WO2018127209A1 - Dispositif mobile autonome et système de positionnement, procédé de positionnement et son procédé de commande - Google Patents

Dispositif mobile autonome et système de positionnement, procédé de positionnement et son procédé de commande Download PDF

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Publication number
WO2018127209A1
WO2018127209A1 PCT/CN2018/071992 CN2018071992W WO2018127209A1 WO 2018127209 A1 WO2018127209 A1 WO 2018127209A1 CN 2018071992 W CN2018071992 W CN 2018071992W WO 2018127209 A1 WO2018127209 A1 WO 2018127209A1
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WO
WIPO (PCT)
Prior art keywords
positioning
mobile device
self
beacon
direction angle
Prior art date
Application number
PCT/CN2018/071992
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English (en)
Chinese (zh)
Inventor
何明明
刘芳世
杨洲
邵勇
Original Assignee
苏州宝时得电动工具有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 苏州宝时得电动工具有限公司 filed Critical 苏州宝时得电动工具有限公司
Priority to CN201880000849.5A priority Critical patent/CN108575095B/zh
Publication of WO2018127209A1 publication Critical patent/WO2018127209A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/648—Performing a task within a working area or space, e.g. cleaning
    • G05D1/6484—Performing a task within a working area or space, e.g. cleaning by taking into account parameters or characteristics of the working area or space, e.g. size or shape
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/247—Arrangements for determining position or orientation using signals provided by artificial sources external to the vehicle, e.g. navigation beacons
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2105/00—Specific applications of the controlled vehicles
    • G05D2105/15—Specific applications of the controlled vehicles for harvesting, sowing or mowing in agriculture or forestry
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2107/00—Specific environments of the controlled vehicles
    • G05D2107/20—Land use
    • G05D2107/23—Gardens or lawns
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/10—Land vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2111/00—Details of signals used for control of position, course, altitude or attitude of land, water, air or space vehicles
    • G05D2111/20—Acoustic signals, e.g. ultrasonic signals

Definitions

  • the invention relates to a self-mobile device, a self-mobile device positioning system, a self-mobile device positioning method, and a self-mobile device control method.
  • Household self-mobile devices such as automatic vacuum cleaners and automatic lawn mowers have become popular.
  • the self-mobile devices on the market lack precise positioning of themselves, which makes it impossible to implement functions such as wireless borders and path navigation.
  • the user needs to arrange a circle of boundary wires around the lawn in advance, which is troublesome; and the walking and cutting of the random or semi-random path in the lawn is more efficient.
  • Automated vacuum cleaners also require auxiliary positioning equipment to distinguish between different areas such as living room, kitchen, and bedroom.
  • the problem to be solved by the present invention is to provide a self-mobile device, a self-mobile device positioning system, a self-mobile device positioning method, and a self-moving device, which are suitable for a home scene and have high-precision self-positioning capability.
  • Device control method is to provide a self-mobile device, a self-mobile device positioning system, a self-mobile device positioning method, and a self-moving device, which are suitable for a home scene and have high-precision self-positioning capability.
  • a self-mobile device comprising: at least two positioning elements, the positioning element communicating with a positioning beacon to obtain a distance from a positioning beacon; and a control module configured to execute a preset program to acquire the self-mobile device Position parameter;
  • the preset program includes: acquiring a position parameter of the positioning beacon; acquiring a distance between the positioning component and the positioning beacon; a position parameter based on the positioning beacon, and a distance between the positioning component and the positioning beacon Calculating a position parameter of the self-moving device; the preset program further comprising: preset a spacing of the positioning component; and correcting a position parameter of the self-moving device based on a spacing of the positioning component.
  • the position parameter of the self-moving device includes coordinates of the positioning component, and the positioning component is corrected by comparing a pitch of the positioning component calculated based on coordinates of the positioning component, and a spacing of the preset positioning component The error of the coordinates.
  • the position parameter of the self-moving device includes a direction angle of the self-moving device
  • the preset program further includes: a direction angle of a line connecting any two of the positioning elements and a direction angle of the self-moving device An angle relationship; calculating a direction angle of the self-moving device by using coordinates of the two positioning elements and the angle relationship.
