CN116743848A - Positioning calibration method and positioning calibration system - Google Patents
Positioning calibration method and positioning calibration system Download PDFInfo
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- CN116743848A CN116743848A CN202210214523.0A CN202210214523A CN116743848A CN 116743848 A CN116743848 A CN 116743848A CN 202210214523 A CN202210214523 A CN 202210214523A CN 116743848 A CN116743848 A CN 116743848A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L63/00—Network architectures or network communication protocols for network security
- H04L63/08—Network architectures or network communication protocols for network security for authentication of entities
- H04L63/083—Network architectures or network communication protocols for network security for authentication of entities using passwords
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L63/00—Network architectures or network communication protocols for network security
- H04L63/08—Network architectures or network communication protocols for network security for authentication of entities
- H04L63/0876—Network architectures or network communication protocols for network security for authentication of entities based on the identity of the terminal or configuration, e.g. MAC address, hardware or software configuration or device fingerprint
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/14—Session management
- H04L67/141—Setup of application sessions
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- H—ELECTRICITY
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- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/14—Session management
- H04L67/143—Termination or inactivation of sessions, e.g. event-controlled end of session
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- H—ELECTRICITY
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Abstract
The invention discloses a positioning calibration method and a positioning calibration system, and when the positioning calibration method and the positioning calibration system are applied to a mobile robot, the method comprises the following steps: establishing communication connection with a server; acquiring positioning information of the mobile terminal, and sending the positioning information to a server at a first transmission frequency; determining the position information of the positioning information in a signal map according to the positioning information; determining a second transmission frequency of the information sent by the server to the mobile robot according to the position information of the server in the map; transmitting the second transmission frequency and/or the mounting point corresponding to the second transmission frequency to a server; and receiving the correction information sent by the server at the second transmission frequency, and calibrating the positioning information according to the correction information. According to the invention, the frequency of transmitting the correction information by the server is determined through the position information of the mobile robot, the data transmission frequency is reduced when the signal quality is high, the data transmission frequency is improved when the signal quality is low, the positioning calibration efficiency is improved, and the flow consumption is effectively controlled.
Description
Technical Field
The invention belongs to the technical field of mobile robots, and particularly relates to a positioning calibration method and a positioning calibration system.
Background
The network RTK (Network Real Time Kinematic, NRTK) technology is a real-time positioning technology which is based on a continuously running reference station, performs error calculation and broadcasting by combining data of multiple reference stations, realizes error correction at a user side and assists a user to complete high-precision position calculation.
In the prior art, the mobile robot performs positioning through an NRTK technology, namely, connection between the mobile robot and the NRTK is established, so that the positioning technology is realized, however, in the prior art, after the NRTK server is connected with the mobile robot, the frequency of the mobile robot receiving correction information from the NRTK server is fixed, the mobile robot cannot adapt to complex environments, and the problem of poor environmental adaptability exists.
Therefore, in order to solve the above-mentioned problems, it is necessary to provide a positioning calibration method and a positioning calibration system.
Disclosure of Invention
The invention aims to provide a positioning calibration method and a positioning calibration system.
In order to achieve the above object, an embodiment of the present invention provides the following technical solution:
a positioning calibration method applied to a mobile robot, the method comprising:
establishing communication connection with a server;
acquiring positioning information of the mobile terminal, and sending the positioning information to a server at a first transmission frequency;
Determining the position information of the positioning information in a signal map according to the positioning information;
determining a second transmission frequency of information sent by the server to the mobile robot according to the position information of the information in the map, wherein the second transmission frequencies corresponding to different position information in the signal map are different;
transmitting the second transmission frequency and/or the mounting point corresponding to the second transmission frequency to a server;
and receiving correction information sent by the server at the second transmission frequency, and calibrating positioning information of the correction information according to the correction information, wherein the correction information is calculated by the server according to the positioning information of the mobile robot.
In an embodiment, the signal map is configured to include a first area and a second area, where a first signal quality of the first area is greater than a second signal quality of the second area, and a second transmission frequency corresponding to the second area is greater than a second transmission frequency corresponding to the first area; or, the second transmission frequency corresponding to the second area and the area within the preset distance outside the second area is larger than the second transmission frequency corresponding to the area within the preset distance inside the first area;
or, when the distance from the signal map boundary is smaller than or equal to the distance threshold, the corresponding second transmission frequency is larger than the corresponding second transmission frequency when the distance from the signal map boundary is larger than the distance threshold.
In one embodiment, the method further comprises:
and when the mobile robot moves from the first area to the second area and passes through the boundary of the first area and the second area, or when the mobile robot moves from the first area to the second area and is at a first preset distance from the outer side of the second area, or when the distance between the mobile robot and the boundary of the signal map is smaller than or equal to a first distance threshold value, the second transmission frequency is increased.
In one embodiment, the method further comprises:
and when the mobile robot moves from the second area to the first area and passes through the boundary of the first area and the second area, or when the mobile robot moves from the second area to the first area and is at a second preset distance from the outer side of the second area, or when the distance between the mobile robot and the boundary of the signal map is greater than a second distance threshold, reducing the second transmission frequency.
