position coordinate output by the navigation positioning module when the mower is at a certain position (the position is made to be a second position) in the shielding area, so that a position difference value is obtained. Then, converting the GPS coordinate (longitude and latitude coordinate) output by the GPS module of the mower at the first position into the position coordinate of the terrestrial coordinate system, calculating the position coordinate of the mower at the second position in the terrestrial coordinate system based on the position difference, and finally converting the position coordinate into the longitude and latitude coordinate system, thus obtaining the GPS coordinate at the second position.
For example, when the lawn mower starts from the charging base station, the satellite signal is blocked and belongs to a blocked area, at this time, the position coordinates output by the navigation and positioning module are (x 0, y0, z 0), and (x 0, y0, z 0) is (0,0,0), but the GPS coordinates output by the GPS module are not accurate at this time because the position coordinates are not a high-accuracy area. After the mower walks for a certain distance, the mower enters a high-precision area, at this time, the position coordinate output by the navigation positioning module is (X1, Y1, Z1), the GPS coordinate output by the GPS module is (long, lat, height), and the GPS coordinate (long, lat, height) is converted into a terrestrial coordinate system to obtain the corresponding coordinate (X1, Y1, Z1). Then, the coordinates (X1, Y1, Z1) and the coordinates (X0, Y0, Z0) are subtracted to obtain a position difference value (X1-X0, Y1-Y0, Z1-Z0), that is, the position difference value is (X1, Y1, Z1), and then the coordinates (X1, Y1, Z1) and the position difference value (X1, Y1, Z1) are subtracted to obtain the coordinates (X1-X1, Y1-Y1, Z1-Y1) of the charging base station in the earth coordinate system. And finally, converting the coordinates (X1-X1, Y1-Y1, Z1-Y1) into longitude and latitude coordinates to obtain accurate GPS coordinates of the charging base station, and then continuously calculating and establishing a map by using the data. Finally, it should be noted that since the position accuracy output by the navigation positioning module in a short time is reliable, it is also sufficient to calculate the coordinate accuracy of the charging base station.
Fig. 2 is a flowchart of a second embodiment of the method for creating a map of a lawn mower according to the present invention, which differs from the embodiment shown in fig. 1 only in that step S10 further includes: the method comprises the steps of acquiring an RTK state of a current position point from a GPS module in real time, and determining whether a mower is in a sheltering zone or a high-precision zone according to the RTK state, wherein the RTK state comprises the following steps: a fixed solution state, a non-fixed solution state, and the non-fixed solution state includes: a floating point solution state, a differential solution state, a single point solution state. That is, the first step of the mapping method of this embodiment is:
and S10' acquiring the GPS coordinates and the RTK state of the current position point in real time from the GPS module, determining whether the mower is in a sheltering area or a high-precision area according to the RTK state, and acquiring the position information of the current position point from the navigation positioning module.
In this step, it is to be noted that there are four RTK states: a fixed solution state, a floating solution state, a differential solution state and a single-point solution state, wherein if the RTK state of a position point is the fixed solution state, the position point is in a high-precision area; if the RTK state of one position point is the other three states (non-fixed solution state), the position point is in the occlusion region. Therefore, whether the position point is in the shielding area or the high-precision area can be judged according to the RTK state corresponding to the position point.
Further, in an optional embodiment, in step S20, the GPS coordinates of each position point in the occlusion region may be re-determined according to the following manner: and re-determining the GPS coordinates of each position point in the shielding area according to the GPS coordinates and the position information of the first position point entering the high-precision area. In this embodiment, since the GPS coordinates of each position point in the occlusion area are re-determined according to the GPS coordinate and the position information of the first position point entering the high-precision area, the re-determined GPS coordinates of each position point in the occlusion area can be acquired in time.
Of course, in other embodiments, the GPS coordinates of each location point in the occlusion area may also be re-determined according to the GPS coordinates and location information of other location points in the high-precision area, or the GPS coordinates of each location point in the occlusion area may be comprehensively determined according to the GPS coordinates and location information of multiple location points in the high-precision area, so as to improve the accuracy of re-determination of the GPS coordinates.
Fig. 3 is a logic structure diagram of a first mapping system of the lawn mower of the present invention, which is applied to a processor of the lawn mower and includes: the system comprises a coordinate and position acquisition module 10, a coordinate re-determination module 20 and a mapping module 30. The coordinate and position obtaining module 10 is configured to obtain a GPS coordinate of the current location point from the GPS module in real time, and obtain position information of the current location point from the navigation and positioning module. The coordinate re-determination module 20 is configured to re-determine, when the mower enters the high-precision area from the sheltered area, the GPS coordinate of each location point in the sheltered area according to the GPS coordinate and the location information of at least one location point in the high-precision area. The mapping module 30 is configured to perform mapping according to the GPS coordinates of each location point in the high-precision area and the GPS coordinates of each location point determined again in the occlusion area.
Further, in an optional embodiment, the coordinate re-determination module 20 is configured to perform reverse-estimation on the position information of each position point in the occlusion area according to the GPS coordinate and the position information of at least one point in the high-precision area, so as to obtain the GPS coordinate of each position point in the occlusion area.