  • the positioning component communicates with at least three of the positioning beacons to obtain a distance from the positioning beacon.
  • the self-mobile device further includes an angle sensor for acquiring a direction angle of the self-moving device;
  • the preset program includes: presetting the direction angle of the connection between any two of the positioning components and the self-mobile device An angular relationship of the orientation angle; a direction angle obtained from the mobile device; a direction angle based on the self-mobile device, the angular relationship, a position parameter of the positioning beacon, and a distance between the two positioning components to the positioning beacon, Calculating the positional parameters of the self-mobile device.
  • the positioning component communicates with at least two of the positioning beacons to obtain a distance from the positioning beacon.
  • the angle sensor comprises an electronic compass.
  • the positioning component is an ultra-wideband positioning component
  • the positioning beacon is an ultra-wideband tag positioning module.
  • the positioning component is an ultrasonic positioning component
  • the positioning beacon is an ultrasonic positioning module
  • the self-mobile device is a self-mobile gardening device.
  • the invention has the beneficial effects that the positioning from the mobile device is accurate, and provides support for the subsequent implementation of the borderless line and the precise navigation.
  • the technical solution provided by the present invention to solve the prior art problem further includes: a self-mobile device positioning system, comprising the self-mobile device according to any one of the preceding claims, and the positioning beacon.
  • a charging station is provided for supplementing power from the mobile device, and one of the positioning beacons is located at the charging station.
  • the invention has the beneficial effects that the positioning from the mobile device is accurate, and provides support for the subsequent implementation of the borderless line and the precise navigation.
  • the technical solution provided by the present invention to solve the prior art problem further includes: a positioning method of the self-mobile device, comprising the steps of: controlling at least two positioning components disposed on the self-mobile device to communicate with the positioning beacon to obtain the positioning component and Positioning the distance of the beacon; obtaining a positional parameter of the positioning beacon; calculating a positional parameter of the self-moving device based on the distance between the positioning component and the positioning beacon, and the positional parameter of the positioning beacon; and further comprising the step of: presetting the spacing of the positioning component Correcting a positional parameter of the self-moving device based on a spacing of the positioning elements.
  • the position parameter of the self-moving device includes coordinates of the positioning component
  • the correcting the position parameter of the self-moving device includes the steps of: comparing a spacing of the positioning component calculated based on coordinates of the positioning component, and the preset The spacing of the positioning elements; the error of the coordinates of the positioning elements is corrected based on the comparison.
  • the position parameter of the self-moving device includes a direction angle of the self-moving device
  • the positioning method further includes the steps of: presetting the direction angle of the connection between any two of the positioning components and the direction angle of the self-moving device An angle relationship; calculating a direction angle of the self-moving device by using coordinates of the two positioning elements and the angle relationship.
  • the number of the positioning beacons is at least three.
  • the self-mobile device further includes an angle sensor for acquiring a direction angle of the self-moving device; and the positioning method includes the steps of: presetting the direction angle of the connection between any two of the positioning components and the self-mobile device An angular relationship of the orientation angle; a direction angle obtained from the mobile device; a direction angle based on the self-mobile device, the angular relationship, a position parameter of the positioning beacon, and a distance between the two positioning components to the positioning beacon, Calculating the positional parameters of the self-mobile device.
  • the number of the positioning beacons is at least two.
  • the angle sensor comprises an electronic compass.
  • the positioning component is an ultra-wideband positioning component
  • the positioning beacon is an ultra-wideband tag positioning module.
  • the positioning component is an ultrasonic positioning component
  • the positioning beacon is an ultrasonic positioning module
  • the self-mobile device is a self-mobile gardening device.
  • the invention has the beneficial effects that the positioning from the mobile device is accurate, and provides support for the subsequent implementation of the borderless line and the precise navigation.
  • the technical solution provided by the present invention to solve the prior art problem further includes: a method for controlling a self-mobile device, wherein the location parameter of the mobile device is obtained by using the positioning method according to any one of the preceding steps, comprising the steps of: S100: receiving a mobile instruction; S101: control the mobile device to move according to the movement instruction; S102: record a position parameter of the position moved by the mobile device; S103, and mark a movement track formed by the position moved by the mobile device as a boundary.