In one embodiment, the method further comprises:
establishing communication connection with a server;
receiving correction information sent by a server at a rated second transmission frequency, and calibrating positioning information of the correction information according to the correction information, wherein the correction information is calculated by the server according to the positioning information of the mobile robot;
The mobile robot walks in the working area, and a signal map is built according to the current positioning information and the current signal characteristic data.
In one embodiment, the server is configured with a plurality of mounting points;
establishing a communication connection with a server, comprising:
transmitting a connection request to a server, wherein the connection request comprises domain name/IP information and port information;
receiving a resource table fed back by a server, wherein the resource table comprises a corresponding relation between mounting points and second transmission frequencies, each mounting point is configured with a unique second transmission frequency, and the second transmission frequencies configured by different mounting points are different;
and sending the connection information to a server, wherein the connection information comprises domain name/IP information, port information, verification information and selected mounting points, and after the server is successfully verified, the mobile robot and the server establish communication connection.
In one embodiment, after determining the second transmission frequency of the information sent by the server to the mobile robot according to the position information in the signal map, the method further comprises:
the mobile robot judges whether the determined second transmission frequency is consistent with the second transmission frequency configured by the selected mounting point;
if the transmission frequency is inconsistent with the transmission frequency, the original communication connection with the server is disconnected, and a new communication connection is established with the server, so that the server transmits the correction information at the determined second transmission frequency;
If the communication connection is consistent with the original communication connection between the server and the server, the communication connection is maintained.
In one embodiment, the method further comprises:
the resource table is stored.
In one embodiment, disconnecting the original communication connection with the server and establishing a new communication connection with the server comprises:
if a resource table is stored, then,
disconnecting the original communication connection with the server, and selecting a new mounting point corresponding to the new second transmission frequency from the resource table;
replacing the selected mounting point in the connection information with a new mounting point;
the method comprises the steps that connection information is sent to a server, wherein the connection information comprises domain name/IP information, port information, verification information and a new mounting point, and after the server is successfully verified, the mobile robot and the server establish new communication connection;
if the resource table is not stored, then,
disconnecting the original communication connection with the server;
transmitting a connection request to a server, wherein the connection request comprises domain name/IP information and port information;
receiving a resource table fed back by the server, and selecting a new mounting point corresponding to the new second transmission frequency from the resource table;
and sending the connection information to a server, wherein the connection information comprises domain name/IP information, port information, verification information and a new mounting point, and after the server is successfully verified, the mobile robot and the server establish new communication connection.
In one embodiment, the server is configured with a mounting point;
establishing a communication connection with a server, comprising:
transmitting a connection request to a server, wherein the connection request comprises domain name/IP information and port information;
receiving a mounting point fed back by a server;
and sending the connection information to a server, wherein the connection information comprises domain name/IP information, port information, verification information and determined second transmission frequency, and after the server is successfully verified, the mobile robot and the server establish communication connection.
In one embodiment, after determining the second transmission frequency of the information sent by the server to the mobile robot according to the position information in the signal map, the method further comprises:
the mobile robot determines a new second transmission frequency of the information sent by the server to the mobile robot according to the change of the position information of the mobile robot in the signal map;
judging whether the new second transmission frequency is consistent with the second transmission frequency determined before;
if the two types of the information are inconsistent, the new connection information is sent to the server, the new connection information comprises domain name/IP information, port information, verification information and new second transmission frequency, and after the server is successfully verified, the mobile robot receives correction information sent by the server at the new second transmission frequency.
The technical scheme provided by the other embodiment of the invention is as follows:
a positioning calibration method applied to a server, the method comprising:
receiving positioning information sent by a target at a first transmission frequency;
acquiring a second transmission frequency of information transmitted to the mobile robot by a server determined by the target according to the position information of the target in the map, wherein the position information of the target in the signal map is determined by the target according to the positioning information; the second transmission frequencies corresponding to different position information in the signal map are different;
and transmitting correction information to the target at the determined second transmission frequency, wherein the correction information is calculated by the server according to the positioning information of the mobile robot.
In an embodiment, the signal map is configured to include a first area and a second area, where a first signal quality of the first area is greater than a second signal quality of the second area, and a second transmission frequency corresponding to the second area is greater than a second transmission frequency corresponding to the first area; or, the second transmission frequency corresponding to the second area and the area within the preset distance outside the second area is larger than the second transmission frequency corresponding to the area within the preset distance inside the first area;
Or, when the distance from the signal map boundary is smaller than or equal to the distance threshold, the corresponding second transmission frequency is larger than the corresponding second transmission frequency when the distance from the signal map boundary is larger than the distance threshold.
A further embodiment of the present invention provides the following technical solution:
a positioning calibration system, the system comprising a mobile robot and a server, the mobile robot establishing a communication connection with the server;
the mobile robot is used for acquiring positioning information of the mobile robot and sending the positioning information to the server at a first transmission frequency; determining the position information of the positioning information in a signal map according to the positioning information; determining a second transmission frequency of information sent by the server to the mobile robot according to the position information of the information in the map, wherein the second transmission frequencies corresponding to different position information in the signal map are different; transmitting the second transmission frequency and/or the mounting point corresponding to the second transmission frequency to a server; and calibrating the positioning information according to the correction information;
the server is configured to send correction information to the mobile robot at the second transmission frequency.