Further, in an optional embodiment, the mapping system of the lawn mower of the present invention further comprises an area determining module, configured to obtain an RTK status of the current position point from the GPS module in real time, and determine whether the lawn mower is in the occlusion area or the high-precision area according to the RTK status, where the RTK status includes: a fixed solution state, a non-fixed solution state, and the non-fixed solution state includes: a floating point solution state, a differential solution state, a single point solution state.
The invention also constructs a mapping system for a lawnmower comprising a processor which, when executing a stored computer program, implements the steps of the mapping method for a lawnmower described above.
It should be understood that in the embodiments of the present Application, the Processor may be a Central Processing Unit (CPU), and the Processor may also be other general purpose processors, digital Signal Processors (DSPs), application Specific Integrated Circuits (ASICs), field-Programmable Gate arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, etc. Wherein a general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The invention also constitutes a readable storage medium storing a computer program which, when executed by a processor, carries out the steps of the method of mapping a lawn mower described above. The specific implementation of the above steps can be found in the previous embodiments, and will not be described herein.
It should be understood that the readable storage medium may include: various computer-readable storage media that can store program codes, such as a usb flash disk, a removable hard disk, a Read-Only Memory (ROM), a magnetic disk, or an optical disk.
Since the computer program stored in the readable storage medium can execute the steps of any of the methods for creating a map of a lawn mower provided by the embodiments of the present invention, the beneficial effects that can be achieved by any of the methods for creating a map of a lawn mower provided by the embodiments of the present invention can be achieved, which are detailed in the foregoing embodiments and will not be described herein again.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.
Claims (10)
1. A method for creating a map of a lawn mower, comprising:
s10, acquiring a GPS coordinate of the current position point in real time from a GPS module, and acquiring position information of the current position point from a navigation positioning module;
s20, when the mower enters a high-precision area from a sheltering area, re-determining the GPS coordinates of each position point in the sheltering area according to the GPS coordinates and the position information of at least one position point in the high-precision area;
and S30, drawing according to the GPS coordinates of each position point in the high-precision area and the GPS coordinates of each position point re-determined in the shielding area.
2. The mapping method of a lawn mower according to claim 1, wherein said re-determining the GPS coordinates of each location point in the occlusion area according to the GPS coordinates and the location information of at least one point in the high-precision area comprises:
and respectively performing reverse thrust on the position information of each position point in the shielding area according to the GPS coordinate and the position information of at least one point in the high-precision area so as to obtain the GPS coordinate of each position point in the shielding area.
3. The method for mapping a lawn mower according to claim 1, wherein said step S10 further comprises:
the method comprises the steps of acquiring an RTK state of a current position point from a GPS module in real time, and determining whether a mower is in a sheltering zone or a high-precision zone according to the RTK state, wherein the RTK state comprises the following steps: a fixed solution state, a non-fixed solution state, and the non-fixed solution state includes: a floating point solution state, a differential solution state, a single point solution state.
4. The mapping method of the lawn mower of claim 1, wherein in the step S10, the navigation positioning module is an inertial navigation module.
5. The mapping method for a lawn mower according to claim 1, wherein in step S20, said re-determining the GPS coordinates of each position point in the occlusion area according to the GPS coordinates and the position information of at least one position point in the high-precision area comprises:
and re-determining the GPS coordinates of each position point in the shielding area according to the GPS coordinates and the position information of the first position point entering the high-precision area.
6. A mapping system for a lawn mower, comprising:
the coordinate and position acquisition module is used for acquiring the GPS coordinate of the current position point from the GPS module in real time and acquiring the position information of the current position point from the navigation positioning module;
the coordinate re-determination module is used for re-determining the GPS coordinates of each position point in the occlusion area according to the GPS coordinates and the position information of at least one position point in the high-precision area when the mower enters the high-precision area from the occlusion area;
and the mapping module is used for mapping according to the GPS coordinates of each position point in the high-precision area and the GPS coordinates of each position point re-determined in the shielding area.
7. The mapping system of a lawn mower of claim 6,
and the coordinate weight determining module is used for respectively carrying out reverse deduction on the position information of each position point in the shielding area according to the GPS coordinate and the position information of at least one point in the high-precision area so as to obtain the GPS coordinate of each position point in the shielding area.
8. The mapping system of a lawnmower according to claim 6, further comprising:
the area determination module is used for acquiring an RTK state of a current position point from the GPS module in real time and determining whether the mower is in a sheltering zone or a high-precision zone according to the RTK state, wherein the RTK state comprises: a fixed solution state, a non-fixed solution state, and the non-fixed solution state includes: a floating point solution state, a differential solution state, a single point solution state.
9. A mapping system for a lawn mower comprising a processor, wherein the processor, when executing a stored computer program, performs the steps of the mapping method for a lawn mower of any of claims 1-5.
10. A readable storage medium storing a computer program, characterized in that the computer program, when being executed by a processor, realizes the steps of the mapping method of a lawn mower according to any one of claims 1-5.
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