  • the invention has the beneficial effects that the self-mobile device working system without boundary lines is realized based on the accurate positioning data, which saves the wiring time of the user and makes the garden more beautiful.
  • the technical solution provided by the present invention to solve the prior art problem further includes: a method for controlling a self-mobile device, wherein the location parameter of the mobile device is obtained by using the positioning method according to any one of the preceding steps, including the steps of: S200, acquiring a map; S201 Based on the map, the positioning beacon recommendation placement point is calculated.
  • the invention has the beneficial effects that the location beacon arrangement of the mobile device positioning system is simpler and the positioning result is more reliable by automatically generating the beacon arrangement position based on the area map.
  • the technical solution provided by the present invention to solve the prior art problem further includes: a self-mobile device positioning system, comprising a self-mobile device and at least one positioning beacon, wherein the self-mobile device is provided with a positioning component and a control module, the positioning Communicating between the component and the positioning beacon to obtain a distance to the positioning beacon, wherein the self-mobile device is provided with at least two positioning components, and the control module calculates the distance from the at least two positioning components to the positioning beacon respectively. Location parameters from the mobile device.
  • the location parameter includes a direction angle from the mobile device.
  • the location parameter includes coordinates from the mobile device.
  • control module corrects the error of the distance according to the distance from the at least two positioning elements to the positioning beacon.
  • At least three positioning beacons are included.
  • two positioning beacons are included.
  • a positioning beacon is included, and the electronic compass is further provided on the mobile device.
  • a charging station is provided for supplementing power from the mobile device, and one of the positioning beacons is located at the charging station.
  • the positioning component is an ultra-wideband positioning component
  • the positioning beacon is an ultra-wideband tag positioning module.
  • the self-mobile device is a home device.
  • the invention has the beneficial effects that the positioning from the mobile device is accurate, and provides support for the subsequent implementation of the borderless line and the precise navigation.
  • FIG. 1 is a schematic diagram of a positioning system in accordance with an embodiment of the present invention.
  • FIG. 2 is a schematic diagram of a positioning system according to another embodiment of the present invention.
  • FIG. 3 is a schematic diagram of a positioning system according to another embodiment of the present invention.
  • FIG. 4 is a schematic diagram of a boundary generated by a positioning system according to an embodiment of the present invention.
  • FIG. 5 is a schematic diagram of a positioning system according to another embodiment of the present invention.
  • the self-moving device 1 is a household device, specifically a self-moving gardening device, such as an automatic lawn mower, an automatic snow sweeper, an automatic water sprinkler, etc.
  • the grass machine has a working area of lawn.
  • the automatic lawn mower includes a housing, a moving module, a task execution module, a control module, and an energy module, and the mobile module, the task execution module, the control module, and the energy module are installed in the housing.
  • the moving module includes a wheel set that is driven by a drive motor to drive the automatic mower to move.
  • the task execution module includes a cutting assembly mounted to the bottom of the housing and driven by the cutting motor to perform the mowing work.
  • the energy module includes a battery pack that provides power for the movement and operation of the automatic mower.
  • the control module includes a control circuit electrically connected with the mobile module, the task execution module, and the energy module, and controls the mobile module to drive the automatic mower to move, and controls the task execution module to perform the work task.
  • control module is configured to execute a preset program to obtain a position parameter of the automatic lawn mower.
  • control module includes a storage unit and a calculation unit, and the storage unit is configured to store a preset program, and the calculation unit can calculate the output parameter according to the preset algorithm according to the input parameter.
  • a charging station 3 that supplies supplementary power from the mobile device 1 is provided.
  • the positioning system from the mobile device 1 comprises a plurality of positioning beacons (Beacons), from which the positioning elements 7 and control modules are arranged.
  • the positioning element 7 is mounted to the housing.
  • the position of the positioning beacon 5 is known and fixed, and the positioning element 7 follows the movement from the mobile device 1.
  • the positioning element 7 acquires its own distance to the positioning beacon 5 by communicating with the positioning beacon 5.