Compared with the prior art, the invention has the following advantages:
According to the invention, the frequency of transmitting the correction information by the server is determined through the position information of the mobile robot, the data transmission frequency is reduced when the signal quality is high, the data transmission frequency is improved when the signal quality is low, the positioning calibration efficiency is improved, the flow consumption is effectively controlled, and the mobile robot can adapt to various environments, and is particularly suitable for areas with different environments.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present invention, and other drawings may be obtained according to the drawings without inventive effort to those skilled in the art.
FIG. 1 is a flow chart of a positioning calibration method according to the present invention;
FIG. 2 is a flow chart of another positioning calibration method according to the present invention;
FIG. 3 is a schematic block diagram of a positioning calibration system according to the present invention;
fig. 4 is a schematic diagram of a mobile robot and a signal map in embodiment 1 of the present invention;
FIG. 5 is a diagram of a mobile robot and a signal map according to embodiment 3 of the present invention;
Fig. 6 is a schematic diagram of a mobile robot and a signal map in embodiment 4 of the present invention.
Detailed Description
The present invention will be described in detail below with reference to the embodiments shown in the drawings. The embodiments are not intended to limit the invention, but structural, methodological, or functional modifications of the invention from those skilled in the art are included within the scope of the invention.
Referring to fig. 1, the invention discloses a positioning calibration method applied to a mobile robot, which comprises the following steps:
establishing communication connection with a server;
acquiring positioning information of the mobile terminal, and sending the positioning information to a server at a first transmission frequency;
determining the position information of the positioning information in a signal map according to the positioning information;
determining a second transmission frequency of information sent by the server to the mobile robot according to the position information of the information in the map, wherein the second transmission frequencies corresponding to different position information in the signal map are different;
transmitting the second transmission frequency and/or the mounting point corresponding to the second transmission frequency to a server;
and receiving correction information sent by the server at the second transmission frequency, and calibrating positioning information of the correction information according to the correction information, wherein the correction information is calculated by the server according to the positioning information of the mobile robot.
Referring to fig. 2, the invention also discloses a positioning calibration method, which is applied to a server and comprises the following steps:
receiving positioning information sent by a target at a first transmission frequency;
acquiring a second transmission frequency of information transmitted to the mobile robot by a server determined by the target according to the position information of the target in the map, wherein the position information of the target in the signal map is determined by the target according to the positioning information; the second transmission frequencies corresponding to different position information in the signal map are different;
and transmitting correction information to the target at the determined second transmission frequency, wherein the correction information is calculated by the server according to the positioning information of the mobile robot.
Referring to fig. 3, the invention also discloses a positioning calibration system, which comprises a mobile robot and a server, wherein the mobile robot and the server are in communication connection;
the mobile robot is used for acquiring positioning information of the mobile robot and sending the positioning information to the server at a first transmission frequency; determining the position information of the positioning information in a signal map according to the positioning information; determining a second transmission frequency of information sent by the server to the mobile robot according to the position information of the information in the map, wherein the second transmission frequencies corresponding to different position information in the signal map are different; transmitting the second transmission frequency and/or the mounting point corresponding to the second transmission frequency to a server; and calibrating the positioning information according to the correction information;
The server is configured to send correction information to the mobile robot at the second transmission frequency.
The invention is further illustrated below with reference to specific examples.
Example 1:
as shown in fig. 3, the calibration positioning system in this embodiment includes a mobile robot 10 and a server 20, and the calibration positioning method in this embodiment specifically includes the following steps:
s1, the mobile robot 10 establishes communication connection with the server 20.
In this embodiment, the server is configured with a plurality of mounting points (Mout points), and the step of establishing the communication connection specifically includes:
the mobile robot sends a connection request to a server, wherein the connection request comprises domain name/IP information and port information;
the mobile robot receives a resource table fed back by the server, wherein the resource table comprises the corresponding relation between mounting points and second transmission frequencies, each mounting point is configured with a unique second transmission frequency, and the second transmission frequencies configured by different mounting points are different;
the mobile robot sends connection information to a server, wherein the connection information comprises domain name/IP information, port information, verification information and selected mounting points, and after the server is successfully verified, the mobile robot establishes communication connection with the server.
In a specific example, the connection request includes a domain name: www.AAA.com, ip: xxx, and port: 8003, the mobile robot sends a connection request to the server to request connection;
After receiving the connection request, the server feeds back a resource table (RTCM 32) to the mobile robot, where the resource table includes a correspondence between mounting points and second transmission frequencies, for example, the server 20 is configured with a first mounting point and a second mounting point, where the first mounting point and the second mounting point respectively correspond to different second transmission frequencies, the second transmission frequency corresponding to the first mounting point is 0.2Hz (corresponding to a period of 5 s), and the second transmission frequency corresponding to the second mounting point is 1Hz (corresponding to a period of 1 s);
finally, the mobile robot sends connection information to the server, wherein the connection information comprises a domain name: www.AAA.com, ip: xxx, port: 8003. verification information: user name (admin), password (password), selected mount point: for example, the first mounting point or the second mounting point, and after the server is verified successfully, the mobile robot establishes communication connection with the server.
In other embodiments, the authentication information is not limited to the user name and password, and any information that can be used by the server to authenticate the mobile robot belongs to the scope of the present invention.