  • the positioning beacon 5 and the positioning component 7 use UWB technology to perform position calculation, that is, the positioning component 7 is an ultra-wideband positioning component, or an ultra-wideband positioning tag, and the positioning beacon 5 is ultra-wideband. Label positioning module.
  • the positioning beacon 5 and the positioning element 7 perform position calculation using ultrasonic positioning technology, that is, the positioning element 7 is an ultrasonic sensor, and the positioning beacon 5 is an ultrasonic positioning module.
  • the positioning element 7 is an ultrasonic sensor
  • the positioning beacon 5 is an ultrasonic positioning module.
  • other positioning techniques are also possible, such as infrared, Bluetooth positioning, Zigbee, radio radar, laser, GPS, etc.
  • At least two positioning elements 7 are provided on the mobile device 1 and the control module calculates the positional parameters from the mobile device 1 based on the distance of the at least two positioning elements 7 to the positioning beacon 5, respectively.
  • the number of positioning beacons 5 is at least three, so that after the individual positioning elements 7 on the mobile device 1 respectively know the distance of each positioning beacon 5, they can calculate their own in the coordinate system. Absolute position. This calculation method is known and will not be described again here.
  • At least two positioning elements 7 are provided from the mobile device 1, and the positions of the two positioning elements 7 on the self-moving device 1 are known, so that the distance d between the two positioning elements 7 is also known. of.
  • the control module calculates the positional parameters from the mobile device 1 according to the distance from the at least two positioning elements 7 to the positioning beacon 5, respectively.
  • the positional parameters include coordinates and or angles, below Detailed introduction.
  • control module is configured to execute a preset program to obtain a position parameter from the mobile device 1;
  • preset program includes:
  • the preset program also includes:
  • the positional parameters from the mobile device 1 are corrected based on the spacing of the positioning elements 7.
  • the position parameter from the mobile device 1 includes the coordinates (xi, yi) of the positioning element 7, and the position parameter of the positioning beacon 5 includes the coordinates (Xj, Yj) of the positioning beacon 5.
  • the coordinates of the positioning component 7 and the positioning beacon 5 are two-dimensional coordinates, including latitude and longitude information. It can be understood that the coordinates of the positioning component 7 and the positioning beacon 5 can also be three-dimensional coordinates, and also include altitude information.
  • the charging station 3 can be selected to establish a coordinate system for the origin, and the coordinates of the positioning component 7 and the positioning beacon 5 are relative coordinates with respect to the charging station 3.
  • the mobile device 1 itself is provided with two positioning elements 7, and four positioning beacons 5 are arranged from the area in which the mobile device 1 is located.
  • the coordinates of the positioning element 7 and the orientation of the computer body are corrected by the mobile device 1 by the following steps.
  • the positioning component 7 communicates with the four positioning beacons 5, respectively, to obtain its own position coordinates.
  • the coordinates of the two positioning elements 7 are (x 1 , y 1 ), (x 2 , y 2 ), respectively.
  • the error of the coordinates of the positioning element 7 is corrected by comparing the pitch of the positioning element 7 calculated based on the coordinates based on the positioning element 7 with the pitch d of the predetermined positioning element 7.
  • the coordinates of the corrected positioning element 7 are:
  • control module corrects the error of the aforementioned distance according to the distance from the at least two positioning elements 7 to the positioning beacon 5, respectively, to obtain the coordinates of the self-moving device 1.
  • the positioning component 7 communicates with the positioning beacon 5 to obtain the distance from the positioning beacon 5, the measured positioning component 7 and the positioning beacon 5 are detected due to the time synchronization of the positioning component 7 and the positioning beacon 5, and the like. There is an error in the distance, so there is also an error in the coordinates of the calculated positioning element 7.
  • the pitch d of the positioning member 7 since the pitch d of the positioning member 7 is known, by comparing the pitch of the positioning member 7 calculated based on the coordinates of the positioning member 7 with the pitch d of the predetermined positioning member 7, it is possible to correct the positioning member 7 due to The coordinate error of the positioning element 7 caused by the distance error between the positioning beacons 5 makes the positioning of the self-moving device 1 more precise.
  • the two positioning elements 7 are respectively disposed at the front and the rear of the housing along the moving direction of the mobile device 1.