S2, acquiring positioning information of the mobile terminal, and sending the positioning information to a server at a first transmission frequency.
The mobile robot 10 is equipped with a positioning device by which positioning information thereof can be acquired in real time and the position information is transmitted to the server 20 at a first transmission frequency (rated transmission frequency).
S3, determining the position information of the positioning information in the signal map according to the positioning information.
In the invention, the mobile robot needs to establish a signal map and configure different areas for the signal map according to different signal quality.
The map on which the mobile robot works is determined, the map can be pre-built by the mobile robot (for example, the mobile robot walks around), or the map can be imported by external data (for example, a mobile terminal, USB, a self-contained display screen of the machine and the like), and then the positioning information of the mobile robot can be determined by a coordinate transformation or mapping mode.
The absolute coordinates, i.e., longitude and latitude, of each position point with respect to the earth may be recorded in the map, or the coordinates in the relative coordinate system XY may be recorded in the map, which is not limited.
For example, in this embodiment, a map is constructed by using a manner that the mobile robot walks one turn, and first, the mobile robot needs to be connected with the server in a communication manner, and the correction information sent by the server at the rated second transmission frequency is received. Then, the mobile robot walks in the working area to establish a map, acquires signal characteristic data in the map, obtains corresponding signal quality according to the signal characteristic data (such as signal strength data and the like), and finally configures a first area and a second area for the whole signal map according to the signal quality, wherein the first area is configured when the signal quality is greater than or equal to a signal quality threshold value, and the second area is configured when the signal quality is less than the signal quality threshold value.
In other embodiments, after the signal map is created, the first area and the second area may be actively configured according to a preset condition, for example, an area within a range of a distance threshold (a fixed distance or a variable distance) from the boundary is configured as the second area, and the remaining areas are configured as the first area.
It is noted that, after the mobile robot and the server are in communication connection in this step, the server uses the correction information sent by the rated second transmission frequency (usually, the high frequency is, for example, 1 Hz), and the mobile robot can calibrate its own position after receiving the correction information, so that the accuracy of map establishment can be improved.
Referring to fig. 4, the mobile robot 10 in the present embodiment operates within the map 30, and there is an obstacle affecting the signal quality outside the map boundary, so that the signal quality of the map edge area is smaller than that of the center area. Of course, in other embodiments, there may be obstacles within the map boundary that affect the signal quality, and also affect the surrounding signal quality, and this is not illustrated here.
The map in the invention is configured into a plurality of areas which are separately arranged, and the position information is the area where the mobile robot is located. The map 30 as in the present embodiment is configured as a first area 31 and a second area 32, the first area 31 being located in the middle area of the map 30, the second area 32 being located in the edge area of the map 30, and the signal quality of the first area 31 being greater than the signal quality of the second area 32.
The mobile robot can determine the position information of the mobile robot in the signal map according to the positioning information of the mobile robot.
S4, determining a second transmission frequency of the information sent to the mobile robot by the server according to the position information of the server in the map.
The first area 31 in the present embodiment corresponds to a first mounting point, and the second area 32 corresponds to a second mounting point. The mobile robot determines a second transmission frequency at which the server transmits information to the mobile robot according to its location information in the signal map. When the mobile robot is located in the first area 31, the mobile robot establishes communication connection with the server through the first mounting point, and correspondingly, the second transmission frequency of the information sent to the mobile robot by the server is 0.2Hz; when the mobile robot is located in the second area 32, the mobile robot establishes a communication connection with the server through the second mounting point, and correspondingly, the second transmission frequency of the information sent by the server to the mobile robot is 1Hz.
The mounting points on the server may be named according to the second transmission frequency or the corresponding period, for example, the first mounting point may be named rtcm32_1Hz or rtcm32_1s, and the second mounting point may be named rtcm32_0.2Hz or rtcm32_5s.
S5, sending the mounting point corresponding to the second transmission frequency to the server.
S6, receiving correction information sent by the server at the second transmission frequency, calibrating positioning information according to the correction information, and calculating the correction information according to the positioning information of the mobile robot by the server.
The server in this embodiment is described by taking an NRTK server as an example, and in other embodiments, the server may be an RTK server, and all servers capable of obtaining correction information according to target position calculation belong to the scope of protection of the present invention.
NRTK is NRTK technology based on national Beidou foundation enhancement network, and real-time centimeter-level coordinates can be realized by receiving differential corrections provided by a differential broadcasting platform and combining terminal satellite observables. Techniques for calculating correction information based on NRTK are already known in the art and will not be described in detail here.
The server can calculate the correction information (i.e. the differential correction) of the mobile robot based on NRTK or RTK and the like, and send the correction information to the mobile robot at the second transmission frequency determined in the previous step. If the second transmission frequency of the information transmitted by the server to the mobile robot is 0.2Hz when the mobile robot is located in the first area 31; when the mobile robot is located in the second area 32, the second transmission frequency at which the server sends information to the mobile robot is 1Hz.
After the mobile robot receives the correction information, the positioning information of the mobile robot can be calibrated according to the correction information, and then the position information of the mobile robot in the map is calibrated, so that the positioning accuracy of the mobile robot is improved. The specific process of the mobile robot calibrating its own positioning information according to the correction information belongs to the prior art, and will not be described here again.
The server in this embodiment is configured with a plurality of mounting points, and the area where the mobile robot is located, the mounting points, and the second transmission frequency are in a one-to-one correspondence relationship, so that when the mobile robot moves from one area to another area, the change of the second transmission frequency can be achieved by switching the mounting points.
The switching of the second transmission frequency in this embodiment is performed on the boundary of the first area and the second area, for example, when the mobile robot moves from the first area to the second area or from the second area to the first area, the second transmission frequency is changed when the mobile robot is located at the boundary of the first area and the second area.
However, in the actual working process, an error switch may occur, for example, when the mobile robot moves in the first area and passes through the boundary between the first area and the second area, the second transmission frequency may change, but in practice, the second transmission frequency should not change. Therefore, the mobile robot first needs to determine whether to move from the first area to the second area or from the second area to the first area according to the running route, and when the running route of the mobile robot is subjected to area switching and reaches the boundary of the first area and the second area, the switching of the second transmission frequency is realized.
In the working process of the mobile robot, judging whether the determined second transmission frequency is consistent with the second transmission frequency configured by the selected mounting point;
if the transmission frequency is inconsistent with the transmission frequency, the original communication connection with the server is disconnected, and a new communication connection is established with the server, so that the server transmits the correction information at the determined second transmission frequency;
if the communication connection is consistent with the original communication connection between the server and the server, the communication connection is maintained.
Further, the mobile robot may select to store or not store a resource table, where the resource table includes a correspondence between mounting points and second transmission frequencies, each mounting point is configured with a unique second transmission frequency, and second transmission frequencies configured by different mounting points are different:
if a resource table is stored, then,
disconnecting the original communication connection with the server, and selecting a new mounting point corresponding to the new second transmission frequency from the resource table;
replacing the selected mounting point in the connection information with a new mounting point;
transmitting connection information to a server, wherein the connection information comprises domain name/IP information, port information, verification information and a new mounting point, and after the server is successfully verified, the mobile robot and the server establish new communication connection;
If the resource table is not stored, then,
disconnecting the original communication connection with the server;
transmitting a connection request to a server, the connection request including domain name/IP information and port information;
receiving a resource table fed back by the server, and selecting a new mounting point corresponding to the new second transmission frequency from the resource table;
and sending the connection information to a server, wherein the connection information comprises domain name/IP information, port information, verification information and a new mounting point, and after the server is successfully verified, the mobile robot and the server establish new communication connection.
For example, when the mobile robot is located in the first area 31, the mobile robot establishes a communication connection with the server through the first mounting point, and the corresponding second transmission frequency is 0.2Hz; after the mobile robot moves from the first area 31 to the second area 32, the communication connection between the first mounting point and the mobile robot is interrupted, the mobile robot establishes communication connection with the server through the second mounting point, and the corresponding second transmission frequency is 1Hz.
It should be understood that in other embodiments, an area may also correspond to a plurality of mounting points, each mounting point corresponding to a second transmission frequency. For example, the first area may correspond to mounting points a and b and the second area corresponds to mounting points c and d.
In this case, when the mobile robot is located in the first area 31, the mobile robot may randomly select the mounting point a or the mounting point b to establish a communication connection with the server, and when the mobile robot is located in the second area 32, the mobile robot may randomly select the mounting point c or the mounting point d to establish a communication connection with the server.
Of course, the selection of the mounting point may be selected not randomly, but according to the position of the mobile robot in the first area, for example, the first area may be divided into a first sub-area and a second sub-area, when the mobile robot is located in the first sub-area, the mounting point a is selected, and when the mobile robot is located in the second sub-area, the mounting point b is selected. The mounting point may also be selected according to a distance between the mobile robot and the boundary of the first area, for example, when the distance between the mobile robot and the boundary of the first area is greater than or equal to a preset distance threshold, the mounting point a is selected, and when the distance between the mobile robot and the boundary of the first area is less than the preset distance threshold, the mounting point b is selected.
In the present embodiment, the case where the second transmission frequency of the mobile robot in the second region 32 is greater than the second transmission frequency in the first region 31 is described as an example, and the second transmission frequency is switched between the outer boundary of the second region 32 and the boundary line between the first region 31 and the second region 32. In other embodiments, the second region may be inflated in order to improve the positioning accuracy of the mobile robot. Specifically:
When the mobile robot moves from the first area 31 to the second area 32 and has a first preset distance (for example, 1 m) from the outer side of the second area 32, the server increases the second transmission frequency of the information sent to the mobile robot from 0.2Hz to 1Hz;
when the mobile robot moves from the second area 32 to the first area 31 and is a second preset distance (for example, 1 m) from the outside of the second area 32, the second transmission frequency of the information sent by the server to the mobile robot is reduced from 1Hz to 0.2Hz.
It should be understood that the first preset distance and the second preset distance may be equal in both the case of up-conversion and down-conversion, or may be set to different distances.
Example 2:
the positioning calibration method and system in this embodiment are similar to embodiment 1, except that in embodiment 1, the server is configured with a plurality of mounting points, each mounting point corresponds to a different second transmission frequency, but in this embodiment, the server is configured with only one mounting point, the mobile robot can actively adjust the second transmission frequency, and the communication protocols of this embodiment and embodiment 1 are compatible with each other.