  • the two positioning elements 7 are arranged parallel to the direction of movement of the mobile device 1 , ie the direction of the line connecting the two positioning elements 7 coincides with the direction angle of the mobile device 1 .
  • the two positioning elements 7 are arranged along the longitudinal axis of the mobile device 1.
  • the distance between the two positioning elements 7 is greater than or equal to 60 cm, and the spacing of the positioning elements 7 is increased such that the correction of the coordinates of the positioning elements 7 by the spacing is more accurate.
  • the spacing of the two positioning elements 7 may also be greater than or equal to 55 cm, or 50 cm, or 40 cm, or 30 cm, and the like.
  • the two positioning elements 7 can also be arranged laterally on the housing, for example on the left and right sides of the longitudinal axis of the housing, respectively; or the connection of the two positioning elements 7 to the longitudinal axis of the housing. In the case of an acute angle, it is only necessary to satisfy the above-mentioned threshold value of the distance between the positioning elements 7. In order to increase the spacing of the positioning elements 7 as much as possible, it is also possible to position the two positioning elements 7 in diagonally opposite positions of the housing, the distance between the two positioning elements 7 being greater than or equal to 70 cm.
  • control module can calculate the orientation or the direction angle of the mobile device 1.
  • the specific method is as follows:
  • the direction angle of the connection of the two positioning elements 7 is the direction angle from the mobile device 1. Therefore, the ⁇ is calculated by the above preset algorithm, that is, the direction angle of the mobile device 1 can be obtained. It can be understood that when the direction angle of the connection of the two positioning elements 7 is at an angle from the orientation of the mobile device 1, since the angle is known, after the ⁇ is calculated by the above preset algorithm, only The direction angle from the mobile device 1 can be obtained by a simple operation. That is, the preset program includes:
  • the direction angle of the mobile device 1 is calculated using the coordinates of the two positioning elements 7 and the angular relationship.
  • the main components of the self-moving device and its positioning system are similar to those of the previous embodiment.
  • the difference is that the number of positioning beacons 5 is only two.
  • a direction angle judging device such as an electronic compass 13 or an angle sensor.
  • the preset procedure for obtaining the location parameter of the mobile device 1 includes:
  • the positions (X 1 , Y 1 ) and (X 2 , Y 2 ) of the two positioning beacons 5 are known, and the distance between the two positioning beacons 5 to the two positioning elements 7 is known.
  • r 11 , r 12 , r 21 , r 22 is known.
  • the number of positioning beacons 5 can be reduced. On the one hand, the positioning cost is reduced. On the other hand, since the positioning beacon 5 needs to be powered, the setting is troublesome, and reducing the number of positioning beacons 5 can simplify the installation and bring convenience to the user.
  • the main components of the self-moving device and its positioning system are similar to those of the previous embodiment.
  • the difference is that there is only one number of positioning beacons 5, and in addition to having two or more positioning elements 7 on the mobile device 1, there is also a direction angle judging means such as an electronic compass 13.
  • the mobile device 1 calculates its own positional parameters, including coordinates and direction angles, by the following steps.
  • the positions (x b1 , y b1 ) and (x b2 , y b2 ) of the two positioning beacons 5 are known, and the distance between the two positioning beacons 5 to the two positioning elements 7 is known.
  • the mobile device 1 calculates its own positional parameters, including coordinates and direction angles, by the following steps.
  • the calculation process of the least squares method also achieves an error of correcting the distance values acquired by the two positioning elements 7.
  • the embodiment of the invention further provides a positioning method of the self-mobile device, comprising the steps of:
  • the precise positional parameters are the key basic data, and the mobile device 1 can implement various functions according to the positional parameters, such as map generation, path planning, regression charging, and the like.
  • a boundary map is generated by the following steps.
  • the self-mobile device 1 first enters the boundary setting mode before performing the following steps.
  • the mobile command comes from the smart terminal 11 held by the user, such as a smart phone, a tablet computer, and the like.
  • the move command can also come from a dedicated remote control.
  • the user transmits a movement instruction to the self-mobile device 1 by means of visual monitoring, using the smart terminal 11 or the remote controller, and controls the movement from the mobile device 1 along the boundary 9 of the work area designed by the user.