The process of establishing a communication connection in this embodiment specifically includes:
transmitting a connection request to a server, wherein the connection request comprises domain name/IP information and port information;
Receiving a resource table fed back by a server;
and sending the connection information to a server, wherein the connection information comprises domain name/IP information, port information, verification information and determined second transmission frequency, and after the server is successfully verified, the mobile robot and the server establish communication connection.
When the position information of the mobile robot in the signal map changes, the adjusting step of the second transmission frequency is as follows:
the mobile robot determines a new second transmission frequency of the information sent by the server to the mobile robot according to the change of the position information of the mobile robot in the signal map;
judging whether the new second transmission frequency is consistent with the second transmission frequency determined before;
if the two types of the information are inconsistent, new connection information is sent to the server, the new connection information comprises domain name/IP information, port information, verification information and new second transmission frequency, and after the server is successfully verified, the mobile robot receives correction information sent by the server at the new second transmission frequency;
if the transmission frequency is consistent, the mobile robot receives the correction information sent by the server at the second transmission frequency determined before.
If the mobile robot is in the first area, the second transmission frequency corresponding to the mobile robot control mounting point is 0.2Hz, and if the mobile robot is in the second area, the second transmission frequency corresponding to the mobile robot control mounting point is 1Hz. And the mobile robot sends the specific second transmission frequency to the server, and the server sends the correction information to the mobile robot according to the second transmission frequency after receiving the correction information.
When the mobile robot moves from the first area to the second area, the adjustment of the second transmission frequency can be realized without interrupting the communication connection between the server and the mobile robot.
Example 3:
the positioning calibration method and system in this embodiment are similar to those in embodiments 1 to 2, except that the signal map in embodiments 1 to 2 is configured as a plurality of separately arranged areas, the position information is the area where the mobile robot is located, and the signal map in this embodiment does not need to be configured, and the position information of the mobile robot is the distance from the map boundary.
Referring to FIG. 5, the distance from the mobile robot to the map boundary is X, when X > X 0 Time (X) 0 For a distance threshold, e.g. 5 m), the second transmission frequency between the control server and the mobile robot is 0.2Hz (corresponding to a period of 5 s), when X.ltoreq.X 0 At this time, the second transmission frequency between the control server and the mobile robot is 1Hz (corresponding period is 1 s).
Compared with embodiments 1-2, the embodiment is only different in position information, one is the area where the mobile robot is located, one is the distance between the mobile robot and the map boundary, and other positioning calibration methods and systems are the same as those of embodiments 1-2, and will not be described in detail here.
In this embodiment, a fixed threshold value X 0 For the preset distance threshold, in other embodiments, a variable distance threshold may be used, for example, the distance threshold is f (X), and the different second transmission frequencies are determined according to different situations of X > f (X) or x+.f (X).
Example 4:
in this embodiment, different distance thresholds may be set according to the running direction of the mobile robot, for example, when X is less than or equal to X in the case that the mobile robot runs in a central open area 1 Time (X) 1 For a first preset distance threshold value, such as 4 m), the second transmission frequency between the control server and the mobile robot is 0.2Hz (corresponding period is 5 s), when X is more than or equal to X under the operation condition of the mobile robot in the peripheral region 2 Time (X) 2 For a second preset distance threshold, e.g. 6 m), the second transmission frequency between the control server and the mobile robot is 1Hz (corresponding period is 1 s).
Referring to fig. 6, the positioning calibration method in this embodiment specifically includes:
1. a plurality of mounting points are arranged in the server, and the time interval for transmitting the correction information in each mounting point is different (namely, the frequency for transmitting the correction information is different);
2. the mowing robot enters a lawn to be mowed, acquires map information and identifies boundaries (lawn boundaries and obstacle boundaries);
3. The mowing robot is connected with the server, and acquires all resource tables, wherein the resource tables comprise the corresponding relation between mounting points and the second transmission frequency;
4. the mowing robot judges whether the mowing robot is currently in an open area or in a shadow area according to the boundary information;
5. if the current area of the mowing robot is an open area, selecting a low-frequency mounting point; if the current area is a shadow area, selecting a high-frequency mounting point;
6. the mowing robot mows and walks according to the planned route.
During the operation of the mowing robot:
if the mowing robot walks in the open area, judging the distance between the current position and the boundary in the walking process of the mowing robot, and if the distance is smaller than or equal to X 1 When it is considered that it will enter the shadow area from the open area; the mowing robot disconnects the current connection with the server, changes the mounting point information into a high-frequency mounting point in the connection information, reconnects the server, and receives correction information according to a high-frequency time interval;
if the mowing robot walks in the shadow area, judging the distance between the current position and the boundary in the walking process of the mowing robot, and if the distance is greater than or equal to X 2 When the shadow is in the open area, the shadow is considered to enter the open area; the mowing robot disconnects the current connection with the server, changes the mounting point information into a low-frequency mounting point in the connection information, reconnects the server, and receives the correction information according to the low-frequency time interval.
Example 5:
the positioning calibration method in the embodiment is applied to a server, and the specific positioning calibration method is as follows:
receiving positioning information sent by a target at a first transmission frequency;
acquiring a second transmission frequency of information transmitted to the mobile robot by a server determined by the target according to the position information of the target in the map, wherein the position information of the target in the signal map is determined by the target according to the positioning information; the second transmission frequencies corresponding to different position information in the signal map are different;
and transmitting correction information to the target at the determined second transmission frequency, wherein the correction information is calculated by the server according to the positioning information of the mobile robot.
Likewise, in this embodiment, the server is configured with one or more mounting points, and the specific process of positioning calibration is the same as that in embodiments 1 to 4, and will not be described here again.
It should be understood that the position information of the mobile robot in the map in the above embodiment is described by taking a specific example as an example. In other embodiments, the location information is not limited to the two areas configured in embodiment 1, but may be configured as more separate areas as needed, and different areas correspond to different second transmission frequencies; or, the position information is not limited to a preset distance threshold X in embodiment 4 0 A plurality of preset distance thresholds may also be set as required, and different distance ranges correspond to different second transmission frequencies.
The technical scheme shows that the invention has the following beneficial effects:
according to the invention, the frequency of transmitting the correction information by the server is determined through the position information of the mobile robot, the data transmission frequency is reduced when the signal quality is high, the data transmission frequency is improved when the signal quality is low, the positioning calibration efficiency is improved, and the flow consumption is effectively controlled.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment contains only one independent technical solution, and that such description is provided for clarity only, and that the technical solutions of the embodiments may be appropriately combined to form other embodiments that will be understood by those skilled in the art.
Claims (14)
1. A positioning calibration method, characterized by being applied to a mobile robot, the method comprising:
establishing communication connection with a server;
acquiring positioning information of the mobile terminal, and sending the positioning information to a server at a first transmission frequency;
determining the position information of the positioning information in a signal map according to the positioning information;
determining a second transmission frequency of information sent by the server to the mobile robot according to the position information of the information in the map, wherein the second transmission frequencies corresponding to different position information in the signal map are different;
transmitting the second transmission frequency and/or the mounting point corresponding to the second transmission frequency to a server;
and receiving correction information sent by the server at the second transmission frequency, and calibrating positioning information of the correction information according to the correction information, wherein the correction information is calculated by the server according to the positioning information of the mobile robot.
2. The positioning calibration method of claim 1, wherein the signal map is configured to include a first region and a second region, the first region having a first signal quality greater than a second signal quality of the second region, the second region having a corresponding second transmission frequency greater than a corresponding second transmission frequency of the first region; or, the second transmission frequency corresponding to the second area and the area within the preset distance outside the second area is larger than the second transmission frequency corresponding to the area within the preset distance inside the first area;
Or, when the distance from the signal map boundary is smaller than or equal to the distance threshold, the corresponding second transmission frequency is larger than the corresponding second transmission frequency when the distance from the signal map boundary is larger than the distance threshold.
3. The positioning calibration method of claim 2, wherein the method further comprises:
and when the mobile robot moves from the first area to the second area and passes through the boundary of the first area and the second area, or when the mobile robot moves from the first area to the second area and is at a first preset distance from the outer side of the second area, or when the distance between the mobile robot and the boundary of the signal map is smaller than or equal to a first distance threshold value, the second transmission frequency is increased.
4. The positioning calibration method of claim 2, wherein the method further comprises:
and when the mobile robot moves from the second area to the first area and passes through the boundary of the first area and the second area, or when the mobile robot moves from the second area to the first area and is at a second preset distance from the outer side of the second area, or when the distance between the mobile robot and the boundary of the signal map is greater than a second distance threshold, reducing the second transmission frequency.
5. The positioning calibration method of claim 1, wherein the method further comprises:
establishing communication connection with a server;
receiving correction information sent by a server at a rated second transmission frequency, and calibrating positioning information of the correction information according to the correction information, wherein the correction information is calculated by the server according to the positioning information of the mobile robot;
the mobile robot walks in the working area, and a signal map is built according to the current positioning information and the current signal characteristic data.
6. The positioning calibration method according to any one of claims 1 to 5, characterized in that the server is configured with a plurality of mounting points;
establishing a communication connection with a server, comprising:
transmitting a connection request to a server, wherein the connection request comprises domain name/IP information and port information;
receiving a resource table fed back by a server, wherein the resource table comprises a corresponding relation between mounting points and second transmission frequencies, each mounting point is configured with a unique second transmission frequency, and the second transmission frequencies configured by different mounting points are different;
and sending the connection information to a server, wherein the connection information comprises domain name/IP information, port information, verification information and selected mounting points, and after the server is successfully verified, the mobile robot and the server establish communication connection.
7. The positioning calibration method according to claim 6, further comprising, after determining the second transmission frequency at which the server transmits information to the mobile robot based on the position information thereof in the signal map:
the mobile robot judges whether the determined second transmission frequency is consistent with the second transmission frequency configured by the selected mounting point;
if the transmission frequency is inconsistent with the transmission frequency, the original communication connection with the server is disconnected, and a new communication connection is established with the server, so that the server transmits the correction information at the determined second transmission frequency;
if the communication connection is consistent with the original communication connection between the server and the server, the communication connection is maintained.
8. The positioning calibration method of claim 7, wherein the method further comprises:
the resource table is stored.