  • the control module controls the movement from the mobile device 1 according to the movement instruction according to the movement instruction.
  • the moving track is marked as a boundary.
  • the control module can store all the moving tracks into the storage unit and mark the boundary; the control module can also set a specific preset condition, for example, the moving track forms a closed After the ring, the moving track is marked as a boundary.
  • the positioning system automatically generates a recommended positioning beacon placement point based on the entered map information.
  • the positioning system of the embodiment includes a positioning beacon layout module, which may be located on the mobile device 1 or in the form of an application program, such as a mobile phone, a computer, or a tablet computer. Can be a cloud computing program. In the present embodiment, there may be only one positioning element 7 from the mobile device 1.
  • the location beacon layout module enters a map of the area from which the mobile device 1 is required to work.
  • the map information is directly obtained from an online map information provider such as Baidu map and Google map, and the user can directly define the work area in the online map and send it to the positioning beacon layout module.
  • the positioning beacon layout module automatically generates a positioning beacon layout scheme according to the size, shape, obstacle position of the working area, and the signal coverage of the single positioning beacon, including the number and location of the positioning beacon.
  • the resulting positioning beacon layout scheme satisfies the preset signal coverage requirement, for example, the signal coverage of the working area reaches 99%.
  • one positioning beacon 5 is located on the charging station 3, so that the positioning of the positioning beacon 5 is more convenient, and the positioning information during recharging is more accurate.
  • the location beacon 5 may be located within, outside, or on the boundary without affecting the implementation of the present invention.
  • the present invention is not limited to the specific embodiment structures, and the structures and methods based on the inventive concept are all within the scope of the present invention.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Navigation (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

L'invention concerne un dispositif mobile autonome (1) comprenant au moins deux éléments de positionnement (7) et un module de commande. Les éléments de positionnement (7) communiquent avec une balise de positionnement (5) pour obtenir des distances entre les éléments de positionnement (7) et la balise de positionnement (5). Le module de commande est configuré pour exécuter un programme prédéfini pour obtenir un paramètre de position du dispositif mobile autonome (1). Le programme prédéfini comprend les étapes consistant : à obtenir un paramètre de position de la balise de positionnement (5), à obtenir une distance entre le dispositif mobile autonome (1) et la balise de positionnement (5) et à calculer un paramètre de position du dispositif mobile autonome (1) en fonction du paramètre de position de la balise de positionnement (5) et des distances entre les éléments de positionnement (7) et la balise de positionnement (5). Le programme prédéfini comprend également les étapes consistant : à prédéfinir un espacement entre les éléments de positionnement (7) et à corriger le paramètre de position du dispositif mobile autonome (1) en fonction de l'espacement entre les éléments de positionnement (7). La présente invention présente les effets positifs suivants : le dispositif mobile autonome (1) est positionné avec précision et un support est prévu pour la mise en œuvre d'une navigation sans limite et précise.
PCT/CN2018/071992 2017-01-09 2018-01-09 Dispositif mobile autonome et système de positionnement, procédé de positionnement et son procédé de commande WO2018127209A1 (fr)

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CN110062460A (zh) * 2019-05-27 2019-07-26 北京雅讯东方科技有限公司 室内定位系统及方法
WO2020026125A1 (fr) * 2018-07-30 2020-02-06 7hugs Labs SAS Station de charge pour objet mobile suivi
EP3699715B1 (fr) 2017-11-16 2022-01-05 Nanjing Chervon Industry Co., Ltd. Système de tonte de gazon intelligent
CN113899376A (zh) * 2020-07-06 2022-01-07 苏州宝时得电动工具有限公司 自移动设备地图生成方法、系统和自动工作系统
CN114815820A (zh) * 2022-04-18 2022-07-29 电子科技大学 一种基于自适应滤波的智能体小车线性路径规划方法
CN115150646A (zh) * 2021-03-31 2022-10-04 华为技术有限公司 一种显示第二电子设备控制窗口的方法及第一电子设备

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CN114111780A (zh) * 2020-08-26 2022-03-01 深圳市杉川机器人有限公司 一种定位误差校正方法、装置、自移动设备及系统

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