9. The positioning calibration method of claim 8, wherein disconnecting the original communication connection with the server and establishing a new communication connection with the server comprises:
if a resource table is stored, then,
disconnecting the original communication connection with the server, and selecting a new mounting point corresponding to the new second transmission frequency from the resource table;
replacing the selected mounting point in the connection information with a new mounting point;
The method comprises the steps that connection information is sent to a server, wherein the connection information comprises domain name/IP information, port information, verification information and a new mounting point, and after the server is successfully verified, the mobile robot and the server establish new communication connection;
if the resource table is not stored, then,
disconnecting the original communication connection with the server;
transmitting a connection request to a server, wherein the connection request comprises domain name/IP information and port information;
receiving a resource table fed back by the server, and selecting a new mounting point corresponding to the new second transmission frequency from the resource table;
and sending the connection information to a server, wherein the connection information comprises domain name/IP information, port information, verification information and a new mounting point, and after the server is successfully verified, the mobile robot and the server establish new communication connection.
10. The positioning calibration method according to any one of claims 1 to 5, wherein the server is configured with one mounting point;
establishing a communication connection with a server, comprising:
transmitting a connection request to a server, wherein the connection request comprises domain name/IP information and port information;
receiving a mounting point fed back by a server;
and sending the connection information to a server, wherein the connection information comprises domain name/IP information, port information, verification information and determined second transmission frequency, and after the server is successfully verified, the mobile robot and the server establish communication connection.
11. The positioning calibration method according to claim 10, further comprising, after determining the second transmission frequency at which the server transmits information to the mobile robot based on the position information thereof in the signal map:
the mobile robot determines a new second transmission frequency of the information sent by the server to the mobile robot according to the change of the position information of the mobile robot in the signal map;
judging whether the new second transmission frequency is consistent with the second transmission frequency determined before;
if the two types of the information are inconsistent, the new connection information is sent to the server, the new connection information comprises domain name/IP information, port information, verification information and new second transmission frequency, and after the server is successfully verified, the mobile robot receives correction information sent by the server at the new second transmission frequency.
12. A positioning calibration method, applied to a server, the method comprising:
receiving positioning information sent by a target at a first transmission frequency;
acquiring a second transmission frequency of information transmitted to the mobile robot by a server determined by the target according to the position information of the target in the map, wherein the position information of the target in the signal map is determined by the target according to the positioning information; the second transmission frequencies corresponding to different position information in the signal map are different;
And transmitting correction information to the target at the determined second transmission frequency, wherein the correction information is calculated by the server according to the positioning information of the mobile robot.
13. The positioning calibration method of claim 12, wherein the signal map is configured to include a first region and a second region, the first region having a first signal quality greater than a second signal quality of the second region, the second region having a corresponding second transmission frequency greater than a corresponding second transmission frequency of the first region; or, the second transmission frequency corresponding to the second area and the area within the preset distance outside the second area is larger than the second transmission frequency corresponding to the area within the preset distance inside the first area;
or, when the distance from the signal map boundary is smaller than or equal to the distance threshold, the corresponding second transmission frequency is larger than the corresponding second transmission frequency when the distance from the signal map boundary is larger than the distance threshold.
14. A positioning calibration system, which is characterized by comprising a mobile robot and a server, wherein the mobile robot and the server are in communication connection;
the mobile robot is used for acquiring positioning information of the mobile robot and sending the positioning information to the server at a first transmission frequency; determining the position information of the positioning information in a signal map according to the positioning information; determining a second transmission frequency of information sent by the server to the mobile robot according to the position information of the information in the map, wherein the second transmission frequencies corresponding to different position information in the signal map are different; transmitting the second transmission frequency and/or the mounting point corresponding to the second transmission frequency to a server; and calibrating the positioning information according to the correction information;
The server is configured to send correction information to the mobile robot at the second transmission frequency.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210214523.0A CN116743848A (en) | 2022-03-04 | 2022-03-04 | Positioning calibration method and positioning calibration system |
| PCT/CN2023/079571 WO2023165604A1 (en) | 2022-03-04 | 2023-03-03 | Positioning calibration method and positioning calibration system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210214523.0A CN116743848A (en) | 2022-03-04 | 2022-03-04 | Positioning calibration method and positioning calibration system |
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| CN202210214523.0A Pending CN116743848A (en) | 2022-03-04 | 2022-03-04 | Positioning calibration method and positioning calibration system |
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| CN106325271A (en) * | 2016-08-19 | 2017-01-11 | 深圳市银星智能科技股份有限公司 | Intelligent mowing device and intelligent mowing device positioning method |
| CN108344970B (en) * | 2018-02-01 | 2022-03-15 | 感知智能科技新加坡有限公司 | Wireless positioning automatic calibration method using mobile robot |
| WO2019232803A1 (en) * | 2018-06-08 | 2019-12-12 | 珊口（深圳）智能科技有限公司 | Mobile control method, mobile robot and computer storage medium |
| CN110636558B (en) * | 2018-06-21 | 2023-03-10 | 苏州宝时得电动工具有限公司 | Data transmission method, base station and mobile station |
| CN113709657A (en) * | 2020-05-20 | 2021-11-26 | 苏州宝时得电动工具有限公司 | Data processing method, device, equipment and storage medium |
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